A trench operation method using multiple excavators

Abstract

The present application provides a multi-excavator ditch operation method. The multi-excavator ditch operation method provided by the present application realizes efficient, accurate and continuous ditch operation through detailed operation planning and dynamic operation strategies. Compared with traditional methods, it effectively improves the operation efficiency and operation quality, and ensures the comprehensive completion of ditch operation. At the same time, the operation coordination and synchronous operation between the master excavator and the slave excavator make the operation process smoother and seamless, and minimize operation interruptions and errors. In addition, the method provided by the present application can not only improve the overall performance of the excavator system, but also bring significant technological progress and economic benefits to the field of ditch engineering.

Description

Technical Field

[0001] The present application relates to the technical field of excavators, and in particular to a ditch operation method using multiple excavators. Background Art

[0002] With the advancement of engineering technology and the improvement of automation, the role of excavators in engineering construction is becoming increasingly important. In many large-scale engineering projects, excavators are used in many earthwork projects, including soil excavation, trench excavation, earthwork leveling and slope construction.

[0003] In order to improve operating efficiency and accuracy, reduce labor costs and operating risks, it has become particularly urgent to apply intelligent and automated technologies to excavator operations. Summary of the invention

[0004] In view of this, the present application provides a ditch operation method of multiple excavators, which is used to achieve ditch tasks through excavator coefficients in a large range and complex environment, and improve operation efficiency and operation accuracy.

[0005] Specifically, the present application is implemented through the following technical solutions:

[0006] The master excavator and the slave excavator complete the master-slave excavator pairing. After the pairing is completed, the master excavator determines the operation mode and operation strategy according to the ditch width indicated by the ditch task, and synchronously sends the operation strategy to the slave excavator to enable the master and slave excavators to perform ditch operations at the same time.

[0007] A first aspect of the present application provides a ditch operation method using multiple excavators, the method comprising:

[0008] The master excavator determines the target operation mode corresponding to the ditch task according to the relative relationship between the ditch width indicated by the ditch task and its own working parameters; wherein different relative relationships correspond to different target operation modes.

[0009] The main excavator calculates the current excavated working distance according to the target working mode, and determines the size relationship between the working distance and the ditch length indicated by the ditch task.

[0010] When the main excavator determines that the ditch task is not completed based on the size relationship, it calculates the operation strategy corresponding to the ditch task according to the target operation mode; wherein the operation strategy includes an operation path composed of multiple operation points and the actions that need to be performed at each operation point in the operation path.

[0011] The master excavator operates according to the operation strategy, and synchronizes the operation strategy to the slave excavator to instruct the slave excavator to operate according to the operation strategy.

[0012] After executing the operation strategy, the master excavator and the slave excavator perform a slope repair operation and retreat.

[0013] After determining that the slave excavator has successfully retreated, the master excavator again executes the step of calculating the current excavated working distance until the ditch task is completed.

[0014] A second aspect of the present application provides an excavator system, the excavator system is used to implement a ditch task, the excavator system comprises a master excavator and a slave excavator; the master excavator and the slave excavator have the same structure, and the master excavator and the slave excavator are initially located at an initial working position indicated by the ditch task in a manner that the buckets face each other; wherein,

[0015] The master excavator is used to determine the target operation mode corresponding to the ditch task according to the relative relationship between the ditch width indicated by the ditch task and its own working parameters; wherein different relative relationships correspond to different target operation modes;

[0016] The master excavator is further used to calculate the current excavated working distance according to the target working mode, and determine the size relationship between the working distance and the ditch length indicated by the ditch task;

[0017] The master excavator is further configured to calculate an operation strategy corresponding to the ditch task according to the target operation mode when it is determined that the ditch task is not completed according to the size relationship; wherein the operation strategy includes an operation path composed of a plurality of operation points and an action to be performed at each operation point in the operation path;

[0018] The master excavator is further used to perform operations according to the operation strategy and synchronize the operation strategy to the slave excavator;

[0019] The slave excavator is used to perform operations according to the operation strategy;

[0020] The master excavator and the slave excavator are further used to perform a slope repair operation and retreat after executing the operation strategy;

[0021] The master excavator is also used to re-execute the step of calculating the current excavated working distance after determining that the slave excavator has successfully retreated, until the ditch task is completed.

[0022] The multi-excavator ditch operation method provided by this application realizes efficient, accurate and continuous ditch operation through detailed operation planning and dynamic operation strategies. Compared with traditional methods, it effectively improves the operation efficiency and operation quality, and ensures the comprehensive completion of ditch operation. At the same time, the operation coordination and synchronous operation between the master excavator and the slave excavator make the operation process smoother and seamless, and minimize operation interruptions and errors. In addition, the method provided by this application can not only improve the overall performance of the excavator system, but also bring significant technological progress and economic benefits to the field of ditch engineering. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 A flow chart of a first embodiment of a ditch operation method for multiple excavators provided in the present application;

[0024] Figure 2 A schematic diagram of an excavator shown as an exemplary embodiment of the present application;

[0025] Figure 3 A schematic diagram showing a master excavator and a slave excavator in an initial working position according to an exemplary embodiment of the present application;

[0026] Figure 4 A diagram showing a calculation principle of a working distance according to an exemplary embodiment of the present application;

[0027] Figure 5 A flow chart of Embodiment 2 of the ditch operation method for multiple excavators provided in this application;

[0028] Figure 6 A flowchart of a solution operation path shown as an exemplary embodiment of the present application;

[0029] Figure 7 This is a schematic diagram showing an implementation principle of solving an operation path in a first operation mode according to an exemplary embodiment of the present application;

[0030] Figure 8 This is a schematic diagram showing an implementation principle of solving the operation path in the second operation mode according to an exemplary embodiment of the present application. DETAILED DESCRIPTION

[0031] Here, exemplary embodiments will be described in detail, and examples thereof are shown in the accompanying drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application.

[0032] The terms used in this application are only for the purpose of describing specific embodiments and are not intended to limit this application. The singular forms of "a", "said" and "the" used in this application are also intended to include plural forms, unless the context clearly indicates other meanings. It should also be understood that the term "and / or" used in this article refers to and includes any or all possible combinations of one or more associated listed items.

[0033] It should be understood that although the terms first, second, third, etc. may be used in the present application to describe various information, these information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of the present application, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Depending on the context, the word "if" as used herein may be interpreted as "at the time of" or "when" or "in response to determining".

[0034] Specific embodiments are given below to introduce the technical solution of the present application in detail.

