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

Abstract

The application discloses an intelligent anti-collision control method and device of an excavator and the excavator, and the method comprises the following steps: measuring target distance data between all target obstacles and the excavator, and constructing an electronic fence based on the target distance data; displaying the electronic fence and the constructed excavator model on a display screen; controlling the excavator to perform a target actual action corresponding to an operation lever control signal; and establishing real-time synchronous correlation between a first virtual action of the excavator model and the target actual action of the excavator, and issuing a first collision prompt information to the corresponding operator 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 value. The application is not only beneficial to reducing the dependence on the experience and judgment of the operator, improving the operation safety of the excavator in a complex environment, and reducing the collision accident rate, but also can improve the operation efficiency and precision of the excavator.

Description

Technical Field

[0001] This invention relates to the field of excavator control technology, and in particular to an intelligent anti-collision control method, device and excavator for an excavator. Background Technology

[0002] In the current construction machinery field, excavators, as important earthmoving equipment, are widely used in various construction, mining, and rescue scenarios. However, when excavators are entering or leaving warehouses or working in confined spaces, the complex and ever-changing working environment presents significant challenges for operators. Firstly, the varying driving experience and skill levels of different drivers result in significant differences in their ability to assess spatial distances and the excavator's dynamic response. This is especially true for novice drivers or those unfamiliar with operating a particular excavator model; they often struggle to quickly familiarize themselves with and master its control performance, including key parameters such as response speed and maximum working range. This can lead to misjudgments and collisions between the excavator and surrounding objects. Secondly, while drivers can assess the distance between the excavator and obstacles using the rearview mirrors and reversing camera system, this vision-based approach is not only inefficient but also susceptible to weather, lighting, and blind spots, greatly increasing operational difficulty and safety hazards. This can damage equipment, cause injuries or fatalities, and result in significant losses for businesses and individuals. Therefore, it is particularly important to propose a technical solution for intelligent collision avoidance control of excavators to reduce the collision risk for 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 excavators, which not only helps to reduce the reliance on the operator's experience and judgment, improve the safety of excavator operation in complex environments, and reduce the collision accident rate, but also improves the excavator's operating efficiency and accuracy.

[0004] To address the aforementioned technical problems, the first aspect of this invention discloses an intelligent anti-collision control method for excavators, the method comprising:

[0005] Measure the target distance data between all target obstacles and the excavator; the target obstacles are those 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 the display screen corresponding to the excavator;

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

[0008] When the actual working control switch of the excavator is detected to be turned on, the excavator is controlled to perform the target actual action corresponding to the control signal of the control signal based on the control signal of the control lever of the excavator.

[0009] Based on the actual target action of the excavator and the excavator model, determine the first virtual action of the excavator model;

[0010] 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;

[0011] After the real-time synchronization association is established, when the first virtual action of the excavator model displayed on the screen indicates 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 warning message is issued to the operator corresponding to the excavator; the first collision warning message is used to remind 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 invention, before measuring the target distance data between all target obstacles and the excavator, the method further includes:

[0013] The operating parameters of the excavator are detected, including at least the excavator's action response speed and / or working range; the working range is determined by the excavator's current position.

[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. 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] Furthermore, the method further includes:

[0016] When the first virtual action of the excavator model displayed on the 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 action response speed of the excavator is reduced.

[0017] When the first virtual action of the excavator model displayed on the screen indicates 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 implementation, in the first aspect of the present invention, the method further includes:

[0019] When the actual working control switch of the excavator is detected to be off, the excavator model is controlled to perform a second virtual action on the display screen based on the control signal of the excavator's operating joystick. When the second virtual action of the excavator model displayed on the display screen indicates that the distance between the edge of the excavator model and the electronic fence is less than the first collision threshold, the first collision warning message is issued to the operator.

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

[0021] The first virtual action of the excavator model is analyzed to obtain the activity trajectory analysis result of the excavator model;

[0022] Based on the activity trajectory analysis results of the excavator model, the 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 there is, issue a second collision warning message to the operator. The second collision warning message is used to inform the operator that there is a collision risk between the excavator and the target obstacle, as predicted by the first virtual action of the excavator model.

[0024] As an optional implementation, in the first aspect of the 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] Based on a pre-determined obstacle recognition model, determine the obstacle type of all the target obstacles;

[0026] Based on the obstacle type of each target obstacle, determine the collision hazard level of that target obstacle;

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

[0028] When the collision hazard assessment result indicates that the collision hazard of the target obstacle is greater than or equal to the collision hazard threshold, the target obstacle is determined to be a high-risk target obstacle;

[0029] And, the construction of 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 obstacles are the high-risk target obstacles.

[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] And, before issuing the second collision warning message 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. If there is, trigger the operation of issuing a second collision warning message to the operator.

