3704 results about "Excavator" patented technology

The embodiment of the invention provides an excavator handle control system for remote operation, a handle control method based on a Hall sensor is adopted, non-contact rocker data sensing is achieved, the influence of contact and movement abrasion on the service life of a handle is reduced, and the excavator handle control system has the advantages of being high in sensitivity and good in performance; the handle mechanism is more flexible to operate, and the service life of the handle is prolonged; a two-hand cooperative control mode is adopted, and two three-degree-of-freedom handles are used for simulating the driving environment of a real excavator, so that a good remote control effect is achieved, and the feeling of presence of an operator in the remote operation process is improved; the operation habits of a driver are fully considered, the walking and working of the excavator are respectively controlled through combination of different degrees of freedom of the left hand handle and the right hand handle, an operating lever of the real excavator is simulated in the aspects of structure, motion degree of freedom and working range, and the man-machine interaction environment of excavator driving is restored.

The invention relates to the technical field of earthwork compaction, and discloses a pipe ditch backfilling and tamping system based on excavator modification. The system comprises an earthwork condition dynamic sensing module which captures a bucket tooth track, a hydraulic oil cylinder pressure pulse and a soil mass vibration spectrum in real time and combines a historical database to construct a model to output a theoretical compaction degree curve; a multi-source compaction difference analysis module performs three-dimensional deviation detection on the theoretical curve and the actual settlement volume data to generate a construction grid-level compaction difference tensor; the defect area association mapping module inputs the tensor into a geological topology analysis network, generates a loose defect propagation path probability cloud chart by combining soil parameters and identifies weak sections; and the tamping strategy self-adaptive configuration module automatically sets operation parameters according to the cloud picture, activates high-precision monitoring on a high-probability defect section, and applies a dynamic excitation force test on adjacent grids, so that intelligent management and control of the backfilling and compacting process are realized.

The invention relates to the technical field of excavator bucket rods, and provides a bucket rod composite damping device and an excavator. The device comprises a shell composed of a base, an outer shell and a stress shell; the magneto-rheological buffer device is installed in the shell and composed of a lattice structure made of magneto-rheological elastomer materials and magneto-rheological fluid filled in gaps corresponding to the lattice structure, and a plurality of sound absorption holes are formed in each cell element wall in the lattice structure; the electromagnetic device is located in a containing cavity formed in the lattice structure and is composed of a magnetic core and an electromagnetic coil; the anti-vibration pad and the stress plate are embedded in the top of the shell and are in contact with the stress plate; the damping springs are arranged on the periphery of the shell and fixedly connected between the stress plate and the base; the vibration monitoring module is used for collecting vibration data of the bucket rod in real time and transmitting the vibration data to the intelligent control module, and the intelligent control module is used for adjusting the output magnetic field intensity of the electromagnetic coil according to the vibration data so as to adjust the viscosity of the magnetorheological fluid in real time.

The invention relates to the technical field of engineering mechanical structure optimization, in particular to an excavator structure topological optimization method and system based on real-time stress field reconstruction. The method comprises the following steps of: designing finite element analysis software, modeling and simulating in the finite element analysis software to obtain virtual data, designing a Kalman filter to carry out error correction on the virtual data and actual test data, training the Kalman filter by utilizing the corrected data to obtain prediction of real-time stress field distribution, and further, establishing a topological optimization model of an excavator structure, according to the method, material attributes are coded into a weight matrix in a neural network, and a stress constraint partial differential equation is used as a constraint condition, so that high-precision reconstruction of the stress field of the movable arm of the excavator under an actual working condition is realized, and an accurate boundary condition is provided for topological optimization.

The invention discloses a construction method applied to underground mine vertical shaft surrounding rock condition improvement. The construction method comprises the steps that a flat working face is cleaned, a temporary water nest is arranged for drainage, the drilling position is projected, and a down-the-hole drill is debugged; rock drilling is conducted according to the designed angle, direction and depth, propelling pressure is adjusted along with the depth, and cleaning and plugging are conducted after hole forming; grouting pipes with holes are used as pipe sheds to be driven into the holes, and are welded into a whole through annular steel bars; single-liquid-slurry and double-liquid-slurry segmented grouting is adopted, and the grouting pressure is controlled; during construction, grout diffusion and stratum deformation are monitored, after surrounding rock consolidation reaches the standard, weak blasting is matched with a small excavator for excavation, and after acceptance inspection is qualified, reinforcing steel bars are bound, formworks are installed, and concrete is poured. Compared with the prior art, the problems of collapse and water gushing of the vertical shaft under the strong weathering and water-rich geology can be solved, and the defects of insufficient supporting strength, grouting uniformity, construction efficiency and long-term stability in the traditional technology are overcome.

