Excavator stopping releasing control method and device based on electronic enclosing wall

Abstract

The invention relates to the technical field of electronic enclosing walls, and discloses an electronic enclosing wall-based excavator stopping release control method and device, and the method comprises the steps: controlling a moving part of an excavator to approach an obstacle after the whole machine of the excavator is calibrated; position information of the whole machine working device is obtained, and an electronic enclosure of the excavator is set according to the position information; determining a first coordinate set of the moving part, a second coordinate set of the electronic wall and a third coordinate set of the obstacle; limiting the action or action speed of the whole machine according to each coordinate set and a preset whole machine operation range; when the whole machine stops, according to one or more preset excavator actions of the excavator, screening actions capable of enabling the whole machine to be far away from the electronic enclosing wall; and according to the action, the limitation on the action far away from the electronic enclosure wall is relieved, so that the excavator returns to the normal working state. Therefore, the limiting control accuracy and the limiting release accuracy of the excavator can be improved, and the working efficiency of the whole excavator can be improved.

Description

Technical Field

[0001] The present invention relates to the technical field of electronic fences, and in particular to an excavator motion restriction release control method and device based on electronic fences. Background Art

[0002] In the prior art, the electronic fence setting scheme for the excavator is mainly: based on the coordinates of the entire excavator in the front and back, up and down, left and right directions, a virtual plane wall (similar to a plane of a cube or a combination of multiple planes) is set, or a fan-shaped virtual fence with a left and right rotation angle is set.

[0003] However, practice has found that the existing electronic fence of the excavator is mainly used to define the working range of the excavator, which is easy to over-restrict the movement of the excavator, making it inconsistent with the actual application conditions, reducing the working efficiency of the whole machine; and the traditional solution to release the restricted state of the excavator working device is simply to use manual means, specifically: the excavator staff manually moves the working device away from the electronic fence to restore the movement of the excavator to normal, or the staff turns off the electronic fence function, moves the working device to a safe area and then turns it back on, which is also easy to cause the whole machine working efficiency of the excavator to be low. It can be seen that it is particularly important to propose a technical solution to improve the accuracy of the limited motion control and the accuracy of the limited motion release of the excavator to improve the working efficiency of the whole machine. Summary of the invention

[0004] The present invention provides an excavator limit release control method and device based on electronic fence, which can.

[0005] In order to solve the above technical problems, the first aspect of the present invention discloses a method for controlling the release of movement restriction of an excavator based on an electronic fence, the method comprising:

[0006] After the whole excavator is calibrated, the moving parts of the excavator are controlled to approach the obstacle;

[0007] Acquiring position information of the working device of the whole machine, and setting an electronic fence of the excavator within the activity area of ​​the excavator according to the position information;

[0008] Determine a first coordinate set of the moving component, a second coordinate set of the electronic fence, and a third coordinate set of the obstacle based on an excavator coordinate system, wherein the excavator coordinate system is composed of axes in multiple directions perpendicular to each other;

[0009] According to the first coordinate set, the second coordinate set, the third coordinate set and a preset operating range of the whole machine, limiting the movement or movement speed of the whole machine, and detecting whether the whole machine is stopped;

[0010] When it is detected that the whole machine stops, according to one or more preset excavation actions of the moving parts, a target excavation action that can make the whole machine move away from the electronic fence is screened out from all the excavation actions, each of which corresponds to an action direction;

[0011] According to the target excavator action, the restriction on the action of moving away from the electronic fence is released so that the excavator can resume a normal working state.

[0012] As an optional implementation manner, in the first aspect of the present invention, limiting the action or action speed of the whole machine according to the first coordinate set, the second coordinate set, the third coordinate set and the preset operating range of the whole machine includes:

[0013] According to the second coordinate set and the preset operating range of the whole machine, determining whether the coordinates of the electronic fence exceed the operating range of the whole machine;

[0014] When it is determined that the coordinates of the electronic fence exceed the operating range of the whole machine, the distance between the electronic fence and the farthest operating position in the operating range of the whole machine is calculated according to the second coordinate set and the operating range of the whole machine, and the movement speed of the whole machine is limited according to the distance between the electronic fence and the farthest operating position;

[0015] When it is determined that the coordinates of the electronic fence do not exceed the operating range of the entire machine, the movement or movement speed of the entire machine is restricted according to the first coordinate set and the third coordinate set.

[0016] As an optional embodiment, in the first aspect of the present invention, the excavator coordinate system is composed of an axis in the horizontal direction, an axis in the vertical direction, and an axis in the depth direction;

[0017] And, limiting the action or action speed of the whole machine according to the first coordinate set and the third coordinate set includes:

[0018] Determining whether the moving component is below the upper surface of the obstacle according to the coordinates in the depth direction in the first coordinate set and the corresponding coordinates in the third coordinate set;

[0019] When it is determined that the moving component is below the upper surface of the obstacle, judging whether the whole machine meets a preset action restriction condition according to the coordinates in other directions in the first coordinate set and the corresponding coordinates in the third coordinate set, obtaining a first judgment result, and restricting the action of the whole machine when the first judgment result is yes;

[0020] When it is determined that the moving part is higher than or equal to the upper surface of the obstacle, it is determined that the movement of the whole machine does not need to be restricted; or,

[0021] When it is determined that the moving part is higher than or equal to the upper surface of the obstacle, the whole machine is judged whether it meets the preset movement speed limit conditions according to the coordinates in the depth direction in the first coordinate set and the corresponding coordinates in the third coordinate set, and a second judgment result is obtained. When the second judgment result is yes, the movement speed of the whole machine is limited.

[0022] As an optional implementation manner, in the first aspect of the present invention, judging whether the whole machine satisfies a preset action restriction condition according to the coordinates in other directions in the first coordinate set and the corresponding coordinates in the third coordinate set to obtain a first judgment result includes:

[0023] Calculating a first coordinate difference between the excavator and the obstacle relative to the horizontal direction according to the coordinates in the horizontal direction in the first coordinate set and the corresponding coordinates in the third coordinate set;

[0024] Calculating a second coordinate difference between the excavator and the obstacle relative to the vertical direction according to the coordinates in the vertical direction in the first coordinate set and the corresponding coordinates in the third coordinate set;

[0025] Determining whether each coordinate difference value between the first coordinate difference value and the second coordinate difference value satisfies a preset coordinate difference value condition corresponding to the coordinate difference value;

[0026] When it is determined that at least one of the first coordinate difference and the second coordinate difference does not satisfy a preset coordinate difference condition corresponding to the coordinate difference, determining that the first judgment result is that the entire machine does not satisfy a preset action restriction condition;

[0027] When it is determined that each of the first coordinate difference and the second coordinate difference satisfies the preset coordinate difference condition corresponding to the coordinate difference, the first judgment result is determined to be that the entire machine satisfies the preset action restriction condition.

[0028] As an optional implementation manner, in the first aspect of the present invention, judging whether the whole machine meets a preset action speed limit condition according to the coordinates in the depth direction in the first coordinate set and the corresponding coordinates in the third coordinate set to obtain a second judgment result includes:

[0029] Calculating a third coordinate difference between the excavator and the obstacle with respect to the depth direction according to the coordinates in the depth direction in the first coordinate set and the corresponding coordinates in the third coordinate set;

[0030] Determining whether the third coordinate difference is less than or equal to a preset coordinate difference, and when it is determined that the third coordinate difference is less than or equal to the preset coordinate difference, determining that the second determination result is that the whole machine meets a preset motion speed limit condition;

[0031] When it is determined that the third coordinate difference is greater than the preset coordinate difference, it is determined that the second judgment result is that the whole machine does not meet the preset motion speed restriction condition.

[0032] As an optional implementation manner, in the first aspect of the present invention, the step of selecting a target excavation action that can move the entire machine away from the electronic fence from all the excavation actions according to the preset one or more excavation actions of the moving component includes:

[0033] Obtaining the current position coordinates of the moving component and the current coordinates of the electronic fence;

[0034] According to one or more preset excavation actions of the moving component, predicting the expected position coordinates of the moving component under each of the excavation actions;

[0035] According to the current position coordinates of the moving component, the expected position coordinates of the moving component in each excavation action and the current coordinates of the electronic fence, a target excavation action that can move the entire machine away from the electronic fence is screened out from all the excavation actions.

[0036] As an optional implementation manner, in the first aspect of the present invention, the step of selecting a target excavation action that can make the entire machine away from the electronic fence from all the excavation actions according to the current position coordinates of the moving component, the expected position coordinates of the moving component under each excavation action, and the current coordinates of the electronic fence includes:

[0037] Calculating a third coordinate difference between the moving component and the electronic fence according to the current position coordinates of the moving component and the current coordinates of the electronic fence;

[0038] For each of the excavation actions, according to the expected position coordinates of the moving component under the excavation action and the current coordinates of the electronic fence, calculating a fourth coordinate difference between the moving component and the electronic fence under the excavation action;

[0039] Determine whether the third coordinate difference is greater than the fourth coordinate difference for the excavator action;

[0040] When it is determined that the third coordinate difference is greater than the fourth coordinate difference for the excavator action, the reverse action corresponding to the excavator action among all the excavator actions is determined as the target excavator action that can move the entire machine away from the electronic fence.

