Automatic navigation deviation correction system for orchard track power platform

Abstract

The invention relates to the technical field of orchard automatic navigation deviation correction, in particular to an automatic navigation deviation correction system for an orchard track power platform. Comprising a chassis, a vehicle control unit, a navigation system vehicle-mounted computer, a laser radar, a navigation control box, a navigation antenna, a steering motor, a differential planetary mechanism, a rotating speed sensor, an edge architecture control box, a driving wheel assembly, a servo valve and a steering pump. The mode that the whole vehicle controller regulates and controls the servo valve to conduct deviation rectification is adopted, the deviation rectification response speed is high, the control precision is high, the high-speed operation working condition of the orchard power platform can be adapted, and the operation efficiency is improved; the swash plate plunger steering pump is adopted to drive the steering motor, the driving power is small, the heat balance stability is good, and the cost is low; the differential steering mechanism is adopted as a deviation rectifying executing mechanism, the transmission efficiency of the power platform is not affected, the steering line type is controllable, steering is stable, the overcorrection phenomenon is effectively avoided, the automatic navigation operation precision is effectively improved, and the automatic navigation deviation rectifying stability of the orchard power platform is improved.

Description

Technical Field

[0001] This invention relates to the field of automatic navigation and correction technology in orchards, specifically to an automatic navigation and correction system for an orchard tracked power platform. Background Technology

[0002] Due to the shortage of rural labor, the labor costs for fruit industry management have been rising year by year, prompting my country's standardized orchard production management to transform from mechanization to intelligentization. Automatic navigation and correction systems for wheeled power platforms in orchards have developed rapidly based on the automotive industry. However, wheeled power platforms have poor adaptability to soil moisture and cannot operate during the rainy season, affecting orchard production management during this period. Tracked power platforms have various correction methods for automatic navigation and correction systems. One type is an electric motor-driven power platform, where the automatic navigation and correction system corrects the course by adjusting the speed difference between the left and right drive wheel motors. This type of power platform suffers from problems such as short endurance, long auxiliary operation time, and high purchase and maintenance costs. Another type is a hydraulically driven power platform, where the automatic navigation and correction system corrects the course by adjusting the speed difference between the left and right drive hydraulic motors. This type of power platform's hydraulic system is not suitable for heavy traction operations, generates a lot of heat during continuous traction operations, and suffers from technical problems such as low transmission efficiency, thermal imbalance, and leakage. A third type is a diesel engine-driven power platform, where the automatic navigation and correction system corrects the course by controlling the clutches and brakes of the left and right drive wheels. However, this results in large swaying amplitude during correction, poor platform stability, and affects the quality of machine operation. Meanwhile, due to the unique turning mechanism of orchard tracked power platforms, existing products exhibit significant navigation deviations, severely impacting the quality of machine operations. In highly dense orchards with severe foliage obstruction, GNSS signals drift or even disappear, and the continuous accumulation of deviations in IMU positioning fails to meet the required accuracy. Therefore, improving the automatic navigation and correction accuracy of orchard tracked power platforms has become a pressing market need. Summary of the Invention

[0003] The main objective of this invention is to provide an automatic navigation and correction system for an orchard tracked power platform. This system utilizes a multivariable function operation by the onboard computer of the navigation system to improve the accuracy of the correction output calculation. Through motion control algorithms, the vehicle controller receives the correction control quantity and outputs electrical signals to control the servo valve. The entire correction process can achieve linear adjustment, effectively meeting the needs of automatic navigation and smooth correction operations under complex working conditions in orchards.