The utility model discloses an efficient drainage ditch excavation device based on an adjustable shaping excavator bucket, and relates to the technical field of municipal engineering and hydraulic engineering construction. Different design requirements are met by hydraulically adjusting the size of the bucket, the bucket body is formed at a time, manual finishing and template use are reduced, the construction cost is reduced by more than 20%, the excavation precision is controlled by combining GPS positioning and real-time measurement, the groove longitudinal slope and elevation precision is ensured, and the construction efficiency is improved. One-time forming of the drainage ditch and synchronous outward transportation of spoil are achieved, and site accumulation is avoided. According to the scheme, the construction efficiency and quality are remarkably improved, and the method is suitable for municipal drainage engineering under soil texture and strong weathered rock geological conditions.

The invention provides an automatic digging method of an excavator based on image recognition, which is realized based on a material pool and the excavator, a laser radar and a binocular camera are arranged on the upper edge of the material pool, and the excavator comprises a digging arm, a double-bucket assembly and a control unit. The method comprises the following steps: determining a peak initial position by a laser radar material pile three-dimensional point cloud, and performing secondary calibration by a camera to obtain a peak final position and a slope angle; the control unit switches a first / second digging mode according to the distance between the wave crest and the excavator, the first mode controls the excavator bucket to conduct wall-attached digging and conduct bottoming detection through the pressure sensor, and the second mode adjusts the angle of the excavator bucket to conduct digging according to the slope angle; when no wave crest exists, a corresponding digging scheme exists, and the point cloud is updated after digging each time; the wave crest positioning precision and the environmental adaptability are improved, the digging efficiency is optimized, manual intervention is reduced, and the device is suitable for digging of materials such as cereals and gravels.

A control device of an electric hydraulic excavator sets or computes a rotation speed command and an allowable torque of an electric motor on the basis of a required rotation speed of the electric motor, and a sum of a suppliable electric power of a converter and a battery suppliable electric power. An inverter of the electric hydraulic excavator sets the allowable torque to a torque command if a calculated torque of the electric motor computed by multiplying by a gain, a difference between the rotation speed command and a rotation speed of the electric motor, exceeds the allowable torque, and sets the calculated torque to the torque command if the calculated torque does not exceed the allowable torque. The inverter supplies the electric power that can generate a torque corresponding to the torque command to the electric motor.

The invention relates to the technical field of engineering machinery manufacturing, in particular to an excavator part machining treatment device which comprises a fixing base, a support is fixedly connected to the fixing base, a driving mechanical arm capable of driving horizontal two-dimensional motion is installed at the top of the inner side of the support, and a sliding disc is fixedly connected to the lower end of the driving mechanical arm. The bottom face of the sliding disc is fixedly connected with a driving cylinder, and the lower end of the driving cylinder is fixedly connected with an inverted-U-shaped frame. According to the excavator part machining treatment device, three core procedures of drilling, inner wall grinding and end face grinding are integrated, through cooperative control of the driving mechanical arm, the driving air cylinder and the motor, full-process part machining can be completed without equipment replacement or repeated clamping, the part transferring and positioning time is effectively shortened, and the machining efficiency is improved. The problem that traditional step-by-step machining is low in efficiency is solved, and the machining efficiency is improved.

The invention provides an excavator crushing working condition double-pump flow matching method, device, medium and system. Under the condition that the excavator carries out crushing working condition operation, the pressure difference between the auxiliary pump and the main pump is obtained, and a first pressure difference is obtained; under the condition that the first pressure difference is smaller than a pressure difference threshold value, a current control signal of the auxiliary pump is gradually increased; under the condition that the current control signal of the auxiliary pump is increased every time, the pressure difference between the auxiliary pump and the main pump is obtained again, and a second pressure difference is obtained; and under the condition that the second pressure difference is larger than or equal to the pressure difference threshold value, the current control signal of the auxiliary pump is kept the same as the current control signal of the auxiliary pump at the current moment under the current crushing working condition. The problem that the confluence effect of two hydraulic pumps in an existing scheme is sometimes affected by volume efficiency difference and abrasion failure of the hydraulic pumps under different boundary conditions, so that the flow of an auxiliary pump cannot be converged with a main pump through a confluence one-way valve, and the crushing operation effect is affected is solved.

