Field omni-directional mobile chassis and working platform and ground clearance adjusting method thereof

Abstract

The invention relates to a field omni-directional mobile chassis and an operation platform and a ground clearance adjusting method thereof. The field omni-directional mobile chassis comprises the operation platform, a Beidou-laser radar navigation system, a frame suspension, an electric cabinet and an independent steering and walking assembly. The working platform achieves ground clearance adjustment through an electric cylinder driving and optical axis guiding method. The frame suspension is of a gantry type structure and comprises a rectangular frame, beam columns and cross beams. The electric control box and the Beidou-laser radar navigation system are arranged on a frame suspension; the independent steering and walking assembly comprises a walking mechanism and a steering mechanism. According to the independent steering and walking assembly, the steering flexibility is improved; the frame suspension and the ground clearance adjusting method are suitable for ridge type planting or field multi-task operation of high-stem crops. Different operation execution components can be hung and mounted on the operation platform to complete various field operation tasks; and the Beidou-laser radar navigation system is used for realizing accurate navigation.

Description

Technical Field

[0001] The invention belongs to the technical field of agricultural machinery, and in particular relates to a field omnidirectional mobile chassis, an operating platform and a ground clearance adjustment method. Background Art

[0002] To realize agricultural modernization, in the context of promoting smart agriculture and autonomous operation of agricultural intelligent equipment, different field operation conditions, different crops, and different planting patterns often have high requirements for the flexibility, adjustability, expandability, and navigation system of the field operation platform. For the same crop, the plant height often varies greatly. For example, the plant height of safflower ranges from 600-1500mm, and the average plant height is about 900mm, and the picking height range varies greatly. For different crop ridge heights and row spacings, traditional operation platforms have low steering flexibility and poor adaptability to operation heights.

[0003] At present, China's invention patent application (application number: 201910020164.3) discloses a four-wheel independently steering-driven telescopic field operation robot platform. Its operation platform has advantages in width telescopicity, but its platform span is large in height telescopicity, its stability is reduced, and its expansion actuator functions such as hanging and installation are limited.

[0004] At present, a Chinese invention patent application (application number: 201910811733.6) discloses an omnidirectional mobile field working platform, which has a fixed height and has poor adaptability to tall crops or crops with large differences in plant height.

[0005] At present, China's invention patent application (application number: 202210878351.7) discloses a field operation robot headland steering navigation system and navigation method, which uses a binocular camera and a satellite positioning system for navigation control. The visual detection error of the binocular camera is large for complex dynamic scenes in the field.

[0006] Therefore, it is hoped that the field operation platform will have the functions of adjustable ground clearance, hookable operation platform, installation of various actuators, flexible wheel steering, and precise navigation, so as to provide technical support for modern agriculture and improve the intelligence level of equipment used in agricultural production operations. Summary of the invention

[0007] The purpose of the present invention is to provide a field omnidirectional mobile chassis, its working platform and ground gap adjustment method, which integrates the Beidou-laser radar navigation system. The four-wheel independent steering and walking components have higher steering flexibility. The gantry suspension frame and the ground gap adjustment method are suitable for ridge planting. For high-stem crops and various work tasks, the working platform can achieve harvesting, topping, pruning, spraying of drugs and other operations on field crops by hanging and installing different types of execution components to solve the problems raised in the above background.

[0008] To achieve the above-mentioned objectives, the present invention provides the following technical solutions: a field omnidirectional mobile chassis, its working platform and ground gap adjustment method, including a working platform, a Beidou-laser radar navigation system, a frame suspension, an electric control box, an independent steering and traveling assembly, the working platform is connected to the frame suspension, the electric control box and the Beidou-laser radar system are installed on the frame suspension, and the frame suspension is connected to the independent steering and traveling assembly.

[0009] Specifically, the working platform includes a top plate, a platform frame, a ground gap adjustment mechanism, etc.

[0010] Furthermore, the top plate is fixedly connected to the middle part of the platform frame for hanging or installing the field operation execution components; the ground gap adjustment mechanism includes a support frame, a flange, a guide rail, an optical axis, a servo electric cylinder bracket, and a servo electric cylinder; the four lower corners of the support frame are provided with fixed angle pieces, the optical axis is symmetrically connected to the left and right sides of the platform frame, and a pair is installed on each side, the guide rail is installed at the support member corresponding to the optical axis matching position, the optical axis passes through the guide rail and cooperates with it, so as to guide the linear lifting motion of the top plate, the flange is installed in the middle of the optical axis installation position, the servo electric cylinder is installed on the support member through the servo electric cylinder bracket, and is connected to the mounting flange, the fixed angle piece is reserved for connection with the angle piece fixing seat on the frame suspension, thereby connecting the working platform with the frame suspension below.

