A device and system for automatically identifying cut and fill in complex terrain

Abstract

The present invention relates to the technical field of excavation and filling, and specifically to an automatic identification excavation and filling device and system for complex terrain, comprising a main frame and a bottom frame structure, and is equipped with identification, power, transmission, execution and hydraulic systems. The identification system accurately obtains terrain and soil information with the help of a variety of sensors, and the control center automatically determines the operation type and parameters based on this. The power system adopts multi-power source coupling, and flexibly distributes power through the power coupler to achieve high efficiency and energy saving. The transmission system ensures accurate power transmission, and the excavation and filling mechanisms of the actuator can operate flexibly. The hydraulic system provides stable power for the actuator. In addition, the device is also equipped with protection, shock absorption systems and multiple magnetic components to enhance safety and comfort and facilitate maintenance. The device has strong adaptability to complex terrain, high operating efficiency and good quality, and can be widely used in excavation and filling projects in various complex terrains.

Description

Technical Field

[0001] The present invention relates to the technical field of cut and fill, and in particular to an automatic cut and fill identification device and system for complex terrain. 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 critical construction links.

[0003] Excavation is the process of digging and removing a certain amount of earth and rock from the ground or a mountain. In road construction, when a route passes through highlands or hilly terrain, excavation is necessary to ensure that the road meets the design elevation and slope requirements. For example, when building a highway in a mountainous area, if there are obstacles like mountains, excavation can open up a new route, reduce the slope, and improve driving safety and comfort. In construction projects, excavation is also necessary to provide sufficient space for underground structures such as basements and foundation pits.

[0004] Backfill is the process of transporting excavated earth, rock, or other suitable fill materials to a designated location, filling and compacting them in layers to increase ground elevation or fill low-lying areas. In urban development, backfilling is necessary to develop low-lying land or fill abandoned ponds to bring the land to a buildable elevation. During road construction, when routes pass through low-lying areas, backfilling can help the road surface connect smoothly with the surrounding terrain, ensuring its smoothness and stability.

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

[0006] Common excavation devices, such as excavators, are mainly composed of a power system, a working device, a slewing mechanism, a traveling mechanism, and other parts. Its working device is usually a bucket, which is opened and closed and raised and lowered by a hydraulic system to achieve the excavation and loading of soil and stone. Excavators are efficient and flexible in excavation operations and can adapt to different terrains and working conditions. However, the main functions of excavators are limited to excavation and loading of soil and stone. The excavated soil and stone materials need to be transported away from the site with the help of other transportation equipment, and cannot be directly used for backfilling operations. The backfilling device uses a bulldozer to flatten and compact the soil and stone materials to complete the backfilling operation. The bulldozer can quickly level and preliminarily compact the soil and stone materials during the backfilling process, but it does not have the excavation function itself and needs to rely on excavation equipment to provide the materials required for backfilling.

[0007] The current situation where excavation and filling devices are independent of each other leads to many problems in the actual construction process. First, it increases the procurement and maintenance costs of the equipment. Construction units need to purchase excavation equipment and filling equipment at the same time and perform maintenance and upkeep on these equipment separately, which undoubtedly increases the company's operating costs. Second, it reduces construction efficiency. Between excavation and filling operations, soil and stone materials need to be transferred multiple times, which not only wastes time but also increases energy consumption. In addition, the multiple transfers may also cause the spillage and loss of soil and stone materials, causing certain impacts on the environment. Moreover, since operators of different equipment need to be trained and managed separately, the difficulty of human resource management is increased. Therefore, it is of great practical significance to develop a device that can automatically identify terrain and realize integrated excavation and filling operations. Therefore, an automatic excavation and filling identification device and system for complex terrain are proposed. Summary of the Invention

[0008] The purpose of the present invention is to address the problems raised by the existing background technology. In order to achieve the above-mentioned purpose of the invention, the present invention provides the following technical solutions: an automatic identification excavation and filling device for complex terrain, comprising a main frame, a bottom frame, supporting columns, reinforcing braces, horizontal beams, vertical longitudinal beams, an excavation mechanism and a filling mechanism, wherein the main frame is mounted on the bottom frame, the supporting columns are arranged between the main frame and the bottom frame, the reinforcing braces connect the supporting columns and the main frame or the bottom frame, and the horizontal beams and the vertical longitudinal beams are connected to each other; driving wheels, guide wheels and a supporting frame are arranged below the bottom frame, and the driving wheels are connected through a driving axle, the excavation mechanism comprises an excavation bucket, a telescopic rod, a fixed cylinder, an excavation boom, an excavation arm, an arm linkage rod and a mechanical arm connecting shaft; the filling mechanism comprises a bulldozer and filling shovel, a filling shovel bracket, a filling shovel hydraulic cylinder body, a filling shovel hydraulic cylinder piston rod, a filling bulldozer plate and a plate body reinforcement 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 orientation sensor, a laser radar, an ultrasonic sensor and an output speed sensor.

[0010] As a preferred technical solution of the present invention, it also 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 cylinder 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 is also provided with an intake supercharger turbine.

[0011] As a preferred technical solution of the present invention, it also 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 pulley, a coupling, a torque converter, a planetary gear set, a power output shaft, a transmission chain and a tensioning adjustment wheel. The gearbox includes a gearbox housing, a gearbox gear and a gearbox shaft, the clutch includes a clutch plate and a clutch pressure plate, and the differential includes a differential housing and a differential gear.

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

[0013] As a preferred technical solution of the present invention, it also includes a guardrail, a protective cover, a dustproof net, a dustproof sealing shell, a power compartment fireproof barrier, a buffer spring, a shock-absorbing rubber pad, a cab, an air filter, an engine base bracket, a speed transmission case, a servo drive motor, a slewing bearing, a shock-proof connecting flange, a cable wiring guide, an oil-gas separator and multiple magnetic components.

[0014] As an optimal technical solution of the present invention, it also includes a magnetic cylinder piston magnetic ring, a magnetic arm connecting magnetic block, a joint magnetic sheet, a magnetic plate, a magnetic tile, a magnetic wheel, a drive wheel magnetic strip, a support frame magnetic block, a magnetic sprocket magnetic ring, a magnetic guide wheel magnetic sheet, a magnetic oil filter magnetic filter, a magnetic radiator magnetic fins, a magnetic evaporator magnetic tube, a magnetic condenser magnetic heat sink, a magnetic expansion valve magnetic valve core, a magnetic yoke, a magnetic joint, a buffer magnetic damping block and a magnetic connector.

