CN114032978A

CN114032978A - Construction machine

Info

Publication number: CN114032978A
Application number: CN202010741651.1A
Authority: CN
Inventors: 易琅琳
Original assignee: Sichuan Dinghong Zhidian Equipment Technology Co ltd
Current assignee: Sichuan Dinghong Zhidian Equipment Technology Co ltd
Priority date: 2020-07-29
Filing date: 2020-07-29
Publication date: 2022-02-11

Abstract

The application discloses engineering machine tool includes: the running device comprises a frame, wherein wheels and a driving mechanism connected with the wheels are arranged on the frame; a first detection device for detecting an operation state of a drive mechanism of the running device and outputting a corresponding first signal; the working device comprises a working module connected with the frame and an electric cylinder assembly connected with the working module and driving the working module to move; the second detection device is used for detecting the running state of the electric cylinder assembly and outputting a corresponding second signal; the control device is used for receiving the first signal and the second signal and controlling the power supply amount of the electric energy supply device to the driving mechanism and the electric cylinder assembly according to the first signal and the second signal. The structure of the engineering machinery is improved, and the control precision of the engineering machinery is improved.

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. The existing engineering machinery generally adopts a diesel engine as power to drive a hydraulic driving system and a transmission system of the engineering machinery so as to move and work the engineering machinery. Because the accuracy of the hydraulic driving system and the transmission system is low, large deviation is easy to generate in the process of driving the hydraulic driving system and the transmission system of the engineering machinery to move and work the engineering machinery.

Disclosure of Invention

The embodiment of the application provides an engineering machine, and aims to solve the problem that the existing engineering machine is low in control precision and causes large deviation in movement and work of the engineering machine.

An embodiment of the present application provides an engineering machine, the engineering machine includes:

the running device comprises a frame, wherein wheels and a driving mechanism connected with the wheels are arranged on the frame;

the first detection device is used for detecting the running state of the driving mechanism and outputting a corresponding first signal;

the working device comprises a working module connected with the frame and an electric cylinder assembly connected with the working module and driving the working module to move;

the second detection device is used for detecting the running state of the electric cylinder assembly and outputting a corresponding second signal;

the electric energy supply device is arranged on the frame and is electrically connected with the driving mechanism, the first detection device, the electric cylinder assembly and the second detection device;

the first control device is arranged on the frame, is electrically connected with the driving mechanism, the first detection device, the electric cylinder assembly, the second detection device and the electric energy supply device, and is used for receiving the first signal and controlling the power supply amount provided by the electric energy supply device to the driving mechanism according to the first signal; the first control device is further configured to receive the second signal and control the power supply amount provided by the power supply device to the electric cylinder assembly according to the second signal.

In some embodiments, a plurality of wheels are disposed on the frame, the driving mechanism includes a plurality of first driving motors disposed on the frame, and the number of the first driving motors is equal to that of the plurality of wheels and is connected in a one-to-one correspondence.

In some embodiments, the first control device includes a first control module electrically connected to the first driving motor, the first detection device includes a plurality of first encoders electrically connected to the plurality of first driving motors in a one-to-one correspondence, the plurality of first encoders are electrically connected to the first control module, and the first control module receives first feedback signals of the plurality of first encoders and determines the operation state of the running device according to the first feedback signals.

In some embodiments, the work module comprises a bucket, a tilt arm, and a lift arm, the electric cylinder assembly comprises a first electric cylinder and a second electric cylinder, one end of the tilt arm is hinged to the bucket, and the other end is hinged to the first electric cylinder; one end of the lifting arm is hinged to the bucket, and the other end of the lifting arm is hinged to the frame;

the first electric cylinder comprises a first ball screw pair and a second driving motor, one end of the first ball screw pair is hinged to the frame, the other end of the first ball screw pair is connected with one end, far away from the bucket, of the turnover arm, and the second driving motor is connected with the first ball screw pair and drives the first ball screw pair to operate;

the second electric cylinder comprises a second ball screw pair and a third driving motor, one end of the second ball screw pair is hinged to the frame, the other end of the second ball screw pair is connected with the middle part of the lifting arm, and the third driving motor is connected with the second ball screw pair and drives the second ball screw pair to operate.

In some embodiments, the first control device includes a second control module electrically connected to the second driving motor, the second detection device includes a second encoder electrically connected to the second driving motor, the second encoder is electrically connected to the second control module, and the second control module receives a second feedback signal of the second encoder and determines the operating state of the flipping arm according to the second feedback signal.

In some embodiments, the first control device includes a third control module electrically connected to the third driving motor, the second detection device includes a third encoder electrically connected to the third driving motor, the third encoder is electrically connected to the third control module, and the third control module receives a third feedback signal from the third encoder and determines the operating state of the lift arm according to the third feedback signal.

