An autonomous working method based on a shovel and an unmanned shovel system

Abstract

This invention discloses an autonomous operation method and unmanned excavator system based on an excavator, applied to the construction of solidified mixing piles. The method includes: acquiring an environmental map of the work area; dividing the construction area into a two-dimensional construction zone, a three-dimensional construction zone, and an excavation travel zone based on the environmental map, and generating a task plan; the two-dimensional construction zone is the area where the excavator performs construction only through the movement of its working device when fixed in a position on the excavation travel zone; the three-dimensional construction zone is the area where construction requires the upper vehicle to rotate in conjunction with the movement of the working device; controlling the excavator to sequentially traverse each travel coordinate, traversing each rotation angle at each travel coordinate, and controlling the mixing head to vertically align with each construction point and complete the mixing pile construction based on positioning data and attitude data at each rotation angle. This invention enables the excavator to autonomously complete the construction of solidified mixing piles without human intervention.

Description

Technical Field

[0001] This invention relates to an autonomous operation method and unmanned excavator system based on excavators, belonging to the field of engineering machinery automation technology. Background Technology

[0002] The construction of cement-soil mixing piles is a key step in soft soil foundation treatment projects. By rotating the mixing head to a predetermined depth and spraying in the curing agent, the curing agent is fully mixed with the in-situ soil to form a cement-soil mixing pile with bearing capacity.

[0003] Currently, the construction of solidified mixing piles mainly relies on manual operation of excavators. The operator needs to control the excavator to move to each construction point, adjust the slewing angle of the upper vehicle, operate the working device to make the mixing head vertically aligned with the point, and simultaneously control the pumping station to deliver the solidifying agent during the drilling process.

[0004] The manual operation method has the following technical problems: construction efficiency is limited by the operator's skill level, and the alignment and leveling of each point takes a long time, making it difficult to meet the time requirements of large-scale site slab projects; the construction quality is inconsistent, and key indicators such as the verticality of the mixing head, the alignment accuracy of the points, and the stability of the drilling and lifting speed are highly dependent on the operator's experience. The construction quality fluctuates greatly between different operators or even the same operator under different fatigue states, affecting the uniformity of curing and mixing and the quality of the pile body; the construction process is difficult to digitally manage, and construction parameters such as point coordinates, drilling depth, and grouting volume rely on manual recording, which is prone to errors and omissions, and is not conducive to quality traceability and refined control.

[0005] To address the aforementioned issues, existing technologies have proposed some unmanned excavator control solutions. However, these solutions primarily focus on path planning and motion control for general excavation operations, without specifically optimizing for the high verticality requirements of the mixing head and the limited effective construction area in the construction of solidified mixing piles. In particular, when the excavator is in a fixed position, the area capable of vertical construction is limited due to the structural constraints of the working device. How to maximize coverage of construction points without moving the chassis, and how to plan the sequence of travel and rotation to ensure efficient construction at all points, remain unsolved technical challenges. Summary of the Invention

[0006] The purpose of this invention is to overcome the shortcomings of existing technologies and provide an autonomous operation method and unmanned excavator system based on excavators, enabling excavators to autonomously complete the construction of solidified mixing piles without human intervention. To achieve the above objective, this invention employs the following technical solution:

[0007] In a first aspect, the present invention provides an autonomous operation method based on an excavator, applied to the construction of solidified mixing piles, the method comprising:

[0008] Obtain an environmental map of the work area;

[0009] The construction area is divided into a two-dimensional construction area, a three-dimensional construction area, and an excavation travel area based on the environmental map, and a task plan is generated. The two-dimensional construction area is the area where the excavator can carry out construction by only using the working device when it is in a fixed position on the excavation travel area. The three-dimensional construction area is the area where construction is carried out by coordinating the rotation of the excavator with the movement of the working device. The task plan includes a travel coordinate sequence, a rotation angle sequence corresponding to each travel coordinate, and a construction point coordinate sequence corresponding to each rotation angle.

[0010] The excavator is controlled to traverse each travel coordinate in sequence, and at each travel coordinate, each rotation angle is traversed. At each rotation angle, the mixing head is controlled to be vertically aligned with each construction point based on the positioning data and attitude data, and the mixing pile construction is completed.

[0011] In conjunction with the first aspect, optionally, the generation task planning includes: prioritizing the planning of points within the three-dimensional construction area, and then planning the points within the two-dimensional construction area.

[0012] In conjunction with the first aspect, optionally, the priority planning of points within the three-dimensional construction area includes:

[0013] When the excavator has not yet reached the first row of construction points, prioritize planning the first row of points in the three-dimensional construction area.