[0041] The second aspect of the present invention discloses an excavator limit release control device based on an electronic fence, the device comprising:

[0042] An excavator working module is used to control the moving parts of the excavator to approach obstacles after calibrating the entire excavator;

[0043] An acquisition module, used to acquire position information of a working device of the whole machine;

[0044] A setting module, configured to set an electronic fence of the excavator within an activity area of ​​the excavator according to the location information;

[0045] a determination module, configured to determine, based on an excavator coordinate system, a first coordinate set of the moving component, a second coordinate set of the electronic fence, and a third coordinate set of the obstacle, wherein the excavator coordinate system is composed of axes in multiple directions perpendicular to each other;

[0046] a motion limiting control module, used for limiting the motion or motion speed of the whole machine according to the first coordinate set, the second coordinate set, the third coordinate set and a preset operating range of the whole machine;

[0047] A detection module, used to detect whether the whole machine is stopped;

[0048] a screening module, configured to screen out a target excavation action that can make the whole machine move away from the electronic fence from all the excavation actions according to one or more preset excavation actions of the moving parts when the detection module detects that the whole machine has stopped, each of the excavation actions corresponding to an action direction;

[0049] The movement restriction release module is used to release the restriction on the movement away from the electronic fence according to the target excavator movement, so that the excavator can return to a normal working state.

[0050] As an optional implementation, in the second aspect of the present invention, the movement limit control module limits the movement or movement speed of the whole machine according to the first coordinate set, the second coordinate set, the third coordinate set and the preset operating range of the whole machine in a manner that specifically includes:

[0051] According to the second coordinate set and the preset operating range of the whole machine, determining whether the coordinates of the electronic fence exceed the operating range of the whole machine;

[0052] When it is determined that the coordinates of the electronic fence exceed the operating range of the whole machine, the distance between the electronic fence and the farthest operating position in the operating range of the whole machine is calculated according to the second coordinate set and the operating range of the whole machine, and the movement speed of the whole machine is limited according to the distance between the electronic fence and the farthest operating position;

[0053] When it is determined that the coordinates of the electronic fence do not exceed the operating range of the entire machine, the movement or movement speed of the entire machine is restricted according to the first coordinate set and the third coordinate set.

[0054] As an optional embodiment, in the second aspect of the present invention, the excavator coordinate system is composed of an axis in the horizontal direction, an axis in the vertical direction, and an axis in the depth direction;

[0055] Furthermore, the manner in which the movement limit control module limits the movement or movement speed of the whole machine according to the first coordinate set and the third coordinate set specifically includes:

[0056] Determining whether the moving component is below the upper surface of the obstacle according to the coordinates in the depth direction in the first coordinate set and the corresponding coordinates in the third coordinate set;

[0057] When it is determined that the moving component is below the upper surface of the obstacle, judging whether the whole machine meets a preset action restriction condition according to the coordinates in other directions in the first coordinate set and the corresponding coordinates in the third coordinate set, obtaining a first judgment result, and restricting the action of the whole machine when the first judgment result is yes;

[0058] When it is determined that the moving part is higher than or equal to the upper surface of the obstacle, it is determined that the movement of the whole machine does not need to be restricted; or,

[0059] When it is determined that the moving part is higher than or equal to the upper surface of the obstacle, the whole machine is judged whether it meets the preset movement speed limit conditions according to the coordinates in the depth direction in the first coordinate set and the corresponding coordinates in the third coordinate set, and a second judgment result is obtained. When the second judgment result is yes, the movement speed of the whole machine is limited.

[0060] As an optional implementation, in the second aspect of the present invention, the movement limit control module determines whether the whole machine meets the preset action restriction condition according to the coordinates in other directions in the first coordinate set and the corresponding coordinates in the third coordinate set, and the manner of obtaining the first judgment result specifically includes:

[0061] Calculating a first coordinate difference between the excavator and the obstacle relative to the horizontal direction according to the coordinates in the horizontal direction in the first coordinate set and the corresponding coordinates in the third coordinate set;

[0062] Calculating a second coordinate difference between the excavator and the obstacle relative to the vertical direction according to the coordinates in the vertical direction in the first coordinate set and the corresponding coordinates in the third coordinate set;

[0063] Determining whether each coordinate difference value between the first coordinate difference value and the second coordinate difference value satisfies a preset coordinate difference value condition corresponding to the coordinate difference value;

[0064] When it is determined that at least one of the first coordinate difference and the second coordinate difference does not satisfy a preset coordinate difference condition corresponding to the coordinate difference, determining that the first judgment result is that the entire machine does not satisfy a preset action restriction condition;

[0065] When it is determined that each of the first coordinate difference and the second coordinate difference satisfies the preset coordinate difference condition corresponding to the coordinate difference, the first judgment result is determined to be that the entire machine satisfies the preset action restriction condition.

[0066] As an optional implementation, in the second aspect of the present invention, the movement limit control module determines whether the whole machine meets the preset motion speed limit condition according to the coordinates in the depth direction in the first coordinate set and the corresponding coordinates in the third coordinate set, and the manner of obtaining the second judgment result specifically includes:

[0067] Calculating a third coordinate difference between the excavator and the obstacle with respect to the depth direction according to the coordinates in the depth direction in the first coordinate set and the corresponding coordinates in the third coordinate set;

[0068] Determining whether the third coordinate difference is less than or equal to a preset coordinate difference, and when it is determined that the third coordinate difference is less than or equal to the preset coordinate difference, determining that the second determination result is that the whole machine meets a preset motion speed limit condition;

[0069] When it is determined that the third coordinate difference is greater than the preset coordinate difference, it is determined that the second judgment result is that the whole machine does not meet the preset motion speed restriction condition.

[0070] As an optional implementation, in the second aspect of the present invention, the screening module screens out a target excavation action that can make the whole machine away from the electronic fence from all the excavation actions according to one or more preset excavation actions of the moving part, specifically including:

[0071] Obtaining the current position coordinates of the moving component and the current coordinates of the electronic fence;

[0072] According to one or more preset excavation actions of the moving component, predicting the expected position coordinates of the moving component under each of the excavation actions;

[0073] According to the current position coordinates of the moving component, the expected position coordinates of the moving component in each excavation action and the current coordinates of the electronic fence, a target excavation action that can move the entire machine away from the electronic fence is screened out from all the excavation actions.

[0074] As an optional implementation, in the second aspect of the present invention, the screening module screens out a target excavation action that can make the whole machine away from the electronic fence from all the excavation actions according to the current position coordinates of the moving component, the expected position coordinates of the moving component under each excavation action, and the current coordinates of the electronic fence, specifically including:

[0075] Calculating a third coordinate difference between the moving component and the electronic fence according to the current position coordinates of the moving component and the current coordinates of the electronic fence;

[0076] For each of the excavation actions, according to the expected position coordinates of the moving component under the excavation action and the current coordinates of the electronic fence, calculating a fourth coordinate difference between the moving component and the electronic fence under the excavation action;

[0077] Determine whether the third coordinate difference is greater than the fourth coordinate difference for the excavator action;

[0078] When it is determined that the third coordinate difference is greater than the fourth coordinate difference for the excavator action, the reverse action corresponding to the excavator action among all the excavator actions is determined as the target excavator action that can move the entire machine away from the electronic fence.

[0079] The third aspect of the present invention discloses another excavator limit release control device based on electronic fence, the device comprising:

[0080] A memory storing executable program code;

[0081] a processor coupled to the memory;

[0082] The processor calls the executable program code stored in the memory to execute the excavator limit release control method based on electronic fence disclosed in the first aspect of the present invention.

[0083] The fourth aspect of the present invention discloses a computer storage medium, which stores computer instructions. When the computer instructions are called, they are used to execute the excavator limit release control method based on electronic fence disclosed in the first aspect of the present invention.

[0084] Compared with the prior art, the embodiments of the present invention have the following beneficial effects:

[0085] In an embodiment of the present invention, after the whole excavator is calibrated, the moving parts of the excavator are controlled to approach obstacles; the position information of the working device of the whole machine is obtained, and the electronic fence of the excavator is set according to the position information of the working device; based on the excavator coordinate system, the first coordinate set of the moving parts, the second coordinate set of the electronic fence and the third coordinate set of the obstacle are determined, and the excavator coordinate system is composed of axes in multiple directions perpendicular to each other; according to the first coordinate set, the second coordinate set, the third coordinate set and the preset working range of the whole machine, the action or action speed of the whole machine is limited, and it is detected whether the whole machine stops; when it is detected that the whole machine stops, according to one or more excavator actions of the preset moving parts, the target excavator action that can make the whole machine away from the electronic fence is screened from all excavator actions, and each excavator action corresponds to a direction of action; according to the target excavator action, the restriction on the action away from the electronic fence is released so that the excavator can resume normal working state. It can be seen that after the implementation of the present invention, the whole excavator can be calibrated, the moving parts of the excavator can be controlled to approach obstacles, the position information of the working device of the whole machine can be obtained, and the electronic fence of the excavator can be set in the activity area of ​​the excavator according to the position information, so as to improve the setting accuracy of the electronic fence, and automatically determine the first coordinate set of the moving parts, the second coordinate set of the electronic fence and the third coordinate set of the obstacle based on the excavator coordinate system, so as to improve the determination accuracy of the coordinates of the moving parts, the electronic fence and the obstacle of the excavator, and limit the movement or movement speed of the whole machine according to the first coordinate set, the second coordinate set, the third coordinate set and the pre-set operating range of the whole machine, so as to improve the accuracy and efficiency of the motion limit control of the whole machine, thereby facilitating the reduction of the situation where the operator of the excavator manually stops in an inappropriate position based on the accurate motion limit of the whole machine. The situation occurs, which is beneficial to improving the working efficiency of the whole machine; in addition, a limit release scheme can also be set, specifically: detecting whether the whole machine stops, and when the whole machine stops, according to one or more excavator actions of the preset moving parts, the target excavator action that can make the whole machine away from the electronic fence is screened out from all excavator actions, which can improve the screening accuracy and screening efficiency of the target excavator action that makes the whole machine away from the electronic fence, and then according to the target excavator action, the restriction on the action away from the electronic fence is released so that the excavator can resume normal working state, which can improve the accuracy and efficiency of the limit release of the whole machine. Compared with the method of simply turning off the electronic fence function and restarting the function after moving the whole machine working device to a safe area in the prior art, this scheme is beneficial to reducing the complexity of human-computer interaction by setting the limit release process of the excavator, thereby helping to improve the working efficiency of the whole machine. BRIEF DESCRIPTION OF THE DRAWINGS