The invention discloses engineering van cab framework welding machining equipment, and relates to the technical field of excavator cab production, the engineering van cab framework welding machining equipment comprises a welding table, a plurality of placing frames are fixedly connected to the welding table, sliding frames are slidably connected to the placing frames, and a lifting table is fixedly arranged on the top surface of the welding table; a correcting mechanism located on one side of the containing frame is arranged on the top face of the welding table. The correcting mechanism comprises a mounting frame and two perpendicular devices with vertical moving strokes. The device further comprises a frame body, the frame body is formed by connecting a base frame, a column B, a column A and a top frame, and the lifting table drives the base frame to ascend. According to the method, the base frame is welded firstly, then the top frame is welded after the base frame is lifted up, then the column B is in butt joint, and finally the column A is welded, so that the frame body is rapidly produced, the situation that the column B needs to be measured and positioned repeatedly in the process of welding the column B is avoided, and rapid welding production of the frame body is achieved.

The invention provides an arrangement method of an excavator spraying and dust falling device and the dust falling device, and relates to the technical field of excavators. The method comprises the following steps: determining a bucket and a required spraying range around the bucket; determining a nozzle mounting reference position; according to the transverse length and the longitudinal length of the spraying range, the number of transverse each row of sprayers and the number of longitudinal each column of sprayers are calculated by combining the effective spraying area of the single sprayers; calculating an included angle between a transverse nozzle and the horizontal direction and an included angle between a longitudinal nozzle and the vertical direction according to the distances from the highest point, the lowest point and the farthest point of the spraying range to the nozzle mounting position; and installing the nozzles according to the calculated number and angle of the nozzles, and controlling the nozzles to spray to form a water curtain covering the spraying range. In the operation process of the excavator, spraying and dust falling are carried out at the same time, the excavator bucket can be cooled, dust generated in the excavation process can also be treated, efficiency is high, cost is low, the spraying water amount is small, accumulated water cannot be generated, and operation safety and operation efficiency are guaranteed.

The invention discloses an excavator operation action control method and device based on bucket trajectory planning, and belongs to the technical field of engineering machinery automation. The method comprises the steps that excavator attitude sensing data and excavator environment sensing data are obtained; the excavator attitude sensing data comprises all joint angles of the excavator; according to the excavator attitude sensing data, obtaining the position and attitude of the bucket and constructing a dynamic model; the dynamic model represents a mapping relation between the bucket stress information and the bucket force output constraint information; acquiring a three-dimensional construction model according to the excavator environment sensing data; acquiring a three-dimensional deviation field according to the three-dimensional construction model and a preset building information model; planning a target construction track of the bucket according to the position and posture of the bucket, the three-dimensional deviation field and the dynamic model; and the target pose sequence of the joint space of the excavator is obtained based on the target construction track of the bucket, action control is conducted on all joints of the excavator according to the target pose sequence, and the high-precision excavator control method capable of achieving real-time adjustment according to the operation quality is achieved.

The invention discloses a construction safety management method based on excavator visual angle image fusion, and belongs to the technical field of construction early warning, and the method specifically comprises the steps: obtaining the position and working condition of excavation equipment, and setting a dynamic alarm fence; triggering an equipment vision device to scan a personnel target in real time, identify a personnel bounding box and extract a personnel identity identification code; synchronously calling original coordinates of the corresponding ultra-wideband tag, capturing a posture visual frame, and generating a posture feature vector through skeleton joint point topology analysis; inputting the attitude vector into an attitude-error compensation model, and outputting a positioning offset predicted value to correct an original coordinate; according to the method, real-time compensation is carried out through dynamic accurate matching of the construction dangerous area and personnel positioning errors, misjudgment is avoided to the greatest extent, the safety risk active pre-judgment and alarm accuracy is improved, and the safety risk active pre-judgment and alarm accuracy is improved. And intelligent safety management of a construction site is realized.

