II. Mechanical Structure Features
1. Four-wheel four-turn system
Each of the four wheels is equipped with an independent drive and steering mechanism, and each wheel can independently control its rotation speed and steering angle. This independent design enables the chassis to flexibly adjust the power and direction of each wheel when facing different farmland conditions, such as soft land, uneven ridges, and sloping mountain orchards, ensuring stable driving and precise steering.
The wheel drive motor and steering motor are high-torque and suitable for harsh environments to meet the power requirements of agricultural robots when carrying heavy agricultural tools or agricultural products, while ensuring reliable operation in complex terrain.
2. On-the-spot steering capability
On-the-spot steering is a prominent feature of this chassis. By precisely coordinating the steering angle and speed of the four wheels, the chassis can rotate on the spot around its own center. In narrow field paths, compact greenhouse aisles or dense orchard tree rows, this on-the-spot steering function allows agricultural robots to easily change driving directions without a large turning radius, greatly improving the robot's operating flexibility in limited spaces.
In order to achieve high precision and stability in on-the-spot steering, the chassis' mechanical structure and transmission system are specially designed to ensure the synchronization and coordination of the four wheels during the steering process, reducing chassis shaking or damage to crops caused by uneven steering.
3. Chassis frame structure
The chassis frame is made of high-strength, corrosion-resistant metal materials, which can withstand adverse factors such as moisture, mud, dust and possible collisions in the agricultural environment. The structural design of the frame not only ensures sufficient strength, but also fully considers the center of gravity distribution to improve the stability of the robot when driving on different terrains.
Multiple standard interfaces and installation positions are reserved on the frame to facilitate the mounting of various agricultural equipment, such as sprayers, seeders, harvesting mechanical arms, etc., to meet the needs of different agricultural operations.
Three, special designs to adapt to agricultural environments
1. Tire design
The selection and design of tires are specifically designed for agricultural ground conditions. The tire surface has a special pattern that can provide good grip on slippery roads such as soft soil and wet grass to prevent the robot from slipping or sinking during driving.
The material of the tire has good wear resistance and puncture resistance, and can resist puncture from sharp objects such as stones and branches in the farmland, reducing the interruption of operations caused by tire damage.
2. Protection and cleaning mechanism
The chassis is equipped with a protective device, which can effectively prevent foreign objects such as crops and weeds from being entangled in the wheels or other parts of the chassis, affecting the normal operation of the robot. At the same time, a simple cleaning structure is designed, which can automatically or regularly clean the dirt and debris attached to the chassis during the robot's driving process, keeping the chassis clean and in good working condition.
Fourth, control system
1. Intelligent control algorithm
Equipped with an advanced intelligent control system, complex control algorithms are used to coordinate the driving and steering of the four wheels. These algorithms take into account the complexity of the farmland terrain, the load of the robot and the requirements of the operation task, and can calculate and adjust the motion parameters of each wheel in real time according to the information fed back by the sensor to achieve precise and stable driving and steering.
The control system supports multiple motion modes, including straight-line driving, arc turning, and in-situ turning, and can automatically switch or accept remote commands to switch according to different agricultural operation scenarios to meet the requirements of robot movement for diversified operations such as ploughing, sowing, irrigation, and picking.
2. Sensor integration
The chassis integrates a variety of sensors, such as encoders for detecting wheel speed, angle sensors for measuring steering angles, gyroscopes and accelerometers for sensing chassis posture, and laser radars or ultrasonic sensors for detecting obstacles in the surrounding environment.
These sensors provide real-time feedback of the chassis' motion status and surrounding environment information to the control system, and the control system makes real-time adjustments and decisions based on these data to ensure the robot's safe and efficient operation in an agricultural environment. For example, when encountering obstacles in the field, the chassis can adjust the driving direction or stop in time to avoid equipment damage and crop losses caused by collisions.