In some embodiments, the vehicle frame includes a third electric cylinder, and a first vehicle frame and a second vehicle frame hinged to each other, the first vehicle frame and the second vehicle frame are respectively connected with the wheels, the working device is connected with the first vehicle frame, one end of the third electric cylinder is hinged to the first vehicle frame, and the other end of the third electric cylinder is hinged to the second vehicle frame, so as to drive the first vehicle frame to rotate relative to the second vehicle frame.

In some embodiments, the working machine further comprises a third detection device, and the third detection device is used for detecting the operation state of the third electric cylinder and outputting a corresponding third signal;

the first control device comprises a fourth control module electrically connected with the electric energy supply device, the fourth control module is electrically connected with the third electric cylinder, and the fourth control module is used for receiving the third signal and controlling the power supply amount provided by the electric energy supply device to the third electric cylinder according to the third signal.

In some embodiments, the third electric cylinder includes a lead screw hinged between the first frame and the second frame, and a fourth driving motor connected with the lead screw and driving the lead screw to extend and retract;

the third detection device comprises a fourth encoder electrically connected with the fourth driving motor, the fourth encoder is electrically connected with the fourth control module, and the fourth control module receives a fourth feedback signal of the fourth encoder and determines the rotation angle of the first frame relative to the second frame according to the fourth feedback signal.

In some embodiments, the construction machine further comprises a second control device electrically connected with the first control device, and an environment detection device and a navigation positioning device electrically connected with the second control device;

the environment detection device is used for acquiring environment information of the engineering machinery and transmitting the environment information to the second control device, and the second control device determines the environment around the engineering machinery according to the environment information and transmits the environment around the engineering machinery to the first control device;

the navigation positioning device is used for detecting the position information of the engineering machinery and transmitting the position information to the second control device, and the second control device determines the position of the engineering machinery according to the position information and transmits the position of the engineering machinery to the first control device;

the first control device is used for controlling the driving mechanism and the electric cylinder assembly to operate according to the first signal, the second signal, the environment around the engineering machinery and the position of the engineering machinery.

The engineering machinery provided by the embodiment of the application detects the running state of the driving mechanism of the running device by arranging the first detection device, transmits a detection result to the first control device through the first signal, and after the first control device receives an instruction for enabling the running device to run for a preset distance, the first control device can determine the current state of the driving mechanism according to the first signal, and then accurately controls the electric quantity provided by the electric energy supply device to the driving mechanism, so that the driving mechanism drives wheels to accurately run for the preset distance.

Meanwhile, the engineering machinery is also driven by the electric cylinder through the working module of the working device, the second detection device is arranged to detect the running state of the electric cylinder, the second detection device transmits a detection result to the first control device through a second signal, and after the first control device receives an instruction for enabling the working module of the working device to move for a preset distance, the first control device can determine the current state of the electric cylinder according to the second signal, and then accurately control the electric quantity provided by the electric energy supply device for the electric cylinder, so that the electric cylinder drives the working module to accurately move for the preset distance.

Therefore, the engineering machinery can solve the problem that the existing engineering machinery is low in control precision and causes large deviation in movement and work of the engineering machinery.

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 a side view of the work machine of FIG. 1;

FIG. 3 is a schematic structural diagram of an embodiment of a working device according to an embodiment of the present disclosure;

fig. 4 is a schematic structural diagram of an embodiment of an electric cylinder provided in an embodiment of the present application;

fig. 5 is a schematic structural diagram of a first ball screw pair provided in the embodiment of the present application;

fig. 6 is a schematic structural diagram of an embodiment of an intelligent system provided in an embodiment of 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 first frame 1115; a second frame 1116; 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 assembly 114; a first electric cylinder 1141; a second electric cylinder 1142; a first ball screw assembly 1143; a screw bar 1144; an end cap 1145; a nut 1146; a ball 1147; a second drive motor 1148; a second ball screw assembly 1149; a third drive motor 1150; a second encoder 1151; an intelligent system 120; the second control device 121; an environment detection device 122; a second ultrasonic radar 1223; a camera 1224; a millimeter wave radar 1225; a second ultrasonic radar 1226; a navigation positioning device 123; a satellite navigation component 1231; an inertial navigation component 1232.

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, and the engineering machine comprises an engineering machine body, and a detection device, an electric energy supply device and a first control device which are arranged on the engineering machine body, wherein the detection device is used for detecting the running state of the engineering machine body and transmitting a detection result to the control device, and the first control device controls the power supply amount of the electric energy supply device to each driving part of the engineering machine body according to the detection result. The following are detailed below.

