Mobile working equipment control method and mobile working equipment

Abstract

The present invention discloses a mobile working equipment control method and the mobile working equipment. The mobile working equipment control method comprises: obtaining the walking direction of the mobile working equipment; controlling the reversing state of the cable guide reversing device according to the walking direction of the mobile working equipment, so that the outlet direction of the cable on the cable guide reversing device is adapted to the walking direction of the mobile working equipment. In the mobile working equipment control method and the mobile working equipment, the outlet direction of the cable can be changed by reversing the cable guide reversing device, so that it can be adapted to the walking direction of the mobile working equipment, so that the mobile working equipment can avoid the risk of the dragging cable being crushed by the equipment in various states of laying out, turning and retrieving, thereby improving the flexibility of the equipment.

Description

Technical Field

[0001] The present invention relates to the technical field of agricultural machinery, and in particular to a mobile working equipment control method and the mobile working equipment. Background Art

[0002] The power source of existing agricultural machinery is mainly fossil fuel power, and new energy (pure electric, hydrogen, methanol, ammonia fuel, etc.) is also developing rapidly. From the perspective of efficiency, environmental protection, noise and other dimensions, pure electric-driven agricultural machinery has obvious advantages and is the main development trend in the future.

[0003] Pure electric vehicles are now widely used on the road and are expected to be increasingly used in agricultural machinery. Electric agricultural machinery relies on power batteries for driving and operation, requiring charging before operation. Due to the concentrated operation time and heavy loads of agricultural machinery, frequent charging is required, forcing the interruption of urgent and continuous operations. This results in low operating efficiency for pure electric agricultural machinery equipped with power batteries, making it unable to meet the needs of agricultural operations. To ensure uninterrupted and continuous power supply to agricultural machinery, a cable reel can be installed on the agricultural machinery, drawing power from the grid via the cable wound on the reel. However, the cable reel is generally located at the rear of the agricultural machinery, which poses a risk of cable damage or entanglement when the agricultural machinery turns or swerves. Summary of the Invention

[0004] In view of this, the object of the present invention is to provide a mobile working equipment control method and mobile working equipment, so that the cable outlet direction can be changed in time with the movement of the mobile working equipment to avoid the problem of cable being crushed or entangled, thereby improving the flexibility of the mobile working equipment.

[0005] The present invention provides a method for controlling a mobile working device, which is used to control the mobile working device. The mobile working device includes a cable guide reversing device. The method for controlling the mobile working device includes:

[0006] Obtaining the moving direction of the mobile working equipment;

[0007] The reversing state of the cable guiding reversing device is controlled according to the traveling direction of the mobile working equipment, so that the outgoing direction of the cable from the cable guiding reversing device is adapted to the traveling direction of the mobile working equipment.

[0008] In one embodiment, controlling the reversing state of the cable guide reversing device according to the traveling direction of the mobile working equipment includes:

[0009] When the moving direction of the mobile working equipment is moving away from the external power supply equipment, the direction in which the cable exiting from the cable guide reversing device is controlled to be opposite to the moving direction;

[0010] When the mobile working equipment changes direction, the direction in which the cables exit from the cable guide reversing device are controlled to be parallel to the turning radius of the mobile working equipment;

[0011] When the moving direction of the mobile working equipment is a direction approaching the external power supply equipment, the cable outlet direction from the cable guide reversing device is controlled to be the same as the moving direction.

[0012] In one embodiment, the cable guide reversing device includes a guide assembly and a reversing assembly, a guide channel is formed on the guide assembly for the cable to pass through, and the reversing assembly includes a reversing drive and a guide member for the cable to pass through, and the guide member is arranged to deviate from the first rotation axis. When the walking direction of the mobile working equipment changes, the reversing drive drives the guide member to rotate relative to the guide assembly around the first rotation axis, thereby changing the outlet direction of the cable on the cable guide reversing device.

[0013] In one embodiment, the reversing states of the cable guide reversing device include a first reversing state, a second reversing state and a third reversing state. In the first reversing state, the second reversing state and the third reversing state, the cable guide reversing device guides the cable so that the cable is output in the first direction, the second direction and the third direction respectively.

[0014] In one embodiment, the angle between the second direction and the first direction is 90°, the angle between the third direction and the first direction is 180°, and the angle between the third direction and the second direction is 90°.

[0015] In one embodiment, the mobile working equipment also includes a support arm assembly, and the cable guide reversing device is provided in the support arm assembly. The support arm assembly can make the cable guide reversing device extend out of the outside of the attachment of the mobile working equipment. The first direction is perpendicular to the support arm assembly and toward the rear of the mobile working equipment. The second direction is parallel to the support arm assembly. The third direction is perpendicular to the support arm assembly and toward the front of the mobile working equipment.

[0016] The present invention also provides a mobile working equipment, including a control module and a cable guide reversing device, wherein the control module is used to obtain the walking direction of the mobile working equipment, and to control the cable guide reversing device to switch the reversing state according to the different walking directions of the mobile working equipment, so that the outlet direction of the cable on the cable guide reversing device is adapted to the walking direction of the mobile working equipment.

[0017] In one embodiment, the mobile working equipment is connected to an external power supply equipment via a cable so as to be powered by the external power supply equipment, and the control module is specifically used to: when the moving direction of the mobile working equipment is moving away from the external power supply equipment, control the cable outlet direction from the cable guide reversing device to be parallel to the walking direction; when the mobile working equipment changes direction, control the cable outlet direction from the cable guide reversing device to be parallel to the turning radius direction of the mobile working equipment; when the moving direction of the mobile working equipment is moving towards the external power supply equipment, control the cable outlet direction from the cable guide reversing device to be parallel to the walking direction.

[0018] In one embodiment, the reversing states of the cable guide reversing device include a first reversing state, a second reversing state and a third reversing state. In the first reversing state, the second reversing state and the third reversing state, the cable guide reversing device guides the cable so that the cable is output in the first direction, the second direction and the third direction respectively.

[0019] In one embodiment, the angle between the second direction and the first direction is 90°, the angle between the third direction and the first direction is 180°, and the angle between the third direction and the second direction is 90°.

[0020] In one embodiment, the cable guide reversing device includes a guide assembly and a reversing assembly, a guide channel is formed on the guide assembly for the cable to pass through, and the reversing assembly includes a guide member for the cable to pass through, and the guide member can be rotatably arranged around a first rotation axis relative to the guide assembly, and the guide member is arranged to deviate from the first rotation axis so that the guide member swings along the first rotation axis, thereby making the cable guide reversing device respectively located in the first reversing state, the second reversing state and the third reversing state.

