Intelligent anti-collision control method and device for excavator and excavator

Abstract

The invention discloses an intelligent anti-collision control method and device for an excavator and the excavator, and the method comprises the steps: measuring target distance data between all target obstacles and the excavator, constructing an electronic wall based on the target distance data, and displaying the electronic wall and a constructed excavator model on a display screen, controlling the excavator to execute a target actual action corresponding to the control signal of the operating rod, and establishing real-time synchronous association between the first virtual action of the excavator model and the target actual action of the excavator, when the first virtual action, displayed on the display screen, of the excavator model is used for representing that the distance between the edge of the excavator model and the electronic wall is smaller than a first collision threshold value, first collision prompt information is sent to an operator corresponding to the excavator; according to the method, dependence on experience and judgment of operators can be reduced, the operation safety of the excavator in a complex environment is improved, the collision accident rate is reduced, and meanwhile the operation efficiency and precision of the excavator can be improved.

Description

Technical Field

[0001] The present invention relates to the technical field of excavator control, and in particular to an intelligent anti-collision control method and device for an excavator, and an excavator. Background Art

[0002] In the current field of engineering machinery, excavators are important earth-moving equipment and are widely used in various construction, mining and rescue scenarios. However, when the excavator is in and out of the warehouse or working in a small space, the driver faces great challenges in operating the excavator due to the complex and changeable working environment. On the one hand, the driving experience and skill levels of different drivers vary greatly, and there are significant differences in their ability to grasp the spatial distance and dynamic response of the excavator. Especially for novice drivers or operators who have not operated a specific model of excavator for a long time, they often find it difficult to quickly familiarize themselves with and master the control performance of the excavator, including its action response speed, maximum working range and other key parameters. This leads to the fact that in actual operation, the operator may cause a collision accident between the excavator and surrounding objects due to misjudgment; on the other hand, although the driver can use the excavator's rearview mirror and reversing image system to evaluate the distance between the excavator and surrounding obstacles, this visual-dependent method is not only inefficient, but also affected by multiple factors such as weather, light and blind spots, which greatly increases the difficulty of operation and safety hazards, not only causing equipment damage, but also may cause casualties, causing significant losses to enterprises and individuals. It can be seen that it is particularly important to propose a technical solution for intelligent anti-collision control of excavators to reduce the collision risk of drivers when operating excavators. Summary of the invention

[0003] The technical problem to be solved by the present invention is to provide an intelligent anti-collision control method, device and excavator for an excavator, which not only helps to reduce the dependence on the operator's experience and judgment, improve the operating safety of the excavator in complex environments, and reduce the collision accident rate, but also can improve the operating efficiency and accuracy of the excavator.

[0004] In order to solve the above technical problems, the first aspect of the present invention discloses an intelligent anti-collision control method for an excavator, the method comprising:

[0005] Measuring target distance data between all target obstacles and the excavator; the target obstacles are obstacles existing around the excavator;

[0006] Based on the target distance data corresponding to all the target obstacles, an electronic fence corresponding to the excavator is constructed and displayed on a display screen corresponding to the excavator;

[0007] constructing an excavator model corresponding to the excavator and displaying it on the display screen;

[0008] When it is detected that the actual working control switch of the excavator is turned on, based on the operating lever control signal of the excavator, the excavator is controlled to perform a target actual action corresponding to the operating lever control signal;

[0009] Determining a first virtual action of the excavator model based on the target actual action of the excavator and the excavator model;

[0010] Establishing a real-time synchronous association between a first virtual action of the excavator model and a target actual action of the excavator, and displaying the first virtual action on the display screen;

[0011] After the real-time synchronous association is established, when the first virtual action of the excavator model displayed on the display screen is used to indicate that the distance between the edge of the excavator model and the electronic fence is less than a predetermined first collision threshold, a first collision prompt information is issued to the operator corresponding to the excavator; the first collision prompt information is used to prompt the operator that the excavator is at risk of colliding with the target obstacle.

[0012] As an optional implementation, in the first aspect of the present invention, before measuring the target distance data between all target obstacles and the excavator, the method further includes:

[0013] Detecting working parameters of the excavator, wherein the working parameters at least include an action response speed and / or a working range of the excavator; the working range is determined by a current position of the excavator;

[0014] Determine whether the action response speed is greater than or equal to a preset action response speed threshold and / or whether the working range is greater than or equal to a preset working range threshold, and when the action response speed is greater than or equal to the action response speed threshold and / or the working range is greater than or equal to the working range threshold, trigger the operation of measuring the target distance data between all target obstacles and the excavator;

[0015] And, the method further comprises:

[0016] When the first virtual action of the excavator model displayed on the display screen is used to indicate that the distance between the edge of the excavator model and the electronic fence is less than the first collision threshold, reducing the action response speed of the excavator;

[0017] When the first virtual action of the excavator model displayed on the display screen is used to indicate that the distance between the edge of the excavator model and the electronic fence is less than a predetermined second collision threshold, the excavator is controlled to stop working; wherein the second collision threshold is less than the first collision threshold.

[0018] As an optional embodiment, in the first aspect of the present invention, the method further comprises:

[0019] When it is detected that the actual working control switch of the excavator is turned off, based on the operating lever control signal of the excavator, the excavator model is controlled to perform a second virtual action corresponding to the operating lever control signal on the display screen; when the second virtual action of the excavator model displayed on the display screen is used to indicate that the distance between the edge of the excavator model and the electronic fence is less than the first collision threshold, the first collision prompt information is issued to the operator.

[0020] As an optional embodiment, in the first aspect of the present invention, the method further comprises:

[0021] Performing an activity trajectory analysis on the first virtual action of the excavator model to obtain an activity trajectory analysis result of the excavator model;

[0022] Based on the activity trajectory analysis result of the excavator model, a predicted activity trajectory of the excavator model is obtained and displayed on the display screen;

[0023] Determine whether there is a first intersection area between the predicted activity trajectory of the excavator model and the electronic fence. If so, send a second collision prompt information to the operator; the second collision prompt information is used to prompt the operator that there is a collision risk between the excavator and the target obstacle predicted based on the first virtual action of the excavator model.

[0024] As an optional implementation, in the first aspect of the present invention, before constructing the electronic fence corresponding to the excavator based on the target distance data corresponding to all the target obstacles, the method further includes:

[0025] Determining obstacle types of all target obstacles based on a predetermined obstacle recognition model;

[0026] Determining a collision risk level of each target obstacle based on the obstacle type of the target obstacle;

[0027] Determining whether the collision risk level of each target obstacle is greater than or equal to a preset collision risk level threshold, and obtaining a collision risk level determination result;

[0028] When the collision risk level judgment result is used to indicate that the collision risk level of the target obstacle is greater than or equal to the collision risk level threshold, determining that the target obstacle is a high-risk target obstacle;

[0029] And, constructing the electronic fence corresponding to the excavator based on the target distance data corresponding to all the target obstacles includes:

[0030] Based on the target distance data corresponding to all the target obstacles, an electronic fence corresponding to the excavator is constructed; the target obstacle is the high-risk target obstacle.