[0014] After the first to nth columns of the three-dimensional construction zone are completed, the first column of the two-dimensional construction zone and the nth to n+ath columns of the three-dimensional construction zone are planned sequentially under the current fixed position of the excavator; where a is the number of columns that the excavator can construct when it is in a fixed position on the excavation travel area;

[0015] After the completion of all construction in the three-dimensional construction area, the remaining two-dimensional construction area points will be planned.

[0016] In conjunction with the first aspect, optionally, in the task planning, each walking coordinate corresponds to a set of turning angles, and each turning angle corresponds to a set of construction points, forming a three-layer nested task structure of walking coordinates - turning angles - construction points.

[0017] In conjunction with the first aspect, optionally, the step of controlling the mixing head to be vertically aligned with each construction point based on positioning data and attitude data includes:

[0018] Based on the positioning data from the RTK and the attitude data collected by the tilt sensor, the three-dimensional coordinates and verticality deviation of the stirring head are calculated.

[0019] The drive mechanism adjusts the movements of the boom and forearm until the verticality deviation is less than a preset threshold.

[0020] In conjunction with the first aspect, optionally, during the process of controlling the stirring head to rotate vertically into the predetermined depth, a start command is sent to the pumping station via a wireless communication module to begin the delivery of the curing agent; when the stirring head reaches the predetermined depth, a stop command is sent to end the delivery of the curing agent.

[0021] In conjunction with the first aspect, the following verification steps may also be included:

[0022] During the process of controlling the excavator to travel to the target coordinates, check whether it has reached the predetermined position. If it has not reached the predetermined position, adjust the position accordingly.

[0023] During the process of controlling the loading platform to rotate to the target rotation angle, check whether it has rotated to the predetermined angle. If it has not reached the predetermined angle, adjust the angle accordingly.

[0024] During the process of controlling the mixing head to be vertically aligned with the target construction point, check whether it is vertically aligned. If there is a deviation, adjust the posture.

[0025] In a second aspect, the present invention provides an unmanned excavator system for implementing the excavator-based autonomous operation method described in the first aspect, comprising:

[0026] The perception subsystem, installed on the excavator, is used to acquire environmental map data, positioning data, and attitude data;

[0027] The decision subsystem, connected to the perception subsystem, is used to divide the construction area into a two-dimensional construction area, a three-dimensional construction area, and an excavation and travel area according to the environmental map, generate a travel coordinate sequence, a rotation angle sequence corresponding to each travel coordinate, and a construction point coordinate sequence corresponding to each rotation angle, and make real-time decisions on the excavator's action commands.

[0028] An execution subsystem, connected to the decision subsystem, is used to receive the action commands and drive the excavator to perform corresponding actions to complete the mixing pile construction.

[0029] In conjunction with the second aspect, optionally, the decision subsystem includes:

[0030] The task planning module is used to generate a sequence of walking coordinates, a sequence of rotation angles corresponding to each walking coordinate, and a sequence of construction point coordinates corresponding to each rotation angle.

[0031] The behavior decision module is used to make real-time decisions on action commands based on current positioning and attitude data;

[0032] The collaborative control module is used to interact with the pumping station via the wireless communication module to control the start and stop of the curing agent delivery.

[0033] In conjunction with the second aspect, optionally, the sensing subsystem includes:

[0034] The RTK positioning module is used to obtain the excavator's position and orientation in a global coordinate system;

[0035] A rotary encoder, installed on the upper platform, is used to obtain the rotation angle;

[0036] Tilt sensors, mounted on the boom, forearm, or vehicle body, are used to acquire attitude angles;

[0037] LiDAR and cameras are used to scan the work area and build environmental maps.

[0038] Compared with the prior art, the beneficial effects achieved by the autonomous operation method and unmanned excavator system based on excavators provided in this embodiment of the invention include:

[0039] This invention divides the construction area into a two-dimensional construction zone, a three-dimensional construction zone, and an excavation travel zone based on an environmental map, and generates a task plan. The two-dimensional construction zone is the area where the excavator operates from a fixed position on the excavation travel zone using only the working device. The three-dimensional construction zone is the area where construction requires the upper vehicle to rotate in conjunction with the working device. This area division method fully considers the constraint between the verticality requirements of the mixing head and the working range of the excavator, enabling the excavator to cover more construction points from a fixed position, effectively reducing travel frequency and improving overall construction efficiency.