[0015] A system for automatically identifying excavation and filling devices for complex terrain includes a frame module, a travel module, an operation module, an identification module, a power module, a transmission module, a hydraulic module, a protective shock-absorbing module, and a magnetic component module; the frame module is composed of a main frame, a bottom frame, supporting columns, reinforced diagonal braces, horizontal beams, and vertical longitudinal beams, the main frame is installed on the bottom frame, the supporting columns are arranged between the two, the reinforced diagonal braces connect related components, and the horizontal beams and vertical longitudinal beams are connected to each other; the travel module is provided with driving wheels, guide wheels, and a load-bearing frame below the bottom frame, and the driving wheels are connected through a driving axle; the operation module includes an excavation mechanism and a filling mechanism, the excavation mechanism has an excavation bucket and a telescopic rod; the filling mechanism includes a bulldozer and a filling shovel and a filling shovel bracket.

[0016] As a preferred technical solution of the present invention, the identification 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 for obtaining 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, using multi-power source coupling; the transmission module includes a gearbox, a clutch, a connecting joint, a drive shaft, and a differential to ensure precise 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 the preferred technical solution of the present invention, the protective shock-absorbing module includes a guardrail, a protective cover, a dust-proof net, a buffer spring, and a shock-absorbing rubber pad for buffering; the magnetic component module includes a magnetic cylinder piston magnetic ring, a magnetic arm connecting magnetic block, a joint magnetic sheet and multiple magnetic elements for connection.

[0018] Compared to existing technologies, the present invention offers significant advantages: It utilizes an identification system comprised of soil sensors, a terrain scanner, a depth detector, a slope sensor, an orientation sensor, a lidar (LiDAR), and an ultrasonic sensor. These sensors are capable of acquiring comprehensive, high-precision, and real-time information on complex terrain, including terrain undulations, slope, soil type, and moisture content. For example, soil sensors accurately measure soil hardness and moisture, providing crucial soil condition data for cut-and-fill operations. The terrain scanner and lidar construct detailed three-dimensional terrain models, enabling the device to gain a clear understanding of the terrain in the area of operation.

[0019] Based on information collected by the recognition system, the control center of the present invention can automatically determine whether the current terrain requires cut or fill operations, and accurately determine specific operation parameters such as cut depth, fill height, and range. This enables the device to automatically adjust its operation mode according to different terrain conditions, greatly improving its adaptability to complex terrain and avoiding the blindness and inefficiency of traditional equipment when operating in complex terrain.

[0020] The power system of this invention utilizes a combination of multiple power sources, including an engine, electric motor, gas turbine, power battery pack, generator, and fuel cell, with power distribution and coupling implemented through a power coupler. This design allows the system to flexibly select the appropriate power source combination based on varying operating conditions and power requirements. For example, under low-speed, light-load conditions, the electric motor alone can provide power, reducing energy consumption and noise. Under high-speed, heavy-load conditions, the engine and electric motor can work together to provide powerful power support.

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

[0022] The transmission system of the present invention consists of a gearbox, clutch, connecting joint, drive shaft, and differential, enabling precise transmission of power from the powertrain to the drive wheels and actuators. The gearbox adjusts speed and torque according to operational requirements, while the clutch disconnects and connects power, facilitating shifting. The connecting joint and drive shaft ensure flexible power transmission at various angles and positions, while the differential enables the left and right drive wheels to rotate at different speeds during cornering, ensuring smooth operation and efficient operation.

[0023] The present invention utilizes a combination of chain and sprocket, synchronous belt and synchronous pulley transmission methods, as well as the configuration of a transmission chain and tensioning adjustment wheel, to ensure transmission stability and reliability. The torque converter and planetary gear set further optimize power transmission characteristics and enhance device performance.

[0024] The excavation mechanism of this invention features a bucket, telescopic rod, fixed cylinder, excavation boom, digging arm, and digging arm linkage components that work together to enable flexible excavation operations tailored to varying terrain and operational requirements. The telescopic rod slides on the connecting shaft of the mechanical arm, expanding the excavation range and depth adjustment capabilities. A depth sensor monitors excavation depth in real time, ensuring accurate excavation operations.

[0025] The backfill mechanism of the present invention, comprising a bulldozer, backfill bracket, backfill hydraulic cylinder, piston rod, and backfill blade, efficiently completes backfill operations. The backfill blade can be flexibly raised and lowered, and moved forward and backward under the control of the hydraulic system, leveling excavated soil or other backfill materials. The blade's reinforced ribs enhance its strength, ensuring the quality and efficiency of backfill operations.

[0026] The hydraulic system of this invention, consisting of a hydraulic pump, hydraulic cylinder, multi-way hydraulic valve assembly, and pressure regulating controller, provides stable and precise power support for the actuators. The multi-way hydraulic valve assembly precisely controls the direction and flow of hydraulic oil according to commands from the control center, enabling the actuators to perform various complex movements. The pressure regulating controller ensures stable pressure in the hydraulic system, guaranteeing safe operation of the device.

[0027] The hydraulic oil cooler of the present invention can timely cool the hydraulic oil to prevent the oil temperature from being too high and affecting the performance of the hydraulic system. The oil filter purifier can filter impurities and pollutants 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 equipped with protective components including a guardrail, a protective cover, a dust screen, a dustproof sealed housing, and a fireproof barrier in the power compartment. The guardrail prevents accidental falls, the protective cover protects key components from impact and damage from external objects, the dust screen and dustproof sealed housing effectively prevent dust from entering the device, and the fireproof barrier in the power compartment improves the safety of the power system and reduces the risk of fire. The buffer spring and shock-absorbing rubber pads reduce vibration and noise during operation, improving operator comfort, while also reducing damage to device components caused by vibration and extending the device's service life.