[0031] As an optional implementation, in the first aspect of the present invention, the excavator model and the electronic fence are three-dimensional models;

[0032] Furthermore, before sending the second collision prompt information to the operator, the method further includes:

[0033] Determine whether there is a second intersection area between the spatial height range of the excavator model in the first intersection area and the spatial height range of the electronic fence in the first intersection area, and if so, trigger the execution of the operation of sending a second collision prompt information to the operator;

[0034] Furthermore, before sending the first collision prompt information to the operator corresponding to the excavator, the method further includes:

[0035] Determine whether there is a third intersection area between the spatial height range of the collision risk part of the excavator model and the spatial height range of the electronic fence. If so, trigger the execution of the operation of sending a first collision prompt information to the operator corresponding to the excavator; the collision risk part is the part of the excavator corresponding to the edge when the distance between the excavator model and the electronic fence is less than the first collision threshold.

[0036] As an optional implementation, in the first aspect of the present invention, the measuring of target distance data between all target obstacles and the excavator includes:

[0037] Based on at least one laser sensor corresponding to the excavator emitting a laser beam, for any of the laser sensors, determining a first moment when the laser sensor emits the laser beam and a second moment when a receiver corresponding to the laser sensor receives the laser beam, and determining target distance data between the laser sensor and a target obstacle based on the first moment and the second moment; based on the target distance data between all the laser sensors and the target obstacles, determining target distance data between all the target obstacles and the excavator;

[0038] And, constructing the electronic fence corresponding to the excavator based on the target distance data corresponding to all the target obstacles includes:

[0039] Determining obstacle parameters of all the target obstacles based on the target distance data corresponding to all the target obstacles, wherein the obstacle parameters of each target obstacle include the position, shape and size of the target obstacle;

[0040] Based on the obstacle parameters of all the target obstacles, an electronic fence corresponding to the excavator is constructed.

[0041] The second aspect of the present invention discloses an intelligent anti-collision control device for an excavator, the device is applied to the excavator, and the device comprises:

[0042] A measurement module, used to measure target distance data between all target obstacles and the excavator; the target obstacles are obstacles existing around the excavator;

[0043] A construction module, used to construct an electronic fence corresponding to the excavator based on the target distance data corresponding to all the target obstacles and display it on the display screen corresponding to the excavator; construct an excavator model corresponding to the excavator and display it on the display screen;

[0044] a control module, for controlling the excavator to perform a target actual action corresponding to the operating lever control signal based on the operating lever control signal of the excavator when detecting that the actual working control switch of the excavator is turned on;

[0045] A determination module, configured to determine a first virtual action of the excavator model based on a target actual action of the excavator and the excavator model;

[0046] an association module, used to establish a real-time synchronous association between a first virtual action of the excavator model and a target actual action of the excavator, and display the first virtual action on the display screen;

[0047] A prompt module is used to send a first collision prompt message to an operator corresponding to the excavator after the real-time synchronous association is established, when the first virtual action of the excavator model displayed on the display screen is used to indicate that the distance between the edge of the excavator model and the electronic fence is less than a predetermined first collision threshold; the first collision prompt message is used to prompt the operator that the excavator is at risk of colliding with the target obstacle.

[0048] As an optional implementation, in the second aspect of the present invention, the device further includes:

[0049] a detection module, used for detecting working parameters of the excavator before the measuring module measures the target distance data between all target obstacles and the excavator, wherein the working parameters at least include the action response speed and / or working range of the excavator; the working range is determined by the current position of the excavator;

[0050] A judging module, used for judging whether the action response speed is greater than or equal to a preset action response speed threshold and / or whether the working range is greater than or equal to a preset working range threshold, and triggering the operation of measuring the target distance data between all target obstacles and the excavator when the action response speed is greater than or equal to the action response speed threshold and / or the working range is greater than or equal to the working range threshold;

[0051] And, the device further comprises:

[0052] a speed reduction module, configured to reduce a motion response speed of the excavator when the first virtual motion of the excavator model displayed on the display screen is used to indicate that the distance between the edge of the excavator model and the electronic fence is less than the first collision threshold;

[0053] The control module is also used to control the excavator to stop working when the first virtual action of the excavator model displayed on the display screen is used to indicate that the distance between the edge of the excavator model and the electronic fence is less than a predetermined second collision threshold; wherein the second collision threshold is less than the first collision threshold.

[0054] As an optional implementation, in the second aspect of the present invention, the device further includes:

[0055] The simulation module is used to control the excavator model to perform a second virtual action corresponding to the operating lever control signal on the display screen based on the operating lever control signal of the excavator when it is detected that the actual working control switch of the excavator is turned off, and when the second virtual action of the excavator model displayed on the display screen is used to indicate that the distance between the edge of the excavator model and the electronic fence is less than the first collision threshold, the first collision prompt information is sent to the operator.

[0056] As an optional implementation, in the second aspect of the present invention, the device further includes:

[0057] An analysis module, used for performing an activity trajectory analysis on the first virtual action of the excavator model to obtain an activity trajectory analysis result of the excavator model;

[0058] A prediction module, configured to obtain a predicted activity trajectory of the excavator model based on an analysis result of the activity trajectory of the excavator model and display the predicted activity trajectory on the display screen;

[0059] The prompt module is also used to determine whether there is a first intersection area between the predicted activity trajectory of the excavator model and the electronic fence. If so, a second collision prompt information is issued to the operator; the second collision prompt information is used to prompt the operator that there is a collision risk between the excavator and the target obstacle predicted based on the first virtual action of the excavator model.

[0060] As an optional implementation, in the second aspect of the present invention, the determination module is further used to determine the obstacle types of all the target obstacles based on a predetermined obstacle recognition model before the construction module constructs the electronic fence corresponding to the excavator based on the target distance data corresponding to all the target obstacles; and determine the collision risk degree of the target obstacle based on the obstacle type of each target obstacle;

[0061] The judgment module is further used to judge whether the collision risk level of each target obstacle is greater than or equal to a preset collision risk level threshold, and obtain a collision risk level judgment result;

[0062] The determination module is further configured to determine that the target obstacle is a high-risk target obstacle when the collision risk level judgment result indicates that the collision risk level of the target obstacle is greater than or equal to the collision risk level threshold;

[0063] Furthermore, the construction module constructs the electronic fence corresponding to the excavator based on the target distance data corresponding to all the target obstacles, and the specific method includes:

[0064] Based on the target distance data corresponding to all the target obstacles, an electronic fence corresponding to the excavator is constructed; the target obstacle is the high-risk target obstacle.

[0065] As an optional implementation, in the second aspect of the present invention, the excavator model and the electronic fence are three-dimensional models;

[0066] Furthermore, the judgment module is also used to judge whether there is a second intersection area between the spatial height range of the excavator model in the first intersection area and the spatial height range of the electronic fence in the first intersection area before the prompt module sends the second collision prompt information to the operator, and if so, trigger the execution of the operation of sending the second collision prompt information to the operator; before the prompt module sends the first collision prompt information to the operator corresponding to the excavator, judge whether there is a third intersection area between the spatial height range of the collision risk part of the excavator model and the spatial height range of the electronic fence, and if so, trigger the execution of the operation of sending the first collision prompt information to the operator corresponding to the excavator; the collision risk part is the part of the excavator corresponding to the edge when the distance between the excavator model and the electronic fence is less than the first collision threshold.

