CN114035561A - Construction machine - Google Patents

Construction machine Download PDF

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Publication number
CN114035561A
CN114035561A CN202010741652.6A CN202010741652A CN114035561A CN 114035561 A CN114035561 A CN 114035561A CN 202010741652 A CN202010741652 A CN 202010741652A CN 114035561 A CN114035561 A CN 114035561A
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CN
China
Prior art keywords
control module
information
working
module
environment
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Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202010741652.6A
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Chinese (zh)
Inventor
易琅琳
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Sichuan Dinghong Zhidian Equipment Technology Co ltd
Original Assignee
Sichuan Dinghong Zhidian Equipment Technology Co ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Application filed by Sichuan Dinghong Zhidian Equipment Technology Co ltd filed Critical Sichuan Dinghong Zhidian Equipment Technology Co ltd
Priority to CN202010741652.6A priority Critical patent/CN114035561A/en
Priority to PCT/CN2021/109021 priority patent/WO2022022590A1/en
Publication of CN114035561A publication Critical patent/CN114035561A/en
Pending legal-status Critical Current

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/06—Systems determining position data of a target
    • G01S13/42—Simultaneous measurement of distance and other co-ordinates
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/50—Systems of measurement based on relative movement of target
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
    • G01S13/867—Combination of radar systems with cameras
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
    • G01S15/06—Systems determining the position data of a target
    • G01S15/42—Simultaneous measurement of distance and other co-ordinates
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
    • G01S15/50—Systems of measurement, based on relative movement of the target
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/86—Combinations of sonar systems with lidar systems; Combinations of sonar systems with systems not using wave reflection
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
    • G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/42—Simultaneous measurement of distance and other co-ordinates
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar

Abstract

The application discloses engineering machinery, which comprises an engineering machinery body and an intelligent system arranged on the engineering machinery body, wherein the intelligent system comprises a control device, an environment detection device, a navigation positioning device and a state detection device, wherein the environment detection device, the navigation positioning device and the state detection device are electrically connected with the control device; the navigation positioning device is used for detecting the position information of the engineering machinery and transmitting the position information to the control device; the state detection device is used for detecting state information of the running device and the working device and transmitting the state information to the control device; the control device is used for receiving the operation instruction and controlling the running device and the working device to run according to the operation instruction, the environment of the engineering machine, the position of the engineering machine and the running states of the running device and the working device. The embodiment of the application improves the structure of the engineering machinery, and realizes the automatic operation of the engineering machinery.

Description

Construction machine
Technical Field
The application relates to the technical field of engineering machinery, in particular to engineering machinery.
Background
Engineering machinery generally comprises a loader, an excavator, a bulldozer and the like, and is widely applied to various fields such as urban construction, mine exploitation, disaster rescue, national defense industry and the like. In the prior art, the intelligent degree of the engineering machinery is low, the engineering machinery is generally controlled manually by an operator, so that the engineering machinery completes the work of excavating, loading and the like, and the environment used by the engineering machinery is generally severe and easily influences the physical and psychological health of the operator of the engineering machinery.
Therefore, how to realize the intellectualization of the engineering machinery, the engineering machinery can automatically complete the operation, and the problem that the influence of the operation environment of the engineering machinery on the physical and mental health of operators is urgently needed to be solved is solved.
Disclosure of Invention
The embodiment of the application provides an engineering machine intelligent system and an engineering machine, and aims to solve the problem of how to realize automatic operation of the engineering machine and avoid the influence of the operation environment of the engineering machine on the physical and mental health of an operator.
The embodiment of the application provides engineering machinery, which comprises an engineering machinery body, wherein the engineering machinery body comprises a running device and a working device connected with the running device, the engineering machinery further comprises an intelligent system arranged on the engineering machinery body, and the intelligent system comprises a control device, and an environment detection device, a navigation positioning device and a state detection device which are electrically connected with the control device;
the environment detection device is used for acquiring environment information of the engineering machinery and transmitting the environment information to the control device, and the control device determines the environment around the engineering machinery according to the environment information;
the navigation positioning device is used for detecting position information of the engineering machinery and transmitting the position information to the control device, and the control device determines the position of the engineering machinery according to the position information;
the state detection device is used for detecting state information of the running device and the working device and transmitting the state information to the control device, and the control device determines the running states of the running device and the working device according to the state information;
the control device is further used for receiving an operation instruction and controlling the running device and the working device to run according to the operation instruction, the environment around the engineering machinery, the position of the engineering machinery and the running states of the running device and the working device.
In some embodiments, the control device includes a first control module, the environment detection device includes a work environment detection module and an obstacle detection module electrically connected to the first control module;
the working environment detection module is used for acquiring working environment information of the engineering machinery and outputting a corresponding first signal;
the obstacle detection module is used for acquiring obstacle information around the engineering machinery and outputting a corresponding second signal;
the first control module is used for receiving the first signal and the second signal and determining the environment around the engineering machinery according to the first signal and the second signal.
In some embodiments, the working environment detection module comprises a 3D map construction component electrically connected with the first control module, the 3D map construction component is used for collecting 3D topographic information of the working environment of the engineering machinery and transmitting the 3D topographic information to the first control module, and the first control module constructs a 3D map of the working environment of the engineering machinery according to the 3D topographic information; and/or the presence of a gas in the gas,
the working environment detection module comprises a working medium sensing assembly electrically connected with the first control module, the working medium sensing assembly is used for detecting distance information of a working medium and outputting the distance information to the first control module, and the first control module determines relative position information of the working medium according to the distance information.
