Trenching operation control method and device and server equipment

Abstract

The disclosure provides a trenching operation control method and device and a server device, and relates to the technical field of remote excavation operation, so as to alleviate the technical problem that the overall operation efficiency is not high due to the high concentration of the operator's energy required for remote control. The method comprises the following steps: in response to an operation instruction of an operator, entering an automatic trenching mode, and configuring automatic trenching parameters corresponding to a current business scenario; determining a movement parameter of an excavator according to a component size of the excavator generating an excavation action and a target trench size; during the excavation operation based on the automatic trenching parameters, the following steps are repeatedly executed until the length of the excavated trench meets the requirements of the target trench size: in response to the matching of the trench depth excavated by the excavator at the current position and the target trench size, controlling the excavator to move based on the movement parameter and controlling the next position of the excavator after moving to excavate the trench; and taking the next position as the current position.

Description

Technical Field

[0001] This disclosure relates to the technical field of remote excavation operations, and in particular to a control method, apparatus, and server equipment for trenching operations. Background Technology

[0002] Currently, excavators are often remotely controlled using a simulator that integrates video transmission, simulating a real excavator. Remote excavator control not only allows operators to work in a comfortable environment but also ensures their safety and improves work quality and efficiency.

[0003] However, for tasks such as excavation or dumping that require repeated operations, operators still need to perform complex maneuvers continuously in the simulator, placing extremely high demands on their skills. For example, trenching, as one of the routine operations of an excavator, is a construction operation that requires operators to concentrate highly during actual operation. It requires controlling the depth and width of the excavation to ensure that the trenches dug multiple times meet the design requirements.

[0004] Therefore, operators are prone to misjudging the target location during remote operation, resulting in uneven trench bottoms and inconsistent overall heights, which fails to meet operational requirements and reduces operational efficiency. Summary of the Invention

[0005] The purpose of this disclosure is to provide a control method, device, and server equipment for trenching operations, so as to alleviate the technical problem that the overall operation efficiency is low due to the need for operators to concentrate highly during remote operation.

[0006] In a first aspect, embodiments of this disclosure provide a method for controlling trenching operations, the method comprising: In response to the operator's instructions, the system enters automatic trenching mode and configures the automatic trenching parameters corresponding to the current business scenario; wherein, the automatic trenching parameters include the target trench size; The movement parameters of the excavator are determined based on the dimensions of the components that generate the digging action of the excavator and the dimensions of the target trench. During the excavation operation based on the automatic trenching parameters, the following steps are repeated until the length of the excavated trench meets the requirements of the target trench size: In response to the matching of the trench depth already excavated by the excavator at the current position and the target trench size, the excavator is controlled to move based on the movement parameters and the next position after the excavator moves is controlled to excavate the trench; the next position is taken as the current position.

[0007] Secondly, a control device for trenching operations is provided, the device comprising: The recording module, in response to the operator's operation instructions, enters the automatic trenching mode and configures the automatic trenching parameters corresponding to the current business scenario; wherein, the automatic trenching parameters include the target trench size; The planning module determines the movement parameters of the excavator based on the dimensions of the components that generate the excavation action and the dimensions of the target trench. The control module, during the excavation operation based on the automatic trenching parameters, repeatedly executes the following steps until the length of the excavated trench meets the requirements of the target trench size: In response to the matching of the trench depth already excavated by the excavator at the current position and the target trench size, the excavator is controlled to move based on the movement parameters and the next position after the excavator moves is controlled to excavate the trench; the next position is taken as the current position.

[0008] Thirdly, embodiments of this disclosure also provide a server device, including a memory and a processor, wherein the memory stores a computer program that can run on the processor, and the processor executes the computer program to implement the method described in the first aspect above.

[0009] Fourthly, embodiments of this disclosure also provide a computer-readable storage medium storing computer-executable instructions that, when invoked and executed by a processor, cause the processor to perform the method described in the first aspect above.

[0010] The embodiments disclosed herein bring the following beneficial effects: The present disclosure provides a control method, apparatus, and server equipment for trenching operations, which can reduce the safety risks caused by the need for high concentration during remote operation, free up operator labor, and improve overall work efficiency.

[0011] In existing solutions, the high demands on operator effort often lead to low reliability and efficiency in excavation operations. This disclosure integrates automatic trenching functionality into the image transmission interface displayed on the terminal device of a remotely controlled excavator. The operator only needs to input trenching parameters on the remote interface, and the excavator can automatically and continuously complete the excavation operation based on server control. First, based on the target trench size in the input automatic trenching parameters and the dimensions of the components in the excavator used to generate the digging action, the movement parameters of the excavator's position are planned, including the timing, direction, and distance of movement. Then, based on the above planning information, the excavator can be controlled to automatically dig according to the operator-input automatic trenching parameters when stationary. When the digging depth reaches the target trench size requirement, the movement parameters are triggered to control the excavator to move to the next position and repeat the automatic trenching operation until the length of the excavated trench matches the input trenching parameters. In this solution, the operator only needs to input the automatic trenching parameters on the client side initially. After the client side sends the automatic trenching parameters to the server device, the server device can automatically plan and control the excavator to dig trenches, reducing the operator's effort and improving work efficiency and reliability.

[0012] To make the above-mentioned objects, features and advantages of this disclosure more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0013] To more clearly illustrate the technical solutions in the specific embodiments of this disclosure or the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this disclosure. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0014] Figure 1 The illustration shows an application scenario provided by an embodiment of this disclosure; Figure 2 A flowchart illustrating the control method for trenching operations provided in this embodiment of the disclosure; Figure 3 A schematic diagram of a trenching operation is shown according to an embodiment of this disclosure; Figure 4 This illustration shows a longitudinal cross-sectional view of a target channel provided in an embodiment of the present disclosure; Figure 5 This is a schematic diagram of the structure of a control device for trenching operations provided in an embodiment of the present disclosure; Figure 6 A schematic diagram of the structure of a server device provided in an embodiment of this disclosure is shown. Detailed Implementation

[0015] To make the objectives, technical solutions, and advantages of the embodiments of this disclosure clearer, the technical solutions of this disclosure will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this disclosure, not all embodiments. Based on the embodiments of this disclosure, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this disclosure.

[0016] The terms “comprising” and “having”, and any variations thereof, used in the embodiments of this disclosure are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that includes a series of steps or units is not limited to the steps or units listed, but may optionally include other steps or units not listed, or may optionally include other steps or units inherent to such processes, methods, products, or devices.