[0040] This invention generates a task plan, which includes a sequence of travel coordinates, a sequence of rotation angles corresponding to each travel coordinate, and a sequence of construction point coordinates corresponding to each rotation angle. It controls the excavator to sequentially traverse each travel coordinate, and at each travel coordinate, traverse each rotation angle. At each rotation angle, based on positioning and attitude data, it controls the mixing head to vertically align with each construction point and complete the mixing pile construction. The hierarchical planning and layer-by-layer traversal control logic of this invention enables the excavator to autonomously complete the entire process from travel positioning and rotation alignment to mixing construction without human intervention, achieving unmanned autonomous operation.

[0041] This invention calculates the three-dimensional coordinates and verticality deviation of the mixing head based on RTK positioning data and attitude data collected by tilt sensors; drives the working device to adjust the movements of the boom and forearm until the verticality deviation is less than a preset threshold; this invention ensures that the mixing head is always vertically aligned with the construction point through a closed-loop control mechanism, effectively solving the problem of poor verticality consistency in manual operation and improving the construction quality of mixing piles.

[0042] This invention controls the mixing head to rotate vertically into a predetermined depth, and sends a start command to the pumping station via a wireless communication module to begin the delivery of the curing agent; when the mixing head reaches the predetermined depth, a stop command is sent to end the delivery of the curing agent; this invention achieves coordinated control of excavator operation and curing agent delivery, avoids time delays and operational errors caused by manual operation of the pumping station, and improves the level of automation in the construction process. Attached Figure Description

[0043] Figure 1 This is a flowchart illustrating an autonomous operation method based on an excavator provided in Embodiment 1 of the present invention;

[0044] Figure 2 This is a schematic diagram of the vertical construction area in an autonomous operation method based on an excavator provided in Embodiment 1 of the present invention;

[0045] Figure 3 This is a schematic diagram of the unmanned construction area division in an autonomous operation method based on an excavator provided in Embodiment 1 of the present invention;

[0046] Figure 4 This is a schematic diagram of the task architecture in an autonomous operation method based on an excavator provided in Embodiment 1 of the present invention. Detailed Implementation

[0047] The present invention will be further described below with reference to the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention, and should not be used to limit the scope of protection of the present invention.

[0048] Example 1:

[0049] This embodiment provides an autonomous operation method based on an excavator, applied to the construction of solidified mixing piles.

[0050] During curing and mixing operations, to ensure the required depth of the mixing head and the uniformity of mixing, the mixing head needs to be kept at a certain perpendicularity to the ground. For example... Figure 2 As shown, due to the inherent structural limitations of excavators, the effective working area of ​​the mixing head is somewhat limited when it remains stationary and the verticality of the mixing head must be maintained. Taking a 5m mixing head as an example, the effective working distance is only 2.6m, which greatly increases the difficulty of unmanned construction.

[0051] To address the limitations of the effective working area of ​​the mixing head, this embodiment divides the working area. For example... Figure 3 As shown, the construction area is divided into a two-dimensional construction area, a three-dimensional construction area, and an excavation and walking area.

[0052] Specifically, the two-dimensional construction zone is the area where the excavator can perform construction work simply by moving its working device when it is fixed in a position on the excavation travel zone; that is, the line connecting the excavator and the construction point is perpendicular to the excavation travel zone. The three-dimensional construction zone is the area where construction work requires the upper excavator to rotate in conjunction with the working device; that is, the line connecting the excavator and the construction point is not perpendicular to the excavation travel zone. The excavation travel zone is the path for the unmanned excavator to move.

[0053] Based on regional division, excavator construction tasks are divided into: two-dimensional tasks, three-dimensional tasks, and mixed tasks.

[0054] Specifically, a two-dimensional task involves construction only at points within a two-dimensional construction area. A three-dimensional task involves construction only at points within a three-dimensional construction area, requiring vehicle rotation during the construction process. A hybrid task involves sequentially executing two-dimensional and three-dimensional construction tasks.

[0055] The area division method provided in this embodiment fully considers the constraint relationship between the verticality requirements of the mixing head and the working range of the excavator, enabling the excavator to cover more construction points in a fixed position, effectively reducing the frequency of movement and improving the overall construction efficiency.

[0056] like Figure 1 As shown in the figure, this embodiment provides an autonomous operation method based on an excavator, which includes the following specific steps.

[0057] Step 1: Obtain the environmental map of the work area.

[0058] The pre-defined work area is scanned using LiDAR and cameras, and combined with RTK positioning data to construct a work environment map that includes boundary and obstacle information.

