CN110984286A - Active protection method and system for excavator - Google Patents
Active protection method and system for excavator Download PDFInfo
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- CN110984286A CN110984286A CN201911341665.8A CN201911341665A CN110984286A CN 110984286 A CN110984286 A CN 110984286A CN 201911341665 A CN201911341665 A CN 201911341665A CN 110984286 A CN110984286 A CN 110984286A
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/24—Safety devices, e.g. for preventing overload
- E02F9/245—Safety devices, e.g. for preventing overload for preventing damage to underground objects during excavation, e.g. indicating buried pipes or the like
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/36—Component parts
- E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
- E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
- E02F3/435—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/26—Indicating devices
- E02F9/264—Sensors and their calibration for indicating the position of the work tool
- E02F9/265—Sensors and their calibration for indicating the position of the work tool with follow-up actions (e.g. control signals sent to actuate the work tool)
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- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
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- Component Parts Of Construction Machinery (AREA)
- Operation Control Of Excavators (AREA)
Abstract
The invention provides an active protection method and system for an excavator, which are applied to an excavator control system and comprise the following steps: acquiring the inclination angle and/or size information of a target component in the excavator, and acquiring a target rotation angle of a slewing bearing part of the excavator; the target member includes: a boom, stick and bucket; determining spatial position information of the target component in the excavator based on the inclination angle and the size information; judging whether the target component meets a safe working condition or not based on the spatial position information and the target rotation angle; if yes, executing protection operation on the excavator; the protection operation includes at least one of: and sending alarm information, reducing the running speed of an engine of the excavator, and stopping the action of the target component. The invention solves the technical problem that accidents are easy to happen due to the fact that the excavator exceeds the safe working range due to misoperation in the prior art.
Description
Technical Field
The invention relates to the technical field of engineering mechanical equipment control, in particular to an active protection method and system for an excavator.
Background
The excavator often meets the condition of space restriction in daily use, if the height space is not enough, the working device cannot be lifted to the maximum height, the underground pipeline is prevented from being damaged during ditching, so that the bucket cannot be excavated to the maximum depth, and the left space and the right space are not enough, so that the upper platform of the excavator cannot completely rotate. At present, aiming at the similar conditions, a driver can only observe the conditions through human eyes and operate the conditions according to experience, and the excavator often exceeds a safe working range due to misoperation, so that accidents of damaging surrounding equipment or damaging parts of the excavator occur.
Disclosure of Invention
In view of the above, the present invention provides an active protection method and system for an excavator, so as to solve the technical problem that an accident is easily caused when the excavator exceeds a safe working range due to misoperation in the prior art.
In a first aspect, an embodiment of the present invention provides an active protection method for an excavator, which is applied to an excavator control system, and includes: acquiring the inclination angle and/or size information of a target component in the excavator, and acquiring a target rotation angle of a slewing bearing part of the excavator; the target component includes: a boom, stick and bucket; determining spatial position information of the target component in the excavator based on the inclination angle and the size information; judging whether the target component meets a safe working condition or not based on the spatial position information and the target rotation angle; if yes, executing protection operation on the excavator; the protection operation includes at least one of: and sending alarm information, reducing the running speed of an engine of the excavator, and stopping the action of the target component.
Further, acquiring the inclination angle of the target component in the excavator comprises: and acquiring the inclination angle of the target component through an inclination angle sensor which is installed in the excavator in advance.
Further, acquiring the target rotation angle of the slewing bearing part of the excavator comprises: and acquiring a target rotation angle of a slewing bearing part of the excavator through a slewing angle sensor pre-installed in the excavator.
Further, the safe working condition comprises at least one first safe parameter of the following types: a vertical safety range and a rotational safety angle; judging whether the target component meets a safe working condition based on the spatial position information and the target rotation angle comprises: judging whether the target component meets the at least one first safety parameter based on the spatial position information and the target rotation angle; and if so, determining that the target component meets the safe working condition.
Further, determining whether the target component satisfies the at least one first safety parameter based on the spatial position information and the target rotation angle includes: determining whether the target component exceeds the vertical safety range based on spatial position information of the target component; and/or judging whether the target rotation angle is larger than the rotation safety angle; and if the target component is judged to exceed the vertical safety range and/or the target rotation angle is judged to be larger than the rotation safety angle, determining that the target component meets the at least one first safety parameter.
Further, the safe working condition comprises at least one second safe parameter of the following types: a first preset safe working range, a second preset safe working range and a third preset safe working range; judging whether the target component meets a safe working condition based on the spatial position information and the target rotation angle comprises: judging whether the target component meets the at least one second safety parameter based on the spatial position information and the target rotation angle; and if so, determining that the target component meets the safe working condition.