[0067] As an optional implementation, in the second aspect of the present invention, the measuring module measures the target distance data between all target obstacles and the excavator, specifically in the following manner:

[0068] Based on at least one laser sensor corresponding to the excavator emitting a laser beam, for any of the laser sensors, determining a first moment when the laser sensor emits the laser beam and a second moment when a receiver corresponding to the laser sensor receives the laser beam, and determining target distance data between the laser sensor and a target obstacle based on the first moment and the second moment; based on the target distance data between all the laser sensors and the target obstacles, determining target distance data between all the target obstacles and the excavator;

[0069] Furthermore, the construction module constructs the electronic fence corresponding to the excavator based on the target distance data corresponding to all the target obstacles, and the specific method includes:

[0070] Determining obstacle parameters of all the target obstacles based on the target distance data corresponding to all the target obstacles, wherein the obstacle parameters of each target obstacle include the position, shape and size of the target obstacle;

[0071] Based on the obstacle parameters of all the target obstacles, an electronic fence corresponding to the excavator is constructed.

[0072] A third aspect of the present invention discloses an excavator, the excavator comprising:

[0073] A memory storing executable program code;

[0074] a processor coupled to the memory;

[0075] The processor calls the executable program code stored in the memory to execute the intelligent anti-collision control method for an excavator disclosed in the first aspect of the present invention.

[0076] The fourth aspect of the present invention discloses a computer storage medium, wherein the computer storage medium stores computer instructions, and when the computer instructions are called, they are used to execute the intelligent anti-collision control method for the excavator disclosed in the first aspect of the present invention.

[0077] Compared with the prior art, the embodiments of the present invention have the following beneficial effects:

[0078] The embodiment of the present invention can measure the target distance data between all target obstacles and the excavator, build an electronic fence corresponding to the excavator based on the target distance data corresponding to all target obstacles and display it on the display screen corresponding to the excavator, build an excavator model corresponding to the excavator and display it on the display screen, and when it is detected that the actual working control switch of the excavator is turned on, based on the control signal of the operating lever of the excavator, control the excavator to perform the target actual action corresponding to the control signal of the operating lever, determine the first virtual action of the excavator model based on the target actual action of the excavator and the excavator model, establish a real-time synchronous association between the first virtual action of the excavator model and the target actual action of the excavator, and The action is displayed on the display screen. After the real-time synchronous association is established, when the first virtual action of the excavator model displayed on the display screen is used to indicate that the distance between the edge of the excavator model and the electronic fence is less than a predetermined first collision threshold, a first collision prompt information is issued to the operator corresponding to the excavator; the present invention determines whether there is a collision risk between the excavator and the target obstacle through the relative position relationship between the electronic fence and the excavator model, and issues a prompt information to the operator when there is a collision risk, which is not only conducive to reducing the reliance on the operator's experience and judgment, improving the operating safety of the excavator in complex environments, and reducing the collision accident rate, but also can improve the operating efficiency and accuracy of the excavator. BRIEF DESCRIPTION OF THE DRAWINGS

[0079] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0080] Figure 1 It is an overall framework diagram of the intelligent anti-collision control method for an excavator disclosed in an embodiment of the present invention;

[0081] Figure 2 It is a flow chart of an intelligent anti-collision control method for an excavator disclosed in an embodiment of the present invention;

[0082] Figure 3 It is a three-dimensional display diagram of an excavator model and an electronic fence corresponding to the excavator disclosed in an embodiment of the present invention;

[0083] Figure 4 It is a plan view showing the movable space range corresponding to the excavator disclosed in the embodiment of the present invention;

[0084] Figure 5 It is a three-dimensional display diagram of the movable space range corresponding to the excavator disclosed in the embodiment of the present invention;

[0085] Figure 6 It is a flow chart of another intelligent anti-collision control method for an excavator disclosed in an embodiment of the present invention;

[0086] Figure 7 It is a structural schematic diagram of an intelligent anti-collision control device for an excavator disclosed in an embodiment of the present invention;

[0087] Figure 8 It is a structural schematic diagram of another intelligent anti-collision control device for an excavator disclosed in an embodiment of the present invention;

[0088] Fig. 9 It is a structural schematic diagram of an excavator disclosed in an embodiment of the present invention. DETAILED DESCRIPTION

[0089] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0090] The terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish different objects rather than to describe a specific order. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or terminal including a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units that are not listed, or may optionally include other steps or units inherent to these processes, methods, products or terminals.

[0091] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present invention. The appearance of the phrase in various places in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0092] The present invention discloses an intelligent anti-collision control method and device for an excavator, and an excavator. The method and device can determine whether there is a collision risk between the excavator and a target obstacle through the relative position relationship between an electronic fence and an excavator model. When there is a collision risk, a prompt message is sent to the operator, which is not only conducive to reducing the dependence on the operator's experience and judgment, improving the operating safety of the excavator in complex environments, and reducing the collision accident rate, but also can improve the operating efficiency and accuracy of the excavator. Figure 1 It is the overall framework diagram corresponding to the present invention, which will be described in detail below.

[0093] Embodiment 1

[0094] See also Figure 2 , Figure 2 : is a flow chart of an intelligent anti-collision control method for an excavator disclosed in an embodiment of the present invention. Figure 2 The method shown can be applied to working scenarios of excavators of any size and in any environmental conditions, and the embodiments of the present invention are not limited thereto. Figure 2 As shown, the intelligent anti-collision control method of the excavator may include the following operations:

[0095] 101. Measure the target distance data between all target obstacles and the excavator;

[0096] In the embodiment of the present invention, the target obstacle is an obstacle existing around the excavator; the measurement can be performed by laser sensors, radars, etc., which are not limited in the embodiment of the present invention;

[0097] 102. Based on the target distance data corresponding to all target obstacles, an electronic fence corresponding to the excavator is constructed and displayed on a display screen corresponding to the excavator;

[0098] In the embodiment of the present invention, the electronic fence can be constructed based on the target distance data by using the obstacle drawing technology, and the change of the target distance data can be monitored in real time to construct a real-time electronic fence;

[0099] 103. Construct an excavator model corresponding to the excavator and display it on the display screen;

[0100] In the embodiment of the present invention, the real-time relative position of the excavator model and the electronic fence can be displayed on the display screen. The excavator model and the electronic fence can be either flat or three-dimensional. After the excavator model and the electronic fence are constructed, the movable space range of the excavator can also be determined based on the real-time relative position of the excavator model and the electronic fence and displayed on the display screen. Figure 3 It is a three-dimensional display diagram of the model excavator and the electronic fence corresponding to the excavator; Figure 4 It is a plan view showing the range of movable space corresponding to the excavator; Figure 5 It is a three-dimensional display diagram of the movable space range corresponding to the excavator;

[0101] 104. When it is detected that the actual working control switch of the excavator is turned on, based on the operating lever control signal of the excavator, the excavator is controlled to perform the target actual action corresponding to the operating lever control signal;

[0102] In the embodiment of the present invention, when the actual working control switch is turned on, the excavator can work according to the control signal of the operating lever, and when the actual working control switch is turned off, the excavator cannot work according to the control signal of the operating lever;

[0103] 105. Determine a first virtual action of the excavator model based on the target actual action of the excavator and the excavator model;