[0059] Step 2: Divide the construction area into a two-dimensional construction area, a three-dimensional construction area, and an excavation and walking area based on the environmental map, and generate a task plan.

[0060] Considering that during the initial construction phase, due to structural limitations, the excavator cannot carry out construction in the three-dimensional construction area in the first row, this embodiment prioritizes planning the points within the three-dimensional construction area, and then plans the points within the two-dimensional construction area.

[0061] Priority should be given to planning the locations within the 3D construction area, specifically including:

[0062] Step 2.1: Perform 3D task planning for the points within the 3D construction area.

[0063] Before the excavator has traveled to the first row of construction points, prioritize planning the first row of points in the three-dimensional construction area.

[0064] The points in the 3D construction area are planned in columns, and the excavator will continue to perform 3D construction tasks until it reaches the first column.

[0065] At this point, the construction of columns 1 to n in the three-dimensional construction area is completed.

[0066] Step 2.2: After the construction of the first to nth columns of the 3D construction area is completed, perform hybrid task planning.

[0067] With the excavator currently in a fixed position, the first column of the two-dimensional construction zone and columns n to n+a of the three-dimensional construction zone are planned sequentially. Here, 'a' represents the number of columns that the excavator can construct when it is in a fixed position on the excavation travel area.

[0068] The excavator will continue to perform mixed construction tasks until the entire three-dimensional construction area is completed.

[0069] Under the same travel coordinate, that is, under the fixed position of the excavator, the range that the excavator can work on includes both the first column of the two-dimensional construction area and the nth to n+ath columns of the three-dimensional construction area. Therefore, at this travel coordinate, the first column of the two-dimensional construction area is constructed first, and then the nth to n+ath columns of the three-dimensional construction area are constructed (or vice versa). The key is that the construction of these two areas is completed at the same fixed position.

[0070] Step 2.3: After all the construction in the three-dimensional construction area is completed, perform two-dimensional task planning for the points in the two-dimensional construction area.

[0071] The remaining two-dimensional construction area locations will be planned, and the excavator will continue to perform two-dimensional tasks until the two-dimensional construction area is completed.

[0072] like Figure 4 As shown, the task planning includes a sequence of walking coordinates, a sequence of rotation angles corresponding to each walking coordinate, and a sequence of construction point coordinates corresponding to each rotation angle.

[0073] Specifically, each walking coordinate corresponds to a set of rotation angles, and each rotation angle corresponds to a set of construction points, forming a three-layer nested task structure of walking coordinates, rotation angles, and construction points.

[0074] Step 3: Control the excavator to traverse each travel coordinate in sequence, and at each travel coordinate, traverse each turning angle. At each turning angle, control the mixing head to be vertically aligned with each construction point based on the positioning data and attitude data, and complete the mixing pile construction.

[0075] Step 3.1: Control the excavator to traverse each travel coordinate in sequence.

[0076] According to the task instructions planned in step 2, the three-dimensional coordinates of the excavator on the map are calculated using RTK positioning data, and the excavator is controlled to move to the planned target travel coordinates.

[0077] During the movement, check whether the excavator has reached the predetermined position. If it has not reached the predetermined position, adjust the position and confirm it further until it reaches the predetermined position.

[0078] Step 3.2: Traverse each rotation angle at each walking coordinate.

[0079] After the excavator moves to the predetermined position, the excavator upper is automatically rotated to the predetermined target rotation angle by using the slewing encoder.

[0080] During the turn, check whether the vehicle has turned to the predetermined angle. If it has not turned to the predetermined angle, adjust the angle and confirm further until the predetermined angle is reached.

[0081] Step 3.3: At each rotation angle, control the mixing head to be vertically aligned with each construction point based on the positioning and attitude data, and complete the mixing pile construction.

[0082] After the excavator is mounted and rotated to a predetermined angle, the three-dimensional coordinates and verticality deviation of the mixing head are calculated by combining RTK positioning data and attitude data collected by tilt sensors. The working device is then driven to adjust the movements of the boom and arm until the verticality deviation is less than a preset threshold.

[0083] During the movement of the mixing head, check whether the mixing head is vertically aligned with the predetermined construction point. If there is a deviation, adjust the posture and confirm further until the predetermined construction point is reached.

[0084] This embodiment uses a closed-loop control mechanism to ensure that the mixing head is always vertically aligned with the construction point, effectively solving the problem of poor verticality consistency in manual operation and improving the construction quality of the mixing pile.