[0011] Specifically, the Beidou-LiDAR navigation system includes an onboard computer, a LiDAR module, a Beidou module, a remote terminal, a 5G industrial router, an industrial computer, a four-wheel independent steering drive module, and an inertial measurement unit.

[0012] Furthermore, the laser radar module and Beidou module are respectively connected to the onboard computer through the serial port, the inertial measurement unit returns data to the onboard computer through the industrial computer, the remote terminal provides a wireless network with the onboard computer through the 5G industrial router, the onboard computer obtains information and generates path commands through the laser radar module and Beidou module, and then sends instructions through the industrial computer to control the four-wheel independent steering travel drive module. The Beidou antenna is installed on the left and right sides of the frame suspension, and the laser radar is installed in the middle of the upper front of the frame suspension.

[0013] Specifically, the frame suspension includes a rectangular frame, a suspension, a wheel hub mounting plate, a suspension extension bracket, and an electric control box mounting plate.

[0014] Furthermore, the corner piece fixing seat is installed at the four corners of the upper part of the rectangular frame and is connected to the fixed corner piece in the working platform; the Beidou antenna mounting bracket is installed on the left and right sides of the rectangular frame, and the suspension presents a gantry structure, including a rectangular frame and two pairs of beams distributed on both sides, and cross beams are arranged at the upper and lower positions on the left and right sides, and the two pairs of beams and cross beams include the left front beam of the suspension, the right front beam of the suspension, the left rear beam of the suspension, the right rear beam of the suspension, the left upper cross beam of the suspension, the right upper cross beam of the suspension, the left lower cross beam of the suspension, and the right lower cross beam of the suspension; the electric control box mounting plate is installed on the inner side of the right front beam of the suspension, and the wheel hub mounting plate is installed on the lower part of the left front beam of the suspension, the right front beam of the suspension, the left rear beam of the suspension, and the right rear beam of the suspension and is connected to the independent steering and traveling components. The frame suspension as the framework of the whole machine not only stably supports the working platform above, but also connects the independent steering and traveling components downward.

[0015] Specifically, the independent steering and traveling assembly includes a traveling mechanism and a steering mechanism; the traveling mechanism includes a wheel hub frame, a solid tire, a planetary reducer A, a traveling servo motor, a wheel hub adapter shaft, a bearing, a bearing cover plate, a fender, and a cover A; the steering mechanism includes a steering connecting plate, a planetary reducer B, a steering servo motor, an upper support, an optical axis spring assembly, a linear bearing box assembly, a lower support, and a cover B.

[0016] Furthermore, the solid tire below the hub frame is fixed through the hub adapter shaft, one side of the hub adapter shaft is connected to the travel servo motor through the planetary reducer A, and the hub adapter shaft is covered with a bearing cover plate on the other side of the bearing installation; the mudguard above the solid tire is connected to the middle part of the upper part of the hub frame, and the upper part of the hub frame is connected to the planetary reducer B through the steering connecting plate, and the planetary reducer B is connected to the steering servo motor; a pair of linear bearing box assemblies behind the hub frame are connected to the lower support through gaskets, and the upper support is connected to the upper end of the linear bearing box assembly through two optical axis spring assemblies, and the upper support is connected to the frame suspension through the hub mounting plate, and the travel servo motor and the steering servo motor are respectively covered with cover A and cover B to prevent dust, rain, and foreign matter from entering, interfering, or entangled.

[0017] Based on the above scheme, if field operations require a lower working height, an interchangeable frame suspension can be provided to meet the operating requirements. In addition, the working platform has several expansion brackets to provide convenient conditions for subsequent installation and expansion.