Further, determining whether the target component satisfies the at least one second safety parameter based on the spatial position information and the target rotation angle includes: judging whether the target component exceeds a target safe working range or not based on the spatial position information of the target component and the target rotation angle, wherein the target safe working range comprises at least one of the following: the first preset safe working range, the second preset safe working range and the third preset safe working range; and if so, determining that the at least one second safety parameter is met.
Further, the method further comprises: if the target component is judged to exceed a first preset safe working range, first warning information is sent out; if the target component is judged to exceed a second preset safe working range, sending second alarm information and reducing the running speed of an engine of the excavator; and if the target component is judged to exceed a third preset safe working range, sending third alarm information and stopping the action of the target component.
In a second aspect, an embodiment of the present invention further provides an active protection system for an excavator, which is applied to an excavator control system, and includes: the device comprises an acquisition module, a determination module and a protection module, wherein the acquisition module is used for acquiring the inclination angle and/or the size information of a target component in the excavator and acquiring the target rotation angle of a slewing bearing part of the excavator; the target component includes: a boom, stick and bucket; the determining module is used for determining spatial position information of the target component in the excavator based on the inclination angle and the size information; the protection module is used for judging whether the target component meets a safe working condition or not based on the spatial position information and the target rotation angle; if yes, executing protection operation on the excavator; the protection operation includes at least one of: and sending alarm information, reducing the running speed of an engine of the excavator, and stopping the action of the target component.
Further, the obtaining module comprises: the device comprises an inclination angle sensor and a rotation angle sensor, wherein the inclination angle sensor is used for acquiring the inclination angle of the target component; and the slewing angle sensor is used for acquiring a target slewing angle of the slewing bearing part of the excavator.
The invention provides an active protection method and system for an excavator, which comprises the following steps: acquiring the inclination angle and/or size information of a target component in the excavator, and acquiring a target rotation angle of a slewing bearing part of the excavator; determining spatial position information of the target component in the excavator based on the inclination angle and the size information; judging whether the target component meets a safe working condition or not based on the spatial position information and the target rotation angle; and if so, executing protection operation on the excavator. According to the method and the device, whether the target component of the excavator meets the safe working condition or exceeds the safe working range or not is automatically judged through the acquired inclination angle and size information of the target component of the excavator and the acquired target rotation angle of the slewing bearing part, and if the target component of the excavator meets the safe working condition or exceeds the safe working range, the excavator is protected, so that the technical problem that the excavator exceeds the safe working range due to misoperation and is easy to cause accidents in the prior art is solved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a flowchart of an active protection method for an excavator according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a three-level fence of an excavator according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of three safety warning angles of an excavator according to an embodiment of the present invention;
fig. 4 is a schematic diagram of an active protection system of an excavator according to an embodiment of the present invention;
fig. 5 is a schematic view of another active protection system of an excavator according to an embodiment of the present invention.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. 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 invention.
The first embodiment is as follows:
fig. 1 is a flowchart of an active protection method for an excavator, which is applied to an excavator control system according to an embodiment of the present invention. As shown in fig. 1, the method specifically includes the following steps:
step S102, acquiring the inclination angle and/or size information of a target component in the excavator, and acquiring a target rotation angle of a slewing bearing part of the excavator; the target member includes: boom, stick, and bucket.
Alternatively, the inclination angle of the target member is acquired by an inclination sensor mounted in advance in the excavator. And acquiring a target rotation angle of the slewing bearing part of the excavator through a slewing angle sensor pre-installed in the excavator.
Wherein, inclination sensor includes: a boom tilt sensor, a stick tilt sensor, and a bucket tilt sensor. Specifically, a boom tilt sensor is used to acquire a tilt angle of a boom of the excavator, an arm tilt sensor is used to acquire a tilt angle of an arm of the excavator, and a bucket tilt sensor is used to acquire a tilt angle of a bucket of the excavator.
And step S104, determining the spatial position information of the target component in the excavator based on the inclination angle and the size information.
For example, the front distance (or the rear distance) and the height of the target component relative to the excavator may be determined according to the inclination angle and the size information of the target component, and the spatial position information of the target component in the excavator may be determined according to the front distance (or the rear distance) and the height relative to the excavator.
Step S106, judging whether the target component meets safe working conditions or not based on the spatial position information and the target rotation angle; if yes, executing protection operation on the excavator; the protection operation includes at least one of: and sending alarm information, reducing the running speed of an engine of the excavator, and stopping the action of the target component.