[0085] Step 4: Control the mixing head to rotate vertically into the predetermined depth and complete the mixing pile construction.

[0086] After the stirring head is vertically aligned with the predetermined point, it is controlled to rotate vertically into the predetermined depth. During the rotation process, a start command is sent to the pumping station via the wireless communication module to begin the delivery of the curing agent; when the stirring head reaches the predetermined depth, a stop command is sent to end the delivery of the curing agent.

[0087] In this embodiment, when the curing agent delivery ends, the curing agent delivery pressure and flow rate data fed back from the pumping station are received simultaneously.

[0088] This embodiment achieves coordinated control of excavator operation and hardener delivery, avoiding time delays and operational errors caused by manual operation of the pumping station, and improving the level of automation in the construction process.

[0089] Step 5: Traverse all construction points under the current rotation angle, all rotation angles under the current travel coordinates, and all travel coordinates until all construction tasks are completed.

[0090] Specifically, determine whether the current construction point has been completed; if not, continue to step 3. Determine whether the coordinate sequence of the construction point under the current turning angle has been completely traversed; if not, proceed to step 3.3 to work on the next point. Determine whether the sequence of turning angles under the current travel coordinates has been completely traversed; if not, proceed to step 3.2 to turn to the next angle. If the angle sequence under the current travel coordinates and its corresponding construction points have all been completed, get back on the vehicle and return to the travel direction. Determine whether the travel coordinate sequence planned for the current main task has been completely traversed; if not, proceed to step 3.1 to travel to the next point. Determine whether the main task has been completely completed; if not, proceed to step 2 to plan the next main task.

[0091] Step 6: After all construction tasks are completed, control the excavator to return to its initial position and enter standby mode.

[0092] The hierarchical planning and layer-by-layer traversal control logic in this embodiment enables the excavator to autonomously complete the entire process from walking and positioning, slewing and alignment to mixing and construction without human intervention, thus achieving unmanned autonomous operation.

[0093] In summary, this invention enables excavators to autonomously complete the construction of solidified mixing piles without human intervention.

[0094] Example 2:

[0095] This embodiment provides an unmanned excavator system for implementing the excavator-based autonomous operation method described in Embodiment 1.

[0096] The system includes a perception subsystem, a decision-making subsystem, and an execution subsystem.

[0097] The perception subsystem is installed on the excavator to acquire environmental map data, positioning data, and attitude data.

[0098] The sensing subsystem specifically includes:

[0099] The RTK positioning module is used to obtain the excavator's position and orientation in a global coordinate system;

[0100] A rotary encoder, installed on the upper platform, is used to obtain the rotation angle;

[0101] Tilt sensors, mounted on the boom, forearm, or vehicle body, are used to acquire attitude angles;

[0102] LiDAR and cameras are used to scan the work area and build environmental maps.

[0103] The decision-making subsystem is connected to the perception subsystem and is used to divide the construction area into two-dimensional construction area, three-dimensional construction area and excavation travel area according to the environmental map. It generates travel coordinate sequence, rotation angle sequence corresponding to each travel coordinate, construction point coordinate sequence corresponding to each rotation angle, and makes real-time decisions on the excavator's action commands.

[0104] The decision-making subsystem specifically includes:

[0105] The task planning module is used to generate the above-mentioned walking coordinate sequence, rotation angle sequence, and construction point coordinate sequence.

[0106] The behavior decision module is used to make real-time decisions on action commands based on current positioning and attitude data;

[0107] The collaborative control module is used to interact with the pumping station via the wireless communication module to control the start and stop of the curing agent delivery.

[0108] The execution subsystem, connected to the decision-making subsystem, is used to receive action commands and drive the excavator to perform corresponding actions to complete the mixing pile construction.

[0109] The execution subsystem includes a traveling chassis, a slewing platform, and a working device. The working device includes a boom, a forearm, and a mixing head. The mixing head has a built-in curing agent delivery pipeline.

[0110] In this embodiment, the excavator is based on a modified excavator and, by integrating the above-mentioned subsystems, can autonomously complete the entire process of operation from environmental perception and path planning to precise execution.