[0018] Compared with the prior art, the beneficial effects of the present invention are as follows: the field omnidirectional mobile chassis and its operating platform are equipped with a Beidou-lidar navigation system, which can cope with complex field conditions to achieve precise navigation and path planning; the independent steering and walking components can not only independently drive the four wheels, but also independently steer the four wheels, which improves the steering and movement flexibility; the gantry frame suspension and ground clearance adjustment method are better adapted to the ridge planting mode or the field operation of high-stem crops; for a variety of operating tasks, the operating platform itself can adjust the operating height, and can also achieve operations such as harvesting, topping, pruning, and spraying of field crops by hanging and installing different types of actuators. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The present invention has the following accompanying drawings:

[0020] Figure 1 It is a schematic diagram of the structure of the whole machine according to an embodiment of the present invention;

[0021] Figure 2 is a schematic diagram of a partial secondary structure of an embodiment of the present invention;

[0022] Figure 3 It is a schematic diagram of the structure of an operating platform according to an embodiment of the present invention;

[0023] Figure 4 is a schematic diagram of the structure of a navigation system according to an embodiment of the present invention;

[0024] Figure 5 is a schematic diagram of a frame suspension structure of an embodiment of the present invention;

[0025] Figure 6 This is a schematic diagram of the structure of an independent steering and traveling assembly according to an embodiment of the present invention;

[0026] Figure 7 This is a schematic diagram of four-wheel independent steering according to an embodiment of the present invention;

[0027] Figure 8 This is a schematic diagram of clockwise in-situ turning according to an embodiment of the present invention;

[0028] In the figure: 1. working platform, 2. Beidou-laser radar navigation system, 3. frame suspension, 4. electric control box, 5. four-wheel independent steering and travel assembly, 101. top plate, 102. platform frame, 103. ground gap adjustment mechanism, 10301. support frame, 10302. flange, 10303. guide rail, 10304. optical axis, 10305. servo electric cylinder bracket, 10306. servo electric cylinder, 1030101. fixed angle piece, 201. onboard computer, 202. laser radar Module, 203. Beidou module, 204. Remote terminal, 205. 5G industrial router, 206. Industrial computer, 207. Four-wheel independent steering travel drive module, 208. Inertial measurement unit, 20201. LiDAR, 20301. Beidou antenna, 301. Rectangular frame, 30101. Extension bracket, 30102. Corner piece fixing seat, 30103. Beidou antenna mounting bracket, 302. Suspension, 30201a. Suspension left front beam, 30201b. Suspension Frame right front beam, 30202a. Suspension left rear beam, 30202b. Suspension right rear beam, 30203a. Suspension left upper beam, 30203b. Suspension right upper beam, 30204a. Suspension left lower beam, 30204b. Suspension right lower beam, 303. Wheel hub mounting plate, 304. Suspension expansion bracket, 305. Electric control box mounting plate, 501. Travel mechanism, 502. Steering mechanism, 50101. Wheel hub frame, 50102. Solid tire, 50103. Travel mechanism Planetary reducer A, 50104. Travel servo motor, 50105. Hub adapter shaft, 50106. Bearing, 50107. Bearing cover plate, 50108. Fender, 50109. Cover A, 50201. Steering connecting plate, 50202. Planetary reducer B, 50203. Steering servo motor, 50204. Upper support, 50205. Optical axis spring assembly, 50206. Linear bearing box assembly, 50207. Lower support, 50208. Cover B. DETAILED DESCRIPTION

[0029] The following combination Figures 1 to 8 The present invention is described in further detail.

[0030] like Figure 1 , 2 As shown, a specific embodiment of a field omnidirectional mobile chassis, an operating platform and a ground clearance adjustment method is provided.

[0031] The field omnidirectional mobile chassis, its working platform and ground clearance adjustment method include a working platform 1, a Beidou-laser radar navigation system 2, a frame suspension 3, an electric control box 4, and an independent steering and traveling component 5. The working platform 1 is connected to the frame suspension 3, the electric control box 4 and the Beidou-laser radar navigation system 2 are installed on the frame suspension 3, and the frame suspension 3 is connected to the independent steering and traveling component 5.

[0032] like Figure 3 As shown, a schematic structural diagram of a working platform 1 according to an embodiment of the present invention is provided.