[0034] And, before issuing the first collision warning message 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 area of ​​the excavator model and the spatial height range of the electronic fence. If there is, trigger the operation of issuing a first collision warning message to the operator corresponding to the excavator. The collision risk area is the excavator part corresponding to the edge where 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 invention, measuring the 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 laser sensor, a first moment when the laser sensor emits the laser beam and a second moment when the receiver corresponding to the laser sensor receives the laser beam are determined, and based on the first moment and the second moment, target distance data between the laser sensor and the target obstacle is determined; based on the target distance data between all the laser sensors and the target obstacle, target distance data between all the target obstacles and the excavator is determined.

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

[0039] Based on the target distance data corresponding to all the target obstacles, the obstacle parameters of all the target obstacles are determined. 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] A second aspect of this invention discloses an intelligent anti-collision control device for an excavator, the device being applied to the excavator, the device comprising:

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

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

[0044] The control module is used to control the excavator to perform the target actual action corresponding to the control signal of the control lever based on the control signal of the control lever when the actual working control switch of the excavator is detected to be turned on.

[0045] The determination module is used to determine the first virtual action of the excavator model based on the actual target action of the excavator and the excavator model;

[0046] The association module 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 to display the first virtual action on the display screen.

[0047] The prompting module is used to issue 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 indicates 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 a second aspect of the invention, the apparatus further includes:

[0049] The detection module is used to detect the excavator's operating parameters before the measurement module measures the target distance data between all target obstacles and the excavator. The operating parameters include at least the excavator's action response speed and / or working range; the working range is determined by the excavator's current position.

[0050] The judgment module is used to 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. 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 operation of measuring the target distance data between all target obstacles and the excavator is triggered.

[0051] The device also includes:

[0052] The speed reduction module is used to reduce the action response speed of the excavator when the first virtual action of the excavator model displayed on the screen indicates 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 further configured to control the excavator to stop working when the first virtual action of the excavator model displayed on the display screen indicates 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 a second aspect of the invention, the apparatus further includes:

[0055] The simulation module is used to control the excavator model to perform a second virtual action on the display screen based on the control signal of the excavator's operating joystick when the actual working control switch of the excavator is detected to be closed. When the second virtual action of the excavator model displayed on the display screen indicates that the distance between the edge of the excavator model and the electronic fence is less than the first collision threshold, the module issues the first collision warning information to the operator.

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

[0057] The analysis module is used to perform activity trajectory analysis on the first virtual action of the excavator model and obtain the activity trajectory analysis results of the excavator model.

[0058] The prediction module is used to obtain the predicted activity trajectory of the excavator model based on the activity trajectory analysis results of the excavator model and display it on the display screen;

[0059] The prompting 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 there is, a second collision prompt message is issued to the operator. The second collision prompt message is used to prompt the operator that there is a collision risk between the excavator and the target obstacle, as predicted by the first virtual action of the excavator model.

[0060] As an optional implementation, in a second aspect of the present invention, the determining module is further configured to, before the constructing module constructs the electronic fence corresponding to the excavator based on the target distance data corresponding to all the target obstacles, determine the obstacle type of all the target obstacles based on a pre-determined obstacle recognition model; and determine the collision hazard level of each target obstacle based on the obstacle type of each target obstacle.

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

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

[0063] Furthermore, the construction module constructs an electronic fence corresponding to the excavator based on the target distance data corresponding to all the target obstacles, specifically including:

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

[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 further configured to, before the prompting module issues a second collision warning message to the operator, 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; if so, trigger the operation of issuing the second collision warning message to the operator; and before the prompting module issues a first collision warning message to the operator corresponding to the excavator, 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 issuing the first collision warning message to the operator corresponding to the excavator; the collision risk part is the excavator part corresponding to the edge where the distance between the excavator model and the electronic fence is less than the first collision threshold.

[0067] As an optional implementation, in a second aspect of the invention, the measurement module measures 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 laser sensor, a first moment when the laser sensor emits the laser beam and a second moment when the receiver corresponding to the laser sensor receives the laser beam are determined, and based on the first moment and the second moment, target distance data between the laser sensor and the target obstacle is determined; based on the target distance data between all the laser sensors and the target obstacle, target distance data between all the target obstacles and the excavator is determined.

[0069] Furthermore, the construction module constructs an electronic fence corresponding to the excavator based on the target distance data corresponding to all the target obstacles, specifically including:

[0070] Based on the target distance data corresponding to all the target obstacles, the obstacle parameters of all the target obstacles are determined. 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] Memory containing 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 excavators disclosed in the first aspect of the present invention.