[0004] To achieve the above objectives, the present invention adopts the following technical solution: An automatic navigation and correction system for an orchard tracked power platform includes a chassis, a vehicle controller, a navigation system on-board computer, a lidar, a navigation control box, a navigation antenna, a steering motor, a differential planetary mechanism, a speed sensor, an edge architecture control box, a drive wheel assembly, a servo valve, and a steering pump. The vehicle controller and navigation system onboard computer are installed at the rear of the chassis for easy debugging and maintenance; the lidar is installed at the highest point of the power platform and centrally positioned to ensure unobstructed operation within the working angle range of the laser probe; the navigation control box is horizontally arranged to minimize vibration interference; the navigation antenna is symmetrically arranged with the longitudinal center plane of the chassis as the symmetrical plane and its upper end is unobstructed; the steering motor, speed sensor, and steering pump are installed on the housing of the differential planetary mechanism; the drive wheel assembly is installed at both ends of the differential planetary mechanism; the servo valve is integrated and installed on the upper part of the steering pump; The on-board computer of the navigation system is used to complete the big data fusion calculation of the multivariable correction function and output the correction control quantity; the vehicle controller manages the data information of the power platform through the CAN bus and receives the correction output quantity command of the on-board computer of the navigation system. Through the motion control algorithm, it outputs electrical signals to control the servo valve, thereby adjusting the hydraulic output direction and flow of the steering pump, driving the steering motor to rotate forward and reverse and adjust the speed. The steering motor drives the differential planetary mechanism to realize the speed difference of the drive wheel assembly.

[0005] Furthermore, to improve navigation accuracy, the following multivariable correction control function is adopted:

[0006] Where: δ is the correction output; K1 is the power platform deflection angle correction coefficient; α is the power platform deflection angle; K2 is the power platform lateral offset correction coefficient; ν is the power platform operating speed; The power platform operating speed correction value; λ is the lateral deviation of the power platform; β is the lateral tilt angle of the power platform; K3 is the correction coefficient for the rate of change of the lateral deviation of the power platform; This represents the rate of change of the lateral deviation of the power platform.

[0007] Furthermore, when the GNSS signal drifts or is lost, the lateral deviation λ of the power platform is determined by the real-time position measurement of the lidar and the high-precision path coordinates of the cloud architecture received by the edge architecture control box, through fusion calculation by the navigation system's onboard computer. In open, unobstructed areas, it is determined by the navigation antenna. To simplify the calculation, a correction condition is added: when ν≤3km / h, the V value is forcibly assigned a value of 3; when the lateral tilt angle β≤10°, the β value is forcibly assigned a value of 0°. K1, K2, and K3 are dynamic variable values, and their initial values ​​are assigned using the least squares method. After each line of operation, the navigation system's onboard computer fuses the collected and stored data to autonomously optimize the dynamic variable values ​​K1, K2, and K3 to improve the accuracy of the correction output.

[0008] Furthermore, the differential planetary mechanism is the final actuator, and includes: a right planetary mechanism large gear drive wheel, a synchronizing gear, an idler gear, a left planetary mechanism large gear drive wheel, a left planetary mechanism sun gear, a left planetary mechanism planet carrier, a left planetary mechanism large gear ring, a right planetary mechanism large gear ring, a right planetary mechanism planet carrier, and a right planetary mechanism sun gear; the right planetary mechanism large gear drive wheel and the synchronizing gear are driven to rotate synchronously by a steering motor, the right planetary mechanism large gear ring drive wheel is externally meshed with the right planetary mechanism large gear ring, the right planetary mechanism planet carrier is internally meshed with the right planetary mechanism large gear ring, and the right planetary mechanism sun gear is externally meshed with the right planetary mechanism planet carrier.

[0009] When the power platform is traveling in a straight line normally, the large ring gear drive wheel of the right planetary mechanism does not rotate, and the sun gear of the right planetary mechanism independently drives the planet carrier of the right planetary mechanism; the synchronizing gear meshes externally with the idler gear, the large ring gear drive wheel of the left planetary mechanism rotates coaxially with the idler gear, the large ring gear drive wheel of the left planetary mechanism meshes externally with the large ring gear of the left planetary mechanism, the planet carrier of the left planetary mechanism meshes internally with the large ring gear of the left planetary mechanism, and the sun gear of the left planetary mechanism meshes externally with the planet carrier of the left planetary mechanism. When the power platform is traveling in a straight line normally, the synchronizing gear does not rotate, and the sun gear of the left planetary mechanism independently drives the planet carrier of the left planetary mechanism.

[0010] Furthermore, the speed sensor is installed on the housing of the differential planetary mechanism to measure the speeds of the left planetary mechanism sun gear, the right planetary mechanism sun gear, and the steering motor in real time. The measured data is transmitted to the vehicle controller, providing data support for the vehicle controller to calculate the PWM duty cycle and contributing to the closed-loop control of the correction system. It also provides a basis for the vehicle controller to optimize the output correction electrical signal commands. The vehicle controller calculates the platform running speed ν based on the collected speeds of the left and right planetary mechanism sun gears and transmits it to the on-board computer of the navigation system for calculating the correction control quantity.

