CN117488891A

CN117488891A - Excavator working range setting method, terminal equipment and readable storage medium

Info

Publication number: CN117488891A
Application number: CN202311589694.2A
Authority: CN
Inventors: 颜学刚; 邱杰
Original assignee: Shenzhen Haixing Zhijia Technology Co Ltd
Current assignee: Shenzhen Haixing Zhijia Technology Co Ltd
Priority date: 2023-11-24
Filing date: 2023-11-24
Publication date: 2024-02-02

Abstract

The application relates to the technical field of engineering machinery, and discloses an excavator working range setting method, terminal equipment and a computer readable storage medium. The method comprises the following steps: when an excavating task is received, acquiring a job image, a size and a boundary corresponding to a job range in the excavating task; programming the operation image, the size and the boundary to generate pattern data corresponding to a programmable pattern card; the method comprises the steps of obtaining current position and vehicle body posture data of an excavator, controlling a laser imager which is arranged on the top of the excavator body or preset in an operation area, projecting on an operation surface according to the vehicle body posture data and the pattern data, and displaying an operation range corresponding to an excavating task. The problem of inaccurate operation range of the excavator is solved, and the effect of improving the accuracy of scribing the operation range of the excavator is achieved.

Description

Excavator working range setting method, terminal equipment and readable storage medium

Technical Field

The present disclosure relates to the technical field of engineering machinery, and in particular, to an excavator working range setting method, a terminal device, and a computer readable storage medium.

Background

An excavator is an earth moving machine that excavates material above or below a deck with a bucket and loads the material into a transport vehicle or unloads the material to a storage yard. In recent years, the development of the excavator is relatively quick, and the excavator is one of the most important engineering machines in engineering construction.

In the application scenes of many excavators, a clear operation range needs to be set, so that the accurate operation of the excavators is ensured, and meanwhile, the situation that irrelevant personnel enter the construction range can be avoided. In setting the working range of an excavator, it is generally performed by a marker or GPS positioning method, but in actual work, the marker or GPS positioning method tends to interfere with the surrounding environment, which results in inaccurate working range definition.

Disclosure of Invention

The embodiment of the application solves the problem of inaccuracy in defining the working range of the excavator by providing the excavator working range setting method, the terminal equipment and the computer readable storage medium, and achieves the effect of improving the accuracy of scribing the working range of the excavator.

The embodiment of the application provides a method for setting the working range of an excavator, which comprises the following steps:

when an excavating task is received, acquiring a job image, a size and a boundary corresponding to a job range in the excavating task;

programming the operation image, the size and the boundary to generate pattern data corresponding to a programmable pattern card;

the method comprises the steps of obtaining current position and vehicle body posture data of an excavator, controlling a laser imager which is arranged on the top of the excavator body or preset in an operation area, projecting on an operation surface according to the vehicle body posture data and the pattern data, and displaying an operation range corresponding to an excavating task.

Optionally, the step of obtaining the current position and the vehicle body posture data of the excavator, controlling a laser imager located on the top of the excavator body or preset in a working area, projecting the laser imager on a working surface according to the vehicle body posture data and the pattern data, and displaying a working range corresponding to the excavating task includes:

after the current position and the vehicle body posture data are acquired, adjusting the imaging proportion of the laser imager according to the distance between the current position and the calibration point of the working surface;

adjusting a laser offset angle of the laser imager according to the angle between the vehicle body posture data and the calibration point;

and displaying the working range on the working surface according to the imaging proportion and the laser offset angle.

acquiring the current position, and determining an operation point position according to the excavating task;

planning a movement route of the excavator according to the current position and the operation point position;

after the excavator reaches the operation point, adjusting the body posture of the excavator according to the body posture data;

and controlling a laser imager to emit laser according to the pattern data, and forming the working range on the working surface.