[0076] The fourth aspect of the present invention discloses a computer storage medium storing computer instructions, which, when invoked, are used to execute the intelligent anti-collision control method for excavators 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] This invention can measure the target distance data between all target obstacles and the excavator. Based on the target distance data corresponding to all target obstacles, an electronic fence corresponding to the excavator is constructed and displayed on the excavator's corresponding display screen. An excavator model is also constructed and displayed on the display screen. When the actual working control switch of the excavator is detected to be turned on, the excavator is controlled to execute the target actual action corresponding to the control signal based on the excavator's operating joystick control signal. Based on the excavator's target actual action and the excavator model, a first virtual action of the excavator model is determined. The first virtual action of the excavator model is established in real-time synchronously with the excavator's target actual action, and the first virtual action is then linked to the excavator model. The actions are displayed on the screen. After real-time synchronization is established, when the first virtual action of the excavator model displayed on the screen indicates 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 warning message is issued to the operator corresponding to the excavator. This invention determines whether there is a collision risk between the excavator and the target obstacle by the relative positional relationship between the electronic fence and the excavator model. When there is a collision risk, a warning message is issued to the operator. This not only helps to reduce the reliance on the operator's experience and judgment, improve the safety of excavator operation in complex environments, and reduce the collision accident rate, but also improves the excavator's operating efficiency and accuracy. Attached Figure Description

[0079] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

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

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

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

[0083] Figure 4 This is a plan view of the movable space range of the excavator disclosed in the embodiments of the present invention;

[0084] Figure 5 This is a three-dimensional representation of the movable space range of the excavator disclosed in the embodiments of the present invention;

[0085] Figure 6 This is a flowchart illustrating another intelligent anti-collision control method for excavators disclosed in an embodiment of the present invention;

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

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

[0088] Figure 9 This is a structural schematic diagram of an excavator disclosed in an embodiment of the present invention. Detailed Implementation

[0089] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0090] The terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this invention are used to distinguish different objects, not to describe a specific order. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or end that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or ends.

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

[0092] This invention discloses an intelligent anti-collision control method, device, and excavator for excavators. It can determine whether there is a collision risk between the excavator and the target obstacle by the relative positional relationship between the electronic fence and the excavator model. When a collision risk exists, it issues a warning message to the operator. This not only helps to reduce the reliance on the operator's experience and judgment, improve the safety of excavator operation in complex environments, and reduce the collision accident rate, but also improves the excavator's operating efficiency and accuracy. Figure 1 This is the overall framework diagram of the present invention, which will be described in detail below.

[0093] Example 1

[0094] Please see Figure 2 , Figure 2 This is a flowchart illustrating 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 excavators of any size in any working environment; this embodiment of the invention is not limited thereto. Figure 2 As shown, the intelligent collision avoidance control method for this excavator may include the following operations:

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

[0096] In this embodiment of the invention, the target obstacle is an obstacle existing around the excavator; the measurement can be performed using laser sensors, radar, etc., and this embodiment of the invention is not limited thereto.

[0097] 102. Based on the target distance data corresponding to all target obstacles, construct an electronic fence corresponding to the excavator and display it on the excavator's corresponding display screen;

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

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

[0100] In this embodiment of the invention, the real-time relative position of the excavator model and the electronic fence can be displayed on the screen. The excavator model and the electronic fence can be planar or three-dimensional. After the excavator model and the electronic fence are constructed, the range of the excavator's movable space can be determined based on the real-time relative position of the excavator model and the electronic fence and displayed on the screen. Figure 3 It is a 3D display of the excavator model and the electronic fence corresponding to the excavator; Figure 4 It is a plan view showing the range of space that the excavator can operate in; Figure 5 It is a 3D representation of the excavator's usable space.

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

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

[0103] 105. Based on the actual target movement of the excavator and the excavator model, determine the first virtual movement of the excavator model;

[0104] 106. 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;

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

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

[0107] In this embodiment of the invention, the first collision warning information is used to alert the operator that there is a risk of the excavator colliding with the target obstacle. It can be understood that since the first virtual action corresponds to the actual target action, when the distance between the edge of the excavator model displayed on the 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, the distance between the edge of the excavator model and the electronic fence can be used to determine whether there is a risk of collision between the excavator and the target obstacle.

