Automatic identification excavation and filling device and system for complex terrains

Abstract

The invention relates to the technical field of excavation and filling, in particular to an automatic identification excavation and filling device and system for complex terrains, which comprises a main frame and a bottom frame structure and is provided with an identification system, a power system, a transmission system, an execution system and a hydraulic system. The recognition system accurately obtains terrain and soil information by means of various sensors, and the control center automatically judges operation types and parameters according to the terrain and soil information. The power system adopts multi-power-source coupling, power is flexibly distributed through a power coupler, and high efficiency and energy conservation are achieved. The transmission system ensures accurate transmission of power, and the excavating and filling mechanism of the executing mechanism can work flexibly. The hydraulic system provides stable power for the executing mechanism. In addition, the device is further provided with a protection and damping system and a plurality of magnetic components, safety and comfort are enhanced, and maintenance is convenient. The device is high in adaptability to complex terrains, high in operation efficiency, good in quality and capable of being widely applied to excavation and filling projects of various complex terrains.

Description

Technical Field

[0001] The present invention relates to the technical field of excavation and filling, and in particular, to an automatic excavation and filling identification device and system for complex terrains. Background Art

[0002] In many fields such as civil engineering, construction engineering, road and bridge construction, and land consolidation, excavation and filling operations are extremely basic and crucial construction links.

[0003] Excavation refers to the process of excavating and removing a certain amount of earth and stone materials from the original ground or mountain body. In road construction, when the route needs to pass through highlands or hilly terrains, excavation operations are required to meet the design elevation and slope requirements of the road. For example, when building a highway in mountainous areas and encountering mountain ranges, excavation can create the road alignment, reduce the road slope, and improve driving safety and comfort. In construction engineering, in order to build underground structures such as basements and foundation pits, excavation operations must also be carried out to provide sufficient construction space.

[0004] Filling, on the other hand, is the process of transporting the excavated earth and stone materials or other suitable filling materials to a designated location, and then carrying out layered filling and compaction to increase the ground height or fill in low-lying areas. In urban construction, in order to develop some low-lying plots or fill in abandoned ponds and pits, filling operations are required to bring the plots to a constructible elevation. In road construction, when the route passes through low-lying areas, filling can make the road surface smoothly connect with the surrounding terrain, ensuring the flatness and stability of the road.

[0005] Currently, most of the existing excavation devices and filling devices on the market are independent equipment, each with specific functions and structural designs, and it is difficult to achieve integrated excavation and filling operations.

[0006] Common excavation devices such as excavators mainly consist of a power system, a working device, a slewing mechanism, a traveling mechanism, etc. Its working device is usually a bucket, and the opening and closing and lifting of the bucket are controlled by a hydraulic system to achieve the excavation and loading of earth and stone. Excavators are efficient and flexible in excavation operations and can adapt to different terrains and working conditions. However, the main function of excavators is limited to excavating and loading earth and stone. For the excavated earth and stone materials, other transportation equipment is needed to transport them away from the site, and they cannot directly carry out filling operations. Filling devices use a bulldozer blade to level and compact the earth and stone materials to complete the filling operation. Bulldozers can quickly level and preliminarily compact the earth and stone materials during filling, but they do not have the excavation function themselves and rely on excavation equipment to provide the materials required for filling.

[0007] The current situation where the excavation device and the filling device are independent of each other has led to many problems in the actual construction process. First, it increases the procurement cost and maintenance cost of the equipment. The construction unit needs to purchase both excavation equipment and filling equipment, and maintain and service these equipment separately, which undoubtedly increases the operating cost of the enterprise. Second, it reduces the construction efficiency. Between the excavation and filling operations, multiple transfers of earth and stone materials are required, which not only wastes time but also increases energy consumption. In addition, during the multiple transfer processes, there may also be spills and losses of earth and stone materials, causing certain impacts on the environment. Moreover, since the operators of different equipment need to be trained and managed separately, it increases the difficulty of human resource management. Therefore, it is of great practical significance to develop a device that can automatically identify the terrain and achieve integrated excavation and filling operations. Therefore, an automatic terrain-identifying excavation and filling device and system for complex terrains is proposed. Summary of the Invention

[0008] The object of the present invention is to address the problems raised in the background art. To achieve the above object of the invention, the present invention provides the following technical solutions: An automatic terrain-identifying excavation and filling device for complex terrains, comprising a main frame, a bottom frame, support columns, reinforcing diagonal braces, horizontal crossbeams, vertical longitudinal beams, an excavation mechanism, and a filling mechanism. The main frame is installed on the bottom frame, the support columns are arranged between the main frame and the bottom frame, the reinforcing diagonal braces connect the support columns and the main frame or the bottom frame, and the horizontal crossbeams and the vertical longitudinal beams are connected to each other. Drive wheels, guide wheels, and support frames are provided below the bottom frame, and the drive wheels are connected through a drive axle. The excavation mechanism includes an excavation bucket, a telescopic rod, a fixed cylinder, an excavation boom, an excavation dipper stick, a dipper stick linkage rod, and a robotic arm connecting shaft. The filling mechanism includes a bulldozing and filling shovel, a filling shovel support, a filling shovel hydraulic cylinder body, a filling shovel hydraulic cylinder piston rod, a filling bulldozing plate, and a plate reinforcing rib.

[0009] As a preferred technical solution of the present invention, the identification system includes a soil sensor, a terrain scanner, a depth detector, a slope sensor, an azimuth sensor, a lidar, an ultrasonic sensor, and an output speed sensor.

[0010] As a preferred technical solution of the present invention, it further includes an engine, an electric motor, a gas turbine, a power battery pack, a generator, a fuel cell, a starting motor assembly, a flywheel energy storage device, and a power coupler. The engine includes an engine block, an engine crankshaft, an engine piston, and an engine cylinder head. The electric motor includes a motor rotor and a motor stator. The generator includes a generator rotor, and an intake supercharger turbine is also provided.

[0011] As a preferred technical solution of the present invention, it further includes a gearbox, a clutch, a connecting joint, a transmission shaft, a differential, a drive shaft, a chain, a sprocket, a synchronous belt, a synchronous belt pulley, a coupling, a torque converter, a planetary gear set, a power output shaft, a transmission chain and a tension adjusting wheel. The gearbox includes a gearbox housing, gearbox gears and a gearbox shaft. The clutch includes a clutch disc and a clutch pressure plate. The differential includes a differential housing and differential gears.

[0012] As a preferred technical solution of the present invention, it further includes a hydraulic pump, a hydraulic cylinder, a multi-way hydraulic valve group, a pressure regulating controller, a hydraulic oil cooler, an electromagnetic directional valve and an oil filter purifier.

[0013] As a preferred technical solution of the present invention, it further includes a guardrail, a protective cover, a dust screen, a dust-proof sealed housing, a fireproof partition layer in the power cabin, a buffer spring, a shock-absorbing rubber pad, a cab, an air filter, an engine base bracket, a speed-changing transmission case, a servo drive motor, a slewing bearing, a shock-proof connecting flange, a cable routing guide groove, an oil-gas separator and a plurality of magnetic components.