[0017] Currently, for existing remote-controlled excavators, operators need to visually observe through one or more planar remote images, manually determine the location and depth to be excavated, as well as the timing and distance of retraction, and remotely control the excavator using a handle similar to that in the excavator's cab in a simulator. At the same time, they need to manually control the excavated soil to move the excavator to one side of the trench.

[0018] First, existing remote control requires operation in a simulated cockpit, which places extremely high demands on the establishment of the remote control environment.

[0019] Secondly, during remote control, each operation requires manual adjustment of the excavator's boom and arm positions, as well as the bucket angle.

[0020] However, when performing complex operations such as excavation using a remote joystick, the complexity of the operation and the delay caused by data transmission require the operator to maintain a high level of concentration. As a result, the efficiency and quality of the operation often vary depending on the operator's skill level.

[0021] During remote trenching operations, in addition to ensuring the accuracy of complex actions such as digging, the operator also needs to concentrate fully, confirm the digging depth, and adjust the boom and arm of the excavator in a timely manner to dig a trench that meets the design requirements and accurately place the excavated soil to one side of the trench.

[0022] Therefore, since operators in remote video transmission do not have the same firsthand experience of the surrounding environment as they would during actual operation, they are prone to misjudging the target location when operating remotely. This can lead to defects such as uneven bottoms of excavated trenches, inconsistent overall heights, poor work results, and trenches that do not meet operational requirements.

[0023] Based on this, the present disclosure provides a method, apparatus, and server equipment for controlling trenching operations, which can automatically control an excavator to complete trenching operations.

[0024] In one possible implementation, this disclosure provides a method for controlling trenching operations, which can be applied to a server device that interacts with a terminal device. The terminal device can provide a graphical user interface for the operator to input commands and interact with the server device. The server device is mounted on an excavator and is used to control the excavator's operation. The terminal device can be a local terminal device, client device, touch terminal, or other device capable of interacting with the operator. The server device can include a server.

[0025] For example, such as Figure 1 As shown, Figure 1 This is a schematic diagram illustrating an application scenario provided by an embodiment of this disclosure. The application scenario may include a touch terminal (e.g., a mobile phone 102) and a server 101. The touch terminal can communicate with the server 101 via a wired or wireless network. The touch terminal is used to run a virtual desktop, through which it can interact with the server 101 to edit and control the content on the server 101.

[0026] The embodiments of this disclosure will be further described below with reference to the accompanying drawings.

[0027] Figure 2 This is a flowchart illustrating a control method for trenching operations provided in an embodiment of this disclosure. The method can be applied to a server terminal, which interacts with a touch-screen terminal capable of displaying a graphical user interface. The user inputs commands through the terminal device to remotely control the server terminal, which then controls the excavator to operate automatically. Figure 2 As shown, the method includes: Step S102: In response to the operator's operation command, enter the automatic trenching mode and configure the automatic trenching parameters corresponding to the current business scenario.

[0028] Among them, the automatic trenching parameters include the target trench size, which is the trench size that the current business scenario requires to be excavated to in order to reach the target trench size. The target trench size includes the length and depth of the target trench.

[0029] It should be noted that the operator is a remote trenching worker. The operator can interact with the user interface displayed on the client terminal, input their operation commands, or select the automatic trenching mode by touch. After entering the automatic trenching mode, the operator inputs the automatic trenching parameters corresponding to the current trenching scenario. The server terminal can realize automatic and continuous control of the excavator operation and meet the needs of the current business scenario based on the operation commands and automatic trenching parameters input by the operator remotely.

[0030] For example, in this step, the operator can view the excavator control page displayed on the mobile phone through a touch terminal such as a mobile phone, click the corresponding button on the page to enter the automatic trenching mode, and enter the automatic trenching parameters corresponding to the current business scenario in the corresponding position on the page. The touch terminal can send the automatic trenching parameters entered by the operator to the server device set on the excavator so that the server device can automatically control the excavator operation based on the automatic trenching parameters.

[0031] Step S104: Determine the movement parameters of the excavator based on the component dimensions that generate the excavation action and the target trench dimensions.

[0032] Based on the excavator size and the target trench size, plan the excavator's position movement strategy, as well as the excavation area of ​​the excavator at each location and each excavation point in the excavation area; The dimensions of the components used by the excavator to generate the digging action include the dimensions of the excavator boom, arm, and bucket, etc.; the movement parameters may include the timing of movement, the distance of movement, and the direction of movement.

[0033] It should be noted that, in order to further ensure the accuracy and reliability of automatic trenching operations, in this embodiment of the invention, after entering the automatic trenching mode, the movement parameters of the excavator are preset before controlling automatic trenching. In subsequent automatic trenching operations, the movement of the excavator is controlled according to the preset movement parameters, replacing the scheme of determining the next movement parameter of the excavator in real time as it moves during trenching operations. This scheme in this embodiment of the invention can avoid the defect that if the movement of the excavator is incorrect during trenching operations, the next movement parameter will be determined based on the movement with the error, which will cause the subsequent movement error of the excavator to increase.

[0034] Step S106: During the excavation operation based on the automatic trenching parameters, repeat the following steps until the length of the excavated trench meets the requirements of the target trench size: In response to the matching of the trench depth already excavated by the excavator at the current position and the target trench size, the excavator is controlled to move based on the movement parameters and the next position after the excavator moves is controlled to excavate the trench; the next position is taken as the current position.

[0035] The server-side equipment can automatically control the excavator to perform trenching operations based on the automatic excavation parameters obtained in the aforementioned steps. As can be seen from the aforementioned embodiments, the excavator is triggered when the depth of the excavated trench at each location matches the size of the target trench, and the movement is performed according to the aforementioned movement parameters.

[0036] The movement parameter is triggered when the excavated trench depth and the target trench size match at each position where the excavator is stationary. In other words, the excavator is controlled to move according to the movement parameter when the excavated trench depth and the target trench size match at each position. The automatic excavation of the excavator at each position can be understood as the excavator being able to control the excavation components to perform trenching operations when the excavator is in a stationary state without moving, according to the automatic excavation parameter.

[0037] It should be noted that this automatic trenching control step S106 does not involve the client controlling the excavator; this step can be achieved solely based on the server-side device's automatic control of the excavator.

