Safety protection system of unmanned excavator

Abstract

The utility model discloses an unmanned excavator safety protection system, and the system comprises a positioning attitude measurement module which is used for obtaining the working state information of an unmanned excavator; the scene data acquisition module is used for acquiring scene data of an operation scene of the unmanned excavator and processing the scene data to obtain scene information of the unmanned excavator; the wireless communication module is used for sending the working state information and the scene information to the remote control cabin module; and the remote control cabin module is used for generating a control instruction of the unmanned excavator according to the working state information and the scene information. The construction operation condition of the unmanned excavator is obtained and analyzed in real time, the unmanned excavator can be controlled and adjusted in time when it is determined that potential safety hazards exist, and the operation safety of the unmanned excavator is improved.

Description

Technical Field

[0001] This application relates to the field of unmanned construction machinery control technology, and in particular to a safety protection system for an unmanned excavator. Background Technology

[0002] Excavators are highly flexible and multifunctional engineering machines with a wide range of working devices that allow them to adapt to various complex working environments and tasks. They are widely used in resource extraction, construction, and disaster relief.

[0003] With technological advancements, unmanned excavators are increasingly being used in various scenarios. These excavators utilize wireless communication technology to transmit video feedback of the work site status to a remote control console for remote operation. However, because the two-dimensional video feedback differs from the three-dimensional view during local operation, distance perception is difficult to control, potentially leading to safety risks such as accidental collisions. Furthermore, the frequent movement and rotation required by excavators in complex working environments exacerbate signal interference and increase communication latency, thus affecting the stability of communication quality.

[0004] Therefore, ensuring that excavators do not cause safety accidents due to misoperation or external factors when operating without human intervention has become an urgent problem to be solved. Summary of the Invention

[0005] The purpose of this application is to provide a safety protection system for unmanned excavators, so as to solve the technical problem of low security in the remote control of unmanned excavators in related technologies.

[0006] This application provides a safety protection system for an unmanned excavator, including:

[0007] The positioning and attitude measurement module is used to acquire the working status information of the unmanned excavator;

[0008] The scene data acquisition module is used to collect scene data of the unmanned excavator's working scene and process the scene data to obtain the scene information of the unmanned excavator.

[0009] A wireless communication module is used to send the working status information and the scene information to the remote control cockpit module;

[0010] The remote control cockpit module is used to generate control commands for the unmanned excavator based on the working status information and the scene information.

[0011] This application provides a safety protection system for unmanned excavators. During safety protection, a positioning and attitude measurement module acquires real-time working status information of the unmanned excavator, and a scene data acquisition module acquires scene information of the working environment in which the unmanned excavator is located. Then, by combining and analyzing the working status information and scene information, the system determines whether the unmanned excavator's working state is safe, and generates control commands for the unmanned excavator in case of danger. This system enables real-time acquisition and analysis of the unmanned excavator's construction operations, allowing for timely control and adjustment of the unmanned excavator when safety hazards are identified, thereby improving the operational safety of the unmanned excavator. Attached Figure Description

[0012] Figure 1 This is a block diagram of a safety protection system for unmanned excavators provided in an embodiment of this application;

[0013] Figure 2 This is a block diagram of a positioning attitude measurement module provided in an embodiment of this application;

[0014] Figure 3 This is a block diagram of a scene data acquisition module provided in an embodiment of this application;

[0015] Figure 4 This is a block diagram of a remote-controlled cockpit module provided in an embodiment of this application;

[0016] Figure 5 This is another block diagram of the unmanned excavator safety protection system provided in the embodiments of this application;

[0017] Figure 6 This is a schematic diagram of a structural example of the safety protection system for unmanned excavators provided in this application. Detailed Implementation

[0018] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0019] It should be understood that the steps described in the method embodiments of this disclosure may be performed in different orders and / or in parallel. Furthermore, the method embodiments may include additional steps and / or omit the steps shown. The scope of this disclosure is not limited in this respect.

[0020] The term "comprising" and its variations as used herein are open-ended inclusions, meaning "including but not limited to". The term "based on" means "at least partially based on". The term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments". Definitions of other terms will be given in the description below.