[0014] As a preferred technical solution of the present invention, it further includes a magnetic oil cylinder piston magnetic ring, a magnetic boom connecting magnetic block, a joint magnetic sheet, a magnetic attracting plate, a magnetic tile, a magnetic wheel, a drive wheel magnetic strip, a supporting frame magnetic block, a magnetic carrier sprocket magnetic ring, a magnetic guide wheel magnetic sheet, a magnetic oil filter magnetic screen, a magnetic radiator magnetic attracting fin, a magnetic evaporator magnetic suction pipe, a magnetic condenser magnetic heat dissipation fin, a magnetic expansion valve magnetic valve core, a magnetic yoke, a magnetic attracting joint, a buffer magnetic damping block and a magnetic attracting connecting piece.

[0015] A system for an automatic recognition excavation and filling device for complex terrains includes a frame module, a traveling module, an operation module, an identification module, a power module, a transmission module, a hydraulic module, a protection and shock-absorption module and a magnetic component module; Frame module: It is composed of a main frame, a bottom frame, support columns, strengthening diagonal braces, horizontal crossbeams and vertical longitudinal beams. The main frame is installed on the bottom frame, the support columns are arranged between the two, the strengthening diagonal braces connect the relevant components, and the horizontal crossbeams are connected to the vertical longitudinal beams; Traveling module: Driving wheels, guide wheels and supporting frames are arranged under the bottom frame, and the driving wheels are connected through a driving axle; Operation module: It includes an excavation mechanism and a filling mechanism. The excavation mechanism has an excavation bucket and a telescopic rod; The filling mechanism includes a bulldozing and filling shovel and a filling shovel support.

[0016] As a preferred technical solution of the present invention, the recognition module includes a soil sensor, a terrain scanner, a depth detector, a slope sensor, an azimuth sensor, a lidar, an ultrasonic sensor, and an output speed sensor, which are used to obtain terrain and soil information; the power module includes an engine, an electric motor, a gas turbine, a power battery pack, a generator, a fuel cell, a starting motor assembly, a flywheel energy storage device, and a power coupler, and adopts multi-power source coupling; the transmission module includes a gearbox, a clutch, a connecting joint, a transmission shaft, and a differential to ensure accurate power transmission; the hydraulic module includes a hydraulic pump, a hydraulic cylinder, a multi-way hydraulic valve group, and a pressure regulating controller to provide stable power for the actuator.

[0017] As a preferred technical solution of the present invention, the protection and shock absorption module includes a guardrail, a protective cover, a dust screen, a buffer spring, and a shock-absorbing rubber pad for buffering; the magnetic component module includes various magnetic components such as a magnetic cylinder piston magnet ring, a magnetic boom connecting magnet block, and a joint magnetic sheet for connection.

[0018] Compared with the prior art, the beneficial effects of the present invention are as follows: The present invention is equipped with a recognition system composed of a soil sensor, a terrain scanner, a depth detector, a slope sensor, an azimuth sensor, a lidar, and an ultrasonic sensor. These sensors can obtain various information of complex terrains in real time in all directions and with high precision, including the undulation, slope, soil type, and humidity of the terrain. For example, the soil sensor can accurately detect the hardness and humidity of the soil, providing key soil condition data for excavation and filling operations; the terrain scanner and lidar can construct a detailed three-dimensional terrain model, enabling the device to have a clear understanding of the terrain of the operation area.

[0019] Based on the information collected by the recognition system, the control center of the present invention can automatically judge whether excavation or filling operations are required for the current terrain and accurately determine specific operation parameters, such as excavation depth, filling height, and scope. This enables the device to automatically adjust the operation mode according to different terrain conditions, greatly improving the adaptability to complex terrains and avoiding the blindness and inefficiency of traditional equipment during operation in complex terrains.

[0020] The power system of the present invention adopts a coupling method of multiple power sources including an engine, an electric motor, a gas turbine, a power battery pack, a generator, and a fuel cell, and performs reasonable power distribution and coupling through a power coupler. This design enables the device to flexibly select a suitable power source combination according to different operating conditions and power requirements. For example, in low-speed and light-load operating conditions, only the electric motor can be used to provide power, reducing energy consumption and noise; in high-speed and heavy-load operating conditions, the engine and the electric motor can work together to provide strong power support.

[0021] The generator of the present invention can be driven by an engine or a gas turbine to charge the power battery pack, realizing the recovery and reuse of energy. The flywheel energy storage device can store and release energy when the power output fluctuates, improving the energy utilization efficiency and reducing energy consumption and operating costs.

[0022] The transmission system of the present invention consists of multiple components such as a gearbox, a clutch, a connecting joint, a drive shaft, and a differential, and can accurately transmit the power output by the power system to the drive wheels and actuators. The gearbox can adjust the speed and torque according to the operation requirements, and the clutch realizes the disconnection and connection of power, facilitating the shifting operation. The connecting joint and the drive shaft ensure the flexible transmission of power at different angles and positions, and the differential enables the left and right drive wheels to rotate at different speeds when the device turns, ensuring the smooth driving and efficient operation of the device.

[0023] The present invention combines multiple transmission methods such as chains and sprockets, synchronous belts and synchronous pulleys, as well as the settings of transmission chains and tensioning adjustment wheels, ensuring the stability and reliability of the transmission. The hydraulic torque converter and the planetary gear set further optimize the power transmission characteristics and improve the performance of the device.

[0024] The components of the excavation mechanism of the present invention, such as the excavation bucket, telescopic rod, fixed cylinder, excavation boom, excavation stick, and stick linkage rod, work together to perform flexible excavation actions according to different terrains and operation requirements. The telescopic rod can slide on the robotic arm connecting shaft, expanding the excavation range and depth adjustment ability. The depth detector monitors the excavation depth in real time to ensure the accuracy of the excavation operation.

[0025] The components of the filling mechanism of the present invention, such as the bulldozing and filling shovel, filling shovel support, filling shovel hydraulic cylinder body, filling shovel hydraulic cylinder piston rod, and filling and bulldozing plate, can efficiently complete the filling operation. The filling and bulldozing plate can be flexibly lifted and moved forward and backward under the control of the hydraulic system to level the excavated soil or other filling materials. The plate reinforcing ribs enhance the strength of the filling and bulldozing plate, ensuring the quality and efficiency of the filling operation.

[0026] The hydraulic system of the present invention consists of components such as a hydraulic pump, hydraulic cylinders, a multi-way hydraulic valve group, and a pressure regulation controller, and can provide stable and accurate power support for the actuators. The multi-way hydraulic valve group can accurately control the flow direction and flow rate of the hydraulic oil according to the instructions of the control center, enabling the actuators to perform various complex actions. The pressure regulation controller ensures the pressure stability of the hydraulic system and guarantees the safe operation of the device.

[0027] For the present invention: The hydraulic oil cooler can cool the hydraulic oil in time to prevent the hydraulic system performance from being affected by excessive oil temperature. The oil filter and purifier can filter impurities and contaminants in the hydraulic oil, ensuring the cleanliness and normal operation of the hydraulic system and extending the service life of the hydraulic system.