[0038] In preferred embodiments of practical applications, the high demands on operator effort often lead to low reliability and efficiency in excavation operations. This disclosure integrates an automatic trenching function into the image transmission interface displayed on the terminal device of a remotely controlled excavator. The operator only needs to input the trenching parameters on the remote interface, and the excavator can automatically and continuously complete the trenching operation based on server control. First, based on the target trench size in the input automatic trenching parameters and the dimensions of the components in the excavator used to generate the digging action, the movement parameters of the excavator's position are planned, including the timing, direction, and distance of movement. Then, based on the above planning information, the excavator can be controlled to automatically dig according to the automatic trenching parameters input by the operator when stationary. When the digging depth reaches the target trench size requirement, the movement parameters are triggered to control the excavator to move to the next position and repeat the automatic trenching operation until the length of the excavated trench matches the input trenching parameters. In this solution, the operator only needs to input the automatic trenching parameters on the client side initially. After the client side sends the automatic trenching parameters to the server device, the server device can automatically plan and control the excavator to dig trenches, reducing the operator's effort and improving work efficiency and reliability.

[0039] Step S102, in which the operator selects to enter the automatic trenching mode through the client and sends the automatic trenching parameters to the server device so that the server device can record and configure them, also includes the following steps: Step 1.1) In response to the operator's first operation command, enter the automatic trenching mode.

[0040] The first operation instruction may include specific controls displayed on the operator's touch interface, or input of specific instruction characters. Upon triggering the first operation instruction, the client enters the page corresponding to the automatic trenching mode; this automatic trenching mode page displays the types of parameters required for automatic trenching, as well as the input location for each parameter.

[0041] Step 1.2) In response to the operator's second operation instruction, configure the automatic trenching parameters corresponding to the current business scenario.

[0042] The second operation instruction may include specific controls displayed on the operator's touch interface, or input of specific instruction characters. Under the action of the second operation instruction, the operator can configure various automatic trenching parameters at the corresponding locations on the aforementioned automatic trenching mode page. The automatic trenching parameters include at least one or more of the following: starting position, trenching direction, and soil dumping area.

[0043] The starting position can be understood as the starting position of the excavator's trenching, the trenching direction is the direction in which the excavator digs, and the dumping area is the range of the dumping area after the excavator's bucket has dug the soil.

[0044] For example, in response to a second operation instruction input by the operator on the client according to the current business scenario, the automatic trenching parameters of the excavator are received; and the automatic trenching parameters are configured.

[0045] In practical applications, the operator selects the automatic trenching mode and inputs the automatic trenching parameters on the remote client, and then sends the input automatic trenching parameters remotely to the server terminal. The process of inputting the automatic trenching parameters is as follows: manually set the starting position and starting direction of the trench to be dug; manually set the length and depth of the trench to be dug. The location, direction, length, and depth of the trench are determined based on the business requirements of the current scenario, and parameters are set accordingly. There are no restrictions on the location or direction of the trench, but the length and depth are limited and can be set by the operator. As one example, the client provides the operator with a slider for both trench length and depth, allowing them to easily set these parameters by sliding. For instance, the trench length can be set from 1 to 8 meters, and the depth from 0.5 to 2 meters, with a minimum granularity of 0.1 meters per slide.

[0046] In practical applications, the server terminal records the automatic trenching parameters. The specific recording process is as follows: The starting position and direction of the trench are recorded based on the automatic trenching parameters; the excavator is controlled to adjust its posture so that the tracks and chassis are aligned, and then automatically navigates to the designated trenching starting point (starting position); the length and depth of the trench are recorded based on the automatic trenching parameters; the excavator chassis is controlled to adjust to the soil dumping control position relative to the tracks based on the automatic trenching parameters, and the dumping position of the excavated soil is recorded, providing initial pose values ​​for subsequent soil dumping; thus, the trenching parameter recording is completed.

[0047] Each time the automatic trenching mode is entered, the automatic trenching parameters need to be recorded, including the starting point, length, and depth of the trenching operation. It should be noted that once the automatic trenching mode is entered, the above-mentioned automatic control trenching scheme can be implemented based on the automatic trenching parameters.

[0048] As an optional embodiment, in order to further improve work efficiency, for example, the dumping area of ​​the excavator can be determined based on the trenching direction and the preset angle range on both sides of the trenching direction, so as to ensure that the dumping operation will not affect the excavation status of the trench. It is understood that if the location of the dumping area is not set properly, the dumping operation may cause some of the excavated soil to re-enter the excavated trench, thereby affecting the excavation progress of the trench.

[0049] For example, a 60-degree radius to the left and right of the trenching direction is prohibited from being designated as a dumping area. Real-world testing experience has shown that dumping soil within this range may cause it to roll back into the excavated trench, reducing digging efficiency. In practical applications, when a user selects to dump soil within this prohibited area, the client will prompt the user to "rotate the cockpit to the dumping area. (The cockpit rotation angle must be greater than 60° to dump soil)," allowing them to select a new dumping area. This dumping area can be set according to the user's business needs. During parameter setting, the client provides corresponding prompts for each parameter set by the operator; the range of parameters set also has corresponding limitations. Combined with the appropriate client prompts, this ensures that the parameters set by the operator meet the corresponding limitations.

[0050] As can be seen from the steps of the aforementioned embodiments, in order to record the dumping position of the excavated soil after trenching, the server device also needs to control the excavator chassis to adjust relative to the tracks to the corresponding dumping control position; in order to further ensure the reliability of the trenching operation, before step S104, it is also included to first control the excavator tracks and chassis to keep the direction consistent.

[0051] That is, after recording the trenching parameters in the aforementioned embodiment, the excavator tracks will be automatically readjusted to be aligned with the chassis direction to improve the reliability of subsequent trenching operations.

[0052] As an optional embodiment, in order to further ensure the safety and reliability of automatic trenching, automatic trenching can be actively triggered with the operator's consent after the operator is aware that the server terminal parameter recording is complete. For example, after the operator completes the parameter recording on the server terminal, the operator can click the "Confirm Start Trenching" control on the client interface to trigger the excavator to automatically trench and execute the automatic trenching process.

[0053] In some embodiments, step S104 of the foregoing embodiments can determine more precise movement parameters based on the size of the component generating the digging action and the size of the target trench, so as to control the excavator to move appropriately during automatic digging operations and ensure operational reliability; including: Step 2.1) Determine the excavation area of ​​the excavator at each location based on the dimensions of the components that generate the excavation action.

[0054] The excavation area is a three-dimensional trench, which can be understood as the size of the trench that the components that generate the excavation action can excavate when the excavator is stationary in each position. Figure 3 A schematic diagram of a longitudinal section of a trench corresponding to an excavated area is shown. The longitudinal section of the excavated area is a rectangular cross-section with a length of w and a height of h.