[0011] Furthermore, the servo valve is installed on the upper surface of the steering pump. Through the precise correction electronic control signal of the vehicle controller, the valve core position is adjusted, the flow and direction of the hydraulic oil are controlled, and the output displacement and direction of the steering pump are indirectly adjusted, so as to achieve precise control of the working state of the steering pump.

[0012] Furthermore, the steering pump is a swashplate piston pump, which is mounted on the housing of the differential planetary mechanism. The swashplate angle of the steering pump is controlled by the flow rate and direction of the hydraulic oil output by the servo valve. By dynamically adjusting the servo valve, the angle of the swashplate is changed, thereby changing the displacement of the steering pump and the direction of the hydraulic oil, and providing the hydraulic oil flow requirements of the steering motor.

[0013] Furthermore, the steering motor is mounted on the housing of the differential planetary mechanism. The steering motor drives the differential planetary mechanism to change the speed difference between the left and right sides according to the direction of the hydraulic oil supplied by the steering pump. The steering motor drives the differential planetary mechanism to change the speed difference between the left and right sides according to the different flow rates of the hydraulic oil supplied by the steering pump.

[0014] The beneficial effects of the present invention are as follows: The automatic navigation and correction system for an orchard tracked power platform of the present invention has the following advantages when in use: 1. In highly dense orchards, the lateral deviation λ of the power platform is calculated by fusing the positioning points measured by the lidar and the high-precision path points received by the edge architecture control box from the onboard computer of the navigation system. This achieves centimeter-level absolute positioning, solving the problem of poor satellite positioning accuracy or even inability to locate in highly dense orchards. The correction output δ is calculated by incorporating the power platform's operating speed ν, reducing the correction output value during high-speed operations. This effectively reduces the adjustment range of the power platform, meeting the requirements of frequent but less frequent corrections during high-speed operations and improving the stability of the equipment. Introducing the lateral deviation λ effectively solves the problem of excessive deviations that prevent proper obstacle avoidance or turning when significant adjustments to the platform are needed. Introducing the lateral tilt angle β of the power platform can partially compensate for lateral slippage when operating on lateral slopes, achieving smooth correction on lateral slopes and improving correction accuracy and the quality of equipment operation. 2. The automatic navigation and correction system of the orchard tracked power platform adopts a servo valve control method controlled by the vehicle controller, which has a fast correction response speed and high control accuracy. It can adapt to the high-speed operation conditions of the orchard power platform and improve the operation efficiency. It uses a swashplate plunger steering pump to drive the steering motor, which has low drive power, good thermal balance stability, and low cost. It uses a differential steering mechanism as the correction actuator, which does not affect the transmission efficiency of the power platform. The steering line is controllable, the steering is smooth and effectively avoids overcorrection, effectively improving the operation accuracy of automatic navigation and enhancing the stability of automatic navigation and correction of the orchard power platform. The turning radius of this correction method is small and can achieve zero-position steering, which meets the small-radius turning requirements of orchard operation with limited space. Attached Figure Description

[0015] Figure 1 This is a layout diagram of the automatic navigation and correction components for the tracked power platform in the orchard. Figure 2 This is a schematic diagram of the automatic navigation and correction system for the tracked power platform in the orchard. Figure 3 This is the intentional arrangement of the left planetary mechanism in a differential planetary system; Figure 4 This is a flowchart of the orchard tracked power platform correction method; The components in the diagram are labeled as follows: 1. Chassis; 2. Vehicle Controller; 3. Navigation System Onboard Computer; 4. LiDAR; 5. Navigation Control Box; 6. Navigation Antenna; 7. Steering Motor; 8. Differential Planetary Mechanism; 81. Right Planetary Mechanism Large Ring Gear Drive Wheel; 82. Synchronizing Gear; 83. Idler Gear; 84. Left Planetary Mechanism Large Ring Gear Drive Wheel; 85. Left Planetary Mechanism Sun Gear; 86. Left Planetary Mechanism Planet Carrier; 87. Left Planetary Mechanism Large Ring Gear; 88. Right Planetary Mechanism Large Ring Gear; 89. Right Planetary Mechanism Planet Carrier; 810. Right Planetary Mechanism Sun Gear; 9. Speed ​​Sensor; 91. Hydraulic Motor Speed ​​Sensor; 92. Differential Planetary Mechanism Sun Gear Speed ​​Sensor; 10. Edge Architecture Control Box; 11. Drive Wheel Assembly; 111. Left Drive Wheel; 112. Right Drive Wheel; 12. Servo Valve; 13. Steering Pump. Detailed Implementation