[0035] Figure 1 This is a flow chart of the first embodiment of the ditch operation method of multiple excavators provided in this application. Please refer to Figure 1 , the method provided in this embodiment may include:

[0036] S101. The master excavator determines a target operation mode corresponding to the ditch task according to a relative relationship between a ditch width indicated by the ditch task and its own working parameters; different relative relationships correspond to different target operation modes.

[0037] The multi-excavator ditch operation method provided in the present application is applied to an excavator system, wherein the excavator system includes a master excavator and a slave excavator; the master excavator and the slave excavator have the same structure.

[0038] Specifically, Figure 2 This is a schematic diagram of the structure of an excavator according to an exemplary embodiment of the present application. It should be noted that, referring to the previous description, the structures of the master excavator and the slave excavator are the same. Figure 2 The excavator shown can be a master excavator or a slave excavator.

[0039] Further, see Figure 2 The excavator includes a bucket inclination sensor 1, a bucket arm inclination sensor 2, a boom inclination sensor 3, a rotation angle sensor 4, a mobile antenna 5, a mobile station 6, a collaborative controller 7, and a communication module 8.

[0040] It should be noted that the mobile antenna 5 is set at the rotation center of the excavator to facilitate the subsequent calculation of the distance between the master and slave excavators. The distance between the master and slave excavators is determined directly based on the positions of the master and slave excavators, avoiding posture conversion caused by rotation and reducing the amount of calculation.

[0041] For further information, please refer to Figure 2 The excavator system is also provided with a fixed station antenna 9 and a fixed station 10, and the fixed station antenna 9 and the fixed station 10 are arranged outside the excavator. It should be noted that the mobile station 6 determines the position of the excavator based on the differential positioning technology by simultaneously receiving signals from the satellite and the fixed station 10, so that the accuracy can be improved.

[0042] It should be noted that before performing the ditch work, the master excavator and the slave excavator are initially located at the initial working position indicated by the ditch task with their buckets facing each other.

[0043] Specifically, Figure 3 This is a schematic diagram showing an exemplary embodiment of the present application showing a master excavator and a slave excavator in an initial working position. Figure 3 In the initial working position, the buckets of the master excavator and the slave excavator are placed opposite to each other, the orientation of the master and slave excavators are consistent with the direction of the ditch, and the buckets of the master and slave excavators are located at the center point of the ditch excavated by the ditch task instruction. In other words, the initial working point of the master and slave excavators is the center point of the ditch.

[0044] Specifically, the ditch task is set by the user according to actual needs, and is used to instruct the master and slave excavators to perform the ditch task to achieve the purpose of digging the ditch. For example, in one embodiment, the user can set the ditch task on the master excavator through relevant settings. It should be noted that the ditch task indicates the ditch length, ditch depth, and ditch width of the ditch to be excavated.

[0045] Furthermore, before executing the ditch task, the master and slave excavators need to be paired. In specific implementation, the master excavator can send the ditch task to the slave excavator. Further, after receiving the ditch task, the slave excavator feeds back its position to the master excavator to complete the pairing of the master and slave excavators. It should be noted that the pairing of the master and slave excavators is to enable the master and slave excavators to perform excavation operations simultaneously during the subsequent excavation process.

[0046] In specific implementation, the master excavator can convert the ditch task into a CAN message format, and synchronize the ditch task to the slave excavator through the communication module 8.

[0047] Specifically, the communication module 8 uses ROS as the middleware, designs the function package M for converting between ROS and CAN formats, introduces the Linux SocketCAN dependent function package N, the function packages M and N are connected in a loosely coupled form, and different namespaces are given to implement the reuse of function package A for synchronizing information.

[0048] Furthermore, when synchronizing the position, the data part of the data frame of the differential GPS data obtained based on the differential positioning technology is designed to be stored in little-endian mode. The first four bytes store the longitude, accurate to 7 decimal places, and the last four bytes store the latitude, accurate to 8 decimal places. The overall position is accurate to the centimeter level, as shown in Table 1:

[0049] Table 1

[0050]

[0051] Specifically, the working parameters of the main excavator include bucket width, minimum excavation range, maximum excavation range, minimum excavation radius and maximum excavation radius, wherein the minimum excavation range is equal to twice the minimum radius, and the maximum excavation range is equal to twice the maximum excavation radius.

[0052] It should be noted that in the ditch operation method for multiple excavators provided in the present application, the ditch width indicated by the ditch task is less than or equal to the maximum excavation range of the main excavator. Therefore, the relative relationship between the ditch width and the working parameters includes two situations, the first situation is that the ditch width is greater than or equal to the minimum excavation range in the working parameters, and less than or equal to the maximum excavation range in the working parameters, and the second situation is that the ditch width is greater than the bucket width in the working parameters, and less than the minimum excavation range.

[0053] Furthermore, when the ditch width is greater than or equal to the minimum excavation range 2r in the working parameters and less than or equal to the maximum excavation range 2R in the working parameters, the target operating mode is determined to be the first operating mode; when the ditch width is greater than the bucket width in the working parameters and less than the minimum excavation range 2r, the target operating mode is determined to be the second operating mode.

[0054] It should be noted that the method provided in the present application further includes: when the ditch width indicated by the initial ditch task set by the user is greater than the maximum excavation range:

[0055] The main excavator divides the initial ditch task into a plurality of sub-ditch tasks and executes the sub-ditch tasks; wherein the ditch width indicated by the sub-ditch tasks is less than or equal to the maximum excavation range.

[0056] Specifically, when the ditch width indicated by the initial ditch task is greater than the maximum excavation range, the main excavator may split the initial ditch task into multiple sub-ditch tasks, and the ditch width indicated by each sub-ditch task is less than or equal to the maximum excavation range. For example, in a possible implementation, the ditch width indicated by the initial ditch task may be split according to the maximum excavation range to obtain multiple sub-ditch tasks.

[0057] It should be noted that if the ditch width indicated by the initial ditch task can be equally divided by the maximum excavation range, the ditch widths indicated by the obtained multiple sub-ditch tasks are all equal to the maximum excavation range, and the target operation modes corresponding to the multiple sub-ditch tasks are all the first operation mode. If the ditch width indicated by the initial ditch task cannot be equally divided by the maximum excavation range, that is, by splitting, N+1 sub-ditch tasks can be obtained (where N=[Q / 2R], R is the maximum excavation radius, and Q is the initial ditch task), at this time, the ditch widths of the first N sub-ditch tasks are equal to the maximum excavation range, and the corresponding target operation mode is the first target operation mode. The ditch width of the last sub-ditch task is less than the maximum excavation range, and the corresponding target operation mode is the second target operation mode.