[0108] As can be seen, the embodiments of the present invention can measure the target distance data between all target obstacles and the excavator. Based on the target distance data corresponding to all target obstacles, an electronic fence corresponding to the excavator is constructed and displayed on the excavator's corresponding display screen. An excavator model corresponding to the excavator is also constructed and displayed on the display screen. When the actual working control switch of the excavator is detected to be turned on, the excavator is controlled to perform the target actual action corresponding to the control signal of the control signal based on the excavator's operating joystick. Based on the excavator's target actual action and the excavator model, a first virtual action of the excavator model is determined. The first virtual action of the excavator model is established in real time and synchronously associated with the excavator's target actual action, and the first virtual action is then linked to the excavator model. The simulated actions are displayed on the screen. After real-time synchronization is established, when the first virtual action of the excavator model displayed on the screen indicates 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 warning message is issued to the operator corresponding to the excavator. This invention determines whether there is a collision risk between the excavator and the target obstacle by the relative positional relationship between the electronic fence and the excavator model. When a collision risk exists, a warning message is issued to the operator. This not only helps to reduce the reliance on the operator's experience and judgment, improve the safety of excavator operation in complex environments, and reduce the collision accident rate, but also improves the excavator's operating efficiency and accuracy.

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

[0110] The operating parameters of the excavator are detected, including at least the excavator's action response speed and / or working range; the working range is determined by the excavator's current position.

[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. 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 step 101 above.

[0112] The method may also include:

[0113] When the first virtual action of the excavator model displayed on the 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 action response speed of the excavator is reduced.

[0114] When the first virtual action of the excavator model displayed on the screen indicates 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 is 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 due to the delay in the display synchronization of the virtual excavator caused by the excavator's action response speed being too fast. At the same time, it can also give 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 the 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, thus preventing the collision accident from occurring.

[0116] As can be seen, this optional embodiment can detect the working parameters of the excavator, determine whether the working parameters meet the corresponding conditions, and if so, measure the target distance data between all target obstacles and the excavator. When the distance between the edge of the excavator model and the electronic fence is less than the first collision threshold, the excavator's action response speed is reduced, which helps to reduce the possibility of collision caused by the excavator's action response speed being too fast and the virtual excavator's display synchronization being delayed. 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 helps to further reduce the collision risk and improve the excavator's operating safety in complex environments.

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

[0118] When the actual working control switch of the excavator is detected to be off, the excavator model is controlled to perform a second virtual action on the display screen based on the control signal of the excavator's operating joystick. 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 warning message is issued to the operator.

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

[0120] As can be seen, this optional embodiment can control the excavator model to perform a second virtual action on the display screen corresponding to the control signal of the control lever based on the control signal of the excavator's control lever when the actual working control switch of the excavator is detected to be closed. When the distance between the edge of the excavator model and the electronic fence is less than the first collision threshold, a first collision warning message is issued to the operator. This is beneficial to improve the operator's operating experience through simulated operation when the actual working control switch is closed, reduce the collision risk of the operator in actual work, and improve the 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 step 102 above, the method may further include:

[0122] Based on a pre-defined obstacle recognition model, determine the obstacle type of all target obstacles;

[0123] Determine the collision hazard level of each target obstacle based on its obstacle type;

[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 the collision risk level judgment result;

[0125] When the collision hazard assessment result indicates that the collision hazard level of a target obstacle is greater than or equal to the collision hazard level threshold, the target obstacle is determined to be a high-risk target obstacle.

[0126] Furthermore, the construction of the electronic fence corresponding to the excavator based on the target distance data corresponding to all target obstacles in step 102 above 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 is understood that some obstacles, such as grass and mounds of earth, have a low risk of collision, and even if they collide, they will not cause much damage. Therefore, high-risk target obstacles can be identified by the obstacle recognition model, and an electronic fence can be built based on the high-risk target obstacles.

[0129] As can be seen, this optional embodiment can determine the obstacle type of the target obstacle and further determine the collision risk level based on a pre-determined 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. This is beneficial to the accuracy of target obstacle determination, thereby improving the accuracy of electronic fence construction and thus improving the accuracy of excavator collision risk determination.

[0130] Example 2

[0131] Please see Figure 6 , Figure 6 This is a flowchart illustrating 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 excavators of any size in any working environment; this embodiment of the invention is not limited thereto. Figure 6 As shown, the intelligent collision avoidance control method for this excavator may include the following operations:

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

[0133] In this embodiment of the 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 the excavator's corresponding display screen;

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

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

[0137] 205. Based on the actual target action of the excavator and the excavator model, determine the first virtual action of the excavator model;

[0138] 206. 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;

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

[0140] In this embodiment of the invention, the first collision warning information is used to alert the operator that the excavator is at risk of colliding with a target obstacle;

[0141] 208. Perform motion trajectory analysis on the first virtual action of the excavator model to obtain the motion trajectory analysis results of the excavator model;

[0142] 209. Based on the activity trajectory analysis results of the excavator model, obtain the predicted activity trajectory of the excavator model and display it on the display screen;

[0143] 210. Determine whether there is a first intersection area between the predicted activity trajectory of the excavator model and the electronic fence. If there is, issue a second collision warning message to the operator.