[0021] In one embodiment, the reversing assembly further includes a reversing drive member, which is connected to the reversing assembly and is used to drive the guide member to rotate around the first rotation axis.

[0022] In one embodiment, the reversing drive member includes a first position state, a second position state and a third position state. When the reversing drive member is in the first position state, the second position state or the third position state, the cable guide reversing device is respectively in the first reversing state, the second reversing state or the third reversing state.

[0023] In one embodiment, the mobile working equipment also includes a support arm assembly, and the cable guide reversing device is provided in the support arm assembly. The support arm assembly can make the cable guide reversing device extend out of the outside of the attachment of the mobile working equipment. The first direction is perpendicular to the support arm assembly and toward the rear of the mobile working equipment. The second direction is parallel to the support arm assembly. The third direction is perpendicular to the support arm assembly and toward the front of the mobile working equipment.

[0024] In the mobile working equipment control method and mobile working equipment provided by the embodiments of the present invention, the cable outlet direction can be changed by reversing the cable guide reversing device, so that it can be adapted to the walking direction of the mobile working equipment, so that the mobile working equipment can avoid the risk of the dragging cable being crushed by the equipment in various states of paying out, turning and reeling in, thereby improving the flexibility of the equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments. It should be understood that the following drawings only illustrate certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without paying any creative work.

[0026] Figure 1 FIG. 1 is a flow chart of a method for controlling mobile working equipment according to a first embodiment of the present invention.

[0027] Figure 2 for Figure 1 A schematic diagram of the state of the mobile working equipment when it moves away from the external power supply equipment in the control method shown.

[0028] Figure 3 for Figure 1 A schematic diagram of the state of the mobile working equipment when turning in the control method shown.

[0029] Figure 4 for Figure 1 A schematic diagram of a state in which a mobile working device moves close to an external power supply device in the control method shown.

[0030] Figure 5 for Figure 1 A schematic diagram of a travel path of a mobile working equipment in the control method shown.

[0031] Figure 6 for Figure 1 A schematic structural diagram of a cable guide reversing device for mobile working equipment in the control method shown.

[0032] Figure 7 for Figure 6Schematic diagram of the structure of the guide assembly of the central cable reversing device.

[0033] Figure 8 for Figure 7 Top view of the center guide assembly with the top plate removed.

[0034] Figure 9 for Figure 6 Schematic diagram of the structure of the reversing component of the center cable reversing device.

[0035] Figure 10 FIG. 2 is a structural diagram of a mobile working device according to a second embodiment of the present invention.

[0036] Figure 11 for Figure 10 The figure shows a schematic structural diagram of the unfolded support arm assembly of the mobile working equipment.

[0037] Figure 12 for Figure 10 A schematic structural diagram of a mobile working device with its support arm assembly retracted is shown.

[0038] Figure 13 for Figure 10 The diagram shows an angled structural diagram of a cable arrangement assembly and a reel assembly of a mobile working device.

[0039] Figure 14 for Figure 10 Another perspective structural diagram of the cable arrangement assembly and reel assembly of the mobile working equipment is shown.

[0040] Figure 15 for Figure 10 The diagram shows the structure of the cable arrangement assembly and the reel assembly of the mobile working equipment from another angle.

[0041] Figure 16 for Figure 10 Schematic diagram of the structure of the reel assembly of the mobile working equipment shown.

[0042] Figure 17 for Figure 10 The block diagram of some components of the mobile working equipment shown. DETAILED DESCRIPTION

[0043] Specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be understood that the described embodiments are merely some, and not all, of the embodiments of the present invention. All other embodiments derived by persons of ordinary skill in the art based on the description of the present invention without inventive effort are intended to fall within the scope of protection of the present invention.

[0044] In the description of the present invention, unless otherwise specified or limited, the terms "disposed," "installed," and "connected" should be understood broadly. For example, they may refer to fixed, detachable, or integral connections; mechanical or electrical connections; and direct or indirect connections through an intermediary. Those skilled in the art will understand the specific meanings of these terms based on the specific circumstances.

[0045] The directions or positional relationships indicated by terms such as "upper", "lower", "left", "right", "front", "back", "top", "bottom", "inside" and "outside" are based on the directions or positional relationships shown in the accompanying drawings, or are the directions or positional relationships in which the inventive product is usually placed when in use. They are only for the convenience and simplification of description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operate in a specific direction. Therefore, they should not be understood as limiting the present invention.

[0046] The terms "first," "second," "third," etc. are merely used to distinguish elements of similar nature and do not indicate or imply relative importance or a particular order.

[0047] The terms "comprises," "comprising," or any other variations thereof, are intended to cover a non-exclusive inclusion of elements other than the listed elements and may also include additional elements not specifically listed.

[0048] First embodiment

[0049] The present invention also provides a mobile working equipment control method for controlling the mobile working equipment, wherein the mobile working equipment includes a cable guide reversing device 10 (see Figure 2 ), please refer to Figure 1 The mobile working equipment control method of the first embodiment of the present invention includes the following steps:

[0050] S11, obtaining the moving direction of the mobile working equipment.

[0051] S13, controlling the reversing state of the cable guiding reversing device 10 according to the traveling direction of the mobile working equipment, so that the outlet direction of the cable from the cable guiding reversing device 10 is adapted to the traveling direction of the mobile working equipment.

[0052] In the mobile working equipment control method of this embodiment, the cable outlet direction can be changed, so that it can be adapted to the walking direction of the mobile working equipment, so that the mobile working equipment can avoid the risk of the dragging cable being crushed by the equipment in various states of paying out, turning and reeling in, thereby improving the flexibility of the equipment.

[0053] In this embodiment, in step S11, the walking direction of the mobile working equipment can be obtained through the steering device of the mobile working equipment. Of course, the walking direction of the mobile working equipment can also be obtained directly through the steering control instructions received by the mobile working equipment (this method is particularly suitable for unmanned mobile working equipment).

[0054] In this embodiment, the mobile working device is connected to the external power supply device 71 via a cable to be powered by the external power supply device 71. In step S13, please refer to Figure 2 When the moving direction of the mobile working equipment is moving away from the external power supply device 71, the direction of the cable outlet from the cable guide reversing device 10 is controlled to be parallel to the moving direction of the mobile working equipment; please refer to Figure 3 When the mobile working equipment changes direction, the cable outlet direction on the control cable reversing device 10 is parallel to the turning radius direction of the mobile working equipment; please refer to Figure 4 When the moving direction of the mobile working equipment is toward the external power supply device 71 , the cable outlet direction from the cable guide reversing device 10 is controlled to be the same as the moving direction of the mobile working equipment.