[0028] The device of the present invention is provided with protective fence, protective cover, dust screen, dust-proof sealed housing and fire-proof partition layer protection components for the power compartment. The protective fence can prevent accidental falling of personnel, the protective cover protects key components from being impacted and damaged by external objects, the dust screen and the dust-proof sealed housing effectively prevent dust from entering the interior of the device, and the fire-proof partition layer of the power compartment improves the safety of the power system and reduces the fire risk. The buffer spring and shock-absorbing rubber pad can reduce the vibration and noise during the operation of the device, improve the comfort of the operator, and at the same time reduce the damage of vibration to the device components and extend the service life of the device.

[0029] Multiple magnetic components are provided in the device of the present invention, such as magnetic cylinder piston magnetic rings, magnetic boom connection magnetic blocks, and joint magnetic chips. These magnetic components utilize magnetic force to achieve the functions of component connection, fixation and detection, facilitate the installation and disassembly of components, and improve the maintenance efficiency. For example, the magnetic oil filter magnetic screen can adsorb ferromagnetic impurities in the oil, facilitating cleaning and maintenance. Description of the Drawings

[0030] Figure 1 is the structural schematic diagram provided by the present invention; Figure 2 is the partial structural schematic diagram provided by the present invention; Figure 3 is the bottom structural schematic diagram provided by the present invention; Figure 4 is the engine structural schematic diagram provided by the present invention; Figure 5 is the generator structural schematic diagram provided by the present invention; Figure 6 is the side structural schematic diagram provided by the present invention; Figure 7 is the air filter structural schematic diagram provided by the present invention; Figure 8 is the electric motor structural schematic diagram provided by the present invention; Figure 9 is the differential structural schematic diagram provided by the present invention; Figure 10 is the chain structural schematic diagram provided by the present invention; Figure 11 is the multi-way hydraulic valve group structural schematic diagram provided by the present invention; Figure 12 is the magnetic structural schematic diagram provided by the present invention; Figure 13 is the magnetic condenser magnetic heat sink structural schematic diagram provided by the present invention.

[0031] Indications in the figure: 1. Main frame; 2. Bottom frame; 3. Support column; 4. Reinforcing diagonal brace; 5. Horizontal cross beam; 6. Vertical longitudinal beam; 7. Driving wheel; 8. Guide wheel; 9. Support frame; 10. Driving axle; 11. Soil sensor; 12. Terrain scanner; 13. Depth detector; 14. Slope sensor; 15. Azimuth sensor; 16. LiDAR; 17. Ultrasonic sensor; 18. Output speed sensor; 19. Engine; 20. Engine block; 21. Engine crankshaft; 22. Engine piston; 23. Engine cylinder head; 24. Electric motor; 25. Motor rotor; 26. Motor stator; 27. Gas turbine; 28. Power battery pack; 29. Generator; 30. Generator rotor; 31. Fuel cell; 32. Starter motor assembly; 33. Flywheel energy storage device; 34. Power coupler; 35. Intake supercharger turbine; 36. Gearbox; 37. Gearbox housing; 38. Gearbox gear; 39. Gearbox shaft; 40. Clutch; 41. Clutch disc; 42. Clutch pressure plate; 43. Connecting joint; 44. Transmission shaft; 45. Differential; 46. Differential housing; 47. Differential gear; 48. Drive shaft; 49. Chain; 50. Sprocket; 51. Timing belt; 52. Timing belt pulley; 53. Coupling; 54. Torque converter; 55. Planetary gear set; 56. Power output shaft; 57. Transmission chain; 58. Tension adjusting wheel; 59. Power input joint; 60. Hydraulic pump; 61. Hydraulic cylinder; 62. Multi-way hydraulic valve group; 63. Pressure regulating controller; 64. Hydraulic oil cooler; 65. Electro-hydraulic directional valve; 66. Oil filter purifier; 67. Excavation bucket; 68. Telescopic rod; 69. Fixed cylinder; 70. Excavation boom; 71. Excavation arm; 72. Arm linkage rod; 73. Manipulator connecting shaft; 74. Earthmoving and filling shovel; 75. Filling shovel support; 76. Filling shovel hydraulic cylinder block; 77. Filling shovel hydraulic cylinder piston rod; 78. Filling and earthmoving plate; 79. Plate reinforcing rib; 80. Connecting pin shaft; 81. Guardrail; 82. Protective cover; 83. Dust filter; 84. Dust-proof sealed housing; 85. Fireproof partition layer in the power cabin; 86. Buffer spring; 87. Shock-absorbing rubber pad; 88. Cab; 89. Air filter; 90. Engine base support; 91. Transmission gearbox; 92. Servo drive motor; 93. Slewing bearing; 94. Anti-seismic connecting flange; 95. Cable routing duct; 96. Oil and gas separator; 97. Magnetic ring for hydraulic cylinder piston; 98. Magnetic block for boom connection; 99. Joint magnetic sheet; 100. Magnetic suction plate; 101. Magnetic tile; 102. Magnetic wheel; 103. Magnetic strip for driving wheel; 104. Magnetic block for support frame; 105. Magnetic ring for magnetic idler sprocket; 106. Magnetic sheet for magnetic guide wheel; 107. Magnetic filter screen for magnetic oil filter; 108. Magnetic suction fin for magnetic radiator; 109. Magnetic suction pipe for magnetic evaporator; 110. Magnetic heat dissipation fin for magnetic condenser; 111. Magnetic valve core for magnetic expansion valve; 112. Magnetic yoke; 113. Magnetic suction joint;114. Buffer magnetic damping block; 115. Magnetic connection member. Specific embodiments

[0032] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Apparently, the described embodiments are specific embodiments of the present invention and do not cover all embodiments.

[0033] Therefore, the following detailed description of the embodiments of the present invention is not intended to limit the scope of the claimed invention, but merely represents some embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts fall within the scope of protection of the present invention.

[0034] It should be noted that, without conflict, the embodiments and the features and technical solutions in the embodiments of the present invention can be combined with each other. It should be noted that similar reference numerals and letters denote similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings.

[0035] Embodiment 1: An automatic recognition excavation and filling device for complex terrains, comprising a main frame 1, a bottom frame 2, support columns 3, reinforcing diagonal braces 4, horizontal crossbeams 5, vertical longitudinal beams 6, an excavation mechanism, and a filling mechanism. The main frame 1 is installed on the bottom frame 2. The support columns 3 are arranged between the main frame 1 and the bottom frame 2. The reinforcing diagonal braces 4 connect the support columns 3 and the main frame 1 or the bottom frame 2. The horizontal crossbeams 5 and the vertical longitudinal beams 6 are connected to each other. Below the bottom frame 2, drive wheels 7, guide wheels 8, and support frames 9 are provided. The drive wheels 7 are connected through a drive axle 10. The excavation mechanism includes an excavation bucket 67, a telescopic rod 68, a fixed cylinder 69, an excavation boom 70, an excavation dipper stick 71, a dipper stick linkage rod 72, and a robotic arm connecting shaft 73. The filling mechanism includes a bulldozer filling shovel 74, a filling shovel support 75, a filling shovel hydraulic cylinder body 76, a filling shovel hydraulic cylinder piston rod 77, a filling bulldozing plate 78, and a plate body reinforcing rib 79.

[0036] The recognition system includes a soil sensor 11, a terrain scanner 12, a depth detector 13, a slope sensor 14, an azimuth sensor 15, a lidar 16, an ultrasonic sensor 17, and an output speed sensor 18.