[0104] 106. Establishing a real-time synchronous association between the first virtual action of the excavator model and the target actual action of the excavator, and displaying the first virtual action on the display screen;

[0105] In the embodiment of the present invention, it can be understood that when the excavator starts working, the target actual action of the excavator can be detected, and the first virtual action corresponding to the target actual action can be synchronously executed on the excavator model on the display screen;

[0106] 107. After the real-time synchronous association is established, when the first virtual action of the excavator model displayed on the display screen is used to indicate that the distance between the edge of the excavator model and the electronic fence is less than a predetermined first collision threshold, a first collision prompt message is sent to an operator corresponding to the excavator;

[0107] In the embodiment of the present invention, the first collision prompt information is used to prompt the operator that the excavator is at risk of colliding with the target obstacle; it can be understood that, since the first virtual action corresponds to the target actual action, when the distance between the edge of the excavator model displayed on the display screen and the electronic fence is lower than the first collision threshold, the distance between the excavator itself and the target obstacle is also lower than the corresponding threshold, that is, it can be judged whether there is a collision risk between the excavator and the target obstacle by the distance between the edge of the excavator model and the electronic fence;

[0108] It can be seen that the embodiment of the present invention can measure the target distance data between all target obstacles and the excavator, build an electronic fence corresponding to the excavator based on the target distance data corresponding to all target obstacles and display it on the display screen corresponding to the excavator, build an excavator model corresponding to the excavator and display it on the display screen, and when it is detected that the actual working control switch of the excavator is turned on, based on the control signal of the operating lever of the excavator, control the excavator to perform the target actual action corresponding to the control signal of the operating lever, determine the first virtual action of the excavator model based on the target actual action of the excavator and the excavator model, establish a real-time synchronous association between the first virtual action of the excavator model and the target actual action of the excavator, and The simulated action is displayed on the display screen. After the real-time synchronous association is established, when the first virtual action of the excavator model displayed on the display screen is used to indicate that the distance between the edge of the excavator model and the electronic fence is less than a predetermined first collision threshold, a first collision prompt information is issued to the operator corresponding to the excavator; the present invention determines whether there is a collision risk between the excavator and the target obstacle through the relative position relationship between the electronic fence and the excavator model, and issues a prompt information to the operator when there is a collision risk, which is not only conducive to reducing the reliance on the operator's experience and judgment, improving the operating safety of the excavator in complex environments, and reducing the collision accident rate, but also can improve the operating efficiency and accuracy of the excavator.

[0109] In an optional embodiment, before measuring the target distance data between all target obstacles and the excavator in the above step 101, the method may further include:

[0110] Detecting the working parameters of the excavator, the working parameters at least including the action response speed and / or the working range of the excavator; the working range is determined by the current position of the excavator;

[0111] Determine whether the action response speed is greater than or equal to a preset action response speed threshold and / or whether the working range is greater than or equal to a preset working range threshold, and when the action response speed is greater than or equal to the action response speed threshold and / or the working range is greater than or equal to the working range threshold, trigger the operation of measuring the target distance data between all target obstacles and the excavator in the above step 101;

[0112] And, the method may further include:

[0113] When the first virtual action of the excavator model displayed on the display screen is used to indicate that the distance between the edge of the excavator model and the electronic fence is less than a first collision threshold, reducing the action response speed of the excavator;

[0114] When the first virtual action of the excavator model displayed on the display screen is used to indicate that the distance between the edge of the excavator model and the electronic fence is less than a predetermined second collision threshold, the excavator is controlled to stop working; wherein the second collision threshold is less than the first collision threshold.

[0115] In this optional embodiment, it can be understood that when the distance between the edge of the excavator model and the electronic fence is less than the first collision threshold, reducing the excavator's action response speed can reduce the possibility of collision caused by delays in the display synchronization of the virtual excavator due to the excavator's excessively fast action response speed, while also giving the operator more time to adjust and reduce the risk of collision; when the distance between the edge of the excavator model and the electronic fence is less than a predetermined second collision threshold, controlling the excavator to stop working can be understood as cutting off the control signal when the excavator is about to collide with the target obstacle, thereby preventing a collision accident from occurring.

[0116] It can be seen that this optional embodiment is capable of detecting the working parameters of the excavator and determining whether the working parameters meet the corresponding conditions. If so, the target distance data between all target obstacles and the excavator is measured, and when the distance between the edge of the excavator model and the electronic fence is less than the first collision threshold, the action response speed of the excavator is reduced, which is beneficial to reducing the possibility of collision caused by excessive response speed of the excavator and delay in display synchronization of the virtual excavator; when the distance between the edge of the excavator model and the electronic fence is less than the second collision threshold, the excavator is controlled to stop working, which is beneficial to further reduce the risk of collision and improve the operating safety of the excavator in complex environments.

[0117] In another optional embodiment, the method may further include:

[0118] When it is detected that the actual working control switch of the excavator is turned off, based on the excavator's operating lever control signal, the excavator model is controlled to perform a second virtual action corresponding to the operating lever control signal on the display screen. When the second virtual action of the excavator model displayed on the display screen is used to indicate that the distance between the edge of the excavator model and the electronic fence is less than the first collision threshold, a first collision prompt information is sent to the operator.

[0119] In this optional embodiment, it can be understood that when the actual working control switch of the excavator is turned off, the excavator will not work according to the operating lever control signal. At this time, the operator can simulate the operation of the excavator model displayed on the display screen through the operating lever control signal to rehearse the actual target action of the excavator and reduce the risk of collision during actual operation.

[0120] It can be seen that this optional embodiment can control the excavator model to perform a second virtual action corresponding to the operating lever control signal on the display screen based on the excavator's operating lever control signal when it detects that the actual work control switch of the excavator is turned off. When the distance between the edge of the excavator model and the electronic fence is less than the first collision threshold, a first collision prompt message is sent to the operator, which is beneficial to improving the operator's operating experience through the operator's simulated operation when the actual work control switch is turned off, reducing the operator's collision risk in actual work, and improving the operating safety of the excavator in complex environments.

[0121] In yet another optional embodiment, before constructing the electronic fence corresponding to the excavator based on the target distance data corresponding to all target obstacles in the above step 102, the method may further include:

[0122] Determine obstacle types of all target obstacles based on a predetermined obstacle recognition model;

[0123] Determining a collision risk level of each target obstacle based on the obstacle type of the target obstacle;

[0124] Determine whether the collision risk level of each target obstacle is greater than or equal to a preset collision risk level threshold, and obtain a collision risk level determination result;

[0125] When the collision risk level judgment result is used to indicate that the collision risk level of the target obstacle is greater than or equal to the collision risk level threshold, the target obstacle is determined to be a high-risk target obstacle;

[0126] Furthermore, in the above step 102, constructing an electronic fence corresponding to the excavator based on the target distance data corresponding to all target obstacles may include:

[0127] Based on the target distance data corresponding to all target obstacles, an electronic fence corresponding to the excavator is constructed; the target obstacles are high-risk target obstacles.

[0128] In this optional embodiment, it can be understood that the collision risk of some obstacles such as grass and dirt piles is relatively low, and even if a collision occurs, it will not cause much damage. Therefore, high-risk target obstacles can be determined through an obstacle recognition model, and it is only necessary to build an electronic fence based on the high-risk target obstacles.