[0029] The device of the present invention incorporates multiple magnetic components, such as a magnetic cylinder piston ring, a magnetic arm connection magnet, and joint magnets. These components utilize magnetic force to connect, secure, and detect components, facilitating installation and removal and improving maintenance efficiency. For example, the magnetic oil filter's filter screen absorbs ferromagnetic impurities in the oil, making cleaning and maintenance easier. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 A schematic structural diagram of the present invention;

[0031] Figure 2 A schematic diagram of the local structure provided by the present invention;

[0032] Figure 3 A bottom-up structural diagram of the present invention;

[0033] Figure 4 A schematic diagram of the engine structure provided by the present invention;

[0034] Figure 5 A schematic diagram of the structure of the generator provided by the present invention;

[0035] Figure 6 A side view schematic diagram of the structure provided by the present invention;

[0036] Figure 7 A schematic diagram of the structure of the air filter provided by the present invention;

[0037] Figure 8 A schematic diagram of the structure of the electric motor provided by the present invention;

[0038] Figure 9 A schematic diagram of the differential structure provided by the present invention;

[0039] Figure 10 A schematic diagram of the chain structure provided by the present invention;

[0040] Figure 11 A schematic diagram of the structure of the multi-way hydraulic valve group provided by the present invention;

[0041] Figure 12A schematic diagram of the magnetic structure provided by the present invention;

[0042] Figure 13 This is a schematic diagram of the magnetic heat sink structure of the magnetic condenser provided by the present invention.

[0043] Indicated in the figure: 1. Main frame; 2. Bottom frame; 3. Support column; 4. Reinforced diagonal brace; 5. Horizontal beam; 6. Vertical longitudinal beam; 7. Drive wheel; 8. Guide wheel; 9. Load-bearing frame; 10. Drive 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 cylinder 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 turbocharger; 36. Gearbox; 37. Gearbox housing; 38. Gearbox gear; 39. Gearbox shaft; 40. Clutch; 41. Clutch plate; 42. Clutch pressure plate; 43. Connecting joint; 44. Drive shaft; 45. Differential; 46. Differential housing; 47. Differential gear; 48. Drive shaft; 49. Chain; 50. Sprocket; 51. Synchronous belt; 52. Synchronous pulley; 53. Coupling; 54. Torque converter; 55. Planetary gear set; 56. Power take-off shaft; 57. Drive chain; 58. Tensioner adjustment wheel; 59. Power input connector; 60. Hydraulic pump; 61. Hydraulic cylinder; 62. Multi-way hydraulic valve group; 63. Pressure regulating controller; 64. Hydraulic oil cooler; 65. Solenoid reversing valve; 66. Oil filter purifier; 67. Excavating bucket; 68. Telescopic rod; 69. Fixed cylinder; 70. Excavating boom; 71. Excavating bucket arm; 72. Bucket arm linkage rod; 73. Mechanical arm connecting shaft; 74. Bulldozer; 75. Filling shovel bracket; 76. Filling shovel hydraulic cylinder body; 77. Filling shovel hydraulic cylinder piston rod; 78. Filling bulldozer; 79. Plate body reinforcement rib; 80. Connecting pin; 81. Guardrail; 82. Protective cover; 83. Dustproof net; 84. Dustproof sealing shell; 85. Fireproof barrier of power compartment; 86. Buffer spring; 87. Shock-absorbing rubber pad; 88. Cab; 89. Air filter; 9 0. Engine base bracket; 91. Speed transmission case; 92. Servo drive motor; 93. Slewing bearing; 94. Anti-vibration connection flange; 95. Cable routing guide; 96. Oil-gas separator; 97. Magnetic cylinder piston magnet ring; 98. Magnetic boom connection magnet block; 99. Joint magnet plate; 100. Magnetic plate; 101. Magnetic tile; 102. Magnetic wheel; 103. Drive wheel magnetic strip; 104. Support frame magnet block; 105. Magnetic support chain wheel magnet ring; 106. Magnetic guide wheel magnet plate; 107. Magnetic oil filter magnetic filter screen; 108. Magnetic radiator magnetic fins; 109. Magnetic evaporator magnetic tube; 110. Magnetic condenser magnetic heat sink; 111. Magnetic expansion valve magnetic valve core; 112. Magnetic yoke; 113. Magnetic connector;114. Buffer magnetic damping block; 115. Magnetic connection piece. DETAILED DESCRIPTION

[0044] To make the purpose, technical solutions and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiment is a specific implementation of the present invention and is not limited to all embodiments.

[0045] 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 derived by persons of ordinary skill in the art based on the embodiments of the present invention without creative effort shall fall within the scope of protection of the present invention.

[0046] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features and technical solutions therein can be combined with each other. It should be noted that similar numbers and letters represent 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.

[0047] Example 1: An automatic identification excavation and filling device for complex terrain includes a main frame 1, a bottom frame 2, supporting columns 3, reinforcing diagonal braces 4, horizontal beams 5, vertical longitudinal beams 6, an excavation mechanism and a filling mechanism. The main frame 1 is installed on the bottom frame 2, the supporting columns 3 are arranged between the main frame 1 and the bottom frame 2, the reinforcing diagonal braces 4 connect the supporting columns 3 and the main frame 1 or the bottom frame 2, and the horizontal beams 5 and the vertical longitudinal beams 6 are connected to each other; a driving wheel 7, a guide wheel 8 and a supporting frame 9 are arranged below the bottom frame 2, and the driving wheel 7 is connected through a driving axle 10. The excavation mechanism includes an excavation bucket 67, a telescopic rod 68, a fixed cylinder 69, an excavation boom 70, an excavation arm 71, a boom linkage rod 72 and a mechanical arm connecting shaft 73; the filling mechanism includes a bulldozer and filling shovel 74, a filling shovel bracket 75, a filling shovel hydraulic cylinder body 76, a filling shovel hydraulic cylinder piston rod 77, a filling bulldozer plate 78 and a plate body reinforcement rib 79.

[0048] The identification system includes a soil sensor 11 , a terrain scanner 12 , a depth detector 13 , a slope sensor 14 , an orientation sensor 15 , a laser radar 16 , an ultrasonic sensor 17 and an output rotation speed sensor 18 .

[0049] 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 cylinder 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 and is also provided with an intake boost turbine 35.