[0037] It also includes an engine 19, an electric motor 24, a gas turbine 27, a power battery pack 28, a generator 29, a fuel cell 31, a starting motor assembly 32, a flywheel energy storage device 33, and a power coupler 34. The engine 19 includes an engine block 20, an engine crankshaft 21, engine pistons 22, and an engine cylinder head 23. The electric motor 24 includes a motor rotor 25 and a motor stator 26. The generator 29 includes a generator rotor 30. An intake supercharging turbine 35 is also provided.

[0038] It also includes a gearbox 36, a clutch 40, a connecting joint 43, a drive shaft 44, a differential 45, a drive axle 48, a chain 49, a sprocket 50, a timing belt 51, a timing belt pulley 52, a coupling 53, a torque converter 54, a planetary gear set 55, a power output shaft 56, a transmission chain 57, and a tension adjusting pulley 58. The gearbox 36 includes a gearbox housing 37, gearbox gears 38, and a gearbox shaft 39. The clutch 40 includes a clutch disc 41 and a clutch pressure plate 42. The differential 45 includes a differential housing 46 and differential gears 47.

[0039] It also includes a hydraulic pump 60, a hydraulic cylinder 61, a multi-way hydraulic valve group 62, a pressure regulating controller 63, a hydraulic oil cooler 64, an electromagnetic directional valve 65, and an oil filter purifier 66.

[0040] It also includes a guardrail 81, a protective cover 82, a dust screen 83, a dust-proof sealed housing 84, a fireproof partition layer in the power compartment 85, a buffer spring 86, a shock-absorbing rubber pad 87, a cab 88, an air filter 89, an engine base bracket 90, a speed change transmission box 91, a servo drive motor 92, a slewing bearing 93, a shock-proof connecting flange 94, a cable routing duct 95, an oil-gas separator 96, and a plurality of magnetic components.

[0041] It also includes a magnetic cylinder piston magnetic ring 97, a magnetic boom connecting magnetic block 98, a joint magnetic sheet 99, a magnetic suction plate 100, a magnetic tile 101, a magnetic wheel 102, a drive wheel magnetic strip 103, a supporting frame magnetic block 104, a magnetic carrier sprocket magnetic ring 105, a magnetic guide wheel magnetic sheet 106, a magnetic oil filter magnetic filter screen 107, a magnetic radiator magnetic suction fins 108, a magnetic evaporator magnetic suction pipe 109, a magnetic condenser magnetic radiation fins 110, a magnetic expansion valve magnetic valve core 111, a magnetic yoke 112, a magnetic suction joint 113, a buffer magnetic damping block 114, and a magnetic suction connecting member 115.

[0042] The automatic recognition excavation and filling device for complex terrains of the present invention comprehensively utilizes multiple subsystems including an identification system, a power system, a transmission system, and an actuator to achieve automatic recognition of complex terrains and efficient excavation and filling operations. The identification system collects terrain and soil information in real time. The power system provides the required power. The transmission system transmits the power to the actuator. The actuator performs corresponding excavation or filling operations according to the recognition results.

[0043] The soil sensor 11, terrain scanner 12, depth detector 13, slope sensor 14, azimuth sensor 15, lidar 16 and ultrasonic sensor 17 in the recognition system work together to collect relevant information of complex terrains in real time.

[0044] The soil sensor 11 is installed at the bottom of the bottom frame 2 near the ground, and can detect the type, humidity and hardness parameters of the soil, providing a basis for soil conditions for subsequent excavation and filling operations.

[0045] The terrain scanner 12 performs three-dimensional scanning of the surrounding terrain by emitting and receiving laser beams, constructs a three-dimensional model of the terrain, and obtains the undulation and slope information of the terrain.

[0046] The depth detector 13 is installed on the excavation mechanism and can measure the depth of excavation or filling to ensure that the operation meets the expected depth requirements.

[0047] The slope sensor 14 and the azimuth sensor 15 are installed on the horizontal plane of the main frame 1, and respectively measure the slope and azimuth of the position where the device is located, enabling the device to make reasonable operation adjustments according to the inclination angle and direction of the terrain.

[0048] The lidar 16 is installed at the front end of the main frame 1, and uses laser pulses to detect the distance and azimuth of the target object, further accurately identifying the terrain and obstacles ahead.

[0049] The ultrasonic sensor 17 is installed on the side of the device, and detects obstacles around the device by emitting and receiving ultrasonic signals to avoid collisions.

[0050] The output speed sensor 18 is installed near the output shaft of the power system, and monitors the output speed of the power system in real time, providing data support for the control and adjustment of the power system. These sensors transmit the collected information to the control center, and the control center analyzes and processes the information, determines whether excavation or filling operations are required for the current terrain, and determines specific operation parameters.

[0051] The power system adopts a method of coupling multiple power sources, including the engine 19, electric motor 24, gas turbine 27, power battery pack 28, generator 29, fuel cell 31, starting motor assembly 32 and flywheel energy storage device 33, and distributes and couples power through the power coupler 34.

[0052] The engine 19 consists of an engine block 20, an engine crankshaft 21, engine pistons 22, and an engine cylinder head 23. Fuel burns within the engine block, driving the engine pistons 22 to perform reciprocating motion. The reciprocating motion of the engine pistons 22 is converted into the rotational motion of the engine crankshaft 21 through a connecting rod, thereby outputting power. An intake supercharger turbine 35 can improve the intake efficiency of the engine and enhance the power output of the engine.

[0053] The electric motor 24 consists of a motor rotor 25 and a motor stator 26. A power battery pack 28 and a fuel cell 31 supply power to the electric motor 24. When an electric current passes through the windings of the motor stator 26, a rotating magnetic field is generated, driving the motor rotor 25 to rotate and outputting power.

[0054] The gas turbine 27 generates high-temperature and high-pressure gas by burning gas, driving the turbine to rotate and outputting power.

[0055] The power coupler 34 reasonably distributes and couples the power of different power sources according to the operating requirements and the state of the power sources. For example, under low-speed and light-load working conditions, only the electric motor 24 can be used to provide power to reduce energy consumption and noise; under high-speed and heavy-load working conditions, the engine 19 and the electric motor 24 can work together to provide sufficient power. The generator 29 can be driven by the engine 19 or the gas turbine 27 to charge the power battery pack 28. The starting motor assembly 32 is used to start the engine 19, and the flywheel energy storage device 33 can store and release energy during power output fluctuations to improve energy utilization efficiency.

[0056] The transmission system transmits the power output by the power system to the drive wheels 7 and the actuators to achieve the walking and excavation and filling operations of the device.

[0057] The power output by the power coupler 34 is first transmitted to the transmission 36 through a coupling 53. The transmission gears 38 in the transmission 36 are installed on the transmission shafts 39, and the speed and torque are adjusted through the meshing of different gears. The driver or the control center can select a suitable gear according to the operating requirements to change the transmission ratio of the transmission.

[0058] The clutch 40 is installed between the input shaft of the transmission 36 and the output shaft of the power coupler 34. Through the frictional contact between the clutch disc 41 and the clutch pressure plate 42, the power is cut off and connected. When shifting gears, the clutch 40 disengages, disconnecting the input shaft of the transmission 36 from the power source to facilitate the shifting operation; after the shifting is completed, the clutch 40 engages to resume power transmission.