[0055] For details, please refer to Figure 5 When the mobile working equipment is working, the walking mode of the mobile working equipment is usually Figure 5 As shown, it forms an S-shaped path. In this walking mode, the mobile working equipment can be in three states: the walking direction is antiparallel to the cable outlet direction, the reversing state, and the traveling direction is parallel to the cable outlet direction. It can be seen that in all three states, the mopping cable can be prevented from being damaged by the equipment.

[0056] In this embodiment, the cable guide reversing device 10 includes a first reversing state, a second reversing state, and a third reversing state. In the first reversing state, the second reversing state, and the third reversing state, the cable guide reversing device 10 guides the cable so that the cable is respectively output in the first direction, the second direction, and the third direction. Specifically, the angle between the second direction and the first direction is approximately 90°, the angle between the third direction and the first direction is approximately 180°, and the angle between the third direction and the second direction is approximately 90°.

[0057] In this embodiment, the mobile working equipment also includes a support arm assembly 33, and the cable guide reversing device 10 is arranged on the support arm assembly 33. The support arm assembly 33 can enable the cable guide reversing device 10 to extend out of the outside of the attachment of the mobile working equipment. The first direction is perpendicular to the support arm assembly 33 and is toward the rear of the mobile working equipment. The second direction is parallel to the support arm assembly 33. The third direction is perpendicular to the support arm assembly 33 and is toward the front of the mobile working equipment.

[0058] In this embodiment, please refer to Figure 6 The cable guide reversing device 10 includes a guide assembly 11 and a reversing assembly 13. A guide channel is formed on the guide assembly 11 for the cable to pass through. The reversing assembly 13 includes a guide member 131 for the cable to pass through. The guide member 131 can be rotatably arranged around a first rotation axis relative to the guide assembly 11, and the guide member 131 is arranged to deviate from the first rotation axis so that the guide member 131 can swing along the first rotation axis, so that the cable guide reversing device can be respectively located in a first reversing state, a second reversing state and a third reversing state. The cable can pass through the guide channel and the guide member 131 in turn. When the guide member 131 is rotated, the orientation of the guide member 131 can be converted, thereby changing the outlet direction of the cable. This can be adapted to the walking direction of the mobile working equipment, so that the mobile working equipment can avoid the risk of the dragging cable being crushed by the equipment in various states of laying out, turning and reeling in the line, thereby improving the flexibility of the equipment.

[0059] In this embodiment, please refer to Figure 7 and Figure 8 The guide assembly 11 includes an inlet roller group 111, a guide roller group 112, an intermediate roller group 113, a rear outlet roller group 114 and a front outlet roller group 115. The intermediate roller group 113 and the inlet roller group 111 are arranged opposite to each other, the rear outlet roller group 114 and the front outlet roller group 115 are located between the intermediate roller group 113 and the inlet roller group 111, and are respectively vertically arranged at the two ends of the intermediate roller group 113. The guide roller group 112 is located between the inlet roller group 111 and the rear outlet roller group 114 and the front outlet roller group 115. By providing multiple roller groups, the cable can be guided, making both cable delivery and reeling smoother. After entering the cable feed roller group 111, the cable can pass through the guide roller group 112 and exit from the intermediate roller group 113, the rear cable delivery roller group 114, or the front cable delivery roller group 115, respectively, to facilitate changing the cable delivery direction. The guide assembly 11 includes the cable feed roller group 111, the guide roller group 112, the intermediate roller group 113, the rear cable delivery roller group 114, and the front cable delivery roller group 115, which together form the aforementioned guide channel. When the cable guide reversing device is in the first, second, and third reversing states, the cable exits the guide assembly 11 from the rear cable delivery roller group 114, the intermediate roller group 113, and the front cable delivery roller group 115, respectively.

[0060] Specifically, the incoming roller group 111, the middle roller group 113, the rear outgoing roller group 114, and the front outgoing roller group 115 each include two rollers spaced apart and arranged opposite each other. The guide roller group 112 includes two sets of rollers spaced apart and arranged opposite each other. The cable can pass between the two rollers of the incoming roller group 111, the middle roller group 113, the rear outgoing roller group 114, and the front outgoing roller group 115, and can also pass between the two sets of rollers of the guide roller group 112. Specifically, the two sets of rollers of the guide roller group 112 are arranged generally in an "eight" shape, and the spacing between the rollers of the guide roller group 112 farther from the incoming roller group 111 is greater than the spacing between the rollers closer to the incoming roller group 111.

[0061] Specifically, the guide roller assembly 112 is positioned perpendicular to the inlet roller assembly 111, the intermediate roller assembly 113, the rear outlet roller assembly 114, and the front outlet roller assembly 115. In other words, the rolling axis of the guide roller assembly 112 is perpendicular to the rolling axes of the inlet roller assembly 111, the intermediate roller assembly 113, the rear outlet roller assembly 114, and the front outlet roller assembly 115. Furthermore, the rolling axis of the inlet roller assembly 111 is parallel to the rolling axis of the intermediate roller assembly 113, and the rolling axis of the inlet roller assembly 111 is perpendicular to the rolling axes of the rear outlet roller assembly 114 and the front outlet roller assembly 115.

[0062] Specifically, the guide assembly 11 also includes a top plate 117 and a bottom plate 118 that are spaced apart from each other. The incoming line roller group 111, the guide roller group 112, the intermediate roller group 113, the rear outgoing line roller group 114 and the front outgoing line roller group 115 are all arranged between the top plate 117 and the bottom plate 118, and the incoming line roller group 111, the intermediate roller group 113, the rear outgoing line roller group 114 and the front outgoing line roller group 115 are generally parallel to the top plate 117, and the guide roller group 112 is generally perpendicular to the top plate 117. More specifically, one roller of the incoming line roller group 111, one roller of the middle roller group 113, one roller of the rear outgoing line roller group 114 and one roller of the front outgoing line roller group 115 are arranged on the top plate 117, and another roller of the incoming line roller group 111, another roller of the middle roller group 113, another roller of the rear outgoing line roller group 114 and another roller of the front outgoing line roller group 115 are arranged on the bottom plate 118.

