阅读说明：本技术 挖掘机控制方法、装置、计算机设备和可读存储介质 (Excavator control method and device, computer equipment and readable storage medium ) 是由 徐智颖 刘英豪 李娟娥 于 2020-04-30 设计创作，主要内容包括：本申请的实施例提供了一种挖掘机控制方法、装置、计算机设备和可读存储介质,涉及挖掘机控制领域,挖掘机控制方法包括：接收所述脑电采集设备发送的脑电信号；提取所述脑电信号的脑电特征信息,并将所述脑电特征信息输入预先训练的分类器中,得到所述脑电特征信息对应的脑电指令,所述脑电指令包括作业区域信息；发送所述脑电指令至所述挖掘机控制设备,以使所述挖掘机控制设备根据所述脑电指令,控制所述挖掘机在所述作业区域信息对应的作业区域进行作业,能够便捷地进行挖掘机的控制。(The embodiment of the application provides an excavator control method, an excavator control device, computer equipment and a readable storage medium, and relates to the field of excavator control, wherein the excavator control method comprises the following steps: receiving an electroencephalogram signal sent by the electroencephalogram acquisition equipment; extracting electroencephalogram characteristic information of the electroencephalogram signals, inputting the electroencephalogram characteristic information into a pre-trained classifier, and obtaining electroencephalogram instructions corresponding to the electroencephalogram characteristic information, wherein the electroencephalogram instructions comprise operating area information; and sending the electroencephalogram command to the excavator control equipment so that the excavator control equipment controls the excavator to work in a working area corresponding to the working area information according to the electroencephalogram command, and the excavator can be conveniently controlled.)

1. The excavator control method is characterized by being applied to computer equipment, wherein the computer equipment is in communication connection with electroencephalogram acquisition equipment and excavator control equipment, the electroencephalogram acquisition equipment is worn by a user who is subjected to visual training in advance, and the excavator control equipment is in communication connection with an excavator;

the method comprises the following steps:

receiving an electroencephalogram signal sent by the electroencephalogram acquisition equipment;

extracting electroencephalogram characteristic information of the electroencephalogram signals, inputting the electroencephalogram characteristic information into a pre-trained classifier, and obtaining electroencephalogram instructions corresponding to the electroencephalogram characteristic information, wherein the electroencephalogram instructions comprise operating area information;

and sending the electroencephalogram instruction to the excavator control equipment so that the excavator control equipment controls the excavator to work in a working area corresponding to the working area information according to the electroencephalogram instruction.

2. The method of claim 1, wherein the excavator control apparatus comprises a camera disposed adjacent the excavator, the excavator comprising an excavating bucket, the work area comprising an object to be excavated;

the step of sending the electroencephalogram instruction to the excavator control equipment so that the excavator control equipment controls the excavator to work in a working area corresponding to the working area information according to the electroencephalogram instruction comprises the following steps:

sending the electroencephalogram instruction to the excavator control equipment;

receiving a depth image of the working area acquired by a camera of the excavator control equipment, wherein the depth image comprises position information of the excavating bucket and position information of the target to be excavated;

generating a motion trail signal according to the position information of the excavating bucket and the position information of the target to be excavated, wherein the motion trail signal comprises a motion path of the excavating bucket;

and sending the motion track signal to the excavator control equipment so that the excavator control equipment controls the excavator to work in the working area according to the motion path according to the motion track signal.

3. The method according to claim 2, wherein the position information of the object to be excavated includes a first direction length of the object to be excavated and a second direction length of the object to be excavated, and the step of generating the motion trajectory signal according to the position information of the excavating bucket and the position information of the object to be excavated includes:

obtaining the distance between the excavating bucket and the target to be excavated according to the position information of the excavating bucket and the position information of the target to be excavated;

calculating to obtain the excavation depth according to the distance between the excavation bucket and the target to be excavated;

taking the length of the target to be excavated in the first direction as a first direction displacement distance, and taking the length of the target to be excavated in the second direction as a second direction displacement distance;

and generating the motion trail signal according to the excavation depth, the first direction displacement distance and the second direction displacement distance.