In some embodiments, the obstacle detection module includes a plurality of cameras electrically connected to the first control module and installed around the construction machine, the cameras are configured to collect obstacle image information around the construction machine and transmit the obstacle image information to the first control module, and the first control module determines the obstacle distance, the type, and the form around the construction machine according to the obstacle image information.
In some embodiments, the obstacle detection module further includes a plurality of millimeter wave radars electrically connected to the first control module and installed around the construction machine, and the millimeter wave radars are configured to detect obstacle distances, positions, and motion states around the construction machine; and/or the presence of a gas in the gas,
the obstacle detection module further comprises a plurality of ultrasonic radars electrically connected with the first control module and installed on the periphery of the engineering machinery, and the plurality of ultrasonic radars are used for detecting the distance and the position of obstacles on the periphery of the engineering machinery.
In some embodiments, the control module further includes a second control module, the navigation positioning device includes a navigation module disposed on the engineering machine body, the navigation module is electrically connected to the second control module, the navigation module is configured to collect position information of the engineering machine and send the position information to the second control module, and the second control module determines the position of the engineering machine according to the position information.
In some embodiments, the navigation module comprises a satellite navigation component, an inertial navigation component, and a visual odometer component electrically connected to the second control module;
the satellite navigation assembly is used for positioning the engineering machinery according to satellite signals and outputting corresponding first positioning signals to the second control module;
the inertial navigation module is used for detecting the running state of the engineering machinery, positioning the engineering machinery according to the running state and outputting a corresponding second positioning signal to the second control module;
the visual odometer component is used for detecting surrounding environment change information in the movement process of the engineering machinery, positioning the engineering machinery according to the environment change information and outputting a corresponding third positioning signal to the second control module;
and the second control module determines the position of the engineering machinery according to at least one of the first positioning signal, the second positioning signal and the third positioning signal and the environmental information.
In some embodiments, the running device comprises a frame, wherein a wheel and a first motor connected with the wheel are arranged on the frame; the control device comprises a third control module, the state monitoring device further comprises a first encoder electrically connected with the first motor, the first encoder is electrically connected with a third control module, the third control module receives a first feedback signal of the first encoder, and the running state of the running device is determined according to the first feedback signal.
In some embodiments, the working device comprises a working module connected with the running device, and an electric cylinder connected with the working module and driving the working module to move, wherein the electric cylinder comprises a second motor; the control device comprises a fourth control module, the state monitoring device comprises a second encoder electrically connected with the second motor, the second encoder is electrically connected with the fourth control module, and the fourth control module receives a second feedback signal of the second encoder and determines the working state of the working device according to the second feedback signal.
In some embodiments, the intelligent system further comprises a remote control device, the remote control device comprises a VR integrated device and a control device, the control device is electrically connected with the VR integrated device, the control device is wirelessly connected with the control device, and the control device transmits the environment around the construction machine, the position of the construction machine, and the operation states of the traveling device and the working device to the VR integrated device through the control device and displays the operation states in the VR integrated device; the control device is further used for receiving the job instruction output by the VR integrated device and transmitting the job instruction to the control device.
The engineering machine provided by the embodiment of the application acquires the environmental information of the engineering machine through the environmental detection device, detects the position information of the engineering machine through the navigation positioning device, transmits the environmental information and the position information of the engineering machine to the control device, and determines the environment around the engineering machine and the position of the engineering machine according to the information by the control device; meanwhile, the control device detects the running states of the running device and the working device of the engineering machinery through the state detection device, after the control device receives an operation instruction, the control device outputs corresponding control signals according to the environment around the engineering machinery, the position of the engineering machinery and the current states of the running device and the working device, so that the running device of the engineering machinery can automatically run in the surrounding environment, and the working device automatically works in the surrounding environment, thereby realizing the automatic operation of the engineering machinery, enabling the engineering machinery to be operated without the site operation of an operator, and avoiding the operation environment of the engineering machinery from influencing the physical and mental health of the operator.
Drawings
The technical solution and other advantages of the present application will become apparent from the detailed description of the embodiments of the present application with reference to the accompanying drawings.
FIG. 1 is a schematic structural diagram of an embodiment of a work machine provided in an embodiment of the present disclosure;
FIG. 2 is another perspective view of the work machine of FIG. 1;
fig. 3 is a schematic structural diagram of an embodiment of an intelligent system provided in the present application.
A construction machine 100; a work machine body 110; a traveling device 111; a frame 1111; a wheel 1112; the support device 1113; a pan/tilt head 1114; a working device 112; a working module 113; a lifting arm 1131; a flip arm 1132; a bucket 1133; a connecting portion 1134; a link 1135; an electric cylinder 114; an intelligent system 120; a control device 121; an environment detection device 122; a second ultrasonic radar 1223; a camera 1224; a millimeter wave radar 1225; a first ultrasonic radar 1226; a navigation positioning device 123; a satellite navigation component 1231; an inertial navigation component 1232; a status detection device 124.
Detailed Description
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. It is to be understood that the embodiments described are only a few embodiments of the present application and not all embodiments. 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.