[0063] Specifically, the guide assembly 11 further includes a support 119, one end of the roller of the middle roller group 113 and one end of the roller of the rear outlet roller group 114 are respectively connected to one support 119, and the other end of the roller of the middle roller group 113 and one end of the roller of the front outlet roller group 115 are respectively connected to another support 119. Figure 1 and Figure 2In the illustrated embodiment, the height of the support 119 is slightly higher than the heights of the rollers of the incoming cable roller assembly 111, the middle roller assembly 113, the rear outgoing cable roller assembly 114, and the front outgoing cable roller assembly 115. In other embodiments, the height of the support 119 is slightly lower than the heights of the rollers of the incoming cable roller assembly 111, the middle roller assembly 113, the rear outgoing cable roller assembly 114, and the front outgoing cable roller assembly 115, thereby allowing for smoother cable routing.

[0064] Specifically, the guide assembly 11 further includes a connecting bracket 121 , which is fixedly connected to the top plate 117 so that the cable guide reversing device can be installed through the connecting bracket 121 .

[0065] Please refer to Figure 6 and Figure 9 Specifically, the guide member 131 can be a fixed ring. It is understandable that the guide member 131 can also be other shapes, as long as it can allow the cable to pass through and form a certain limit and guide for the cable.

[0066] Specifically, the reversing assembly 13 further includes a connecting assembly 133 and a connecting rod 135 . The connecting assembly 133 and the guide member 131 are respectively provided at both ends of the connecting rod 135 . The first rotation axis is the axial direction of the connecting assembly 133 .

[0067] Specifically, connecting component 133 includes a connecting base 1331, a coupling 1333, and a universal joint 1335. One end of coupling 1333 is rotatably connected to connecting base 1331, and the other end is fixedly connected to universal joint 1335. Universal joint 1335 is connected to one end of connecting rod 135. Specifically, a thrust bearing can be installed in connecting base 1331 to enhance the smoothness of coupling 1333's rotation and reversing. Coupling 1333 is fixedly connected to universal joint 1335 via a fixed pin. Universal joint 1335 allows for up and down swinging, thereby reducing the impact of cable swaying on reversing drive 137 described below. The other end of universal joint 1335 is connected to connecting rod 135 via a fixed pin.

[0068] Specifically, the reversing assembly 13 also includes a connecting block 1337 and a connecting plate 1338. The other end of the connecting rod 135 is connected to the connecting block 1337. The connecting block 1337 is provided with connecting plates 1338 at both ends. The guide member 131 is connected to the connecting plates 1338. The guide member 131 is rotatably connected to the connecting plates 1338, thereby reducing wear on the cable during operation. More specifically, the connecting rod 135 is connected to the connecting block 1337 via a bolt, and the guide member 131 is rotatably connected to the connecting plate 1338 via a pin.

[0069] Specifically, the reversing assembly 13 also includes a reversing driver 137 connected to the connecting base 1331 to drive the coupling 1333 to rotate, thereby driving the universal joint 1335 to rotate, thereby driving the connecting rod 135 to swing, causing the guide member 131 to change direction. The output shaft of the servo can be connected to the coupling 1333 via a spline. Specifically, the reversing driver 137 can be a servo. It is understood that the reversing driver 137 can also be a drive component such as a servo motor.

[0070] Specifically, the steering gear may include a first position state, a second position state, and a third position state, so as to drive the connecting rod 135 to be respectively located in the first position, the second position, and the third position, wherein the angle between the second position and the first position is 90°, the angle between the second position and the first position is 90°, and the second position is located between the first position and the third position. When the steering gear is in the first position state, the second position state, or the third position state, the cable guide reversing device is respectively in the first reversing state, the second reversing state, or the third reversing state. Specifically, the first position, the second position, and the third position are respectively at 0°, 90°, and 180°. It is understood that when the reversing drive member 137 is a servo motor, a position sensor can be used to sense which state the reversing drive member 137 is in. The first position state, the second position state, and the third position state of the steering gear can correspond to the three states of the cable being in the rearward defense line, the turning direction, and the forward winding line, respectively.

[0071] Specifically, the guide assembly 11 further includes a mounting frame 139 , which is fixedly connected to the bottom plate 118 of the guide assembly 11 . The reversing drive member 137 is mounted on the mounting frame 139 , and the connecting seat 1331 is fixedly connected to the mounting frame 139 .

[0072] Optionally, the mobile working equipment control method further comprises the steps of:

[0073] S15, before the mobile working equipment works, the driving torque output by the reel driving member 375 of the reel assembly 37 is determined according to the cable properties (such as the mass per unit length) and the working environment (such as the hardness of the soil).

[0074] Optionally, the mobile working equipment control method further comprises the steps of:

[0075] S17, during operation of the mobile working equipment, the reel drive member 375 of the reel assembly 37 is controlled to rotate in the same direction, thereby always being in the line-reeling state. This allows the reel 373 to always be in the line-reeling state without the influence of external forces, while the line-reeling state is achieved by the frictional resistance between the cable and the ground.

[0076] Optionally, the mobile working equipment control method further comprises the steps of:

[0077] S19. During the operation of the mobile working device, control the rotational speed of the reel driving member 375 to match the traveling speed of the mobile working device. Specifically, the linear speed of the reel driving member 375 can be controlled to be greater than or equal to the traveling speed of the mobile working device.

[0078] Optionally, the control method for the mobile working device further includes the steps of:

[0079] S21. Before the mobile working device operates, control the telescopic arm 335 of the support arm assembly 33 to extend, and control the telescopic arm 335 of the support arm assembly 33 to rotate relative to the column 333 to increase the angle between the telescopic arm 335 and the column 333.

[0080] S23. After the mobile working device finishes operating, control the telescopic arm 335 of the support arm assembly 33 to retract, and control the telescopic arm 335 of the support arm assembly 33 to rotate relative to the column 333 to decrease the angle between the telescopic arm 335 and the column 333.

[0081] Specifically, in step S21, determine the extension amount of the telescopic arm 335 during the operation of the mobile working device according to the specifications of the attachments carried by the mobile working device, so as to ensure that the end of the telescopic arm 335 always extends beyond the maximum boundary of the attachments of the mobile working device, so that the cable guiding and reversing device 10 can always keep the cable on the outside of the attachments, ensuring that the mobile working device will not crush the cable during the working process.