[0129] It can be seen that this optional embodiment can determine the obstacle type of the target obstacle and further determine the degree of collision risk based on a predetermined obstacle recognition model. When the collision risk level of the target obstacle is greater than or equal to the collision risk level threshold, the target obstacle is determined to be a high-risk target obstacle, and an electronic fence is constructed based on the high-risk target obstacle, which is beneficial to the accuracy of determining the target obstacle, and further improves the accuracy of constructing the electronic fence, thereby improving the accuracy of determining the collision risk of the excavator.

[0130] Embodiment 2

[0131] See also Figure 6 , Figure 6 : is a flow chart of an intelligent anti-collision control method for an excavator disclosed in an embodiment of the present invention. Figure 6 The method shown can be applied to working scenarios of excavators of any size and in any environmental conditions, and the embodiments of the present invention are not limited thereto. Figure 6 As shown, the intelligent anti-collision control method of the excavator may include the following operations:

[0132] 201. Measure the target distance data between all target obstacles and the excavator;

[0133] In the embodiment of the present invention, the target obstacle is an obstacle existing around the excavator;

[0134] 202. Based on the target distance data corresponding to all target obstacles, construct an electronic fence corresponding to the excavator and display it on a display screen corresponding to the excavator;

[0135] 203. construct an excavator model corresponding to the excavator and display it on the display screen;

[0136] 204. When it is detected that the actual working control switch of the excavator is turned on, based on the operating lever control signal of the excavator, the excavator is controlled to perform the target actual action corresponding to the operating lever control signal;

[0137] 205. Determine a first virtual action of the excavator model based on the target actual action of the excavator and the excavator model;

[0138] 206. Establishing a real-time synchronous association between the first virtual action of the excavator model and the target actual action of the excavator, and displaying the first virtual action on the display screen;

[0139] 207. After the real-time synchronous association is established, when the first virtual action of the excavator model displayed on the display screen is used to indicate that the distance between the edge of the excavator model and the electronic fence is less than a predetermined first collision threshold, a first collision prompt message is sent to an operator corresponding to the excavator;

[0140] In the embodiment of the present invention, the first collision prompt information is used to prompt the operator that there is a risk of collision between the excavator and the target obstacle;

[0141] 208. Performing an activity trajectory analysis on the first virtual action of the excavator model to obtain an activity trajectory analysis result of the excavator model;

[0142] 209. Based on the activity trajectory analysis result of the excavator model, a predicted activity trajectory of the excavator model is obtained and displayed on a display screen;

[0143] 210. Determine whether the predicted activity trajectory of the excavator model and the electronic fence have a first intersection area, and if so, send a second collision prompt message to the operator;

[0144] In an embodiment of the present invention, the second collision prompt information is used to prompt the operator that there is a risk of collision between the excavator and the target obstacle predicted by the first virtual action of the excavator model; it can be understood that whether there is a first intersection area between the predicted activity trajectory of the excavator model and the electronic fence means that if the excavator model continues to perform the first virtual action according to the current predicted activity trajectory, it will collide with the electronic fence. At this time, the second collision prompt information can be issued to prompt the operator.

[0145] In the embodiment of the present invention, for other descriptions of steps 201-207, please refer to the detailed description of steps 101-107 in the first embodiment, and the embodiment of the present invention will not be repeated here.

[0146] It can be seen that the embodiment of the present invention can perform activity trajectory analysis on the first virtual action of the excavator model, and based on the obtained activity trajectory analysis result, determine the predicted activity trajectory of the excavator model and display it on the display screen, and send a second collision prompt message to the operator when there is a first intersection area between the predicted activity trajectory and the electronic fence, which is beneficial to improve the accuracy of determining the collision risk, thereby reducing the dependence on the operator's experience and judgment, improving the operating safety of the excavator in complex environments, reducing the collision accident rate, and at the same time improving the operating efficiency and accuracy of the excavator.

[0147] In an optional embodiment, the excavator model and the electronic fence are three-dimensional models;

[0148] Furthermore, before sending the second collision prompt information to the operator in step 210, the method may further include:

[0149] Determine whether there is a second intersection area between the spatial height range of the excavator model in the first intersection area and the spatial height range of the electronic fence in the first intersection area, and if so, trigger the operation of sending a second collision prompt information to the operator in the above step 209;

[0150] Furthermore, before sending the first collision prompt information to the operator corresponding to the excavator in the above step 207, the method further includes:

[0151] Determine whether there is a third intersection area between the spatial height range of the collision risk part of the excavator model and the spatial height range of the electronic fence. If so, trigger the operation of the operator corresponding to the excavator in the above step 207 to send a first collision prompt message; the collision risk part is the part of the excavator corresponding to the edge when the distance between the excavator model and the electronic fence is less than the first collision threshold.

[0152] In this optional embodiment, it can be understood that if the excavator model and the electronic fence are three-dimensional models, when there is a risk of collision between the excavator model and the electronic fence in the plane, it can be further determined whether it is necessary to prompt the operator based on whether there is a risk of collision in the spatial height.

[0153] It can be seen that this optional embodiment can, when the excavator model and the electronic fence are three-dimensional models, determine whether to issue a collision prompt by further judging whether the excavator model and the electronic fence have an intersection in space on the basis of plane collision judgment. This is beneficial to improving the accuracy of determining the collision risk by judging whether there is a collision risk in space, thereby reducing the reliance on the operator's experience and judgment, improving the operating safety of the excavator in complex environments, and reducing the collision accident rate.

[0154] In another optional embodiment, the step 201 of measuring the target distance data between all target obstacles and the excavator may include:

[0155] Based on at least one laser sensor corresponding to the excavator emitting a laser beam, for any laser sensor, determining a first moment when the laser sensor emits the laser beam and a second moment when a receiver corresponding to the laser sensor receives the laser beam, and determining target distance data between the laser sensor and the target obstacle based on the first moment and the second moment; based on the target distance data between all laser sensors and the target obstacle, determining target distance data between all target obstacles and the excavator;

[0156] Furthermore, in the above step 202, constructing an electronic fence corresponding to the excavator based on the target distance data corresponding to all target obstacles may include:

[0157] Determine obstacle parameters of all target obstacles based on target distance data corresponding to all target obstacles, where the obstacle parameters of each target obstacle include the position, shape and size of the target obstacle;

[0158] Based on the obstacle parameters of all target obstacles, an electronic fence corresponding to the excavator is constructed.

[0159] It can be seen that this optional embodiment can determine the target distance data between the laser sensor and the target obstacle based on the time difference between the laser sensor corresponding to the excavator transmitting and receiving the laser beam, and further determine the target distance data between all target obstacles and the excavator; at the same time, it can also determine the obstacle parameters of all target obstacles based on the target distance data corresponding to all target obstacles and further construct the electronic fence corresponding to the excavator based on the obstacle parameters; it is beneficial to improve the accuracy of determining the target distance data, and then improve the accuracy of determining the target obstacles and the accuracy of constructing the electronic fence, which is beneficial to improve the accuracy of determining the collision risk, reduce the dependence on the operator's experience and judgment, improve the operating safety of the excavator in complex environments, and reduce the collision accident rate.