In the description of the present application, it is to be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the present application and for simplicity in description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed in a particular orientation, and be operated in a particular manner, and are not to be construed as limiting the present application. Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first", "second", may explicitly or implicitly include one or more of the described features. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.
In the description of the present application, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; may be mechanically connected, may be electrically connected or may be in communication with each other; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.
In this application, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may comprise direct contact of the first and second features, or may comprise contact of the first and second features not directly but through another feature in between. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.
The following disclosure provides many different embodiments or examples for implementing different features of the application. In order to simplify the disclosure of the present application, specific example components and arrangements are described below. Of course, they are merely examples and are not intended to limit the present application. Moreover, the present application may repeat reference numerals and/or letters in the various examples, such repetition is for the purpose of simplicity and clarity and does not in itself dictate a relationship between the various embodiments and/or configurations discussed. In addition, examples of various specific processes and materials are provided herein, but one of ordinary skill in the art may recognize applications of other processes and/or use of other materials.
The embodiment of the application provides an engineering machine, which comprises an engineering machine body and an intelligent system arranged on the engineering machine body, wherein the intelligent system is used for detecting the environment, the position and the running state of the engineering machine and controlling the engineering machine body according to the environment, the position and the running state of the engineering machine, so that the engineering machine can automatically run and work in the surrounding environment. The construction machine body and the intelligent system of the construction machine will be described in detail below.
As shown in fig. 1 and 2, the construction machine body 110 may include a traveling device 111 and a work device 112 connected to the traveling device 111, and the construction machine 100 may be moved in the surrounding environment by the traveling device 111 while the construction machine 100 performs work in the surrounding environment by the work device 112.
The driving device 111 may include a frame 1111, and wheels 1112 and a driving mechanism (not shown in the drawings) disposed on the frame 1111, the driving mechanism being configured to be connected to the wheels 1112 to drive the wheels 1112 to rotate, and the intelligent system 120 being electrically connected to the driving mechanism and controlling the driving mechanism to drive the wheels 1112 to rotate so as to drive the driving device 111 to run. The driving mechanism may be a first electric machine, and the first electric machine is connected to the wheel 1112 to drive the wheel 1112 to rotate.
Specifically, the number of the wheels 1112 of the running device 111 is 4, the number of the first motors is also 4, and the 4 first motors are connected with the 4 wheels 1112 through the 4 speed reducers in a one-to-one correspondence manner, the intelligent system 120 is connected with the 4 first motors, and by controlling the number of rotations and the rotation speed of the rotating shafts of the 4 first motors, the number of rotations and the rotation speed of the wheels 1112 can be controlled, so that the running distance and the running speed of the running device 111 can be accurately controlled.
The working device 112 comprises a working module 113 connected with the frame 1111 and an electric cylinder 114 connected with the working module 113 and driving the working module 113 to move, and the intelligent system 120 is electrically connected with the electric cylinder 114 and controls the electric cylinder 114 to drive the working module 113 to move, so that the working module 113 works. The electric cylinder 114 may include a second motor and a lead screw connected to an output end of the second motor, and the intelligent system 120 is electrically connected to the second motor and controls the second motor to rotate, so that the second motor drives the lead screw to extend and retract, thereby changing the overall length of the electric cylinder 114 and driving the working module 113 to work.
In other embodiments, the work machine 100 may be an excavator, a bulldozer, or the like, and the structures of the traveling device 111 and the work device 112 of different types of work machines 100 may differ. For example: when the work machine 100 is an excavator, the traveling device 111 of the work machine 100 may include a chassis, a frame assembly, a center swivel, and the like provided on the chassis, and the work device 112 may include a boom, a bucket 1133 connected to the boom, and the like.
The structure of the intelligent system 120 is described in detail below.
As shown in fig. 3, the intelligent system 120 may include a control device 121, and an environment detection device 122, a navigation positioning device 123 and a state detection device 124 electrically connected to the control device 121, where the environment detection device 122 is configured to collect environment information of the work machine 100 and transmit the environment information to the control device 121, and the control device 121 determines an environment around the work machine 100 according to the environment information; the navigation positioning device 123 is configured to detect position information of the construction machine 100 and transmit the position information to the control device 121, and the control device 121 determines the position of the construction machine 100 according to the position information; the state detection device 124 is configured to detect state information of the traveling device 111 and the working device 112, and transmit the state information to the control device 121, and the control device 121 determines the operation state of the traveling device 111 and the working device 112 according to the state information; the control device 121 is also configured to receive a work instruction, and control the operation of the travel device 111 and the operation device 112 according to the work instruction, the environment around the construction machine 100, the position of the construction machine 100, and the operation states of the travel device 111 and the operation device 112.
The engineering machine 100 provided in the embodiment of the present application acquires the environmental information of the engineering machine 100 through the environmental detection device 122, detects the position information of the engineering machine 100 through the navigation positioning device 123, transmits the environmental information and the position information of the engineering machine 100 to the control device 121, and determines the environment around the engineering machine 100 and the position of the engineering machine 100 according to the information by the control device 121; meanwhile, the control device 121 detects the operation states of the traveling device 111 and the working device 112 of the construction machine 100 through the state detection device 124, and after receiving a work instruction, the control device outputs a corresponding control signal according to the environment around the construction machine, the position of the construction machine, and the current states of the traveling device 111 and the working device 112, so that the traveling device 111 of the construction machine 100 can automatically travel in the surrounding environment, and the working device 112 automatically works in the surrounding environment, thereby realizing the automatic work of the construction machine 100, and enabling the construction machine 100 to be operated without the site of an operator, thereby avoiding the work environment of the construction machine 100 from affecting the physical and mental health of the operator.
