Electronic fence-based excavator restraining release control method and device

Abstract

The application relates to the technical field of electronic fence and discloses a control method and device for removing the limitation of an excavator based on an electronic fence, which comprises the following steps: after calibrating the whole excavator, the moving parts of the excavator are controlled to approach the obstacle; the position information of the whole working device is acquired, and the electronic fence of the excavator is set according to the position information; 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; the action or action speed of the whole excavator is limited according to the coordinate sets and the preset whole excavator working range; when the whole excavator stops, one or more excavator actions of the excavator are preset, and the actions that can make the whole excavator move away from the electronic fence are screened; and according to the action, the limitation on the action of moving away from the electronic fence is removed, so that the excavator returns to the normal working state. It can be seen that the application can improve the accuracy of the limitation control and the accuracy of the limitation removal of the excavator, and is beneficial to improving the working efficiency of the whole excavator.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of electronic fence, and in particular to a method and device for releasing the limit control of an excavator based on an electronic fence. BACKGROUND

[0002] In the prior art, the setting scheme of the electronic fence of an excavator mainly includes: setting a virtual plane wall (similar to a plane of a cube or a combination of multiple planes) based on the coordinates of the whole excavator in the front-rear, up-down and left-right directions, or setting a left-right rotating angle type sector virtual fence.

[0003] However, it is found in practice that the existing electronic fence of an excavator is mainly used to define the working range of the excavator, which easily over-restricts the movement of the excavator, making it not consistent with the actual application conditions and reducing the working efficiency of the whole machine; and the traditional scheme for releasing the limit state of the working device of the excavator only simply uses manual means, specifically: the working staff of the excavator manually moves the working device away from the electronic fence to restore the normal movement of the excavator, or the working staff turns off the electronic fence function and moves the working device to a safe area before turning on the function again, which also easily leads to low working efficiency of the whole excavator. Therefore, it is particularly important to propose a technical scheme for improving the limit control accuracy and limit release accuracy of the excavator to improve the working efficiency of the whole machine. SUMMARY

[0004] The present application provides a method and device for releasing the limit control of an excavator based on an electronic fence, which can.

[0005] In order to solve the above technical problems, the present application discloses a method for releasing the limit control of an excavator based on an electronic fence, which comprises the following steps:

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

[0007] The position information of the working device of the whole excavator is obtained, and the electronic fence of the excavator is set in the active area of the excavator according to the position information;

[0008] Based on the excavator coordinate system composed of multiple mutually perpendicular direction axes, 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;

[0009] According to the first coordinate set, the second coordinate set, the third coordinate set and the pre-set working range of the whole excavator, the movement or movement speed of the whole excavator is limited, and whether the whole excavator is stopped is detected;

[0010] When detecting that the whole machine stops, according to one or more excavator actions of the preset motion part, a target excavator action capable of making the whole machine move away from the electronic fence is screened out from all the excavator actions, and each excavator action 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 removed, so that the excavator returns to a normal working state.

[0012] As an optional implementation, in the first aspect of the present application, the action or action speed of the whole machine is limited according to the first coordinate set, the second coordinate set, the third coordinate set and the preset working range of the whole machine, which comprises:

[0013] According to the second coordinate set and the preset working range of the whole machine, it is judged whether the coordinates of the electronic fence are out of the working range of the whole machine;

[0014] When it is judged that the coordinates of the electronic fence are out of the working range of the whole machine, the distance between the electronic fence and the farthest working position in the working range of the whole machine is calculated according to the second coordinate set and the working range of the whole machine, and the action speed of the whole machine is limited according to the distance between the electronic fence and the farthest working position;

[0015] When it is judged that the coordinates of the electronic fence are not out of the working range of the whole machine, the action or action speed of the whole machine is limited according to the first coordinate set and the third coordinate set.

[0016] As an optional implementation, in the first aspect of the present application, 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 the action or action speed of the whole machine is limited according to the first coordinate set and the third coordinate set, which comprises:

[0018] According to the coordinates in the depth direction in the first coordinate set and the corresponding coordinates in the third coordinate set, it is judged whether the motion part has been below the upper surface of the obstacle;

[0019] When it is judged that the motion part has been below the upper surface of the obstacle, according to the coordinates in other directions in the first coordinate set and the corresponding coordinates in the third coordinate set, it is judged whether the whole machine satisfies the preset action limitation condition to obtain a first judgment result, and when the first judgment result is yes, the action of the whole machine is limited;

[0020] determining that the action of the whole machine does not need to be limited when it is judged that the moving part is higher than or equal to the upper surface of the obstacle; or

[0021] judging whether the whole machine meets a preset action speed limiting condition according to the coordinate in the depth direction in the first coordinate set and the corresponding coordinate in the third coordinate set, obtaining a second judgment result, and limiting the action speed of the whole machine when the second judgment result is yes when it is judged that the moving part is higher than or equal to the upper surface of the obstacle.

[0022] As an optional implementation, in the first aspect of the present application, the judging whether the whole machine meets a preset action limiting condition according to the other direction coordinates in the first coordinate set and the corresponding coordinates in the third coordinate set, obtaining a first judgment result, comprises:

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

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

[0025] judging whether each of the first coordinate difference value and the second coordinate difference value meets a preset coordinate difference value condition corresponding to the coordinate difference value;

[0026] determining that the first judgment result is that the whole machine does not meet a preset action limiting condition when it is judged that at least one of the first coordinate difference value and the second coordinate difference value does not meet a preset coordinate difference value condition corresponding to the coordinate difference value;

[0027] determining that the first judgment result is that the whole machine meets a preset action limiting condition when it is judged that each of the first coordinate difference value and the second coordinate difference value meets a preset coordinate difference value condition corresponding to the coordinate difference value.

[0028] As an optional implementation, in the first aspect of the present application, the judging whether the whole machine meets a preset action speed limiting condition according to the coordinate in the depth direction in the first coordinate set and the corresponding coordinate in the third coordinate set, obtaining a second judgment result, comprises:

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

[0030] determining that the second determination result is that the whole machine satisfies the preset action speed limitation condition when it is determined that the third coordinate difference value is less than or equal to the preset coordinate difference value;

[0031] determining that the second determination result is that the whole machine does not satisfy the preset action speed limitation condition when it is determined that the third coordinate difference value is greater than the preset coordinate difference value.

[0032] As an optional implementation, in the first aspect of the present application, the filtering of the target excavator action from all the excavator actions according to the preset one or more excavator actions of the moving component to make the whole machine away from the electronic fence comprises:

[0033] obtaining the current position coordinate of the moving component and the current coordinate of the electronic fence;

[0034] predicting the expected position coordinate of the moving component under each excavator action according to the preset one or more excavator actions of the moving component;

[0035] filtering the target excavator action from all the excavator actions according to the current position coordinate of the moving component, the expected position coordinate of the moving component under each excavator action and the current coordinate of the electronic fence.

[0036] As an optional implementation, in the first aspect of the present application, the filtering of the target excavator action from all the excavator actions according to the current position coordinate of the moving component, the expected position coordinate of the moving component under each excavator action and the current coordinate of the electronic fence comprises:

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

[0038] for each excavator action, calculating a fourth coordinate difference value between the moving component and the electronic fence under the excavator action according to the expected position coordinate of the moving component under the excavator action and the current coordinate of the electronic fence;

[0039] determining whether the third coordinate difference value is greater than the fourth coordinate difference value under the excavator action.

[0040] When it is judged that the third coordinate difference value is greater than the fourth coordinate difference value under the excavator action, all reverse actions corresponding to the excavator action among all the excavator actions are determined as target excavator actions capable of making the whole machine away from the electronic fence.

[0041] The second aspect of the present application discloses an electronic fence-based excavator limiting release control device, which comprises:

[0042] An excavator working module is configured to control the movement component of the excavator to approach the obstacle after calibrating the whole machine.

[0043] An acquisition module is configured to acquire position information of the working device of the whole machine.

[0044] A setting module is configured to set the electronic fence of the excavator in the active area of the excavator according to the position information.

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

[0046] A limiting control module is configured to limit 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 working range of the whole machine.