[0021] In related technologies, unmanned excavators use wireless communication technology to transmit video feedback of the work site status to a remote control console for remote operation. However, since the two-dimensional video feedback from the remote operation differs from the three-dimensional state during local operation, it is difficult to control the sense of distance during operation, which may lead to safety risks such as accidental collisions during operation. At the same time, since excavators need to move and rotate frequently when operating in complex working environments, this will lead to increased signal interference and communication delays, thereby affecting the stability of communication quality.

[0022] To address the technical problems existing in related technologies, this application provides a safety protection system for unmanned excavators. Please refer to [link / reference]. Figure 1 , Figure 1 This is a block diagram of a safety protection system for an unmanned excavator provided in an embodiment of this application. The unmanned excavator safety protection system 100 includes: a positioning attitude measurement module 101, a scene data acquisition module 102, a wireless communication module 103, and a remote control cockpit module 104.

[0023] The system includes a positioning attitude measurement module 101 for acquiring the working status information of the unmanned excavator; a scene data acquisition module 102 for acquiring scene data of the unmanned excavator's working scene and processing the scene data to obtain scene information of the unmanned excavator; a wireless communication module 103 for sending the working status information and scene information to the remote control cockpit module; and a remote control cockpit module 104 for generating control commands for the unmanned excavator based on the working status information and scene information.

[0024] In one embodiment, the unmanned excavator safety protection system 100 determines whether the unmanned excavator is in a dangerous state by analyzing its work information and work status in the work scene, and then promptly adjusts and handles the situation when it is about to enter a dangerous state or is already in a dangerous state.

[0025] Specifically, when performing safety protection, the unmanned excavator safety protection system 100 uses the positioning attitude measurement module 101 to acquire the working status information of the unmanned excavator in operation, including its attitude and position information. Since the unmanned excavator is a spatial operation device, the analysis of its attitude information can ensure its safe operation in three-dimensional space. Simultaneously, the position information indicates the actual position of the unmanned excavator in the work scenario, determining whether there are any positional conflicts or anomalies.

[0026] Furthermore, referring to Figure 2 , Figure 2 This is a block diagram of a positioning attitude measurement module provided in an embodiment of this application, wherein the positioning attitude measurement module 101 includes an attitude acquisition submodule 1011 and a position acquisition submodule 1012.

[0027] The attitude acquisition submodule 1011 is used to acquire the tilt information collected by the tilt sensor to obtain the attitude information of the unmanned excavator; the position acquisition submodule 1012 is used to acquire the position coordinates of the unmanned excavator collected by the GNSS positioning antenna.

[0028] In one embodiment, when the positioning attitude measurement module 101 acquires the working status information of the unmanned excavator during construction operations, it acquires the attitude information and position information of the unmanned excavator. Specifically, the attitude information of the unmanned excavator is obtained by acquiring the tilt information through the set tilt sensor, and the position coordinates of the unmanned excavator are obtained by acquiring the data through the set positioning device.

[0029] In practical applications, based on the characteristics of unmanned excavators, it is necessary to ensure that no safety issues arise during movement and operation. For example, since the bucket of an unmanned excavator moves in three-dimensional space, determining whether the bucket operation is safe requires considering its position and attitude in three-dimensional space. Therefore, corresponding tilt sensors can be installed at specific locations on the unmanned excavator to collect and acquire its attitude information.

[0030] Furthermore, the attitude acquisition submodule 1011 includes: a first tilt sensor for acquiring the boom tilt angle information of the unmanned excavator; a second tilt sensor for acquiring the stick tilt angle information of the unmanned excavator; a third tilt sensor for acquiring the bucket tilt angle information of the unmanned excavator; a fourth tilt sensor for acquiring the cab tilt angle information of the unmanned excavator; and an attitude analysis unit for analyzing the boom tilt angle information, stick tilt angle information, bucket tilt angle information, and cab tilt angle information to obtain the attitude information of the unmanned excavator.