In some embodiments, the control device 121 may include a first control module, and the environment detection device 122 may include a working environment detection module and an obstacle detection module electrically connected to the first control module, wherein the working environment detection module is configured to collect working environment information of the work machine 100 and output a corresponding first signal; the obstacle detection module is used for acquiring obstacle information around the engineering machinery 100 and outputting a corresponding second signal; the first control module is configured to receive the first signal and the second signal and determine an environment surrounding the work machine 100 based on the first signal and the second signal.
The environment detection device 122 provided in the embodiment of the present application determines the working environment information around the construction machine 100 according to the first signal output by the working environment detection module, determines the obstacle information around the construction machine 100 according to the second signal output by the obstacle detection module, and then the first control module determines the working environment and the obstacle around the construction machine 100 according to the working environment information and the obstacle information, and uses the working environment and the obstacle around the construction machine 100 as the surrounding environment of the construction machine 100, so that the intelligent system 120 controls the traveling device 111 of the construction machine 100 to automatically travel and avoid the obstacle in the working environment.
In some embodiments, the first control module, the operating environment detection module and the obstacle detection module may be connected via a Controller Area Network (CAN), where the CAN belongs to a bus-type serial communication Network, and the CAN bus structure is generally divided into two layers, namely a physical layer and a data link layer (including a logical link control sublayer and a media access control sublayer).
In some embodiments, the work environment detection module may include a 3D map construction component electrically connected to the first control module, the 3D map construction component configured to collect 3D topographic information of the work environment of the work machine 100, transmit the 3D topographic information to the first control module, and then construct a 3D map of the work environment of the work machine 100 according to the received 3D topographic information by the first control module. After the first control module determines the 3D map around the construction machine 100 through the 3D map building component, it can effectively plan a suitable driving route according to the 3D map, and control the driving device 111 to drive according to the driving route.
Specifically, the 3D map building component may include a laser radar group (not shown in the figure) and a camera group (not shown in the figure) electrically connected to the first control module, the laser radar group and the camera group being disposed on the top of the traveling device 111, the laser radar group being configured to scan distance information and angle information of objects around the construction machine 100 and transmit the distance information and the angle information to the first control module; the camera group is used for acquiring image information of objects in the surrounding environment of the engineering machine 100 and transmitting the image information to the control device 121; the first control module determines a 3D map of the work environment of the work machine 100 based on the distance information, the angle information, and the image information. Because the top of the engineering machine 100 has few obstacles and a high height, a wide view field is provided for the laser radar group and the camera group, and a view field blind area is reduced, so that the imaging effect is effectively improved.
The object in the surrounding environment of the engineering machine 100 refers to an object such as a tree or a soil slope in the surrounding environment of the engineering machine 100. The laser radar set has the advantages of high spatial resolution and high ranging precision, so that the position and the shape of the object in the surrounding environment of the engineering machine 100 can be accurately detected. The type of the objects in the surrounding environment of the engineering machine 100 can be accurately identified through the image information of the objects in the surrounding environment of the engineering machine 100 acquired by the camera group, and therefore, the first control module in the application can more accurately construct a 3D map of the working environment of the engineering machine 100 by integrating the distance information and the angle information of the objects acquired by the laser radar group and the image information acquired by the camera group.
In some embodiments, as shown in fig. 1 and fig. 2, a liftable supporting device 1113 is disposed at the top of the engineering machine 100, a cradle head 1114 is disposed above the supporting device 1113, and the lidar group and the camera group are disposed on the cradle head 1114, the cradle head 1114 has a damping function, and the liftable supporting device 1113 is electrically controlled, and the engineering machine 100 can adjust the height of the liftable supporting device 1113 according to requirements, so as to adjust the heights of the lidar group and the camera group, and adjust the scanning range of the lidar group and the shooting range of the camera group.
In this embodiment, the laser radar is a radar system that detects characteristic quantities such as a position and a speed of a target by emitting a laser beam. The working principle is that a detection signal (laser beam) is transmitted to a target, then a received signal (target echo) reflected from the target is compared with the transmitted signal, and after proper processing, the related information of the target can be obtained, such as target distance, azimuth, height, speed, attitude, and even shape, the working principle of the laser radar is very similar to that of the radar, the laser is used as a signal source, pulse laser emitted by a laser device is applied to trees, roads, bridges and buildings on the ground to cause scattering, a part of light wave is reflected to a receiver of the laser radar, the distance from the laser radar to the target point is obtained through calculation according to the laser ranging principle, the pulse laser continuously scans the target object, data of all the target points on the target object can be obtained, and accurate three-dimensional images can be obtained after the data are used for imaging processing. The camera group may generally include a plurality of cameras, and the number of the plurality of cameras may be 3 or 5, and the specific number is not limited herein.