[0144] In this embodiment of the invention, the second collision warning information is used to inform the operator that there is a collision risk between the excavator and the target obstacle, as 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 execute the first virtual action according to the current predicted activity trajectory, it will collide with the electronic fence. At this time, the second collision warning information can be issued to remind the operator.

[0145] In this embodiment of the invention, for other descriptions of steps 201-207, please refer to the detailed description of steps 101-107 in Embodiment 1. This embodiment of the invention will not repeat them.

[0146] As can be seen, the embodiments 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 results, determine the predicted activity trajectory of the excavator model and display it on the display screen. When there is a first intersection area between the predicted activity trajectory and the electronic fence, a second collision warning message is issued to the operator. This helps to improve the accuracy of collision risk determination, thereby reducing the reliance on the operator's experience and judgment, improving the safety of excavator operation in complex environments, reducing the collision accident rate, and also improving the excavator's operating efficiency and accuracy.

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

[0148] Furthermore, before issuing the second collision warning message to the operator in step 210 above, 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. If there is, trigger the operation of issuing a second collision warning message to the operator in step 209 above.

[0150] Furthermore, before issuing the first collision warning message to the operator corresponding to the excavator in step 207 above, the method further includes:

[0151] Determine whether there is a third intersection area between the spatial height range of the collision risk area of ​​the excavator model and the spatial height range of the electronic fence. If there is, trigger the operation of the operator corresponding to the excavator to issue the first collision warning information in step 207 above. The collision risk area is the excavator part 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 is 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 on the plane, it can be further determined whether a warning needs to be given to the operator by whether there is a risk of collision at the spatial height.

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

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

[0155] Based on the laser beam emitted by at least one laser sensor corresponding to the excavator, for any laser sensor, the first moment when the laser beam is emitted by the laser sensor and the second moment when the laser beam is received by the receiver corresponding to the laser sensor are determined, and the target distance data between the laser sensor and the target obstacle is determined based on the first moment and the second moment; based on the target distance data between all laser sensors and the target obstacle, the target distance data between all target obstacles and the excavator is determined.

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

[0157] Based on the target distance data corresponding to all target obstacles, determine the obstacle parameters of all target obstacles. 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, construct an electronic fence corresponding to the excavator.

[0159] As can be seen, 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 beam emitted and received by the laser sensor corresponding to the excavator, 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; this is beneficial to improving the accuracy of target distance data determination, thereby improving the accuracy of target obstacle determination and the accuracy of electronic fence construction, which in turn helps to improve the accuracy of collision risk determination, reduce reliance on operator experience and judgment, improve the operational safety of excavators in complex environments, and reduce the collision accident rate.

[0160] Example 3

[0161] Please see Figure 7 , Figure 7 This is a schematic diagram of the structure of an intelligent anti-collision control method for excavators disclosed in an embodiment of the present invention. Figure 7 The device shown can be applied to excavators of any size in any working environment; the embodiments of the present invention are not limited thereto. Figure 7 As shown, the intelligent collision avoidance control device of the excavator may include:

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

[0163] Module 302 is used to construct an electronic fence corresponding to the excavator and display it on the excavator's display screen based on the target distance data corresponding to all target obstacles; and to construct an excavator model corresponding to the excavator and display it on the display screen.

[0164] Control module 303 is used to control the excavator to perform the target actual action corresponding to the control signal of the control lever based on the control signal of the control lever when the actual working control switch of the excavator is detected to be turned on.

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

[0166] The 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 to display the first virtual action on the display screen.

[0167] The prompting module 306 is used to issue a first collision prompt message to the operator of the excavator after the real-time synchronization association is established, when the first virtual action of the excavator model displayed on the screen indicates 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 there is a risk of the excavator colliding with the target obstacle.

[0168] As can be seen, the device described in the embodiments of the present invention can measure the target distance data between all target obstacles and the excavator. Based on the target distance data corresponding to all target obstacles, an electronic fence corresponding to the excavator is constructed and displayed on the excavator's corresponding display screen. An excavator model corresponding to the excavator is constructed and displayed on the display screen. When the actual working control switch of the excavator is detected to be turned on, the excavator is controlled to perform the target actual action corresponding to the control signal of the control lever based on the excavator's operating joystick control signal. Based on the target actual action of the excavator and the excavator model, the first virtual action of the excavator model is determined. The first virtual action of the excavator model is established in real time and synchronously associated with the target actual action of the excavator. The first virtual action is displayed on the screen. After real-time synchronization is established, when the first virtual action of the excavator model displayed on the screen indicates 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 warning message is issued to the operator corresponding to the excavator. This invention determines whether there is a collision risk between the excavator and the target obstacle by the relative positional relationship between the electronic fence and the excavator model. When there is a collision risk, a warning message is issued to the operator. This not only helps to reduce the reliance on the operator's experience and judgment, improve the safety of excavator operation in complex environments, and reduce the collision accident rate, but also improves the excavator's operating efficiency and accuracy.