[0031] Specifically, in order to obtain the attitude information of the unmanned excavator, a certain number of tilt sensors can be installed on the unmanned excavator. The attitude information of the unmanned excavator can be obtained by acquiring the data collected by each tilt sensor and then analyzing it.

[0032] For example, four tilt sensors (including a first tilt sensor, a second tilt sensor, a third tilt sensor, and a fourth tilt sensor) are installed on the boom, stick, bucket, and cab of the unmanned excavator, respectively. During operation, the tilt angle information of the boom, stick, bucket, and cab is acquired in real time, and then analyzed and calculated to obtain the excavator's attitude information. The obtained tilt angle information can be represented using three-dimensional vectors.

[0033] As for the location information of the unmanned excavator, the location of the unmanned excavator can be determined by using the set GNSS positioning antenna. For example, the corresponding coordinates of the unmanned excavator's working scene can be constructed in advance, and then the location information obtained during positioning can be the coordinate position, which can more intuitively represent the location information of the unmanned excavator.

[0034] Furthermore, combined Figure 1 The positioning attitude measurement module also includes: a data conversion submodule for converting working status information into CAN data; and a data transmission submodule for sending CAN data to the wireless communication module.

[0035] Furthermore, during safety protection, the scene data acquisition module 102 is used to obtain scene data of the working scene where the unmanned excavator is located, thereby determining the scene information of the working scene, and then combining the working status information and the scene information to determine whether the unmanned excavator is in a safe working state.

[0036] Therefore, the unmanned excavator safety protection system also includes: a signal transmission module, used to communicate with the positioning attitude measurement module and the scene data acquisition module and the wireless communication module.

[0037] In actual operation, determining whether the unmanned excavator is safe to operate involves checking whether it is in a safe operating position, whether its operating status is safe, and whether there is any collision with other objects. Therefore, by combining the operating status information of the unmanned excavator during operation with the scene information of the operating environment, a safety judgment can be made on the unmanned excavator, and timely and accurate safety protection measures can be taken, such as adjusting the attitude and / or position of the unmanned excavator.

[0038] For example, in order to ensure the safe operation of the unmanned excavator, there needs to be a certain safe distance between the unmanned excavator and other objects in the scene information, at least to ensure that there will be no collision. By acquiring the scene information, the relative positional relationship between the unmanned excavator and other objects can be determined, thereby avoiding collisions between the unmanned excavator and other objects in a timely manner.

[0039] In addition, for unmanned excavators operating in various scenarios, besides avoiding collisions with other objects, it is also necessary to ensure that the unmanned excavator is always within a safe operating area. For example, a pre-set operating range can be used, by setting the boundaries of the operating area and then controlling the unmanned excavator to operate within the set operating area. When it is determined that the unmanned excavator is about to leave the operating area based on information such as the boundaries of the operating area and the position of the unmanned excavator, timely intervention and adjustment can be made.

[0040] Reference Figure 3 , Figure 3 This is a block diagram of a scene data acquisition module provided in an embodiment of this application. The scene data acquisition module 102 includes an image acquisition submodule 1021, an identification and positioning submodule 1022, and a scene construction submodule 1023, which is used to construct three-dimensional scene information of the work scene based on video images and location information.

[0041] The image acquisition submodule 1021 is used to acquire video images of the unmanned excavator's working scene; the identification and positioning submodule 1022 is used to acquire the identification and positioning of objects in the working scene and obtain the position information of the objects; and the scene construction submodule 1023 is used to construct the three-dimensional scene information of the working scene based on the video images and position information.

[0042] Specifically, when acquiring scene information for the unmanned excavator's operation, the process involves obtaining a three-dimensional scene of the operation. This is achieved by capturing video images of the scene, which determines its three-dimensional information, including the relative positions of objects and their individual characteristics (shape, size, etc.). Then, the objects are identified and located to obtain their positional information, constructing a three-dimensional map of the operation scene. During safety assessments, the unmanned excavator's operational status is compared with this three-dimensional map to determine if it is operating safely. For example, this involves determining if the excavator is near a boundary or at risk of collision with other objects. If a risk exists, appropriate controls and adjustments are implemented based on the actual risk level.