[0160] Embodiment 3

[0161] See also Figure 7 , Figure 7 Schematic diagram of the structure of an intelligent anti-collision control method for an excavator disclosed in an embodiment of the present invention. Figure 7 The device shown can be applied to working scenarios of excavators of any size and in any environmental conditions, and the embodiments of the present invention are not limited thereto. Figure 7 As shown, the intelligent anti-collision control device of the excavator may include:

[0162] The measurement module 301 is used to measure the target distance data between all target obstacles and the excavator; the target obstacles are obstacles existing around the excavator;

[0163] A construction module 302 is used to construct an electronic fence corresponding to the excavator based on the target distance data corresponding to all target obstacles and display it on a display screen corresponding to the excavator; and to construct an excavator model corresponding to the excavator and display it on the display screen;

[0164] The control module 303 is used to control the excavator to perform a target actual action corresponding to the operating lever control signal based on the operating lever control signal of the excavator when it is detected that the actual working control switch of the excavator is turned on;

[0165] A determination module 304 is used to determine a first virtual action of the excavator model based on the target actual action of the excavator and the excavator model;

[0166] An association module 305 is used to establish a real-time synchronous association between the first virtual action of the excavator model and the target actual action of the excavator, and display the first virtual action on the display screen;

[0167] The prompt module 306 is used to send a first collision prompt message to the operator corresponding to the excavator after the real-time synchronization association is established, when the first virtual action of the excavator model displayed on the display screen is used to indicate that the distance between the edge of the excavator model and the electronic fence is less than a predetermined first collision threshold; the first collision prompt message is used to prompt the operator that the excavator is at risk of colliding with the target obstacle.

[0168] It can be seen that the device described in the embodiment of the present invention is capable of measuring the target distance data between all target obstacles and the excavator, constructing an electronic fence corresponding to the excavator based on the target distance data corresponding to all target obstacles and displaying it on the display screen corresponding to the excavator, constructing an excavator model corresponding to the excavator and displaying it on the display screen, and when it is detected that the actual working control switch of the excavator is turned on, based on the control signal of the operating lever of the excavator, controlling the excavator to execute the target actual action corresponding to the operating lever control signal, determining the first virtual action of the excavator model based on the target actual action of the excavator and the excavator model, establishing a real-time synchronous association between the first virtual action of the excavator model and the target actual action of the excavator, and The first virtual action is displayed on a display screen. After the real-time synchronous association is established, when the first virtual action of the excavator model displayed on the display screen is used to indicate that the distance between the edge of the excavator model and the electronic fence is less than a predetermined first collision threshold, a first collision prompt information is sent to an operator corresponding to the excavator. The present invention determines whether there is a collision risk between the excavator and the target obstacle through the relative position relationship between the electronic fence and the excavator model. When there is a collision risk, a prompt information is sent to the operator, which is not only conducive to reducing the dependence on the operator's experience and judgment, but also improving the operating safety of the excavator in complex environments and reducing the collision accident rate, and at the same time can also improve the operating efficiency and accuracy of the excavator.

[0169] In an optional embodiment, if Figure 8 As shown, the device may also include:

[0170] The detection module 307 is used to detect the working parameters of the excavator before the measurement module 301 measures the target distance data between all target obstacles and the excavator. The working parameters at least include the action response speed and / or the working range of the excavator; the working range is determined by the current position of the excavator;

[0171] The judging module 308 is used to judge whether the action response speed is greater than or equal to a preset action response speed threshold and / or whether the working range is greater than or equal to a preset working range threshold. When the action response speed is greater than or equal to the action response speed threshold and / or the working range is greater than or equal to the working range threshold, the measuring module 301 is triggered to measure the target distance data between all target obstacles and the excavator.

[0172] And, the device may also include:

[0173] A speed reduction module 309, configured to reduce the action response speed of the excavator when the first virtual action of the excavator model displayed on the display screen is used to indicate that the distance between the edge of the excavator model and the electronic fence is less than a first collision threshold;

[0174] The control module 303 is also used to control the excavator to stop working when the first virtual action of the excavator model displayed on the display screen is used to indicate that the distance between the edge of the excavator model and the electronic fence is less than a predetermined second collision threshold; wherein the second collision threshold is less than the first collision threshold.

[0175] It can be seen that the device described in the embodiment of the present invention is capable of detecting the working parameters of the excavator and determining whether the working parameters meet the corresponding conditions. If so, the target distance data between all target obstacles and the excavator is measured, and when the distance between the edge of the excavator model and the electronic fence is less than the first collision threshold, the action response speed of the excavator is reduced, which is beneficial to reducing the possibility of collision caused by excessive response speed of the excavator and delay in display synchronization of the virtual excavator; when the distance between the edge of the excavator model and the electronic fence is less than the second collision threshold, the excavator is controlled to stop working, which is beneficial to further reduce the risk of collision and improve the operation safety of the excavator in complex environments.

[0176] In another optional embodiment, the device may further include:

[0177] The simulation module 310 is used to control the excavator model to perform a second virtual action corresponding to the operating lever control signal on the display screen based on the operating lever control signal of the excavator when it is detected that the actual working control switch of the excavator is turned off. When the second virtual action of the excavator model displayed on the display screen is used to indicate that the distance between the edge of the excavator model and the electronic fence is less than the first collision threshold, a first collision prompt information is issued to the operator.

[0178] It can be seen that the device described in the embodiment of the present invention can, when detecting that the actual work control switch of the excavator is turned off, control the excavator model to perform a second virtual action corresponding to the operating lever control signal on the display screen based on the operating lever control signal of the excavator, and when the distance between the edge of the excavator model and the electronic fence is less than the first collision threshold, send a first collision prompt message to the operator, which is beneficial to improve the operator's operating experience through the operator's simulated operation when the actual work control switch is turned off, reduce the operator's collision risk in actual work, and improve the operating safety of the excavator in complex environments.

[0179] In yet another optional embodiment, the device may further include:

[0180] An analysis module 311 is used to perform an activity trajectory analysis on the first virtual action of the excavator model to obtain an activity trajectory analysis result of the excavator model;

[0181] A prediction module 312, for obtaining a predicted activity trajectory of the excavator model based on the activity trajectory analysis result of the excavator model and displaying it on a display screen;

[0182] The prompt module 306 is also used to determine whether there is a first intersection area between the predicted activity trajectory of the excavator model and the electronic fence. If so, a second collision prompt information is sent to the operator; the second collision prompt information is used to prompt the operator that there is a collision risk between the excavator and the target obstacle predicted according to the first virtual action of the excavator model.

[0183] It can be seen that the device described in the embodiment of the present invention is capable of performing activity trajectory analysis on the first virtual action of the excavator model, and based on the obtained activity trajectory analysis results, determining the predicted activity trajectory of the excavator model and displaying it on the display screen, and sending a second collision prompt message to the operator when there is a first intersection area between the predicted activity trajectory and the electronic fence, which is beneficial to improving the accuracy of determining the collision risk, thereby reducing the reliance on the operator's experience and judgment, improving the operating safety of the excavator in complex environments, reducing the collision accident rate, and at the same time improving the operating efficiency and accuracy of the excavator.