[0050] It also includes a gearbox 36, a clutch 40, a connecting joint 43, a transmission shaft 44, a differential 45, a drive shaft 48, a chain 49, a sprocket 50, a synchronous belt 51, a synchronous 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 tensioning adjustment wheel 58. The gearbox 36 includes a gearbox housing 37, a gearbox gear 38 and a gearbox shaft 39. The clutch 40 includes a clutch plate 41 and a clutch pressure plate 42. The differential 45 includes a differential housing 46 and a differential gear 47.

[0051] 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 reversing valve 65 and an oil filter purifier 66 .

[0052] It also includes a guardrail 81, a protective cover 82, a dustproof net 83, a dustproof sealing shell 84, a power compartment fire barrier 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 transmission box 91, a servo drive motor 92, a slewing bearing 93, a shock-proof connecting flange 94, a cable wiring guide 95, an oil-gas separator 96 and multiple magnetic components.

[0053] It also includes a magnetic cylinder piston magnetic ring 97, a magnetic arm connecting magnetic block 98, a joint magnetic plate 99, a magnetic plate 100, a magnetic tile 101, a magnetic wheel 102, a driving wheel magnetic strip 103, a weight support frame magnetic block 104, a magnetic sprocket magnetic ring 105, a magnetic guide wheel magnetic plate 106, a magnetic oil filter magnetic filter 107, a magnetic radiator magnetic fins 108, a magnetic evaporator magnetic tube 109, a magnetic condenser magnetic heat sink 110, a magnetic expansion valve magnetic valve core 111, a magnetic yoke 112, a magnetic joint 113, a buffer magnetic damping block 114 and a magnetic connector 115.

[0054] The present invention's automatic cut and fill identification device for complex terrain integrates multiple subsystems, including an identification system, a power system, a transmission system, and an actuator, to achieve automatic identification of complex terrain and efficient cut and fill operations. The identification system collects terrain and soil information in real time, while the power system provides the required power. The transmission system transmits the power to the actuator, which then performs the corresponding cut or fill operation based on the identification results.

[0055] The soil sensor 11, terrain scanner 12, depth detector 13, slope sensor 14, orientation sensor 15, lidar 16 and ultrasonic sensor 17 in the recognition system work together to collect relevant information of complex terrain in real time.

[0056] The soil sensor 11 is installed at the bottom of the bottom frame 2 close to the ground, and can detect the type, moisture, and hardness parameters of the soil, providing a basis for soil conditions for subsequent excavation and filling operations.

[0057] The terrain scanner 12 performs a three-dimensional scan of the surrounding terrain by emitting and receiving laser beams, constructs a three-dimensional model of the terrain, and obtains information on the undulation and slope of the terrain.

[0058] The depth detector 13 is installed on the excavation mechanism to measure the depth of excavation or filling to ensure that the operation reaches the expected depth requirement.

[0059] The slope sensor 14 and the azimuth sensor 15 are installed on the horizontal surface of the main frame 1 to measure the slope and azimuth of the device respectively, so that the device can make reasonable operation adjustments according to the inclination angle and direction of the terrain.

[0060] The laser radar 16 is installed at the front end of the main frame 1 and uses laser pulses to detect the distance and direction of the target object, and further accurately identify the terrain and obstacles ahead.

[0061] The ultrasonic sensor 17 is installed on the side of the device and detects obstacles around the device by transmitting and receiving ultrasonic signals to avoid collisions.

[0062] The output speed sensor 18, installed near the powertrain's output shaft, monitors the system's output speed in real time, providing data support for powertrain control and adjustment. These sensors transmit the collected information to the control center, which analyzes and processes it to determine whether the current terrain requires cut or fill operations and determine specific operating parameters.

[0063] The power system adopts a variety of power source coupling methods, including 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 power coupler 34.

[0064] Engine 19 consists of an engine block 20, an engine crankshaft 21, an engine piston 22, and an engine cylinder head 23. Fuel burns within the engine block, pushing the engine piston 22 back and forth. This reciprocating motion is converted into rotational motion of the engine crankshaft 21 via a connecting rod, thereby generating power. The intake turbocharger 35 improves the engine's intake efficiency and enhances its power output.

[0065] The electric motor 24 consists of a motor rotor 25 and a motor stator 26. The power battery pack 28 and the fuel cell 31 provide power to the electric motor 24. When current passes through the winding of the motor stator 26, a rotating magnetic field is generated, driving the motor rotor 25 to rotate and output power.

[0066] The gas turbine 27 generates high-temperature and high-pressure gas by burning fuel gas, which drives the turbine to rotate and output power.

[0067] The power coupler 34 rationally distributes and couples power from different power sources based on operational requirements and the state of the power source. For example, under low-speed, light-load conditions, the electric motor 24 alone can be used to provide power, reducing energy consumption and noise. Under high-speed, heavy-load conditions, the engine 19 and 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 when power output fluctuates, improving energy utilization efficiency.

[0068] The transmission system transmits the power output by the power system to the drive wheel 7 and the actuator to realize the walking and cutting and filling operations of the device.

[0069] The power output from the power coupler 34 is first transmitted to the transmission 36 via coupling 53. Within the transmission 36, transmission gears 38 are mounted on a transmission shaft 39. The meshing of different gears adjusts the speed and torque. The operator or control center can select the appropriate gear and change the transmission ratio based on operational requirements.

[0070] Clutch 40 is installed between the input shaft of transmission 36 and the output shaft of power coupler 34. It connects and disconnects power through friction between clutch plate 41 and clutch pressure plate 42. During gear shifting, clutch 40 disengages, disconnecting the input shaft of transmission 36 from the power source and facilitating the shifting operation. After the shift is complete, clutch 40 engages, resuming power transmission.

[0071] Connecting joints 43 are mounted at both ends of a transmission shaft 44 to compensate for angular variations in the transmission shaft during movement, ensuring flexible power transmission. The transmission shaft 44 transmits the output power of the gearbox 36 to the differential 45.

[0072] Differential gears 47 within differential 45 are mounted within differential housing 46. When the vehicle turns, differential 45 allows the left and right drive wheels 7 to rotate at different speeds, ensuring smooth steering. Drive shaft 48 is splined to the side gears of differential 45, transmitting power to the drive wheels 7 and driving the vehicle.