[0043] Furthermore, the scene data acquisition module also includes an audio acquisition submodule and a voice playback submodule. The audio acquisition submodule is used to acquire audio data of the work scene, filter and analyze the audio data to obtain the corresponding audio information; the voice playback submodule is used to receive and play the voice information sent by the remote control cockpit module.

[0044] Specifically, during the construction process, audio data can be acquired, filtered, and analyzed to obtain audio information containing human voices. This audio information is then transmitted to the remote control cockpit module. Upon receiving the audio information, the remote control cockpit module can provide feedback, such as through voice interaction. In this case, the voice representation submodule in the scene data acquisition module will receive the voice information sent by the remote control cockpit module and play it back, enabling voice interaction between the remote operator of the unmanned excavator and the work scene.

[0045] Furthermore, during the operation of the unmanned excavator, the excavator is controlled remotely. Specifically, the remote control cockpit module 104 in the unmanned excavator safety protection system 100 is used to remotely control the unmanned excavator. When determining how to remotely control the excavator, in addition to processing the remote control based on the actual operation requirements, the actual status of the unmanned excavator, including working status information and scene information, is also considered to determine whether to directly intervene in the control of the unmanned excavator to ensure that the unmanned excavator is in a safe operating state.

[0046] In order to realize data transmission and control of the unmanned excavator, the unmanned excavator safety protection system 100 also includes a wireless communication module 103 between the remote control cockpit module 104, the positioning attitude measurement module 101, and the scene data acquisition module 102. This enables data transmission and information interaction between the remote control cockpit module 104, the positioning attitude measurement module 101, and the scene data acquisition module 102.

[0047] Reference Figure 4 , Figure 4 This is a block diagram of a remote control cockpit module provided in an embodiment of this application. The remote control cockpit module 104 includes an analysis and processing submodule 1041, an information display submodule 1042, and a remote control submodule 1043.

[0048] The analysis and processing submodule 1041 is used to analyze and process the working status information and scene information to obtain the control commands of the unmanned excavator; the information display submodule 1042 is used to display the control commands, working status information and scene information; and the remote control submodule 1043 is used to remotely control the unmanned excavator according to the control information corresponding to the control commands.

[0049] Specifically, during safety protection processing, the analysis and processing submodule 1041 analyzes the working status information and scene information of the unmanned excavator to determine whether the working status of the unmanned excavator is safe. When a risk is determined to exist, control commands for the unmanned excavator are obtained, and then the remote control submodule 1043 is used to realize remote control of the unmanned excavator. Specifically, the unmanned excavator is remotely controlled according to the control information corresponding to the obtained control commands. The control information can be automatically generated according to the control commands, or it can be actively input by the remote operator according to the control commands.

[0050] Meanwhile, the remote control cockpit module 104 also includes an information display submodule 1042, which displays the received working status information and operation scene information of the unmanned excavator. At the same time, when it is necessary to operate the unmanned excavator based on safety judgment, it can also display specific control commands or control information.

[0051] Furthermore, the analysis and processing submodule 1041 analyzes and processes the working status information and scene information. Specifically, it compares the corresponding data, such as comparing the coordinates of the unmanned excavator with the boundary of the work area. When it is determined that the distance between the unmanned excavator and the boundary is less than a certain number, intervention is required, such as stopping the unmanned excavator. Therefore, the analysis and processing submodule 1041 also includes a comparison and judgment unit and an instruction generation unit. The comparison and judgment unit is used to compare the working status information and scene information with preset thresholds to determine whether the unmanned excavator is in a dangerous state. The instruction generation unit is used to generate corresponding control instructions when the comparison determines that the unmanned excavator is in a dangerous state.

[0052] Specifically, during the analysis and processing, the working status information and scene information are compared with preset thresholds to determine whether the unmanned excavator is in a dangerous state. For example, if the unmanned excavator is close to the boundary of the working area and the distance to the boundary is less than a certain value, it is considered to be in a dangerous state. Another example is that if there are obstacles or people within the working radius of the unmanned excavator, it is considered to be in a dangerous state.