[0016] Specific Embodiment 1: To enable those skilled in the art to better understand the technical solution of the present invention, the technical solution of the present invention will be clearly and completely described below in conjunction with embodiments. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention. It should be noted that: In the present invention, unless otherwise specified, all embodiments and preferred methods mentioned herein can be combined to form new technical solutions. In the present invention, unless otherwise specified, all technical features and preferred features mentioned herein can be combined to form new technical solutions. The "scope" disclosed in the present invention can be in the form of a lower limit and an upper limit, and can be one or more lower limits and one or more upper limits, respectively. Unless otherwise stated, the technical and scientific terms used herein have the same meaning as those skilled in the art.

[0017] As per the instruction manual Figure 1As shown, an automatic navigation and correction system for an orchard tracked power platform includes a chassis 1, a vehicle controller 2, a navigation system on-board computer 3, a lidar 4, a navigation control box 5, a navigation antenna 6, a steering motor 7, a differential planetary mechanism 8, a speed sensor 9, an edge architecture control box 10, a drive wheel assembly 11, a servo valve 12, and a steering pump 13. The vehicle controller 2 and the navigation system on-board computer 3 are installed at the rear of the chassis 1 for easy debugging and maintenance. The lidar 4 is installed at the highest point of the power platform and centrally positioned to ensure unobstructed operation within the laser probe's working angle range. The navigation control box 5 is horizontally positioned to minimize vibration interference. The navigation antenna 6 is symmetrically arranged with respect to the longitudinal center plane of the chassis 1, and its upper end is unobstructed. The steering motor 7, speed sensor 9, and steering pump 13 are mounted on the housing of the differential planetary mechanism 8; the drive wheel assembly 11 is installed at both ends of the differential planetary mechanism 8; and the servo valve 12 is integrated into the upper part of the steering pump 13.

[0018] As per the instruction manual Figure 2 Instruction manual attached Figure 3 As shown, the differential planetary mechanism 8 includes: a right planetary mechanism large ring gear drive wheel 81, a synchronizing gear 82, an idler gear 83, a left planetary mechanism large ring gear drive wheel 84, a left planetary mechanism sun gear 85, a left planetary mechanism planet carrier 86, a left planetary mechanism large ring gear 87, a right planetary mechanism large ring gear 88, a right planetary mechanism planet carrier 89, and a right planetary mechanism sun gear 810. The right planetary mechanism large ring gear drive wheel 81 and the synchronizing gear 82 are driven to rotate synchronously by the steering motor 7. The right planetary mechanism large ring gear drive wheel 81 meshes externally with the right planetary mechanism large ring gear 88, the right planetary mechanism planet carrier 89 meshes internally with the right planetary mechanism large ring gear 88, and the right planetary mechanism sun gear 810 meshes externally with the right planetary mechanism planet carrier 89. When the power platform is traveling normally in a straight line, the right planetary mechanism large ring gear drive wheel 81 does not rotate, and the right planetary mechanism sun gear 810 independently drives the right planetary mechanism planet carrier 89. Synchronous gear 82 meshes externally with idler gear 83. The large ring gear drive wheel 84 of the left planetary mechanism rotates coaxially with idler gear 83. The large ring gear drive wheel 84 of the left planetary mechanism meshes externally with the large ring gear 87 of the left planetary mechanism. The planet carrier 86 of the left planetary mechanism meshes internally with the large ring gear 87 of the left planetary mechanism. The sun gear 85 of the left planetary mechanism meshes externally with the planet carrier 86 of the left planetary mechanism. When the power platform is traveling in a straight line normally, synchronous gear 82 does not rotate, and the sun gear 85 of the left planetary mechanism independently drives the planet carrier 86 of the left planetary mechanism.