[0086] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0087] Figure 1 It is a flow chart of a method for controlling the release of movement restrictions of an excavator based on an electronic fence disclosed in an embodiment of the present invention;

[0088] Figure 2 It is a schematic diagram of a scenario to which an electronic fence-based excavator motion restriction release control method disclosed in an embodiment of the present invention is applicable;

[0089] Figure 3 It is a schematic diagram of a scenario of controlling an excavator bucket to stay away from an electronic fence disclosed in an embodiment of the present invention;

[0090] Figure 4 It is a flow chart of another method for controlling the release of movement restriction of an excavator based on an electronic fence disclosed in an embodiment of the present invention;

[0091] Figure 5 It is a structural schematic diagram of an excavator limit release control device based on an electronic fence disclosed in an embodiment of the present invention;

[0092] Figure 6 It is a structural schematic diagram of another excavator limit release control device based on electronic fence disclosed in an embodiment of the present invention. DETAILED DESCRIPTION

[0093] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0094] The terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish different objects rather than to describe a specific order. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, device, product or end including a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units that are not listed, or may optionally include other steps or units inherent to these processes, methods, products or ends.

[0095] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present invention. The appearance of the phrase in various places in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0096] The present invention discloses an excavator motion limit release control method and device based on an electronic fence. After calibrating the whole excavator, the excavator's moving parts can be controlled to approach obstacles, the position information of the working device of the whole machine can be obtained, and the electronic fence of the excavator can be set in the activity area of ​​the excavator according to the position information, so as to improve the setting accuracy of the electronic fence. Based on the excavator coordinate system, the first coordinate set of the moving parts, the second coordinate set of the electronic fence and the third coordinate set of the obstacle can be automatically determined, so as to improve the determination accuracy of the coordinates of the moving parts, the electronic fence and the obstacle of the excavator. According to the first coordinate set, the second coordinate set, the third coordinate set and the preset working range of the whole machine, the action or action speed of the whole machine can be limited, so as to improve the motion limit control accuracy and motion limit control efficiency of the whole machine, thereby facilitating the reduction of the number of operators of the excavator based on the accurate motion limit of the whole machine. Inappropriate manual stop position occurs, which is beneficial to improve the working efficiency of the whole machine; in addition, a motion limit release scheme can be set, specifically: detect whether the whole machine has stopped, and when the whole machine is detected to have stopped, select the target excavation action that can make the whole machine away from the electronic fence from all excavation actions according to one or more excavation actions of the preset moving parts, which can improve the screening accuracy and efficiency of the target excavation action that makes the whole machine away from the electronic fence, and then according to the target excavation action, release the restriction on the action away from the electronic fence, so that the excavator can return to normal working state, which can improve the accuracy and efficiency of the motion limit release of the whole machine. Compared with the prior art method of simply turning off the electronic fence function and restarting the function after moving the whole machine working device to a safe area, this scheme sets the motion limit release process of the excavator, which is beneficial to reduce the complexity of human-computer interaction, thereby improving the working efficiency of the whole machine. The following are detailed descriptions.

[0097] Embodiment 1

[0098] See also Figure 1 , Figure 1 1 is a flow chart of a method for controlling the release of movement restrictions of an excavator based on an electronic fence disclosed in an embodiment of the present invention. Figure 1The described electronic fence-based excavator limit release control method can be applied to an electronic fence-based excavator limit release control device, wherein the device may include a control device or a control server, wherein the control server may include a cloud server or a local server, which is not limited in the embodiments of the present invention. Figure 1 As shown, the electronic fence-based excavator limit release control method may include the following operations:

[0099] 101. After calibrating the entire excavator, control the moving parts of the excavator to approach the obstacle.

[0100] In the embodiment of the present invention, optionally, the moving parts of the excavator may include a combination of one or more of the excavator's boom, the excavator's dipper arm, the excavator's bucket and the excavator's slewing platform. Optionally, the obstacle may be the remaining objects of all objects in the excavator's activity area except the materials to be excavated by the excavator (such as soil, coal, silt, etc.). Optionally, the obstacle may be virtualized as a rectangular parallelepiped, specifically: according to the position of the obstacle, the obstacle may be set as a plane or a combination of multiple planes, which is not limited in the embodiment of the present invention.

[0101] 102. Obtain the location information of the working device of the whole machine, and set up an electronic fence of the excavator within the activity area of ​​the excavator according to the location information.

[0102] 103. Based on the excavator coordinate system, determine a first coordinate set of the moving component, a second coordinate set of the electronic fence, and a third coordinate set of the obstacle.

[0103] like Figure 2 As shown, Figure 2 is a schematic diagram of a scenario applicable to a method for releasing movement restriction of an excavator based on an electronic fence disclosed in an embodiment of the present invention, such as Figure 2 As shown, the scene includes an excavator and an obstacle, and when the obstacle is identified, the obstacle can be virtualized as a rectangular parallelepiped, and the coordinate information of the excavator, obstacle and other related objects in the scene can be analyzed through the excavator coordinate system.

[0104] In an embodiment of the present invention, the excavator coordinate system is composed of axes in multiple directions perpendicular to each other. Specifically, when the excavator coordinate system is a three-dimensional coordinate system, the excavator coordinate system can be composed of an axis in the horizontal direction (i.e., the x-axis), an axis in the vertical direction (i.e., the y-axis), and an axis in the depth direction (i.e., the z-axis). Optionally, the first coordinate set of the moving part may include one or more combinations of the coordinates of the moving part in the horizontal direction of the excavator coordinate system, the coordinates of the moving part in the vertical direction of the excavator coordinate system, and the coordinates of the moving part in the depth direction of the excavator coordinate system. The second coordinate set of the electronic fence may include one or more combinations of the coordinates of the electronic fence in the horizontal direction, the coordinates of the electronic fence in the vertical direction, and the coordinates of the electronic fence in the depth direction. The third coordinate set of the obstacle may include one or more combinations of the coordinates of the obstacle in the horizontal direction, the coordinates of the obstacle in the vertical direction, and the coordinates of the obstacle in the depth direction, which is not limited in the embodiment of the present invention.

[0105] 104. Limit the movement or movement speed of the whole machine according to the first coordinate set, the second coordinate set, the third coordinate set and a preset operation range of the whole machine.

[0106] In the embodiment of the present invention, specifically, the movement restriction requirement of the whole machine can be determined according to the second coordinate set and the preset operating range of the whole machine, and the movement restriction requirement may include a motion restriction requirement or a motion speed restriction requirement; and when the movement restriction requirement is a motion restriction requirement, the motion of the whole machine is restricted; when the movement restriction requirement is a motion speed restriction requirement, the motion speed of the whole machine is restricted.

[0107] 105. Check whether the whole machine has stopped.

[0108] In the embodiment of the present invention, optionally, the operation of detecting whether the whole machine is stopped may be performed after limiting the movement or movement speed of the whole machine, or may be performed in real time during the operation of the whole machine, which is not limited in the embodiment of the present invention.

[0109] 106. When it is detected that the whole machine stops, based on one or more preset excavation actions of the moving parts, a target excavation action that can make the whole machine away from the electronic fence is screened out from all the excavation actions.

[0110] In the embodiment of the present invention, specifically, the excavator motions of each moving part can be preset through the application program, and each excavator motion corresponds to a motion direction. Optionally, each excavator motion can include one of left rotation, right rotation, inward retraction and outward swing, which is not limited in the embodiment of the present invention.

[0111] 107. According to the target excavator action, the restriction on the action away from the electronic fence is lifted so that the excavator can return to normal working state.

[0112] In the embodiment of the present invention, specifically, the movement direction of the excavator is controlled according to the target excavator movement, so that the whole machine is away from the electronic fence, and after the whole machine is away from the electronic fence, the restriction of the electronic fence on the whole machine is released.

[0113] It can be seen that the implementation Figure 1 The described excavator motion limit release control method based on electronic fence can calibrate the whole excavator, control the moving parts of the excavator to approach obstacles, obtain the position information of the working device of the whole machine, and set the electronic fence of the excavator in the activity area of ​​the excavator according to the position information, so as to improve the setting accuracy of the electronic fence, automatically determine the first coordinate set of the moving parts, the second coordinate set of the electronic fence and the third coordinate set of the obstacle based on the excavator coordinate system, so as to improve the determination accuracy of the coordinates of the moving parts, the electronic fence and the obstacle of the excavator, and limit the movement or movement speed of the whole machine according to the first coordinate set, the second coordinate set, the third coordinate set and the pre-set working range of the whole machine, so as to improve the motion limit control accuracy and motion limit control efficiency of the whole machine, thereby facilitating the reduction of manual stops of the excavator operator based on the accurate motion limit of the whole machine. Inappropriate positions occur, which is beneficial to improving the working efficiency of the whole machine; in addition, a limit release scheme can also be set, specifically: detecting whether the whole machine has stopped, and when the whole machine is detected to have stopped, according to one or more excavator actions of preset moving parts, the target excavator action that can make the whole machine away from the electronic fence is screened out from all excavator actions, which can improve the screening accuracy and screening efficiency of the target excavator action that makes the whole machine away from the electronic fence, and then according to the target excavator action, the restriction on the action away from the electronic fence is released so that the excavator can return to normal working state, which can improve the accuracy and efficiency of the limit release of the whole machine. Compared with the method of simply turning off the electronic fence function and restarting the function after moving the whole machine working device to a safe area in the prior art, this scheme is beneficial to reducing the complexity of human-computer interaction by setting the limit release process of the excavator, thereby helping to improve the working efficiency of the whole machine.