In addition, the working environment detection module may also include a working medium sensing component electrically connected to the first control module, the working medium sensing component is configured to detect distance information of the working medium and transmit the distance information to the first control module, and the first control module determines a relative position of the working medium according to the distance information, so that the control device 121 controls the working device of the construction machine 100 to accurately perform work processing on the working medium. The working medium refers to a working object of the working machine 100, and the types of the working medium may be different depending on the type of the working machine 100, for example: when the work machine 100 is a loader, the work medium may include stones, soil heaps, etc., and when the work machine 100 is a bulldozer, the work medium may be a soil heap or other structure.
In some embodiments, as shown in fig. 1, the work medium sensing assembly may include a second ultrasonic radar 1223 disposed at a front side of the work machine 100, the second ultrasonic radar 1223 being configured to detect distance information of the work medium. By providing the second ultrasonic radar 1223 in front of the construction machine 100, the position information of the working medium on the front side of the construction machine 100 can be effectively detected, and the position and state of the construction machine 100 itself can be adjusted according to the position information of the working medium, so that the construction machine 100 can automatically move to the vicinity of the working medium and process the working medium.
Further, the second ultrasonic radar 1223 may be additionally disposed right behind and on both sides of the engineering machine 100, that is, the second ultrasonic radar 1223 may be in a plurality of numbers and be distributed around the engineering machine 100, so that the related information of the working medium around the engineering machine 100 may be comprehensively obtained, and then the related information of the working medium around the engineering machine 100 may be sent to the first control module, and the first control module may combine the related information of the working medium around the engineering machine 100 with the 3D topographic information to plan the working path, thereby optimizing the working efficiency.
It should be noted that the working environment detection module may include both the 3D map building component and the working medium sensing component, or may include only one of the two, which may be determined according to the actual use environment of the work machine 100. For example: in an actual application process of the engineering machine 100, if the working environment of the engineering machine 100 is known and fixed, the 3D terrain of the working environment may be constructed in advance to obtain the 3D terrain information of the current working environment, and the engineering machine 100 may directly transmit the 3D map to the first control module during the working process without additionally providing a 3D map construction component. Similarly, in the practical application process of the construction machine 100, if the position of the working medium is known, the construction machine 100 may directly transmit the information related to the working medium to the first control module during the working process without additionally providing a working medium sensing component.
In some embodiments, as shown in fig. 2, the obstacle detection module may include a plurality of cameras 1224 electrically connected to the first control module and installed around the work machine 100, where the plurality of cameras 1224 are configured to collect image information of obstacles around the work machine 100 and transmit the image information to the first control module, and the first control module determines the distance, category, and shape of obstacles around the work machine 100 according to the image information of the obstacles. Because the engineering machine 100 is widely applied to the fields of construction engineering, transportation, agriculture, forestry and water conservancy and the like, and when the engineering machine 100 is applied to different fields, the actual working environment is different, for example, when the engineering machine 100 is applied to a construction site, the surface of the construction site is rugged, various building materials may be stored nearby the periphery, and when the engineering machine is applied to agriculture, forestry and water conservancy, the surrounding environment may be a hollow ground, the periphery or a pond farmland, and obstacles corresponding to different application scenes are different, so that accurate obstacle identification is extremely important, in the embodiment, a plurality of cameras 1224 are arranged at intervals on the front side, the rear side and the side of the engineering machine 100, real-shot images around the engineering machine 100 can be obtained in an all-around manner, the detection range of the obstacles is greatly improved, and the collision probability between the engineering machine 100 and the obstacles is reduced.
In some embodiments, as shown in fig. 2, the obstacle detection module may further include a plurality of millimeter wave radars 1225 electrically connected to the first control module and installed around the work machine 100, where the plurality of millimeter wave radars 1225 are used to detect the distance, position, and motion state of an obstacle around the work machine 100. Engineering machine 100 can produce a large amount of grey layers in the actual operation engineering, and when the grey layer volume reached a certain time, visual sensing equipment's such as the group of making a video recording on engineering machine 100 functions will receive the influence, consequently, through set up millimeter wave radar 1225 around engineering machine 100, utilize the characteristics that penetrating fog, cigarette, dust ability reinforce and the interference killing feature that this millimeter wave radar 1225 possessed are strong, effectively improved the anticollision of special condition and kept away the barrier to improve the security of engineering machine 100 intelligent operation.
In some embodiments, as shown in fig. 2, the obstacle detection module may further include a plurality of first ultrasonic radars 1226 electrically connected to the first control module and installed around the work machine 100, where the plurality of first ultrasonic radars 1226 are used to detect the distance and position of obstacles around the work machine 100. Because first ultrasonic radar 1226 has the characteristics of strong penetrability, small attenuation, strong reflectivity, insensitivity to illumination, color and electromagnetic field, and difficult influence by severe weather, etc., can detect the obstacles around engineering machine 100 effectively, avoid receiving the influence of dust, illumination, etc., thereby improving the security of the intelligent operation of engineering machine 100. The first ultrasonic radar 1226 and the second ultrasonic radar 1223 may be the same ultrasonic radar or different ultrasonic radars, and of course, the former may reduce the cost of the construction machine 100.
It should be noted that, the obstacle detection module in the present application may include both the millimeter-wave radar 1225 and the first ultrasonic radar 1226, or may include only one of the millimeter-wave radar 1225 and the first ultrasonic radar 1226, and of course, the former may detect an obstacle within a range of 200m by the millimeter-wave radar 1225, and detect a short-distance obstacle by the first ultrasonic radar 1226, so as to more accurately detect an obstacle near the construction machine 100.