[0053] In practical applications, the handling methods for different hazardous situations will vary. For example, when an unmanned excavator is about to leave the work area, it needs to be stopped immediately. Conversely, if there are fixed obstacles within the unmanned excavator's working radius (working range), the excavator will not stop but will avoid the fixed obstacles during operation. Therefore, when controlling an unmanned excavator, it is also necessary to determine the specific type of anomaly and then generate corresponding control commands based on the anomaly type to intervene in the control and handling of the unmanned excavator.

[0054] Therefore, the instruction generation unit includes an anomaly type determination subunit and a control instruction generation subunit. The anomaly type determination subunit determines the hazard type of the unmanned excavator based on comparison results. The control instruction generation subunit acquires the control parameters corresponding to the hazard type and generates control instructions based on these parameters and the unmanned excavator's operating status. By combining attitude information and coordinate position with scene information, and then comparing this information with a set threshold, hazardous areas on the unmanned excavator, such as the cab and bucket, are identified. Corresponding control instructions, such as stop or obstacle avoidance, are then generated based on the unmanned excavator's operating status.

[0055] In one embodiment, reference is made to Figure 5 , Figure 5 This is another block diagram of the unmanned excavator safety protection system provided in this application embodiment. The unmanned excavator safety protection system includes a wire-controlled excavator 1, a positioning and attitude measurement module 2, a wireless communication module 3, a scene data acquisition module 4, a signal transmission module 5, and a remote control cockpit module 6. See also... Figure 6 , Figure 6 This is a schematic diagram of a structural example of the safety protection system for unmanned excavators provided in this application.

[0056] based on Figure 5 and Figure 6 The wire-controlled excavator 1 provides CAN communication and hardware emergency stop connection ports to the outside world through the functional integration connector 1.1.

[0057] The positioning attitude measurement module 2 consists of tilt sensors 2.1, GNSS positioning antennas 2.2, and a control motherboard 2.3. Among them, four tilt sensors 2.1 are installed on the boom, stick, bucket, and cab of the excavator 1 to measure the action attitude angle of the working device. Two GNSS positioning antennas 2.3 are installed on the left and right sides of the rear of the excavator to measure the real-time position coordinates of the excavator. The control motherboard 2.3 is placed in the excavator's on-board control box, receives the data fed back by the sensors, calculates the excavator's attitude and position information in real time, and converts it into CAN data output.

[0058] In other words, the positioning attitude measurement module obtains the attitude and position information of the unmanned excavator through data collection, analysis and calculation.

[0059] The wireless communication module 3 consists of a base station 3.1, a network bridge, and a communication antenna 3.2. The base station 3.1 is placed at a high position around the work site to cover the work area and is connected to the remote control cockpit module 6 via a network cable / fiber optic cable. The network bridge and communication antenna 3.2 are arranged at the rear side railing of the excavator cab. The communication antenna is placed vertically and kept at a certain height to avoid the influence of the excavator boom movement on the communication signal.

[0060] The scene data acquisition module 4 consists of cameras 4.1, infrared sensors 4.2, microphones and pickups 4.3, and a vehicle controller 4.4. Four cameras 4.1 are positioned in front of the excavator cab and behind, to the left and right of the excavator's upper platform, respectively, to acquire 360° video data around the work area. All cameras use fisheye cameras with a large field of view; the front camera uses a higher resolution camera to improve video display, such as a 5MP GMSL camera with a 190° field of view. Two infrared sensors 4.2 are positioned in front of the excavator cab and behind the excavator's upper platform, used for detecting, identifying, and measuring distances to objects in the work area. The microphones and pickups 4.3 are installed inside the excavator's boom for sound feedback and warning communication at the work site. The vehicle controller 4.4 is located in the excavator's vehicle control box, simultaneously receiving data from the cameras, infrared sensors, microphones, and pickups, processing the data, and pushing it to the remote control cockpit module 6 via the wireless communication module 3.

[0061] In other words, the scene data acquisition module integrates video data, object information at the work site, and sound at the work site and sends them to the remote control cockpit module. It can also receive audio information sent by the remote control cockpit module and play it.