As shown in fig. 1, the construction machine body 110 includes a traveling device 111 and a work device 112 provided on the traveling device 111, and the construction machine 100 is moved in a work environment by the traveling device 111 while performing work in the work environment by the work device 112. The driving device 111 may include a frame 1111, the frame 1111 is provided with wheels 1112 and a driving mechanism (not shown in the figure) connected to the wheels 1112, and the working device 112 may include a working module 113 connected to the frame 1111 and an electric cylinder assembly 114 connected to the working module 113 and driving the working module 113 to move.

The detecting device (not shown in the figures) can be divided into a first detecting device and a second detecting device, wherein the first detecting device is used for detecting the running state of the driving mechanism and outputting a corresponding first signal; the second detection device is used for detecting the operation state of the electric cylinder and outputting a corresponding second signal.

An electric power supply device (not shown) is electrically connected to the driving mechanism, the first detection device, the electric cylinder assembly 114 and the second detection device, and is configured to provide electric power to the driving mechanism, the first detection device, the electric cylinder assembly 114 and the second detection device, so as to operate the driving mechanism, the first detection device, the electric cylinder assembly 114 and the second detection device.

A first control device (not shown in fig. 1) is disposed on the frame 1111, and the first control device is electrically connected to the driving mechanism, the first detection device, the electric cylinder assembly 114, the second detection device and the electric power supply device, and is configured to receive the first signal and control the power supply amount provided by the electric power supply device to the driving mechanism according to the first signal, and meanwhile, the first control device is further configured to receive the second signal and control the power supply amount provided by the electric power supply device to the electric cylinder assembly 114 according to the second signal. The power supply amount may include a power supply current, a power supply voltage, a power supply time period, and the like.

The engineering machine 100 provided in the embodiment of the present application detects the operating state of the driving mechanism of the traveling device 111 by setting the first detection device, and transmits the detection result to the first control device as the first signal, after the first control device receives the control instruction for enabling the traveling device 111 to travel the preset distance, the first control device can determine the current state of the driving mechanism according to the first signal, and then accurately control the electric quantity provided by the electric energy supply device to the driving mechanism, so that the driving mechanism drives the wheels 1112 to travel the preset distance accurately.

Meanwhile, the engineering machine 100 further drives the working module 113 of the working device 112 by using the electric cylinder assembly 114, and sets a second detection device to detect the operating state of the electric cylinder assembly 114, so that the second detection device transmits a detection result to the first control device as a second signal, and after the first control device receives an instruction for moving the working module 113 of the working device 112 by a preset distance, the first control device can determine the current state of the electric cylinder assembly 114 according to the second signal, and then accurately control the electric quantity provided by the electric energy supply device to the electric cylinder assembly 114, so that the electric cylinder assembly 114 drives the working module 113 to accurately move by the preset distance.

Therefore, the construction machine 100 of the present application can solve the problem that the movement and the operation of the construction machine 100 have large deviation due to low control accuracy of the conventional construction machine 100.

In some embodiments, as shown in fig. 1 and fig. 2, the frame 1111 may be provided with a plurality of wheels 1112, and the driving mechanism includes a plurality of first driving motors (not shown) provided on the frame 1111, the number of the first driving motors being equal to the number of the plurality of wheels 1112, and the first driving motors and the plurality of wheels 1112 are connected in a one-to-one correspondence. The first control device is electrically connected with each first driving motor, the electric energy supply device is also electrically connected with each first driving motor, and the first control device can accurately control the rotation number, the rotation speed and the rotation acceleration of each first driving motor by controlling the power supply amount provided by the electric energy supply device to each first driving motor, so that the rotation number, the rotation speed and the rotation acceleration of each wheel 1112 can be accurately controlled.

Specifically, the number of the wheels 1112 of the running gear 111 is 4, the number of the first driving motors is also 4, and the 4 first driving motors are connected with the 4 wheels 1112 through the 4 speed reducers in a one-to-one correspondence manner, the first control device is electrically connected with the 4 first driving motors, and the first control device can control the number of rotations and the rotation speed of the wheels 1112 by controlling the number of rotations, the rotation speed, and the rotation acceleration of the rotating shafts of the 4 first driving motors, so that the running distance, the running speed, and the running acceleration of the running gear 111 can be accurately controlled.

In some embodiments, the first control device may include a first control module electrically connected to the first driving motor, the first detection device may include a plurality of first encoders electrically connected to the plurality of first driving motors in a one-to-one correspondence, the plurality of first encoders are electrically connected to the first control module, and the first control module receives first feedback signals of the plurality of first encoders and determines the operation state of the travel device 111 according to the first feedback signals.

The operation state of the driving device 111 may include a driving distance, a driving speed, and a driving acceleration, among others. In addition, the first driving 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 driving motor and the first encoder.