The invention discloses an excavator dynamic load calculation method based on physical information constraint deep learning, belongs to the technical field of load calculation, is used for excavator dynamic load calculation, and comprises the steps that an excavator dynamic model and a neural network model are constructed, and the neural network model comprises an input layer, a conversion layer, a dynamic model learning layer and an output layer; taking the excavator kinetic model as a constraint term of a kinetic model learning layer; the input data of the input layer comprises three angles, angular velocity, angular acceleration and hydraulic pressure variables of the three-section arm, totally 12 variables. According to the method, the sensitivity of the model to unavailable parameters is reduced based on hierarchical configuration of physical constraints, the interpretability of the model is enhanced through mechanical constraint explicit integration exported through a dynamic equation, the data efficiency is optimized by utilizing a dynamic relationship constraint solution space, the network structure design is improved, and the network performance is improved. Dependence on hyper-parameters such as the number of layers and the number of neurons determined manually is reduced, and actual application requirements are better met.

A shovel includes a lower traveling structure, an upper swing structure, a non-volatile storage device, an information obtaining device that obtains information related to construction, and a controller that controls a sound output device. The controller is configured to determine a dangerous situation based on information obtained by the information obtaining device. The shovel may be configured to display information on a display device related to the dangerous situation determined to occur.

The embodiment of the invention discloses an excavator energy recovery method, equipment and a medium, belongs to the technical field of excavator regulation and control, and solves the problem of serious energy waste during rotation starting and rotation braking of an excavator. Comprising the steps of determining whether an excavator is in a rotation starting state or a rotation braking state based on excavator operation information; in the rotation starting state, according to the bucket adduction pilot pressure and / or the bucket rod adduction pilot pressure, adduction required energy is determined, and a rotation starting energy recovery strategy is matched based on the rotation motor pressure, the rotation starting motor overflow flow and the adduction required energy; and in the rotary braking state, according to the bucket eversion pilot pressure and / or the bucket rod eversion pilot pressure, eversion demand energy is determined, and the recycled energy is allocated based on the rotary motor pressure, the rotary braking motor overflow flow and the eversion demand energy.

The invention provides a multi-objective structure optimization method and system suitable for a wheel excavator. Comprising the steps that a three-dimensional model which has the same actual size as an experimental test prototype of the wheel excavator and comprises a cab, an upper frame and other related parts is established; and comparing frequency domain response curve results obtained by experimental tests and verifying the accuracy of vibration performance prediction of the finite element model. Sensitivity analysis is carried out, and parts finally used for follow-up multi-target optimization are screened out according to the influence degree on the performance of the multiple targets; and performing test design according to the screened parts to obtain sample points, and importing the sample points into a finite element model for simulation to obtain a sample response data set. And fitting the agent model according to the sample data, optimizing by using a genetic algorithm to obtain an optimal solution, and sorting according to the magnitude of an acceleration root mean square value to select an optimal scheme. And importing the optimal scheme obtained according to the steps into a finite element model, and comparing the optimal scheme with an original scheme to verify the rationality of a new optimization scheme.

The invention discloses a high-performance sealing mechanism and sealing method for an oil cylinder of a hydraulic excavator, and relates to the technical field of oil cylinder machining. According to the high-performance sealing mechanism for the oil cylinder of the hydraulic excavator, through the linkage design of the annular bearing plate and the driving rod, the contact pressure between the sealing piece and the inner wall of the cylinder barrel is automatically adjusted and strengthened through the hydraulic oil pressure, and when the hydraulic oil pressure rises, the annular bearing plate pushes the driving rod; the top plate tightly abuts against the reinforcing sealing piece, the self-adaptive effect that the larger the pressure is, the stronger the sealing performance is is achieved, and therefore the good sealing effect can be kept in the environment that the pressure of the oil cylinder changes rapidly. The two sides of the piston body are each provided with a structure for self-adaptively changing the contact pressure between the reinforcing sealing piece and the inner wall of the oil cylinder according to the hydraulic oil pressure change, so that the hydraulic oil can achieve the effect of enhancing the sealing performance through hydraulic oil power in any direction. The combined design of the basic sealing piece and the reinforced sealing piece forms a double-sealing barrier.