4. The method of claim 1, wherein the step of receiving the brain electrical signal transmitted by the brain electrical acquisition device comprises:

receiving event-related potential signals sent by the electroencephalogram acquisition equipment;

and filtering and amplifying the event-related potential signals and performing digital-to-analog conversion to obtain the electroencephalogram signals.

5. The excavator control device is characterized by being applied to computer equipment, wherein the computer equipment is in communication connection with electroencephalogram acquisition equipment and excavator control equipment, the electroencephalogram acquisition equipment is worn by a user who is subjected to visual training in advance, and the excavator control equipment is in communication connection with an excavator;

the device comprises:

the receiving module is used for receiving the electroencephalogram signals sent by the electroencephalogram acquisition equipment;

the extraction module is used for extracting electroencephalogram characteristic information of the electroencephalogram signals and inputting the electroencephalogram characteristic information into a pre-trained classifier to obtain electroencephalogram instructions corresponding to the electroencephalogram characteristic information, and the electroencephalogram instructions comprise operation area information;

and the operation module is used for sending the electroencephalogram command to the excavator control equipment so as to enable the excavator control equipment to control the excavator to operate in an operation area corresponding to the operation area information according to the electroencephalogram command.

6. The apparatus of claim 5, wherein the excavator control device includes a camera disposed adjacent the excavator, the excavator including an excavating bucket, the work area including an object to be excavated;

the job module includes:

the operation sub-module is used for sending the electroencephalogram instruction to the excavator control equipment; receiving a depth image of the working area acquired by a camera of the excavator control equipment, wherein the depth image comprises position information of the excavating bucket and position information of the target to be excavated; generating a motion trail signal according to the position information of the excavating bucket and the position information of the target to be excavated, wherein the motion trail signal comprises a motion path of the excavating bucket; and sending the motion track signal to the excavator control equipment so that the excavator control equipment controls the excavator to work in the working area according to the motion path according to the motion track signal.

7. The apparatus of claim 6, wherein the job submodule is specifically configured to:

obtaining the distance between the excavating bucket and the target to be excavated according to the position information of the excavating bucket and the position information of the target to be excavated; calculating to obtain the excavation depth according to the distance between the excavation bucket and the target to be excavated; taking the length of the target to be excavated in the first direction as a first direction displacement distance, and taking the length of the target to be excavated in the second direction as a second direction displacement distance; and generating the motion trail signal according to the excavation depth, the first direction displacement distance and the second direction displacement distance.

8. The apparatus of claim 5, wherein the receiving module is specifically configured to:

receiving event-related potential signals sent by the electroencephalogram acquisition equipment; and filtering and amplifying the event-related potential signals and performing digital-to-analog conversion to obtain the electroencephalogram signals.

9. A computer device comprising a processor and a non-volatile memory having computer instructions stored thereon, wherein the computer instructions, when executed by the processor, cause the computer device to perform the excavator control method of any one of claims 1-4.

10. A readable storage medium, characterized in that the readable storage medium comprises a computer program which, when executed, controls a computer device on which the readable storage medium is located to perform the excavator control method of any one of claims 1-4.

Technical Field

The present application relates to the field of excavator control, and in particular, to an excavator control method, apparatus, computer device, and readable storage medium.

Background

At present, most of the excavator driving is manually completed, so when a plurality of operation targets need to be excavated, if a plurality of excavator technicians are hired to configure a plurality of excavators, the cost is too high, and if a plurality of operation targets are sequentially processed by one excavator driver, the time is long. Moreover, when the excavator works in relatively dangerous areas, the excavator driver can be injured after an accident occurs. Therefore, the existing excavator control method is relatively complex, and the excavator must be matched in a mode that one operator configures one excavator, which is very inconvenient.