It can be understood that the first driving motor is generally connected to the wheel 1112 through a speed reducer, when the first driving 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 driving motor to the number of revolutions, the rotational speed and the rotational acceleration of the corresponding wheel 1112 is fixed, so that after the number of revolutions, the rotational speed and the rotational acceleration of the first driving motor are determined, the number of revolutions, the rotational speed and the rotational acceleration of the wheel 1112 can be calculated, and further, the driving distance, the driving speed and the driving acceleration of the driving device 111 can be calculated.

After the first driving motor starts to work, the first encoder corresponding to the first driving motor starts to monitor the working state of the first driving motor in real time, and feeds back the monitored working state parameters to the control device, wherein the working state can be the actual number of turns, the actual rotating speed, the actual rotating acceleration and the like of the first driving motor.

The first control module receives the feedback signal of the first encoder, analyzes the feedback signal, and calculates an actual operating state of the traveling device 111 through related calculation and conversion, where the actual operating state may include an actual traveling distance, an actual traveling speed, an actual traveling acceleration, and the like of the traveling device 111. Then, the first control module electrically connected to the electric power supply device may precisely control the amount of electric power supplied from the electric power supply device to each of the first driving motors according to the actual operation state of the traveling device 111, so as to precisely control the traveling distance, the actual traveling speed, the actual traveling acceleration, and the like of the traveling device 111.

It should be noted that the number of the first control modules may be one or more, for example: the number of the first control modules and the number of the first driving motors can be equal, the plurality of first control modules are electrically connected with the plurality of first driving motors in a one-to-one correspondence manner, the plurality of first control modules are electrically connected with the plurality of first encoders in a one-to-one correspondence manner, the running state of the first driving motors which are electrically connected with each other can be acquired through each first control module, and the first driving motors which are electrically connected with each other are accurately controlled.

Of course, a plurality of first driving motors and a plurality of first encoders may be electrically connected to the same first control module, and the operating state of each first driving motor may be acquired by the first control module and controlled.

In some embodiments, the frame 1111 of the driving device 111 may include a third electric cylinder (not shown), and a first frame 1115 and a second frame 1116 articulated to each other, the first frame 1115 and the second frame 1116 having wheels 1112 attached thereto, respectively, the working device 112 being connected to the first frame 1115, and the third electric cylinder having one end articulated to the first frame 1115 and the other end articulated to the second frame 1116 to drive the first frame 1115 to rotate relative to the second frame 1116. Therefore, during the traveling of the traveling device 111, the third electric cylinder is controlled to extend and retract, so that the rotation angle of the first frame 1115 relative to the second frame 1116 can be accurately controlled, and the rotation angle of the traveling device 111 during the traveling can be accurately controlled.

Optionally, the work machine 100 may further include a third detecting device (not shown in the drawings), which is configured to detect the second electric cylinder 1142 and output a corresponding third signal; the first control device comprises a fourth control module electrically connected with the electric energy supply device, the fourth control module is electrically connected with the third electric cylinder, and the fourth control module is used for receiving the third signal and controlling the power supply amount provided by the electric energy supply device to the third electric cylinder according to the third signal.

The running state of the third electric cylinder is detected by arranging the third detection device, the third detection device transmits a detection result to the fourth control module by a third signal, after the fourth control module receives an instruction for turning the running device 111, the fourth control module can determine the current state of the third electric cylinder according to the third signal, then the electric quantity provided by the electric energy supply device to the third electric cylinder is accurately controlled, and the third electric cylinder drives the first frame 1115 to rotate by an accurate rotation preset angle relative to the second frame 1116.

The third electric cylinder may include a screw rod hinged between the first frame 1115 and the second frame 1116, and a fourth driving motor connected to the screw rod and driving the screw rod to extend and retract, and the fourth control module is electrically connected to the fourth driving motor and controls the extension length, the extension speed, and the extension acceleration of the screw rod by controlling the number of rotation turns, the rotation speed, and the rotation acceleration of the fourth motor, so as to control the turning angle, the turning speed, and the turning acceleration of the driving device 111.

The third detection device may include a fourth encoder electrically coupled to the fourth drive motor, the fourth encoder being electrically coupled to a fourth control module, the fourth control module receiving a fourth feedback signal from the fourth encoder and determining the angle at which the first frame 1115 is rotated relative to the second frame 1116 based on the fourth feedback signal.

In some embodiments, the number of the third electric cylinders may be two, and two third electric cylinders are distributed on opposite sides of the hinge point of the first frame 1115 and the second frame 1116 to increase the force applied by the third electric cylinders to the first frame 1115 and the second frame 1116. Correspondingly, the third detection device comprises two fourth encoders electrically connected with the fourth control module, and the two fourth encoders are electrically connected with the fourth driving motors of the two third electric cylinders so as to respectively detect the states of the two fourth driving motors.