[0019] As per the instruction manual Figure 4As shown, when the power platform operates autonomously in a highly dense orchard, and GNSS positioning experiences drift or signal loss, the onboard computer 3 of the navigation system will automatically collect positioning data from the lidar 4 and retrieve high-precision path positioning data from the cloud architecture received by the edge architecture control box 10. The two sets of data will be fused to achieve precise positioning of the power platform and determine the lateral deviation λ value. The onboard computer 3 of the navigation system reads the power platform's deflection angle α value measured by the navigation control box 5, the power platform's lateral tilt angle β value, and the power platform's operating speed ν value calculated by the vehicle controller 2. Based on the above data, it retrieves the optimized K1, K2, and K3 parameter values ​​and automatically... The main calculation yields the correction output value δ and sends it to the vehicle controller 2. The vehicle controller 2 outputs a control signal to the servo valve 12 via a motion control algorithm. The servo valve 12 changes the opening and position of the valve core according to the magnitude and direction of the signal, adjusting the direction and flow of hydraulic oil output from the steering pump 13 to the steering motor 7. The hydraulic oil drives the steering motor 7 to rotate forward, and the steering motor 7 drives the right planetary mechanism large gear ring drive wheel 81 to rotate in reverse. The right planetary mechanism large gear ring drive wheel 81 drives the right planetary mechanism large gear ring 88 to rotate forward, in the same direction as the right planetary mechanism sun gear 810. The speed of the right planetary mechanism planet carrier 89 increases, which in turn drives the right drive wheel 112 to rotate faster. Driven by the steering motor 7, the synchronous gear 82 drives the idler gear 83 to rotate forward. The left planetary mechanism large gear ring drive wheel 84 rotates forward synchronously with the idler gear 83. The left planetary mechanism large gear ring drive wheel 84 drives the left planetary mechanism large gear ring 87 to rotate in reverse, opposite to the left planetary mechanism sun gear 85. The speed of the left planetary mechanism planet carrier 86 decreases, which drives the speed of the left drive wheel 111 to decrease, and the power platform achieves leftward correction. When the power platform needs to correct its rightward deviation during autonomous driving, the vehicle controller 2 receives the deviation control signal from the onboard computer 3 of the navigation system. The vehicle controller 2 outputs a control electrical signal to the servo valve 12. The servo valve 12 changes the opening and position of the valve core according to the magnitude and direction of the electrical signal, adjusting the direction and flow of hydraulic oil output from the steering pump 13 to the steering motor 7. The hydraulic oil drives the steering motor 7 to rotate in the opposite direction, causing the large gear ring 88 of the right planetary mechanism to rotate in reverse, opposite to the direction of the sun gear 810 of the right planetary mechanism. The speed of the right drive wheel 112 decreases, while the large gear ring drive wheel 84 of the left planetary mechanism rotates forward, in the same direction as the sun gear 85 of the left planetary mechanism, driving the left drive wheel 111 to rotate faster, thus achieving rightward deviation of the power platform. When the power platform needs to make significant deviations or turn on the spot, the vehicle controller 2 increases the output voltage signal to the servo valve 12. The servo valve 12 increases the opening of the valve core according to the electrical signal, adjusting the flow of hydraulic oil output from the steering pump 13 to the steering motor 7, thus achieving significant deviations or turn on the spot.Throughout the correction process, the onboard computer 3 of the navigation system records and stores the values ​​of λ, α, β, ν, K1, K2, and K3 before correction and the corresponding values ​​of λ, α, β, and ν after correction in real time. After each line is completed, the onboard computer 3 of the navigation system will compare and analyze the values ​​of λ, α, β, and ν before and after correction based on the stored data, and autonomously optimize and fine-tune the values ​​of K1, K2, and K3. When the overlap between the working trajectory and the preset path reaches more than 95%, and the deviation value fed back by the machine sensor is more than 95% in line with the normal working state and there is no limit to the deviation value, the onboard computer of the navigation system will automatically solidify the values ​​of K1, K2, and K3.