[0047] A detection module is configured to detect whether the whole machine is stopped.

[0048] A screening module is configured to screen target excavator actions capable of making the whole machine away from the electronic fence from all the excavator actions according to one or more excavator actions of the movement component when the detection module detects that the whole machine is stopped, and each excavator action corresponds to an action direction.

[0049] A limiting release module is configured to release the limitation on the action away from the electronic fence according to the target excavator action, so as to make the excavator return to the normal working state.

[0050] As an optional implementation, in the second aspect of the present application, the limiting control module limits 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 working range of the whole machine in the following manner:

[0051] determining whether the coordinates of the electronic fence exceed the working range of the machine according to the second set of coordinates and the preset working range of the machine;

[0052] when it is determined that the coordinates of the electronic fence exceed the working range of the machine, calculating the distance between the electronic fence and the farthest working position in the working range of the machine according to the second set of coordinates and the working range of the machine, and limiting the action speed of the machine according to the distance between the electronic fence and the farthest working position;

[0053] when it is determined that the coordinates of the electronic fence do not exceed the working range of the machine, limiting the action or action speed of the machine according to the first set of coordinates and the third set of coordinates.

[0054] As an optional implementation, in the second aspect of the present application, 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] Moreover, the limiting control module limits the action or action speed of the machine according to the first set of coordinates and the third set of coordinates in the following manner:

[0056] determining whether the moving part has been lowered below the upper surface of the obstacle according to the coordinates in the depth direction in the first set of coordinates and the corresponding coordinates in the third set of coordinates;

[0057] when it is determined that the moving part has been lowered below the upper surface of the obstacle, determining whether the machine satisfies a preset action limiting condition according to the coordinates in other directions in the first set of coordinates and the corresponding coordinates in the third set of coordinates to obtain a first determination result, and limiting the action of the machine when the first determination result is yes;

[0058] when it is determined that the moving part is higher than or equal to the upper surface of the obstacle, determining that the action of the machine does not need to be limited; or

[0059] when it is determined that the moving part is higher than or equal to the upper surface of the obstacle, determining whether the machine satisfies a preset action speed limiting condition according to the coordinates in the depth direction in the first set of coordinates and the corresponding coordinates in the third set of coordinates to obtain a second determination result, and limiting the action speed of the machine when the second determination result is yes.

[0060] As an optional implementation, in the second aspect of the present application, the way that the limit control module judges whether the whole machine satisfies the preset action limit condition according to the coordinates of other directions in the first coordinate set and the corresponding coordinates in the third coordinate set to obtain the first judgment result specifically includes:

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

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

[0063] judging whether each of the first coordinate difference value and the second coordinate difference value satisfies the preset coordinate difference value condition corresponding to the coordinate difference value;

[0064] when it is judged that at least one of the first coordinate difference value and the second coordinate difference value does not satisfy the preset coordinate difference value condition corresponding to the coordinate difference value, determining that the first judgment result is that the whole machine does not satisfy the preset action limit condition;

[0065] when it is judged that each of the first coordinate difference value and the second coordinate difference value satisfies the preset coordinate difference value condition corresponding to the coordinate difference value, determining that the first judgment result is that the whole machine satisfies the preset action limit condition.

[0066] As an optional implementation, in the second aspect of the present application, the way that the limit control module judges whether the whole machine satisfies the preset action speed limit condition according to the coordinate of the depth direction in the first coordinate set and the corresponding coordinate in the third coordinate set to obtain the second judgment result specifically includes:

[0067] calculating a third coordinate difference value between the excavator and the obstacle relative to the depth direction according to the coordinate of the depth direction in the first coordinate set and the corresponding coordinate in the third coordinate set;

[0068] judging whether the third coordinate difference value is less than or equal to a preset coordinate difference value, and when it is judged that the third coordinate difference value is less than or equal to the preset coordinate difference value, determining that the second judgment result is that the whole machine satisfies the preset action speed limit condition;

[0069] when it is judged that the third coordinate difference value is greater than the preset coordinate difference value, determining that the second judgment result is that the whole machine does not satisfy the preset action speed limit condition.

[0070] As an optional implementation, in the second aspect of the present application, the screening module screens the target excavator action capable of moving the whole machine away from the electronic fence from all the excavator actions according to the pre-set one or more excavator actions of the moving component in the following manner:

[0071] obtaining the current position coordinate of the moving component and the current coordinate of the electronic fence;

[0072] predicting the expected position coordinate of the moving component under each excavator action according to the pre-set one or more excavator actions of the moving component;

[0073] screening the target excavator action capable of moving the whole machine away from the electronic fence from all the excavator actions according to the current position coordinate of the moving component, the expected position coordinate of the moving component under each excavator action, and the current coordinate of the electronic fence.

[0074] As an optional implementation, in the second aspect of the present application, the screening module screens the target excavator action capable of moving the whole machine away from the electronic fence from all the excavator actions according to the current position coordinate of the moving component, the expected position coordinate of the moving component under each excavator action, and the current coordinate of the electronic fence in the following manner:

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

[0076] for each excavator action, calculating a fourth coordinate difference value between the moving component and the electronic fence under the excavator action according to the expected position coordinate of the moving component under the excavator action and the current coordinate of the electronic fence;

[0077] judging whether the third coordinate difference value is greater than the fourth coordinate difference value under the excavator action;

[0078] when it is judged that the third coordinate difference value is greater than the fourth coordinate difference value under the excavator action, determining the reverse action corresponding to the excavator action from all the excavator actions as the target excavator action capable of moving the whole machine away from the electronic fence.

[0079] The third aspect of the present application discloses another electronic fence-based excavator limiting release control device, which comprises:

[0080] a memory storing executable program codes;

[0081] a processor coupled to the memory;

[0082] The processor invokes the executable program code stored in the memory to execute the electronic fence-based limit release control method of the excavator disclosed in the first aspect of the application.

[0083] The fourth aspect of the application discloses a computer storage medium, which stores computer instructions, and the computer instructions are invoked to execute the electronic fence-based limit release control method of the excavator disclosed in the first aspect of the application.

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

[0085] In the embodiment of the present application, after the whole excavator is calibrated, the moving parts of the excavator are controlled to approach the obstacle; the position information of the working device of the whole excavator is obtained, and the electronic fence of the excavator is set according to the position information of the working device; 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 based on the excavator coordinate system, which is composed of multiple mutually perpendicular axes; the action or action speed of the whole excavator is limited according to the first coordinate set, the second coordinate set, the third coordinate set and the pre-set working range of the whole excavator, and whether the whole excavator stops is detected; when it is detected that the whole excavator stops, the target excavator action that can make the whole excavator away from the electronic fence is selected from all excavator actions according to the pre-set one or more excavator actions of the moving parts, and each excavator action corresponds to an action direction; the limitation on the action away from the electronic fence is removed according to the target excavator action, so that the excavator returns to the normal working state. It can be seen that, after the whole excavator is calibrated, the moving parts of the excavator are controlled to approach the obstacle, the position information of the working device of the whole excavator is obtained, and the electronic fence of the excavator is set in the active area of the excavator according to the position information, which can improve the setting accuracy of the electronic fence, 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 automatically determined based on the excavator coordinate system, which can improve the determination accuracy of the coordinates of the moving parts, the electronic fence and the obstacle of the excavator, the action or action speed of the whole excavator is limited according to the first coordinate set, the second coordinate set, the third coordinate set and the pre-set working range of the whole excavator, which can improve the limiting control accuracy and efficiency of the whole excavator, thereby being conducive to reducing the situation that the manual stop position of the operator of the excavator is not appropriate based on the accurate limiting of the whole excavator, and further being conducive to improving the working efficiency of the whole excavator; in addition, the limiting release scheme can also be set, specifically: whether the whole excavator stops is detected, and when it is detected that the whole excavator stops, the target excavator action that can make the whole excavator away from the electronic fence is selected from all excavator actions according to the pre-set one or more excavator actions of the moving parts, which can improve the selection accuracy and efficiency of the target excavator action that makes the whole excavator away from the electronic fence, and further according to the target excavator action, the limitation on the action away from the electronic fence is removed, so that the excavator returns to the normal working state, which can improve the limiting release accuracy and efficiency of the whole excavator, compared with the way of simply closing the electronic fence function in the prior art and restarting the function after moving the working device of the whole excavator to the safe area, the present scheme sets the limiting release process of the excavator, which is conducive to reducing the complexity of human-computer interaction, thereby being conducive to improving the working efficiency of the whole excavator. BRIEF DESCRIPTION OF DRAWINGS

[0086] In order to make the technical solutions in the embodiments of the present application clearer, the accompanying drawings needed in the embodiment description will be briefly introduced. Obviously, the accompanying drawings in the following description are only some embodiments of the present application, and all other embodiments obtained by those of ordinary skill in the art without any creative work based on these accompanying drawings are within the protection scope of the present application.