[0114] In an optional embodiment, the above step 106, based on one or more preset excavation actions of the moving parts, selects a target excavation action that can make the whole machine away from the electronic fence from all excavation actions, which may include:

[0115] Get the current position coordinates of the moving part and the current coordinates of the electronic fence;

[0116] According to one or more preset excavation actions of the moving part, predicting the expected position coordinates of the moving part under each excavation action;

[0117] According to the current position coordinates of the moving parts, the expected position coordinates of the moving parts in each excavator action and the current coordinates of the electronic fence, the target excavator action that can make the whole machine away from the electronic fence is screened out from all the excavator actions.

[0118] In the embodiment of the present invention, specifically, according to one or more excavation actions of the preset moving part, predicting the expected position coordinates of the moving part under each excavation action may include:

[0119] According to one or more preset excavation actions of the moving component and the action direction corresponding to each excavation action, predict the expected position change information of the moving component in the action direction corresponding to each excavation action;

[0120] According to the current position coordinates of the moving component and the expected position change information of the moving component caused by the excavator action, the expected position coordinates of the moving component under the excavator action are calculated.

[0121] It can be seen that this optional embodiment can obtain the current position coordinates of the moving component and the current coordinates of the electronic fence, and predict the expected position coordinates of the moving component in each excavation action according to one or more excavation actions of the preset moving component, which can improve the prediction accuracy and intelligence of the expected position coordinates of the moving component in each excavation action, and based on the current position coordinates of the moving component, the expected position coordinates of the moving component in each excavation action and the current coordinates of the electronic fence, select the target excavation action that can make the entire machine away from the electronic fence from all excavation actions, which can improve the screening accuracy and reliability of the target excavation action.

[0122] In this optional embodiment, as an optional implementation, according to the current position coordinates of the moving component, the expected position coordinates of the moving component in each excavation action, and the current coordinates of the electronic fence, the target excavation action that can make the whole excavator away from the electronic fence is screened from all excavation actions, which may include:

[0123] Calculate the third coordinate difference between the moving part and the electronic fence according to the current position coordinates of the moving part and the current coordinates of the electronic fence;

[0124] For each excavation action, according to the expected position coordinates of the moving component under the excavation action and the current coordinates of the electronic fence, a fourth coordinate difference between the moving component and the electronic fence under the excavation action is calculated;

[0125] Determine whether the third coordinate difference is greater than the fourth coordinate difference for the excavator action;

[0126] When it is determined that the third coordinate difference is greater than the fourth coordinate difference for the excavator action, the reverse action corresponding to the excavator action among all the excavator actions is determined as the target excavator action that can move the entire machine away from the electronic fence.

[0127] For example, if Figure 3 As shown, Figure 3 is a schematic diagram of a scenario of controlling an excavator bucket to stay away from an electronic fence disclosed in an embodiment of the present invention, such as Figure 3 As shown, assuming that the moving part currently performing the action is a bucket, when the whole machine touches the electronic fence and stops due to the action of the bucket, the third coordinate difference D1 between the current position coordinate of the bucket and the current coordinate of the electronic fence is recorded. For each excavator action, such as setting the excavator to rotate 2° to the left, the fourth coordinate difference D2 between the expected position coordinate of the bucket under the excavator action and the current coordinate of the electronic fence is calculated. If the difference D1 is greater than D2, it is determined that the whole machine can perform a right rotation action. For other excavator actions of the moving part and corresponding excavator actions of other moving parts, such as: the inward / outward swing action of the boom, dipper rod and bucket, the judgment logic is similar to the left rotation action of the bucket mentioned above. Finally, the direction in which the excavator can move is determined, and the moving part is controlled to move in the direction of the action, so that the whole excavator is away from the electronic fence, thereby removing the restriction of the electronic fence on the whole machine.

[0128] It can be seen that this optional implementation can automatically calculate the third coordinate difference between the moving component and the electronic fence according to the current position coordinates of the moving component and the current coordinates of the electronic fence, thereby improving the calculation accuracy and reliability of the coordinate difference between the moving component and the electronic fence after the whole machine touches the electronic fence and stops, and calculate the fourth coordinate difference between the moving component and the electronic fence for each excavator action according to the expected position coordinates of the moving component under each excavator action and the current coordinates of the electronic fence, thereby improving the prediction accuracy and reliability of the coordinate difference between the moving component and the electronic fence under each excavator action, and judging whether the third coordinate difference is greater than the fourth coordinate difference for the excavator action, when it is judged that the third coordinate difference is greater than the fourth coordinate difference for the excavator action, determining the reverse action corresponding to the excavator action in all excavator actions as the target excavator action that can make the whole machine away from the electronic fence, thereby improving the screening accuracy and reliability of the excavator action, thereby facilitating improving the accuracy of releasing the limit of the excavator based on the accurately screened target excavator action, and further facilitating improving the working efficiency of the whole machine.

[0129] Embodiment 2

[0130] See also Figure 4 , Figure 4 1 is a flow chart of another method for controlling the release of the movement restriction of an excavator based on an electronic fence disclosed in an embodiment of the present invention. Figure 4 The described electronic fence-based excavator limit release control method can be applied to an electronic fence-based excavator limit release control device, wherein the device may include a control device or a control server, wherein the control server may include a cloud server or a local server, which is not limited in the embodiments of the present invention. Figure 4 As shown, the electronic fence-based excavator limit release control method may include the following operations:

[0131] 201. After calibrating the entire excavator, control the moving parts of the excavator to approach the obstacle.

[0132] 202. Obtain the position information of the working device of the whole machine, and set up an electronic fence of the excavator within the activity area of ​​the excavator according to the position information.

[0133] 203. Based on the excavator coordinate system, determine a first coordinate set of the moving component, a second coordinate set of the electronic fence, and a third coordinate set of the obstacle.

[0134] 204. Determine whether the coordinates of the electronic fence exceed the operating range of the whole machine according to the second coordinate set and the preset operating range of the whole machine.

[0135] In an embodiment of the present invention, when the judgment result of step 204 is yes, that is, when it is judged that the coordinates of the electronic fence exceed the operating range of the entire machine, step 205 is triggered to be executed; when the judgment result of step 204 is no, that is, when it is judged that the coordinates of the electronic fence do not exceed the operating range of the entire machine, step 207 is triggered to be executed.

[0136] 205. Calculate the distance between the electronic fence and the farthest operating position in the operating range of the whole machine according to the second coordinate set and the operating range of the whole machine.

[0137] 206. The movement speed of the whole machine is limited according to the distance between the electronic fence and the farthest working position.

[0138] 207. Limit the movement or movement speed of the whole machine according to the first coordinate set and the third coordinate set.

[0139] 208. Check whether the whole machine is stopped.

[0140] 209. When it is detected that the whole machine stops, based on one or more preset excavation actions of the moving parts, a target excavation action that can make the whole machine away from the electronic fence is screened out from all the excavation actions.

[0141] 210. According to the target excavator action, the restriction on the action away from the electronic fence is lifted so that the excavator can return to normal working state.

[0142] In the embodiment of the present invention, for other descriptions of step 201 to step 210, please refer to the detailed description of step 101 to step 107 in the first embodiment, and the embodiment of the present invention will not be repeated.

[0143] It can be seen that the implementation Figure 4The described excavator motion limit release control method based on electronic fence can calibrate the whole excavator, control the moving parts of the excavator to approach obstacles, obtain the position information of the working device of the whole machine, and set the electronic fence of the excavator in the activity area of ​​the excavator according to the position information, so as to improve the setting accuracy of the electronic fence, automatically determine the first coordinate set of the moving parts, the second coordinate set of the electronic fence and the third coordinate set of the obstacle based on the excavator coordinate system, so as to improve the determination accuracy of the coordinates of the moving parts, the electronic fence and the obstacle of the excavator, and limit the movement or movement speed of the whole machine according to the first coordinate set, the second coordinate set, the third coordinate set and the pre-set working range of the whole machine, so as to improve the motion limit control accuracy and motion limit control efficiency of the whole machine, thereby facilitating the reduction of manual stops of the excavator operator based on the accurate motion limit of the whole machine. Inappropriate positions occur, which is beneficial to improving the working efficiency of the whole machine; in addition, a limit release scheme can also be set, specifically: detecting whether the whole machine has stopped, and when the whole machine is detected to have stopped, according to one or more excavator actions of preset moving parts, the target excavator action that can make the whole machine away from the electronic fence is screened out from all excavator actions, which can improve the screening accuracy and screening efficiency of the target excavator action that makes the whole machine away from the electronic fence, and then according to the target excavator action, the restriction on the action away from the electronic fence is released so that the excavator can return to normal working state, which can improve the accuracy and efficiency of the limit release of the whole machine. Compared with the method of simply turning off the electronic fence function and restarting the function after moving the whole machine working device to a safe area in the prior art, this scheme is beneficial to reducing the complexity of human-computer interaction by setting the limit release process of the excavator, thereby helping to improve the working efficiency of the whole machine. In addition, it is also possible to determine whether the coordinates of the electronic fence exceed the operating range of the whole machine based on the second coordinate set and the pre-set operating range of the whole machine, and when it is determined that the coordinates of the electronic fence exceed the operating range of the whole machine, accurately calculate the distance between the electronic fence and the farthest operating position in the operating range of the whole machine based on the second coordinate set and the operating range of the whole machine, and then limit the movement speed of the whole machine based on the distance between the electronic fence and the farthest operating position, which can improve the accuracy and efficiency of limiting the movement speed of the whole machine when the coordinates of the electronic fence exceed the operating range of the whole machine, and when it is determined that the coordinates of the electronic fence do not exceed the operating range of the whole machine, limit the movement or movement speed of the whole machine based on the first coordinate set and the third coordinate set, which can improve the accuracy of limiting the movement or movement speed of the whole machine based on the coordinates of the moving parts and the coordinates of the obstacles when the coordinates of the electronic fence do not exceed the operating range of the whole machine, and can improve the diversity and flexibility of the restriction operation on the whole machine.