Optionally, the step of planning the movement route of the excavator according to the current position and the working point position includes:

acquiring coordinate information of the current position and the operation point position, and calculating all paths of the excavator;

the topography conditions of all paths are obtained, and the movement route is selected according to the topography conditions;

transmitting the movement route to a movement control system of the excavator.

Optionally, after the step of obtaining the current position and the vehicle body posture data of the excavator and combining the pattern data to perform projection imaging on the working surface and displaying the working range corresponding to the excavating task, the method further includes:

after a size adjustment instruction is received, position size data of the size adjustment instruction are obtained;

and controlling an adjusting motor to modify the working range in the working surface according to the position size data.

Optionally, after the step of obtaining the current position and the vehicle body posture data of the excavator and combining the pattern data to perform projection imaging on the working surface and displaying the working range corresponding to the excavating task, the method includes:

controlling the excavator to start excavating according to the excavating task; the excavator determines the rotation position of the excavator according to an angle sensor on the vehicle; determining a boom position from an inertial sensor of an implement on the excavator boom; determining the position of a bucket rod according to a relation sensor of a device on the bucket rod of the excavator; and determining the bucket angle according to an angle sensor arranged at the pin shaft of the excavator bucket.

Optionally, after the step of controlling the excavator to start excavating according to the excavating task, the method includes:

scanning whether an obstacle exists in the working range in the excavating process;

if the static obstacle exists, controlling the excavator to correct the motion track of the excavator so as to avoid the static obstacle;

and if the dynamic obstacle exists, predicting the movement speed and the movement direction of the dynamic obstacle, and avoiding the dynamic obstacle.

Optionally, if a dynamic obstacle exists, predicting the movement speed and the movement direction of the dynamic obstacle, and avoiding the dynamic obstacle includes:

if the dynamic obstacle is predicted to enter the collision radius of the excavator within the preset time, controlling the excavator to stop and alarming;

the excavator is started when the dynamic obstacle is detected to leave the collision radius and does not reenter the collision radius within the preset time.

In addition, in order to achieve the above object, an embodiment of the present invention further provides a terminal device, including a memory, a processor, and an excavator working range setting program stored in the memory and capable of running on the processor, where the processor implements the method as described above when executing the excavator working range setting program.

In addition, in order to achieve the above object, an embodiment of the present invention also provides a computer-readable storage medium having stored thereon an excavator work range setting program which, when executed by a processor, implements the method as described above.

One or more technical solutions provided in the embodiments of the present application at least have the following technical effects or advantages:

when the excavation task is received, acquiring a job image, a size and a boundary corresponding to a job range in the excavation task, and programming the job image, the size and the boundary to generate pattern data corresponding to the changeable pattern card. And then acquiring the current position and the vehicle body posture data of the excavator, controlling a laser imager arranged on the top of the excavator body or preset in an operation area to project on an operation surface according to the vehicle body posture data and the acquired pattern data, and displaying an operation range corresponding to an excavating task. I.e. itself can be projected on the work surface directly from the received pattern of the work area. The problem that the operation is complex and inaccurate when the operation range of the excavator is set in the related technology is solved, and the effect of improving the accuracy of scribing the operation range of the excavator is achieved.

Drawings

FIG. 1 is a schematic flow chart of a first embodiment of a method for setting an excavator working range;

FIG. 2 is a schematic illustration of a laser imager placement method for the excavator work area setting method of the present application;

FIG. 3 is another laser imager placement method for the excavator work area setting method of the present application;

FIG. 4 is a schematic flow chart of a second embodiment of a method for setting an excavator working range;

fig. 5 is a schematic diagram of a terminal structure of a hardware running environment according to an embodiment of the present application.