[0055] In other words, the excavation area can be understood as the maximum area of ​​the trench that the excavator can dig without moving; when the excavator is stationary, the longitudinal cross-sectional dimensions of the trench that the bucket can dig in a single operation are the length Δw and the height Δh; the excavator can control the movement of the bucket within a certain range while it is stationary, and after several digging operations by the bucket, the excavation area is generated.

[0056] As an optional embodiment, the planning of the excavation area of ​​the excavator at each location during automated excavation operations is realized based on the excavator size and the target trench size, specifically including: Step 2.1.1): Based on the length of the excavator's boom and arm, plan the dimensions of the excavation area.

[0057] It should be noted that by adding the lengths of the excavator's boom and forearm, the excavator's maximum working distance can be calculated as the sum of the boom and forearm lengths. Therefore, the excavator's digging area is determined to be 60%-90% of the maximum working distance.

[0058] The size of the excavator determines the maximum length and depth of the excavated area that can be dug without moving. The automatic trenching parameters recorded in the aforementioned embodiments determine the length and depth of the target trench, which are determined by business requirements.

[0059] The length of the target trench can be achieved by combining multiple sets of the aforementioned excavation areas; that is, by excavating (a short section) and then moving and combining them to form a trench that meets business requirements. For example... Figure 4 As shown, the dimensions of the target trench are length W1 and depth h1; where W1 includes 3.2 excavation areas w, and h1 can be less than or equal to the excavation area h; the excavator needs to move three times, and perform several excavation operations after each move.

[0060] In some embodiments, the excavator automatically excavates each planned excavation point in the excavation area according to automatic excavation control parameters each time it is stationary; exemplaryly, the step of determining the excavation point further includes: Step 3.1) Based on the excavator's bucket size, determine the single digging size of the excavator in the digging area.

[0061] Among them, based on the length and depth of the bucket itself, the longitudinal cross-sectional dimensions of the trench that the bucket can excavate in a single operation are determined as length Δw and height Δh.

[0062] Step 3.2) Based on the excavator's excavation area and the single excavation size of the excavator within the excavation area, plan each excavation point in the excavation area of ​​the excavator.

[0063] Each excavation point in the excavation area can be understood as the excavation position of each bucket, and this excavation point can be pre-set as a point evenly distributed in the excavation area.

[0064] For example, in this embodiment of the invention, based on the size of the components used by the excavator for digging and the size of the target trench, parameters such as the timing of the excavator's position movement and the distance of the excavator's position movement can be determined. Furthermore, the size of the digging area corresponding to when the excavator is stationary and the distribution of each digging point in each digging area can also be planned.

[0065] It should be noted that the number of transverse trenches within the excavation area is the quotient of the excavation area length and the length of a single excavation, rounded up. Each excavation point within the excavation area is evenly distributed; the interval between each excavation point is the length of a single excavation, and the number of excavation points is the number of transverse trenches.

[0066] Based on step 2.1) above, which determines the excavation area according to the dimensions of the component that generates the excavation action and the target trench dimensions, the following additional steps are also included: Step 2.2) Determine the movement parameters of the excavator for each movement based on the dimensions of the excavation area and the target trench. For example, the movement distance and direction can be determined based on the dimensions of the excavation area and the target trench, respectively, specifically including: Step 2.2.1) Based on the length of the excavation area and the length of the target trench, plan the excavator's moving distance and direction.

[0067] The moving distance can be determined based on the length of the excavation area; as an optional example, the moving distance can be the length of the excavation area; as another optional example, the moving distance can include two types: one is the length of the excavation area, and the other is determined jointly based on the length of the target trench and the length of the excavation area; in practical applications, such as Figure 4 As shown, if the size of the target trench is length W1 including the length w of 3.2 excavation areas, then the distance of the first two movements is the length w of the excavation area, and the distance of the third movement is the remaining length 0.2w of the target trench after the excavation is carried out by the excavator in the first two movements.

[0068] It should be noted that during the excavator's digging operation, the direction of movement is the direction in which the excavator moves forward or backward. This direction of movement is different from the trenching direction corresponding to the components used for digging operations. It can be understood that the components used for digging operations have controls that can rotate, twist, fold, etc., to change the angle, and can achieve trenching directions that are not limited to the forward and backward directions.

[0069] It should be noted that, without moving the current position of the excavator, the bucket is controlled to perform digging operations at each digging point in the digging area; if the depth of the trench already dug in the digging area meets the depth requirement of the target trench, then the digging of the digging area is completed, that is, the excavator is controlled to move in the direction and distance of movement.

[0070] Based on the aforementioned embodiments, if a series of control parameters corresponding to the excavator's automatic trenching are planned, then step S106 can also be achieved through the following steps: Step 4.1), based on the starting position and trenching direction, control the excavator to perform excavation operations on each excavation point in the excavation area.

[0071] Here, the excavator is currently stationary and not moving, performing excavation at various excavation points within the excavation area.

[0072] Step 4.2) Determine whether the length of the trench excavated by the excavator matches the target trench size.

[0073] Step 4.3) If a match is found, the process terminates.

[0074] If the length of the excavated trench meets the target trench size requirements, then the trenching operation is complete.

[0075] Step 4.4): If they do not match, proceed to determine whether the depth of the trench excavated by the excavator matches the depth of the target trench.

[0076] If there is no match in step 4.5, repeat step 4.1.

[0077] At this point, the trench depth corresponding to the current excavation area of ​​the excavator does not meet the requirements of the target trench, so excavation continues.

[0078] Step 4.6): If a match is found, in response to the matching of the trench depth already excavated in the excavation area corresponding to the starting position and the target trench size, the excavator is controlled to move a distance along the moving direction according to the trenching direction, and the position after the excavator moves is taken as the starting position, and step 4.1 is repeated.

[0079] After the excavation work in the current location's excavation area is completed, the excavator needs to move the specified distance in the direction of movement. The excavator's current world coordinates and orientation are obtained from the positioning device installed on the upper part of the excavator's cab. The excavator's new coordinates (new starting position) and orientation are calculated, and the excavator is guided to navigate to the new starting position. Upon reaching the new starting position, the excavator then excavates the area at that new starting position. The excavator repeats this process of excavation and navigation until the length of the excavated trench meets the set requirements.