[0082] Optionally, the control method for the mobile working device further includes the steps of:

[0083] S25. While the reel 373 of the reel assembly 37 is rotating, control the movement of the cable discharging guide frame 355, and obtain the number of rotation turns n and the rotation direction of the reel 373 of the reel assembly 37. Control the theoretical movement distance L and the movement direction of the cable discharging guide frame 355 according to the number of rotation turns n and the rotation direction of the reel 373, and make L = d0 * n, where d0 is the diameter of the cable. <00,00219>

[0084] Specifically, in step S25, obtain the actual displacement S of the cable discharging guide frame 355 and the theoretical movement distance L obtained according to the number of rotation turns n, and compare the actual displacement S and the theoretical movement distance L. When the deviation between the actual displacement S and the theoretical movement distance L is greater than the preset value, control the cable discharging driving member 351 to accelerate or decelerate. Specifically, when the deviation between the actual displacement S and the theoretical movement distance L is greater than the preset value and L > S, control the cable discharging driving member 351 to accelerate; when the deviation between the actual displacement S and the theoretical movement distance L is greater than the preset value and L < S, control the cable discharging driving member 351 to decelerate.

[0085] Second Embodiment

[0086] The present invention also provides a mobile working device. Please refer to Figure 10 The mobile working equipment of the second embodiment of the present invention includes a control device 51 (see Figure 17 ) and a cable-guiding reversing device 10, the control device 51 is used to obtain the traveling direction of the mobile working equipment and to control the cable-guiding reversing device 10 to switch the reversing state according to the traveling direction of the mobile working equipment, so that the outlet direction of the cable on the cable-guiding reversing device 10 is adapted to the traveling direction of the mobile working equipment. Specifically, the structure of the cable-guiding reversing device 10 of this embodiment may be the same as that of the cable-guiding reversing device 10 of the first embodiment, and no further details will be given here.

[0087] In the mobile working equipment of this embodiment, the cable outlet direction can be changed in accordance with the walking direction of the mobile working equipment, so that it can adapt to the walking direction of the mobile working equipment, so that the mobile working equipment can avoid the risk of the dragging cable being crushed by the equipment in various states of laying out, turning and winding up, thereby improving the flexibility of the equipment.

[0088] In this embodiment, the mobile working equipment is connected to the external power supply equipment through a cable so as to be powered by the external power supply equipment. The control device 51 is specifically used to: when the moving direction of the mobile working equipment is moving away from the external power supply equipment, control the cable outlet direction from the cable guide reversing device 10 to be parallel to the moving direction; when the mobile working equipment changes direction, control the cable outlet direction from the cable guide reversing device 10 to be parallel to the turning radius direction of the mobile working equipment; when the moving direction of the mobile working equipment is moving towards the external power supply equipment, control the cable outlet direction from the cable guide reversing device 10 to be the same as the moving direction.

[0089] In this embodiment, please refer to Figure 10 The mobile working equipment includes a movable equipment body 31 , and the cable guide reversing device 10 is provided on the equipment body 31 .

[0090] In this embodiment, the mobile working equipment further includes a support arm assembly 33, a cable arrangement assembly 35 and a reel assembly 37. At least a portion of the support arm assembly 33 is fixed relative to the equipment body 31. It can be directly connected to the equipment body 31 or indirectly connected to the equipment body 31 through the frame 371 of the reel assembly 37, which is not limited here. The cable guide reversing device 10 is provided on the support arm assembly 33. The cable arrangement assembly 35 is provided on one side of the reel assembly 37. The reel assembly 37 includes a frame 371 and a reel 373. The reel assembly 37 is mounted on the equipment body 31 through the frame 371. The reel 373 is rotatably provided on the frame 371 and is used for winding the cable.

[0091] In this embodiment, please refer to Figure 10 and Figure 11The support arm assembly 33 includes a base 331, a column 333, a telescopic arm 335, and a fixed bracket 337. The base 331 is fixedly connected to the frame 371 of the reel assembly 37, the column 333 is fixedly connected to the base 331, the telescopic arm 335 is rotatably connected to the column 333, and the telescopic arm 335 is retractable. The fixed bracket 337 is located at the end of the telescopic arm 335 away from the column 333, and the cable guide reversing device 10 is mounted on the fixed bracket 337. The cable guide reversing device 10 is disposed on the telescopic arm 335 so that its position can be adjusted as the telescopic arm 335 extends and retracts, as well as as the telescopic arm 335 rotates relative to the column 333. This allows the cable guide reversing device 10 to always pull the cable outside the attachment of the mobile working equipment during operation, ensuring that the attachment does not damage the cable or cause cable entanglement during operation. It is understandable that if the support arm assembly 33 does not take up less space when not in use, the support arm assembly 33 may not include a telescopic arm, so that the support arm assembly 33 is always extended and the cable guide reversing device 10 installed on the support arm assembly 33 is always located outside the attachment of the mobile working equipment.

[0092] Specifically, the first direction of the cable guide reversing device for guiding the cable is perpendicular to the support arm assembly 33 and toward the rear of the mobile working equipment, the second direction is parallel to the support arm assembly 33, and the third direction is perpendicular to the support arm assembly 33 and toward the front of the mobile working equipment.

[0093] Specifically, the support arm assembly 33 further includes a pitch drive member 339, which is used to drive the telescopic arm 335 to rotate relative to the column 333. Specifically, the pitch drive member 339 can be an oil cylinder or a pneumatic cylinder, one end of the pitch drive member 339 is hinged to the base 331, and the other end is hinged to the telescopic arm 335.

[0094] Specifically, the telescopic arm 335 comprises multiple sections that are sequentially telescopically connected and a telescopic drive. Specifically, in this embodiment, the telescopic arm 335 includes a first section 3351 hinged to the column 333, a second section 3352 that is telescopically connected to the first section 3351, a third section 3353 that is telescopically connected to the second section 3352, and a fourth section 3354 that is telescopically connected to the third section 3353. A fixed bracket 337 is provided on the fourth section 3354. The telescopic drive, which can be a cylinder or the like, is used to drive the second section 3352, the third section 3353, and the fourth section 3354 to extend and retract. It will be appreciated that the number of sections of the telescopic arm 335 can be adjusted as needed.

[0095] Please refer to Figure 11The pitch drive member 339 drives the telescopic arm 335 to rotate so that the angle between the telescopic arm 335 and the column 333 increases, and drives the second arm 3352, the third arm 3353 and the fourth arm 3354 to extend. At this time, the support arm assembly 33 is in the expanded state. Figure 12 The pitch drive member 339 drives the telescopic arm 335 to rotate so as to reduce the angle between the telescopic arm 335 and the column 333, and drives the second arm 3352, the third arm 3353 and the fourth arm 3354 to retract. At this time, the support arm assembly 33 is in a retracted state.