[0087] Figure 1 is a flowchart of a control method for releasing the limit of a excavator based on an electronic fence disclosed by an embodiment of the present application;

[0088] Figure 2 is a scene diagram of a scene to which the control method for releasing the limit of a excavator based on an electronic fence disclosed by an embodiment of the present application is applied;

[0089] Figure 3 is a scene diagram of a scene in which a bucket of a excavator is away from an electronic fence disclosed by an embodiment of the present application;

[0090] Figure 4 is a flowchart of another control method for releasing the limit of a excavator based on an electronic fence disclosed by an embodiment of the present application;

[0091] Figure 5 is a structural diagram of a control device for releasing the limit of a excavator based on an electronic fence disclosed by an embodiment of the present application;

[0092] Figure 6 is a structural diagram of another control device for releasing the limit of a excavator based on an electronic fence disclosed by an embodiment of the present application. DETAILED DESCRIPTION

[0093] In order to make the technical solutions in the embodiments of the present application clearer, the accompanying drawings needed in the embodiment description will be briefly introduced. Obviously, the accompanying drawings in the following description are only some embodiments of the present application, and all other embodiments obtained by those of ordinary skill in the art without any creative work based on these accompanying drawings are within the protection scope of the present application.

[0094] The terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned accompanying drawings are used to distinguish different objects, and are not used to describe a specific order. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion. 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 optionally also includes steps or units not listed, or optionally also includes other steps or units inherent to the process, method, product or end.

[0095] Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are they necessarily mutually exclusive of one another. As will be apparent to those of ordinary skill in the art, embodiments described herein can be combinable with other embodiments.

[0096] The application discloses an electronic fence-based excavator limiting release control method and device, which can calibrate the whole machine of the excavator, control the moving parts of the excavator to approach the obstacle, acquire the position information of the working device of the whole machine, and set the electronic fence of the excavator in the active 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, improve the determination accuracy of the coordinates of the moving parts, the electronic fence and the obstacle of the excavator, limit 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 working range of the whole machine, and improve the limiting control accuracy and efficiency of the whole machine, so as to be beneficial to reducing the occurrence of the situation that the manual stop position of the operator of the excavator is improper based on the accurate limiting of the whole machine, and further improve the working efficiency of the whole machine. In addition, a limiting release scheme can be set, specifically, whether the whole machine stops is detected, and when it is detected that the whole machine stops, one or more target excavator actions that can make the whole machine move away from the electronic fence are selected from all excavator actions according to the preset moving parts, the selection accuracy and efficiency of the target excavator action that makes the whole machine move away from the electronic fence are improved, and then the limitation on the action of moving away from the electronic fence is released according to the target excavator action, so that the excavator returns to the normal working state, the limiting release accuracy and efficiency of the whole machine are improved, compared with the way of simply closing the electronic fence function in the prior art and restarting the function after moving the working device of the whole machine to a safe area, the scheme sets the limiting release process of the excavator, is beneficial to reducing the complexity of human-computer interaction, and is beneficial to improving the working efficiency of the whole machine. The following will be described in detail.

[0097] Embodiment one

[0098] Please refer to Figure 1 , Figure 1 is a flowchart of an electronic fence-based excavator limiting release control method disclosed by the embodiment of the application. Wherein, Figure 1The described electronic fence-based excavator limit release control method can be applied to an electronic fence-based excavator limit release control device, which can include a control device or a control server. The control server can include a cloud server or a local server, and the embodiments of the present application are not limited. As shown in the figure, the electronic fence-based excavator limit release control method can include the following operations: Figure 1

[0099] 101. After calibrating the whole machine of the excavator, the moving parts of the excavator are controlled to approach the obstacle.

[0100] In the embodiments of the present application, the moving parts of the excavator can include one or more combinations of the boom of the excavator, the stick of the excavator, the bucket of the excavator, and the swing platform of the excavator. Optionally, the obstacle can be all objects in the active area of the excavator except the material to be excavated by the excavator (such as soil, coal, and silt). Optionally, the obstacle can be virtually in the form of a cuboid. Specifically, according to the position of the obstacle, the obstacle can be set as a plane or a combination of multiple planes, and the embodiments of the present application are not limited.

[0101] 102. The position information of the working device of the whole machine is obtained, and the electronic fence of the excavator is set in the active area of the excavator according to the position information.

[0102] 103. 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.

[0103] As shown in the figure, Figure 2 Figure 2 is a scene diagram suitable for the electronic fence-based excavator limit release control method disclosed by the embodiments of the present application, as shown in the figure, the scene includes an excavator and an obstacle, and when identifying the obstacle, the obstacle can be virtually in the form of a cuboid, and the coordinate information of the related objects such as the excavator and the obstacle in the scene is analyzed through the excavator coordinate system. Figure 2

[0104] ​​​In the embodiment of the present application, the excavator coordinate system is composed of multiple axes in different directions. 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., x-axis), an axis in the vertical direction (i.e., y-axis), and an axis in the depth direction (i.e., z-axis). Optionally, the first coordinate set of the moving component can include one or more combinations of the coordinates of the moving component in the horizontal direction of the excavator coordinate system, the coordinates of the moving component in the vertical direction of the excavator coordinate system, and the coordinates of the moving component in the depth direction of the excavator coordinate system. The second coordinate set of the electronic fence can 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 can 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 are not limited in the embodiment of the present application.

[0105] 104. 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 pre-set working range of the whole machine.

[0106] In the embodiment of the present application, specifically, the limiting demand of the whole machine can be determined according to the second coordinate set and the pre-set working range of the whole machine, and the limiting demand can include an action limiting demand or an action speed limiting demand; when the limiting demand is the action limiting demand, the action of the whole machine is limited; and when the limiting demand is the action speed limiting demand, the action speed of the whole machine is limited.

[0107] 105. Detecting whether the whole machine is stopped.

[0108] In the embodiment of the present application, optionally, the operation of detecting whether the whole machine is stopped can be performed after limiting the action or action speed of the whole machine, or can be performed in real time during the working process of the whole machine, which is not limited in the embodiment of the present application.

[0109] 106. When it is detected that the whole machine is stopped, screening a target excavator action capable of making the whole machine away from the electronic fence from all excavator actions according to the pre-set one or more excavator actions of the moving component.

[0110] In the embodiment of the present application, specifically, the excavator action of each moving component can be pre-set by an application, and each excavator action corresponds to an action direction. Optionally, each excavator action can include one of left rotation, right rotation, inward retraction, and outward swing, which is not limited in the embodiment of the present application.

[0111] 107. According to the target excavator action, the limitation on the action of moving away from the electronic fence is removed, so that the excavator returns to the normal working state.