In some embodiments, as shown in fig. 1-3, work module 113 of work device 112 may include a bucket 1133, a flipping arm 1132, and a lifting arm 1131, wherein bucket 1133 is used to effect loading and unloading of materials; the overturning arm 1132 is used for loading materials into the bucket 1133 or pouring the materials out of the bucket 1133, one end of the overturning arm 1132 is hinged to the bucket 1133, and the other end of the overturning arm 1132 is hinged to the first electric cylinder 1141; the lifting arm 1131 is used for lifting or lowering the bucket 1133, and one end of the lifting arm 1131 is hinged to the bucket 1133, and the other end is hinged to the frame 1111.

Electric cylinder assembly 114 of work implement 112 may include a first electric cylinder 1141 and a second electric cylinder 1142, first electric cylinder 1141 being hinged between dump arm 1132 and carriage 1111 for driving bucket 1133 through dump arm 1132 to dump; a second electric cylinder 1142 is hinged between the lift arm 1131 and the carriage 1111 for driving the bucket 1133 up or down by the lift arm 1131.

Specifically, the first electric cylinder 1141 may include a first ball screw pair 1143 and a second driving motor 1148, one end of the first ball screw pair 1143 is hinged to the frame 1111, the other end is connected to one end of the turning arm 1132, which is far away from the bucket 1133, and the second driving motor 1148 is connected to the first ball screw pair 1143 and drives the first ball screw pair 1143 to operate; the second electric cylinder 1142 may include a second ball screw assembly 1149 and a third driving motor 1150, one end of the second ball screw assembly 1149 is hinged to the frame 1111, the other end is connected to the middle of the lift arm 1131, and the third driving motor 1150 is connected to the second ball screw assembly 1149 and drives the second ball screw assembly 1149 to operate.

The first ball screw pair 1143 and the second ball screw pair 1149 have the same structure, as shown in fig. 5, taking the first ball screw pair 1143 as an example, the first ball screw pair 1143 includes a screw bar 1144, an end cover 1145, a nut 1146, a ball 1147, the end cover 1145 and the nut 1146 are sleeved on the screw bar 1144, the nut 1146 and the end cover 1145 are all provided with spiral grooves, the grooves are combined to form a ball 1147 circulation channel, and the ball 1147 circulates and rolls in the channel. When the nut 1146 is in operation, the nut 1146 is connected to a component which needs to do linear reciprocating motion, and the screw 1144 rotates to drive the nut 1146 to do linear reciprocating motion, so that the component is driven to do linear reciprocating motion.

First electronic jar 1141 and second electronic jar 1142 all adopt the ball screw pair as the transmission pair among the equipment 112, be favorable to reducing the drive moment of transmission pair, thereby first electronic jar 1141 drive upset arm 1132 realizes that scraper bowl 1133 overturns and second electronic jar 1142 drive lifts arm 1131 and realizes that scraper bowl 1133 lifts or improves transmission efficiency when descending, simultaneously because roll friction power is less relatively, first electronic jar 1141 and second electronic jar 1142 reduce by a wide margin at the during operation heat generation rate, be favorable to improving transmission efficiency.

In some embodiments, the number of the lifting arms 1131 and the number of the second electric cylinders 1142 are two, and the second ball screw assembly 1149 has the characteristics of smooth operation, elimination of axial clearance, consistency of manufacturing and the like, so that when a plurality of electric cylinders using ball screw assemblies are used to drive the same device or a plurality of the same components, good synchronization performance can be obtained, and the working efficiency of the working device 112 is improved.

In some embodiments, the first control device may include a second control module electrically connected to the second driving motor 1148, as shown in fig. 4, the second detection device may include a second encoder 1151 electrically connected to the second driving motor 1148, the second encoder 1151 is electrically connected to the second control module, and the second control module receives a second feedback signal of the second encoder 1151 and determines the operation state of the flipping arm 1132 according to the second feedback signal. Wherein, the running state of upset arm 1132 can include the flip angle, the upset speed and the upset acceleration of upset arm 1132. In addition, the types of the second driving motor 1148 and the second encoder 1151 can refer to the types of the first driving motor and the first encoder, which are not described herein again.

It can be understood that the second driving motor 1148 is generally connected to the first ball screw assembly 1143 through a speed reducer, or directly connected to the first ball screw assembly 1143, when the second driving motor 1148 rotates, the first ball screw assembly 1143 is driven to extend and retract, and the number of rotation turns, the rotation speed and the rotation acceleration of the second driving motor 1148 are fixed to the extension length, the extension speed and the ratio of the extension acceleration corresponding to the first ball screw assembly 1143, so that after the number of rotation turns, the rotation speed and the rotation acceleration of the second driving motor 1148 are determined, the extension length, the extension speed and the extension acceleration of the first ball screw assembly 1143 can be calculated, and then the turning, the turning speed and the turning acceleration of the turning arm 1132 are calculated.