[0096] Please refer to Figure 13 The cable assembly 35 includes a cable drive 351, a slide rail 353, a cable guide frame 355 movably mounted on the slide rail 353, and a transmission mechanism 357. The cable guide frame 355 is used to allow the cable to pass through. The transmission mechanism 357 is connected between the cable drive 351 and the cable guide frame 355, so that the cable drive 351 drives the cable guide frame 355 to move back and forth along the slide rail 353. In this way, by controlling the position of the cable guide frame 355 on the slide rail 353 to match the actual width of the cable, the cable guide frame 355 is always located at the position where the cable is discharged from the reel 373, ensuring that the cable is always stably and orderly arranged on the reel 373.

[0097] Specifically, the cable drive 351 can be a servo motor. The cable guide frame 355 includes multiple rollers to form a cable channel for the cable to pass through. The slide rail 353 extends parallel to the axis of the reel 373. Of course, the slide rail 353 can also be tilted at a certain angle relative to the axis of the reel 373. The transmission mechanism 357 can be a sprocket mechanism, comprising a sprocket driven by the cable drive 351 and a chain wound around the sprocket. The cable guide frame 355 can be mounted on the sprocket. As the sprocket rotates, the chain moves, thereby driving the cable guide frame 355.

[0098] Specifically, the cable assembly 35 further includes a rotation detection element (not shown) disposed on the rotating shaft of the reel 373. The rotation detection element is used to detect the number of rotations n of the reel 373. Based on the number of rotations n of the reel 373, the cable drive 351 drives the cable guide frame 355 to move a corresponding theoretical distance L on the slide rail 353. For example, for each rotation of the reel 373, the cable guide frame 355 moves a distance d0 on the slide rail 353, where d0 is the diameter of the cable. Specifically, the rotation detection element can be a rotary encoder.

[0099] Specifically, the cable assembly 35 further includes a switch element 358 for detecting the actual displacement S of the cable guide frame 355 on the slide rail 353. When the theoretical travel distance L calculated based on the number of revolutions n of the reel 373 is inconsistent with the actual displacement S, the cable driver 351 adjusts the rotation speed to adjust the position of the cable guide frame 355 on the slide rail 353. Specifically, the switch element 358 can be a photoelectric switch element.

[0100] In this embodiment, please refer to Figure 14 and Figure 15 The reel assembly 37 further includes a reel driving member 375, which is used to drive the reel 373 to rotate, thereby achieving line winding.

[0101] Specifically, the driving torque output by the reel driver 375 is determined according to the cable properties (e.g., mass per unit length) and the working environment (e.g., the hardness of the soil). 卷 Should be greater than the gravity F of the cable segment between the cable guide reversing device 10 and the reel 373 e .

[0102] Specifically, the reel assembly 37 is provided at the front of the mobile working equipment, so that the reel assembly 37 can replace the original counterweight device at the front end of the mobile working equipment to achieve balance of the mobile working equipment. This eliminates the counterweight device and reduces production costs.

[0103] Specifically, a cable can be wound around the reel 373 , one end of the cable can be connected to the device body 31 through an electric slip ring, and the other end can be connected to an external power supply device, serving as a transmission medium for power of the mobile working device.

[0104] Specifically, the reel assembly 37 further includes a hysteresis coupling 377, through which the reel 373 is connected to the reel driver 375. The reel driver 375 drives the reel 373 to rotate via the hysteresis coupling 377, thereby achieving line reeling. It will be appreciated that the hysteresis coupling 377 can be replaced by another clutch, as long as the reel driver 375 is disconnected from the reel 373 during line payout and connected to the reel 373 during line reeling.

[0105] For details, please refer to Figure 16The hysteresis coupling 377 includes a magnetic induction disk 3771 connected to the reel drive 375 and a permanent magnetic disk 3773 connected to the reel 373. The magnetic induction disk 3771 and the permanent magnetic disk 3773 are arranged opposite to each other. The reel drive 375 is used to continuously output a driving torque for winding the line to the hysteresis coupling 377, so that the reel drive 375 is always in a winding state and is always winding the line without the action of external force. Specifically, when the mobile working equipment is traveling in a direction away from the external power supply equipment, when the friction resistance between the cable and the ground is greater than the driving torque of the reel driver 375, the larger friction resistance causes the permanent magnetic disk 3773 and the magnetic induction disk 3771 of the hysteresis coupling 377 to separate, and the driving torque output by the reel driver 375 cannot be transmitted to the reel 373 through the hysteresis coupling 377. The permanent magnetic disk 3773 is forced to rotate in the direction of cable pay-out, and the cable is passively paid out; when the mobile working equipment is traveling in a direction close to the external power supply equipment, the permanent magnetic disk 3773 and the magnetic induction disk 3771 of the hysteresis coupling 377 are close, so that the driving torque output by the reel driver 375 can be transmitted to the reel 373. When the driving torque output by the reel driver 375 is greater than the torque required by the cable suspended between the cable guide reversing device 10 and the reel 373, the reel driver 375 drives the reel 373 to rotate through the hysteresis coupling 377, thereby reeling the cable. During the above-mentioned cable retraction and release process, the cable retraction and release speed may not be affected by the walking speed of the mobile working equipment. When the walking speed of the mobile working equipment changes (such as turning or steering), the cable retraction and release speed can better adapt to match the walking speed of the mobile working equipment.

[0106] It can be seen that the reel 373 includes a winding state and a pay-out state. When the reel 373 is in the winding state, the reel 373 is transmission-connected to the reel drive 375 so as to be driven by the reel drive 375 to rotate around a first direction. When the reel 373 is in the pay-out state, the reel 373 is disconnected from the reel drive 375 so that the reel 373 rotates around a second direction opposite to the first direction under the action of the friction resistance between the cable and the ground.

[0107] Specifically, the reel assembly 37 may further include a transmission mechanism such as a reduction gearbox and a sprocket, and the reduction gearbox and the sprocket are connected between the reel 373 and the hysteresis coupling 377 .

[0108] Specifically, the rotation speed of the reel drive 375 matches the travel speed of the mobile working equipment. More specifically, the linear speed of the reel drive 375 can be greater than or equal to the travel speed of the mobile working equipment, which can avoid cable damage caused by the reel speed being slower than the mobile working equipment.

[0109] Specifically, a one-way bearing 379 is provided between the reel 373 and the reel driver 375. When the mobile working device stops operating and the power is turned off, the magnetic induction disk 3771 is stopped by the one-way bearing 379, thereby braking the permanent magnet disk 3773, preventing external forces from rotating the reel 373 or pulling the cable to pay out the line. Specifically, the one-way bearing 379 can be provided on at least one of the rotating shaft on which the magnetic induction disk 3771 is mounted, the rotating shaft on which the permanent magnet disk 3773 is mounted, and the rotating shaft connected to the permanent magnet disk 3773.