[0112] In the embodiment of the present application, specifically, according to the target excavator action, the action direction of the excavator is controlled to make the whole machine move away from the electronic fence, and after the whole machine moves 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 electronic fence-based excavator restriction release control method can calibrate the whole machine of the excavator, control the moving components of the excavator to approach the obstacle, obtain the position information of the working device of the whole machine, and set the electronic fence of the excavator in the active area of the excavator according to the position information, which can improve the setting accuracy of the electronic fence, automatically determine the first coordinate set of the moving components, the second coordinate set of the electronic fence, and the third coordinate set of the obstacle based on the excavator coordinate system, which can improve the determination accuracy of the coordinates of the moving components, the electronic fence, and the obstacle of the excavator, limit 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 pre-set working range of the whole machine, which can improve the restriction control accuracy and efficiency of the whole machine, thereby facilitating the reduction of the occurrence of the situation that the manual stop position of the operator of the excavator is not appropriate based on the accurate restriction of the whole machine, and further facilitating the improvement of the working efficiency of the whole machine. In addition, a restriction release scheme can also be set, specifically: detecting whether the whole machine is stopped, and when it is detected that the whole machine is stopped, filtering out a target excavator action that can make the whole machine move away from the electronic fence from all excavator actions according to the pre-set one or more excavator actions of the moving components, which can improve the filtering accuracy and efficiency of the target excavator action that makes the whole machine move away from the electronic fence, and further release the restriction on the action of moving away from the electronic fence according to the target excavator action, so that the excavator returns to the normal working state, which can improve the restriction release accuracy and efficiency of the whole machine. Compared with the way of simply turning off the electronic fence function in the prior art and restarting the function after moving the working device of the whole machine to a safe area, the present scheme sets a restriction release process for the excavator, which is helpful to reduce the complexity of human-computer interaction, thereby improving the working efficiency of the whole machine.

[0114] In an optional embodiment, the step 106 of filtering out a target excavator action that can make the whole machine move away from the electronic fence from all excavator actions according to the pre-set one or more excavator actions of the moving components can include:

[0115] obtaining the current position coordinates of the moving components and the current coordinates of the electronic fence;

[0116] predicting the expected position coordinates of the moving components under each excavator action according to the pre-set one or more excavator actions of the moving components;

[0117] According to the current position coordinate of the motion component, the expected position coordinate of the motion component under each excavator action, and the current coordinate of the electronic fence, a target excavator action capable of moving the whole machine away from the electronic fence is screened out from all excavator actions.

[0118] In the embodiment of the present application, specifically, the expected position coordinate of the motion component under each excavator action can be predicted according to the one or more excavator actions of the motion component, which can include:

[0119] According to the one or more excavator actions of the motion component and the action direction corresponding to each excavator action, the expected position change information of the motion component in the action direction corresponding to each excavator action is predicted.

[0120] According to the current position coordinate of the motion component and the expected position change information of the motion component under the excavator action, the expected position coordinate of the motion component under the excavator action is calculated.

[0121] It can be seen that the optional embodiment can obtain the current position coordinate of the motion component and the current coordinate of the electronic fence, predict the expected position coordinate of the motion component under each excavator action according to the one or more excavator actions of the motion component, improve the prediction accuracy and intelligent degree of the expected position coordinate of the motion component under each excavator action, and screen out a target excavator action capable of moving the whole machine away from the electronic fence from all excavator actions according to the current position coordinate of the motion component, the expected position coordinate of the motion component under each excavator action, and the current coordinate of the electronic fence, thereby improving the screening accuracy and reliability of the target excavator action.

[0122] In the optional embodiment, as an optional implementation, according to the current position coordinate of the motion component, the expected position coordinate of the motion component under each excavator action, and the current coordinate of the electronic fence, a target excavator action capable of moving the whole machine away from the electronic fence is screened out from all excavator actions, which can include:

[0123] According to the current position coordinate of the motion component and the current coordinate of the electronic fence, a third coordinate difference between the motion component and the electronic fence is calculated.

[0124] For each excavator action, according to the expected position coordinate of the motion component under the excavator action and the current coordinate of the electronic fence, a fourth coordinate difference between the motion component and the electronic fence under the excavator action is calculated.

[0125] It is judged whether the third coordinate difference is greater than the fourth coordinate difference under the excavator action.

[0126] When it is judged that the third coordinate difference value is greater than the fourth coordinate difference value corresponding to the excavator action, the reverse action corresponding to the excavator action among all excavator actions is determined as the target excavator action capable of moving the whole machine away from the electronic fence.

[0127] For example, as shown in Figure 3 , Figure 3 is a scene schematic diagram of controlling the bucket of the excavator to move away from the electronic fence according to an embodiment of the present application, as shown in Figure 3 , it is assumed that the moving component currently performing the action is the bucket, when the whole machine touches the electronic fence and stops due to the action of the bucket, the third coordinate difference value D1 between the current position coordinate of the bucket and the current coordinate of the electronic fence at this time is recorded, for each excavator action, such as setting the excavator left rotation 2°, the fourth coordinate difference value 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 value D1 is greater than D2, it is determined that the whole machine can perform the right rotation action. For other excavator actions of the moving component and corresponding excavator actions of other moving components, such as the boom, dipper arm and bucket, etc., the determination logic is similar to the above-mentioned left rotation action of the bucket, the direction of the action of the excavator is finally determined, and the moving component is controlled to move according to the action direction, so that the excavator moves away from the electronic fence, thereby removing the restriction of the electronic fence on the whole machine.

[0128] It can be seen that the optional implementation can automatically calculate the third coordinate difference value between the moving component and the electronic fence according to the current position coordinate of the moving component and the current coordinate of the electronic fence, improve the calculation accuracy and reliability of the coordinate difference value between the moving component and the electronic fence after the whole machine touches the electronic fence and stops, calculate the fourth coordinate difference value between the moving component and the electronic fence under each excavator action according to the expected position coordinate of the moving component under the excavator action and the current coordinate of the electronic fence, improve the prediction accuracy and reliability of the coordinate difference value between the moving component and the electronic fence under each excavator action, and judge whether the third coordinate difference value is greater than the fourth coordinate difference value corresponding to the excavator action, when it is judged that the third coordinate difference value is greater than the fourth coordinate difference value corresponding to the excavator action, the reverse action corresponding to the excavator action among all excavator actions is determined as the target excavator action capable of moving the whole machine away from the electronic fence, which can improve the screening accuracy and reliability of the excavator action, thereby facilitating to improve the restriction removal accuracy of the excavator based on the accurately screened target excavator action, and further facilitating to improve the working efficiency of the whole machine.

[0129] Embodiment two

[0130] Please refer to Figure 4 , Figure 4 is a flow schematic diagram of another electronic fence-based excavator restriction removal control method according to an embodiment of the present application. Among them,Figure 4 The electronic fence-based excavator limit release control method described can be applied to an electronic fence-based excavator limit release control device, which can include a control device or a control server. The control server can include a cloud server or a local server, and embodiments of the present application are not limited. As shown, the electronic fence-based excavator limit release control method can include the following operations: Figure 4

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

[0132] 202. The position information of the working device of the entire machine is obtained, and the electronic fence of the excavator is set in the active area of the excavator according to the position information.

[0133] 203. 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.

[0134] 204. According to the second coordinate set and the pre-set working range of the entire machine, it is judged whether the coordinates of the electronic fence exceed the working range of the entire machine.

[0135] In the embodiment of the present application, when the judgment result of step 204 is yes, that is, when it is judged that the coordinates of the electronic fence exceed the working range of the entire machine, step 205 is triggered for execution; 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 working range of the entire machine, step 207 is triggered for execution.

[0136] 205. According to the second coordinate set and the working range of the entire machine, the distance between the electronic fence and the farthest working position in the working range of the entire machine is calculated.

[0137] 206. According to the distance between the electronic fence and the farthest working position, the action speed of the entire machine is limited.

[0138] 207. According to the first coordinate set and the third coordinate set, the action or action speed of the entire machine is limited.

[0139] 208. It is detected whether the entire machine stops.

[0140] 209. When it is detected that the entire machine stops, one or more target excavator actions capable of moving the entire machine away from the electronic fence are selected from all excavator actions according to the pre-set excavator actions of the moving parts.

[0141] 210. According to the target excavator action, the limitation on the action of moving away from the electronic fence is released, so that the excavator returns to the normal working state.

[0142] ​In the embodiment of the present application, for other descriptions of steps 201-210, please refer to the detailed description of steps 101-107 in Embodiment One, which will not be repeated here.