[0073] Chain 49 and sprocket 50, and timing belt 51 and pulley 52 work together to transmit power and change the transmission ratio. A transmission chain 57 connects the various transmission components, and a tensioner 58 adjusts the tension of chain 49 or timing belt 51 to ensure transmission stability. A torque converter 54 is mounted on the input shaft of the transmission 36, increasing torque output at low engine speeds and improving starting performance. A planetary gear set 55 is installed within the transmission 36 to further optimize power transmission characteristics. A power output shaft 56 transmits power to the power input connector of the excavation or filling mechanism, driving the actuators.

[0074] The actuators include a digging mechanism and a filling mechanism, which perform digging or filling operations according to the instructions of the control center. The digging mechanism consists of a digging bucket 67, a telescopic rod 68, a fixed cylinder 69, a digging boom 70, a digging arm 71, an arm linkage rod 72, and a mechanical arm connecting shaft 73.

[0075] The hydraulic system's hydraulic pump 60 converts the power system's mechanical energy into hydraulic energy, controlling the movement of the hydraulic cylinders 61 via a multi-way hydraulic valve assembly 62. When excavation is required, the corresponding hydraulic cylinders 61 are controlled, causing the excavation boom 70 to rotate about the pin connecting it to the fixed cylinder 69. Simultaneously, the excavation arm 71, through the arm linkage 72, coordinates with the excavation arm 70, driving the excavation bucket 67 to perform the excavation operation.

[0076] Telescopic rod 68 slides on arm connecting shaft 73, achieving telescopic movement through the cooperation of the slider and guide rail to adjust the range and depth of excavation. Depth detector 13 monitors the excavation depth in real time. When the set depth is reached, the control center issues a command to stop the excavation.

[0077] The filling mechanism is composed of a bulldozer shovel 74 , a filling shovel bracket 75 , a filling shovel hydraulic cylinder body 76 , a filling shovel hydraulic cylinder piston rod 77 , a filling bulldozer plate 78 and a plate body reinforcement rib 79 .

[0078] When backfilling is required, the hydraulic system controls the flow of hydraulic oil within the backfill blade's hydraulic cylinder 76, extending or retracting the backfill blade's piston rod 77, which in turn drives the backfill blade 78 up and down, moving it forward and backward. This blade flattens the excavated soil or other backfill material, completing the backfilling operation. Plate reinforcement ribs 79 reinforce the blade 78, preventing it from deforming during the bulldozing process.

[0079] The hydraulic system provides power to the actuators, ensuring smooth excavation and filling operations. Driven by the power output shaft of the power system, the hydraulic pump 60 draws hydraulic oil from the tank and pressurizes it. This high-pressure hydraulic oil is then delivered to the multi-way hydraulic valve assembly 62 via pipelines. The multi-way hydraulic valve assembly 62 controls the flow direction and volume of the hydraulic oil according to instructions from the control center, distributing the hydraulic oil to each hydraulic cylinder 61. The pressure regulator 63 monitors the pressure in the hydraulic system and adjusts it as needed to ensure safe and stable operation. The hydraulic oil in the hydraulic cylinder 61 pushes the piston to move, actuating the actuator. After completing its work, the hydraulic oil returns to the tank through the return line. During the return process, the hydraulic oil passes through the hydraulic oil cooler 64 to cool the oil, reducing its temperature and ensuring its performance. The solenoid reversing valve 65, installed within the multi-way hydraulic valve assembly 62, changes the flow direction of the hydraulic oil by controlling the on / off current, achieving precise control of the actuator's operation. The oil filter purifier 66 is installed in the oil return line to filter impurities and pollutants in the hydraulic oil to ensure the cleanliness and normal operation of the hydraulic system.

[0080] Once the device is activated, the recognition system begins collecting real-time terrain and soil information and transmits it to the control center. Based on this information, the control center determines whether the terrain requires cut or fill operations and determines specific operation parameters, such as cut depth and fill height.

[0081] The power system distributes and couples power from different power sources based on operational requirements through the power coupler 34, providing the required power for the device. The transmission system transmits power to the drive wheels 7 and actuators, allowing the device to move to the operational position and drive the actuators to perform cut or fill operations.

[0082] During operation, the identification system continuously monitors the operation status. Based on real-time feedback, the control center dynamically adjusts the operating status of the power system, transmission system, and actuators to ensure efficient and accurate cut-and-fill operations. Simultaneously, the hydraulic system provides stable power support for the actuators, while the protection and shock absorption systems ensure safe operation of the equipment and a comfortable operator experience.

[0083] The operating process of the automatic cut-and-fill device for complex terrain identification is as follows: Startup preparation phase: Power system startup: The operator activates the starter motor assembly 32 within the cab 88. The starter motor assembly 32 drives the flywheel of the engine 19 via a gear or chain, commencing engine 19 operation. Fuel in the engine 19 burns within the engine cylinder 20, driving the reciprocating motion of the engine piston 22. This reciprocating motion is converted via a connecting rod into rotational motion of the engine crankshaft 21, generating power output. The intake turbocharger 35 begins operating, improving the intake efficiency of the engine 19 and enhancing power output.

[0084] Simultaneously, power battery pack 28 and fuel cell 31 provide power to electric motor 24. Motor rotor 25 of electric motor 24 begins to rotate under the rotating magnetic field generated by motor stator 26, outputting power. Power coupler 34 then begins distributing and coupling power from engine 19, electric motor 24, and gas turbine 27 according to pre-set initial operating conditions.

[0085] System self-test: The identification system starts self-test, and the soil sensor 11, terrain scanner 12, depth detector 13, slope sensor 14, orientation sensor 15, lidar 16, ultrasonic sensor 17 and output speed sensor 18 begin to check whether their own working status is normal, and feed back the self-test information to the control center.

[0086] The hydraulic system performs a self-check, the hydraulic pump 60 starts running, and checks whether the pressure and flow of the hydraulic oil are normal, and whether 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 are working properly.

[0087] The transmission system also performs a self-test to check whether the gear of the transmission 36 is in the correct position, whether the clutch 40, the connecting joint 43, the drive shaft 44, and the differential 45 are firmly connected, and whether the tension of the chain 49, the sprocket 50, the timing belt 51, and the timing pulley 52 is appropriate.