[0110] In this embodiment, please refer to Figure 17 The control device 51 is connected to the reversing drive 137 and the device body 31. The control device 51 is used to obtain the travel direction of the device body 31 and control the reversing drive 137 to operate according to the travel direction of the device body 31, thereby switching the cable guide reversing device 10 to the first reversing state, the second reversing state, or the third reversing state. It is understood that the control device 51 can be connected to the steering device of the device body 31 to obtain the travel direction of the device body 31 through the steering device. Of course, the travel direction of the device body 31 can also be obtained directly through the steering control command received by the device body 31.

[0111] Specifically, the control device 51 is also connected to the telescopic drive member and the pitch drive member 339. The control device 51 is used to control the telescopic drive member and the pitch drive member 339 to drive the telescopic arm 335 to extend when the mobile working equipment is working, and control the telescopic arm 335 to rotate relative to the column 333 to increase the angle between the telescopic arm 335 and the column 333, and control the telescopic drive member and the pitch drive member 339 to drive the telescopic arm 335 to retract when the mobile working equipment is not working, and control the telescopic arm 335 to rotate relative to the column 333 to reduce the angle between the telescopic arm 335 and the column 333. The control device 51 is also used to determine the extension amount of the telescopic arm 335 when the mobile working equipment is working according to the specifications of the accessories carried by the mobile working equipment, to ensure that the end of the telescopic arm 335 always exceeds the maximum boundary of the accessories of the mobile working equipment, so that the cable guide reversing device 10 always pulls the cable to the outside of the accessory, to ensure that the mobile working equipment will not crush the cable during work.

[0112] Specifically, the control device 51 is also connected to the cable arranging drive member 351, the rotation detection element, and the switch element 358. The control device 51 is further configured to obtain the number of rotations n and the rotation direction of the reel 373 through the rotation detection element, and control the cable arranging drive member 351 to drive the cable arranging guide frame 355 to move a corresponding theoretical moving distance L and a traveling direction on the slide rail 353 according to the number of rotations n and the rotation direction of the reel 373. Specifically, let L = d0 * n, where d0 is the diameter of the cable. The control device 51 also obtains the actual displacement S of the cable arranging guide frame 355 on the slide rail 353 and the theoretical moving distance L calculated according to the number of rotations n of the reel 373 through the switch element 358, and compares the actual displacement S and the theoretical moving distance L. When the deviation between the actual displacement S and the theoretical moving distance L is greater than a preset value, the control device 51 controls the cable arranging drive member 351 to accelerate or decelerate. Specifically, when L > S, the control device 51 controls the cable arranging drive member 351 to accelerate; when L < S, the control device 51 controls the cable arranging drive member 351 to decelerate.

[0113] Specifically, the control device 51 is also connected to the reel drive member 375. The control device 51 is configured to determine the driving torque output by the reel drive member 375 according to the cable properties (such as the mass per unit length) and the working environment (such as the hardness of the land) so that the cable winding and unwinding speed matches the traveling speed of the mobile working device.

[0114] The mobile working device of this embodiment can be connected to an external power supply device 71 through a cable, so that the mobile working device draws power from the external power supply device 71 to achieve continuous power supply, uninterrupted energy replenishment, and improve the operation efficiency of agricultural machinery. Specifically, the external power supply device 71 can be an external high-voltage power supply device, the cable can be a high-voltage cable, the mobile working device can include a power-taking device and a voltage-reducing device. The power-taking device can be connected to the external high-voltage power supply device through the high-voltage cable, and the high-voltage cable is also connected to the voltage-reducing device. The voltage-reducing device is used to reduce the voltage input by the high-voltage cable. Since the current passing through the high-voltage cable is at a high voltage, and under the same power requirement, the higher the voltage, the smaller the current, and the lower the requirement for the wire diameter. Therefore, in this embodiment, the high-voltage cable can use a small wire diameter to transmit high power, and the high-voltage cable is lighter in weight. Therefore, the length of the high-voltage cable can be longer, thereby increasing the activity range of the mobile working device and further increasing the power-taking radius. The external power supply device 71 can include a voltage-boosting device, and the voltage-boosting device is used to boost the voltage input to the voltage-boosting device to output high-voltage power, and the high-voltage cable is connected to the voltage-boosting device; of course, the external power supply device can also directly draw power from the high-voltage power grid, and at this time, the voltage-boosting device can be omitted. It can be understood that the external power supply device can also be an ordinary low-voltage power supply device (such as 220V household electricity or 380V industrial electricity).

[0115] The external power supply device 71 can be fixed in a field to power agricultural machinery operating there. Alternatively, the high-voltage power supply device 71 can be towed to the field by a vehicle, making it mobile. During operation, the mobile working equipment moves relative to the external power supply device, and the reel 373 retracts and releases the cable as the mobile working equipment moves.

[0116] It should be noted that the various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same and similar parts between the various embodiments can be referenced to each other.

[0117] The foregoing description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any modifications or substitutions that can be readily conceived by a person skilled in the art within the technical scope disclosed herein are intended to be encompassed within the scope of protection of the present invention. Therefore, the scope of protection of the present invention shall be determined by the appended claims.

Claims

1. A mobile working equipment control method for controlling a mobile working equipment, characterized in that: The mobile working equipment comprises a cable guide reversing device (10) and a reel assembly (37), wherein the cable guide reversing device (10) is used to guide the cable wound out from the reel assembly (37), and the mobile working equipment control method comprises: Acquiring a traveling direction of the mobile working equipment through a steering device of the mobile working equipment or a steering control instruction received by the mobile working equipment; Controlling the reversing state of the cable guide reversing device (10) according to the traveling direction of the mobile working equipment, so that the outlet direction of the cable on the cable guide reversing device (10) is adapted to the traveling direction of the mobile working equipment; The controlling the reversing state of the cable guide reversing device (10) according to the traveling direction of the mobile working equipment comprises: When the moving direction of the mobile working equipment is moving in a direction away from the external power supply equipment, the reversing state of the cable guide reversing device (10) is controlled so that the outlet direction of the cable from the cable guide reversing device (10) is opposite to the moving direction; When the mobile working equipment changes direction, the reversing state of the cable guiding reversing device (10) is controlled so that the cable outlet direction of the cable guiding reversing device (10) is parallel to the turning radius direction of the mobile working equipment; When the moving direction of the mobile working equipment is towards the external power supply equipment, the reversing state of the cable guide reversing device (10) is controlled so that the cable outlet direction of the cable outlet from the cable guide reversing device (10) is the same as the moving direction.