Detailed Description

When a task of previously defining the working range of the excavator is received, the related art needs to be scribed by a worker or by GPS positioning, so that the efficiency is low, and the scribing is easy to be affected by the environment to cause inaccuracy. In order to solve the problem, the application provides a setting method of the working range of an excavator, which is used for acquiring a working image, a size and a boundary corresponding to the working range in an excavating task when the excavating task is received; programming the operation image, the size and the boundary to generate pattern data corresponding to a programmable pattern card; the method comprises the steps of obtaining current position and vehicle body posture data of an excavator, controlling a laser imager which is arranged on the top of the excavator body or preset in an operation area, projecting on an operation surface according to the vehicle body posture data and the pattern data, and displaying an operation range corresponding to an excavating task. After the excavating task is received, the system automatically generates pattern data and transmits the pattern data to the laser imager, and the laser imager projects a working range on a working surface, so that the accuracy of scribing the working range of the excavator is improved.

In order to better understand the above technical solution, exemplary embodiments of the present application will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present application are shown in the drawings, it should be understood that the present application may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.

In order to better understand the above technical solutions, the following detailed description will refer to the accompanying drawings and specific embodiments.

Example 1

In the present embodiment, an excavator work range setting method is provided.

Referring to fig. 1, the excavator work range setting method of the present embodiment includes the steps of:

step S100: when an excavating task is received, acquiring a job image, a size and a boundary corresponding to a job range in the excavating task;

in this embodiment, the excavator work system includes a laser imaging device, a vehicle position sensor, and a vehicle body attitude sensor. The laser imaging device comprises a laser emitting device, a programmable pattern card, an adjusting cylinder, an adjusting motor and a controller. The laser emission device can be a laser imager, the laser imager and the adjusting motor are uniformly powered by the vehicle, and the programmable pattern card and the controller are communicated with the vehicle-mounted computing platform and respond to the control of the vehicle-mounted computing platform.

As an alternative implementation manner, after receiving the excavation task, the excavator operating system analyzes the excavation task to obtain an operation range of the excavation task, wherein the operation range comprises an operation image, a size and a boundary. The job image determines the shape to be mined, the size of the mining area, and the boundary determines the edge area of the mining.

Illustratively, after receiving the excavation task, the excavation task is parsed to obtain requirements such as a work range, an excavation target, an excavation depth, and the like, and data to be defined on a work surface such as a pattern, a size, a boundary, and the like is determined according to the work range. And sending the data related to other actual operations such as the mining target, the mining depth and the like to a module responsible for actual mining.

As another alternative embodiment, after the job image is obtained, the job image may be compared with the pattern data existing in the job library, and if the same job pattern exists in the job library, the pattern data corresponding to the existing job image in the system may be directly extracted. And modifying the pattern data according to the size and boundary data of the excavating task, thereby improving the efficiency.

Step S200: programming the operation image, the size and the boundary to generate pattern data corresponding to a programmable pattern card;

in this embodiment, the programmable pattern card is programmed according to the work image, size and boundaries to generate pattern data that can be sent directly to the projection imager so that the projection imager can project a work pattern of the excavator.

As an alternative embodiment, it is necessary to convert the job image into a black-and-white image first, or to smooth the job image first. And programming and controlling the operation image by the programmable pattern card.

Illustratively, the contrast of the image can be improved by performing black-and-white processing on the working image, which is helpful for improving the accuracy and processing speed of image identification. And the noise interference in the image can be reduced by carrying out smoothing processing on the image, which is beneficial to improving the accuracy and the robustness of image identification. Also, some programmed processing algorithms are applicable only to black-and-white images or gray-scale images, and these algorithms can be more conveniently applied by black-and-white processing or smoothing processing.

Step S300: the method comprises the steps of obtaining current position and vehicle body posture data of an excavator, controlling a laser imager which is arranged on the top of the excavator body or preset in an operation area, projecting on an operation surface according to the vehicle body posture data and the pattern data, and displaying an operation range corresponding to an excavating task.

In the present embodiment, the excavator is mounted with a vehicle position sensor and a vehicle body posture sensor, which can be used to determine the position of the excavator and the bucket at the time of work. The excavator may use satellite differential RTKs for locating the excavator space. An angle sensor is arranged on the excavator body and is used for determining the rotation position of the excavator; an Inertial Measurement Unit (IMU) is arranged on the movable arm of the excavator and is used for determining the position of the movable arm; the bucket rod of the excavator is also provided with an IMU for determining the position of the bucket rod; an angle sensor is also arranged at the bucket pin shaft of the excavator and is used for determining the bucket angle. The position of the excavator and the position of the working point can be calculated through the data acquired by the sensors.