In view of this, how to provide a convenient excavator control scheme is needed to be solved by those skilled in the art.

Disclosure of Invention

The application provides an excavator control method, an excavator control device, computer equipment and a readable storage medium.

The embodiment of the application can be realized as follows:

in a first aspect, an embodiment of the present application provides an excavator control method, which is applied to a computer device, where the computer device is in communication connection with both an electroencephalogram acquisition device and an excavator control device, the electroencephalogram acquisition device is worn by a user who has undergone visual training in advance, and the excavator control device is in communication connection with an excavator;

the method comprises the following steps:

receiving an electroencephalogram signal sent by the electroencephalogram acquisition equipment;

extracting electroencephalogram characteristic information of the electroencephalogram signals, inputting the electroencephalogram characteristic information into a pre-trained classifier, and obtaining electroencephalogram instructions corresponding to the electroencephalogram characteristic information, wherein the electroencephalogram instructions comprise operating area information;

and sending the electroencephalogram instruction to the excavator control equipment so that the excavator control equipment controls the excavator to work in a working area corresponding to the working area information according to the electroencephalogram instruction.

In an alternative embodiment, the excavator control apparatus comprises a camera disposed adjacent the excavator, the excavator comprising an excavating bucket, the work area comprising an object to be excavated;

the step of sending the electroencephalogram instruction to the excavator control equipment so that the excavator control equipment controls the excavator to work in a working area corresponding to the working area information according to the electroencephalogram instruction comprises the following steps:

sending the electroencephalogram instruction to the excavator control equipment;

receiving a depth image of the working area acquired by a camera of the excavator control equipment, wherein the depth image comprises position information of the excavating bucket and position information of the target to be excavated;

generating a motion trail signal according to the position information of the excavating bucket and the position information of the target to be excavated, wherein the motion trail signal comprises a motion path of the excavating bucket;

and sending the motion track signal to the excavator control equipment so that the excavator control equipment controls the excavator to work in the working area according to the motion path according to the motion track signal.

In an optional embodiment, the step of generating a motion trail signal according to the position information of the excavating bucket and the position information of the target to be excavated includes:

obtaining the distance between the excavating bucket and the target to be excavated according to the position information of the excavating bucket and the position information of the target to be excavated;

calculating to obtain the excavation depth according to the distance between the excavation bucket and the target to be excavated;

taking the length of the target to be excavated in the first direction as a first direction displacement distance, and taking the length of the target to be excavated in the second direction as a second direction displacement distance;

and generating the motion trail signal according to the excavation depth, the first direction displacement distance and the second direction displacement distance.

In an optional embodiment, the step of receiving the electroencephalogram signal sent by the electroencephalogram acquisition device includes:

receiving event-related potential signals sent by the electroencephalogram acquisition equipment;

and filtering and amplifying the event-related potential signals and performing digital-to-analog conversion to obtain the electroencephalogram signals.

In a second aspect, an embodiment of the present application provides an excavator control device, which is applied to a computer device, the computer device is in communication connection with both an electroencephalogram acquisition device and an excavator control device, the electroencephalogram acquisition device is worn by a user who is subjected to visual training in advance, and the excavator control device is in communication connection with an excavator;

the device comprises:

the receiving module is used for receiving the electroencephalogram signals sent by the electroencephalogram acquisition equipment;

the extraction module is used for extracting electroencephalogram characteristic information of the electroencephalogram signals and inputting the electroencephalogram characteristic information into a pre-trained classifier to obtain electroencephalogram instructions corresponding to the electroencephalogram characteristic information, and the electroencephalogram instructions comprise operation area information;

and the operation module is used for sending the electroencephalogram command to the excavator control equipment so as to enable the excavator control equipment to control the excavator to operate in an operation area corresponding to the operation area information according to the electroencephalogram command.