[0143] It can be seen that the implementation Figure 4The described electronic fence-based excavator limiting release control method can calibrate the whole machine of the excavator, control the moving parts of the excavator to approach the obstacle, obtain the position information of the working device of the whole machine, and set the electronic fence of the excavator in the active area of the excavator according to the position information, which can 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, which can improve the determination accuracy of the coordinates of the moving parts, the electronic fence and the obstacle of the excavator, limit 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 pre-set working range of the whole machine, which can improve the limiting control accuracy and efficiency of the whole machine, thereby facilitating the accurate limiting of the whole machine to reduce the occurrence of the situation that the manual stop position of the operator of the excavator is not appropriate, and further improving the working efficiency of the whole machine. In addition, a limiting release scheme can be set, specifically: detecting whether the whole machine is stopped, and when detecting that the whole machine is stopped, filtering the target excavator action that can make the whole machine away from the electronic fence from all excavator actions according to the pre-set one or more excavator actions of the moving parts, which can improve the filtering accuracy and efficiency of the target excavator action that makes the whole machine away from the electronic fence, and then releasing the limitation on the action away from the electronic fence according to the target excavator action, so that the excavator returns to the normal working state, which can improve the limiting release accuracy and efficiency of the whole machine. Compared with the way of simply turning off the electronic fence function in the prior art and restarting the function after moving the working device of the whole machine to a safe area, the present scheme sets the limiting release process of the excavator, which is helpful to reduce the complexity of human-computer interaction, thereby improving the working efficiency of the whole machine. In addition, whether the coordinates of the electronic fence exceed the working range of the whole machine can be judged according to the second coordinate set and the pre-set working range of the whole machine, and when it is judged that the coordinates of the electronic fence exceed the working range of the whole machine, the distance between the electronic fence and the farthest working position in the working range of the whole machine is accurately calculated according to the second coordinate set and the working range of the whole machine, and then the action speed of the whole machine is limited according to the distance between the electronic fence and the farthest working position, which can improve the limiting accuracy and efficiency of the action speed of the whole machine when the coordinates of the electronic fence exceed the working range of the whole machine. When it is judged that the coordinates of the electronic fence do not exceed the working range of the whole machine, the action or action speed of the whole machine is limited according to the first coordinate set and the third coordinate set, which can improve the limiting accuracy of the action or action speed of the whole machine based on the moving part coordinates and obstacle coordinates when the coordinates of the electronic fence do not exceed the working range of the whole machine, and can improve the diversity and flexibility of the limiting operation of the whole machine.

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

[0145] determining whether the moving part has been below the upper surface of the obstacle according to the coordinate in the depth direction in the first coordinate set and the corresponding coordinate in the third coordinate set;

[0146] when it is determined that the moving part has been below the upper surface of the obstacle, determining whether the whole machine meets the preset action limiting 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, and limiting the action of the whole machine when the first determination result is yes;

[0147] when it is determined that the moving part is higher than or equal to the upper surface of the obstacle, determining that the action of the whole machine does not need to be limited; or

[0148] when it is determined that the moving part is higher than or equal to the upper surface of the obstacle, determining whether the whole machine meets the preset action speed limiting condition according to the coordinate in the depth direction in the first coordinate set and the corresponding coordinate in the third coordinate set to obtain a second determination result, and limiting the action speed of the whole machine when the second determination result is yes.

[0149] For example, assuming that the moving part is a bucket, if the coordinate of the bucket in the Z-axis direction has been below the upper surface of the obstacle, it is necessary to determine whether the action of the whole machine needs to be limited according to the coordinate of the bucket in the X-axis direction, the coordinate of the obstacle in the X-axis direction, the coordinate of the bucket in the Y-axis direction and the coordinate of the obstacle in the Y-axis direction, and if yes, the action of the whole machine is limited (for example, the whole machine is controlled to stop); if the coordinate of the bucket in the Z-axis direction is higher than or equal to the upper surface of the obstacle, the action of the whole machine is not limited, or the action speed of the whole machine is determined whether it needs to be limited according to the coordinate of the bucket in the Z-axis direction and the coordinate of the obstacle in the Z-axis direction, and the subsequent action speed limiting operation is performed when the determination result is yes.

[0150] It can be seen that, in the optional embodiment, whether the moving part has been lowered below the upper surface of the obstacle can be determined according to the coordinate in the depth direction in the first coordinate set and the corresponding coordinate in the third coordinate set, and when it is determined that the moving part has been lowered below the upper surface of the obstacle, whether the whole machine satisfies the preset action restriction condition can be determined 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, and when the first determination result is yes, the action of the whole machine is restricted, which can improve the determination accuracy and reliability of the precondition for restricting the action of the whole machine, 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, which improves the determination speed and efficiency of the whole machine action without restriction, and is beneficial to reducing the waste of controller computing power based on the action caused by misjudgment of needing to restrict the action; or, when it is determined that the moving part is higher than or equal to the upper surface of the obstacle, whether the whole machine satisfies the preset action speed restriction condition can be determined according to the coordinate in the depth direction in the first coordinate set and the corresponding coordinate in the third coordinate set, to obtain a second determination result, and when the second determination result is yes, the action speed of the whole machine is restricted, which can improve the determination accuracy and reliability of the precondition for restricting the action speed of the whole machine, thereby improving the accuracy and reliability of restricting the action speed of the whole machine, and the determination diversity and flexibility of the restriction type (which can include the type of restricted action or the type of restricted action speed) of the whole machine can be improved through multiple judgment conditions.

[0151] In the optional embodiment, as an optional implementation, whether the whole machine satisfies the preset action restriction condition can be determined 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, which can include:

[0152] A first coordinate difference value between the excavator and the obstacle relative to the horizontal direction is calculated according to the coordinate in the horizontal direction in the first coordinate set and the corresponding coordinate in the third coordinate set;

[0153] A second coordinate difference value between the excavator and the obstacle relative to the vertical direction is calculated according to the coordinate in the vertical direction in the first coordinate set and the corresponding coordinate in the third coordinate set;

[0154] Whether each coordinate difference value in the first coordinate difference value and the second coordinate difference value satisfies the preset coordinate difference value condition corresponding to the coordinate difference value is determined;

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

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

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

[0158] judging whether the first coordinate difference value and the second coordinate difference value are both zero; when it is judged that the first coordinate difference value and the second coordinate difference value are both zero, it is determined that each of the first coordinate difference value and the second coordinate difference value satisfies the preset coordinate difference value condition corresponding to the coordinate difference value;

[0159] when it is judged that the first coordinate difference value is not zero, it is determined that the first coordinate difference value does not satisfy the preset coordinate difference value condition corresponding to the coordinate difference value;

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

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

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

[0163] According to the coordinate in the depth direction in the first coordinate set and the corresponding coordinate in the third coordinate set, calculating the third coordinate difference value between the excavator and the obstacle relative to the depth direction;

[0164] Judging whether the third coordinate difference value is less than or equal to the preset coordinate difference value, and when it is judged that the third coordinate difference value is less than or equal to the preset coordinate difference value, determining that the second judgment result is that the whole machine satisfies the preset action speed limitation condition;

[0165] When it is judged that the third coordinate difference value is greater than the preset coordinate difference value, determining that the second judgment result is that the whole machine does not satisfy the preset action speed limitation condition.

[0166] In the embodiment of the application, specifically, when it is judged that the coordinate difference value between the coordinate in the depth direction (i.e. the Z direction) in the first coordinate set of the moving component and the coordinate in the depth direction in the third coordinate set of the obstacle (i.e. the upper surface of the obstacle) is less than the preset coordinate difference value a, it is determined that the whole machine satisfies the preset action speed limitation condition, that is, it is determined that the action speed of the whole machine needs to be limited; when it is judged that the coordinate difference value is greater than or equal to the preset coordinate difference value a, it is determined that the whole machine does not satisfy the preset action speed limitation condition, that is, it is determined that the action speed of the whole machine does not need to be limited.