[0033] The working platform 1 includes a top plate 101, a platform frame 102, a ground gap adjustment mechanism 103, etc.; the top plate 101 is fixedly connected to the middle of the platform frame 102, and is used for hanging or installing the field operation execution components; the ground gap adjustment mechanism 103 includes a support frame 10301, a flange 10302, a guide rail 10303, an optical axis 10304, a servo electric cylinder bracket 10305, and a servo electric cylinder 10306; the support frame 10301 has fixed angle pieces 1030101 at the lower part of the four corners, and the optical axis 10304 is symmetrically connected to the left and right sides of the platform frame 102, and one is installed on each side. Yes, the guide rail 10303 is installed on the support 10301 at the matching position corresponding to the optical axis 10304, and the optical axis 10304 passes through the guide rail 10303 and cooperates with it to realize the guiding effect on the linear lifting movement of the top plate 101, and the flange 10302 is installed in the middle of the installation position of the optical axis 10304. The servo electric cylinder 10306 is installed on the support 10301 through the servo electric cylinder bracket 10305 and is connected to the flange 10302. The fixed angle piece 1030101 is reserved to be connected with the angle piece fixing seat 30102 on the frame suspension 3.

[0034] The ground gap adjustment method provided by the present invention is used to adjust the ground gap. Specifically, the ground gap adjustment mechanism (103) is driven by a servo electric cylinder (10306), and the optical axes (10304) on both sides are guided and constrained to achieve the linear lifting of the top plate (102), thereby achieving the ground gap adjustment of the working platform. The specific implementation method is:

[0035] In a specific application scenario, a binocular camera or a depth camera (not shown) mounted on the chassis obtains coordinate information of the working position point and determines whether the working position point is within the working height range of the robot arm (not shown). When the working height range is higher than the working height range, the servo electric cylinder (10306) of the ground gap adjustment mechanism (103) is driven in reverse, and the guide constraints of the optical axes (10304) on both sides realize the lowering of the top plate (102), and when a certain limit position is reached, it remains stable; conversely, the servo electric cylinder (10306) of the ground gap adjustment mechanism (103) is driven in forward rotation, and the guide constraints of the optical axes (10304) on both sides realize the raising of the top plate (102), and when a certain limit position is reached, it remains stable.

[0036] like Figure 4 As shown, a structural schematic diagram of a navigation system 2 according to an embodiment of the present invention is provided.

[0037] The Beidou-LiDAR navigation system 2 includes an onboard computer 201, a LiDAR module 202, a Beidou module 203, a remote terminal 204, a 5G industrial router 205, an industrial computer 206, a four-wheel independent steering driving module 207, and an inertial measurement unit 208.

[0038] The laser radar module 202 and Beidou module 203 are respectively connected to the onboard computer 201 through the serial port for data transmission; the inertial measurement unit 208 transmits data to the onboard computer 201 through the industrial computer 206; the remote terminal 204 transmits data to the onboard computer 201 through the 5G industrial router 205; the onboard computer 201 transmits data to the four-wheel independent steering travel drive module 207 through the industrial computer 206.

[0039] Positioning is performed through the Beidou module 203 and the laser radar module 202, and the laser radar module 202 is used to sense obstacles in the surrounding environment and collect data information; the onboard computer 201 processes the acquired position information, posture information, and motion parameters through the SLAM algorithm to plan and generate path commands; then the onboard computer 201 sends instructions to control the four-wheel independent steering travel drive module 207 through the industrial computer 206, and coordinates the inertial measurement unit 208 to accurately control the travel path of the work platform. At the same time, the onboard computer 201 adjusts the motion state according to the generated path information and the real-time feedback data; the onboard computer 201 provides a wireless network connection with the remote terminal 204 through the 5G industrial router 205, and the remote terminal 204 monitors in real time with visual data.

[0040] like Figure 5 As shown, a schematic structural diagram of a vehicle frame suspension 3 according to an embodiment of the present invention is provided.

[0041] The frame suspension 3 includes a rectangular frame 301, a suspension 302, a wheel hub mounting plate 303, a suspension extension bracket 304, and an electric control box mounting plate 305; the corner piece fixing seat 30102 is installed at the four corners of the upper part of the rectangular frame 301, and is connected to the fixed corner piece 1030101 in the working platform 1; the Beidou antenna mounting bracket 30103 is installed on the left and right sides of the rectangular frame 301, and the suspension 302 is a gantry structure, including a rectangular frame 301 and two pairs of beams 30201 and 30202 distributed on both sides, and cross beams 30203 and 30204 are arranged at the upper and lower positions of the left and right sides, and the two pairs of beams 30201 and 30202 and cross beams 30203 and 30204 are arranged at the upper and lower positions of the left and right sides. 204 includes a left front suspension beam 30201a, a right front suspension beam 30201b, a left rear suspension beam 30202a, a right rear suspension beam 30202b, a left upper suspension beam 30203a, a right upper suspension beam 30203b, a left lower suspension beam 30204a, and a right lower suspension beam 30204b on the left and right sides; the electric control box mounting plate 305 is installed on the inner side of the right front suspension beam 30201b, and the wheel hub mounting plate 303 is installed at the lower part of the front and rear suspension beams 30201 and 30202 and connected to the independent steering and travel assembly 5. The frame suspension 3, as the framework of the whole machine, not only stably supports the working platform 1 above, but also connects the independent steering and travel assembly 5 downward.