After the second driving motor 1150 starts to work, the second encoder 1151 corresponding to the second driving motor 1148 starts to monitor the working state of the second driving motor 1148 in real time, and feeds back the monitored working state parameters to the second control module, where the working state may be the actual number of turns, the actual rotational speed, the actual rotational acceleration, and the like of the second driving motor 1148.

After receiving the feedback signal of the second encoder 1151, the second control module analyzes the feedback signal, and calculates an actual operating state of the flip arm 1132 through related calculation and conversion, where the actual operating state may include an actual flip angle, an actual flip speed, an actual flip acceleration, and the like of the flip arm 1132. Then, the second control module electrically connected to the power supply device can accurately control the power supply amount provided by the power supply device to each second driving motor 1148 according to the actual operation state of the turning arm 1132, so as to accurately control the turning angle, the actual turning speed, the actual turning acceleration, and the like of the turning arm 1132.

In some embodiments, the first control device may include a third control module electrically connected to the third driving motor 1150, the second detection device may include a third encoder electrically connected to the third driving motor 1150, the third encoder is electrically connected to the third control module, and the third control module receives a third feedback signal of the third encoder and determines the operation state of the lifting arm 1131 according to the third feedback signal. The operation state of the lifting arm 1131 may include a lifting angle, a lifting speed, and a lifting acceleration of the lifting arm 1131. In addition, the types of the third driving motor 1150 and the third encoder may refer to the types of the first driving motor and the first encoder, which are not described herein again.

It can be understood that the third driving motor 1150 is generally connected to the second ball screw assembly 1149 through a speed reducer, or directly connected to the second ball screw assembly 1149, when the third driving motor 1150 rotates, the second ball screw assembly 1149 is driven to extend and retract, and the ratio of the number of rotation turns, the rotation speed, and the rotation acceleration of the third driving motor 1150 to the extension length, the extension speed, and the extension acceleration of the second ball screw assembly 1149 is fixed, so that after the number of rotation turns, the rotation speed, and the rotation acceleration of the third driving motor 1150 are determined, the extension length, the extension speed, and the extension acceleration of the second ball screw assembly 1149 can be calculated, and the lifting, the lifting speed, and the lifting acceleration of the lifting arm 1131 can be calculated.

After the third driving motor 1150 starts to operate, the third encoder corresponding to the third driving motor 1150 starts to monitor the operating state of the third driving motor 1150 in real time, and feeds back the monitored operating state parameters to the third control module, where the operating state may be an actual number of revolutions, an actual rotational speed, an actual rotational acceleration, and the like of the third driving motor 1150.

After receiving the feedback signal of the third encoder, the third control module analyzes the feedback signal, and calculates an actual operation state of the lifting arm 1131 through related operation and conversion, where the actual operation state may include an actual lifting angle, an actual lifting speed, an actual lifting acceleration, and the like of the lifting arm 1131. Then, the third control module electrically connected to the power supply device can precisely control the power supply amount provided by the power supply device to each third driving motor 1150 according to the actual operation state of the lifting arm 1131, so as to precisely control the lifting angle, the actual lifting speed, the actual lifting acceleration, etc. of the lifting arm 1131.

Specifically, as shown in fig. 3, 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 arranged 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 one end of first electronic jar 1141 is articulated together with the front end of frame 1111, and the other end is articulated together with the other end of upset arm 1132, and the quantity of second electronic jar 1142 is two, and two electronic jars 1142 of second are located the below of two arms 1131 that lift respectively, and the one end of two electronic jars 1142 of second is articulated together with the front end of frame 1111 respectively, and the other end of two electronic jars is articulated together with the middle part below of two arms 1131 that lift respectively.

It should be noted that the number of the third control modules may be one or two, and when the number of the third control modules is one, the third control module is electrically connected to the two third encoders and the two third driving motors 1150 at the same time, so that the third control module obtains the current operating states of the two third driving motors 1150 through the two third encoders and controls the operating states of the two third driving motors 1150.

When the number of the third control modules is two, the two third control modules are correspondingly electrically connected with the two third driving motors 1150, the two third control modules are correspondingly electrically connected with the two third encoders, and the two third control modules can acquire the current running states of the two third driving motors 1150 through the two third encoders and control the running states of the two third driving motors 1150.

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 attached to the boom, and the like.

In some embodiments, the electric energy supply device may include a generator set and an electrical storage device, the generator set being electrically connected to the electrical storage device and supplying power to the electrical storage device so that electric energy generated by the generator set can be stored in the electrical storage device. The generator set is electrically connected with the driving mechanism and the electric cylinder electric assembly, so that electric energy generated by the generator set can supply power to the driving mechanism and the electric cylinder assembly 114 and drive the driving mechanism and the electric cylinder assembly 114 to work; the electrical storage device is electrically connected to the drive mechanism and the electric cylinder assembly 114 so that the electrical storage device can supply power to the drive mechanism and the electric cylinder assembly 114 and drive the drive mechanism and the electric cylinder assembly 114 to operate.