In an alternative embodiment, the excavator control apparatus comprises a camera disposed adjacent the excavator, the excavator comprising an excavating bucket, the work area comprising an object to be excavated;

the job module includes:

the operation sub-module is used for sending the electroencephalogram instruction to the excavator control equipment; receiving a depth image of the working area acquired by a camera of the excavator control equipment, wherein the depth image comprises position information of the excavating bucket and position information of the target to be excavated; generating a motion trail signal according to the position information of the excavating bucket and the position information of the target to be excavated, wherein the motion trail signal comprises a motion path of the excavating bucket; and sending the motion track signal to the excavator control equipment so that the excavator control equipment controls the excavator to work in the working area according to the motion path according to the motion track signal.

In an alternative embodiment, the job submodule is specifically configured to:

obtaining the distance between the excavating bucket and the target to be excavated according to the position information of the excavating bucket and the position information of the target to be excavated; calculating to obtain the excavation depth according to the distance between the excavation bucket and the target to be excavated; taking the length of the target to be excavated in the first direction as a first direction displacement distance, and taking the length of the target to be excavated in the second direction as a second direction displacement distance; and generating the motion trail signal according to the excavation depth, the first direction displacement distance and the second direction displacement distance.

In an optional implementation manner, the receiving module is specifically configured to:

receiving event-related potential signals sent by the electroencephalogram acquisition equipment; and filtering and amplifying the event-related potential signals and performing digital-to-analog conversion to obtain the electroencephalogram signals.

In a third aspect, an embodiment of the present application provides a computer device, where the computer device includes a processor and a non-volatile memory storing computer instructions, and when the computer instructions are executed by the processor, the computer device executes the excavator control method according to any one of the foregoing embodiments.

In a fourth aspect, an embodiment of the present application provides a readable storage medium, where the readable storage medium includes a computer program, and the computer program controls a computer device on which the readable storage medium is executed to perform the excavator control method according to any one of the foregoing embodiments.

The beneficial effects of the embodiment of the application include, for example: by adopting the excavator control method, the excavator control device, the computer equipment and the readable storage medium provided by the embodiment of the application, the electroencephalogram signals sent by the electroencephalogram acquisition equipment are received; extracting electroencephalogram characteristic information of the electroencephalogram signals, inputting the electroencephalogram characteristic information into a pre-trained classifier, and obtaining electroencephalogram instructions corresponding to the electroencephalogram characteristic information, wherein the electroencephalogram instructions comprise operating area information; and finally, the electroencephalogram command is sent to the excavator control equipment, so that the excavator control equipment controls the excavator to operate in the operation area corresponding to the operation area information according to the electroencephalogram command, and the excavator can be conveniently controlled.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.

Fig. 1 is a schematic block diagram of a structure of an excavator control system provided in an embodiment of the present application;

FIG. 2 is a schematic flowchart illustrating steps of an excavator control method according to an embodiment of the present disclosure;

fig. 3 is a scene schematic diagram of an excavator work site according to an embodiment of the present application;

fig. 4 is a block diagram schematically illustrating a structure of an excavator control device according to an embodiment of the present application;

fig. 5 is a block diagram schematically illustrating a structure of a computer device according to an embodiment of the present disclosure.

Icon: 100-a computer device; 110-excavator control means; 1101-a receiving module; 1102-an extraction module; 1103-job module; 111-a memory; 112-a processor; 113-a communication unit; 200-electroencephalogram acquisition equipment; 300-an excavator control device; 400-excavator.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.

In the description of the present application, it should be noted that if the terms "upper", "lower", "inside", "outside", etc. are used for indicating the orientation or positional relationship based on the orientation or positional relationship shown in the drawings or the orientation or positional relationship which the present invention product is usually put into use, it is only for convenience of describing the present application and simplifying the description, but it is not intended to indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation and be operated, and thus, should not be construed as limiting the present application.

Furthermore, the appearances of the terms "first," "second," and the like, if any, are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.