[0167] It can be seen that the optional implementation can accurately calculate the third coordinate difference value between the excavator and the obstacle relative to the depth direction according to the coordinate in the depth direction in the first coordinate set and the corresponding coordinate in the third coordinate set, and when the third coordinate difference value is small, it is determined that the second judgment result is that the whole machine satisfies the preset action speed limitation condition, which improves the determination accuracy of the whole machine satisfying the preset action speed limitation condition, thereby being beneficial to improving the limitation accuracy of the action speed of the whole machine, and further being beneficial to reducing the shaking of the whole machine caused by stopping the whole machine in the fast operation condition, so that the whole machine touches the electronic fence and further causes a safety accident; when the third coordinate difference value is large, it is determined that the second judgment result is that the whole machine does not satisfy the preset action speed limitation condition, which improves the determination accuracy of the whole machine not satisfying the preset action speed limitation condition.

[0168] In another optional embodiment, the step 206 of limiting the action speed of the whole machine according to the distance between the electronic fence and the farthest working position can include:

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

[0170] limiting the movement speed of the whole machine when it is determined that the distance between the electronic fence and the farthest working position is less than or equal to the preset distance;

[0171] In addition, the method further comprises:

[0172] determining that the electronic fence setting is invalid when it is determined that the distance between the electronic fence and the farthest working position is greater than the preset distance.

[0173] In the embodiment of the present application, specifically, in the case that the coordinates of the electronic fence have exceeded the working range of the whole machine, when the distance between the electronic fence and the farthest working position of the working range of the whole machine is less than or equal to a preset distance value b, the movement speed of the whole machine needs to be limited; when the distance between the electronic fence and the farthest working position of the working range of the whole 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 the 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 in the case that the electronic fence exceeds the working range of the whole machine, which can improve the determination accuracy and reliability of 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 determination accuracy of the electronic fence setting, thereby being beneficial to improving the accuracy of setting the electronic fence.

[0175] Embodiment three

[0176] Please refer to Figure 5 , Figure 5 is a structural schematic diagram of an excavator limiting release control device based on an electronic fence disclosed by the embodiment of the present application. Among them, Figure 5 The excavator limiting release control device based on an electronic fence described can include a control device or a control server, wherein the control server can include a cloud server or a local server, and the embodiment of the present application does not limit it. As Figure 5 shown, the excavator limiting release control device based on an electronic fence can include:

[0177] The excavator running module 301 is used to control the movement components of the excavator to approach the obstacle after calibrating the whole machine of the excavator;

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

[0179] The setting module 303 is configured to set the electronic fence of the excavator in an active area of the excavator according to the position information.

[0180] The determining module 304 is configured to 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 a coordinate system of the excavator, the coordinate system of the excavator being composed of axes of multiple directions perpendicular to each other.

[0181] The limiting control module 305 is configured to limit the action or action speed of the whole machine according to the first coordinate set, the second coordinate set, the third coordinate set and a preset working range of the whole machine.

[0182] The detecting module 306 is configured to detect whether the whole machine is stopped.

[0183] The screening module 307 is configured to screen a target excavator action capable of making the whole machine away from the electronic fence from all excavator actions according to one or more excavator actions of the moving component when the detecting module 306 detects that the whole machine is stopped, each excavator action corresponding to an action direction.

[0184] The limiting release module 308 is configured to release the limitation on the action of moving away from the electronic fence according to the target excavator action, so as to make the excavator return to a normal working state.

[0185] It can be seen that the embodiment Figure 5The described electronic fence-based excavator limiting release control device can calibrate the whole machine of the excavator, control the moving parts of the excavator to approach the obstacle, obtain the position information of the working device of the whole machine, and set the electronic fence of the excavator in the active area of the excavator according to the position information, thereby improving the setting accuracy of the electronic fence, automatically determining 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, improving the determination accuracy of the coordinates of the moving parts, the electronic fence and the obstacle of the excavator, 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 pre-set working range of the whole machine, thereby improving the limiting control accuracy and efficiency of the whole machine, which is conducive to reducing the occurrence of improper manual stop position of the operator of the excavator based on the accurate limiting of the whole machine, and further improving the working efficiency of the whole machine. In addition, a limiting release scheme can also be set, specifically: detecting whether the whole machine is stopped, and when it is detected that the whole machine is stopped, filtering the target excavator action that can make the whole machine away from the electronic fence from all excavator actions according to the pre-set one or more excavator actions of the moving parts, which can improve the filtering accuracy and efficiency of the target excavator action that makes the whole machine away from the electronic fence, and then releasing the limitation on the action away from the electronic fence according to the target excavator action, so that the excavator returns to the normal working state, which can improve the limiting release accuracy and efficiency of the whole machine. Compared with the way of simply turning off the electronic fence function in the prior art and restarting the function after moving the working device of the whole machine to a safe area, the present scheme sets the limiting release process of the excavator, which is conducive to reducing the complexity of human-computer interaction, thereby improving the working efficiency of the whole machine.

[0186] In an optional embodiment, the limiting control module 305 can limit 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 pre-set working range of the whole machine in the following manner:

[0187] According to the second coordinate set and the pre-set working range of the whole machine, it is judged whether the coordinates of the electronic fence exceed the working range of the whole machine;

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

[0189] When it is judged that the coordinates of the electronic fence do not exceed the working range of the whole machine, the action or action speed of the whole machine is limited according to the first coordinate set and the third coordinate set.

[0190] It can be seen that, in the optional embodiment, whether the coordinates of the electronic fence exceed the working range of the machine can be determined according to the second coordinate set and the preset working range of the machine, and when it is determined that the coordinates of the electronic fence exceed the working range of the machine, the distance between the electronic fence and the farthest working position in the working range of the machine can be accurately calculated according to the second coordinate set and the working range of the machine, and then the movement speed of the machine can be limited according to the distance between the electronic fence and the farthest working position, so that the accuracy and efficiency of limiting the movement speed of the machine can be improved in the case that the coordinates of the electronic fence exceed the working range of the machine, and when it is determined that the coordinates of the electronic fence do not exceed the working range of the machine, the movement or movement speed of the machine can be limited according to the first coordinate set and the third coordinate set, so that the accuracy of limiting the movement or movement speed of the machine can be improved based on the coordinates of the moving part and the coordinates of the obstacle in the case that the coordinates of the electronic fence do not exceed the working range of the machine, and the diversity and flexibility of the limiting operation of the machine can be improved.

[0191] In the optional embodiment, as an optional implementation, the coordinate system of the excavator is composed of an axis in the horizontal direction, an axis in the vertical direction, and an axis in the depth direction. In addition, the manner in which the limiting control module 305 limits the movement or movement speed of the machine according to the first coordinate set and the third coordinate set can specifically include:

[0192] determining whether the moving part has been lowered below the upper surface of the obstacle according to the coordinate in the depth direction in the first coordinate set and the corresponding coordinate in the third coordinate set;

[0193] when it is determined that the moving part has been lowered below the upper surface of the obstacle, determining whether the machine satisfies the preset movement limiting 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, and limiting the movement of the machine when the first determination result is yes;

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

[0195] when it is determined that the moving part is higher than or equal to the upper surface of the obstacle, determining whether the machine satisfies the preset movement speed limiting condition according to the coordinate in the depth direction in the first coordinate set and the corresponding coordinate in the third coordinate set to obtain a second determination result, and limiting the movement speed of the machine when the second determination result is yes.

[0196] It can be seen that, in the optional implementation, whether the moving component has been lowered below the upper surface of the obstacle can be determined according to the coordinate in the depth direction in the first coordinate set and the corresponding coordinate in the third coordinate set, and when it is determined that the moving component has been lowered below the upper surface of the obstacle, whether the whole machine satisfies the preset action restriction condition can be determined 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, and when the first determination result is yes, the action of the whole machine is restricted, which can improve the determination accuracy and reliability of the precondition for restricting the action of the whole machine, thereby improving the accuracy and reliability of restricting the action of the whole machine; and when it is determined that the moving component 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, which improves the determination speed and efficiency of the whole machine action without restriction, and is beneficial to reducing the waste of controller computing power based on the action caused by misjudgment of needing to restrict the action; or, when it is determined that the moving component is higher than or equal to the upper surface of the obstacle, whether the whole machine satisfies the preset action speed restriction condition can be determined according to the coordinate in the depth direction in the first coordinate set and the corresponding coordinate in the third coordinate set to obtain a second determination result, and when the second determination result is yes, the action speed of the whole machine is restricted, which can improve the determination accuracy and reliability of the precondition for restricting the action speed of the whole machine through multiple determination conditions, thereby improving the accuracy and reliability of restricting the action speed of the whole machine, and the determination diversity and flexibility of the restriction type (which can include the type of restricted action or the type of restricted action speed) of the whole machine can be improved through multiple determination conditions.