[0059] The connecting movable joints 43 are installed at both ends of the transmission shaft 44 to compensate for the angular changes of the transmission shaft during movement and ensure flexible power transmission. The transmission shaft 44 transmits the output power of the transmission 36 to the differential 45.

[0060] The differential gear 47 within the differential 45 is installed inside the differential housing 46. When the device turns, the differential 45 enables the left and right drive wheels 7 to rotate at different speeds, ensuring the smooth turning of the device. The drive shaft 48 is connected to the axle gears of the differential 45 through splines, transmitting power to the drive wheels 7 to drive the device to move forward.

[0061] The chain 49 cooperates with the sprocket 50, and the timing belt 51 cooperates with the timing belt pulley 52, which are used to transmit power and change the transmission ratio. The transmission chain 57 connects different transmission components. The tension adjustment pulley 58 can adjust the tension of the chain 49 or the timing belt 51 to ensure the stability of the transmission. The hydraulic torque converter 54 is installed on the input shaft of the gearbox 36, which can increase the torque output when the engine speed is relatively low, improving the starting performance of the device. The planetary gear set 55 is installed inside the gearbox 36 to further optimize the power transmission characteristics. The power output shaft 56 transmits power to the power input joints of the excavation mechanism or the filling mechanism to drive the actuator to work.

[0062] The actuator includes an excavation mechanism and a filling mechanism, which perform excavation or filling operations according to the instructions of the control center. The excavation mechanism consists of an excavation bucket 67, a telescopic rod 68, a fixed cylinder 69, an excavation boom 70, an excavation dipper stick 71, a dipper stick linkage rod 72, and a robotic arm connecting shaft 73.

[0063] The hydraulic pump 60 of the hydraulic system converts the mechanical energy of the power system into hydraulic energy, controlling the actions of the hydraulic cylinders 61 through the multi-way hydraulic valve group 62. When excavation is required, the corresponding hydraulic cylinders 61 are controlled to make the excavation boom 70 rotate around the connecting pin shaft with the fixed cylinder 69. At the same time, the excavation dipper stick 71 cooperates with the excavation boom 70 through the dipper stick linkage rod 72 to drive the excavation bucket 67 to perform excavation operations.

[0064] The telescopic rod 68 can slide on the robotic arm connecting shaft 73, realizing the telescopic movement through the cooperation of the slider and the guide rail to adjust the excavation range and depth. The depth detector 13 monitors the excavation depth in real time. When the set depth is reached, the control center issues an instruction to stop the excavation action.

[0065] The filling mechanism consists of a bulldozer filling shovel 74, a filling shovel support 75, a filling shovel hydraulic cylinder body 76, a filling shovel hydraulic cylinder piston rod 77, a filling bulldozing plate 78, and a plate reinforcement rib 79.

[0066] When filling operations are required, the hydraulic system controls the flow of hydraulic oil in the filling shovel hydraulic cylinder body 76, causing the filling shovel hydraulic cylinder piston rod 77 to extend or retract, driving the filling bulldozing plate 78 to lift and move forward and backward. The filling bulldozing plate 78 levels the excavated soil or other filling materials to complete the filling operation. The plate reinforcement rib 79 enhances the strength of the filling bulldozing plate 78, ensuring that it will not deform during the bulldozing process.

[0067] The hydraulic system provides power for the actuators to ensure the smooth progress of excavation and filling operations. The hydraulic pump 60 is driven by the power output shaft of the power system, sucks hydraulic oil from the fuel tank and pressurizes it, and conveys the high-pressure hydraulic oil to the multi-way hydraulic valve block 62 through pipelines. The multi-way hydraulic valve block 62 controls the flow direction and flow rate of the hydraulic oil according to the instructions of the control center, and distributes the hydraulic oil to each hydraulic cylinder 61. The pressure regulating controller 63 monitors the pressure of the hydraulic system and adjusts the pressure as needed to ensure the safe and stable operation of the system. The hydraulic oil pushes the piston to move inside the hydraulic cylinder 61 to realize the actions of the actuators. The hydraulic oil after completing the work flows back to the fuel tank through the oil return pipeline. During the oil return process, the hydraulic oil passes through the hydraulic oil cooler 64 for cooling to reduce the oil temperature and ensure the performance of the hydraulic oil. The electromagnetic directional valve 65 is installed inside the multi-way hydraulic valve block 62, and changes the flow direction of the hydraulic oil by controlling the on-off of the current to realize the precise control of the actions of the actuators. The oil filter and purifier 66 is installed in the oil return pipeline to filter impurities and contaminants in the hydraulic oil and ensure the cleanliness and normal operation of the hydraulic system.

[0068] After the device is started, the recognition system begins to collect terrain and soil information in real time and transmits the information to the control center. The control center judges whether excavation or filling operations are required for the current terrain according to the collected information, and determines specific operation parameters, such as excavation depth and filling height.

[0069] According to the operation requirements, the power system reasonably distributes and couples the power of different power sources through the power coupler 34 to provide the required power for the device. The transmission system transmits the power to the drive wheels 7 and the actuators, enables the device to move to the operation position, and drives the actuators to perform excavation or filling operations.

[0070] During the operation process, the recognition system continuously monitors the operation situation. The control center dynamically adjusts the working states of the power system, the transmission system and the actuators according to the real-time feedback information to ensure the efficient and accurate progress of excavation and filling operations. At the same time, the hydraulic system provides stable power support for the actuators, and the protection and shock absorption system ensures the safe operation of the device and the comfortable experience of the operators.

[0071] Working process of the automatic recognition excavation and filling device for complex terrain: Start-up preparation stage: Power system start-up: The operator starts the start motor assembly 32 in the cab 88. The start motor assembly 32 drives the flywheel of the engine 19 through gears or chains, causing the engine 19 to start running. The fuel of the engine 19 burns in the engine cylinder block 20, pushing the engine piston 22 to make reciprocating motions, and converting the reciprocating motions of the engine piston 22 into rotational motions of the engine crankshaft 21 to output power. The intake supercharger turbine 35 starts to work to improve the intake efficiency of the engine 19 and enhance the power output.

[0072] Meanwhile, the power battery pack 28 and the fuel cell 31 supply power to the electric motor 24. The motor rotor 25 of the electric motor 24 starts to rotate under the action of the rotating magnetic field generated by the motor stator 26, and outputs power. The power coupler 34 starts to distribute and couple the power of the power sources of the engine 19, the electric motor 24, and the gas turbine 27 according to the preset initial working conditions.

[0073] System self-check: The identification system starts self-checking. The soil sensor 11, the terrain scanner 12, the depth detector 13, the slope sensor 14, the azimuth sensor 15, the lidar 16, the ultrasonic sensor 17, and the output speed sensor 18 start to check whether their own working states are normal and feedback the self-check information to the control center.

[0074] The hydraulic system conducts self-check. The hydraulic pump 60 starts to operate to check whether the pressure and flow rate of the hydraulic oil are normal, and whether the components of the multi-way hydraulic valve group 62, the pressure regulating controller 63, the hydraulic oil cooler 64, the electromagnetic reversing valve 65, and the oil filter purifier 66 can work normally.