As an alternative embodiment, the laser imager may be fixed to the excavator roof or may be disposed near the excavator work area. Referring to fig. 2, when the device is installed near the excavator work area, the work pattern displayed by projection is fixed during the excavator work. The laser imaging device, namely the laser projection device, is independently powered by the outside, is a detachable laser projector, can be installed near different working surfaces according to actual requirements, and is required to synchronize position data to the pattern programming card after installation, so that the pattern data generated by the pattern programming card is suitable for the laser projector. Referring to fig. 3, if a laser imager, i.e., a laser projection device, is fixed to the top of the excavator body, the position of the excavator may be changed during the operation of the excavator, not always at the initial laser emitting position. Therefore, when the laser imaging instrument is fixed on the top of the excavator body, imaging data of the laser imaging instrument need to be adjusted in real time according to the change of the position of the excavator, and the working image projected on the working surface is ensured to be unchanged.

For example, when the excavator works, the current position and the vehicle body posture data of the excavator need to be acquired in real time, and the imaging proportion of the laser imager is adjusted according to the distance between the current position and each calibration point in the working surface. And then adjusting the laser offset angle of the laser imager according to the angle relation between the vehicle body posture data and the standard point. According to the imaging proportion and the laser offset angle, the working range is displayed on the working surface, so that the working range is kept fixed. And when the excavator reaches the working area, the calibration point is firstly identified, the initial distance and initial angle relation between the calibration point and the calibration point are generated, and then the laser imager is controlled to project a working pattern on the working surface. In the process of excavating the excavator, real-time distance between the current position of the excavator and a calibration point and real-time angle relation between the vehicle body posture data and the calibration point are monitored in real time, and the imaging proportion and the laser offset angle of the laser imager are adjusted according to deviation between the real-time distance and the initial distance and deviation between the real-time angle relation and the initial angle relation.

As another alternative implementation manner, after the laser imager projects the working image onto the working surface, the operator can adjust the actual projected image according to the actual projection condition, and after receiving an adjustment instruction, the laser imager controls the adjusting cylinder through the adjusting motor to adjust the position size projected on the working surface. Because the pattern programming card can be programmed on the vehicle-mounted display screen, the mobile phone end and the control scheduling end, the convenience of projection adjustment is greatly improved.

As still another alternative embodiment, after generating the pattern data, the current position of the excavator needs to be acquired first, and if the current position is not at the working point corresponding to the excavation task, the excavator needs to be driven to travel to the working point. According to the current position and the operation point position, a movement route of the excavator is planned, and after the excavator reaches the operation point position, the front surface of the excavator possibly does not face the operation surface, so that the posture of the excavator needs to be adjusted according to the posture data of the excavator, the front surface of the excavator faces the operation surface, and then the laser imaging instrument is controlled to emit laser, so that an operation range is projected on the operation surface.

When a route is planned according to the current position and the operation point position of the excavator, coordinate information of the current position and the operation point position is acquired first, and all paths available for the excavator to pass are calculated. And obtaining all terrain conditions corresponding to the paths, removing paths with steep slopes, landslides or other paths which are easy to roll or fall the excavator by considering factors of traffic safety and communication speed of the excavator, and selecting the path with the minimum obstacle in the paths as a movement route. And transmitting the movement route to a movement control system of the excavator so that the excavator can travel to the working point.

Optionally, when the excavator does not accurately reach the operation point or does not reach the operation point, acousto-optic information can be sent to remind a manager to overhaul. For example, when the excavator runs to the working point and cannot continue running due to the fact that the excavator encounters an obstacle or the electric quantity is insufficient, sound and light information can be sent out.