[0088] Traveling to the working area stage: Power transmission and travel 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 the appropriate gear and adjust the output speed and torque by changing the meshing state of the gearbox gear 38 in the gearbox 36.

[0089] Power is transmitted to differential 45 through clutch 40, connecting joint 43, and drive shaft 44. Differential 45 distributes the power to left and right drive shafts 48. Drive shafts 48 rotate drive wheels 7, causing the device to start moving. Guide wheels 8 and supporting frames 9 assist in smooth movement of the device.

[0090] During the walking process, the recognition system continues to work. The terrain scanner 12 and the laser radar 16 scan the terrain ahead in real time to build a three-dimensional terrain model. The slope sensor 14 and the orientation sensor 15 measure the slope and orientation of the device.

[0091] The control center plans the device's path based on the information collected by the recognition system, avoiding obstacles and complex terrain. 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 path.

[0092] Excavation phase: Once the device reaches the excavation area, the recognition system performs another detailed inspection of the terrain and soil in the area. Soil sensor 11 detects soil type, moisture, and hardness, while depth detector 13 measures the initial depth of the excavation area.

[0093] Based on the identification results, the control center sets the excavation depth and range operation parameters and sends instructions to the actuator and hydraulic system.

[0094] The hydraulic pump 60 converts the mechanical energy of the power system into hydraulic energy, and controls the corresponding hydraulic cylinder 61 through the multi-way hydraulic valve group 62. The hydraulic cylinder corresponding to the excavation boom 70 is controlled to lift the excavation boom 70 upward by a certain angle around the connecting pin of the fixed cylinder 69.

[0095] At the same time, the hydraulic cylinder corresponding to the excavating bucket arm 71 is controlled to extend the excavating bucket arm 71 through the bucket arm linkage rod 72, thereby driving the excavating bucket 67 to approach the soil to be excavated.

[0096] Continue to control relevant hydraulic cylinder, make excavation bucket 67 insert soil, then shrink excavation bucket rod 71 and excavation boom 70, dig out soil. Telescopic rod 68 can slide on mechanical arm connecting shaft 73, adjust the scope of excavation as required.

[0097] During the excavation process, the depth detector 13 monitors the excavation depth in real time. When the depth approaches the set depth, the control center issues an instruction to slow down the excavation speed to avoid over-excavation.

[0098] The soil sensor 11 continuously detects soil parameters. If the soil type or hardness changes, the control center adjusts the pressure and flow of the hydraulic system to adapt to different excavation conditions.

[0099] Backfilling Phase: After excavation is complete, the control center determines the backfill area based on terrain recognition results. The device moves to the backfill area and prepares for backfilling operations. The hydraulic system controls the flow of hydraulic oil within the backfilling shovel's hydraulic cylinder 76, extending the backfilling shovel's hydraulic cylinder piston rod 77 and lowering the backfilling blade 78 to the appropriate height. The device then moves forward, and the backfilling blade 78 flattens the excavated soil or other backfill material, completing the backfilling operation. Plate reinforcement ribs 79 reinforce the backfilling blade 78, ensuring stable operation during the bulldozing process.

[0100] The depth detector 13 and the slope sensor 14 monitor the height and slope of the fill in real time. The control center adjusts the height and angle of the fill bulldozer 78 according to the monitoring results to ensure that the height and flatness of the fill meet the requirements.

[0101] End of Operation and Finishing: When the excavation and filling operations are complete, the control center issues a command to reset the actuators. The excavation mechanism's excavation boom 70, excavation arm 71, and excavation bucket 67 return to their initial positions, and the filling mechanism's filling bulldozer 78 rises. The hydraulic system stops supplying oil to the hydraulic cylinder 61, and all components cease operation.

[0102] Power system shutdown: The operator operates in the cab 88 to shut down the power source of the engine 19 and the electric motor 24. The power coupler 34 stops working and the power system stops outputting power.

[0103] The control center records relevant data of this operation, such as operation time, cut and fill volume, and soil parameters, for subsequent analysis and statistics.

[0104] The operator inspects and maintains the device, checks whether the connections of each component are firm, whether the level and quality of the hydraulic oil are normal, cleans the dirt and debris on the device, and prepares for the next operation.

[0105] A system for automatically identifying excavation and filling devices for complex terrain includes a frame module, a travel module, an operation module, an identification module, a power module, a transmission module, a hydraulic module, a protective shock-absorbing module, and a magnetic component module; the frame module is composed of a main frame 1, a bottom frame 2, support columns 3, reinforcing braces 4, horizontal beams 5, and vertical longitudinal beams 6, the main frame 1 is installed on the bottom frame 2, the support columns 3 are arranged therebetween, the reinforcing braces 4 connect related components, and the horizontal beams 5 and the vertical longitudinal beams 6 are connected to each other; the travel module is provided with a driving wheel 7, a guide wheel 8, and a supporting frame 9 below the bottom frame 2, and the driving wheel 7 is connected via a driving axle 10; the operation module comprises an excavation mechanism and a filling mechanism, the excavation mechanism comprises an excavation bucket 67, a telescopic rod 68; the filling mechanism comprises a bulldozer and filling shovel 74, and a filling shovel bracket 75.

[0106] Identification module: includes soil sensor 11, terrain scanner 12, depth detector 13, slope sensor 14, orientation sensor 15, lidar 16, ultrasonic sensor 17 and output speed sensor 18, which are used to obtain terrain and soil information; power module: includes engine 19, electric motor 24, gas turbine 27, power battery pack 28, generator 29, fuel cell 31, starting motor assembly 32, flywheel energy storage device 33 and power coupler 34, adopting multi-power source coupling; transmission module: includes gearbox 36, clutch 40, connecting joint 43, drive shaft 44, differential 45, to ensure accurate power transmission; hydraulic module: includes hydraulic pump 60, hydraulic cylinder 61, multi-way hydraulic valve group 62, pressure regulating controller 63, to provide stable power for the actuator.