[0169] In an optional embodiment, such as Figure 8 As shown, the device may further 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 include at least the excavator's action response speed and / or working range; the working range is determined by the current position of the excavator.

[0171] The judgment module 308 is used to determine whether the action response speed is greater than or equal to the preset action response speed threshold and / or whether the working range is greater than or equal to the 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 measurement module 301 is triggered to measure the target distance data between all target obstacles and the excavator.

[0172] The device may also include:

[0173] The speed reduction module 309 is used to reduce the action response speed of the excavator when the first virtual action of the excavator model displayed on the screen indicates 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 screen indicates 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] As can be seen, the device described in the embodiments of the present invention can detect the working parameters of the excavator, determine whether the working parameters meet the corresponding conditions, and if so, measure the target distance data between all target obstacles and the excavator. When the distance between the edge of the excavator model and the electronic fence is less than the first collision threshold, the device reduces the action response speed of the excavator, which helps to reduce the possibility of collision caused by the excavator's action response speed being too fast and the display synchronization of the virtual excavator being delayed. When the distance between the edge of the excavator model and the electronic fence is less than the second collision threshold, the device controls the excavator to stop working, which helps to further reduce the collision risk and improve the safety of the excavator in complex environments.

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

[0177] The simulation module 310 is used to control the excavator model to perform a second virtual action on the display screen based on the excavator's operating joystick control signal when the actual working control switch of the excavator is detected to be closed. 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 warning message is issued to the operator.

[0178] As can be seen, the device described in the embodiments of the present invention can, when the actual working control switch of the excavator is detected to be closed, control the excavator model to perform a second virtual action on the display screen based on the control signal of the excavator's control lever. When the distance between the edge of the excavator model and the electronic fence is less than the first collision threshold, a first collision warning message is issued to the operator. This is beneficial to improve the operator's operating experience through simulated operation when the actual working control switch is closed, reduce the collision risk of the operator in actual work, and improve the safety of the excavator in complex environments.

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

[0180] Analysis module 311 is used to perform activity trajectory analysis on the first virtual action of the excavator model and obtain the activity trajectory analysis results of the excavator model;

[0181] The prediction module 312 is used to obtain the predicted activity trajectory of the excavator model based on the activity trajectory analysis results of the excavator model and display it on the display screen.

[0182] The prompting 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 there is, a second collision prompt message is issued to the operator. The second collision prompt message is used to prompt the operator that there is a collision risk between the excavator and the target obstacle, which is predicted based on the first virtual action of the excavator model.

[0183] As can be seen, the device described in the embodiments 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 results, determine the predicted activity trajectory of the excavator model and display it on the display screen. When there is a first intersection area between the predicted activity trajectory and the electronic fence, a second collision warning message is issued to the operator. This helps to improve the accuracy of collision risk determination, thereby reducing the reliance on the operator's experience and judgment, improving the safety of excavator operation in complex environments, reducing the collision accident rate, and also improving the excavator's operating efficiency and accuracy.

[0184] In another optional embodiment, the determining module 304 is further configured to determine the obstacle type of all target obstacles based on a pre-determined obstacle recognition model before the building module 302 builds the electronic fence corresponding to the excavator based on the target distance data corresponding to all target obstacles; and to determine the collision risk level of each target obstacle based on the obstacle type of each target obstacle.

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

[0186] The determination module 304 is also used to determine the target obstacle as a high-risk target obstacle when the collision hazard level judgment result indicates that the collision hazard level of the target obstacle is greater than or equal to the collision hazard 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, specifically in the following ways:

[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] As can be seen, the device described in the embodiments of the present invention can determine the obstacle type of the target obstacle and further determine the collision risk level based on a pre-determined 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. This is beneficial to the accuracy of target obstacle determination, thereby improving the accuracy of electronic fence construction and thus 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] Furthermore, the judgment module 308 is also used to determine, before the prompting module 306 issues the second collision warning information to the operator, 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. If there is, the prompting module 306 is triggered to issue the second collision warning information to the operator. Before the prompting module 306 issues the first collision warning information to the operator corresponding to the excavator, the judgment module 308 is also used to 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 there is, the prompting module 306 is triggered to issue the first collision warning information to the operator corresponding to the excavator. The collision risk part is the excavator part corresponding to the edge where the distance between the excavator model and the electronic fence is less than the first collision threshold.

[0192] As can be seen, when the excavator model and the electronic fence are three-dimensional models, based on the planar collision judgment, the device can further determine whether to issue a collision warning by judging whether there is an intersection between the excavator model and the electronic fence in space. This is beneficial to improve the accuracy of collision risk determination by judging whether there is a collision risk in space, thereby reducing the reliance on the operator's experience and judgment, improving the safety of excavator operation in complex environments, and reducing the collision accident rate.