[0144] In an optional embodiment, limiting the action or action speed of the whole machine according to the first coordinate set and the third coordinate set in step 207 may include:

[0145] Determining whether the moving component is below the upper surface of the obstacle based on the coordinates in the depth direction in the first coordinate set and the corresponding coordinates in the third coordinate set;

[0146] When it is determined that the moving component is below the upper surface of the obstacle, judging whether the whole machine meets the preset action restriction condition according to the coordinates in other directions in the first coordinate set and the corresponding coordinates in the third coordinate set, obtaining a first judgment result, and restricting the action of the whole machine when the first judgment result is yes;

[0147] When it is determined that the moving part is higher than or equal to the upper surface of the obstacle, it is determined that the movement of the whole machine does not need to be restricted; or,

[0148] When it is determined that the moving part is higher than or equal to the upper surface of the obstacle, the coordinates in the depth direction in the first coordinate set and the corresponding coordinates in the third coordinate set are used to determine whether the entire machine meets the preset movement speed limit conditions, and a second judgment result is obtained. When the second judgment result is yes, the movement speed of the entire machine is limited.

[0149] For example, assuming that the moving part is a bucket, if the bucket's coordinate in the Z-axis direction is lower than the upper surface of the obstacle, it is necessary to determine whether it is necessary to restrict the movement of the entire machine based on the bucket's coordinate in the X-axis direction, the obstacle's coordinate in the X-axis direction, the bucket's coordinate in the Y-axis direction, and the obstacle's coordinate in the Y-axis direction. If so, restrict the movement of the entire machine (for example, control the entire machine to stop); if the bucket's coordinate in the Z-axis direction is higher than or equal to the upper surface of the obstacle, do not restrict the movement of the entire machine, or, based on the bucket's coordinate in the Z-axis direction and the obstacle's coordinate in the Z-axis direction, determine whether it is necessary to limit the movement speed of the entire machine, and perform subsequent movement speed limitation operations when the judgment result is yes.

[0150] It can be seen that this optional implementation can determine whether the moving part is lower than the upper surface of the obstacle based on the coordinates in the depth direction in the first coordinate set and the corresponding coordinates in the third coordinate set, and when it is determined that the moving part is lower than the upper surface of the obstacle, it is determined whether the whole machine meets the preset action restriction conditions based on the coordinates in other directions in the first coordinate set and the corresponding coordinates in the third coordinate set to obtain a first judgment result, and when the first judgment result is yes, the action of the whole machine is restricted. The accuracy and reliability of determining the prerequisite for restricting the action of the whole machine can be improved through multiple judgment conditions, thereby improving the accuracy and reliability of restricting the action of the whole machine; and when it is determined that the moving part is higher than or equal to the upper surface of the obstacle, it is directly determined that the action of the whole machine does not need to be restricted, thereby improving the certainty that the action of the whole machine does not need to be restricted. The speed and efficiency are determined, which is conducive to reducing the waste of computing power of the controller based on the action caused by misjudging that the action needs to be restricted; or, when it is determined that the moving part is higher than or equal to the upper surface of the obstacle, the coordinates in the depth direction in the first coordinate set and the corresponding coordinates in the third coordinate set are used to determine whether the whole machine meets the preset action speed restriction conditions, and a second judgment result is obtained. When the second judgment result is yes, the action speed of the whole machine is restricted. The accuracy and reliability of the prerequisite for limiting the action speed of the whole machine can be improved through a variety of judgment conditions, thereby improving the accuracy and reliability of limiting the action speed of the whole machine, and the diversity and flexibility of the determination of the limit type of the whole machine (the limit type may include the type of limiting action or the type of limiting action speed) can be improved through a variety of judgment conditions.

[0151] In this optional embodiment, as an optional implementation, judging whether the whole machine meets the preset action restriction condition according to the coordinates in other directions in the first coordinate set and the corresponding coordinates in the third coordinate set, and obtaining the first judgment result may include:

[0152] Calculate a first coordinate difference between the excavator and the obstacle in the horizontal direction according to the coordinates in the horizontal direction in the first coordinate set and the corresponding coordinates in the third coordinate set;

[0153] Calculate a second coordinate difference between the excavator and the obstacle in the vertical direction according to the coordinates in the vertical direction in the first coordinate set and the corresponding coordinates in the third coordinate set;

[0154] Determine whether each coordinate difference value between the first coordinate difference value and the second coordinate difference value satisfies a preset coordinate difference value condition corresponding to the coordinate difference value;

[0155] When it is determined that at least one of the first coordinate difference and the second coordinate difference does not satisfy a preset coordinate difference condition corresponding to the coordinate difference, determining the first judgment result is that the whole machine does not satisfy the preset action restriction condition;

[0156] When it is determined that each of the first coordinate difference and the second coordinate difference satisfies the preset coordinate difference condition corresponding to the coordinate difference, the first judgment result is determined to be that the entire machine satisfies the preset action restriction condition.

[0157] In the embodiment of the present invention, optionally, the preset coordinate difference condition corresponding to each coordinate difference value may be one of the conditions that the coordinate difference value is zero, or that the coordinate difference value is less than or equal to the preset coordinate difference value. Specifically, when the preset coordinate difference condition is the condition that the coordinate difference value is zero, determining whether each coordinate difference value between the first coordinate difference value and the second coordinate difference value satisfies the preset coordinate difference condition corresponding to the coordinate difference value may include:

[0158] Determine whether the first coordinate difference and the second coordinate difference are both zero; when it is determined that the first coordinate difference and the second coordinate difference are both zero, determine whether each coordinate difference in the first coordinate difference and the second coordinate difference satisfies a preset coordinate difference condition corresponding to the coordinate difference;

[0159] When it is determined that the first coordinate difference is not zero, determining that the first coordinate difference does not satisfy a preset coordinate difference condition corresponding to the coordinate difference;

[0160] When it is determined that the second coordinate difference is not zero, it is determined that the second coordinate difference does not satisfy a preset coordinate difference condition corresponding to the coordinate difference.

[0161] It can be seen that this optional implementation can accurately calculate the first coordinate difference between the excavator and the obstacle with respect to the horizontal direction according to the horizontal coordinates in the first coordinate set and the corresponding coordinates in the third coordinate set, and accurately calculate the second coordinate difference between the excavator and the obstacle with respect to the vertical direction according to the vertical coordinates in the first coordinate set and the corresponding coordinates in the third coordinate set, and judge whether each coordinate difference between the first coordinate difference and the second coordinate difference satisfies the preset coordinate difference condition corresponding to the coordinate difference. When it is judged that at least one of the first coordinate difference and the second coordinate difference does not satisfy the preset coordinate difference condition corresponding to the coordinate difference, it is determined that the first judgment result is that the whole machine does not satisfy the preset action restriction condition, thereby improving the accuracy and reliability of determining that the whole machine does not satisfy the preset action restriction condition. When it is judged that each coordinate difference between the first coordinate difference and the second coordinate difference satisfies the preset coordinate difference condition corresponding to the coordinate difference, it is determined that the first judgment result is that the whole machine satisfies the preset action restriction condition, thereby improving the accuracy and reliability of determining that the whole machine does not satisfy the preset action restriction condition.

[0162] In this optional embodiment, as another optional implementation, judging whether the whole machine meets the preset action speed limit condition according to the coordinates in the depth direction in the first coordinate set and the corresponding coordinates in the third coordinate set to obtain the second judgment result may include:

[0163] Calculate the third coordinate difference between the excavator and the obstacle with respect to the depth direction according to the coordinates in the depth direction in the first coordinate set and the corresponding coordinates in the third coordinate set;

[0164] Determining whether the third coordinate difference is less than or equal to a preset coordinate difference, and when it is determined that the third coordinate difference is less than or equal to the preset coordinate difference, determining that the second determination result is that the whole machine meets a preset motion speed limit condition;

[0165] When it is determined that the third coordinate difference is greater than the preset coordinate difference, the second determination result is determined to be that the entire machine does not meet the preset motion speed restriction condition.

[0166] In an embodiment of the present invention, specifically, when it is determined that the coordinate difference between the coordinates in the depth direction (i.e., the Z direction) in the first coordinate set of the moving part and the coordinates in the depth direction (i.e., the upper surface of the obstacle) in the third coordinate set of the obstacle is less than a preset coordinate difference a, it is determined that the whole machine meets the preset motion speed limit condition, that is, it is determined that the motion speed of the whole machine needs to be limited; when it is determined that the coordinate difference is greater than or equal to the preset coordinate difference a, it is determined that the whole machine does not meet the preset motion speed limit condition, that is, it is determined that the motion speed of the whole machine does not need to be limited.

