Method for establishing electronic fence for excavator

A method for establishing an electronic fence for an excavator, wherein the excavator comprises a frame, a slewing platform rotatably mounted on the frame, a working arm mounted on the slewing platform in a pitching swinging manner, and a bucket rotatably mounted on the working arm, the working arm comprising a first working arm hinged to the slewing platform-and a second working arm hinged to the first working arm, an end, away from the first working arm, of the second working arm is hinged to the bucket, and the method comprising:

• establishing a three-dimensional coordinate system comprising an X-axis, a Y-axis, a Z-axis, and an origin O;
• obtaining boundary lines of working areas of the working arm and the bucket of the excavator in a same height plane in the three-dimensional coordinate system, comprising:
• obtaining coordinates, in the three-dimensional coordinate system, of multiple boundary points of the working areas at the same height along a circumferential direction of the excavator;
• and connecting two adjacent boundary points to form multiple straight lines connected in sequence, and taking the boundary lines formed by the multiple straight lines as the electronic fence;
• calculating a function equation y=fn(x) of a straight line connecting two adjacent boundary points based on coordinates of the two adjacent boundary points, wherein n is a natural number and represents a number of the straight line;
• and
• monitoring coordinates (x, y) of a monitoring point on the working arm and/or bucket, and determining whether the coordinates (x, y) of the monitoring point are within the boundary lines,
• wherein a hydraulic system of the excavator comprises a driving component for driving rotation of the slewing platform, a first hydraulic cylinder for driving the first working arm to pitch and swing with respect to the slewing platform, a second hydraulic cylinder for driving the second working arm to swing with respect to the first working arm, and a third hydraulic cylinder for driving the bucket to swing with respect to the working second arm,
• wherein the excavator also comprises a first angle sensor for detecting a slewing angle of the slewing platform with respect to the frame, a second angle sensor for detecting an angle of the first working arm with respect to the slewing platform, a third angle sensor for detecting an angle of the second working arm with respect to the first working arm, and a fourth angle sensor for detecting an angle of the bucket with respect to the second arm, and
• wherein a controller of the excavator is in signal connection to the first to fourth angle sensors and the hydraulic system to limit an operating range of the bucket of the excavator.