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

[0194] Based on the laser beam emitted by at least one laser sensor corresponding to the excavator, for any laser sensor, the first moment when the laser beam is emitted by the laser sensor and the second moment when the laser beam is received by the receiver corresponding to the laser sensor are determined, and the target distance data between the laser sensor and the target obstacle is determined based on the first moment and the second moment; based on the target distance data between all laser sensors and the target obstacle, the target distance data between all target obstacles and the excavator is determined.

[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, specifically in the following ways:

[0196] Based on the target distance data corresponding to all target obstacles, determine the obstacle parameters of all target obstacles. 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, construct an electronic fence corresponding to the excavator.

[0198] As can be seen, the device described in the embodiments 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 beam emitted and received by the laser sensor corresponding to the excavator, 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; this is beneficial to improving the accuracy of the target distance data determination, thereby improving the accuracy of the target obstacle determination and the accuracy of the electronic fence construction, which in turn is beneficial to improving the accuracy of the collision risk determination, 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.

[0199] Example 4

[0200] Please see Figure 9 , Figure 9 This is a structural schematic diagram of an excavator disclosed in an embodiment of the present invention. Figure 9 The described excavator can be used on the application server. For example... Figure 9 As shown, the excavator may include:

[0201] Memory 401 storing executable program code;

[0202] Processor 402 coupled to 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 excavators described in Embodiment 1 or Embodiment 2 of the present invention.

[0204] Example 5

[0205] This invention discloses a computer-storable medium storing computer instructions. When these computer instructions are invoked, they are used to execute the steps in the intelligent anti-collision control method for excavators described in Embodiment 1 or Embodiment 2 of this invention.

[0206] Example 6

[0207] This 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 cause a computer to perform the steps in the intelligent anti-collision control method for excavators described in Embodiment 1 or Embodiment 2 of this invention.

[0208] The device embodiments described above are merely illustrative. The modules described as separate components may or may not be physically separate, and the components shown as modules may or may not be physical modules; that is, they may be located in one place or distributed across multiple network modules. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0209] Through the detailed 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 necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, including read-only memory (ROM), random access memory (RAM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), one-time programmable read-only memory (OTPROM), electrically-erasable programmable read-only memory (EEPROM), compact disc read-only memory (CD-ROM) or other optical disc storage, disk storage, 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 disclosed in the embodiments of the present invention are merely preferred embodiments of the present invention and are only used to illustrate the technical solutions of the present invention, not to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate 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 excavators, characterized in that, The method includes: The operating parameters of the excavator are detected, including at least the excavator's action response speed and working range; the working range is determined by the excavator's current position. Determine whether the action response speed is greater than or equal to a preset action response speed threshold and 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 the working range is greater than or equal to the working range threshold, measure the 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 the display screen corresponding to the excavator; A model of the excavator corresponding to the excavator is constructed and displayed on the display screen. The excavator model and the electronic fence are three-dimensional models. When the actual working control switch of the excavator is detected to be turned on, the excavator is controlled to perform the target actual action corresponding to the control signal of the control signal based on the control signal of the control lever of the excavator. Based on the actual target action of the excavator and the excavator model, determine the first virtual action of 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 display the first virtual action on the display screen; After the real-time synchronization association is established, when the first virtual action of the excavator model displayed on the screen indicates 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 warning message is issued to the operator corresponding to the excavator; the first collision warning message is used to warn the operator that the excavator is at risk of colliding with the target obstacle; Furthermore, the method further includes: When the first virtual action of the excavator model displayed on the 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 action response speed of the excavator is reduced. When the first virtual action of the excavator model displayed on the screen indicates 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; The first virtual action of the excavator model is analyzed to obtain the activity trajectory analysis result of the excavator model; Based on the activity trajectory analysis results of the excavator model, the 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 there is, issue a second collision warning message to the operator. The second collision warning message is used to remind the operator that there is a collision risk between the excavator and the target obstacle, as predicted by the first virtual action of the excavator model. And, before issuing the second collision warning message 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. If there is, trigger the operation of issuing a second collision warning message to the operator. And, before issuing the first collision warning message 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 area of ​​the excavator model and the spatial height range of the electronic fence. If there is, trigger the operation of issuing a first collision warning message to the operator corresponding to the excavator. The collision risk area is the excavator part corresponding to the edge where the distance between the excavator model and the electronic fence is less than the first collision threshold.