[0167] It can be seen that this optional implementation can accurately calculate the third coordinate difference between the excavator and the obstacle in the depth direction based on the coordinates in the depth direction in the first coordinate set and the corresponding coordinates in the third coordinate set, and when the third coordinate difference is small, it is determined that the second judgment result is that the whole machine meets the preset motion speed limit conditions, thereby improving the accuracy of determining whether the whole machine meets the preset motion speed limit conditions, which is beneficial to improving the accuracy of limiting the motion speed of the whole machine, and further helps to reduce the shaking of the whole machine caused by stopping the whole machine under fast operation, so that the whole machine touches the electronic fence and causes the occurrence of safety accidents; when the third coordinate difference is large, it is determined that the second judgment result is that the whole machine does not meet the preset motion speed limit conditions, thereby improving the accuracy of determining that the whole machine does not meet the preset motion speed limit conditions.

[0168] In another optional embodiment, the above step 206 of limiting the movement speed of the whole machine according to the distance between the electronic fence and the farthest operation position may include:

[0169] Determine whether the distance between the electronic fence and the farthest working position is less than or equal to a preset distance;

[0170] When it is determined that the distance between the electronic fence and the farthest operating position is less than or equal to the preset distance, the movement speed of the whole machine is limited;

[0171] And, the method further comprises:

[0172] When it is determined that the distance between the electronic fence and the farthest operating position is greater than the preset distance, it is determined that the electronic fence setting is invalid.

[0173] In an embodiment of the present invention, specifically, when the coordinates of the electronic fence have exceeded the operating range of the entire machine, when the distance between the electronic fence and the farthest operating position within the operating range of the entire machine is less than or equal to a preset distance value b, the movement speed of the entire machine needs to be limited; when the distance between the electronic fence and the farthest operating position within the operating range of the entire machine is greater than the distance value b, it needs to be determined that the electronic fence setting is invalid.

[0174] It can be seen that this optional embodiment can limit the movement speed of the whole machine when the distance between the electronic fence and the farthest working position is small when the electronic fence exceeds the operating range of the whole machine, which can improve the accuracy and reliability of determining the prerequisite for limiting the movement speed of the whole machine, thereby improving the accuracy and reliability of limiting the movement speed of the whole machine; when the distance between the electronic fence and the farthest working position is large, it is determined that the electronic fence setting is invalid, which can improve the accuracy of determining that the electronic fence setting is invalid, which is conducive to improving the accuracy of setting the electronic fence.

[0175] Embodiment 3

[0176] See also Figure 5 , Figure 5 1 is a schematic diagram of a structure of an excavator limit release control device based on an electronic fence disclosed in an embodiment of the present invention. Figure 5 The electronic fence-based excavator limit release control device described may include a control device or a control server, wherein the control server may include a cloud server or a local server, which is not limited in the embodiment of the present invention. Figure 5 As shown, the electronic fence-based excavator limit release control device may include:

[0177] The excavator operation module 301 is used to control the moving parts of the excavator to approach obstacles after calibrating the entire excavator;

[0178] An acquisition module 302 is used to acquire the position information of the working device of the whole machine;

[0179] A setting module 303 is used to set an electronic fence of the excavator within the activity area of ​​the excavator according to the location information;

[0180] A determination module 304 is used to determine a first coordinate set of the moving part, a second coordinate set of the electronic fence, and a third coordinate set of the obstacle based on an excavator coordinate system, wherein the excavator coordinate system is composed of axes in multiple directions perpendicular to each other;

[0181] The motion limiting control module 305 is used to limit the motion or motion speed of the whole machine according to the first coordinate set, the second coordinate set, the third coordinate set and the preset operating range of the whole machine;

[0182] A detection module 306 is used to detect whether the whole machine is stopped;

[0183] The screening module 307 is used to screen out target excavation actions that can make the whole machine away from the electronic fence from all excavation actions according to one or more excavation actions of the preset moving parts when the whole machine stops detected by the detection module 306, and each excavation action corresponds to an action direction;

[0184] The movement restriction release module 308 is used to release the restriction on the movement away from the electronic fence according to the target excavator movement, so that the excavator can return to the normal working state.

[0185] It can be seen that the implementation Figure 5The described excavator motion limit release control device based on electronic fence can calibrate the whole excavator, control the moving parts of the excavator to approach obstacles, obtain the position information of the working device of the whole machine, and set the electronic fence of the excavator in the activity area of ​​the excavator according to the position information, so as to improve the setting accuracy of the electronic fence, automatically determine the first coordinate set of the moving parts, the second coordinate set of the electronic fence and the third coordinate set of the obstacle based on the excavator coordinate system, so as to improve the determination accuracy of the coordinates of the moving parts, the electronic fence and the obstacle of the excavator, and limit the movement or movement speed of the whole machine according to the first coordinate set, the second coordinate set, the third coordinate set and the pre-set operating range of the whole machine, so as to improve the motion limit control accuracy and motion limit control efficiency of the whole machine, thereby facilitating the reduction of manual stops of the excavator operator based on the accurate motion limit of the whole machine. Inappropriate positions occur, which is beneficial to improving the working efficiency of the whole machine; in addition, a limit release scheme can also be set, specifically: detecting whether the whole machine has stopped, and when the whole machine is detected to have stopped, according to one or more excavator actions of preset moving parts, the target excavator action that can make the whole machine away from the electronic fence is screened out from all excavator actions, which can improve the screening accuracy and screening efficiency of the target excavator action that makes the whole machine away from the electronic fence, and then according to the target excavator action, the restriction on the action away from the electronic fence is released so that the excavator can return to normal working state, which can improve the accuracy and efficiency of the limit release of the whole machine. Compared with the method of simply turning off the electronic fence function and restarting the function after moving the whole machine working device to a safe area in the prior art, this scheme is beneficial to reducing the complexity of human-computer interaction by setting the limit release process of the excavator, thereby helping to improve the working efficiency of the whole machine.

[0186] In an optional embodiment, the movement limit control module 305 limits the movement or movement speed of the whole machine according to the first coordinate set, the second coordinate set, the third coordinate set and the preset operation range of the whole machine, and specifically includes:

[0187] According to the second coordinate set and the preset operating range of the whole machine, determining whether the coordinates of the electronic fence exceed the operating range of the whole machine;

[0188] When it is determined that the coordinates of the electronic fence exceed the operating range of the whole machine, the distance between the electronic fence and the farthest operating position in the operating range of the whole machine is calculated according to the second coordinate set and the operating range of the whole machine, and the movement speed of the whole machine is limited according to the distance between the electronic fence and the farthest operating position;

[0189] When it is determined that the coordinates of the electronic fence do not exceed the operating range of the entire machine, the movement or movement speed of the entire machine is restricted according to the first coordinate set and the third coordinate set.

[0190] It can be seen that this optional embodiment can determine whether the coordinates of the electronic fence exceed the operating range of the whole machine based on the second coordinate set and the pre-set operating range of the whole machine, and when it is determined that the coordinates of the electronic fence exceed the operating range of the whole machine, accurately calculate the distance between the electronic fence and the farthest operating position in the operating range of the whole machine based on the second coordinate set and the operating range of the whole machine, and then limit the movement speed of the whole machine based on the distance between the electronic fence and the farthest operating position, which can improve the accuracy and efficiency of limiting the movement speed of the whole machine when the coordinates of the electronic fence exceed the operating range of the whole machine, and when it is determined that the coordinates of the electronic fence do not exceed the operating range of the whole machine, limit the movement or movement speed of the whole machine based on the first coordinate set and the third coordinate set, which can improve the accuracy of limiting the movement or movement speed of the whole machine based on the coordinates of the moving parts and the coordinates of the obstacles when the coordinates of the electronic fence do not exceed the operating range of the whole machine, and can improve the diversity and flexibility of the restriction operation on the whole machine.

[0191] In this optional embodiment, as an optional implementation, the coordinate system of the excavator is composed of a horizontal axis, a vertical axis, and a depth axis. And, the motion limiting control module 305 limits the motion or motion speed of the whole machine according to the first coordinate set and the third coordinate set, specifically including:

[0192] Determining whether the moving component is below the upper surface of the obstacle based on the coordinates in the depth direction in the first coordinate set and the corresponding coordinates in the third coordinate set;

[0193] When it is determined that the moving component is below the upper surface of the obstacle, judging whether the whole machine meets the preset action restriction condition according to the coordinates in other directions in the first coordinate set and the corresponding coordinates in the third coordinate set, obtaining a first judgment result, and restricting the action of the whole machine when the first judgment result is yes;

[0194] When it is determined that the moving part is higher than or equal to the upper surface of the obstacle, it is determined that the movement of the whole machine does not need to be restricted; or,

[0195] When it is determined that the moving part is higher than or equal to the upper surface of the obstacle, the coordinates in the depth direction in the first coordinate set and the corresponding coordinates in the third coordinate set are used to determine whether the entire machine meets the preset movement speed limit conditions, and a second judgment result is obtained. When the second judgment result is yes, the movement speed of the entire machine is limited.