[0197] In the optional implementation, optionally, the manner in which the restriction control module 305 determines whether the whole machine satisfies 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 to obtain a first determination result can specifically include:

[0198] calculating a first coordinate difference value between the excavator and the obstacle with respect to the horizontal direction according to the coordinate in the horizontal direction in the first coordinate set and the corresponding coordinate in the third coordinate set;

[0199] calculating a second coordinate difference value between the excavator and the obstacle with respect to the vertical direction according to the coordinate in the vertical direction in the first coordinate set and the corresponding coordinate in the third coordinate set;

[0200] determining whether each coordinate difference value in the first coordinate difference value and the second coordinate difference value satisfies the preset coordinate difference value condition corresponding to the coordinate difference value;

[0201] When it is judged that at least one of the first coordinate difference value and the second coordinate difference value does not satisfy the preset coordinate difference value condition corresponding to the coordinate difference value, it is determined that the first judgment result is that the entire machine does not satisfy the preset action restriction condition.

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

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

[0204] In the optional implementation, optionally, the limit control module 305 judges whether the entire machine satisfies the preset action speed restriction condition according to the depth direction coordinate in the first coordinate set and the corresponding coordinate in the third coordinate set, and the manner of obtaining the second judgment result can specifically include:

[0205] According to the depth direction coordinate in the first coordinate set and the corresponding coordinate in the third coordinate set, a third coordinate difference value between the excavator and the obstacle with respect to the depth direction is calculated;

[0206] It is judged whether the third coordinate difference value is less than or equal to a preset coordinate difference value, and when it is judged that the third coordinate difference value is less than or equal to the preset coordinate difference value, it is determined that the second judgment result is that the entire machine satisfies the preset action speed restriction condition;

[0207] When it is judged that the third coordinate difference value is greater than the preset coordinate difference value, it is determined that the second judgment result is that the entire machine does not satisfy the preset action speed restriction condition.

[0208] It can be seen that the optional embodiment can also accurately calculate the third coordinate difference between the excavator and the obstacle relative to the depth direction according to the coordinate of the depth direction in the first coordinate set and the corresponding coordinate in the third coordinate set, and determine that the second judgment result is that the entire machine satisfies the preset action speed limitation condition when the third coordinate difference is small, thereby improving the determination accuracy of whether the entire machine satisfies the preset action speed limitation condition, which is conducive to improving the limitation accuracy of the action speed of the entire machine, and thereby reducing the shaking of the entire machine caused by stopping the entire machine in the fast operation condition, so that the entire machine touches the electronic fence and causes a safety accident. When the third coordinate difference is large, it is determined that the second judgment result is that the entire machine does not satisfy the preset action speed limitation condition, thereby improving the determination accuracy of whether the entire machine satisfies the preset action speed limitation condition.

[0209] In another optional embodiment, the screening module 307 screens the target excavator action capable of moving the entire machine away from the electronic fence from all excavator actions according to the one or more excavator actions of the preset motion component, and the manner can specifically include:

[0210] Obtaining the current position coordinates of the motion component and the current coordinates of the electronic fence;

[0211] According to the one or more excavator actions of the preset motion component, predicting the expected position coordinates of the motion component under each excavator action;

[0212] According to the current position coordinates of the motion component, the expected position coordinates of the motion component under each excavator action, and the current coordinates of the electronic fence, screening the target excavator action capable of moving the entire machine away from the electronic fence from all excavator actions.

[0213] It can be seen that the optional embodiment can obtain the current position coordinates of the motion component and the current coordinates of the electronic fence, predict the expected position coordinates of the motion component under each excavator action according to the one or more excavator actions of the preset motion component, which can improve the prediction accuracy and intelligent degree of the expected position coordinates of the motion component under each excavator action, and screen the target excavator action capable of moving the entire machine away from the electronic fence from all excavator actions according to the current position coordinates of the motion component, the expected position coordinates of the motion component under each excavator action, and the current coordinates of the electronic fence, which can improve the screening accuracy and reliability of the target excavator action.

[0214] In this optional embodiment, as an optional implementation, the screening module 307 screens the target excavator action capable of moving the entire machine away from the electronic fence from all excavator actions according to the current position coordinates of the motion component, the expected position coordinates of the motion component under each excavator action, and the current coordinates of the electronic fence, and the manner can specifically include:

[0215] According to the current position coordinates of the moving component and the current coordinates of the electronic fence, a third coordinate difference value between the moving component and the electronic fence is calculated;

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

[0217] It is judged whether the third coordinate difference value is greater than the fourth coordinate difference value under the excavator action;

[0218] When it is judged that the third coordinate difference value is greater than the fourth coordinate difference value under the excavator action, the reverse action corresponding to the excavator action among all excavator actions is determined as a target excavator action capable of making the whole machine away from the electronic fence.

[0219] It can be seen that the optional embodiment can automatically calculate the third coordinate difference value 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, improve the calculation accuracy and reliability of the coordinate difference value between the moving component and the electronic fence after the whole machine touches the electronic fence and stops, and calculate the fourth coordinate difference value between the moving component and the electronic fence under the excavator action according to the expected position coordinates of the moving component under each excavator action and the current coordinates of the electronic fence, improve the prediction accuracy and reliability of the coordinate difference value between the moving component and the electronic fence under each excavator action, and judge whether the third coordinate difference value is greater than the fourth coordinate difference value under the excavator action, when it is judged that the third coordinate difference value is greater than the fourth coordinate difference value under the excavator action, the reverse action corresponding to the excavator action among all excavator actions is determined as a target excavator action capable of making the whole machine away from the electronic fence, which can improve the screening accuracy and reliability of the excavator action, thereby being beneficial to improving the release accuracy of the limit of the excavating machine based on the accurately screened target excavator action, and further being beneficial to improving the working efficiency of the whole machine.

[0220] Embodiment Four

[0221] Please refer to Figure 6 , Figure 6 is another structure schematic view of the excavating machine limit release control device based on the electronic fence disclosed by the embodiment of the present application. As Figure 6 shown, the excavating machine limit release control device based on the electronic fence can comprise:

[0222] a memory 401 storing executable program codes;

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

[0224] The processor 402 invokes the executable program code stored in the memory 401 to execute the steps of the electronic fence-based limit release control method of the excavator described in the embodiment one or the embodiment two.

[0225] Embodiment five

[0226] The embodiment of the present application discloses a computer storage medium, which stores computer instructions, and the computer instructions are used to execute the steps of the electronic fence-based limit release control method of the excavator described in the embodiment one or the embodiment two when being invoked.

[0227] Embodiment six

[0228] The embodiment of the present application discloses a computer program product, which comprises a non-transitory computer readable storage medium storing a computer program, and the computer program is operable to cause a computer to execute the steps of the electronic fence-based limit release control method of the excavator described in the embodiment one or the embodiment two.

[0229] The above-described apparatus embodiments are only illustrative, wherein the modules described as separate components can or can not be physically separated, and the components displayed as modules can or can not be physical modules, that is, can be located in one place, or can be distributed on multiple network modules. Part or all of the modules can be selected to achieve the purpose of the embodiment scheme according to actual needs. Those skilled in the art can understand and implement without creative labor.