The embodiment of the invention provides an active protection method for an excavator, which automatically judges whether a target component of the excavator meets a safe working condition or exceeds a safe working range or not according to the acquired information of the inclination angle and the size of the target component of the excavator and the acquired target rotation angle of a slewing bearing part, and executes protection operation on the excavator if the target component of the excavator meets the safe working condition or exceeds the safe working range, so that the technical problem that the excavator exceeds the safe working range and is easy to cause accidents due to misoperation in the prior art is solved.
Optionally, the safe working condition includes at least one of the following first safety parameters: a vertical safety range and a rotational safety angle;
judging whether the target component meets the safe working condition based on the spatial position information and the target rotation angle comprises the following steps:
judging whether the target component meets at least one first safety parameter based on the spatial position information and the target rotation angle;
and if so, determining that the target component meets the safe working condition.
In the embodiment of the present invention, the safe working condition of the excavator includes two kinds, one is a safe movable range of a working device (i.e., a target component) of the excavator in a vertical plane, i.e., a vertical safe range; one is a safe left and right rotation angle of the working device of the excavator in the horizontal direction, namely a safe rotation angle. For example, the vertical safety range may be determined by the following parameters: the maximum height that can be reached by the target component, the minimum height that can be reached by the target component, and the maximum distance that can be reached by the target component.
In the embodiment of the invention, whether the excavator works in the safety range or not can be judged by the following method.
Specifically, whether the target component exceeds a vertical safety range is judged based on the spatial position information of the target component; and/or judging whether the target rotation angle is larger than a rotation safety angle;
and if the target component is judged to exceed the vertical safety range and/or the target rotation angle is judged to be larger than the rotation safety angle, determining that the target component meets at least one first safety parameter.
For example, whether the spatial position information of the target component exceeds the maximum height or the minimum height or the farthest distance of the vertical safety range or not is judged, whether the target rotating angle is larger than the rotating safety angle or not is judged, and if yes, the target component is determined to meet at least one first safety parameter.
Optionally, the following may be selected according to actual needs: and determining that the target component meets at least one first safety parameter if the target component is judged to exceed the vertical safety range and the target rotation angle is judged to be greater than the rotation safety angle. And selecting according to actual needs: and determining that the target component meets at least one first safety parameter if the target component is judged to exceed the vertical safety range or the target rotation angle is judged to be greater than the rotation safety angle.
Alternatively, the safe working condition of the excavator may be set to a multi-level safe working range, for example, the safe working condition includes at least one of the following second safe parameters: the first preset safe working range, the second preset safe working range and the third preset safe working range.
Optionally, step S106 further includes the following steps:
step S1061, judging whether the target component meets at least one second safety parameter based on the spatial position information and the target rotation angle;
specifically, whether the target component exceeds a target safe working range is judged based on the spatial position information of the target component and the target rotation angle, wherein the target safe working range comprises at least one of the following: a first preset safe working range, a second preset safe working range and a third preset safe working range; and if so, determining that at least one second safety parameter is met.
And step S1062, if yes, determining that the target component meets the safe working condition.
Optionally, according to the tilt angle and the size information of the target component, the embodiment of the present invention may calculate spatial position information of the target component, determine whether the target component exceeds a preset multi-stage safe working range according to the spatial position information and the target rotation angle, and perform a corresponding protection operation according to a determination result, for example:
if the target component is judged to exceed the first preset safe working range, first warning information is sent out; for example, a warning message is issued to remind the driver of careful driving;
if the target component is judged to exceed the second preset safe working range, sending second alarm information and reducing the running speed of the engine of the excavator; for example, giving out audible and visual alarm commands and reducing the running speed of the engine;
if the target component is judged to exceed the third preset safe working range, third warning information is sent out, and the action of the target component is stopped; for example, an audible and visual alarm command is issued and an original direction operation command of the target part is forcibly stopped, and only a reverse operation is allowed, thereby actively protecting the excavator and surrounding facilities at the upper, lower and front sides.
The following illustrates an implementation process of the excavator active protection method provided by the embodiment of the present invention.
For example, a plurality of target safe operation range warnings including three directions of the excavator up, down, and forward are set respectively according to the actual working environment.