[0058] The method provided in this embodiment, when the ditch width indicated by the initial ditch task is larger than the maximum excavation range, splits the initial ditch task into multiple sub-ditch tasks. Subsequently, each sub-ditch task can be completed according to the method provided in this application, and finally the purpose of completing the initial ditch task is achieved.

[0059] S102: The master excavator calculates the current excavated working distance according to the target working mode, and determines the relationship between the working distance and the ditch length indicated by the ditch task.

[0060] Specifically, the working distance refers to the length of the trench that has been excavated. Figure 4 This is a diagram showing the calculation principle of the working distance according to an exemplary embodiment of the present application. Figure 4 ,Under different operation modes, the method of calculating the operation distance is different.

[0061] Specifically, the first operation mode indicates that the distance between the master and slave excavators is used as the currently operated operation distance; wherein the distance between the master and slave excavators is determined based on the positions of the master and slave excavators, and the positions of the master and slave excavators are determined by differential GPS signals;

[0062] The second operation mode indicates that the operation distance is calculated according to the following formula:

[0063] ,

[0064] Among them, the Lis the operating distance;

[0065] Said D The distance between the master and slave excavators;

[0066] Said is the minimum digging radius of the main excavator;

[0067] Said The ditch width indicated for the ditch task in question.

[0068] For details, please refer to Figure 4 , Figure 4 Figure A in the figure is the principle diagram for calculating the working distance in the first working mode. Figure 4 In Figure A, in the first operating mode, the ditch width is greater than the minimum operating range and less than the maximum operating range. Further, referring to the previous description, since the mobile antenna 5 is set on the rotation center, the positions of the master and slave excavators (the positions of the master and slave excavators are represented by longitude and latitude) are the positions of their rotation centers. Therefore, at this time, the operating distance is equal to the distance between the master and slave excavators.

[0069] Specifically, the master excavator can process the reverse geodetic problem according to the positions of the master and slave excavators, and calculate the distance between the master and slave excavators and the azimuth of the slave excavator relative to the north-east sky of the master excavator.

[0070] Specifically, for example, in one embodiment, the position of the master excavator is represented by P(lon1, lat1), and the position of the slave excavator is represented by Q(lon2, lat2). The distance dist between the master and slave excavators and the north-east angular laz of the slave excavator relative to the master excavator can be calculated by the vincenty algorithm. Wherein, lon and lat represent the longitude coordinate and latitude coordinate in the WGS84 ellipsoid coordinate system, respectively.

[0071] Specifically, the iterative process of the Vincenty algorithm is as follows:

[0072] (1) Initialize the reduced latitude

[0073] , , the length of the semi-minor axis of the ellipsoid b = 6356752.314245, the flattening of the earth , the initial value of the longitude difference of the point on the auxiliary sphere:

[0074] .

[0075] (2) Calculate the angular distance between two points.

[0076] Specifically, the angle interval between two points is calculated according to the following formula:

[0077] .

[0078] (3) Calculate the positive azimuth of the equatorial geodesic.

[0079] Specifically, the positive azimuth angle can be calculated according to the following formula:

[0080] .

[0081] (4) Calculate the angular distance between the midpoint of the line and the equator.

[0082] Specifically, the angular spacing can be calculated according to the following formula:

[0083] .

[0084] (5) Calculate the longitude difference correction value.

[0085] Specifically, the longitude difference correction value can be calculated according to the following formula:

[0086] .

[0087] (6) Update longitude difference

[0088] Specifically, the longitude difference is updated according to the following formula:

[0089] .

[0090] (7) Repeat the above iterative process until Less than 10 -12 , the distance can be derived dist and azimuth laz .

[0091] The specific calculation formula is as follows:

[0092] .

[0093] Please continue to refer to Figure 4 , Figure 4 Figure B in the figure is the principle diagram for calculating the working distance in the second working mode. Figure 4 In Figure B, in the second operation mode, since the ditch width indicated by the ditch task is smaller than the minimum excavation range, the operation distance is no longer equal to the distance between the master and slave excavators. Figure 4 In Figure B, the working distance can be calculated according to the following formula:

[0094] ,

[0095] in, ,

[0096] In other words, the working distance can be calculated according to the following formula:

[0097] ,

[0098] in, L is the working distance, The distance between the master and slave excavators, is the minimum digging radius of the main excavator, The ditch width indicated for the ditch task in question.

[0099] S103. When the main excavator determines that the ditch task is not completed based on the size relationship, it calculates the operation strategy corresponding to the ditch task according to the target operation mode; wherein the operation strategy includes an operation path composed of multiple operation points and the actions that need to be performed at each operation point in the operation path.

[0100] Specifically, when the working distance between the master and slave excavators is equal to the ditch width indicated by the ditch task, it is determined that the ditch task is completed; when the working distance between the master and slave excavators is less than the ditch width indicated by the ditch task, it is determined that the ditch task is not completed.

[0101] It should be noted that when it is determined that the ditch task is completed, the master and slave excavators retreat and adjust to end the excavation task. When the ditch task is not completed, the master and slave excavators calculate the operation strategy corresponding to the ditch task according to the target operation mode, and continue to excavate according to the operation strategy until the ditch task is completed.

[0102] In a specific implementation, in a possible implementation, the planning model can be used to solve the operation strategy corresponding to the ditch task. Further, the operation strategy includes an operation path composed of multiple operation points and the actions that each operation point in the operation path needs to perform.

[0103] It should be noted that the work point refers to the location where the excavator is performing a specific task. The excavator will perform corresponding actions at this location to complete the specific task. Multiple work points constitute the excavator's work path. The excavator moves to different work points along the work path, and then performs corresponding actions at the work point to complete the specific task.

[0104] The specific implementation principle and process of the solution operation strategy will be described in detail in the following embodiments and will not be repeated here.

[0105] S104: The master excavator operates according to the operation strategy, and synchronizes the operation strategy to the slave excavator to instruct the slave excavator to operate according to the operation strategy.

[0106] Specifically, after the operation strategy is determined, the operation will be performed according to the operation strategy. Furthermore, the master excavator will synchronize the operation strategy to the slave excavator, and the slave excavator will perform the operation according to the operation strategy after receiving the operation strategy.