In addition, the number of the first control modules in the present application may be one or more, for example: the number of the first control modules may be one, and the sensors of the laser radar group, the camera group, and the second ultrasonic radar 1223 of the working environment detection module, and the camera 1224, the millimeter wave radar 1225, and the first ultrasonic radar 1226 of the obstacle detection module are all electrically connected to the first detection module. Alternatively, the sensors such as the laser radar group, the camera group, and the second ultrasonic radar 1223 of the work environment detection module, and the camera 1224, the millimeter wave radar 1225, and the first ultrasonic radar 1226 of the obstacle detection module may be electrically connected to different first control modules.
In some embodiments, the control device 121 may include a second control module, and the navigation positioning device 123 may include a navigation module disposed on the work machine body 110, where the navigation module is electrically connected to the second control module, and is configured to collect position information of the work machine 100 and send the position information to the second control module, so that the second control module determines the position of the work machine 100 according to the position information. The second control module of the control device 121 can accurately acquire the position of the construction machine 100 through the navigation module, so that the control device 121 can accurately control the traveling direction and the traveling distance of the traveling device 111.
As shown in fig. 1, the navigation module may include a satellite navigation component 1231, an inertial navigation component 1232, and a visual odometer component (not shown in the figure) electrically connected to the second control module; the satellite navigation component 1231 is configured to position the engineering machine 100 according to a satellite signal, and output a corresponding first positioning signal to the second control module; the inertial navigation module is used for detecting the operation state of the engineering machine 100, positioning the engineering machine 100 according to the operation state, and outputting a corresponding second positioning signal to the second control module; the visual odometer component is used for detecting surrounding environment change information in the movement process of the engineering machinery 100, positioning the engineering machinery 100 according to the environment change information and outputting a corresponding third positioning signal to the second control module; the second control module of the control device 121 determines the position of the construction machine 100 according to at least one of the first positioning signal, the second positioning signal, and the third positioning signal, and the environmental information collected by the environmental detection device 122.
The satellite navigation assembly 1231 has the advantages of low cost, accurate positioning and the like, however, since the satellite navigation is a passive positioning, the satellite signals are easily affected by the external environment, and in a complex urban high-density area, the propagation of the satellite signals is blocked or the signals are reflected and diffracted, so that the signals received by the receiver are deviated when the position is resolved, and the precision is far from the requirement.
While the inertial navigation component 1232 is a navigation component that predicts position based on three-dimensional dead reckoning, the hardware portion includes inertial sensors including accelerometers and gyroscopes, and a navigation processor. The inertial navigation module 1232 is mounted on the traveling device 111 of the construction machine body 110 and is in signal connection with the operation controller, and the inertial navigation module 1232 can provide high calculation accuracy in a short time by measuring acceleration and angular acceleration of the construction machine 100 and integrating the measured acceleration with time to obtain a position and a speed. However, as time increases, a relatively large error accumulation occurs, the speed accumulated error is proportional to time, and the position error is accumulated as the square of time, so that the inertial navigation needs to be fused with other navigation systems to ensure the long-term stability of the system.
The visual odometer assembly employs a camera for relative positioning according to the surrounding environment of the engineering machine 100 in motion, and primarily employs a binocular camera.
According to the method, the navigation module simultaneously comprises the satellite navigation component 1231, the inertial navigation component 1232 and the visual odometer component, when a satellite navigation signal exists, positioning can be mainly performed through the satellite navigation component 1231, and meanwhile, the inertial navigation component 1232 and the visual odometer component can assist in positioning or not perform positioning; when the satellite navigation signal is not available, the inertial navigation component 1232 and the visual odometry component may be combined to locate the work machine 100 so that the work machine 100 can be located in different situations.
In some embodiments, the control device 121 may include a third control module, and the state detecting device 124 may include a first encoder (not shown) electrically connected to the first motor of the driving device 111, the first encoder being electrically connected to a third control module of the control device 121, the third control module being configured to receive a first feedback signal of the first encoder and determine the driving state of the driving device 111 according to the first feedback signal.
The driving state of the driving device 111 may include a driving distance, a driving speed, and a driving acceleration. In addition, the first motor may be one of the types of motors commonly used at present, for example, a servo motor, a stepping motor, etc.; the first encoder may be one of the currently commonly used encoder types, such as an absolute value encoder, an incremental encoder, a rotary transformer, etc., and the present embodiment does not limit the type of the first motor and the first encoder.
After the first motor starts to work, the first encoder corresponding to the first motor starts to monitor the working state of the first motor in real time, and feeds back the monitored working state parameters to the third control module of the control device 121, where the working state may be an actual number of revolutions, an actual rotational speed, an actual rotational acceleration, and the like of the first motor. The third control module of the control device 121 receives the feedback signal of the first encoder, analyzes the feedback signal, and calculates an actual traveling state of the traveling device 111 by calculation and conversion of correlation, where the actual traveling state may include an actual traveling distance, an actual traveling speed, an actual traveling acceleration, and the like of the traveling device 111.