[0080] For example, in this embodiment of the invention, when the excavator is stationary, the bucket is controlled to dig at each digging point to form a first digging area corresponding to the stationary position of the excavator. When the depth of the excavated trench corresponding to the stationary position meets the target trench depth, the excavator is triggered to move according to the movement parameters, controlling the excavator to move to the target position. Then, at the target position, the process of controlling the bucket to dig at each digging point corresponding to the target position is repeated to form a second digging area corresponding to the target position. The above steps are repeated continuously until the length of the excavated trench meets the target trench size requirement. It should be noted that the second digging area is the trench area formed after the excavator moves to the target position again and continues digging, based on the first digging area.

[0081] As an optional embodiment, step 4.1) can also be implemented by the following steps, specifically including: when the starting position of the excavator and the trenching direction are fixed, performing excavation, dumping and soil removal operations for each excavation point in the excavation area.

[0082] It should be noted that for each excavation point, the excavator is controlled to perform excavation, dumping, and soil removal operations, and then the bucket is controlled to move to the next excavation point to complete the excavation operation.

[0083] For example, repeat the following steps until every excavation point in the excavation area has been traversed: If the current excavation point has completed the excavation, dumping, and soil dumping operations, then the current ordinate of each excavation point in the excavation area is determined based on the laser point cloud of the trench and the x-coordinate of each excavation point in the excavation area; the excavation point with the largest current ordinate is taken as the new current excavation point for the next excavation, dumping, and soil dumping operations.

[0084] During trenching, based on the lateral coordinates of each excavation point (i.e., the distance from the excavator), the longitudinal coordinates (i.e., the height distance from the excavator) of each excavation point are sequentially obtained from the laser point cloud. The excavation point with the largest longitudinal coordinate (which can be approximated as the point with the most soil to be excavated or the highest soil mound) is selected as the next excavation point. The process of obtaining excavation points is repeated within the excavation area, and excavation continues until the trench height corresponding to the excavation area meets the set requirements.

[0085] In this embodiment of the invention, the operator only needs to record the trenching parameters on the remote control interface, and the excavator will automatically control the excavator to complete the trenching operation based on the starting position coordinates. During the automatic excavation process, the excavator will automatically plan the excavation point position and the timing and distance of movement and retreat according to the working environment, so that the excavator can realize autonomous excavation and navigation movement, perform multiple excavations, improve the overall remote operation efficiency, and ensure operation safety.

[0086] Figure 5 A schematic diagram of a control device for trenching operations is provided. This device can be applied to server-side equipment. Figure 5 As shown, the control device 500 for trenching operations includes: The recording module 501 is used to respond to the operator's operation command, enter the automatic trenching mode, and configure the automatic trenching parameters corresponding to the current business scenario; wherein, the automatic trenching parameters include the target trench size; Planning module 502 is used to determine the movement parameters of the excavator based on the component dimensions that generate the excavation action and the target trench dimensions; Control module 503 is used to repeatedly execute the following steps during the excavation operation based on the automatic trenching parameters until the length of the excavated trench meets the requirements of the target trench size: In response to the matching of the trench depth already excavated by the excavator at the current position and the target trench size, the excavator is controlled to move based on the movement parameters and the next position after the excavator moves is controlled to excavate the trench; the next position is taken as the current position.

[0087] In this way, the automatic trenching function is integrated into the image transmission interface displayed on the terminal device of the remote-controlled excavator. The operator only needs to enter the trenching parameters on the remote interface, and the excavator can automatically complete the trenching operation according to the server control. First, based on the target trench size in the entered automatic trenching parameters and the size of the components in the excavator used for trenching, the excavator's position, when to move, the direction of movement, and the distance to move are planned. Then, based on the above planning information, the excavator can be controlled to automatically dig when stationary. When the depth of the trench already dug meets the target trench size, the excavator moves a corresponding distance according to the movement parameters, and repeats the digging according to the automatic digging parameters at the new stationary position to generate a new trench, until the length of the dug trench meets the entered trenching parameters. In this solution, the operator only needs to input the automatic trenching parameters on the client side initially. After the client side sends the automatic trenching parameters to the server device, the server device can plan and control the excavator to trench automatically, reducing the operator's effort and improving work efficiency and reliability. By integrating the automatic trenching operation function into the image transmission interface displayed on the terminal device for remotely controlling the excavator, the operator only needs to enter the trenching operation parameters on the remote interface, and the excavator can automatically complete the trenching operation continuously according to the server control. In one feasible implementation, the planning module 502 is specifically used to: determine the excavation area of ​​the excavator at each location based on the dimensions of the components that generate the excavation action; Based on the excavation area and the target trench size, the movement parameters of the excavator for each movement are determined.

[0088] In one feasible implementation, the planning module 502 is specifically used for: Based on the boom and arm lengths of the excavator, the length of the excavation area at each location is calculated. In one feasible implementation, the planning module 502 is specifically used for: Based on the bucket size of the excavator, determine the single digging size of the excavator in the digging area; Each digging point in the digging area of ​​the excavator is calculated based on the digging area of ​​the excavator and the single digging size of the excavator in the digging area.

[0089] In one feasible implementation, the planning module 502 is specifically used for: The moving distance and direction of the excavator are determined based on the length of the excavation area and the length of the target trench.

[0090] In one feasible implementation, the automatic trenching parameters may include at least one or more of the following: starting position, trenching direction, and dumping area.

[0091] In one feasible implementation, the device further includes: Based on the trenching direction and the preset angle range on both sides of the trenching direction, the dumping area of ​​the excavator is determined.

[0092] In one feasible implementation, control module 503 is specifically used for: Based on the starting position and the trenching direction, the excavator is controlled to perform excavation operations on each excavation point in the excavation area; Determine whether the length of the trench excavated by the excavator matches the target trench size; if they match, terminate the process; if they do not match, proceed with the following steps: Determine whether the depth of the trench excavated by the excavator matches the size of the target trench; If they do not match, the steps of controlling the excavator to perform excavation operations on each excavation point in the excavation area based on the starting position and the trenching direction are repeated. If a match is found, the excavator is triggered to move backward. The excavator is then controlled to move backward by the specified backward distance according to the trenching direction, and the position after the excavator moves is taken as the new starting position. The steps of controlling the excavator to perform trenching operations on each trenching point in the trenching area based on the starting position and the trenching direction are repeated.

[0093] In one feasible implementation, control module 503 is specifically used for: When the starting position of the excavator and the trenching direction are fixed, the excavation, dumping, and soil removal operations are performed for each excavation point in the excavation area.