[0107] It should be noted that during the operation, the slave excavator will feed back its own operation progress to the master excavator, so that the master excavator can understand the execution process of the slave excavator. For example, it is convenient for the master excavator to understand whether the slave excavator has completed the operation strategy.

[0108] S105: After executing the operation strategy, the master excavator and the slave excavator perform a slope repair operation and retreat.

[0109] It should be noted that slope repair work refers to the slope adjustment or trimming of the currently excavated ditch. The purpose of slope repair work is to ensure the stability of the earthwork and the ditch slope and shape required by the ditch task.

[0110] Furthermore, retreat refers to the excavator moving backwards. It should be noted that in order to carry out the next stage of the task, that is, to continue to perform the ditch task, the master and slave excavators need to retreat after completing a slope repair operation.

[0111] It should be noted that in a possible implementation of the present application, after retreating, the master and slave excavators can also perform an alignment operation to ensure subsequent precise operation. The alignment operation refers to adjusting the position to the center line of the ditch to be excavated along the length direction indicated by the ditch task, and adjusting the direction to be along the ditch direction.

[0112] S106: After determining that the slave excavator has successfully retreated, the master excavator again executes the step of calculating the current excavated working distance until the ditch task is completed.

[0113] Specifically, after the slave excavator successfully retreats, it uses dual antennas to obtain the heading angle and its own position, and sends them to the master excavator. The master excavator updates its own position and heading angle, and executes the step of calculating the working distance again until the ditch task is completed.

[0114] The multi-excavator ditch operation method provided in this embodiment realizes efficient, accurate and continuous ditch operation through detailed operation planning and dynamic operation strategy. Compared with the traditional method, it effectively improves the operation efficiency and operation quality, and ensures the comprehensive completion of the ditch operation. At the same time, the operation coordination and synchronous operation between the master excavator and the slave excavator make the operation process smoother and seamless, and minimize the interruption and error of the operation. In addition, the method provided in this embodiment can not only improve the overall performance of the excavator system, but also bring significant technical progress and economic benefits to the field of ditch engineering.

[0115] Figure 5 This is a flow chart of Example 2 of the ditch operation method for multiple excavators provided in this application. Please refer to Figure 5 Based on the above embodiment, the operation strategy corresponding to the ditch task is calculated according to the target operation mode, including:

[0116] S501. Calculate the forward reachable working area that the main excavator can reach at the current position according to the working parameters.

[0117] Specifically, the accessible working area of ​​the excavator refers to the range covered by the excavator when performing operations, which is the annular area between the first circular area with the rotation center as the center and the minimum excavation radius as the radius and the second circular area with the rotation center as the center and the maximum excavation radius as the radius. Please continue to refer to Figure 4 , the forward reachable operation refers to the half annular area facing the slave excavator when the master excavator and the slave excavator are facing each other. In other words, in this application, in order to achieve the ditch task, when the master and slave excavators operate according to the operation strategy, the operation area of ​​the master and slave excavators is only the half annular area in the relative direction of the two.

[0118] In specific implementation, the working range of the excavator bucket end can be derived and calculated based on the forward kinematics equation of the excavator working device, and then the forward reachable working area that the main excavator can reach at the current position can be determined based on the working range of the bucket end.

[0119] Specifically, in one possible implementation, the Denavitt-Hartenberg method can be used to calculate the position of the excavator bucket end , and then get the working range of the bucket end.

[0120] In specific implementation, the position of the excavator bucket end can be calculated by the following formula: :

[0121] ,

[0122] in, Respectively represent the joint angles of the slewing, bucket, dipper arm and boom, They represent the z-axis spacing between the slewing-boom coordinate system, the z-axis spacing between the bucket tooth tip-root coordinate system, the z-axis spacing between the bucket-arm coordinate system, and the z-axis spacing between the arm-boom coordinate system. It is the height between the connection point of the boom and the cockpit and the ground.

[0123] in,

[0124] , , , , , .

[0125] It should be noted that Respectively represent the joint angles of rotation, bucket, dipper arm and boom, which can be obtained by Figure 2 The rotation angle sensor 4, bucket inclination sensor 1, arm inclination sensor 2 and boom inclination sensor 3 shown are used to obtain the information.

[0126] S502: Divide the accessible working area into multiple sub-areas.

[0127] Please continue to refer to Figure 4 , the multiple sub-areas include rotary excavation area ①, adjustment excavation area ② and unloading area ③; wherein, the rotary excavation area ① refers to the area in the reachable working area that is within the ditch range instructed to be excavated by the ditch task and can be directly excavated by rotary excavation at the current position; the adjustment excavation area ② refers to the area in the reachable working area that is within the ditch range and cannot be directly excavated by rotary excavation at the current position; the unloading area ③ refers to the area outside the ditch range in the reachable working area.

[0128] S503. Calculate an operation path according to the target operation mode and the multiple sub-areas; wherein the operation path includes at least a first-type operation point corresponding to the rotary excavation area, multiple second-type operation points corresponding to the adjustment excavation area, and an end operation point to which the excavation operation needs to be returned after the excavation operation is completed.

[0129] Specifically, Figure 6 This is a flowchart showing a solution operation path for an exemplary embodiment of the present application. Figure 6 In a possible implementation, calculating the operation path according to the target operation mode and the multiple sub-areas includes:

[0130] S601. Determine an initial operation path according to the target operation mode.

[0131] Specifically, Figure 7 This is a schematic diagram showing an implementation principle of solving an operation path in a first operation mode according to an exemplary embodiment of the present application. Figure 8 This is a schematic diagram showing an implementation principle of solving the operation path in the second operation mode according to an exemplary embodiment of the present application.

[0132] Please also refer to Figure 7 and Figure 8, when the target operation mode is the first operation mode, the initial operation path is determined to be a path consisting of the starting operation point A1, the operation point B1, the operation point C1, the operation point D1, the operation point E1 and the ending operation point F1; when the target operation mode is the second operation mode, the initial operation path is determined to be a path consisting of the starting operation point A2, the operation point C2, the operation point B2, the operation point E2, the operation point D2, the operation point F2 and the ending operation point G2.

[0133] Specifically, refer to Figure 7 In the first operation mode, the initial operation path is a path consisting of the starting operation point A1, the operation point B1, the operation point C1, the operation point D1, the operation point E1 and the ending operation point F1. The path can be expressed as: A1→B1→C1→D1→E1→F1. In other words, the path includes the following operations ;in, , , For excavator back-off operations, e.g. Refers to retreating from operation point A1 to operation point B1; similarly, For forward operation of the excavator, e.g. It refers to moving from work point C1 to work point D1.