[0184] In another optional embodiment, the determination module 304 is further configured to determine the obstacle types of all target obstacles based on a predetermined obstacle recognition model before the construction module 302 constructs the electronic fence corresponding to the excavator based on the target distance data corresponding to all target obstacles; and determine the collision risk level of each target obstacle based on the obstacle type of the target obstacle;

[0185] The judgment module 308 is further used to judge whether the collision risk level of each target obstacle is greater than or equal to a preset collision risk level threshold, and obtain a collision risk level judgment result;

[0186] The determination module 304 is further configured to determine that the target obstacle is a high-risk target obstacle when the collision risk level judgment result indicates that the collision risk level of the target obstacle is greater than or equal to a collision risk level threshold;

[0187] Furthermore, the construction module 302 constructs an electronic fence corresponding to the excavator based on the target distance data corresponding to all target obstacles, and the specific method includes:

[0188] Based on the target distance data corresponding to all target obstacles, an electronic fence corresponding to the excavator is constructed; the target obstacles are high-risk target obstacles.

[0189] It can be seen that the device described in the embodiment of the present invention can determine the obstacle type of the target obstacle and further determine the degree of collision risk based on a predetermined obstacle recognition model. When the collision risk level of the target obstacle is greater than or equal to a collision risk level threshold, the target obstacle is determined to be a high-risk target obstacle, and an electronic fence is constructed based on the high-risk target obstacle, which is beneficial to the accuracy of determining the target obstacle, and further improves the accuracy of constructing the electronic fence, thereby improving the accuracy of determining the collision risk of the excavator.

[0190] In yet another optional embodiment, the excavator model and the electronic fence are three-dimensional models;

[0191] In addition, the judgment module 308 is also used to judge whether there is a second intersection area between the spatial height range of the excavator model in the first intersection area and the spatial height range of the electronic fence in the first intersection area before the prompt module 306 sends the second collision prompt information to the operator. If so, the prompt module 306 is triggered to execute the operation of sending the second collision prompt information to the operator; before the prompt module 306 sends the first collision prompt information to the operator corresponding to the excavator, it is judged whether there is a third intersection area between the spatial height range of the collision risk part of the excavator model and the spatial height range of the electronic fence. If so, the prompt module 306 is triggered to execute the operation of sending the first collision prompt information to the operator corresponding to the excavator; the collision risk part is the part of the excavator corresponding to the edge when the distance between the excavator model and the electronic fence is less than the first collision threshold.

[0192] It can be seen that the device described in the embodiment of the present invention can, when the excavator model and the electronic fence are three-dimensional models, determine whether to issue a collision prompt by further judging whether the excavator model and the electronic fence have an intersection in space on the basis of plane collision judgment. This is beneficial to improving the accuracy of determining the collision risk by judging whether there is a collision risk in space, thereby reducing the reliance on the operator's experience and judgment, improving the operating safety of the excavator in complex environments, and reducing the collision accident rate.

[0193] In another optional embodiment, the measuring module 301 measures the target distance data between all target obstacles and the excavator, specifically in the following manner:

[0194] Based on at least one laser sensor corresponding to the excavator emitting a laser beam, for any laser sensor, determining a first moment when the laser sensor emits the laser beam and a second moment when a receiver corresponding to the laser sensor receives the laser beam, and determining target distance data between the laser sensor and the target obstacle based on the first moment and the second moment; based on the target distance data between all laser sensors and the target obstacle, determining target distance data between all target obstacles and the excavator;

[0195] Furthermore, the construction module 302 constructs an electronic fence corresponding to the excavator based on the target distance data corresponding to all target obstacles, and the specific method includes:

[0196] Determine obstacle parameters of all target obstacles based on target distance data corresponding to all target obstacles, where the obstacle parameters of each target obstacle include the position, shape and size of the target obstacle;

[0197] Based on the obstacle parameters of all target obstacles, an electronic fence corresponding to the excavator is constructed.

[0198] It can be seen that the device described in the embodiment of the present invention can determine the target distance data between the laser sensor and the target obstacle based on the time difference between the laser sensor corresponding to the excavator transmitting and receiving the laser beam, and further determine the target distance data between all target obstacles and the excavator; at the same time, it can also determine the obstacle parameters of all target obstacles based on the target distance data corresponding to all target obstacles and further construct the electronic fence corresponding to the excavator based on the obstacle parameters; it is beneficial to improve the accuracy of determining the target distance data, and then improve the accuracy of determining the target obstacles and the accuracy of constructing the electronic fence, which is beneficial to improve the accuracy of determining the collision risk, reduce the dependence on the operator's experience and judgment, improve the operating safety of the excavator in a complex environment, and reduce the collision accident rate.

[0199] Embodiment 4

[0200] See also Fig. 9 , Fig. 9 1 is a schematic diagram of the structure of an excavator disclosed in an embodiment of the present invention. Fig. 9 The excavator described can be used in an application server. Fig. 9 As shown, the excavator may include:

[0201] A memory 401 storing executable program codes;

[0202] a processor 402 coupled to the memory 401;

[0203] The processor 402 calls the executable program code stored in the memory 401 to execute the steps in the intelligent anti-collision control method for an excavator described in the first embodiment of the present invention or the second embodiment of the present invention.

[0204] Embodiment 5

[0205] An embodiment of the present invention discloses a computer storable medium, which stores computer instructions. When the computer instructions are called, they are used to execute the steps in the intelligent anti-collision control method for an excavator described in Embodiment 1 or Embodiment 2 of the present invention.

[0206] Embodiment 6

[0207] An embodiment of the present invention discloses a computer program product, which includes a non-transitory computer-readable storage medium storing a computer program, and the computer program is operable to enable a computer to execute the steps in the intelligent anti-collision control method for an excavator described in Embodiment 1 or Embodiment 2 of the present invention.

[0208] The device embodiments described above are only illustrative, wherein the modules described as separate components may or may not be physically separated, and the components displayed as modules may or may not be physical modules, i.e., they may be located in one place, or they may be distributed on multiple network modules. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Those of ordinary skill in the art may understand and implement it without creative work.

[0209] Through the specific description of the above embodiments, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, it can also be implemented by hardware. Based on such an understanding, the above technical solution can be essentially or partly contributed to the prior art in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, and the storage medium includes a read-only memory (ROM), a random access memory (RAM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), a one-time programmable read-only memory (OTPROM), an electronically erasable rewritable read-only memory (EEPROM), a compact disc (CD-ROM) or other optical disc storage, a magnetic disk storage, a magnetic tape storage, or any other computer-readable medium that can be used to carry or store data.

[0210] Finally, it should be noted that the intelligent anti-collision control method, device and excavator of the excavator disclosed in the embodiments of the present invention are only preferred embodiments of the present invention, which are only used to illustrate the technical solution of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, it should be understood by those skilled in the art that the technical solutions described in the aforementioned embodiments can still be modified, or some of the technical features therein can be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An intelligent anti-collision control method for an excavator, characterized in that: The method comprises: Measuring target distance data between all target obstacles and the excavator; the target obstacles are obstacles existing around the excavator; Based on the target distance data corresponding to all the target obstacles, an electronic fence corresponding to the excavator is constructed and displayed on a display screen corresponding to the excavator; constructing an excavator model corresponding to the excavator and displaying it on the display screen; When it is detected that the actual working control switch of the excavator is turned on, based on the operating lever control signal of the excavator, the excavator is controlled to perform a target actual action corresponding to the operating lever control signal; Determining a first virtual action of the excavator model based on the target actual action of the excavator and the excavator model; Establishing a real-time synchronous association between a first virtual action of the excavator model and a target actual action of the excavator, and displaying the first virtual action on the display screen; After the real-time synchronous association is established, when the first virtual action of the excavator model displayed on the display screen is used to indicate that the distance between the edge of the excavator model and the electronic fence is less than a predetermined first collision threshold, a first collision prompt information is issued to the operator corresponding to the excavator; the first collision prompt information is used to prompt the operator that the excavator is at risk of colliding with the target obstacle.