[0075] The transmission system also conducts self-check. It checks whether the gear position of the gearbox 36 is in the correct position, whether the clutch 40, the connecting joint 43, the transmission shaft 44, and the differential 45 components are firmly connected, and whether the tension of the chain 49, the sprocket 50, the synchronous belt 51, and the synchronous belt pulley 52 is appropriate.

[0076] Moving to the operation area stage: Power transmission and walking drive: The power coupler 34 transmits power to the gearbox 36. The operator operates the gear lever in the cab 88 as needed to select an appropriate gear position, and adjusts the output speed and torque by changing the meshing state of the gearbox gears 38 in the gearbox 36.

[0077] Power is transmitted to the differential 45 through the clutch 40, the connecting joint 43, and the transmission shaft 44. The differential 45 distributes the power to the left and right drive shafts 48, and the drive shafts 48 drive the drive wheels 7 to rotate, causing the device to start walking. The guide wheel 8 and the support frame 9 assist the device to move smoothly.

[0078] During walking, the identification system keeps working. The terrain scanner 12 and the lidar 16 conduct real-time scanning of the terrain ahead to construct a three-dimensional terrain model. The slope sensor 14 and the azimuth sensor 15 measure the slope and azimuth of the position where the device is located.

[0079] The control center plans the walking path of the device based on the information collected by the identification system, avoiding obstacles and terrain complex areas. The ultrasonic sensor 17 monitors the obstacles around the device in real time. When an obstacle is detected, the control center issues an alarm and adjusts the walking path.

[0080] Excavation operation stage: When the device reaches the excavation operation area, the recognition system conducts a detailed detection of the terrain and soil in the operation area again. The soil sensor 11 detects the type, humidity, and hardness parameters of the soil, and the depth detector 13 measures the initial depth of the operation area.

[0081] Based on the recognition results, the control center sets the operation parameters such as the depth and range of excavation and sends instructions to the actuator and the hydraulic system.

[0082] The hydraulic pump 60 converts the mechanical energy of the power system into hydraulic energy and controls the corresponding hydraulic cylinder 61 to act through the multi-way hydraulic valve block 62. Control the hydraulic cylinder corresponding to the excavation boom 70 to lift the excavation boom 70 upward by a certain angle around the connecting pin shaft with the fixed cylinder 69.

[0083] At the same time, control the hydraulic cylinder corresponding to the excavation dipper stick 71, and extend the excavation dipper stick 71 through the dipper stick linkage rod 72 to drive the excavation bucket 67 close to the soil to be excavated.

[0084] Continue to control the relevant hydraulic cylinders to insert the excavation bucket 67 into the soil, and then retract the excavation dipper stick 71 and the excavation boom 70 to dig out the soil. The telescopic rod 68 can slide on the robotic arm connecting shaft 73 to adjust the excavation range as needed.

[0085] During the excavation process, the depth detector 13 monitors the excavation depth in real time. When approaching the set depth, the control center issues an instruction to slow down the excavation speed to avoid over-excavation.

[0086] The soil sensor 11 continuously detects the soil parameters. If the soil type or hardness changes, the control center adjusts the pressure and flow rate of the hydraulic system to adapt to different excavation conditions.

[0087] Backfilling operation stage: When the excavation operation is completed, the control center determines the backfilling area based on the terrain recognition results. The device moves to the backfilling area to prepare for the backfilling operation. The hydraulic system controls the flow of hydraulic oil in the backfilling shovel hydraulic cylinder body 76 to extend the backfilling shovel hydraulic cylinder piston rod 77, driving the backfilling bulldozer blade 78 down to an appropriate height. The device moves forward, and the backfilling bulldozer blade 78 levels the excavated soil or other backfilling materials for the backfilling operation. The plate body stiffener 79 enhances the strength of the backfilling bulldozer blade 78 to ensure its stable operation during the soil pushing process.

[0088] The depth detector 13 and the slope sensor 14 monitor the height and slope of the backfilling in real time. The control center adjusts the height and angle of the backfilling bulldozer blade 78 according to the monitoring results to ensure that the height and flatness of the backfilling meet the requirements.

[0089] Job Completion and Winding-up Stage: When all the excavation and filling operations are completed, the control center issues an instruction to reset the actuators. The excavation boom 70, excavation arm 71, and excavation bucket 67 of the excavation mechanism return to their initial positions, and the filling bulldozer blade 78 of the filling mechanism rises. The hydraulic system stops supplying oil to the hydraulic cylinder 61, and all components stop operating.

[0090] Power System Shutdown: The operator operates inside the cab 88 to turn off the power sources of the engine 19 and the electric motor 24. The power coupler 34 stops working, and the power system stops outputting power.

[0091] The control center records the relevant data of this operation, such as operation time, excavation and filling volume, and soil parameters, for subsequent analysis and statistics.

[0092] The operator inspects and maintains the device, checks whether the connections of all components are firm, whether the liquid level and quality of the hydraulic oil are normal, cleans the soil and debris on the device, and makes preparations for the next operation.

[0093] A system for an automatic recognition excavation and filling device for complex terrains, including a frame module, a walking module, an operation module, an identification module, a power module, a transmission module, a hydraulic module, a protection and shock absorption module, and a magnetic component module; Frame Module: Composed of a main frame 1, a bottom frame 2, support columns 3, reinforcing diagonal braces 4, horizontal crossbeams 5, and vertical longitudinal beams 6. The main frame 1 is installed on the bottom frame 2, the support columns 3 are arranged between them, the reinforcing diagonal braces 4 connect the relevant components, and the horizontal crossbeams 5 and the vertical longitudinal beams 6 are connected to each other; Walking Module: Drive wheels 7, guide wheels 8, and support frames 9 are arranged below the bottom frame 2, and the drive wheels 7 are connected through a drive axle 10; Operation Module: Includes an excavation mechanism and a filling mechanism. The excavation mechanism has an excavation bucket 67 and a telescopic rod 68; the filling mechanism includes a bulldozing and filling shovel 74 and a filling shovel support 75.

[0094] Identification Module: Includes a soil sensor 11, a terrain scanner 12, a depth detector 13, a slope sensor 14, an azimuth sensor 15, a lidar 16, an ultrasonic sensor 17, and an output speed sensor 18, used to obtain terrain and soil information; Power Module: Includes an engine 19, an electric motor 24, a gas turbine 27, a power battery pack 28, a generator 29, a fuel cell 31, a starting motor assembly 32, a flywheel energy storage device 33, and a power coupler 34, adopting multi-power source coupling; Transmission Module: Includes a gearbox 36, a clutch 40, a connecting joint 43, a drive shaft 44, and a differential 45 to ensure accurate power transmission; Hydraulic Module: Includes a hydraulic pump 60, a hydraulic cylinder 61, a multi-way hydraulic valve group 62, and a pressure regulating controller 63 to provide stable power for the actuators.

[0095] The protection and shock absorption module includes a protective fence 81, a protective cover 82, a dust-proof net 83, buffer springs 86, and shock-absorbing rubber pads 87 for buffering; the magnetic component module: includes a magnetic oil cylinder piston magnet ring 97, a magnetic boom connecting magnet 98, joint magnetic pieces 99 and various magnetic components for connection.