[0134] Similarly, please refer to Figure 8 In the second operation mode, the initial operation path is a path consisting of the starting operation point A2, the operation point C2, the operation point B2, the operation point E2, the operation point D2, the operation point F2 and the ending operation point G2. The path can be expressed as A2→C2→B2→E2→D2→F2→G2. In other words, the path includes the following operations ,in, , , For excavator back-off operations, e.g. It means retreating from operation point A2 to operation point C2; For forward operation of the excavator, e.g. It means moving from work point C2 to work point B2.

[0135] S602: Determine the current position of the master excavator as the starting operation point and the ending operation point.

[0136] Please refer to Figure 7 and Figure 8 In this application, the starting operation point and the ending operation point are the same, that is, the operation starts from the starting operation point, and after the subsequent operation points are operated in sequence, it finally returns to the starting operation point to ensure alignment.

[0137] Specifically, in the present application, the current position of the main excavator is determined as the starting operation point and the ending operation point.

[0138] S603, establish a rectangular coordinate system with the starting point as the origin and the excavator's backward direction as the positive direction of the X-axis; wherein, viewed in the counterclockwise direction, the positive direction of the Y-axis of the rectangular coordinate system is 90° to the positive direction of the X-axis.

[0139] Please refer to Figure 7 and Figure 8 , establish a rectangular coordinate system as shown in the figure to determine the coordinates of other working points in the rectangular coordinate system.

[0140] S604: Determine the coordinates of each operating point in the initial operating path in the rectangular coordinate system according to the relative position relationship between each operating point indicated by the target operating mode, and obtain the operating path.

[0141] Specifically, each operation mode indicates the relative position relationship between the operation points.

[0142] In the first operation mode, the positions of points B1 and D1 are required to be relatively precise, because it involves the excavation of the edge of the intersection of the working range, so the bucket width is introduced for fine correction. Points B1 and D1 should maintain half the bucket width from the edge of the ditch in the direction perpendicular to the ditch; and the maximum working radius circle of points B1 and D1 along the ditch should maintain a distance of m from the maximum working radius circle of point A. Please refer to the following example. Figure 7 , Figure 7 The triangle where A1 is located satisfies the following relationship:

[0143] ,

[0144] Available

[0145] ,

[0146] For points C1 and E1, in the direction perpendicular to the ditch, they are consistent with B1 and D1; along the ditch direction, the maximum working radius circle should be tangent to the minimum working radius circle of points B1 and D1, that is, The length is Rr. The position accuracy requirements of points C1 and E1 are lower than those of points B1 and D1. The influence of bucket width is not considered because the excavation areas corresponding to points C1 and E1 may still be excavated and sloped later.

[0147] In summary, in one possible implementation, please refer to Figure 7 In the first operation mode, the relative position relationship between the starting operation point A1 and the operation point B1 is: the distance between B1 and A1 on the X axis is , the distance on the Y axis is ; The relative position relationship between the starting operation point A1 and the operation point C1 is: the distance between C1 and A1 on the X axis is , the distance on the Y axis is ; The relative position relationship between the starting operation point A1 and the operation point D1 is: The distance between D1 and A1 on the X axis is , the distance on the Y axis is ; The relative position relationship between the starting operation point A1 and the operation point E1 is: the distance between E1 and A1 on the X axis is , the distance on the Y axis is .

[0148] Similarly, in the second operation mode, since the ditch width is greater than the bucket width and less than the minimum radius, please refer to Figure 8 , because the ditch is narrow, in order to facilitate lateral movement, after the excavator completes the task of rotating excavation area ① at point A2, it first retreats to point C2, excavates and adjusts the diagonal part of the excavation area ②, then advances to point B2, excavates and adjusts the grid line part of the excavation area ②, then retreats to E2 and D2 to repeat the corresponding operations, and then returns to point A2. Among them, it is difficult to return from point D2 to point A2 in one step, and it is impossible to ensure that the crawler and ditch directions are consistent after reaching point A2, and the master and slave machines are aligned. Therefore, it is designed that point D2 retreats to F2 and then advances from F2 to A2.

[0149] In summary, please refer to Figure 8 In the second operation mode, the relative position relationship between the starting operation point A2 and the operation point B2 is: the distance between B2 and A2 on the X axis is , the distance on the Y axis is ; The relative position relationship between the starting operation point A2 and the operation point C2 is: The distance between C2 and A2 on the X axis is , the distance on the Y axis is ; The relative position relationship between the starting operation point A2 and the operation point D2 is: The distance between D2 and A2 on the X axis is , the distance on the Y axis is ; The relative position relationship between the starting operation point A2 and the operation point E2 is: the distance between E2 and A2 on the X axis is , the distance on the Y axis is ; The relative position relationship between the starting operation point A2 and the operation point F2 is: the distance between F2 and A2 on the X axis is Rrm, and the distance on the Y axis is 0.

[0150] Specifically, referring to the above description, in a possible implementation, the coordinates of each operating point in the initial operating path in the rectangular coordinate system may be determined as follows:

[0151] (1) Calculating the coordinates of the operating point B1 or the operating point B2 according to a first formula; wherein the first formula is:

[0152] ,

[0153] (2) Calculate the coordinates of the working point C1 or the working point C2 according to the second formula; wherein the second formula is:

[0154] ,

[0155] (3) Calculate the coordinates of the working point D1 or the working point D2 according to the third formula; wherein the third formula is:

[0156] ,

[0157] (4) Calculate the coordinates of the working point E1 or the working point E2 according to the fourth formula; wherein the fourth formula is:

[0158] ,

[0159] (5) Calculate the coordinates of the working point F2 according to the fifth formula, where the fifth formula is:

[0160] ,

[0161] Among them, the is the coordinate of the operating point B1; is the coordinate of the operating point B2; is the coordinate of the operating point C1 or the operating point C2; is the coordinate of the operating point D1; is the coordinate of the operating point D2; is the coordinate of the operating point E1 or the operating point E2; is the coordinate of the operating point F2; It is the distance between the maximum working radius circle corresponding to the excavator at the starting operation point and the maximum working radius circle corresponding to the excavator at the working point B1 or the working point B2.