It is understood that the first motor is generally connected to the wheel 1112 through a speed reducer, and when the first motor rotates, the wheel 1112 is driven to rotate, and the ratio of the number of revolutions, the rotational speed, and the rotational acceleration of the first motor to the number of revolutions, the rotational speed, and the rotational acceleration of the wheel 1112 is fixed, so that after the number of revolutions, the rotational speed, and the rotational acceleration of the first motor are determined, the number of revolutions, the rotational speed, and the rotational acceleration of the wheel 1112 can be calculated, and the driving distance, the driving speed, and the driving acceleration of the driving device 111 can be calculated.
In some embodiments, the control device 121 may include a fourth control module, the state detection device 124 may include a second encoder (not shown) electrically connected to the second motor 1143 of the working device 112, the second encoder is electrically connected to the fourth control module of the control device 121, and the fourth control module of the control device 121 receives a second feedback signal of the second encoder and determines the working state of the working device 112 according to the second feedback signal.
The working state of the working device 112 may include, among other things, a distance of movement, a speed, an acceleration, and the like. In addition, the second motor may be one of the types of motors commonly used at present, for example, a servo motor, a stepping motor, etc.; the second encoder may be one of the currently commonly used encoder types, such as an absolute value encoder, an incremental encoder, a rotary transformer, etc., and the present embodiment does not limit the type of the second motor and the second encoder.
After the second motor starts to work, the second encoder corresponding to the second motor starts to monitor the working state of the second motor in real time, and feeds back the monitored working state parameters to the fourth control module of the control device 121, where the working state may be an actual number of revolutions, an actual rotational speed, an actual rotational acceleration, and the like of the second motor. After receiving the feedback signal of the second encoder, the fourth control module of the control device 121 analyzes the feedback signal, and calculates an actual activity state of the working device 112 through related calculation and conversion, where the actual activity state may include an actual movement distance, an actual movement speed, an actual movement acceleration, and the like of the working device 112.
Specifically, as shown in fig. 1 and fig. 2, the working machine 100 is a loader, the working module 113 of the working device 112 includes two lifting arms 1131, a turning arm 1132 and a bucket 1133, the two lifting arms 1131 are disposed side by side, one end of each of the two lifting arms 1131 is hinged to the front end of the frame 1111, the other end of each of the two lifting arms 1131 is hinged to the bucket 1133, the middle portions of the two lifting arms 1131 are connected together by a connecting portion 1134, the middle portion of the turning arm 1132 is hinged to the connecting portion 1134, and one end of the turning arm 1132 is hinged to the bucket 1133 by a connecting rod 1135. The quantity of electronic jar 114 is a plurality of, can be divided into two electronic jars of lifting with two lift arm 1131 articulated to and with the electronic jar of upset arm 1132 articulated, two electronic jar of lifting's one end and the front end of frame 1111 are articulated, two electronic jar of lifting's the other end and the lift arm 1131 that corresponds are articulated, the one end of the electronic jar of upset is articulated together with the front end of frame 1111, the other end is articulated together with the other end of upset arm 1132. Each electric cylinder 114 includes a lead screw and a second motor for driving the lead screw, and a second encoder is provided corresponding to each second motor.
The fourth control module of the control device 121 can calculate the number of turns of rotation, the rotation speed, and the rotation acceleration of the motors of the electric lifting cylinder and the electric overturning cylinder according to the coding signals fed back by the second encoders of the electric lifting cylinder and the electric overturning cylinder, and further calculate the operation states of the electric lifting cylinder and the electric overturning cylinder, such as the extension length, the extension speed, the extension acceleration, and the like, and then calculate the operation states of the lifting arm 1131 and the overturning arm 1132 according to the operation states of the electric lifting cylinder and the electric overturning cylinder, and further calculate the operation state of the bucket 1133.
In some embodiments, the smart system 120 may further include a remote control including a VR integrated device and a control device, the control device being electrically connected to the VR integrated device and the control device being wirelessly connected to the control device 121. Thus, the remote control device can be placed indoors, the construction machine 100 feeds back and displays the environment around the construction machine 100, the position of the construction machine 100, and the operation states of the traveling device 111 and the working device 112 to the VR integrated device, and the operator can remotely control the construction machine 100 through the VR integrated device. Thus, the operation requirement on the control device 121 can be reduced, and meanwhile, the operator can remotely control the engineering machinery 100, so that the influence of the operation environment of the engineering machinery 100 on the physical and mental health of the operator is avoided.
Specifically, the control device 121 transmits the environment around the construction machine 100, the position of the construction machine 100, and the operating states of the traveling device 111 and the working device 112 to the VR integrated equipment through the control device, and displays the results in the VR integrated equipment; the control device is further configured to receive a work instruction output by the VR integrated device, and transmit the work instruction to the control device 121, so that the control device 121 correspondingly controls the engineering machine 100 according to the work instruction.
In some embodiments, the intelligent system 120 of the construction machine 100 may further include a network system including a router, and the router is disposed in the construction machine 100 and connected to the control device 121 through a network cable. When the construction machine 100 is used, the router is wirelessly connected to the control device of the remote control apparatus to transmit data to and from the remote control device.
In the foregoing embodiments, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
The engineering machinery provided by the embodiment of the application is described in detail, a specific example is applied in the description to explain the principle and the implementation of the application, and the description of the embodiment is only used for helping to understand the technical scheme and the core idea of the application; those of ordinary skill in the art will understand that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications or substitutions do not depart from the spirit and scope of the present disclosure as defined by the appended claims.