[0020] In practical applications, under the conditions of high-density orchards, the positioning accuracy of the power platform is achieved by fusing the positioning data measured by the onboard computer 3 of the navigation system and the path positioning data received by the cloud architecture from the edge architecture. This achieves centimeter-level accuracy, fully meeting the positioning requirements of the navigation system and effectively solving the problem of inaccurate GNSS positioning. The calculation of the correction control quantity incorporates the operating speed of the power platform, minimizing the impact of speed on the correction process and ensuring smooth operation, thus improving the stability of the implement. The introduction of lateral deviation of the power platform ensures a high degree of overlap between the trajectory and the preset path during large corrections such as obstacle avoidance and turning, making the power platform's operating attitude fully controllable. The introduction of the lateral tilt angle stabilizes the correction amplitude and frequency when operating on cross slopes, achieving stable correction in areas with large lateral slopes or deviations. In summary, this invention improves the positioning accuracy, calculation accuracy of correction control quantities, and correction stability of the tracked power platform under complex working conditions in orchards. The basic principles, main features, and advantages of this invention have been shown and described above. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the present invention. Various changes and modifications can be made to the present invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed.

Claims

1. An automatic navigation and correction system for a tracked power platform in an orchard, characterized in that, Includes chassis (1), vehicle controller (2), on-board computer of navigation system (3), lidar (4), navigation control box (5), navigation antenna (6), steering motor (7), differential planetary mechanism (8), speed sensor (9), edge architecture control box (10), drive wheel assembly (11), servo valve (12) and steering pump (13); The vehicle controller (2) and the navigation system onboard computer (3) are installed at the rear of the chassis (1) for easy debugging and maintenance; the laser radar (4) is installed on the upper part of the power platform and is centrally located to ensure that there is no obstruction within the working angle range of the laser probe; the navigation control box (5) is horizontally arranged to minimize vibration interference; the navigation antenna (6) is symmetrically arranged with the longitudinal center plane of the chassis (1) as the symmetrical plane and its upper end is unobstructed; the steering motor (7), speed sensor (9) and steering pump (13) are installed on the housing of the differential planetary mechanism (8); the drive wheel assembly (11) is installed at both ends of the differential planetary mechanism (8); the servo valve (12) is integrated and installed on the upper part of the steering pump (13); The on-board computer (3) of the navigation system is used to complete the big data fusion calculation of the multivariable correction function and output the correction control quantity; the vehicle controller (2) manages the network information of the power platform through the CAN bus and receives the correction output quantity command of the on-board computer (3) of the automatic navigation system. Through the motion control algorithm, it outputs an electrical signal to control the servo valve (12), thereby adjusting the hydraulic output direction and flow of the steering pump (13), driving the steering motor (7) to rotate forward and backward and adjust the speed. The steering motor (7) drives the differential planetary mechanism (8) to realize the speed difference of the drive wheel assembly (11).

2. The automatic navigation and correction system for an orchard tracked power platform according to claim 1, characterized in that, To improve navigation accuracy, the following multivariable correction control function is adopted: ； Where: δ is the correction output; K1 is the power platform deflection angle correction coefficient; α is the power platform deflection angle; K2 is the power platform lateral offset correction coefficient; ν is the power platform operating speed; The power platform operating speed correction value; λ is the lateral deviation of the power platform; β is the lateral tilt angle of the power platform; K3 is the correction coefficient for the rate of change of the lateral deviation of the power platform; This represents the rate of change of the lateral deviation of the power platform.

3. The automatic navigation and correction system for an orchard tracked power platform according to claim 2, characterized in that, When the GNSS signal drifts or is lost, the offset is determined by the real-time position measurement of the lidar (4) and the shared high-precision path coordinates received by the edge architecture control box (10) through the fusion calculation of the navigation system vehicle computer (3). When in an open and unobstructed area, the positioning is determined by the navigation antenna (6). To simplify the calculation, the correction condition is added: when ν≤3km / h, the V value is forcibly assigned to 3; when the lateral tilt angle β≤10°, the β value is forcibly assigned to 0°. K1, K2, and K3 are dynamic variable values, and their initial values ​​are assigned using the least squares method. After each line of operation is completed, the navigation system vehicle computer (3) integrates the collected and stored data to autonomously optimize the dynamic variable values ​​K1, K2, and K3 to improve the accuracy of the correction output.