[0162] It should be noted that the It is the distance between the maximum working radius circle corresponding to the starting point of the excavator and the maximum working radius circle corresponding to the excavator at the working point B1 or the working point B2. Figure 7 , in the first operation mode, it can be calculated according to the following formula :

[0163] ,

[0164] For further information, please refer to Figure 8 In the second operation mode, it can be calculated according to the following formula :

[0165] ,

[0166] Among them, the The ditch width indicated for the ditch task, the is the bucket width of the main excavator, is the maximum excavation radius of the main excavator, is the minimum digging radius of the main excavator.

[0167] S504. For the first type of work point, plan the actions that need to be performed at the work point according to its corresponding rotary excavation area, so as to achieve the purpose of excavating the rotary excavation area through rotary excavation.

[0168] Please also refer to Figure 7 and Figure 8 For the first type of work point, in the first work mode and the second work mode, the action that needs to be performed at the work point is the same. The action that needs to be performed at the work point is planned according to its corresponding rotary excavation area ①. By performing the action at the work point, the purpose of excavating the rotary excavation area ① can be achieved.

[0169] Optionally, in a possible implementation, for the first type of operation point, the action to be performed by the operation point may be determined according to the following method:

[0170] (1) According to the current orientation of the main excavator and the rotary excavation area, determine the angle between the current orientation and any boundary of the rotary excavation area .

[0171] When implementing this, please also refer to Figure 7 and Figure 8 The angle between the current orientation and any boundary of the rotary excavation area can be calculated by the following formula :

[0172] .

[0173] (2) Determine the digging angle corresponding to each digging of the main excavator according to the bucket width of the main excavator .

[0174] Specifically, the excavation angle corresponding to each excavation The angle of the narrow fan ring corresponding to the bucket width of the main excavator. In specific implementation, the excavation angle corresponding to each excavation can be calculated by the following formula :

[0175] .

[0176] (3) Calculate the first number of excavations required to be performed at the operation point based on the included angle and the excavation angle. .

[0177] In specific implementation, the first mining times can be calculated by the following formula :

[0178] ,

[0179] Wherein, [ ] indicates rounding down.

[0180] (4) Determine the action to be performed at the work point, which is to take the upper boundary of the rotary excavation area as the initial orientation, repeat the rotary excavation n-1 times in the clockwise direction, and after the execution, take the lower boundary of the rotary excavation area as the current orientation, perform one excavation; wherein, between two adjacent rotary excavations, the direction change of the excavator is equal to the excavation angle.

[0181] Specifically, at the operation point A1 or A2, the rotary excavation area is divided into multiple narrow fan rings according to the excavation angle, and the angle of each narrow fan ring is equal to the excavation angle. At the beginning, the excavator working device first rotates counterclockwise from the initial angle along the ditch direction (recorded as 0 degrees). Angle, so that the current direction points to the upper boundary of the rotary excavation area, a rotary excavation is performed, and then rotates counterclockwise Angle, repeat the excavation, excavation n-1 times in total. After performing n-1 rotation excavation, The absolute rotation angle is rotated clockwise. After rotating to this angle, the current direction points to the lower boundary of the rotation excavation area. At this time, excavation is performed again.

[0182] It should be noted that the last excavation is necessary because during the actual construction, and The last excavation can ensure that the rotary excavation area is excavated completely. In this way, at point A, the excavator needs to dig Second-rate.

[0183] S505: For the second type of operation point, plan the action to be performed at the operation point according to the target operation mode and its corresponding adjusted excavation area to achieve the purpose of excavating the adjusted excavation area.

[0184] Specifically, for the second type of operation point, by planning the action to be performed at the operation point, after the action is performed at the operation point, the purpose of excavating the adjusted excavation area can be achieved.

[0185] It should be noted that for the second type of operation point, the operation point needs to perform different actions in the first operation mode and the second operation mode. The action to be performed by the operation point needs to be planned according to the current target operation mode and its corresponding adjusted excavation area.

[0186] Specifically, in a possible implementation, for the second type of operation point, when the target operation mode is the first operation mode, the action to be performed by the operation point can be planned according to the following method:

[0187] (1) When the target operation mode is the first operation mode, for the operation point B1 and the operation point D1, according to the , the ditch width, the maximum digging radius, the minimum digging radius, the bucket width and the digging angle, and calculate the second digging times to be performed at the work point .

[0188] In specific implementation, the second mining times can be calculated by the following formula :

[0189] .

[0190] (2) At the work point B1, the action to be performed at the work point is to repeat k-1 rotation excavations in a clockwise direction with the boundary of the adjusted excavation area as the initial direction, and after the execution, rotate clockwise with the angle as the absolute rotation angle, and perform one excavation after the rotation is completed.

[0191] Specifically, at the work point B1, the excavator working device first digs once from the initial angle along the ditch direction (recorded as 0 degrees), and then rotates clockwise Angle, repeat the excavation, perform k-1 rotation excavation times in total. After completing k-1 rotation excavation, Rotate clockwise to the absolute rotation angle. After rotating to this angle, dig again. Figure 7 By executing related actions in B1, the area where the grid is adjusted in the excavation area can be excavated completely.

[0192] (3) At the work point C1 and the work point E1, it is determined that the action to be performed at the work point is to dig once in the same direction as the ditch direction.

[0193] Specifically, at the working point C1, since the shaded area in the adjusted excavation area will still be covered in the subsequent back-off excavation, the excavation accuracy requirement at the working point C1 is not high. In this example, at the working point C1, it is determined that the action to be performed at the working point is to excavate once in the same direction as the ditch.

[0194] The actions that need to be performed at the operation point E1 are similar to those that need to be performed at the operation point C1, and will not be repeated here.

[0195] (4) At the work point D1, the action to be performed at the work point is to take the boundary of the adjusted excavation area as the initial direction, repeat k-1 rotation excavations in the counterclockwise direction, and after the execution, rotate counterclockwise with the angle as the absolute rotation angle, and perform one excavation after the rotation is completed.

[0196] Specifically, the action that the operation point D1 needs to perform is similar to that of the action point B1, which will not be repeated here.

[0197] Similarly, please refer to Figure 8 In a possible implementation, for the second type of operation point, when the target operation mode is the second operation mode, the actions to be performed by the operation point can be planned according to the following method:

[0198] When the target operation mode is the second operation mode, it is determined that the action to be performed at each operation point in the second type of operation points is to dig once in the same direction as the ditch direction.

[0199] Specifically, because the ditch width indicated by the ditch task is narrow in the second operation mode, the second type of operation point only needs to perform excavation once, and if there is an unexcavated area, it can be covered by the next fallback excavation.