Claims (10)

1. An engineering machine comprises an engineering machine body, wherein the engineering machine body comprises a running device and a working device connected with the running device;
the environment detection device is used for acquiring environment information of the engineering machinery and transmitting the environment information to the control device, and the control device determines the environment around the engineering machinery according to the environment information;
the navigation positioning device is used for detecting position information of the engineering machinery and transmitting the position information to the control device, and the control device determines the position of the engineering machinery according to the position information;
the state detection device is used for detecting state information of the running device and the working device and transmitting the state information to the control device, and the control device determines the running states of the running device and the working device according to the state information;
the control device is further used for receiving an operation instruction and controlling the running device and the working device to run according to the operation instruction, the environment around the engineering machinery, the position of the engineering machinery and the running states of the running device and the working device.
2. The work machine of claim 1, wherein said control device comprises a first control module, and said environment detection device comprises a work environment detection module and an obstacle detection module electrically connected to said first control module;
the working environment detection module is used for acquiring working environment information of the engineering machinery and outputting a corresponding first signal;
the obstacle detection module is used for acquiring obstacle information around the engineering machinery and outputting a corresponding second signal;
the first control module is used for receiving the first signal and the second signal and determining the environment around the engineering machinery according to the first signal and the second signal.
3. The work machine of claim 2, wherein the work environment detection module comprises a 3D map construction component electrically connected to the first control module, the 3D map construction component configured to collect 3D topographic information of the work environment of the work machine and transmit the 3D topographic information to the first control module, the first control module constructing a 3D map of the work environment of the work machine based on the 3D topographic information; and/or the presence of a gas in the gas,
the working environment detection module comprises a working medium sensing assembly electrically connected with the first control module, the working medium sensing assembly is used for detecting distance information of a working medium and outputting the distance information to the first control module, and the first control module determines relative position information of the working medium according to the distance information.
4. The work machine of claim 2, wherein the obstacle detection module comprises a plurality of cameras electrically connected to the first control module and mounted around the work machine, the plurality of cameras being configured to collect obstacle image information around the work machine and transmit the obstacle image information to the first control module, and the first control module determines the obstacle distance, the type, and the shape around the work machine according to the obstacle image information.
5. The work machine of claim 2, wherein the obstacle detection module further comprises a plurality of millimeter wave radars electrically connected to the first control module and mounted around the work machine, the plurality of millimeter wave radars being configured to detect obstacle distances, positions, and motion states around the work machine; and/or the presence of a gas in the gas,
the obstacle detection module further comprises a plurality of ultrasonic radars electrically connected with the first control module and installed on the periphery of the engineering machinery, and the plurality of ultrasonic radars are used for detecting the distance and the position of obstacles on the periphery of the engineering machinery.
6. The construction machine according to any one of claims 1 to 5, wherein the control module further comprises a second control module, the navigation positioning device comprises a navigation module disposed on the construction machine body, the navigation module is electrically connected to the second control module, the navigation module is configured to collect position information of the construction machine and send the position information to the second control module, and the second control module determines the position of the construction machine according to the position information.
7. The work machine of claim 6, wherein the navigation module includes a satellite navigation assembly, an inertial navigation assembly, and a visual odometer assembly electrically connected to the second control module;
the satellite navigation assembly is used for positioning the engineering machinery according to satellite signals and outputting corresponding first positioning signals to the second control module;
the inertial navigation module is used for detecting the running state of the engineering machinery, positioning the engineering machinery according to the running state and outputting a corresponding second positioning signal to the second control module;
the visual odometer component is used for detecting surrounding environment change information in the movement process of the engineering machinery, positioning the engineering machinery according to the environment change information and outputting a corresponding third positioning signal to the second control module;
and the second control module determines the position of the engineering machinery according to at least one of the first positioning signal, the second positioning signal and the third positioning signal and the environmental information.
8. The construction machine according to any one of claims 1 to 5, wherein the traveling device comprises a frame, and the frame is provided with wheels and a first motor connected with the wheels; the control device comprises a third control module, the state monitoring device further comprises a first encoder electrically connected with the first motor, the first encoder is electrically connected with a third control module, the third control module receives a first feedback signal of the first encoder, and the running state of the running device is determined according to the first feedback signal.
9. The construction machine according to any one of claims 1 to 5, wherein the working device comprises a working module connected to the traveling device, and an electric cylinder connected to the working module and driving the working module to move, the electric cylinder comprising a second electric motor; the control device comprises a fourth control module, the state monitoring device comprises a second encoder electrically connected with the second motor, the second encoder is electrically connected with the fourth control module, and the fourth control module receives a second feedback signal of the second encoder and determines the working state of the working device according to the second feedback signal.
10. The work machine of any one of claims 1-5, wherein the intelligent system further comprises a remote control device, the remote control device comprising a VR integrated device and a control device, the control device being electrically connected to the VR integrated device, the control device being wirelessly connected to the control device, the control device transmitting the environment surrounding the work machine, the location of the work machine, and the operating conditions of the traveling device and the working device to the VR integrated device via the control device and displaying the same in the VR integrated device; the control device is further used for receiving the job instruction output by the VR integrated device and transmitting the job instruction to the control device.
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