2. The intelligent anti-collision control method for an excavator according to claim 1, characterized in that: Before measuring the target distance data between all target obstacles and the excavator, the method further includes: Detecting working parameters of the excavator, wherein the working parameters at least include an action response speed and / or a working range of the excavator; the working range is determined by a current position of the excavator; Determine whether the action response speed is greater than or equal to a preset action response speed threshold and / or whether the working range is greater than or equal to a preset working range threshold, and when the action response speed is greater than or equal to the action response speed threshold and / or the working range is greater than or equal to the working range threshold, trigger the operation of measuring the target distance data between all target obstacles and the excavator; And, the method further comprises: When the first virtual action of the excavator model displayed on the display screen is used to indicate that the distance between the edge of the excavator model and the electronic fence is less than the first collision threshold, reducing the action response speed of the excavator; When the first virtual action of the excavator model displayed on the display screen is used to indicate that the distance between the edge of the excavator model and the electronic fence is less than a predetermined second collision threshold, the excavator is controlled to stop working; wherein the second collision threshold is less than the first collision threshold.

3. The intelligent anti-collision control method for an excavator according to claim 1, characterized in that: The method further comprises: When it is detected that the actual working control switch of the excavator is turned off, based on the operating lever control signal of the excavator, the excavator model is controlled to perform a second virtual action corresponding to the operating lever control signal on the display screen; when the second virtual action of the excavator model displayed on the display screen is used to indicate that the distance between the edge of the excavator model and the electronic fence is less than the first collision threshold, the first collision prompt information is issued to the operator.

4. The intelligent anti-collision control method for an excavator according to claim 1, characterized in that: The method further comprises: Performing an activity trajectory analysis on the first virtual action of the excavator model to obtain an activity trajectory analysis result of the excavator model; Based on the activity trajectory analysis result of the excavator model, a predicted activity trajectory of the excavator model is obtained and displayed on the display screen; Determine whether there is a first intersection area between the predicted activity trajectory of the excavator model and the electronic fence. If so, send a second collision prompt information to the operator; the second collision prompt information is used to prompt the operator that there is a collision risk between the excavator and the target obstacle predicted based on the first virtual action of the excavator model.

5. The intelligent anti-collision control method for an excavator according to claim 1, characterized in that: Before constructing the electronic fence corresponding to the excavator based on the target distance data corresponding to all the target obstacles, the method further includes: Determining obstacle types of all target obstacles based on a predetermined obstacle recognition model; Determining a collision risk level of each target obstacle based on the obstacle type of the target obstacle; Determining whether the collision risk level of each target obstacle is greater than or equal to a preset collision risk level threshold, and obtaining a collision risk level determination result; When the collision risk level judgment result is used to indicate that the collision risk level of the target obstacle is greater than or equal to the collision risk level threshold, determining that the target obstacle is a high-risk target obstacle; And, constructing the electronic fence corresponding to the excavator based on the target distance data corresponding to all the target obstacles includes: Based on the target distance data corresponding to all the target obstacles, an electronic fence corresponding to the excavator is constructed; the target obstacle is the high-risk target obstacle.

6. The intelligent anti-collision control method for an excavator as claimed in claim 4, characterized in that: The excavator model and the electronic fence are three-dimensional models; Furthermore, before sending the second collision prompt information to the operator, the method further includes: Determine whether there is a second intersection area between the spatial height range of the excavator model in the first intersection area and the spatial height range of the electronic fence in the first intersection area, and if so, trigger the execution of the operation of sending a second collision prompt information to the operator; Furthermore, before sending the first collision prompt information to the operator corresponding to the excavator, the method further includes: Determine whether there is a third intersection area between the spatial height range of the collision risk part of the excavator model and the spatial height range of the electronic fence. If so, trigger the execution of the operation of sending a first collision prompt information to the operator corresponding to the excavator; the collision risk part is the part of the excavator corresponding to the edge when the distance between the excavator model and the electronic fence is less than the first collision threshold.

7. The intelligent anti-collision control method for an excavator according to any one of claims 1 to 6, characterized in that: The target distance data between all target obstacles and the excavator are measured, including: Based on at least one laser sensor corresponding to the excavator emitting a laser beam, for any of the laser sensors, determining a first moment when the laser sensor emits the laser beam and a second moment when a receiver corresponding to the laser sensor receives the laser beam, and determining target distance data between the laser sensor and a target obstacle based on the first moment and the second moment; based on the target distance data between all the laser sensors and the target obstacles, determining target distance data between all the target obstacles and the excavator; And, constructing the electronic fence corresponding to the excavator based on the target distance data corresponding to all the target obstacles includes: Determining obstacle parameters of all the target obstacles based on the target distance data corresponding to all the target obstacles, wherein the obstacle parameters of each target obstacle include the position, shape and size of the target obstacle; Based on the obstacle parameters of all the target obstacles, an electronic fence corresponding to the excavator is constructed.

8. An intelligent anti-collision control device for an excavator, characterized in that: The device is applied to an excavator, and comprises: A measurement module, used to measure target distance data between all target obstacles and the excavator; the target obstacles are obstacles existing around the excavator; A construction module, used to construct an electronic fence corresponding to the excavator based on the target distance data corresponding to all the target obstacles and display it on the display screen corresponding to the excavator; construct an excavator model corresponding to the excavator and display it on the display screen; a control module, for controlling the excavator to perform a target actual action corresponding to the operating lever control signal based on the operating lever control signal of the excavator when detecting that the actual working control switch of the excavator is turned on; A determination module, configured to determine a first virtual action of the excavator model based on a target actual action of the excavator and the excavator model; an association module, used to establish a real-time synchronous association between a first virtual action of the excavator model and a target actual action of the excavator, and display the first virtual action on the display screen; A prompt module is used to send a first collision prompt message to an operator corresponding to the excavator after the real-time synchronous association is established, when the first virtual action of the excavator model displayed on the display screen is used to indicate that the distance between the edge of the excavator model and the electronic fence is less than a predetermined first collision threshold; the first collision prompt message is used to prompt the operator that the excavator is at risk of colliding with the target obstacle.

9. An excavator, characterized in that: The excavator comprises: A memory storing executable program code; a processor coupled to the memory; The processor calls the executable program code stored in the memory to execute the steps in the intelligent anti-collision control method for an excavator as described in any one of claims 1-7.

10. A computer storage medium, characterized in that: The computer storage medium stores computer instructions, and when the computer instructions are called, the steps in the intelligent anti-collision control method for an excavator as described in any one of claims 1-7 are executed.

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