[0107] The protective shock-absorbing module includes a protective fence 81, a protective cover 82, a dust-proof net 83, a buffer spring 86, and a shock-absorbing rubber pad 87 for buffering; the magnetic component module includes a magnetic cylinder piston magnetic ring 97, a magnetic arm connecting magnetic block 98, a joint magnetic sheet 99 and multiple magnetic elements for connection.

[0108] The system of the present invention is designed to realize automatic identification of excavation and filling operations under complex terrain. Through the coordinated work of various modules, the identification module first obtains terrain and soil information, the power module provides power, the transmission module transmits power to each execution component, the hydraulic module provides stable power for the operation, the frame module provides structural support, the walking module realizes the movement of the device, the operation module completes the excavation and filling operations, the protective shock absorption module protects the device and buffers vibrations, and the magnetic component module assists in the connection of components.

[0109] The frame module consists of a main frame 1, a base frame 2, support columns 3, reinforcement braces 4, horizontal beams 5, and vertical beams 6. The main frame 1 is mounted on the base frame 2, with the support columns 3 positioned between them, supporting the main frame 1 and ensuring its stability. The reinforcement braces 4 connect the relevant components, enhancing the strength and rigidity of the entire frame structure and preventing deformation during operation. The horizontal beams 5 and vertical beams 6 are interconnected, further strengthening the frame and providing a stable foundation for the installation of other modules.

[0110] Underneath the base frame 2 are drive wheels 7, guide wheels 8, and a load-bearing frame 9. The drive wheels 7 are connected via a drive axle 10. Power generated by the power module is transmitted to the drive axle 10 via the transmission module, which in turn drives the drive wheels 7, enabling the device to move forward and backward. The guide wheels 8 guide the device's movement, while the load-bearing frame 9 bears the device's weight, ensuring stability during travel.

[0111] The excavation mechanism consists of 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 operates and delivers hydraulic oil to the hydraulic cylinder 61, the piston rod of the hydraulic cylinder 61 pushes the telescopic rod 68 to extend and retract, thereby driving the excavation bucket 67 to perform the excavation operation. The excavation bucket 67 moves up and down, forward and backward, and other movements as needed to excavate the soil.

[0112] The backfill mechanism includes a bulldozer 74 and a backfill support 75. Similarly, the hydraulic module provides power for the backfill mechanism. By controlling the multi-way hydraulic valve group 62, hydraulic oil enters the corresponding hydraulic cylinders, pushing the bulldozer 74 up and down and left and right to level and bury the excavated soil or other backfill materials, completing the backfill operation.

[0113] The identification module includes a soil sensor 11 , a terrain scanner 12 , a depth detector 13 , a slope sensor 14 , an orientation sensor 15 , a laser radar 16 , an ultrasonic sensor 17 and an output rotation speed sensor 18 .

[0114] The soil sensor 11 is used to detect soil type, moisture, density and other information to provide a soil condition reference for operations.

[0115] The terrain scanner 12 and the laser radar 16 can perform three-dimensional scanning of the terrain of the work area to obtain the contour and height information of the terrain.

[0116] The depth detector 13 is used to measure the excavation depth or filling depth of the soil.

[0117] The slope sensor 14 detects the slope of the working area to ensure that the device can operate safely on terrains with different slopes.

[0118] The orientation sensor 15 determines the orientation of the device, facilitating precise control of the operating direction.

[0119] The ultrasonic sensor 17 can detect the distance of surrounding obstacles to avoid collision of the device.

[0120] The output speed sensor 18 monitors the speed of the power output components to ensure stable operation of the power system. These sensors transmit the acquired information to the control system, which uses this information to determine the terrain and soil conditions of the operating area and control the operating module to perform the corresponding cut or fill operation.

[0121] 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, and adopts multi-power source coupling.

[0122] The engine 19 and the gas turbine 27 can provide a large power output and are suitable for long-term, high-intensity operations.

[0123] The electric motor 24 and the fuel cell 31 are clean and efficient, and are used in some occasions with high environmental requirements.

[0124] The power battery pack 28 provides power support for the electric components, and the generator 29 can charge the power battery pack when the engine or gas turbine is working.

[0125] The starting motor assembly 32 is used to start the engine or gas turbine.

[0126] The flywheel energy storage device 33 stores energy and releases it when needed, improving the responsiveness and stability of the power system. The power coupler 34 rationally distributes and couples the power from different power sources, automatically selecting the appropriate power source combination based on operational requirements and operating conditions, ensuring efficient operation of the system in all situations.

[0127] 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, which adjusts the speed and torque of the power according to the operating requirements. The clutch 40 then controls the transmission and interruption of power. The connecting joint 43 and the drive shaft 44 transmit the power to the drive axle 10 or the actuator of the operating module. The differential 45 ensures that the left and right drive wheels rotate at different speeds when the device turns, ensuring smooth cornering and precise power transmission.

[0128] The hydraulic module includes a hydraulic pump 60, hydraulic cylinders 61, a multi-way hydraulic valve assembly 62, and a pressure regulator controller 63. Driven by the power module, the hydraulic pump 60 draws hydraulic oil from the tank and pressurizes it. The hydraulic oil is then distributed to the various hydraulic cylinders 61 via the multi-way hydraulic valve assembly 62. The multi-way hydraulic valve assembly 62 controls the flow, direction, and pressure of the hydraulic oil, thereby precisely controlling the movement of the hydraulic cylinders 61. The pressure regulator controller 63 monitors the hydraulic system pressure in real time. If the pressure is too high or too low, it automatically adjusts the output pressure of the hydraulic pump 60 to provide stable power to the actuators.

[0129] The protective and shock-absorbing module includes a guardrail 81, a protective cover 82, a dust screen 83, a buffer spring 86, and a shock-absorbing rubber pad 87. The guardrail 81 and protective cover 82 protect the internal components of the device from external objects that could impact and damage them. The dust screen 83 blocks dust and debris from entering the device, ensuring its normal operation. The buffer spring 86 and shock-absorbing rubber pad 87 are used to absorb vibrations generated during operation and maintenance, minimizing damage to the device's structure and components, thereby increasing its service life and improving operator comfort.