[0196] It can be seen that this optional implementation can determine whether the moving part is lower than the upper surface of the obstacle based on the coordinates in the depth direction in the first coordinate set and the corresponding coordinates in the third coordinate set, and when it is determined that the moving part is lower than the upper surface of the obstacle, it is determined whether the whole machine meets the preset action restriction conditions based on the coordinates in other directions in the first coordinate set and the corresponding coordinates in the third coordinate set to obtain a first judgment result, and when the first judgment result is yes, the action of the whole machine is restricted. The accuracy and reliability of determining the prerequisite for restricting the action of the whole machine can be improved through multiple judgment conditions, thereby improving the accuracy and reliability of restricting the action of the whole machine; and when it is determined that the moving part is higher than or equal to the upper surface of the obstacle, it is directly determined that the action of the whole machine does not need to be restricted, thereby improving the certainty that the action of the whole machine does not need to be restricted. The speed and efficiency are determined, which is conducive to reducing the waste of computing power of the controller based on the action caused by misjudging that the action needs to be restricted; or, when it is determined that the moving part is higher than or equal to the upper surface of the obstacle, the coordinates in the depth direction in the first coordinate set and the corresponding coordinates in the third coordinate set are used to determine whether the whole machine meets the preset action speed restriction conditions, and a second judgment result is obtained. When the second judgment result is yes, the action speed of the whole machine is restricted. The accuracy and reliability of the prerequisite for limiting the action speed of the whole machine can be improved through a variety of judgment conditions, thereby improving the accuracy and reliability of limiting the action speed of the whole machine, and the diversity and flexibility of the determination of the limit type of the whole machine (the limit type may include the type of limiting action or the type of limiting action speed) can be improved through a variety of judgment conditions.

[0197] In this optional implementation, the movement limit control module 305 may determine whether the whole machine meets the preset action restriction condition according to the coordinates in other directions in the first coordinate set and the corresponding coordinates in the third coordinate set. The method of obtaining the first judgment result may specifically include:

[0198] Calculate a first coordinate difference between the excavator and the obstacle in the horizontal direction according to the coordinates in the horizontal direction in the first coordinate set and the corresponding coordinates in the third coordinate set;

[0199] Calculate a second coordinate difference between the excavator and the obstacle in the vertical direction according to the coordinates in the vertical direction in the first coordinate set and the corresponding coordinates in the third coordinate set;

[0200] Determine whether each coordinate difference value between the first coordinate difference value and the second coordinate difference value satisfies a preset coordinate difference value condition corresponding to the coordinate difference value;

[0201] When it is determined that at least one of the first coordinate difference and the second coordinate difference does not satisfy a preset coordinate difference condition corresponding to the coordinate difference, determining the first judgment result is that the whole machine does not satisfy the preset action restriction condition;

[0202] When it is determined that each of the first coordinate difference and the second coordinate difference satisfies the preset coordinate difference condition corresponding to the coordinate difference, the first judgment result is determined to be that the entire machine satisfies the preset action restriction condition.

[0203] It can be seen that this optional implementation can also accurately calculate the first coordinate difference between the excavator and the obstacle with respect to the horizontal direction according to the horizontal coordinates in the first coordinate set and the corresponding coordinates in the third coordinate set, and accurately calculate the second coordinate difference between the excavator and the obstacle with respect to the vertical direction according to the vertical coordinates in the first coordinate set and the corresponding coordinates in the third coordinate set, and judge whether each coordinate difference between the first coordinate difference and the second coordinate difference satisfies the preset coordinate difference condition corresponding to the coordinate difference. When it is judged that at least one of the first coordinate difference and the second coordinate difference does not satisfy the preset coordinate difference condition corresponding to the coordinate difference, it is determined that the first judgment result is that the whole machine does not satisfy the preset action restriction condition, thereby improving the accuracy and reliability of determining that the whole machine does not satisfy the preset action restriction condition. When it is judged that each coordinate difference between the first coordinate difference and the second coordinate difference satisfies the preset coordinate difference condition corresponding to the coordinate difference, it is determined that the first judgment result is that the whole machine satisfies the preset action restriction condition, thereby improving the accuracy and reliability of determining that the whole machine does not satisfy the preset action restriction condition.

[0204] In this optional implementation, the motion limit control module 305 may determine whether the whole machine meets the preset motion speed limit condition according to the coordinates in the depth direction in the first coordinate set and the corresponding coordinates in the third coordinate set. The method of obtaining the second judgment result may specifically include:

[0205] Calculate the third coordinate difference between the excavator and the obstacle with respect to the depth direction according to the coordinates in the depth direction in the first coordinate set and the corresponding coordinates in the third coordinate set;

[0206] Determining whether the third coordinate difference is less than or equal to a preset coordinate difference, and when it is determined that the third coordinate difference is less than or equal to the preset coordinate difference, determining that the second determination result is that the whole machine meets a preset motion speed limit condition;

[0207] When it is determined that the third coordinate difference is greater than the preset coordinate difference, the second determination result is determined to be that the entire machine does not meet the preset motion speed restriction condition.

[0208] It can be seen that this optional implementation can also accurately calculate the third coordinate difference between the excavator and the obstacle in the depth direction based on the coordinates in the depth direction in the first coordinate set and the corresponding coordinates in the third coordinate set, and when the third coordinate difference is small, determine the second judgment result as the whole machine meets the preset motion speed limit conditions, thereby improving the accuracy of determining whether the whole machine meets the preset motion speed limit conditions, which is beneficial to improve the accuracy of limiting the motion speed of the whole machine, and further helps to reduce the shaking of the whole machine caused by stopping the whole machine under fast operation, so that the whole machine touches the electronic fence and causes the occurrence of safety accidents; when the third coordinate difference is large, determine the second judgment result as the whole machine does not meet the preset motion speed limit conditions, thereby improving the accuracy of determining whether the whole machine does not meet the preset motion speed limit conditions.

[0209] In another optional embodiment, the screening module 307 screens out the target excavation action that can make the whole machine away from the electronic fence from all the excavation actions according to one or more excavation actions of the preset moving parts, which may specifically include:

[0210] Get the current position coordinates of the moving part and the current coordinates of the electronic fence;

[0211] According to one or more preset excavation actions of the moving part, predicting the expected position coordinates of the moving part under each excavation action;

[0212] According to the current position coordinates of the moving parts, the expected position coordinates of the moving parts in each excavator action and the current coordinates of the electronic fence, the target excavator action that can make the whole machine away from the electronic fence is screened out from all the excavator actions.

[0213] It can be seen that this optional embodiment can obtain the current position coordinates of the moving component and the current coordinates of the electronic fence, and predict the expected position coordinates of the moving component in each excavation action according to one or more excavation actions of the preset moving component, which can improve the prediction accuracy and intelligence of the expected position coordinates of the moving component in each excavation action, and based on the current position coordinates of the moving component, the expected position coordinates of the moving component in each excavation action and the current coordinates of the electronic fence, select the target excavation action that can make the entire machine away from the electronic fence from all excavation actions, which can improve the screening accuracy and reliability of the target excavation action.

[0214] In this optional embodiment, as an optional implementation, the screening module 307 screens out the target excavation action that can make the whole machine away from the electronic fence from all excavation actions according to the current position coordinates of the moving part, the expected position coordinates of the moving part in each excavation action, and the current coordinates of the electronic fence. Specifically, the method may include:

[0215] Calculate the third coordinate difference between the moving part and the electronic fence according to the current position coordinates of the moving part and the current coordinates of the electronic fence;

[0216] For each excavation action, according to the expected position coordinates of the moving component under the excavation action and the current coordinates of the electronic fence, a fourth coordinate difference between the moving component and the electronic fence under the excavation action is calculated;

[0217] Determine whether the third coordinate difference is greater than the fourth coordinate difference for the excavator action;

[0218] When it is determined that the third coordinate difference is greater than the fourth coordinate difference for the excavator action, the reverse action corresponding to the excavator action among all the excavator actions is determined as the target excavator action that can move the entire machine away from the electronic fence.

[0219] It can be seen that this optional implementation can automatically calculate the third coordinate difference between the moving component and the electronic fence according to the current position coordinates of the moving component and the current coordinates of the electronic fence, thereby improving the calculation accuracy and reliability of the coordinate difference between the moving component and the electronic fence after the whole machine touches the electronic fence and stops, and calculate the fourth coordinate difference between the moving component and the electronic fence for each excavator action according to the expected position coordinates of the moving component under each excavator action and the current coordinates of the electronic fence, thereby improving the prediction accuracy and reliability of the coordinate difference between the moving component and the electronic fence under each excavator action, and judging whether the third coordinate difference is greater than the fourth coordinate difference for the excavator action, when it is judged that the third coordinate difference is greater than the fourth coordinate difference for the excavator action, determining the reverse action corresponding to the excavator action in all excavator actions as the target excavator action that can make the whole machine away from the electronic fence, thereby improving the screening accuracy and reliability of the excavator action, thereby facilitating improving the accuracy of releasing the limit of the excavator based on the accurately screened target excavator action, and further facilitating improving the working efficiency of the whole machine.

[0220] Embodiment 4

[0221] See also Figure 6 , Figure 6 FIG. 1 is a schematic diagram of another structure of an excavator motion limit release control device based on an electronic fence disclosed in an embodiment of the present invention. Figure 6 As shown, the electronic fence-based excavator limit release control device may include:

[0222] A memory 401 storing executable program codes;

[0223] a processor 402 coupled to the memory 401;

[0224] The processor 402 calls the executable program code stored in the memory 401 to execute the steps of the electronic fence-based excavator limit release control method described in the first embodiment of the present invention or the second embodiment of the present invention.

[0225] Embodiment 5

[0226] An embodiment of the present invention discloses a computer storage medium, which stores computer instructions. When the computer instructions are called, they are used to execute the steps in the electronic fence-based excavator limit release control method described in Embodiment 1 or Embodiment 2 of the present invention.