It should be noted that the features of the embodiments of the present application may be combined with each other without conflict.

In the conventional work site, the excavator is still operated by a driver on site, however, if the work area to be excavated is too much, a plurality of excavators can be hired, but the plurality of excavators and the operator provided for each excavator cause a problem of high cost, and if only one excavator is used, a great deal of time is consumed to hire one operator to perform operations in multiple times. Moreover, when the excavator works in dangerous areas, the personal safety of operators cannot be guaranteed, and the traditional excavator control method is very inconvenient. Based on this, an embodiment of the present application provides an excavator control method, which is applied to a computer device, as shown in fig. 1, the computer device 100 is in communication connection with both the electroencephalogram acquisition device 200 and the excavator control device 300, the electroencephalogram acquisition device 200 is worn by a user who has undergone visual training in advance, and the excavator control device 300 is in communication connection with the excavator 400. As shown in fig. 2, the excavator control method includes steps 201 to 203.

Step 201, receiving an electroencephalogram signal sent by the electroencephalogram acquisition device 200.

The electroencephalogram acquisition equipment 200 is worn by a user who is trained through visual images, the electroencephalogram acquisition equipment 200 used can be configured based on a non-invasive brain-computer interface technology based on event-related potential, and compared with an invasive brain-computer interface technology based on event-related potential, the electroencephalogram acquisition equipment 200 is simple to use, high in identification accuracy and high in adaptability.

Step 202, extracting electroencephalogram characteristic information of the electroencephalogram signal, and inputting the electroencephalogram characteristic information into a pre-trained classifier to obtain an electroencephalogram instruction corresponding to the electroencephalogram characteristic information.

After receiving the extracted electroencephalogram signal, computer characteristic information of the electroencephalogram signal can be further extracted, the electroencephalogram characteristic information is input into a pre-trained classifier, and the training process of the pre-trained classifier can be obtained through the following steps. Acquiring a plurality of training samples, wherein the training samples comprise electroencephalogram characteristic information generated by watching a working area identifier by wearing the electroencephalogram acquisition equipment 200 by a user who is subjected to visual training in advance, and the working area identifier watched by the user when the electroencephalogram characteristic information is generated. The electroencephalogram feature information in the training samples is used as input, the operation area identification corresponding to the electroencephalogram feature information in each training sample is used as output, the initial classifier is trained, and the trained classifier can be obtained. It should be understood that, after the electroencephalogram feature information is input into the trained classifier in the embodiment of the present application, the electroencephalogram command output includes the information of the work area (i.e. the work area in which the work is to be performed). For example, the work area may include a "soil pile work area" and a "flat ground work area", and after a user who has undergone visual training in advance wears the electroencephalogram acquisition device 200 and receives visual stimuli (for example, views a picture of the work area) corresponding to the "soil pile work area" and the "flat ground work area", two different electroencephalograms may be correspondingly generated, namely, an electroencephalogram generated by the fact that the "soil pile work area" is stimulated and an electroencephalogram generated by the fact that the "flat ground work area" is stimulated are seen. The method comprises the steps that electroencephalogram characteristic information generated by visual stimulation of a user on a 'soil pile working area' is input into a classifier which is trained in advance, the classifier can output electroencephalogram instructions corresponding to the 'soil pile working area', the electroencephalogram instructions comprise information of the working area, and therefore the user can be determined to work in the 'soil pile working area'.

Step 203, sending the electroencephalogram command to the excavator control device 300, so that the excavator control device 300 controls the excavator 400 to work in the work area corresponding to the work area information according to the electroencephalogram command.

It should be understood that, in the embodiment of the present application, the electroencephalogram command may include work area information, and the work area information may be used to determine which area to perform work in, and after the work area is determined, the excavator 400 may be controlled to perform work in the work area corresponding to the work area information, and the command for controlling the specific operation of the excavator 400 may be a preset control command.