2. The intelligent anti-collision control method for excavators as described in claim 1, characterized in that, The method further includes: When the actual working control switch of the excavator is detected to be off, the excavator model is controlled to perform a second virtual action on the display screen based on the control signal of the excavator's operating joystick. When the second virtual action of the excavator model displayed on the display screen indicates that the distance between the edge of the excavator model and the electronic fence is less than the first collision threshold, the first collision warning message is issued to the operator.

3. The intelligent anti-collision control method for excavators as described in 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: Based on a pre-determined obstacle recognition model, determine the obstacle type of all the target obstacles; Based on the obstacle type of each target obstacle, determine the collision hazard level of that target obstacle; Determine whether the collision risk level of each target obstacle is greater than or equal to a preset collision risk level threshold, and obtain the collision risk level determination result; When the collision hazard assessment result indicates that the collision hazard of the target obstacle is greater than or equal to the collision hazard threshold, the target obstacle is determined to be a high-risk target obstacle; And, the construction of 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 obstacles are the high-risk target obstacles.

4. The intelligent anti-collision control method for excavators as described in any one of claims 1-3, characterized in that, The measured target distance data between all target obstacles and the excavator includes: Based on at least one laser sensor corresponding to the excavator emitting a laser beam, for any laser sensor, a first moment when the laser sensor emits the laser beam and a second moment when the receiver corresponding to the laser sensor receives the laser beam are determined, and based on the first moment and the second moment, target distance data between the laser sensor and the target obstacle is determined; based on the target distance data between all the laser sensors and the target obstacle, target distance data between all the target obstacles and the excavator is determined. And, the construction of 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, the obstacle parameters of all the target obstacles are determined. 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.

5. An intelligent anti-collision control device for an excavator, characterized in that, The device is used in an excavator, and the device includes: A measurement module is used to measure the target distance data between all target obstacles and the excavator; the target obstacles are obstacles existing around the excavator. The construction module is used to construct an electronic fence corresponding to the excavator and display it on the display screen corresponding to the excavator based on the target distance data corresponding to all the target obstacles; and to construct an excavator model corresponding to the excavator and display it on the display screen. The control module is used to control the excavator to perform the target actual action corresponding to the control signal of the control lever based on the control signal of the control lever when the actual working control switch of the excavator is detected to be turned on. The determination module is used to determine the first virtual action of the excavator model based on the actual target action of the excavator and the excavator model, wherein the excavator model and the electronic fence are three-dimensional models. The association module 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 to display the first virtual action on the display screen. The prompting module is used to, after the real-time synchronization association is established, issue a first collision prompt message to the operator corresponding to the excavator when the first virtual action of the excavator model displayed on the screen indicates 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; The detection module is used to detect the excavator's operating parameters before the measurement module measures the target distance data between all target obstacles and the excavator. The operating parameters include at least the excavator's action response speed and working range; the working range is determined by the excavator's current position. The judgment module is used to determine whether the action response speed is greater than or equal to a preset action response speed threshold and 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 the working range is greater than or equal to the working range threshold, the operation of measuring the target distance data between all target obstacles and the excavator is triggered. The speed reduction module is used to reduce the action response speed of the excavator when the first virtual action of the excavator model displayed on the screen indicates that the distance between the edge of the excavator model and the electronic fence is less than the first collision threshold. The control module is further configured to control the excavator to stop working when the first virtual action of the excavator model displayed on the screen indicates 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; The analysis module is used to perform activity trajectory analysis on the first virtual action of the excavator model and obtain the activity trajectory analysis results of the excavator model. The prediction module is used to obtain the predicted activity trajectory of the excavator model based on the analysis results of the excavator model's activity trajectory and display it on the display screen. The prompting module is used to determine whether there is a first intersection area between the predicted activity trajectory of the excavator model and the electronic fence. If there is, a second collision prompt message is issued to the operator. The second collision prompt message is used to inform the operator that there is a collision risk between the excavator and the target obstacle, which is predicted based on the first virtual action of the excavator model. The judgment module is further configured to determine, before the prompting module issues a second collision warning message to the operator, 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. If there is, the prompting module is triggered to issue a second collision warning message to the operator. Before the prompting module issues a first collision warning message to the operator corresponding to the excavator, the module is configured to determine whether there is a third intersection area between the spatial height range of the collision risk area of ​​the excavator model and the spatial height range of the electronic fence. If there is, the prompting module is triggered to issue a first collision warning message to the operator corresponding to the excavator. The collision risk area is the excavator part corresponding to the edge where the distance between the excavator model and the electronic fence is less than the first collision threshold.

6. An excavator, characterized in that, The excavator includes: Memory containing 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 excavators as described in any one of claims 1-4.

7. A computer storage medium, characterized in that, The computer storage medium stores computer instructions, which, when invoked, execute the steps in the intelligent anti-collision control method for excavators as described in any one of claims 1-4.

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