[0227] Embodiment 6

[0228] An embodiment of the present invention discloses a computer program product, which includes a non-transitory computer-readable storage medium storing a computer program, and the computer program is operable to enable a computer to execute the steps of the electronic fence-based excavator limit release control method described in Example 1 or Example 2.

[0229] The device embodiments described above are only illustrative, wherein the modules described as separate components may or may not be physically separated, and the components displayed as modules may or may not be physical modules, i.e., they may be located in one place, or they may be distributed on multiple network modules. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Those of ordinary skill in the art may understand and implement it without creative work.

[0230] Through the specific description of the above embodiments, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, it can also be implemented by hardware. Based on such an understanding, the above technical solution can be essentially or partly contributed to the prior art in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, and the storage medium includes a read-only memory (ROM), a random access memory (RAM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), a one-time programmable read-only memory (OTPROM), an electronically erasable rewritable read-only memory (EEPROM), a compact disc (CD-ROM) or other optical disc storage, a magnetic disk storage, a magnetic tape storage, or any other computer-readable medium that can be used to carry or store data.

[0231] Finally, it should be noted that the method and device for releasing the limit of an excavator based on an electronic fence disclosed in the embodiment of the present invention only discloses a preferred embodiment of the present invention, which is only used to illustrate the technical solution of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, it should be understood by those skilled in the art that the technical solutions described in the aforementioned embodiments can still be modified, or some of the technical features therein can be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A method for releasing the movement restriction of an excavator based on an electronic fence, characterized in that: The method comprises: After the whole excavator is calibrated, the moving parts of the excavator are controlled to approach the obstacle; Acquiring position information of the working device of the whole machine, and setting an electronic fence of the excavator within the activity area of ​​the excavator according to the position information; Determine a first coordinate set of the moving component, a second coordinate set of the electronic fence, and a third coordinate set of the obstacle based on an excavator coordinate system, wherein the excavator coordinate system is composed of axes in multiple directions perpendicular to each other; According to the first coordinate set, the second coordinate set, the third coordinate set and a preset operating range of the whole machine, limiting the movement or movement speed of the whole machine, and detecting whether the whole machine is stopped; When it is detected that the whole machine stops, according to one or more preset excavation actions of the moving parts, a target excavation action that can make the whole machine move away from the electronic fence is screened out from all the excavation actions, each of which corresponds to an action direction; According to the target excavator action, the restriction on the action of moving away from the electronic fence is released so that the excavator can resume a normal working state.

2. The excavator movement restriction release control method based on electronic fence according to claim 1, characterized in that: The limiting the action or action speed of the whole machine according to the first coordinate set, the second coordinate set, the third coordinate set and the preset operating range of the whole machine includes: According to the second coordinate set and the preset operating range of the whole machine, determining whether the coordinates of the electronic fence exceed the operating range of the whole machine; When it is determined that the coordinates of the electronic fence exceed the operating range of the whole machine, the distance between the electronic fence and the farthest operating position in the operating range of the whole machine is calculated according to the second coordinate set and the operating range of the whole machine, and the movement speed of the whole machine is limited according to the distance between the electronic fence and the farthest operating position; When it is determined that the coordinates of the electronic fence do not exceed the operating range of the entire machine, the movement or movement speed of the entire machine is restricted according to the first coordinate set and the third coordinate set.

3. The excavator movement restriction release control method based on electronic fence according to claim 2, characterized in that: The excavator coordinate system is composed of a horizontal axis, a vertical axis and a depth axis; And, limiting the action or action speed of the whole machine according to the first coordinate set and the third coordinate set includes: Determining whether the moving component is below the upper surface of the obstacle according to the coordinates in the depth direction in the first coordinate set and the corresponding coordinates in the third coordinate set; When it is determined that the moving component is below the upper surface of the obstacle, judging whether the whole machine meets a preset action restriction condition according to the coordinates in other directions in the first coordinate set and the corresponding coordinates in the third coordinate set, obtaining a first judgment result, and restricting the action of the whole machine when the first judgment result is yes; When it is determined that the moving part is higher than or equal to the upper surface of the obstacle, it is determined that the movement of the whole machine does not need to be restricted; or, When it is determined that the moving part is higher than or equal to the upper surface of the obstacle, the whole machine is judged whether it meets the preset movement speed limit conditions according to the coordinates in the depth direction in the first coordinate set and the corresponding coordinates in the third coordinate set, and a second judgment result is obtained. When the second judgment result is yes, the movement speed of the whole machine is limited.

4. The excavator movement restriction release control method based on electronic fence according to claim 3 is characterized in that: The determining whether the whole machine satisfies a preset action restriction condition according to the coordinates in other directions in the first coordinate set and the corresponding coordinates in the third coordinate set to obtain a first determination result includes: Calculating a first coordinate difference between the excavator and the obstacle relative to the horizontal direction according to the coordinates in the horizontal direction in the first coordinate set and the corresponding coordinates in the third coordinate set; Calculating a second coordinate difference between the excavator and the obstacle relative to the vertical direction according to the coordinates in the vertical direction in the first coordinate set and the corresponding coordinates in the third coordinate set; Determining whether each coordinate difference value between the first coordinate difference value and the second coordinate difference value satisfies a preset coordinate difference value condition corresponding to the coordinate difference value; When it is determined that at least one of the first coordinate difference and the second coordinate difference does not satisfy a preset coordinate difference condition corresponding to the coordinate difference, determining that the first judgment result is that the entire machine does not satisfy a preset action restriction condition; When it is determined that each of the first coordinate difference and the second coordinate difference satisfies the preset coordinate difference condition corresponding to the coordinate difference, the first judgment result is determined to be that the entire machine satisfies the preset action restriction condition.

5. The excavator movement restriction release control method based on electronic fence according to claim 3, characterized in that: The determining, based on the coordinates in the depth direction in the first coordinate set and the corresponding coordinates in the third coordinate set, whether the whole machine meets the preset motion speed limit condition, and obtaining a second determination result includes: Calculating a third coordinate difference between the excavator and the obstacle with respect to the depth direction according to the coordinates in the depth direction in the first coordinate set and the corresponding coordinates in the third coordinate set; Determining whether the third coordinate difference is less than or equal to a preset coordinate difference, and when it is determined that the third coordinate difference is less than or equal to the preset coordinate difference, determining that the second determination result is that the whole machine meets a preset motion speed limit condition; When it is determined that the third coordinate difference is greater than the preset coordinate difference, it is determined that the second judgment result is that the whole machine does not meet the preset motion speed restriction condition.

6. The excavator movement restriction release control method based on electronic fence according to any one of claims 1 to 5, characterized in that: The step of selecting a target excavation action that can make the whole machine away from the electronic fence from all the excavation actions according to one or more preset excavation actions of the moving part includes: Obtaining the current position coordinates of the moving component and the current coordinates of the electronic fence; According to one or more preset excavation actions of the moving component, predicting the expected position coordinates of the moving component under each of the excavation actions; According to the current position coordinates of the moving component, the expected position coordinates of the moving component in each excavation action and the current coordinates of the electronic fence, a target excavation action that can move the entire machine away from the electronic fence is screened out from all the excavation actions.

7. The excavator movement restriction release control method based on electronic fence according to claim 6, characterized in that: The step of selecting a target excavation action that can make the whole machine away from the electronic fence from all the excavation actions according to the current position coordinates of the moving component, the expected position coordinates of the moving component in each excavation action, and the current coordinates of the electronic fence includes: Calculating a third coordinate difference between the moving component and the electronic fence according to the current position coordinates of the moving component and the current coordinates of the electronic fence; For each of the excavation actions, calculating a fourth coordinate difference between the moving component and the electronic fence under the excavation action according to the expected position coordinates of the moving component under the excavation action and the current coordinates of the electronic fence; Determine whether the third coordinate difference is greater than the fourth coordinate difference for the excavator action; When it is determined that the third coordinate difference is greater than the fourth coordinate difference for the excavator action, the reverse action corresponding to the excavator action among all the excavator actions is determined as the target excavator action that can move the entire machine away from the electronic fence.

8. An excavator limit release control device based on electronic fence, characterized in that: The device comprises: An excavator working module is used to control the moving parts of the excavator to approach obstacles after calibrating the entire excavator; An acquisition module, used to acquire position information of a working device of the whole machine; A setting module, configured to set an electronic fence of the excavator within an activity area of ​​the excavator according to the location information; a determination module, configured to determine, based on an excavator coordinate system, a first coordinate set of the moving component, a second coordinate set of the electronic fence, and a third coordinate set of the obstacle, wherein the excavator coordinate system is composed of axes in multiple directions perpendicular to each other; A motion limiting control module, used for limiting the motion or motion speed of the whole machine according to the first coordinate set, the second coordinate set, the third coordinate set and a preset operating range of the whole machine; A detection module, used to detect whether the whole machine is stopped; a screening module, configured to screen out a target excavation action that can make the whole machine move away from the electronic fence from all the excavation actions according to one or more preset excavation actions of the moving parts when the detection module detects that the whole machine has stopped, each of the excavation actions corresponding to an action direction; The movement restriction release module is used to release the restriction on the movement away from the electronic fence according to the target excavator movement, so that the excavator can return to a normal working state.

9. An excavator limit release control device based on electronic fence, characterized in that: The device comprises: A memory storing executable program code; a processor coupled to the memory; The processor calls the executable program code stored in the memory to execute the excavator limit release control method based on electronic fence as described in any one of claims 1-7.

10. A computer storage medium, characterized in that: The computer storage medium stores computer instructions, and when the computer instructions are called, they are used to execute the electronic fence-based excavator limit release control method as described in any one of claims 1-7.

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