[0042] like Figure 6 As shown, a schematic structural diagram of an independent steering and traveling assembly 5 according to an embodiment of the present invention is provided.

[0043] The independent steering and traveling assembly 5 includes a traveling mechanism 501 and a steering mechanism 502; the traveling mechanism 501 includes a hub frame 50101, a solid tire 50102, a planetary reducer A50103, a traveling servo motor 50104, a hub adapter shaft 50105, a bearing 50106, a bearing cover plate 50107, a fender 50108, and a cover A50109; the steering mechanism 502 includes a steering connecting plate 50201, a planetary reducer B50202, a steering servo motor 50203, an upper support 50204, an optical axis spring assembly 50205, a linear bearing box assembly 50206, a lower support 50207, and a cover B50208.

[0044] The solid tire 50102 below the hub frame 50101 is fixed through the hub adapter shaft 50105, one side of the hub adapter shaft 50105 is connected to the travel servo motor 50104 through the planetary reducer A50103, and the hub adapter shaft 50105 is covered with a bearing cover plate 50107 on the other side of the bearing 50106, the fender 50108 above the solid tire 50102 is connected to the middle part of the upper part of the hub frame 50101, and the upper part of the hub frame 50101 is connected to the planetary reducer B50202 through the steering connecting plate 50201, and the planetary reducer 5020 2 is connected to the steering servo motor 50203, a pair of linear bearing box-type components 50206 behind the wheel hub frame 50201 are connected to the lower support 50207 through washers, and the upper support 50204 is connected to the upper end of the linear bearing box-type component 50206 through two optical axis spring components 50205, and the upper support 50204 is connected to the frame suspension 3 through the wheel hub mounting plate 303, and the travel servo motor 50104 and the steering servo motor 50203 are respectively covered with a cover A50109 and a cover B50208 for preventing dust, rain, foreign matter from entering, interfering or entangled.

[0045] The specific method for achieving straight-line driving is as follows: based on the information obtained and the line-to-line path command planned by the Beidou-LiDAR navigation system 2, the four-wheel independent steering walking module 207 controls the walking servo motor 50104 that drives the independent steering and walking component 5 walking mechanism 501, and controls the speed through the planetary reducer A50103 to transmit the torque to the hub adapter shaft 50105, driving the solid tire 50102 to achieve straight-line driving.

[0046] The method for achieving steering at a certain angle is specifically as follows: based on the information obtained by the Beidou-LiDAR navigation system 2 and the planned inter-row path commands, the four-wheel independent steering walking module 207 controls the steering servo motor 50203 that drives the steering mechanism 502 to convert the speed through the planetary reducer B50202, driving the steering connecting plate 50201 to rotate a certain angle, and the walking servo motor 50104 and the steering servo motor 50203 cooperate with motion synthesis to achieve the change of walking direction.

[0047] The connection part between the four independent steering and traveling components 5 and the frame suspension 3 is provided with a smooth axis spring component 50205, which can play a shock-absorbing effect under various field terrains. The solid tire 50102 can better adapt to the uneven field ground conditions.

[0048] like Figure 7 As shown, a schematic diagram of four-wheel independent steering is provided according to an embodiment of the present invention.

[0049] The four wheels are arranged in a rectangular shape, with the front and rear wheel tracks being L and the left and right wheel tracks being W. To realize the omnidirectional mobile robot in the field, , speed v turning.

[0050] The specific implementation method is: the four travel servo motors all rotate forward, and the left front steering servo motor drives the steering connecting plate to rotate clockwise by an angle , the right front steering servo motor drives the steering connecting plate to rotate clockwise , the left rear steering servo motor drives the steering connecting plate to rotate counterclockwise , the right rear steering servo motor drives the steering connecting plate to rotate counterclockwise At this time, the speeds of the two front wheels are v4 and v1 respectively, and the speeds of the two rear wheels are v3 and v2 respectively.