[0094] In one feasible implementation, control module 503 is specifically used for: Repeat the following steps until every excavation point in the excavation area has been traversed: If the current excavation point has completed the excavation, dumping, and soil dumping operations, then the current ordinate of each excavation point in the excavation area is determined based on the laser point cloud of the trench and the abscissa of each excavation point in the excavation area. The excavation point with the largest current vertical coordinate will be used as the new current excavation point for the next excavation, dumping, and soil removal operations.

[0095] In one feasible implementation, the recording module 501 is specifically used for: In response to the operator's first operating command, it enters automatic trenching mode; In response to the operator's second operation command, configure the automatic trenching parameters corresponding to the current business scenario.

[0096] In one feasible implementation, the recording module 501 is specifically used for: In response to the second operation command input by the operator on the client according to the current business scenario, the automatic trenching parameters of the excavator are received; Configure the automatic trenching parameters.

[0097] In one feasible implementation, the device further includes: controlling the tracks and chassis of the excavator to maintain a consistent orientation before planning the excavator's positional movement strategy based on the excavator size and the target trench size, and before the steps of the excavator in the excavation area at each location and at each excavation point in the excavation area.

[0098] The control device for trenching operations provided in this embodiment has the same technical features as the control method for trenching operations provided in the above embodiments, so it can also solve the same technical problems and achieve the same technical effects.

[0099] Figure 6 This illustration shows a schematic diagram of a server terminal provided in an embodiment of the present disclosure, including: a memory 601, a processor 602, and a bus 603. The memory 601 stores machine-readable instructions executable by the processor 602. When the electronic device runs a trenching operation control method as described in the embodiment, the processor 602 communicates with the memory 601 via the bus 603. The processor 602 executes the machine-readable instructions. The preamble of the method item of the processor 602 performs the following steps: In response to the operator's instructions, the system enters automatic trenching mode and configures the automatic trenching parameters corresponding to the current business scenario; wherein, the automatic trenching parameters include the target trench size; Based on the excavator size and the target trench size, a position movement strategy for the excavator is planned, as well as the excavation area of ​​the excavator at each position and each excavation point in the excavation area; wherein, the position movement strategy is triggered when the trench depth corresponding to the excavation area at each position matches the target trench size; Under the position movement strategy, the excavator is controlled to perform excavation operations at each excavation point in the excavation area of ​​each position until the length of the excavated trench meets the requirements of the target trench size.

[0100] In one feasible implementation, the processor is also configured to plan the size of the excavation area of ​​the excavator based on the boom length and arm length of the excavator.

[0101] In one feasible implementation, the processor is further configured to determine the single digging size of the excavator in the digging area based on the bucket size of the excavator; and to plan each digging point in the digging area of ​​the excavator according to the digging area of ​​the excavator and the single digging size of the excavator in the digging area.

[0102] In one feasible implementation, the processor is further configured to plan the backward movement distance of the excavator based on the length of the excavation area of ​​the excavator; and to plan the timing of the backward movement of the excavator based on the matching result of the trench depth corresponding to the excavation area after the excavator excavates at each excavation point in the excavation area and the target trench size.

[0103] In one feasible implementation, the automatic trenching parameters may include at least one or more of the following: starting position, trenching direction, and dumping area.

[0104] In one feasible implementation, the processor is further configured to determine the dumping area of ​​the excavator based on the trenching direction and a preset angle range on both sides of the trenching direction.

[0105] In one feasible implementation, the processor is further configured to: control the excavator to perform excavation operations on each excavation point in the excavation area based on the starting position and the trenching direction; determine whether the length of the trench excavated by the excavator matches the target trench size; if they match, terminate the process; if they do not match, execute the following steps: determine whether the depth of the trench excavated by the excavator matches the target trench size; if they do not match, repeat the step of controlling the excavator to perform excavation operations on each excavation point in the excavation area based on the starting position and the trenching direction; if they match, trigger the excavator to move backward; control the excavator to move backward by the backward movement distance according to the trenching direction, and use the position after the excavator's movement as the new starting position, and repeat the step of controlling the excavator to perform excavation operations on each excavation point in the excavation area based on the starting position and the trenching direction.

[0106] In one feasible implementation, the processor is further configured to perform digging, dumping, and soil removal operations for each digging point in the digging area when the starting position of the excavator and the digging direction are fixed.

[0107] In one feasible implementation, the processor is further configured to repeatedly execute the following steps until each excavation point in the excavation area has been traversed: if the current excavation point has completed the excavation, dumping, and soil dumping operations, then the current ordinate of each excavation point in the excavation area is determined based on the laser point cloud for the trench and the abscissa of each excavation point in the excavation area; the excavation point with the largest current ordinate is taken as the new current excavation point for the next excavation, dumping, and soil dumping operations.

[0108] In one feasible implementation, the processor is further configured to enter an automatic trenching mode in response to a first operation command from the operator; and to configure automatic trenching parameters corresponding to the current business scenario in response to a second operation command from the operator.

[0109] In one feasible implementation, the processor is further configured to receive the excavator's automatic trenching parameters in response to a second operation instruction input by the operator on the client according to the current business scenario; and to configure the automatic trenching parameters.

[0110] In one feasible implementation, the processor is further configured to control the tracks and chassis of the excavator to maintain consistent orientation prior to the steps of planning the excavator's position movement strategy based on the excavator size and the target trench size, and the excavator's digging area at each location and each digging point in the digging area.

[0111] In practical applications, memory 601 may include high-speed random access memory (RAM) and may also include non-volatile memory, such as at least one disk storage device. Communication between this system network element and at least one other network element is achieved through at least one communication interface 604 (which can be wired or wireless), such as the Internet, wide area network, local area network, metropolitan area network, etc.

[0112] Bus 603 can be an ISA bus, PCI bus, or EISA bus, etc. The bus can be divided into address bus, data bus, control bus, etc. For ease of representation, Figure 6 The symbol is represented by a single double-headed arrow, but this does not mean that there is only one bus or one type of bus.

[0113] The memory 601 is used to store programs. After receiving an execution instruction, the processor 602 executes the program. The method executed by the apparatus defined by the process disclosed in any of the foregoing embodiments of this disclosure can be applied to the processor 602 or implemented by the processor 602.

[0114] The processor 602 may be an integrated circuit chip with signal processing capabilities. In implementation, each step of the above method can be completed by the integrated logic circuitry in the hardware of the processor 602 or by instructions in software form. The processor 602 may be a general-purpose processor, including a Central Processing Unit (CPU), a Network Processor (NP), etc.; it may also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field-Programmable Gate Array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. It can implement or execute the methods, steps, and logic block diagrams disclosed in the embodiments of this disclosure. The general-purpose processor may be a microprocessor or any conventional processor. The steps of the methods disclosed in the embodiments of this disclosure can be directly manifested as execution by a hardware decoding processor, or execution by a combination of hardware and software modules in the decoding processor. The software module can reside in a mature storage medium in the field, such as random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, or registers. This storage medium is located in memory 601, and processor 602 reads the information from memory 601 and, in conjunction with its hardware, completes the steps of the above method.