[0096] The system of the present invention aims to achieve automatic recognition of excavation and filling operations in complex terrains. Through the collaborative work of each module, the recognition module first obtains terrain and soil information, the power module provides power, the transmission module transmits the power to each executing component, the hydraulic module provides stable power for the operation, the frame module provides structural support, the traveling module realizes the movement of the device, the operation module completes the excavation and filling operations, the protection and shock absorption module protects the device and buffers vibrations, and the magnetic component module assists in component connection.

[0097] The frame module is composed of a main frame 1, a bottom frame 2, support columns 3, strengthening diagonal braces 4, horizontal crossbeams 5, and vertical longitudinal beams 6. The main frame 1 is installed on the bottom frame 2, and the support columns 3 are arranged between them to support the main frame 1 and ensure the stability of the main frame. The strengthening diagonal braces 4 connect relevant components to enhance the strength and rigidity of the entire frame structure and prevent the frame from deforming during operation. The horizontal crossbeams 5 and the vertical longitudinal beams 6 are connected to each other to further reinforce the frame and provide a stable installation foundation for other modules.

[0098] Drive wheels 7, guide wheels 8, and support frames 9 are arranged below the bottom frame 2, and the drive wheels 7 are connected through a drive axle 10. The power generated by the power module is transmitted to the drive axle 10 through the transmission module, and the drive axle 10 drives the drive wheels 7 to rotate, thereby enabling the device to realize moving functions such as forward and backward movement. The guide wheels 8 are used to guide the traveling direction of the device, and the support frames 9 bear the weight of the device to ensure the smoothness of the device during traveling.

[0099] Excavation mechanism: includes an excavation bucket 67 and a telescopic rod 68. The hydraulic cylinder 61 in the hydraulic module is connected to the telescopic rod 68. When the hydraulic pump 60 works and delivers hydraulic oil to the hydraulic cylinder 61, the piston rod of the hydraulic cylinder 61 pushes the telescopic rod 68 to expand and contract, thereby driving the excavation bucket 67 to perform excavation operations. The excavation bucket 67 makes movements such as up and down, front and back according to actual needs to realize the excavation of soil.

[0100] Filling mechanism: includes a bulldozing and filling shovel 74 and a filling shovel support 75. Similarly, the hydraulic module provides power for it. By controlling the multi-way hydraulic valve group 62, hydraulic oil enters the corresponding hydraulic cylinders to push the bulldozing and filling shovel 74 to move up and down, left and right, to level and fill the excavated soil or other filling materials to complete the filling operation.

[0101] The recognition module includes a soil sensor 11, a terrain scanner 12, a depth detector 13, a slope sensor 14, an azimuth sensor 15, a lidar 16, an ultrasonic sensor 17, and an output speed sensor 18.

[0102] The soil sensor 11 is used to detect information such as the type, humidity, and density of the soil, providing a reference for the soil conditions for the operation.

[0103] The terrain scanner 12 and the lidar 16 can perform three-dimensional scanning of the terrain in the operation area to obtain the contour and height information of the terrain.

[0104] The depth detector 13 is used to measure the excavation depth or filling depth of the soil.

[0105] The slope sensor 14 detects the slope of the operation area to ensure the safe operation of the device on terrains with different slopes.

[0106] The azimuth sensor 15 determines the azimuth of the device, facilitating the precise control of the operation direction.

[0107] The ultrasonic sensor 17 can detect the distance to surrounding obstacles to avoid collisions of the device.

[0108] The output speed sensor 18 monitors the rotational speed of the power output component to ensure the stable operation of the power system. These sensors transmit the acquired information to the control system, and the control system judges the terrain and soil conditions of the operation area based on this information, thereby controlling the operation module to perform corresponding excavation or filling operations.

[0109] The power module includes an engine 19, an electric motor 24, a gas turbine 27, a power battery pack 28, a generator 29, a fuel cell 31, a starting motor assembly 32, a flywheel energy storage device 33, and a power coupler 34, adopting multi-power source coupling.

[0110] The engine 19 and the gas turbine 27 can provide a large power output, suitable for long-term and high-intensity operations.

[0111] The electric motor 24 and the fuel cell 31 have the characteristics of cleanliness and high efficiency and are used in some occasions with high environmental requirements.

[0112] The power battery pack 28 provides power support for electric components, and the generator 29 can charge the power battery pack when the engine or gas turbine is working.

[0113] The starting motor assembly 32 is used to start the engine or gas turbine.

[0114] The flywheel energy storage device 33 can store energy and release it when needed, improving the response speed and stability of the power system. The power coupler 34 reasonably distributes and couples the power from different power sources, automatically selects the appropriate power source combination according to the operation requirements and working conditions, and ensures that the device can operate efficiently in various situations.

[0115] The transmission module includes a gearbox 36, a clutch 40, a connecting joint 43, a drive shaft 44, and a differential 45. The power generated by the power module is first transmitted to the gearbox 36. The gearbox 36 adjusts the rotational speed and torque of the power according to the operation requirements, and then controls the transmission and cut-off of the power through the clutch 40. The connecting joint 43 and the drive shaft 44 transmit the power to the drive axle 10 or the execution components of the operation module. The differential 45 enables the left and right drive wheels to rotate at different speeds when the device turns, ensuring that the device can turn smoothly and achieving precise power transmission.

[0116] The hydraulic module includes a hydraulic pump 60, hydraulic cylinders 61, a multi-way hydraulic valve block 62, and a pressure regulating controller 63. The hydraulic pump 60 is driven by the power module, sucks hydraulic oil from the fuel tank and pressurizes it, and then distributes the hydraulic oil to different hydraulic cylinders 61 through the multi-way hydraulic valve block 62. The multi-way hydraulic valve block 62 can control the flow rate, direction, and pressure of the hydraulic oil, thereby precisely controlling the actions of the hydraulic cylinders 61. The pressure regulating controller 63 monitors the pressure of the hydraulic system in real time and automatically adjusts the output pressure of the hydraulic pump 60 when the pressure is too high or too low, providing stable power for the actuator.

[0117] The protection and shock absorption module includes a guardrail 81, a protective cover 82, a dust screen 83, buffer springs 86, and shock-absorbing rubber pads 87. The guardrail 81 and the protective cover 82 can prevent external objects from hitting and damaging the internal components of the device, playing a protective role. The dust screen 83 can block dust and debris from entering the device interior, ensuring the normal operation of the device. The buffer springs 86 and the shock-absorbing rubber pads 87 are used to buffer the vibrations generated during the walking and operation of the device, reduce damage to the device structure and components, and improve the service life of the device and the comfort of the operator.

[0118] The magnetic component module includes various magnetic elements such as a magnetic cylinder piston magnet ring 97, a magnetic boom connection magnet block 98, and joint magnetic chips 99. These magnetic elements utilize the magnetic adsorption effect to assist in the connection and positioning between components. For example, the magnetic cylinder piston magnet ring 97 can ensure the stability of the cylinder piston during movement, and the magnetic boom connection magnet block 98 and the joint magnetic chips 99 can make the connection between the boom and the joint parts more tight and firm, reducing looseness and wear between components.