The invention relates to the technical field of offshore wind power pile foundation construction, and discloses an anti-scouring solidified soil pile foundation construction device and method for an offshore wind power pile foundation, the anti-scouring solidified soil pile foundation construction device comprises a solidification box, two first guide rods are fixed in the solidification box, and the two first guide rods are both arranged at the inner top position of the solidification box; wherein a sliding assembly is arranged in the curing box, the sliding assembly comprises a sliding plate, two guide openings are formed in the sliding plate, the two first guide rods penetrate through the two guide openings correspondingly, two openings are formed in the sliding plate, an ejector rod is fixed to the top end of the sliding plate, and the end, away from the sliding plate, of the ejector rod extends out of the curing box. The excavator bucket is controlled to push the ejector rod, so that the sliding plate moves in the curing box, and compared with a simple and local stirring mode of a traditional excavator bucket, the stirring uniformity is remarkably improved.

A power feeding connector (18) to which a power feeding cable (19) for supplying electric power to an electric motor or a battery (12) is connected and an indicator lamp (25) that lights up when a lower traveling structure (2), an upper revolving structure (3) or a working mechanism (4) is in the middle of operating are arranged in back of an operator's seat (7). An insert port (18A) of the power feeding connector (18) which the power feeding cable (19) is connected or disconnected is located to be oriented to the indicator lamp (25)-side in the left-right direction. Because of this arrangement, the insert port (18A) can be illuminated by light emitted from the indicator lamp (25), allowing an operator of an electric hydraulic excavator (1) and workers around it to recognize that the electric power fed from an external power source (13) is being supplied to the electric hydraulic excavator (1) via the power feeding cable (19) connected to the power feeding connector (18) and that the electric hydraulic excavator (1) is in the middle of operating with this electric power.

The utility model relates to the technical field of mining equipment, and provides an excavator working device with a fine-adjustable bucket, which comprises a rack, a bucket and a driving assembly unit, the driving assembly unit comprises a lifting mechanism, a bucket adjusting mechanism and a control unit; the lifting mechanism is used for loading and unloading materials through the bucket, and the bucket adjusting mechanism is used for achieving transverse swing of the bucket. The control unit is used for controlling the actions of the lifting mechanism and the bucket adjusting mechanism; the lifting mechanism is arranged on the rack; the bucket adjusting mechanism is arranged on the lifting mechanism, and the bucket is arranged on the bucket adjusting mechanism. According to the utility model, the decoupling with the movement of the vehicle body is realized when materials are loaded, the loading and unloading tasks of the materials can be still completed under the condition that the position of the vehicle body is kept unchanged, the materials are more flexibly shoveled, and the oil consumption is reduced; when meeting uneven road conditions, the bucket can be controlled to be finely adjusted to change the gravity center, and stable driving is achieved; energy consumption is saved, accurate dynamic weighing is achieved, and control precision is improved.

According to the method, a fuzzy subset is set according to the required torque, the current SOC value and the difference value between the engine rotating speed and the motor rotating speed, and the torque of an ISG motor is dynamically adjusted through a fuzzy control algorithm. The fuzzy control adopts a fixed fuzzy rule, so that a Q table is established through a Q learning algorithm, the compensation torque of the ISG motor is obtained, the final output torque of the ISG motor is determined to be the sum of the output torque of the fuzzy controller and the compensation torque output by the Q learning algorithm, and the torque output by the ISG motor is determined. According to the method, the advantage of high response speed of the torque of the motor is utilized, the difference value between the required torque and the actual torque is effectively compensated, the rotating speed fluctuation of the engine caused by overlarge change of the torque of the engine is avoided, and the fuel economy and the driving operation stability are improved.

The invention discloses a mining area load spectrum anomaly detection method based on standard variable analysis, and belongs to the technical field of hydraulic pump anomaly detection.The mining area load spectrum anomaly detection method comprises the steps that S1, standardized data are obtained through data preprocessing, and a typical working condition data set of a hydraulic pump is constructed in combination with working conditions of an excavator; s2, constructing a historical vector and a future vector, and constructing a historical observation matrix and a future observation matrix according to the historical vector and the future vector; s3, constructing a Hankel matrix according to the autocorrelation matrix and the cross-correlation matrix, decomposing the Hankel matrix and determining a model order; s4, mapping the original data to a standard variable space and a residual space, and respectively evaluating the total variable quantity of the standard variable in the state space and the sum of squares of change errors in the residual space; and S5, determining an evaluation threshold value, and if the evaluation threshold value exceeds the control line, judging that the hydraulic pump operates abnormally. The method is based on standard variable analysis, adopts the pressure pulsation data of the hydraulic pump to perform anomaly detection, is sensitive to the internal running state of the pump, is not easily influenced by the external environment, and can perform early warning on faults of the hydraulic pump.