[0230] Those skilled in the art can clearly understand the implementation of the various embodiments by means of software and necessary general hardware platforms through the above specific description of the embodiments, and of course, the embodiments can also be implemented by hardware. Based on such understanding, the above technical solutions, essentially or in other words, the part of the prior art that makes a contribution, can be embodied in the form of a software product. 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 electrically erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM) or other optical disk 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 electronic fence-based excavator limiting release control method and device disclosed by the embodiments of the present application are only the preferred embodiments of the present application, and are used to illustrate the technical solutions of the present application, but not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: the technical solutions recorded in the foregoing embodiments can still be modified, or some technical features can be replaced by equivalents; and these modifications or replacements do not make the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. An electronic fence-based excavator limit release control method, characterized by, The method comprises: After calibrating the whole excavator, the moving parts of the excavator are controlled to approach the obstacle; Position information of the working device of the whole excavator is acquired, and an electronic fence of the excavator is set in the active area of the excavator according to the position information; Based on the excavator coordinate system composed of multiple mutually perpendicular axes in different directions, a first coordinate set of the moving parts, a second coordinate set of the electronic fence and a third coordinate set of the obstacle are determined; According to the first coordinate set, the second coordinate set, the third coordinate set and the pre-set working range of the whole excavator, the action or action speed of the whole excavator is limited, and whether the whole excavator is stopped is detected; When it is detected that the whole excavator is stopped, one or more target excavator actions capable of making the whole excavator move away from the electronic fence are selected from all excavator actions according to pre-set excavator actions, each of which corresponds to an action direction; According to the target excavator action, the limitation on the action of moving away from the electronic fence is removed, so that the excavator returns to the normal working state.

2. The electronic fence-based excavator limit release control method according to claim 1, characterized by, According to the first coordinate set, the second coordinate set, the third coordinate set and the pre-set working range of the whole excavator, the action or action speed of the whole excavator is limited, which comprises: According to the second coordinate set and the pre-set working range of the whole excavator, it is judged whether the coordinates of the electronic fence exceed the working range of the whole excavator; When it is judged that the coordinates of the electronic fence exceed the working range of the whole excavator, the distance between the electronic fence and the farthest working position in the working range of the whole excavator is calculated according to the second coordinate set and the working range of the whole excavator, and the action speed of the whole excavator is limited according to the distance between the electronic fence and the farthest working position; When it is judged that the coordinates of the electronic fence do not exceed the working range of the whole excavator, the action or action speed of the whole excavator is limited according to the first coordinate set and the third coordinate set.

3. The electronic fence-based excavator limit release control method according to claim 2, characterized by, The excavator coordinate system is composed of a horizontal axis, a vertical axis and a depth axis; And, according to the first coordinate set and the third coordinate set, the action or action speed of the whole excavator is limited, which comprises: According to the depth coordinates in the first coordinate set and the corresponding coordinates in the third coordinate set, it is judged whether the moving parts have been lowered below the upper surface of the obstacle; When it is judged that the moving parts have been lowered below the upper surface of the obstacle, it is judged whether the whole excavator meets the pre-set action limitation condition according to the coordinates of other directions in the first coordinate set and the corresponding coordinates in the third coordinate set, and a first judgment result is obtained, and when the first judgment result is yes, the action of the whole excavator is limited; When it is judged that the moving parts are higher than or equal to the upper surface of the obstacle, it is determined that the action of the whole excavator does not need to be limited; or When it is judged that the moving part is higher than or equal to the upper surface of the obstacle, whether the whole machine satisfies a preset action speed limitation condition is judged according to the coordinate in the depth direction in the first coordinate set and the corresponding coordinate in the third coordinate set, a second judgment result is obtained, and when the second judgment result is yes, the action speed of the whole machine is limited.

4. The electronic fence-based excavator limit release control method according to claim 3, characterized by, The judging whether the whole machine satisfies a preset action limitation condition according to the other direction coordinates in the first coordinate set and the corresponding coordinates in the third coordinate set to obtain a first judgment result comprises: A first coordinate difference value between the excavator and the obstacle relative to the horizontal direction is calculated according to the horizontal direction coordinate in the first coordinate set and the corresponding coordinate in the third coordinate set; A second coordinate difference value between the excavator and the obstacle relative to the vertical direction is calculated according to the vertical direction coordinate in the first coordinate set and the corresponding coordinate in the third coordinate set; Whether each of the first coordinate difference value and the second coordinate difference value satisfies a preset coordinate difference value condition corresponding to the coordinate difference value is judged; When it is judged that at least one of the first coordinate difference value and the second coordinate difference value does not satisfy the preset coordinate difference value condition corresponding to the coordinate difference value, it is determined that the first judgment result is that the whole machine does not satisfy the preset action limitation condition; When it is judged that each of the first coordinate difference value and the second coordinate difference value satisfies the preset coordinate difference value condition corresponding to the coordinate difference value, it is determined that the first judgment result is that the whole machine satisfies the preset action limitation condition.

5. The electronic fence-based excavator limit release control method according to claim 3, characterized by, The judging whether the whole machine satisfies a preset action speed limitation condition according to the coordinate in the depth direction in the first coordinate set and the corresponding coordinate in the third coordinate set to obtain a second judgment result comprises: A third coordinate difference value between the excavator and the obstacle relative to the depth direction is calculated according to the coordinate in the depth direction in the first coordinate set and the corresponding coordinate in the third coordinate set; Whether the third coordinate difference value is less than or equal to a preset coordinate difference value is judged, and when it is judged that the third coordinate difference value is less than or equal to the preset coordinate difference value, it is determined that the second judgment result is that the whole machine satisfies the preset action speed limitation condition; When it is judged that the third coordinate difference value is greater than the preset coordinate difference value, it is determined that the second judgment result is that the whole machine does not satisfy the preset action speed limitation condition.

6. The electronic fence-based excavator limit release control method according to any one of claims 1 to 5, characterized by, The filtering, according to one or more excavator actions of the moving part, of a target excavator action capable of moving the whole machine away from the electronic fence from all the excavator actions comprises: A current position coordinate of the moving part and a current coordinate of the electronic fence are obtained; An expected position coordinate of the moving part under each excavator action is predicted according to one or more excavator actions of the moving part; According to the current position coordinates of the moving component, the expected position coordinates of the moving component under each of the excavator actions, and the current coordinates of the electronic fence, a target excavator action capable of moving the whole machine away from the electronic fence is selected from all the excavator actions.

7. The electronic fence-based excavator limit release control method according to claim 6, characterized by, The method of selecting a target excavator action capable of moving the whole machine away from the electronic fence from all the excavator actions according to the current position coordinates of the moving component, the expected position coordinates of the moving component under each of the excavator actions, and the current coordinates of the electronic fence comprises: 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 excavator actions, calculating a fourth coordinate difference between the moving component and the electronic fence under the excavator action according to the expected position coordinates of the moving component under the excavator action and the current coordinates of the electronic fence; judging whether the third coordinate difference is greater than the fourth coordinate difference under the excavator action; when it is judged that the third coordinate difference is greater than the fourth coordinate difference under the excavator action, determining a reverse action corresponding to the excavator action from all the excavator actions as the target excavator action capable of moving the whole machine away from the electronic fence.

8. A control device for releasing the movement restriction of an excavator based on an electronic fence, characterized in that, The device comprises: an excavator working module configured to control a moving component of an excavator to approach an obstacle after the whole machine is calibrated; an acquisition module configured to acquire position information of a working device of the whole machine; a setting module configured to set an electronic fence of the excavator in a movable area of the excavator according to the position information; a determination module configured to 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 composed of axes of multiple directions perpendicular to each other; a limit control module configured to limit an action or action speed of the whole machine according to the first coordinate set, the second coordinate set, the third coordinate set, and a preset working range of the whole machine; a detection module configured to detect whether the whole machine is stopped; a screening module configured to select a target excavator action capable of moving the whole machine away from the electronic fence from all the excavator actions according to one or more excavator actions of the moving component when the detection module detects that the whole machine is stopped, each of the excavator actions corresponding to an action direction; a limit release module configured to release the limit on the action of moving away from the electronic fence according to the target excavator action, so that the excavator returns to a normal working state.

9. An electronic fence-based excavator hold release control device, characterized by comprising: an electronic fence device; a control device; and a communication device. The device comprises: a memory storing executable program codes; a processor coupled with the memory; the processor invokes the executable program codes stored in the memory to execute the electronic fence-based excavator limit release control method according to any one of claims 1-7.

10. A computer storage medium, characterized in that, The computer storage medium stores computer instructions, which are invoked to execute the electronic fence-based excavator limit release control method of any one of claims 1-7.

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