[0115] This disclosure also provides a computer-readable storage medium storing a computer program that is executed by a processor, wherein the processor performs the following steps: In response to the operator's instructions, the system enters automatic trenching mode and configures the automatic trenching parameters corresponding to the current business scenario; wherein, the automatic trenching parameters include the target trench size; Based on the excavator size and the target trench size, a position movement strategy for the excavator is planned, as well as the excavation area of ​​the excavator at each position and each excavation point in the excavation area; wherein, the position movement strategy is triggered when the trench depth corresponding to the excavation area at each position matches the target trench size; Under the position movement strategy, the excavator is controlled to perform excavation operations at each excavation point in the excavation area of ​​each position until the length of the excavated trench meets the requirements of the target trench size.

[0116] In one feasible implementation, the processor is also configured to plan the size of the excavation area of ​​the excavator based on the boom length and arm length of the excavator.

[0117] In one feasible implementation, the processor is further configured to determine the single digging size of the excavator in the digging area based on the bucket size of the excavator; and to plan each digging point in the digging area of ​​the excavator according to the digging area of ​​the excavator and the single digging size of the excavator in the digging area.

[0118] In one feasible implementation, the processor is further configured to plan the backward movement distance of the excavator based on the length of the excavation area of ​​the excavator; and to plan the timing of the backward movement of the excavator based on the matching result of the trench depth corresponding to the excavation area after the excavator excavates at each excavation point in the excavation area and the target trench size.

[0119] In one feasible implementation, the automatic trenching parameters may include at least one or more of the following: starting position, trenching direction, and dumping area.

[0120] In one feasible implementation, the processor is further configured to determine the dumping area of ​​the excavator based on the trenching direction and a preset angle range on both sides of the trenching direction.

[0121] In one feasible implementation, the processor is further configured to: control the excavator to perform excavation operations on each excavation point in the excavation area based on the starting position and the trenching direction; determine whether the length of the trench excavated by the excavator matches the target trench size; if they match, terminate the process; if they do not match, execute the following steps: determine whether the depth of the trench excavated by the excavator matches the target trench size; if they do not match, repeat the step of controlling the excavator to perform excavation operations on each excavation point in the excavation area based on the starting position and the trenching direction; if they match, trigger the excavator to move backward; control the excavator to move backward by the backward movement distance according to the trenching direction, and use the position after the excavator's movement as the new starting position, and repeat the step of controlling the excavator to perform excavation operations on each excavation point in the excavation area based on the starting position and the trenching direction.

[0122] In one feasible implementation, the processor is further configured to perform digging, dumping, and soil removal operations for each digging point in the digging area when the starting position of the excavator and the digging direction are fixed.

[0123] In one feasible implementation, the processor is further configured to repeatedly execute the following steps until each excavation point in the excavation area has been traversed: if the current excavation point has completed the excavation, dumping, and soil dumping operations, then the current ordinate of each excavation point in the excavation area is determined based on the laser point cloud for the trench and the abscissa of each excavation point in the excavation area; the excavation point with the largest current ordinate is taken as the new current excavation point for the next excavation, dumping, and soil dumping operations.

[0124] In one feasible implementation, the processor is further configured to enter an automatic trenching mode in response to a first operation command from the operator; and to configure automatic trenching parameters corresponding to the current business scenario in response to a second operation command from the operator.

[0125] In one feasible implementation, the processor is further configured to receive the excavator's automatic trenching parameters in response to a second operation instruction input by the operator on the client according to the current business scenario; and to configure the automatic trenching parameters.

[0126] In one feasible implementation, the processor is further configured to control the tracks and chassis of the excavator to maintain consistent orientation prior to the steps of planning the excavator's position movement strategy based on the excavator size and the target trench size, and the excavator's digging area at each location and each digging point in the digging area.

[0127] With the above solution, the operator only needs to input the automatic trenching parameters on the client side in the early stage. After the client side sends the automatic trenching parameters to the server device, the server device can plan and control the excavator to dig trenches on its own, reducing the operator's effort and improving work efficiency and reliability.

[0128] In this embodiment of the disclosure, the computer program, when run by the processor, can also execute other machine-readable instructions to perform other methods as described in the embodiments. For details on the specific execution steps and principles, please refer to the description of the embodiments, which will not be repeated here.

[0129] In the embodiments provided in this disclosure, it should be understood that the disclosed apparatus and methods can be implemented in other ways. The apparatus embodiments described above are merely illustrative. For example, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. Furthermore, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Additionally, the displayed or discussed mutual couplings or direct couplings or communication connections may be through some communication interfaces; indirect couplings or communication connections between devices or units may be electrical, mechanical, or other forms.

[0130] For example, the flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods, and computer program products according to various embodiments of the present disclosure. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than those marked in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram and / or flowchart, and combinations of blocks in block diagrams and / or flowcharts, may be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions.

[0131] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0132] In addition, the functional units in the embodiments provided in this disclosure can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0133] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this disclosure, in essence, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the trenching operation control method described in the various embodiments of this disclosure. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0134] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures. In addition, the terms "first", "second", "third", etc. are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0135] Finally, it should be noted that the above-described embodiments are merely specific implementations of this disclosure, used to illustrate the technical solutions of this disclosure, and not to limit it. The protection scope of this disclosure is not limited thereto. Although this disclosure has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that any person skilled in the art can still modify or easily conceive of changes to the technical solutions described in the foregoing embodiments, or make equivalent substitutions for some of the technical features, within the scope of the technology disclosed in this disclosure; and these modifications, changes, or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this disclosure. All should be covered within the protection scope of this disclosure.