[0062] The signal transmission module 5 includes a LoRa receiver 5.1, a CAN-to-Ethernet box 5.2, a 24V / 12V power supply terminal block 5.3, a power converter 5.4, an industrial switch 5.5, and a LoRa wireless remote controller 5.6. The CAN-to-Ethernet box 5.2 is located in the excavator's onboard control box. Its CAN interface connects to the excavator's integrated function connector 1.1 and the output port of the control motherboard 2.4 of the positioning and attitude measurement module, respectively. Its network interface connects to the industrial switch 5.5. The 24V / 12V power supply terminal block 5.3 and the power converter 5.4 are connected externally to the excavator's 24V power interface via the cigarette lighter socket to provide 24V and 12V power. The industrial switch 5.5 connects via a network cable to the LoRa receiver 5.1. The Ethernet box 5.2, vehicle controller 4.4, network bridge, and communication antenna 3.2 are connected to achieve real-time transmission of on-site status data, excavator status, and control commands in the work area. The LoRa receiver 5.1 is located in the excavator's vehicle control box and is supplied with a continuous 24V power supply through the power interface at the excavator's cab ceiling light. It is also connected to the hardware emergency stop port of the wired excavator connector 1.1. The LoRa wireless remote controller 5.6 is located at the remote control cockpit and the site management personnel. When the LoRa wireless remote controller 5.6 is pressed, the LoRa receiver 5.1 receives the signal and provides a 1-second high-level signal to the hardware emergency stop port of the wired excavator connector to stop the excavator engine, thus achieving the hard emergency stop function.

[0063] The remote control cockpit module 6 includes hardware devices such as a display 6.1 and a button seat 6.2, as well as remote control operating software 6.3. The display 6.1 shows video footage of the work site, excavator status, communication status, and warning status. It can be multiplied by three 27-inch displays to increase the screen area, using the front-view camera image as the main view to fill the entire display screen, while other images are scaled down and placed in the corners. When the excavator needs to move backward, the rear view can be zoomed in for a larger view. The button seat 6.2 integrates operation buttons such as software emergency stop, remote / local mode switching, gear adjustment, horn, lights, pilot switch, and excavator status indicator lights. When the operator discovers an emergency such as loss of control during remote operation, pressing the software emergency stop button will stop the excavator. The remote control operating software 6.3 integrates functions such as communication and data processing, data display, system operation status monitoring, electronic fence, and personnel and obstacle recognition algorithms. The system achieves data interaction through a UI interface. The system operation status monitoring provides real-time feedback on communication quality and video latency, and sets thresholds. When these thresholds are exceeded, an alarm is issued on display 6.1, and the excavator's pilot control command is disconnected, stopping the excavator's movement. The electronic fence, based on the excavator's GNSS positioning attitude coordinates and the work area range, sets a virtual work boundary on the UI. The positioning attitude measurement module 2 monitors the excavator's working device position in real time. If the excavator's working device, such as the bucket, approaches or crosses the boundary, the system will automatically intervene, adjusting the excavator's control commands to stop its movement. Personnel and obstacle recognition uses cameras and infrared sensors to scan the work area in real time. Once personnel are detected approaching the work area within the excavator's working radius, or the excavator's working device is detected approaching a fixed obstacle, the remote control software system automatically activates an alarm and adjusts the excavator's movements according to a preset program to avoid personnel or fixed obstacles.

[0064] In summary, this application discloses a safety protection system for unmanned excavators, including a positioning and attitude measurement module 101, a scene data acquisition module 102, a wireless communication module 103, and a remote control cockpit module 104. During safety protection processing, the positioning and attitude measurement module acquires real-time working status information of the unmanned excavator, and the scene data acquisition module acquires scene information of the working environment in which the unmanned excavator is located. Then, through combined analysis of the working status information and scene information, the system determines whether the unmanned excavator's working status is safe, and generates control commands for the unmanned excavator in case of danger. This system enables real-time acquisition and analysis of the unmanned excavator's construction operations, allowing for timely control and adjustment of the unmanned excavator when safety hazards are identified, thereby improving the operational safety of the unmanned excavator.