Specifically, as shown in fig. 2, three levels of guard lines that can be reached by the target component of the excavator are set: a first warning line L1, a second warning line L2, and a third warning line L3, and setting three safety warning angles of the slewing bearing portion of the excavator as shown in fig. 3: a first warning angle a1, a second warning angle a2, and a third warning angle A3, and then a first preset safe operating range is represented by a first warning line L1 and the first warning angle a1, a second preset safe operating range is represented by a second warning line L2 and the second warning angle a2, and a third preset safe operating range is represented by a third warning line L3 and the third warning angle A3.
The excavator control system acquires the inclination angle of a target component (comprising a movable arm, an arm and a bucket) of the excavator through a plurality of inclination angle sensors (comprising a movable arm inclination angle sensor, an arm inclination angle sensor and a bucket inclination angle sensor) which are pre-installed on the excavator, and acquires the target rotation angle of a slewing bearing part of the excavator through a slewing angle sensor which is pre-installed on the excavator; and acquiring the size information of the target component of the excavator according to the data of the excavator. Then, calculating the spatial position information of the target component of the excavator according to the inclination angle and the size information, and judging whether the calculated spatial position information exceeds the three layers of warning lines arranged above, specifically:
when the target component of the excavator reaches a third warning line L3, the control system sends out a sound alarm instruction to remind the driver of driving cautiously;
when the target component of the excavator reaches a second warning line L2, the control system sends out an audible and visual alarm instruction and reduces the running speed of the engine;
when the target component of the excavator reaches the first warning line L1, the control system sends out an audible and visual alarm instruction and forcibly stops the original direction operation instruction, only the reverse operation is allowed, and the excavator and surrounding facilities are actively protected at the upper part, the lower part and the front part.
Judging whether the target rotation angle exceeds three warning angles arranged above, specifically:
when the target rotation angle of the slewing bearing part reaches a third warning angle A3, the control system sends out a sound alarm instruction to remind a driver of driving cautiously;
when the target rotation angle of the slewing bearing part reaches a second warning angle A2, the control system sends out a sound-light alarm instruction and reduces the running speed of the engine;
when the target rotation angle of the slewing bearing part reaches a first warning angle A1, the control system sends out an audible and visual alarm instruction and forcibly stops the original direction operation instruction, only reverse operation is allowed, and the excavator and surrounding facilities are actively protected in the horizontal rotation range.
As can be seen from the above description, according to the active protection method for the excavator provided by the embodiment of the present invention, whether the current posture of the excavator is within the safe working range is determined by monitoring the inclination angles of the movable arm, the bucket rod and the bucket of the excavator, and the working range of the excavator is dynamically limited by establishing multiple layers of autonomous early warning protection measures, so as to actively protect the excavator and surrounding facilities, thereby alleviating the technical problem that the excavator exceeds the safe working range due to misoperation and is prone to accidents in the prior art.
Example two:
fig. 4 is a schematic diagram of an active protection system of an excavator, which is applied to an excavator control system according to an embodiment of the present invention. As shown in fig. 4, the system includes: the system comprises an acquisition module 10, a determination module 20 and a protection module 30.
Specifically, the acquiring module 10 is used for acquiring the inclination angle and/or the size information of a target component in the excavator and acquiring a target rotation angle of a slewing bearing part of the excavator; the target member includes: boom, stick, and bucket.
And the determining module 20 is used for determining the spatial position information of the target component in the excavator based on the inclination angle and the size information.
The protection module 30 is used for judging whether the target component meets the safe working condition or not based on the spatial position information and the target rotation angle; if yes, executing protection operation on the excavator; the protection operation includes at least one of: and sending alarm information, reducing the running speed of an engine of the excavator, and stopping the action of the target component.
The embodiment of the invention provides an active protection system of an excavator, which automatically judges whether a target component of the excavator meets a safe working condition or exceeds a safe working range or not according to the acquired information of the inclination angle and the size of the target component of the excavator and the acquired target rotation angle of a slewing bearing part, and executes protection operation on the excavator if the target component of the excavator meets the safe working condition or exceeds the safe working range, so that the technical problem that the excavator exceeds the safe working range and is easy to cause accidents due to misoperation in the prior art is solved.
Optionally, fig. 5 is a schematic view of another excavator active protection system provided according to an embodiment of the present invention, and as shown in fig. 5, the obtaining module 10 includes: a tilt sensor 11 and a swivel angle sensor 12.
Specifically, the tilt sensor 11 is used to acquire the tilt angle of the target member.