The generator set can comprise a Liquefied Natural Gas (LNG) engine and a generator connected with the output end of the LNG engine, the LNG engine drives a crankshaft to rotate by burning the LNG, the crankshaft drives the generator to rotate to generate power, and electric energy generated by the generator is transmitted to the power storage device, the driving mechanism or the electric cylinder under the control action of the control device. Because the main component of the liquefied natural gas is methane, a large amount of heat is released after the liquefied natural gas is combusted, and the tail gas discharged after the combustion is mainly water and carbon dioxide, so that the pollution to the environment is very small.

In addition, the electric energy supply device further comprises a liquid storage tank supported on the frame 1111, liquefied natural gas is stored in the liquid storage tank, and an outlet of the liquid storage tank is connected with the liquefied natural gas engine through a pipeline so as to provide liquefied natural gas for the liquefied natural gas engine.

Of course, the generator set may also include a diesel engine and a generator connected to an output of the diesel engine. Alternatively, the generator set may also include a gasoline engine and a generator connected to an output of the gasoline engine.

Alternatively, the electric energy supply device may include only the electric storage device, and before the work machine 100 works, the electric storage device may be fully charged by the commercial power, and then the electric storage device may supply power to the traveling device 111 and the working device 112.

The electric storage device can be a super capacitor, a lithium battery, a lead storage battery and the like, the electric storage device is charged by the generator set, and a plug electrically connected with the electric storage device can be arranged on the running device 111 and is used for being connected with a mains supply to charge the electric storage device through the mains supply, so that the use of fuel is reduced, and the energy-saving and environment-friendly effects of the engineering machinery are further improved.

In some embodiments, as shown in fig. 6, the work machine 100 may further include an intelligent system 120, where the intelligent system 120 is configured to acquire an environment around the work machine 100 and control the work machine 100 to automatically operate according to the environment around the work machine 100, so as to implement long-time operation of the work machine 100, improve the use efficiency of the work machine 100, and prevent the operating environment of the work machine 100 from affecting physical and psychological health of an operator.

The intelligent system 120 may include a second control device 121 electrically connected to the first control device, and an environment detection device 122 and a navigation positioning device 123 electrically connected to the second control device 121, where the environment detection device 122 is configured to collect environment information of the construction machine 100 and transmit the environment information to the second control device 121, and the second control device 121 determines an environment around the construction machine 100 according to the environment information and transmits the environment around the construction machine 100 to the first control device; the navigation positioning device 123 is configured to detect position information of the work machine 100 and transmit the position information to the second control device 121, and the second control device 121 determines the position of the work machine 100 according to the position information and transmits the position of the work machine 100 to the first control device; the first control device is used for controlling the driving mechanism and the electric cylinder assembly to operate according to the first signal output by the first detection device, the second signal output by the second detection device, the environment around the engineering machinery and the position of the engineering machinery.

The engineering machine 100 provided in the embodiment of the present application acquires environment information of the engineering machine 100 through the environment detection device 122, detects position information of the engineering machine 100 through the navigation positioning device 123, then transmits the environment information and the position information of the engineering machine 100 to the second control device 121, determines an environment around the engineering machine 100 and a position of the engineering machine 100 according to the information by the second control device 121, and transmits the environment around the engineering machine 100 and the position of the engineering machine 100 to the first control device; then, the first control device determines the current operating states of the traveling device 111 and the working device 112 of the construction machine 100 according to the first signal output by the first detection device and the second signal output by the second detection device, and outputs a corresponding control signal according to 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 to a preset position in the surrounding environment, and the working device 112 automatically operates in the surrounding environment, thereby realizing the automatic operation of the construction machine 100, and making the construction machine 100 not need to be operated by an operator on site, thereby avoiding the operating environment of the construction machine 100 from affecting the physical and mental health of the operator.

In some embodiments, the second control device 121 may include a fifth control module, and the environment detection device 122 may include a working environment detection module and an obstacle detection module electrically connected to the fifth control module of the second control device 121, wherein the working environment detection module is configured to collect working environment information of the working machine 100 and transmit the working environment information to the fifth control module; the obstacle detection module is used for acquiring obstacle information around the engineering machinery 100 and transmitting the obstacle information to the fifth control module; the fifth control module determines an environment around the construction machine 100 based on the work environment information and the obstacle information.