[0065] The above provides a detailed description of a safety protection system for an unmanned excavator according to embodiments of this application. Specific examples have been used to illustrate the principles and implementation methods of this application. The descriptions of the embodiments are merely for the purpose of helping to understand the method and core ideas of this application. Furthermore, those skilled in the art will recognize that, based on the ideas of this application, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of this application. Moreover, those skilled in the art can make various improvements and modifications without departing from the principles of this application, and these improvements and modifications are also considered to be within the scope of protection of this application.

Claims

1. A safety protection system for an unmanned excavator, characterized in that, include: The positioning and attitude measurement module is used to acquire the working status information of the unmanned excavator; The scene data acquisition module is used to collect scene data of the unmanned excavator's working scene and process the scene data to obtain the scene information of the unmanned excavator. A wireless communication module is used to send the working status information and the scene information to the remote control cockpit module; The remote control cockpit module is used to generate control commands for the unmanned excavator based on the working status information and the scene information.

2. The system as described in claim 1, characterized in that, The positioning attitude measurement module includes: The attitude acquisition submodule is used to acquire the tilt angle information collected by the tilt angle sensor to obtain the attitude information of the unmanned excavator; The location acquisition submodule is used to acquire the location coordinates of the unmanned excavator collected by the GNSS positioning antenna.

3. The system as described in claim 2, characterized in that, The attitude acquisition submodule includes: The first tilt sensor is used to acquire the boom tilt angle information of the unmanned excavator; The second tilt sensor is used to acquire the stick tilt angle information of the unmanned excavator; The third tilt sensor is used to acquire the bucket tilt angle information of the unmanned excavator; The fourth tilt sensor is used to acquire the tilt angle information of the cab of the unmanned excavator; The attitude analysis unit is used to analyze the boom tilt angle information, the stick tilt angle information, the bucket tilt angle information, and the cab tilt angle information to obtain the attitude information of the unmanned excavator.

4. The system as described in claim 1, characterized in that, The positioning attitude measurement module further includes: The data conversion submodule is used to convert the working status information into CAN data; The data transmission submodule is used to send the CAN data to the wireless communication module.

5. The system as described in claim 1, characterized in that, The scene data acquisition module includes: The image acquisition submodule is used to acquire video images of the unmanned excavator's working scene; The identification and positioning submodule is used to identify and locate objects in the work scene, and obtain the position information of the objects; The scene construction submodule is used to construct the three-dimensional scene information of the operation scene based on the video image and the location information.

6. The system as described in claim 1, characterized in that, The scene data acquisition module also includes: The audio acquisition submodule is used to acquire audio data of the work scenario, and to filter and analyze the audio data to obtain corresponding audio information. The voice playback submodule is used to receive and play voice information sent by the remote cockpit module.

7. The system as described in claim 2, characterized in that, The remote-controlled cockpit module includes: The analysis and processing submodule is used to analyze and process the working status information and the scene information to obtain the control commands for the unmanned excavator. The information display submodule is used to display the control commands, the working status information, and the scene information; The remote control submodule is used to remotely control the unmanned excavator according to the control information corresponding to the control command.

8. The system as described in claim 7, characterized in that, The analysis and processing submodule includes: The comparison and judgment unit is used to compare the working status information and the scene information with a preset threshold to determine whether the unmanned excavator is in a dangerous state. The instruction generation unit is used to generate corresponding control instructions when the comparison determines that the unmanned excavator is in a dangerous state.

9. The system as described in claim 8, characterized in that, The instruction generation unit further includes: The anomaly type determination subunit is used to determine the hazard type of the unmanned excavator based on the comparison results obtained from the comparison. The control command generation subunit is used to obtain the control parameters corresponding to the hazard type and generate control commands based on the control parameters and the operating status of the unmanned excavator.

10. The system as claimed in claim 1, characterized in that, The system also includes: The signal transmission module is used to communicate with the positioning attitude measurement module, the scene data acquisition module, and the wireless communication module.

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