Claims

1. A method for controlling trenching operations, characterized in that, The method includes: In response to the operator's instructions, the system enters automatic trenching mode and configures the automatic trenching parameters corresponding to the current business scenario; wherein, the automatic trenching parameters include the target trench size; the automatic trenching parameters also include at least one or more of the following: starting position, trenching direction, and dumping area; The movement parameters of the excavator are determined based on the dimensions of the components that generate the digging action of the excavator and the dimensions of the target trench. During the excavation operation based on the automatic trenching parameters, the following steps are repeated until the length of the excavated trench meets the requirements of the target trench size: In response to the matching between the trench depth already excavated by the excavator at the current position and the target trench size, the excavator is controlled to move based on the movement parameters and the next position after the excavator moves is controlled to excavate the trench; the next position is taken as the current position; The step of determining the movement parameters of the excavator for each movement based on the excavation area and the target trench size includes: Based on the length of the excavation area of ​​the excavator and the length of the target trench, the moving distance and direction of the excavator are planned; The step of controlling the excavator to move based on the movement parameters and controlling the next position after the excavator moves to excavate a trench in response to the matching of the trench depth already excavated by the excavator at the current position and the target trench size; and taking the next position as the current position, includes: Based on the starting position and the trenching direction, the excavator is controlled to perform excavation operations on each excavation point in the excavation area corresponding to the starting position; Determine whether the length of the trench excavated by the excavator matches the size of the target trench. If a match is found, the process terminates. If they do not match, it is determined whether the depth of the trench excavated by the excavator matches the depth of the target trench. If they do not match, the step of controlling the excavator to perform excavation operations on each excavation point in the excavation area corresponding to the starting position is repeated based on the starting position and the trenching direction. If they match, in response to the matching of the trench depth excavated by the excavator in the excavation area corresponding to the starting position and the size of the target trench, the excavator is controlled to move the moving distance along the moving direction according to the trenching direction, and the position after the excavator moves is taken as the starting position. The step of controlling the excavator to perform excavation operations on each excavation point in the excavation area corresponding to the starting position is repeated based on the starting position and the trenching direction.

2. The method according to claim 1, characterized in that, The step of determining the movement parameters of the excavator based on the dimensions of the components that generate the digging action and the dimensions of the target trench includes: The excavation area of ​​the excavator at each location is determined based on the dimensions of the components that generate the excavation action. Based on the excavation area and the target trench size, the movement parameters of the excavator for each movement are determined.

3. The method according to claim 1, characterized in that, Based on the dimensions of the components that generate the digging action of the excavator, the steps for determining the digging area of ​​the excavator at each location include: Calculate the length of the excavation area of ​​the excavator at each location based on the length of the excavator's boom and arm.

4. The method according to claim 2, characterized in that, The method further includes: Based on the bucket size of the excavator, determine the single digging size of the excavator in the digging area; Each digging point in the digging area of ​​the excavator is calculated based on the digging area of ​​the excavator and the single digging size of the excavator in the digging area.

5. The method according to claim 1, characterized in that, The method further includes: Based on the trenching direction and the preset angle range on both sides of the trenching direction, the dumping area of ​​the excavator is determined.

6. The method according to claim 1, characterized in that, Based on the starting position and the trenching direction, the steps of controlling the excavator to perform excavation operations on each excavation point in the excavation area corresponding to the starting position include: When the starting position of the excavator and the trenching direction are fixed, the excavation, dumping, and soil removal operations are performed for each excavation point in the excavation area corresponding to the starting position.

7. The method according to claim 6, characterized in that, When the starting position of the excavator and the trenching direction are fixed, the steps of performing excavation, dumping, and soil removal operations for each excavation point in the excavation area corresponding to the starting position include: Repeat the following steps until every excavation point in the excavation area corresponding to the starting position has been traversed: If the current excavation point has completed the excavation, dumping, and soil dumping operations, then the current ordinate of each excavation point in the excavation area is determined based on the laser point cloud of the trench and the abscissa of each excavation point in the excavation area corresponding to the starting position. The excavation point with the largest current vertical coordinate will be used as the new current excavation point for the next excavation, dumping, and soil removal operations.

8. The method according to claim 1, characterized in that, The steps for responding to operator commands, entering automatic trenching mode, and configuring the automatic trenching parameters corresponding to the current business scenario include: In response to the operator's first operating command, it enters automatic trenching mode; In response to the operator's second operation command, configure the automatic trenching parameters corresponding to the current business scenario.

9. The method according to claim 8, characterized in that, The steps for configuring the automatic trenching parameters corresponding to the current business scenario in response to the operator's second operation command include: In response to the second operation command input by the operator on the client according to the current business scenario, the automatic trenching parameters of the excavator are received; Configure the automatic trenching parameters.

10. The method according to claim 1, characterized in that, Before the step of determining the movement parameters of the excavator based on the dimensions of the components that generate the excavation action and the target trench dimensions, the method further includes: Keep the excavator's tracks and chassis aligned.

11. A control device for trenching operations, characterized in that, The device includes: The recording module, in response to the operator's operation instructions, enters the automatic trenching mode and configures the automatic trenching parameters corresponding to the current business scenario; wherein, the automatic trenching parameters include the target trench size; the automatic trenching parameters also include at least one or more of the following: starting position, trenching direction, and dumping area; The planning module determines the movement parameters of the excavator based on the dimensions of the components that generate the excavation action and the dimensions of the target trench. The control module, during the excavation operation based on the automatic trenching parameters, repeatedly executes the following steps until the length of the excavated trench meets the requirements of the target trench size: In response to the matching between the trench depth already excavated by the excavator at the current position and the target trench size, the excavator is controlled to move based on the movement parameters and the next position after the excavator moves is controlled to excavate the trench; the next position is taken as the current position; The planning module is specifically used to determine the moving distance and moving direction of the excavator based on the length of the excavation area of ​​the excavator and the length of the target trench. The control module is specifically used to control the excavator to perform excavation operations on each excavation point in the excavation area based on the starting position and the trenching direction; The process involves determining whether the length of the trench excavated by the excavator matches the target trench size; if they match, the process terminates; if they do not match, the process involves determining whether the depth of the trench excavated by the excavator matches the depth of the target trench; if they do not match, the process repeats the step of controlling the excavator to perform excavation operations on each excavation point in the excavation area corresponding to the starting position based on the starting position and the digging direction; if they match, in response to the matching of the trench depth already excavated by the excavator in the excavation area corresponding to the starting position and the target trench size, the process controls the excavator to move the moving distance along the moving direction according to the digging direction, and takes the position after the excavator moves as the starting position, repeating the step of controlling the excavator to perform excavation operations on each excavation point in the excavation area corresponding to the starting position based on the starting position and the digging direction.

12. A server-side device, comprising a memory and a processor, wherein the memory stores a computer program executable on the processor, characterized in that, When the processor executes the computer program, it implements the steps of the method described in any one of claims 1 to 10.

13. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executable instructions that, when invoked and executed by a processor, cause the processor to perform the method according to any one of claims 1 to 10.

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