[0130] The magnetic component module includes various magnetic elements, such as the magnetic cylinder piston ring 97, the magnetic arm connection magnet 98, and the joint magnet 99. These magnetic elements utilize magnetic attraction to facilitate the connection and positioning of components. For example, the magnetic cylinder piston ring 97 ensures the stability of the cylinder piston during movement, while the magnetic arm connection magnet 98 and the joint magnet 99 provide a tighter and more secure connection between the arm and the joint, reducing looseness and wear between components.

[0131] The above embodiments are only used to illustrate the present invention and are not intended to limit the technical solutions described in the present invention. Although this specification has described the present invention in detail with reference to the above embodiments, the present invention is not limited to the above specific implementation methods. Therefore, any modification or replacement of the present invention; and all technical solutions and improvements thereof that do not depart from the spirit and scope of the invention are included in the scope of the claims of the present invention.

Claims

1. A device for automatically identifying cut and fill in complex terrain, characterized in that: The invention comprises a main frame (1), a bottom frame (2), supporting columns (3), a strengthening brace (4), a horizontal beam (5), a vertical beam (6), and an excavation mechanism and a filling mechanism, wherein the main frame (1) is mounted on the bottom frame (2), the supporting columns (3) are arranged between the main frame (1) and the bottom frame (2), the strengthening brace (4) connects the supporting columns (3) and the main frame (1) or the bottom frame (2), and the horizontal beam (5) and the vertical beam (6) are connected to each other; a driving wheel (7), a guide wheel (8) and a guide wheel (9) are arranged below the bottom frame (2). The driving wheel (7) is connected to the driving axle (10) by a driving axle (8), wherein the excavation mechanism comprises an excavation bucket (67), a telescopic rod (68), a fixed cylinder (69), an excavation boom (70), an excavation arm (71), an arm linkage rod (72) and a mechanical arm connecting shaft (73); the filling mechanism comprises a bulldozer (74), a filling shovel bracket (75), a filling shovel hydraulic cylinder body (76), a filling shovel hydraulic cylinder piston rod (77), a filling bulldozer plate (78) and a plate body reinforcement rib (79); The invention also includes a gearbox (36), a clutch (40), a connecting joint (43), a transmission shaft (44), a differential (45), a drive shaft (48), a chain (49), a sprocket (50), a synchronous belt (51), a synchronous 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 tensioning adjustment wheel (58), wherein the gearbox (36) includes a gearbox housing (37), a gearbox gear (38) and a gearbox shaft (39), the clutch (40) includes a clutch plate (41) and a clutch pressure plate (42), and the differential (45) includes a differential housing (46) and a differential gear (47); It also includes a magnetic cylinder piston magnetic ring (97), a magnetic arm connecting magnetic block (98), a joint magnetic sheet (99), a magnetic plate (100), a magnetic tile (101), a magnetic wheel (102), a driving wheel magnetic strip (103), a weight support frame magnetic block (104), a magnetic chain wheel magnetic ring (105), a magnetic guide wheel magnetic sheet (106), a magnetic oil filter magnetic filter (107), a magnetic radiator magnetic fin (108), a magnetic evaporator magnetic tube (109), a magnetic condenser magnetic heat sink (110), a magnetic expansion valve magnetic valve core (111), a magnetic yoke (112), a magnetic joint (113), a buffer magnetic damping block (114) and a magnetic connector (115).

2. The automatic cut and fill identification device for complex terrain according to claim 1, characterized in that: It also includes a soil sensor (11), a terrain scanner (12), a depth detector (13), a slope sensor (14), an orientation sensor (15), a laser radar (16), an ultrasonic sensor (17) and an output speed sensor (18).

3. The automatic cut and fill identification device for complex terrain according to claim 1, characterized in that: The invention 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 starter motor assembly (32), a flywheel energy storage device (33) and a power coupler (34). The engine (19) includes an engine cylinder 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 cut and fill identification device for complex terrain according to claim 1, characterized in that: The hydraulic system comprises 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 reversing valve (65) and an oil filter purifier (66).

5. The automatic cut and fill identification device for complex terrain according to claim 1, characterized in that: The invention also includes a guardrail (81), a protective cover (82), a dustproof net (83), a dustproof sealing shell (84), a fireproof barrier of 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 transmission box (91), a servo drive motor (92), a slewing bearing (93), a shockproof connecting flange (94), a cable wiring guide (95), an oil-gas separator (96) and a plurality of magnetic components.

6. A system for automatically identifying cut-and-fill devices in complex terrain according to claim 1, characterized in that: The invention comprises 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; the frame module is composed of a main frame (1), a bottom frame (2), a supporting column (3), a reinforcing diagonal brace (4), a horizontal beam (5) and a vertical longitudinal beam (6); the main frame (1) is mounted on the bottom frame (2), the supporting column (3) is arranged between the two, the reinforcing diagonal brace (4) connects related components, and the horizontal beam (5) and the vertical longitudinal beam (6) are connected to each other; the walking module is provided with a driving wheel (7), a guide wheel (8) and a supporting frame (9) below the bottom frame (2), and the driving wheel (7) is connected through a driving bridge (10); the operation module comprises an excavation mechanism and a filling mechanism, the excavation mechanism comprises an excavation bucket (67) and a telescopic rod (68); the filling mechanism comprises a bulldozer and filling shovel (74) and a filling shovel bracket (75).

7. The system for automatically identifying cut-and-fill devices in complex terrain according to claim 6, characterized in that: Identification module: includes a soil sensor (11), a terrain scanner (12), a depth detector (13), a slope sensor (14), an orientation sensor (15), a laser radar (16), an ultrasonic sensor (17) and an output speed sensor (18), for obtaining 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), using multi-power source coupling; Transmission module: includes a gearbox (36), a clutch (40), a connecting joint (43), a transmission shaft (44), and a differential (45), ensuring 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), providing stable power for the actuator.

8. The system for automatically identifying cut-and-fill devices in complex terrain according to claim 7, characterized in that: The protective shock-absorbing module includes a protective fence (81), a protective cover (82), a dust-proof net (83), a buffer spring (86), and a shock-absorbing rubber pad (87), which are used for buffering. The magnetic component module includes a magnetic cylinder piston magnetic ring (97), a magnetic arm connecting magnetic block (98), and a joint magnetic sheet (99). Various magnetic components are used for connection.

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