[0051] Left front wheel turning radius: ;

[0052] Right front wheel turning radius: ;

[0053] Left rear wheel turning radius: ;

[0054] Right rear wheel turning radius: ;

[0055] The four-wheel steering circle center O is the right wheelbase center.

[0056] like Figure 8 As shown, a schematic diagram of clockwise in-situ turning according to an embodiment of the present invention is provided.

[0057] With center O and radius ,speed Turn clockwise on the spot.

[0058] Specific implementation method (1): The four walking servo motors have different directions of rotation, and the left front steering servo motor drives the steering connecting plate to rotate clockwise by an angle , the right front steering servo motor drives the steering connecting plate to rotate counterclockwise , the left rear steering servo motor drives the steering connecting plate to rotate counterclockwise , the right rear steering servo motor drives the steering connecting plate to rotate clockwise , the left front travel servo motor rotates forward, the right front travel servo motor rotates reversely, the left rear travel servo motor rotates forward, and the right rear travel servo motor rotates reversely;

[0059] Specific implementation method (2): The four walking servo motors rotate at the same speed, and the left front steering servo motor drives the steering connecting plate to rotate clockwise by an angle , the right front steering servo motor drives the steering connecting plate to rotate clockwise , the left rear steering servo motor drives the steering connecting plate to rotate clockwise , the right rear steering servo motor drives the steering connecting plate to rotate clockwise , the four travel servo motors all rotate forward.

[0060] The steering angles of implementation modes (1) and (2) can be obtained from the relationship between the side lengths.

[0061] The above implementation modes are only used to illustrate the present invention, but not to limit the present invention. Ordinary technicians in the relevant technical field can make various changes and modifications without departing from the essence and scope of the present invention. Therefore, all equivalent technical solutions also belong to the scope of the present invention. The scope of patent protection of the present invention should be limited by the claims.

[0062] The contents not described in detail in this specification belong to the prior art known to professional and technical personnel in this field.

Claims

1. A field omnidirectional mobile chassis and its working platform and ground clearance adjustment method, comprising a working platform (1), a Beidou-laser radar navigation system (2), a frame suspension (3), an electric control box (4), and an independent steering and traveling component (5); the working platform (1) is installed above the frame suspension (3); the electric control box (4) and the Beidou-laser radar system (2) are installed on the left and right sides of the frame suspension (3); the lower part of the frame suspension (3) is connected to the independent steering and traveling component (5).

2. The working platform (1) as claimed in claim 1, comprising a top plate (101), a platform frame (102), a ground gap adjustment mechanism (103), etc.; the top plate (101) is fixedly connected to the middle of the platform frame (102) for hanging or installing field work execution components; the ground gap adjustment mechanism (103) comprises a support frame (10301), a flange (10302), a guide rail (10303), an optical axis (10304), a servo electric cylinder bracket (10305), and a servo electric cylinder (10306); the support frame (10301) has fixed angle pieces (1030101) at the bottom of the four corners; the optical axis (1030 4) are symmetrically connected to the left and right sides of the platform frame (102), and a pair is installed on each side; the guide rail (10303) is installed at the matching position of the support member (10301) corresponding to the optical axis (10304), and the optical axis (10304) passes through the guide rail (10303) and cooperates with it to achieve a guiding effect on the linear lifting movement of the top plate (101); the flange (10302) is installed in the middle of the installation position of the optical axis (10304), and the servo electric cylinder (10306) is installed on the support member 10301 through the servo electric cylinder bracket (10305), and is connected to the mounting flange (10302).

3. The Beidou-laser radar navigation system (2) as claimed in claim 1, comprising an onboard computer (201), a laser radar module (202), a Beidou module (203), a remote terminal (204), a 5G industrial router (205), an industrial computer (206), a four-wheel independent steering travel drive module (207), and an inertial measurement unit (208); the inertial measurement unit (208) transmits data with the onboard computer (201) through the industrial computer (206); the remote terminal (204) transmits data with the onboard computer (201) through the 5G industrial router (205); the onboard computer (201) transmits data with the four-wheel independent steering travel drive module (207) through the industrial computer (206); the Beidou antenna (20301) is installed on the left and right sides of the frame suspension (3), and the laser radar (20201) is installed in the middle of the upper front of the frame suspension (3).