On this basis, the shovel control apparatus 300 includes a camera provided near the shovel 400, the shovel 400 includes an excavating bucket, and the work area includes an object to be excavated. The embodiment of the present application further provides an example of sending the electroencephalogram instruction to the excavator control device 300, so that the excavator control device 300 controls the excavator 400 to perform work in the work area corresponding to the work area information according to the electroencephalogram instruction, and the following steps may be implemented.

Sends the brain electrical commands to the excavator control apparatus 300.

Receiving a depth image of the work area acquired by a camera of the excavator control apparatus 300, the depth image including position information of the excavating bucket and position information of the target to be excavated.

The camera may be provided near the excavator 400, may be provided on the excavator 400, or may be provided on a work site where the work area is located. The number of cameras may be plural. The camera is mainly used for acquiring a three-dimensional depth image of the working area, wherein the three-dimensional depth image can comprise position information of an excavating bucket and position information of an object to be excavated. The three-dimensional depth image acquired by the camera can be used as the image for forming visual stimulation to the user to generate an electroencephalogram signal, namely, the three-dimensional depth images of a plurality of working areas can be acquired and provided for the user wearing the electroencephalogram acquisition equipment 200, the user wearing the electroencephalogram acquisition equipment 200 can generate the electroencephalogram signal according to the sequence labels of the depth images, and the visual stimulation can also be generated according to the target to be excavated in the specific depth image to generate the electroencephalogram signal. For example, referring to fig. 3, there may be "soil heap working area", "land working area" and "fence working area", wherein, the 'soil heap operation area' can be attached with a mark '1', the 'flat ground operation area' can be attached with a mark '2', the 'fence operation area' can be attached with a mark '3', if a user wearing the electroencephalogram acquisition equipment 200 wants to perform operation in the 'soil heap operation area', the visual stimulation can be performed by marking '1' to achieve the purpose of generating the electroencephalogram instructions including the work area information of the 'soil heap work area', and in addition, if the user wearing the electroencephalogram acquisition device 200 wants to perform work in the 'fence work area', the visual stimulation can also be generated by watching the target 'fence' to be excavated in the 'fence work area', thereby achieving the purpose of generating the electroencephalogram instructions comprising the operation area information of the 'fence operation area'.

And generating a motion trail signal according to the position information of the excavating bucket and the position information of the target to be excavated, wherein the motion trail signal comprises a motion path of the excavating bucket.

It should be appreciated that, under normal work requirements, the excavator 400 requires a skilled technician to perform the operation, but in the actual implementation, the operation of the excavator 400 is relatively simple, such as digging away the target "mound" to be excavated in the "mound work area" or digging out a pit of a prescribed size in the "flat work area". Based on the position information of the excavating bucket and the position information of the target to be excavated, a motion trail signal is generated, the motion trail signal comprises the motion path of the excavating bucket, the motion path of the excavating bucket is known, and the operation path of the operation can be obtained.

The movement trace signal is transmitted to the excavator control apparatus 300 so that the excavator control apparatus 300 controls the excavator 400 to perform work in the work area according to the movement path based on the movement trace signal.

After the movement trace signal is obtained according to the above steps, the movement trace signal may be transmitted to the excavator control apparatus 300, and the excavator control apparatus 300 controls the operation of the excavator 400 according to the movement trace signal.

On the basis, the position information of the target to be excavated comprises the first direction length of the target to be excavated and the second direction length of the target to be excavated.

And obtaining the distance between the excavating bucket and the target to be excavated according to the position information of the excavating bucket and the position information of the target to be excavated.

The position information of the excavating bucket and the position information of the target to be excavated can be coordinate information of two points, which are closest to each other, of the excavating bucket and the target to be excavated in the three-dimensional depth map, respectively, and the distance between the excavating bucket and the target to be excavated can be calculated according to the two coordinate information.

And calculating to obtain the excavation depth according to the distance between the excavation bucket and the target to be excavated.