The environment detection device 122 provided in the embodiment of the present application detects the working environment information around the construction machine 100 through the working environment detection module, detects the obstacle information around the construction machine 100 through the obstacle detection module, determines the working environment and the obstacle around the construction machine 100 according to the working environment information and the obstacle information through the fifth control module, 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 fifth 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 building component electrically connected to the fifth control module, the 3D map building component configured to collect 3D topographic information of the work environment of the work machine 100 and transmit the 3D topographic information to the fifth control module, and then determine a 3D map of the work environment of the work machine 100 according to the received 3D topographic information by the fifth control module. After determining the 3D map around the construction machine 100 through the 3D map building component, the fifth control module 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 fifth 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 fifth control module; the camera group is used for acquiring image information of objects in the surrounding environment of the engineering machinery 100 and transmitting the image information to the fifth control module; the fifth 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 image information of the objects in the surrounding environment of the engineering machine 100, which is acquired by the camera group, can accurately identify the types of the objects in the surrounding environment of the engineering machine 100, so that the fifth control module in the application can more accurately construct a 3D topographic 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 fifth control module, where the working medium sensing component is configured to detect distance information of the working medium and transmit the distance information to the fifth control module, and the fifth control module determines a relative position of the working medium according to the distance information, so that the second control device 121 controls the working device 112 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 plural in number and 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 fifth control module, which 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 construction machine 100, if the working environment of the construction 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 construction machine 100 may directly transmit the 3D map to the fifth 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 can directly transmit the related information of the working medium to the fifth 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 fifth 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 fifth control module, and the fifth 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 fifth control module and installed around the construction 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 construction 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 function 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 case 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 fifth control module and installed around the working machine 100, where the plurality of first ultrasonic radars 1226 are used to detect the distance and position of obstacles around the working 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 fifth control modules in the present application may be one or more, for example: the number of the fifth control module 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 fifth detection module. Alternatively, the number of the fifth control modules may be plural, and 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 fifth control modules.

In some embodiments, the second control device 121 may include a sixth 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 sixth control module, and is configured to collect position information of the work machine 100 and send the position information to the sixth control module, so that the sixth control module determines the position of the work machine 100 according to the position information. The sixth control module can accurately acquire the position of the construction machine 100 through the navigation module, so that the second 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 sixth control module; the satellite navigation component 1231 is configured to position the engineering machine 100 according to the satellite signal, and output a corresponding first positioning signal to the sixth 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 sixth 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 sixth control module; the sixth control module determines the position of the work 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 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

1. A work machine, characterized in that the work machine comprises:

2. The work machine of claim 1, wherein a plurality of wheels are disposed on the frame, and wherein the drive mechanism includes a plurality of first drive motors disposed on the frame, the plurality of first drive motors being equal in number to the plurality of wheels and being connected in a one-to-one correspondence.

3. The construction machine according to claim 2, wherein the first control device includes a first control module electrically connected to the first driving motor, the first detection device includes a plurality of first encoders electrically connected to the plurality of first driving motors in a one-to-one correspondence, the plurality of first encoders are electrically connected to the first control module, and the first control module receives first feedback signals of the plurality of first encoders and determines the operation state of the traveling device based on the first feedback signals.

4. The work machine of claim 1, wherein the work module includes a bucket, a tilt arm, and a lift arm, the electric cylinder assembly including a first electric cylinder and a second electric cylinder, the tilt arm being hingedly connected at one end to the bucket and at another end to the first electric cylinder; one end of the lifting arm is hinged to the bucket, and the other end of the lifting arm is hinged to the frame;

5. The work machine of claim 4, wherein said first control device includes a second control module electrically connected to said second drive motor, said second detection device includes a second encoder electrically connected to said second drive motor, said second encoder electrically connected to said second control module, said second control module receiving a second feedback signal from said second encoder and determining an operational status of said flipper arm based on said second feedback signal.

6. The work machine of claim 4, wherein the first control device comprises a third control module electrically connected to the third drive motor, the second detection device comprises a third encoder electrically connected to the third drive motor, the third encoder is electrically connected to the third control module, and the third control module receives a third feedback signal from the third encoder and determines the operating state of the lift arm based on the third feedback signal.

7. The work machine of claim 1, wherein the frame includes a third electric cylinder, and a first frame and a second frame hingedly connected to each other, the first frame and the second frame having the wheels attached thereto, respectively, the work implement being connected to the first frame, the third electric cylinder being hingedly connected at one end to the first frame and at another end to the second frame to drive the first frame to rotate relative to the second frame.

8. The work machine of claim 7, further comprising a third sensing device for sensing an operating condition of said third electric cylinder and outputting a corresponding third signal;

9. The work machine of claim 8, wherein said third electric cylinder includes a lead screw hinged between the first frame and the second frame, and a fourth driving motor connected to said lead screw and driving said lead screw to extend and retract;

10. The working machine according to any one of claims 1-9, further comprising a second control device electrically connected to the first control device, and an environment detection device and a navigation positioning device electrically connected to the second control device;