[0111] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A method for autonomous operation based on an excavator, characterized in that, Applied to the construction of solidified mixing piles, the methods include: Obtain an environmental map of the work area; The construction area is divided into a two-dimensional construction area, a three-dimensional construction area, and an excavation travel area based on the environmental map, and a task plan is generated. The two-dimensional construction area is the area where the excavator can carry out construction by only using the working device when it is in a fixed position on the excavation travel area. The three-dimensional construction area is the area where construction is carried out by coordinating the rotation of the excavator with the movement of the working device. The task plan includes a travel coordinate sequence, a rotation angle sequence corresponding to each travel coordinate, and a construction point coordinate sequence corresponding to each rotation angle. The excavator is controlled to traverse each travel coordinate in sequence, and at each travel coordinate, each rotation angle is traversed. At each rotation angle, the mixing head is controlled to be vertically aligned with each construction point based on the positioning data and attitude data, and the mixing pile construction is completed.

2. The autonomous operation method based on an excavator according to claim 1, characterized in that, The generated task planning includes: prioritizing the planning of points within the three-dimensional construction area, and then planning the points within the two-dimensional construction area.

3. The autonomous operation method based on an excavator according to claim 2, characterized in that, The priority planning of points within the three-dimensional construction area includes: When the excavator has not yet reached the first row of construction points, prioritize planning the first row of points in the three-dimensional construction area. After the first to nth columns of the three-dimensional construction zone are completed, the first column of the two-dimensional construction zone and the nth to n+ath columns of the three-dimensional construction zone are planned sequentially under the current fixed position of the excavator; where a is the number of columns that the excavator can construct when it is in a fixed position on the excavation travel area; After the completion of all construction in the three-dimensional construction area, the remaining two-dimensional construction area points will be planned.

4. The autonomous operation method based on an excavator according to claim 1, characterized in that, In the task planning, each walking coordinate corresponds to a set of rotation angles, and each rotation angle corresponds to a set of construction points, forming a three-layer nested task structure of walking coordinates - rotation angles - construction points.

5. The autonomous operation method based on an excavator according to claim 1, characterized in that, The step of controlling the mixing head to be vertically aligned with each construction point based on positioning and attitude data includes: Based on the positioning data from the RTK and the attitude data collected by the tilt sensor, the three-dimensional coordinates and verticality deviation of the stirring head are calculated. The drive mechanism adjusts the movements of the boom and forearm until the verticality deviation is less than a preset threshold.

6. The autonomous operation method based on an excavator according to claim 1, characterized in that, During the process of controlling the stirring head to rotate vertically into the predetermined depth, a start command is sent to the pumping station via a wireless communication module to begin the delivery of the curing agent; when the stirring head reaches the predetermined depth, a stop command is sent to end the delivery of the curing agent.

7. The autonomous operation method based on an excavator according to claim 1, characterized in that, The following verification steps are also included: During the process of controlling the excavator to travel to the target coordinates, check whether it has reached the predetermined position. If it has not reached the predetermined position, adjust the position accordingly. During the process of controlling the loading platform to rotate to the target rotation angle, check whether it has rotated to the predetermined angle. If it has not reached the predetermined angle, adjust the angle accordingly. During the process of controlling the mixing head to be vertically aligned with the target construction point, check whether it is vertically aligned. If there is a deviation, adjust the posture.

8. An unmanned excavator system for implementing the autonomous operation method based on an excavator as described in any one of claims 1 to 7, characterized in that, include: The perception subsystem, installed on the excavator, is used to acquire environmental map data, positioning data, and attitude data; The decision subsystem, connected to the perception subsystem, is used to divide the construction area into a two-dimensional construction area, a three-dimensional construction area, and an excavation and travel area according to the environmental map, generate a travel coordinate sequence, a rotation angle sequence corresponding to each travel coordinate, and a construction point coordinate sequence corresponding to each rotation angle, and make real-time decisions on the excavator's action commands. An execution subsystem, connected to the decision subsystem, is used to receive the action commands and drive the excavator to perform corresponding actions to complete the mixing pile construction.

9. The unmanned excavator system according to claim 8, characterized in that, The decision-making subsystem includes: The task planning module is used to generate a sequence of walking coordinates, a sequence of rotation angles corresponding to each walking coordinate, and a sequence of construction point coordinates corresponding to each rotation angle. The behavior decision module is used to make real-time decisions on action commands based on current positioning and attitude data; The collaborative control module is used to interact with the pumping station via the wireless communication module to control the start and stop of the curing agent delivery.

10. The unmanned excavator system according to claim 8, characterized in that, The sensing subsystem includes: The RTK positioning module is used to obtain the excavator's position and orientation in a global coordinate system; A rotary encoder, installed on the upper platform, is used to obtain the rotation angle; Tilt sensors, mounted on the boom, forearm, or vehicle body, are used to acquire attitude angles; LiDAR and cameras are used to scan the work area and build environmental maps.

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