4. The frame suspension (3) as claimed in claim 1 comprises a rectangular frame (301), a suspension (302), a wheel hub mounting plate (303), a suspension extension bracket (304), and an electric control box mounting plate (305); the corner piece fixing seat (30102) is installed at the four corners of the upper part of the rectangular frame (301) and is connected to the fixed corner piece (1030101) in the working platform (1); the Beidou antenna mounting bracket (30103) is installed on the left and right sides of the rectangular frame (301), and the suspension (302) comprises a suspension left front beam column (30201a), a suspension right front beam column (30201b), a suspension left rear beam column (30201c), and a suspension left rear beam column (30201d). The invention relates to a suspension frame having a plurality of components, comprising: a beam column (30202a), a suspension right rear beam column (30202b), a suspension left upper crossbeam (30203a), a suspension right upper crossbeam (30203b), a suspension left lower crossbeam (30204a), and a suspension right lower crossbeam (30204b); the electric control box mounting plate (305) is mounted on the inner side of the suspension right front beam column (30201b); the wheel hub mounting plate (303) is mounted on the lower parts of the suspension left front beam column (30201a), the suspension right front beam column (30201b), the suspension left rear beam column (30202a), and the suspension right rear beam column (30202b) and is connected to an independent steering and travel component (5).

5. The independent steering and travel assembly (5) as claimed in claim 1 comprises a travel mechanism (501) and a steering mechanism (502); the travel mechanism (501) comprises a hub frame (50101), a solid tire (50102), a planetary reducer A (50103), a travel servo motor (50104), a hub adapter shaft (50105), a bearing (50106), a bearing cover plate (50107), a fender (50108), and a cover A (50109); the steering mechanism (502) comprises a steering connecting plate (50201), a planetary reducer B (50202), a steering servo motor (50203), an upper support (50204), an optical axis spring assembly (50205), a linear bearing box assembly (50206), a lower support (50207), and a cover B (50208).

6. As claimed in claim 5, the solid tire (50102) below the wheel hub frame (50101) is fixed through the wheel hub adapter shaft (50105), one side of the wheel hub adapter shaft (50105) is connected to the travel servo motor (50104) through the planetary reducer A (50103), and the wheel hub adapter shaft (50105) is covered with a bearing cover plate (50107) on the other side where the bearing (50106) is installed, the fender (50108) above the solid tire (50102) is connected to the middle part of the upper part of the wheel hub frame (50101), and the upper part of the wheel hub frame (50101) is connected to the planetary reducer B (50202) through the steering connecting plate (50201). The planetary reducer B (50202) is connected to the steering servo motor (50203); a pair of linear bearing box-type assemblies (50206) behind the wheel hub frame (50201) are connected to the lower support (50207) through washers, and the upper support (50204) is connected to the upper end of the linear bearing box-type assembly (50206) through two optical axis spring assemblies (50205); the upper support (50204) is connected to the frame suspension (3) through the wheel hub mounting plate (303); the travel servo motor (50104) and the steering servo motor (50203) are covered by the cover A (50109) and the cover B (50208), respectively.

7. The work platform (1) according to claim 1, characterized in that: The ground gap adjustment method provided by the present invention is used to adjust the ground gap. Specifically, the ground gap adjustment mechanism (103) is driven by a servo electric cylinder (10306), and the optical axes (10304) on both sides are guided and constrained to achieve the linear lifting of the top plate (102), thereby achieving the ground gap adjustment of the working platform. The specific implementation method is as follows: In a specific application scenario, a binocular camera or a depth camera (not shown) mounted on the chassis obtains coordinate information of the working position point and determines whether the working position point is within the working height range of the robot arm (not shown). When the working height range is higher than the working height range, the servo electric cylinder (10306) of the ground gap adjustment mechanism (103) is driven in reverse, and the guide constraints of the optical axes (10304) on both sides realize the lowering of the top plate (102), and when a certain limit position is reached, it remains stable; conversely, the servo electric cylinder (10306) of the ground gap adjustment mechanism (103) is driven in forward rotation, and the guide constraints of the optical axes (10304) on both sides realize the raising of the top plate (102), and when a certain limit position is reached, it remains stable.

8. The frame suspension (3) according to claim 1 or 4, characterized in that: The vehicle is in the form of a gantry structure, comprising a rectangular frame (301) and two pairs of beams (30201, 30202) distributed on both sides, with cross beams (30203, 30204) arranged at upper and lower positions on both sides, and the sides of the two pairs of beams (30201, 30202) are connected to the independent steering and travel components (5) via wheel hub mounting plates (303).

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