[0200] The method provided in this embodiment provides a method for determining an operation strategy. Through this method, the operation strategy can be accurately determined to achieve the purpose of completing the ditch task by master-slave cooperation.

[0201] Compared with the aforementioned multi-excavator ditch operation method, the present application also provides an excavator system. The excavator system provided by the present application is briefly introduced below:

[0202] The present application provides an excavator system, which is used to implement a ditch task. The excavator system includes a master excavator and a slave excavator. The master excavator and the slave excavator have the same structure. The master excavator and the slave excavator are initially located at an initial working position indicated by the ditch task in a manner that their buckets face each other.

[0203] The master excavator is used to determine the target operation mode corresponding to the ditch task according to the relative relationship between the ditch width indicated by the ditch task and its own working parameters; wherein different relative relationships correspond to different target operation modes;

[0204] The master excavator is further used to calculate the current excavated working distance according to the target working mode, and determine the size relationship between the working distance and the ditch length indicated by the ditch task;

[0205] The master excavator is further configured to calculate an operation strategy corresponding to the ditch task according to the target operation mode when it is determined that the ditch task is not completed according to the size relationship; wherein the operation strategy includes an operation path composed of a plurality of operation points and an action to be performed at each operation point in the operation path;

[0206] The master excavator is further used to perform operations according to the operation strategy and synchronize the operation strategy to the slave excavator;

[0207] The slave excavator is used to perform operations according to the operation strategy;

[0208] The master excavator and the slave excavator are further used to perform a slope repair operation and retreat after executing the operation strategy;

[0209] The master excavator is also used to re-execute the step of calculating the current excavated working distance after determining that the slave excavator has successfully retreated, until the ditch task is completed.

[0210] The excavator system provided by this application can be used to perform Figure 1 For the method described, the specific implementation principle and implementation process can be found in the previous description and will not be repeated here.

[0211] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application shall be included in the scope of protection of the present application.

Claims

1. A method for trenching with multiple excavators, characterized in that: The method is applied to an excavator system, the excavator system comprising a master excavator and a slave excavator; the master excavator and the slave excavator have the same structure, and the master excavator and the slave excavator are initially located at an initial working position indicated by a ditch task in a manner that their buckets face each other; the method comprises: The master excavator determines the target operation mode corresponding to the ditch task according to the relative relationship between the ditch width indicated by the ditch task and its own working parameters; wherein different relative relationships correspond to different target operation modes; The main excavator calculates the current excavated working distance according to the target working mode, and determines the relationship between the working distance and the ditch length indicated by the ditch task; When the master excavator determines that the ditch task is not completed according to the size relationship, it calculates the operation strategy corresponding to the ditch task according to the target operation mode; wherein the operation strategy includes an operation path composed of multiple operation points and actions to be performed at each operation point in the operation path; The master excavator operates according to the operation strategy, and synchronizes the operation strategy to the slave excavator to instruct the slave excavator to operate according to the operation strategy; The master excavator and the slave excavator perform a slope repair operation and retreat after executing the operation strategy; After determining that the slave excavator has successfully retreated, the master excavator again performs the step of calculating the current excavated working distance until the ditch task is completed; Wherein, calculating the operation strategy corresponding to the ditch task according to the target operation mode includes: Calculate the forward reachable working area that the main excavator can reach at the current position according to the working parameters; The accessible working area is divided into a plurality of sub-areas; wherein the plurality of sub-areas include a rotary excavation area, an adjustment excavation area and a discharge area; wherein the rotary excavation refers to an area in the accessible working area that is within the ditch range indicated by the ditch task and can be directly excavated by rotary excavation at the current position; the adjustment excavation area refers to an area in the accessible working area that is within the ditch range and cannot be directly excavated by rotary excavation at the current position; the discharge area refers to an area in the accessible working area that is outside the ditch range; Calculate an operation path according to the target operation mode and the multiple sub-areas; wherein the operation path at least includes a first-type operation point corresponding to the rotary excavation area, multiple second-type operation points corresponding to the adjustment excavation area, and an end operation point to which the excavation operation needs to be returned after the excavation operation is completed; For the first type of operation point, the action to be performed at the operation point is planned according to the corresponding rotary excavation area, so as to achieve the purpose of excavating the rotary excavation area by rotary excavation; For the second type of operation point, the action to be performed at the operation point is planned according to the target operation mode and its corresponding adjusted excavation area, so as to achieve the purpose of excavating the adjusted excavation area.

2. The method according to claim 1, characterized in that The calculating the operation path according to the target operation mode and the multiple sub-areas includes: According to the target operation mode, an initial operation path is determined; wherein, when the target operation mode is the first operation mode, the initial operation path is determined to be a path consisting of a starting operation point A1, an operation point B1, an operation point C1, an operation point D1, an operation point E1, and an ending operation point F1; when the target operation mode is the second operation mode, the initial operation path is determined to be a path consisting of a starting operation point A2, an operation point C2, an operation point B2, an operation point E2, an operation point D2, an operation point F2, and an ending operation point G2; Determine the current position of the main excavator as the starting operation point and the ending operation point; A rectangular coordinate system is established with the starting point as the origin and the excavator backward direction as the positive direction of the X-axis; wherein, viewed in the counterclockwise direction, the positive direction of the Y-axis of the rectangular coordinate system is 90° to the positive direction of the X-axis; According to the relative position relationship between the various working points indicated by the target working mode, the coordinates of each working point in the initial working path in the rectangular coordinate system are determined to obtain the working path.

3. The method according to claim 2, characterized in that The step of determining the coordinates of each operating point in the initial operating path in the rectangular coordinate system according to the relative position relationship between each operating point indicated by the target operating mode includes: The coordinates of the working point B1 or the working point B2 are calculated according to a first formula; wherein the first formula is: ， The coordinates of the working point C1 or the working point C2 are calculated according to the second formula; wherein the second formula is: ， The coordinates of the working point D1 or the working point D2 are calculated according to the third formula; wherein the third formula is: ， The coordinates of the working point E1 or the working point E2 are calculated according to the fourth formula; wherein the fourth formula is: ， The coordinates of the working point F2 are calculated according to the fifth formula, wherein the fifth formula is: ， Among them, the is the coordinate of the operating point B1; is the coordinate of the operating point B2; is the coordinate of the operating point C1 or the operating point C2; is the coordinate of the operating point D1; is the coordinate of the operating point D2; is the coordinate of the operating point E1 or the operating point E2; is the coordinate of the operating point F2; is the distance between the maximum working radius circle corresponding to the excavator at the starting operation point and the maximum working radius circle corresponding to the excavator at the working point B1 or the working point B2. The ditch width indicated for the ditch task, the is the bucket width of the main excavator, R is the maximum excavation radius of the main excavator, is the minimum digging radius of the main excavator.