In this embodiment, after receiving the excavation task, the excavator working system may generate a working image corresponding to the excavation task, transmit the working image to the laser imager, adjust the posture of the excavator body after the excavator reaches the working point, and project the working range of the excavator on the working surface by the laser imager. The excavator can complete the excavating task according to the projected working range. Because the excavator operating system can automatically generate pattern data and transmit the pattern data to the laser imaging instrument, and then the laser imaging instrument projects an operating range on the operating surface, manual operation is not needed, and the accuracy of scribing the excavator operating range is improved.

Example two

Based on the first embodiment, another embodiment of the present application is provided, referring to fig. 4, after the steps of acquiring the current position and the vehicle body posture data of the excavator, and combining the pattern data, performing projection imaging on a working surface, and displaying a working range corresponding to the excavating task, the method includes the following steps:

step S400: controlling the excavator to start excavating according to the excavating task;

in this embodiment, after the work area is displayed on the work surface, the excavator can be controlled to start excavation according to the excavation task. The excavating tasks include, in addition to the working range, working time, excavating depths at different positions, excavating targets, and the like.

Step S500: scanning whether an obstacle exists in the working range in the excavating process;

step S600: if the static obstacle exists, controlling the excavator to correct the motion track of the excavator so as to avoid the static obstacle;

in the present embodiment, an obstacle may occur in the working range during the excavation of the excavator, and when an obstacle occurs, the excavator movement needs to be controlled according to the type of the obstacle.

As an alternative implementation manner, when an obstacle exists in the operation range, continuously acquiring images of the obstacle, judging whether the obstacle has a motion track, if not, determining that the obstacle is a static obstacle, and controlling the excavator to correct the motion track to avoid the static obstacle.

Illustratively, during the excavator working process, the environment detection device laser scanner is used for circularly scanning obstacles within the working radius range of the excavator, and periodic data are sent to the on-board controller for modeling. And judging whether an obstacle exists or not according to the modeling result, and defining the body of the obstacle. And dividing the obstacle image through a depth neural network, obtaining a three-dimensional coordinate center of the obstacle by adopting a clustering method, and generating a spherical collision range. And correcting the motion track of the excavator according to the collision range of the ball star, and avoiding the static obstacle.

Step S700: and if the dynamic obstacle exists, predicting the movement speed and the movement direction of the dynamic obstacle, and avoiding the dynamic obstacle.

As an optional real-time manner, if the obstacle is determined to be a dynamic obstacle according to the scanning result, predicting the movement speed and the movement direction of the dynamic obstacle, and if the dynamic obstacle is predicted to enter the collision radius of the excavator within the preset time, controlling the excavator to stop and alarming; the excavator is started when the dynamic obstacle is detected to leave the collision radius and does not reenter the collision radius within the preset time.

The position, speed and direction of movement of the obstacle are illustratively predicted by the speed detection module from the position data of the obstacle at different moments. Meanwhile, the current collision radius of the excavator and the maximum safe contact radius with the movement obstacle are required to be determined. And when the dynamic obstacle is predicted to enter the collision radius within the preset time, controlling the excavator to stop and giving an alarm. And continuously detecting the position and the movement direction of the dynamic obstacle, and controlling the excavator to continuously work if the dynamic obstacle is detected to leave the collision radius.

In the embodiment, the excavator can identify the obstacle during the excavating operation, and avoid the obstacle according to the actual condition of the obstacle, so as to ensure the operation safety.

Example III

In an embodiment of the present application, an excavator working range setting device is provided.

Referring to fig. 5, fig. 5 is a schematic diagram of a terminal structure of a hardware running environment according to an embodiment of the present application.

As shown in fig. 5, the control terminal may include: a processor 1001, such as a CPU, a network interface 1003, memory 1004, and a communication bus 1002. Wherein the communication bus 1002 is used to enable connected communication between these components. The network interface 1003 may optionally include a standard wired interface, a wireless interface (e.g., WI-FI interface). The memory 1004 may be a high-speed RAM memory or a stable memory (non-volatile memory), such as a disk memory. The memory 1004 may also optionally be a storage device separate from the processor 1001 described above.