2. The mobile working equipment control method according to claim 1, characterized in that: The cable guide reversing device comprises a guide assembly (11) and a reversing assembly (13); a guide channel is formed on the guide assembly (11) for a cable to pass through; the reversing assembly (13) comprises a connecting assembly (133), a connecting rod (135), a reversing drive member (137) and a guide member (131) for the cable to pass through; the connecting assembly (133) and the guide member (131) are respectively arranged at two ends of the connecting rod (135), and the guide member (131) is arranged to deviate from a first rotation axis, which is the axial direction of the connecting assembly (133); when the walking direction of the mobile working equipment changes, the reversing drive member (137) drives the guide member (131) to rotate relative to the guide assembly (11) around the first rotation axis, thereby changing the outlet direction of the cable on the cable guide reversing device.

3. The mobile working equipment control method according to claim 1, characterized in that: The reversing states of the cable guiding reversing device include a first reversing state, a second reversing state and a third reversing state. In the first reversing state, the second reversing state and the third reversing state, the cable guiding reversing device (10) guides the cable so that the cable is led out in a first direction, a second direction and a third direction respectively.

4. The mobile working equipment control method according to claim 3, characterized in that: The included angle between the second direction and the first direction is 90°, the included angle between the third direction and the first direction is 180°, and the included angle between the third direction and the second direction is 90°.

5. The mobile working equipment control method according to claim 3, characterized in that: The mobile working equipment also includes a support arm assembly (33), the cable guide reversing device (10) is arranged on the support arm assembly (33), and the support arm assembly (33) can make the cable guide reversing device (10) extend out of the outside of the attachment of the mobile working equipment. The first direction is perpendicular to the support arm assembly (33) and faces the rear of the mobile working equipment. The second direction is parallel to the support arm assembly (33). The third direction is perpendicular to the support arm assembly (33) and faces the front of the mobile working equipment.

6. A mobile working equipment, characterized in that: The mobile working equipment comprises a control device (51) and a cable reversing device (10), wherein the mobile working equipment further comprises a reel assembly (37), wherein the cable reversing device (10) is used to guide the cable wound out from the reel assembly (37), wherein the control device (51) is used to obtain the walking direction of the mobile working equipment through the steering device of the mobile working equipment or the steering control instruction received by the mobile working equipment, and is used to control the cable reversing device (10) to switch the reversing state according to the different walking directions of the mobile working equipment, so that the outlet direction of the cable exiting from the cable reversing device (10) is adapted to the walking direction of the mobile working equipment; the mobile working equipment is connected to an external power supply device via a cable so as to be powered by the external power supply device, and the control device (51) is used to obtain the walking direction of the mobile working equipment through the steering device of the mobile working equipment or the steering control instruction received by the mobile working equipment, and is used to control the cable reversing device (10) to switch the reversing state according to the different walking directions of the mobile working equipment, so as to make the outlet direction of the cable exiting from the cable reversing device (10) adapt to the walking direction of the mobile working equipment; the mobile working equipment is connected to an external power supply device via a cable so as to be powered by the external power supply device, and the control device (51) is used to obtain the walking direction of the mobile working equipment through the steering device of the mobile working equipment or the steering control instruction received by the mobile working equipment ... The control device (51) is specifically used for: when the moving direction of the mobile working equipment is moving in a direction away from the external power supply equipment, controlling the reversing state of the cable guide reversing device (10) so that the cable outlet direction on the cable guide reversing device (10) is parallel to the moving direction; when the mobile working equipment is reversing, controlling the reversing state of the cable guide reversing device (10) so that the cable outlet direction from the cable guide reversing device (10) is parallel to the turning radius direction of the mobile working equipment; when the moving direction of the mobile working equipment is moving in a direction close to the external power supply equipment, controlling the reversing state of the cable guide reversing device (10) so that the cable outlet direction from the cable guide reversing device (10) is parallel to the moving direction.

7. The mobile working device according to claim 6, characterized in that: The reversing states of the cable guiding reversing device include a first reversing state, a second reversing state and a third reversing state. In the first reversing state, the second reversing state and the third reversing state, the cable guiding reversing device (10) guides the cable so that the cable is led out in a first direction, a second direction and a third direction respectively.

8. The mobile working device according to claim 7, characterized in that: The included angle between the second direction and the first direction is 90°, the included angle between the third direction and the first direction is 180°, and the included angle between the third direction and the second direction is 90°.

9. The mobile working device according to claim 7, characterized in that: The cable guide reversing device comprises a guide assembly (11) and a reversing assembly (13); a guide channel is formed on the guide assembly (11) for a cable to pass through; the reversing assembly (13) comprises a guide member (131) for the cable to pass through, a connecting assembly (133) and a connecting rod (135); the connecting assembly (133) and the guide member (131) are respectively arranged at two ends of the connecting rod (135); the guide member (131) can be rotatably arranged relative to the guide assembly (11) around a first rotation axis; the first rotation axis is the axial direction of the connecting assembly (133); and the guide member (131) is arranged to deviate from the first rotation axis so that the guide member (131) swings along the first rotation axis, thereby placing the cable guide reversing device in the first reversing state, the second reversing state and the third reversing state, respectively.

10. The mobile working device according to claim 9, characterized in that: The reversing assembly (13) further comprises a reversing drive member (137), wherein the reversing drive member (137) is connected to the reversing assembly (13), and the reversing drive member (137) is used to drive the guide member (131) to rotate around the first rotation axis.

11. The mobile working device according to claim 10, characterized in that: The reversing drive member (137) comprises a first position state, a second position state and a third position state. When the reversing drive member (137) is in the first position state, the second position state or the third position state, the cable guide reversing device is respectively in the first reversing state, the second reversing state or the third reversing state.

12. The mobile working device according to claim 7, characterized in that: The mobile working equipment also includes a support arm assembly (33), the cable guide reversing device (10) is arranged on the support arm assembly (33), and the support arm assembly (33) can make the cable guide reversing device (10) extend out of the outside of the attachment of the mobile working equipment. The first direction is perpendicular to the support arm assembly (33) and faces the rear of the mobile working equipment. The second direction is parallel to the support arm assembly (33). The third direction is perpendicular to the support arm assembly (33) and faces the front of the mobile working equipment.

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