4. The method according to claim 3, characterized in that The action to be performed at the first type of operation point is planned according to the corresponding rotary excavation area, including: According to the current orientation of the main excavator and the rotary excavation area, determining an angle between the current orientation and any boundary of the rotary excavation area; Determining the digging angle corresponding to each digging of the main excavator according to the bucket width of the main excavator; According to the included angle and the digging angle, the first digging times to be performed at the operation point are calculated. ; The action to be performed at the work point is to repeat the rotary excavation n-1 times in a clockwise direction with the upper boundary of the rotary excavation area as the initial direction, and after the execution, perform one excavation with the lower boundary of the rotary excavation area as the current direction; wherein, between two adjacent rotary excavations, the direction change of the excavator is equal to the excavation angle.

5. The method according to claim 4, characterized in that For the second type of operation point, the actions to be performed at the operation point are planned according to the target operation mode and the corresponding adjusted excavation area, including: When the target operation mode is the first operation mode, for the operation point B1 and the operation point D1, according to the , the ditch width, the maximum digging radius, the minimum digging radius, the bucket width and the digging angle, and calculate the second digging times to be performed at the work point ; At the operation point B1, it is determined that the action to be performed at the operation point is to take the boundary of the adjusted excavation area as the initial orientation, repeat k-1 rotation excavations in the clockwise direction, and after the execution, rotate clockwise with the angle as the absolute rotation angle, and perform one excavation after the rotation is completed; At the operation point C1 and the operation point E1, it is determined that the action to be performed at the operation point is to dig once in the same direction as the ditch direction; At the work point D1, it is determined that the action to be performed at the work point is to use the boundary of the adjusted excavation area as the initial direction, repeat k-1 rotation excavations in the counterclockwise direction, and after the execution, rotate clockwise with the angle as the absolute rotation angle, and perform 1 excavation after the rotation is completed.

6. The method according to claim 4, characterized in that For the second type of operation point, the actions to be performed at the operation point are planned according to the target operation mode and the corresponding adjusted excavation area, including: When the target operation mode is the second operation mode, it is determined that the action to be performed at each operation point in the second type of operation points is to dig once in the same direction as the ditch direction.

7. The method according to claim 1, characterized in that Determining a target operation mode corresponding to the ditch task according to a relative relationship between the ditch width indicated by the ditch task and its own working parameters includes: When the ditch width is greater than or equal to the minimum excavation range in the working parameters and less than or equal to the maximum excavation range in the working parameters, the target operation mode is determined to be the first operation mode; wherein the first operation mode indicates that the distance between the master and slave excavators is used as the currently operated operation distance; the distance between the master and slave excavators is determined based on the positions of the master and slave excavators, and the positions of the master and slave excavators are determined by differential GPS signals; When the ditch width is greater than the bucket width in the working parameter and smaller than the minimum excavation range, determining that the target operation mode is the second operation mode; The second operation mode indicates that the operation distance is calculated according to the following formula: ， Among them, the L is the operating distance; Said D The distance between the master and slave excavators; Said is the minimum digging radius of the main excavator; Said The ditch width indicated for the ditch task in question.

8. The method according to claim 1, characterized in that The ditch width indicated by the ditch task is less than or equal to the maximum excavation range of the main excavator; when the ditch width indicated by the initial ditch task set by the user is greater than the maximum excavation range, the method further includes: The main excavator divides the initial ditch task into a plurality of sub-ditch tasks and executes the sub-ditch tasks; wherein the ditch width indicated by the sub-ditch tasks is less than or equal to the maximum excavation range.

9. An excavator system, characterized in that: The excavator system is used to implement a ditch task, and the excavator system includes a master excavator and a slave excavator; the master excavator and the slave excavator have the same structure, and the master excavator and the slave excavator are initially located at an initial working position indicated by the ditch task in a manner that the buckets face each other; wherein, The master excavator is used to determine the target operation mode corresponding to the ditch task according to the relative relationship between the ditch width indicated by the ditch task and its own working parameters; wherein different relative relationships correspond to different target operation modes; The master excavator is further used to calculate the current excavated working distance according to the target working mode, and determine the size relationship between the working distance and the ditch length indicated by the ditch task; The master excavator is further configured to calculate an operation strategy corresponding to the ditch task according to the target operation mode when it is determined that the ditch task is not completed according to the size relationship; wherein the operation strategy includes an operation path composed of a plurality of operation points and an action to be performed at each operation point in the operation path; The master excavator is further used to perform operations according to the operation strategy and synchronize the operation strategy to the slave excavator; The slave excavator is used to perform operations according to the operation strategy; The master excavator and the slave excavator are further used to perform a slope repair operation and retreat after executing the operation strategy; The master excavator is further configured to, after determining that the slave excavator has successfully retreated, again execute the step of calculating the currently excavated working distance until the ditch task is completed; Wherein, calculating the operation strategy corresponding to the ditch task according to the target operation mode includes: Calculate the forward reachable working area that the main excavator can reach at the current position according to the working parameters; The accessible working area is divided into a plurality of sub-areas; wherein the plurality of sub-areas include a rotary excavation area, an adjustment excavation area and a discharge area; wherein the rotary excavation refers to an area in the accessible working area that is within the ditch range indicated by the ditch task and can be directly excavated by rotary excavation at the current position; the adjustment excavation area refers to an area in the accessible working area that is within the ditch range and cannot be directly excavated by rotary excavation at the current position; the discharge area refers to an area in the accessible working area that is outside the ditch range; Calculate an operation path according to the target operation mode and the multiple sub-areas; wherein the operation path at least includes a first-type operation point corresponding to the rotary excavation area, multiple second-type operation points corresponding to the adjustment excavation area, and an end operation point to which the excavation operation needs to be returned after the excavation operation is completed; For the first type of operation point, the action to be performed at the operation point is planned according to the corresponding rotary excavation area, so as to achieve the purpose of excavating the rotary excavation area by rotary excavation; For the second type of operation point, the action to be performed at the operation point is planned according to the target operation mode and its corresponding adjusted excavation area, so as to achieve the purpose of excavating the adjusted excavation area.

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