It will be appreciated by those skilled in the art that the terminal structure shown in fig. 5 is not limiting of the terminal and may include more or fewer components than shown, or may combine certain components, or a different arrangement of components.

As shown in fig. 5, an operating system, a network communication module, and an excavator work range setting program may be included in the memory 1004, which is one type of computer storage medium.

In the excavator work range setting device hardware configuration shown in fig. 5, the processor 1001 may call the excavator work range setting program stored in the memory 1004 and perform the following operations:

Alternatively, the processor 1001 may call the excavator work range setting program stored in the memory 1004, and also perform the following operations:

transmitting the movement route to a movement control system of the excavator.

In addition, in order to achieve the above object, an embodiment of the present invention further provides a terminal device including a memory, a processor, and an excavator working range setting program stored on the memory and executable on the processor, wherein the processor implements the excavator working range setting method as described above when executing the excavator working range setting program.

In addition, in order to achieve the above object, an embodiment of the present invention also provides a computer-readable storage medium having stored thereon an excavator work range setting program which, when executed by a processor, implements the excavator work range setting method as described above.

It will be appreciated by those skilled in the art that embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.

The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

It should be noted that in the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The application may be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means may be embodied by one and the same item of hardware. The use of the words first, second, third, etc. do not denote any order. These words may be interpreted as names.

While preferred embodiments of the present application have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. It is therefore intended that the following claims be interpreted as including the preferred embodiments and all such alterations and modifications as fall within the scope of the application.

It will be apparent to those skilled in the art that various modifications and variations can be made in the present application without departing from the spirit or scope of the invention. Thus, if such modifications and variations of the present application fall within the scope of the claims and the equivalents thereof, the present application is intended to cover such modifications and variations.

Claims

1. An excavator work area setting method, characterized in that the excavator work area setting method comprises the steps of:

2. The excavator working range setting method of claim 1 wherein the step of acquiring current position and body attitude data of the excavator and controlling a laser imager located on the top of the excavator body or preset in a working area to project on a working surface according to the body attitude data and the pattern data, and displaying the working range corresponding to the excavating task comprises:

3. The excavator working range setting method of claim 1 wherein the step of acquiring current position and body attitude data of the excavator and controlling a laser imager located on the top of the excavator body or preset in a working area to project on a working surface according to the body attitude data and the pattern data, and displaying the working range corresponding to the excavating task comprises:

4. The excavator work range setting method of claim 3 wherein the step of planning the path of movement of the excavator in accordance with the current location and the work point location comprises:

transmitting the movement route to a movement control system of the excavator.

5. The method for setting a working range of an excavator according to claim 1, wherein the step of acquiring the current position and the vehicle body posture data of the excavator, performing projection imaging on a working surface in combination with the pattern data, and displaying the working range corresponding to the excavating task further comprises:

6. The method for setting a working range of an excavator according to claim 1, wherein the step of acquiring the current position and the vehicle body posture data of the excavator, performing projection imaging on a working surface in combination with the pattern data, and displaying the working range corresponding to the excavating task comprises:

7. The method of setting an excavator working range according to claim 6, wherein the step of controlling the excavator to start excavating in accordance with the excavating task comprises:

8. The method for setting an excavator working range according to claim 7, wherein the step of predicting a moving speed and a moving direction of the dynamic obstacle and avoiding the dynamic obstacle if the dynamic obstacle exists comprises:

9. A terminal device comprising a memory, a processor and an excavator work range setting program stored on the memory and operable on the processor, the processor implementing the method of any one of claims 1 to 8 when executing the excavator work range setting program.

10. A computer readable storage medium, wherein an excavator work range setting program is stored on the computer readable storage medium, which when executed by a processor, implements the method of any one of claims 1 to 8.