The excavation depth may be an excavation distance of an object desired to be excavated in a vertical direction with respect to the ground, for example, in the case of an object to be excavated "earth heap" aimed at leveling the object to be excavated "earth heap", the calculated excavation depth may be a distance of the excavation bucket from the object to be excavated "earth heap" plus a height of the earth heap. For a target to be excavated to be "flat," which aims at excavating a pit in the target to be excavated "flat", the calculated excavation depth may be the distance between the excavating bucket and the target to be excavated "flat" plus the depth of the preset pit.

And taking the length of the target to be excavated in the first direction as a first direction displacement distance, and taking the length of the target to be excavated in the second direction as a second direction displacement distance.

The plane determined by the excavation bucket towards the central axis of the target to be excavated, the direction of which is perpendicular to the ground, can be used as a first plane, the plane perpendicular to the first plane can be used as a second plane, the length of the target to be excavated between two farthest coordinate points in the three-dimensional depth map, which are parallel to the first plane and in the direction perpendicular to the second plane, can be used as the length of the target to be excavated in the first direction, and similarly, the length of the target to be excavated in the three-dimensional depth map, which is perpendicular to the first plane and in the direction parallel to the second plane, can be used as the length of the target to be excavated in the second direction, and further can be used as the first direction displacement distance and the second direction displacement distance of the excavation bucket respectively.

And generating a motion track signal according to the excavation depth, the first direction displacement distance and the second direction displacement distance.

After the displacement schemes of the excavating bucket in three different directions are obtained, a motion trail signal can be generated, it should be understood that, in a general case, after the excavator 400 travels to a preset position, the excavator 400 can be kept fixed, and the operation is realized by moving the excavating bucket, or the excavator body is driven to move to cooperate with the operation when the excavating bucket is used.

On the basis of the foregoing, the embodiment of the present application provides an example of receiving an electroencephalogram signal sent by an electroencephalogram acquisition device 200, which can be implemented by the following steps.

And receiving the event-related potential signal sent by the electroencephalogram acquisition device 200.

And filtering and amplifying the event-related potential signals and performing digital-to-analog conversion to obtain electroencephalogram signals.

The P300 event-related potential method can be adopted to collect the electroencephalogram signals of the user, and the electroencephalogram signals are obtained after signal filtering, amplification and analog-to-digital conversion.

Through the steps, the excavator remote control scheme based on the brain-computer interface technology can be realized, different operation areas of the excavator 400 are divided, then different events are adopted to induce the user to generate corresponding time-related potentials (namely electroencephalogram signals), and further the control intention of the user can be judged according to the occurrence time of the P300. The complex operation mode of the excavator 400 can be simplified, so that a user who never drives the excavator 400 or is unskilled in operating the excavator 400 can operate the excavator 400 to enable the excavator 400 to execute various actions, the target of the user is achieved, and the limitation of the existing combination mode of the handle and the special command key is broken through. Moreover, the excavator 400 is conveniently and remotely controlled through the brain-computer interface technology, so that an operator is not limited by a cab, the excavator is suitable for some dangerous occasions, and the personal safety of the operator is guaranteed.

The embodiment of the present application provides an excavator control device 110, is applied to computer equipment 100, and computer equipment 100 all is communication connection with brain electricity collection equipment 200 and excavator control equipment 300, and brain electricity collection equipment 200 is worn by the user who passes through visual training in advance, and excavator control equipment 300 and excavator communication connection, as shown in fig. 4, excavator control device 110 includes:

the receiving module 1101 is configured to receive the electroencephalogram signal sent by the electroencephalogram acquisition device 200.

The extraction module 1102 is configured to extract electroencephalogram feature information of the electroencephalogram signal, and input the electroencephalogram feature information into a pre-trained classifier to obtain an electroencephalogram instruction corresponding to the electroencephalogram feature information, where the electroencephalogram instruction includes information of a work area.