And a rotation angle sensor 12 for acquiring a target rotation angle of the slewing bearing part of the excavator.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (10)
1. An active protection method of an excavator is characterized by being applied to an excavator control system and comprising the following steps:
acquiring the inclination angle and/or size information of a target component in the excavator, and acquiring a target rotation angle of a slewing bearing part of the excavator; the target component includes: a boom, stick and bucket;
determining spatial position information of the target component in the excavator based on the inclination angle and the size information;
judging whether the target component meets a safe working condition or not based on the spatial position information and the target rotation angle;
if yes, executing protection operation on the excavator; the protection operation includes at least one of: and sending alarm information, reducing the running speed of an engine of the excavator, and stopping the action of the target component.
2. The method of claim 1, wherein obtaining the tilt angle of the target component in the excavator comprises:
and acquiring the inclination angle of the target component through an inclination angle sensor which is installed in the excavator in advance.
3. The method of claim 1, wherein obtaining the target turning angle of the slewing bearing point of the excavator comprises:
and acquiring a target rotation angle of a slewing bearing part of the excavator through a slewing angle sensor pre-installed in the excavator.
4. The method of claim 1, wherein the safe operating condition comprises at least one first safety parameter selected from the group consisting of: a vertical safety range and a rotational safety angle;
judging whether the target component meets a safe working condition based on the spatial position information and the target rotation angle comprises:
judging whether the target component meets the at least one first safety parameter based on the spatial position information and the target rotation angle;
and if so, determining that the target component meets the safe working condition.
5. The method of claim 4, wherein determining whether the target component satisfies the at least one first safety parameter based on the spatial position information and the target rotation angle comprises:
determining whether the target component exceeds the vertical safety range based on spatial position information of the target component; and/or
Judging whether the target rotation angle is larger than the rotation safety angle or not;
and if the target component is judged to exceed the vertical safety range and/or the target rotation angle is judged to be larger than the rotation safety angle, determining that the target component meets the at least one first safety parameter.
6. The method according to claim 1, wherein the safe operating condition comprises at least one second safety parameter selected from the group consisting of: a first preset safe working range, a second preset safe working range and a third preset safe working range;
judging whether the target component meets a safe working condition based on the spatial position information and the target rotation angle comprises:
judging whether the target component meets the at least one second safety parameter based on the spatial position information and the target rotation angle;
and if so, determining that the target component meets the safe working condition.
7. The method of claim 6, wherein determining whether the target component satisfies the at least one second safety parameter based on the spatial position information and the target rotation angle comprises:
judging whether the target component exceeds a target safe working range or not based on the spatial position information of the target component and the target rotation angle, wherein the target safe working range comprises at least one of the following: the first preset safe working range, the second preset safe working range and the third preset safe working range;
and if so, determining that the at least one second safety parameter is met.
8. The method of claim 7, further comprising:
if the target component is judged to exceed a first preset safe working range, first warning information is sent out;
if the target component is judged to exceed a second preset safe working range, sending second alarm information and reducing the running speed of an engine of the excavator;
and if the target component is judged to exceed a third preset safe working range, sending third alarm information and stopping the action of the target component.
9. An excavator active protection system is characterized in that the excavator active protection system is applied to an excavator control system and comprises: an acquisition module, a determination module and a protection module, wherein,
the acquisition module is used for acquiring the inclination angle and/or the size information of a target component in the excavator and acquiring the target rotation angle of a slewing bearing part of the excavator; the target component includes: a boom, stick and bucket;
the determining module is used for determining spatial position information of the target component in the excavator based on the inclination angle and the size information;
the protection module is used for judging whether the target component meets a safe working condition or not based on the spatial position information and the target rotation angle; if yes, executing protection operation on the excavator; the protection operation includes at least one of: and sending alarm information, reducing the running speed of an engine of the excavator, and stopping the action of the target component.
10. The excavator active guard system of claim 9 wherein the acquisition module comprises: a tilt sensor and a swivel angle sensor, wherein,
the inclination angle sensor is used for acquiring the inclination angle of the target component;
and the slewing angle sensor is used for acquiring a target slewing angle of the slewing bearing part of the excavator.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113047368A (en) * | 2021-04-21 | 2021-06-29 | 柳州柳工挖掘机有限公司 | Excavator electronic fence correction system and correction method and excavator |
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| CN105888644A (en) * | 2016-04-05 | 2016-08-24 | 中国铁建重工集团有限公司 | Anti-collision method and anti-collision system for arm supports |
| JP2019039182A (en) * | 2017-08-23 | 2019-03-14 | 大成建設株式会社 | Revolving control system for work vehicle |
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| CN113047368A (en) * | 2021-04-21 | 2021-06-29 | 柳州柳工挖掘机有限公司 | Excavator electronic fence correction system and correction method and excavator |
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