A method of analysing ore, wherein the method includes, during excavation, scanning / sensing ore, by using a sensor. The sensor is located at a position which is (i) spaced from a bucket / shovel of an excavator and (ii) operatively higher relative to the bucket / shovel. The sensor is also directed towards the bucket / shovel, so that the sensor can scan / sense operatively downwardly towards / into the bucket / shovel. The sensor may be secured to, or mounted on, an excavator at a position which is spaced from a bucket / shovel of the excavator.

An excavator includes a lower traveling body; an upper turning body turnably mounted to the lower traveling body; an acquisition device mounted to the upper turning body and configured to acquire information including a status around the excavator; and a control device configured to recognize a reference object that is in a stopped state or at a fixed position around the excavator based on the information acquired by the acquisition device, and to estimate a turning angle of the upper turning body based on a change in a position of the reference object as viewed from the upper turning body.

To make it possible to cut obstacles in excavating a tunnel with a non-complete circular cross section.SOLUTION: A tunnel excavation method includes a step of identifying an obstacle location within an excavation cross section on the basis of a third shaft center location within the excavation cross section obtained from a detection result of a first angle sensor 52 and a second angle sensor 54 and a load of a cutter rotating around the third shaft center detected by a load sensor 58, and a step of excavating an obstacle.SELECTED DRAWING: Figure 4

According to the multifunctional rail engineering vehicle set with the running direction reversing function, a hydraulic winch winch is arranged at the front end of a rail engineering vehicle, and a hydraulic excavator is carried at the rear end of the rail engineering vehicle; one bottom face of a frame of the rail engineering vehicle is provided with an axle box locking oil cylinder corresponding to axle box end covers in the wheel set axle boxes in the vertical direction, and a rotary supporting device located between the two wheel set axle boxes is installed in the middle of the rail engineering vehicle. The rail engineering truck moves downwards from the lower end to rotate and reverse under rotating supporting of the rotary supporting device connected with the steel rail in an anti-sideslip fit mode. According to the invention, material transfer, traction, excavation and hoisting are realized, extra allocation equipment is not needed, the problem that a traditional rail engineering vehicle is limited by a rail structure and needs a special steering line to adjust the direction is solved, convenience is provided for single-track railway maintenance, tunnel construction and reversing in a limited scene of small operation interval space, the driving direction adjusting difficulty is reduced, and the working efficiency is improved. The operation efficiency is improved.

The invention provides an energy optimal excavator obstacle avoidance trajectory planning method based on quintic NURBS. The method comprises the steps that a kinetic model of an excavator working device is constructed; based on the dynamic model and the target obstacle data, generating collision-free path points by using an improved fast expansion random tree algorithm, and describing a tooth tip movement track of the excavator bucket by using a quintic non-uniform rational B-spline curve; further constructing an energy optimal obstacle avoidance trajectory optimization model of the excavator working device; and applying a particle swarm algorithm to model optimization, and searching an optimal solution through iteration to determine an optimal obstacle avoidance track of the unmanned excavator. According to the invention, the autonomous obstacle avoidance operation of the unmanned walking type excavator is efficiently and accurately carried out under the working condition of vehicle-shovel cooperative unloading, and the method has important significance for ensuring the safety of the excavator in the operation process and improving the operation quality.

The invention provides an unmanned excavator track planning and control method, and relates to the field of artificial intelligence vehicle control. According to the system, aiming at engineering requirements of linear excavation and the like, an excavator working device is simplified into a four-degree-of-freedom mechanical arm, and a target excavation track is planned through an RRT-Connect algorithm and an S-type speed interpolation function; constructing the nonlinear system into a second-order linear system, and identifying model parameters on line by adopting a recursive least square method; and then an augmentation system containing error integration is constructed, model prediction control is combined, and high-precision trajectory tracking is realized through discretization processing, objective function optimization and a QP solver. The problem that a traditional control strategy is insufficient in precision is solved, the operation precision and adaptability of the unmanned excavator under complex working conditions are improved, the method is suitable for scenes such as groove excavation and slope leveling, and intelligent development of the excavator is promoted.