[0119] The above embodiments are only used to illustrate the present invention and do not limit the technical solutions described in the present invention. Although the present specification has described the present invention in detail with reference to the above respective embodiments, the present invention is not limited to the above specific embodiments. Therefore, any modification or replacement of the present invention; and all technical solutions and their improvements that do not depart from the spirit and scope of the invention are covered within the scope of the claims of the present invention.

Claims

1. An automatic recognition device for excavation and filling in complex terrains, characterized in that, It includes a main frame (1), a bottom frame (2), support columns (3), reinforcing diagonal braces (4), horizontal crossbeams (5), vertical longitudinal beams (6), an excavation mechanism and a filling mechanism. The main frame (1) is installed on the bottom frame (2). The support columns (3) are arranged between the main frame (1) and the bottom frame (2). The reinforcing diagonal braces (4) connect the support columns (3) to the main frame (1) or the bottom frame (2). The horizontal crossbeams (5) and the vertical longitudinal beams (6) are interconnected. Below the bottom frame (2), there are drive wheels (7), guide wheels (8) and support frames (9). The drive wheels (7) are connected through a drive axle (10). The excavation mechanism includes an excavation bucket (67), a telescopic rod (68), a fixed cylinder (69), an excavation boom (70), an excavation stick (71), a stick linkage rod (72) and a robotic arm connecting shaft (73). The filling mechanism includes a bulldozing and filling shovel (74), a filling shovel support (75), a filling shovel hydraulic cylinder body (76), a filling shovel hydraulic cylinder piston rod (77), a filling and pushing plate (78) and a plate reinforcing rib (79).

2. The automatic recognition of excavation and filling device for complex terrain according to claim 1, wherein It also includes a soil sensor (11), a terrain scanner (12), a depth detector (13), a slope sensor (14), an azimuth sensor (15), a lidar (16), an ultrasonic sensor (17) and an output speed sensor (18).

3. The automatic excavation and filling identification device for complex terrain according to claim 1, characterized in that It also includes an engine (19), an electric motor (24), a gas turbine (27), a power battery pack (28), a generator (29), a fuel cell (31), a starting motor assembly (32), a flywheel energy storage device (33) and a power coupler (34). The engine (19) includes an engine block (20), an engine crankshaft (21), an engine piston (22) and an engine cylinder head (23). The electric motor (24) includes a motor rotor (25) and a motor stator (26). The generator (29) includes a generator rotor (30). An intake supercharger turbine (35) is also provided.

4. The automatic excavation and filling identification device for complex terrain according to claim 1, characterized in that, It also includes a gearbox (36), a clutch (40), a connecting joint (43), a drive shaft (44), a differential (45), a drive axle (48), a chain (49), a sprocket (50), a timing belt (51), a timing belt pulley (52), a coupling (53), a torque converter (54), a planetary gear set (55), a power output shaft (56), a transmission chain (57) and a tension adjusting wheel (58). The gearbox (36) includes a gearbox housing (37), gearbox gears (38) and a gearbox shaft (39). The clutch (40) includes a clutch disc (41) and a clutch pressure plate (42). The differential (45) includes a differential housing (46) and differential gears (47).

5. The automatic recognition of excavation and filling device for complex terrain according to claim 1, characterized in that, It includes a hydraulic system. The hydraulic system includes a hydraulic pump (60), a hydraulic cylinder (61), a multi-way hydraulic valve group (62), a pressure regulating controller (63), a hydraulic oil cooler (64), an electromagnetic directional valve (65) and an oil filter purifier (66).

6. The automatic excavation and filling identification device for complex terrain according to claim 1, wherein It also includes a guardrail (81), a protective cover (82), a dust screen (83), a dust-proof sealed housing (84), a fireproof partition layer for the power cabin (85), a buffer spring (86), a shock-absorbing rubber pad (87), a cab (88), an air filter (89), an engine base bracket (90), a transmission gearbox (91), a servo drive motor (92), a slewing bearing (93), a shock-proof connecting flange (94), a cable routing guide groove (95), an oil-gas separator (96), and a plurality of magnetic components.

7. The automatic excavation and filling identification device for complex terrain according to claim 1, characterized in that It also includes a magnetic cylinder piston magnetic ring (97), a magnetic boom connecting magnetic block (98), a joint magnetic sheet (99), a magnetic suction plate (100), a magnetic tile (101), a magnetic wheel (102), a drive wheel magnetic strip (103), a supporting frame magnetic block (104), a magnetic carrier roller magnetic ring (105), a magnetic idler wheel magnetic sheet (106), a magnetic oil filter magnetic screen (107), a magnetic radiator magnetic suction fin (108), a magnetic evaporator magnetic suction pipe (109), a magnetic condenser magnetic heat sink (110), a magnetic expansion valve magnetic valve core (111), a magnetic yoke (112), a magnetic suction joint (113), a buffer magnetic damping block (114), and a magnetic suction connecting part (115).

8. A system of an automatic recognition of excavation and filling device for complex terrain, characterized in that, It includes a frame module, a traveling module, an operation module, an identification module, a power module, a transmission module, a hydraulic module, a protection and shock-absorption module, and a magnetic component module; Frame module: It is composed of a main frame (1), a bottom frame (2), support columns (3), strengthening diagonal braces (4), a horizontal cross beam (5), and a vertical longitudinal beam (6). The main frame (1) is installed on the bottom frame (2), the support columns (3) are arranged between the two, the strengthening diagonal braces (4) connect relevant components, and the horizontal cross beam (5) is connected to the vertical longitudinal beam (6); Traveling module: A drive wheel (7), a guide wheel (8), and a supporting frame (9) are arranged below the bottom frame (2), and the drive wheel (7) is connected through a drive axle (10); Operation module: It includes an excavation mechanism and a filling mechanism. The excavation mechanism has an excavation bucket (67) and a telescopic rod (68); The filling mechanism includes a bulldozing and filling shovel (74) and a filling shovel support (75).

9. The system of an automatic recognition of excavation and filling device for complex terrain according to claim 8, wherein, Identification module: It includes a soil sensor (11), a terrain scanner (12), a depth detector (13), a slope sensor (14), an azimuth sensor (15), a lidar (16), an ultrasonic sensor (17), and an output rotational speed sensor (18) for obtaining terrain and soil information; Power module: It includes an engine (19), an electric motor (24), a gas turbine (27), a power battery pack (28), a generator (29), a fuel cell (31), a starting motor assembly (32), a flywheel energy storage device (33), and a power coupler (34), adopting multi-power source coupling; Transmission module: It includes a gearbox (36), a clutch (40), a connecting joint (43), a transmission shaft (44), and a differential (45) to ensure accurate power transmission; Hydraulic module: It includes a hydraulic pump (60), a hydraulic cylinder (61), a multi-way hydraulic valve group (62), and a pressure regulating controller (63) to provide stable power for the actuator.

10. The system of an automatic recognition of excavation and filling device for complex terrain according to claim 9, characterized in that, Protection and shock absorption module: It includes a guardrail (81), a protective cover (82), a dust filter (83), a buffer spring (86), and a shock-absorbing rubber pad (87) for buffering; Magnetic component module: It includes a magnetic cylinder piston magnetic ring (97), a magnetic boom connecting magnetic block (98), and a joint magnetic sheet (99), and various magnetic elements for connection.

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