4. The automatic navigation and correction system for an orchard tracked power platform according to claim 1, characterized in that, The differential planetary mechanism (8) is the final actuator. The differential planetary mechanism (8) includes: a right planetary mechanism large gear ring drive wheel (81), a synchronous gear (82), an idler gear (83), a left planetary mechanism large gear ring drive wheel (84), a left planetary mechanism sun gear (85), a left planetary mechanism planet carrier (86), a left planetary mechanism large gear ring (87), a right planetary mechanism large gear ring (88), a right planetary mechanism planet carrier (89), and a right planetary mechanism sun gear (810). The right planetary mechanism large gear ring drive wheel (81) and the synchronous gear (82) are driven to rotate synchronously by the steering motor (7). The right planetary mechanism large gear ring drive wheel (81) meshes externally with the right planetary mechanism large gear ring (88), the right planetary mechanism planet carrier (89) meshes internally with the right planetary mechanism large gear ring (88), and the right planetary mechanism sun gear (810) meshes externally with the right planetary mechanism planet carrier (89).

5. The automatic navigation and correction system for an orchard tracked power platform according to claim 4, characterized in that, When the power platform is traveling in a straight line normally, the large gear drive wheel (81) of the right planetary mechanism does not rotate, and the sun gear (810) of the right planetary mechanism independently drives the planet carrier (89) of the right planetary mechanism; the synchronous gear (82) meshes externally with the idler gear (83), the large gear drive wheel (84) of the left planetary mechanism rotates coaxially with the idler gear (83), the large gear drive wheel (84) of the left planetary mechanism meshes externally with the large gear (87) of the left planetary mechanism, the planet carrier (86) of the left planetary mechanism meshes internally with the large gear (87) of the left planetary mechanism, and the sun gear (85) of the left planetary mechanism meshes externally with the planet carrier (86) of the left planetary mechanism. When the power platform is traveling in a straight line normally, the synchronous gear (82) does not rotate, and the sun gear (85) of the left planetary mechanism independently drives the planet carrier (86) of the left planetary mechanism.

6. The automatic navigation and correction system for an orchard tracked power platform according to claim 5, characterized in that, The speed sensor (9) is installed on the housing of the differential planetary mechanism (8) to measure the speed of the left planetary mechanism sun gear (85), the right planetary mechanism sun gear (810) and the steering motor (7) in the differential planetary mechanism (8) in real time, and transmits the measured data to the vehicle controller (2) to provide data support for the vehicle controller (2) to calculate the PWM duty cycle, and to help the closed-loop control of the correction system, and to provide a basis for the vehicle controller (2) to optimize the output correction electrical signal command; the vehicle controller (2) calculates the platform running speed ν according to the collected speed of the left planetary mechanism sun gear (85) and the right planetary mechanism sun gear (810), and transmits it to the on-board computer (3) of the navigation system for calculating the correction control quantity.

7. The automatic navigation and correction system for an orchard tracked power platform according to claim 1, characterized in that, The servo valve (12) is installed on the upper surface of the steering pump (13). Through the precise correction electronic control signal of the vehicle controller (2), the valve core position is adjusted, the flow and direction of the hydraulic oil are controlled, and the output displacement and direction of the steering pump (13) are indirectly adjusted, so as to achieve precise control of the working state of the steering pump (13).

8. The automatic navigation and correction system for an orchard tracked power platform according to claim 7, characterized in that, The steering pump (13) is a swashplate piston pump. The steering pump (13) is mounted on the housing of the differential planetary mechanism (8). The swashplate angle of the steering pump (13) is controlled by the flow rate and direction of the hydraulic oil output by the servo valve (12). By dynamically adjusting the servo valve (12), the angle of the swashplate is changed, thereby changing the displacement and hydraulic oil direction of the steering pump (13) to meet the hydraulic oil flow requirements of the steering motor (7).

9. The automatic navigation and correction system for an orchard tracked power platform according to claim 1, characterized in that, The steering motor (7) is mounted on the housing of the differential planetary mechanism (8). The steering motor (7) drives the differential planetary mechanism (8) to change the speed difference between the left and right sides according to the direction of the hydraulic oil supplied by the steering pump (13). The steering motor (7) drives the differential planetary mechanism (8) to change the speed difference between the left and right sides according to the different flow rates of the hydraulic oil supplied by the steering pump (13).

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