The operation module 1103 is configured to send an electroencephalogram instruction to the excavator control device 300, so that the excavator control device 300 controls the excavator 400 to perform an operation in an operation area corresponding to the operation area information according to the electroencephalogram instruction.

Further, the shovel control apparatus 300 includes a camera provided near the shovel 400, the shovel 400 includes a shovel bucket, and the work area includes an object to be dug;

the job module 1103 includes:

the operation submodule is used for sending an electroencephalogram instruction to the excavator control device 300; receiving a depth image of a working area acquired by a camera of the excavator control device 300, wherein the depth image comprises position information of an excavating bucket and position information of a target to be excavated; generating a motion trail signal according to the position information of the excavating bucket and the position information of the target to be excavated, wherein the motion trail signal comprises a motion path of the excavating bucket; the movement trace signal is transmitted to the excavator control apparatus 300 so that the excavator control apparatus 300 controls the excavator 400 to perform work in the work area according to the movement path based on the movement trace signal.

Further, the operation submodule is specifically configured to:

obtaining the distance between the excavating bucket and the target to be excavated according to the position information of the excavating bucket and the position information of the target to be excavated; calculating to obtain the excavation depth according to the distance between the excavation bucket and the target to be excavated; taking the length of the target to be excavated in the first direction as a first direction displacement distance, and taking the length of the target to be excavated in the second direction as a second direction displacement distance; and generating a motion track signal according to the excavation depth, the first direction displacement distance and the second direction displacement distance.

Further, the receiving module 1101 is specifically configured to:

receiving an event-related potential signal sent by the electroencephalogram acquisition device 200; and filtering and amplifying the event-related potential signals and performing digital-to-analog conversion to obtain electroencephalogram signals.

In the embodiment of the present application, the implementation principle of the excavator control device 110 may refer to the implementation principle of the excavator control method, which is not described herein again.

The embodiment of the application provides a computer device 100, wherein the computer device 100 comprises a processor and a nonvolatile memory storing computer instructions, and when the computer instructions are executed by the processor, the computer device 100 executes the excavator control method. As shown in fig. 5, fig. 5 is a block diagram of a computer device 100 according to an embodiment of the present disclosure. The computer apparatus 100 includes an excavator control device 110, a memory 111, a processor 112, and a communication unit 113.

The memory 111, the processor 112 and the communication unit 113 are electrically connected to each other directly or indirectly to realize data transmission or interaction. For example, the components may be electrically connected to each other via one or more communication buses or signal lines. The excavator control device 110 includes at least one software function module which may be stored in the memory 111 in the form of software or firmware (firmware) or solidified in an Operating System (OS) of the computer apparatus 100. The processor 112 is used for executing executable modules stored in the memory 111, such as software functional modules and computer programs included in the excavator control device 110.

The Memory 111 may be, but is not limited to, a Random Access Memory (RAM), a Read Only Memory (ROM), a Programmable Read-Only Memory (PROM), an Erasable Read-Only Memory (EPROM), an electrically Erasable Read-Only Memory (EEPROM), and the like.

The embodiment of the application provides a readable storage medium, the readable storage medium comprises a computer program, and when the computer program runs, the computer program controls computer equipment where the readable storage medium is located to execute the excavator control method.

In summary, the embodiment of the present application provides an excavator control method, an excavator control device, a computer device, and a readable storage medium, where the excavator control method is implemented by receiving an electroencephalogram signal sent by an electroencephalogram acquisition device; extracting electroencephalogram characteristic information of the electroencephalogram signals, inputting the electroencephalogram characteristic information into a pre-trained classifier, and obtaining electroencephalogram instructions corresponding to the electroencephalogram characteristic information, wherein the electroencephalogram instructions comprise operating area information; and finally, the electroencephalogram command is sent to the excavator control equipment, so that the excavator control equipment controls the excavator to operate in the operation area corresponding to the operation area information according to the electroencephalogram command, and the excavator can be conveniently controlled.

The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present application should be covered within the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.