An orchard track power platform automatic navigation correction system

Abstract

The present application relates to the technical field of orchard automatic navigation deviation correction, in particular to an orchard crawler power platform automatic navigation deviation correction system, comprising a chassis, a whole vehicle controller, a navigation system vehicle-mounted computer, a laser radar, a navigation control box, a navigation antenna, a steering motor, a differential planetary mechanism, a rotational speed sensor, an edge architecture control box, a driving wheel assembly, a servo valve and a steering pump; the whole vehicle controller is adopted to regulate and control the servo valve to correct deviation, the correction response speed is fast, the control precision is high, the high-speed operation condition of the orchard power platform can be adapted, and the operation efficiency is improved; the steering motor is driven by the swash plate plunger steering pump, the driving power is small, the thermal balance is stable, and the cost is low; the differential steering mechanism is adopted as the deviation correction execution mechanism, the power platform transmission efficiency is not affected, the steering linearity is controllable, the steering is stable, the overcorrection phenomenon is effectively avoided, the operation precision of the automatic navigation is effectively improved, and the automatic navigation deviation correction stability of the orchard power platform is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of orchard automatic navigation deviation correction, in particular to an automatic navigation deviation correction system of an orchard tracked power platform. BACKGROUND

[0002] Due to the shortage of rural labor force, the labor cost of fruit industry management increases year by year, prompting the transformation and upgrading of standardized orchard production management from mechanization to intelligence in China. The automatic navigation deviation correction system of the wheeled power platform in the orchard develops rapidly on the basis of the automobile industry, but the wheeled power platform has poor adaptability to soil humidity, and cannot work in the rainy season, which affects the production management of the orchard in the rainy season. There are many deviation correction methods for the automatic navigation deviation correction system of the tracked power platform in the orchard. One is a motor-driven power platform, and the automatic navigation deviation correction system realizes deviation correction by adjusting the speed difference of the left and right drive wheels. This type of power platform has many problems such as short endurance, long auxiliary operation time, and high purchase and maintenance cost. Another is a hydraulic-driven power platform, and the automatic navigation deviation correction system realizes deviation correction by adjusting the speed difference of the left and right drive hydraulic motors. The hydraulic system of this type of power platform is not suitable for towing heavy loads, and has many technical problems such as low transmission efficiency, out-of-control heat balance and leakage. The third is a diesel engine-driven power platform, and the automatic navigation deviation correction system realizes deviation correction by controlling the left and right drive wheel clutches and brakes. However, the swing range is large during deviation correction, the stability of the power platform is poor, and the quality of the machine operation is affected. At the same time, due to the particularity of the turning mode of the tracked power platform in the orchard, the navigation deviation of the existing products is large, which seriously affects the quality of the machine operation. For the high canopy orchard working condition with serious branch and leaf shelter, the GNSS signal drifts or even loses, and the deviation accumulated continuously by the IMU positioning cannot meet the working accuracy requirement. Therefore, it is urgent to improve the automatic navigation deviation correction accuracy of the tracked power platform in the orchard. SUMMARY

[0003] The main purpose of the present application is to provide an automatic navigation deviation correction system of a tracked power platform in an orchard. The system uses a multi-variable function operation of a navigation system vehicle-mounted computer to improve the operation accuracy of the deviation correction output, and uses a motion control algorithm. The whole vehicle controller receives the deviation correction control quantity and outputs an electric signal to control the servo valve. The whole deviation correction process can realize linear adjustment, and effectively meets the automatic navigation stable deviation correction operation demand of the complex working condition in the orchard.

[0004] In order to achieve the above purpose, the present application adopts the following technical scheme:

[0005] An automatic navigation deviation correction system of a tracked power platform in an orchard, comprising a chassis, a whole vehicle controller, a navigation system vehicle-mounted computer, a laser radar, a navigation control box, a navigation antenna, a steering motor, a differential planetary mechanism, a rotational speed sensor, an edge architecture control box, a drive wheel assembly, a servo valve and a steering pump.

[0006] The whole vehicle controller and the navigation system vehicle computer are installed at the rear end of the chassis, facilitating debugging and maintenance; the laser radar is installed at the highest position of the power platform and is centrally arranged, ensuring that there is no obstruction in the working angle range of the laser probe; the navigation control box is horizontally arranged, with small vibration interference; the navigation antenna is symmetrically arranged with the longitudinal center plane of the chassis as the symmetry plane and has no obstruction at the upper end; the steering motor, the rotation speed sensor and the steering pump are installed on the shell of the differential planetary mechanism; the drive wheel assembly is installed at both ends of the differential planetary mechanism; and the servo valve is integrally installed on the upper part of the steering pump.

[0007] The navigation system vehicle computer is used to complete multi-variable correction function big data fusion operation and output correction control quantity; the whole vehicle controller manages the data information of the power platform through the CAN bus and receives the correction output quantity instruction of the navigation system vehicle computer, outputs the electric signal to control the servo valve through the motion control algorithm, and then adjusts the hydraulic output direction and flow of the steering pump, drives the forward and reverse rotation and rotation speed adjustment of the steering motor, and drives the differential planetary mechanism of the steering motor to realize the rotation speed difference of the drive wheel assembly.

[0008] Further, in order to improve the navigation accuracy, the following multi-variable correction control function is used:

[0009]

[0010] Wherein, δ is the correction output quantity; K1 is the power platform deflection angle correction coefficient; α is the power platform deflection angle; K2 is the power platform lateral deviation correction coefficient; v is the power platform running speed; the power platform running speed correction value; λ is the power platform lateral deviation; β is the power platform lateral inclination; K3 is the power platform lateral deviation change rate correction coefficient; is the power platform lateral deviation change rate.

[0011] Further, when the GNSS signal drifts or is lost, the power platform lateral deviation λ is determined by the real-time position quantity measured by the laser radar and the cloud architecture high-precision path coordinate point received by the edge architecture control box through the fusion operation of the navigation system vehicle computer, and is determined by the positioning measurement of the navigation antenna in the open and unobstructed area. In order to simplify the operation amount, when the correction condition v≤3km / h is increased, the value of v is forcibly assigned as 3; when the lateral inclination β≤10°, the value of β is forcibly assigned as 0°; K1, K2 and K3 are dynamic variable values, the initial values of which are assigned by the least square method, and after each operation, the navigation system vehicle computer fusion collects and stores data to optimize the dynamic variable values K1, K2 and K3 autonomously, so as to improve the correction output quantity accuracy.

[0012] Further, the differential planetary mechanism is a final actuator, and the differential planetary mechanism comprises: a right planetary mechanism large gear driving wheel, a synchronous gear, an idler, a left planetary mechanism large gear driving wheel, a left planetary mechanism sun gear, a left planetary mechanism carrier, a left planetary mechanism large gear, a right planetary mechanism large gear, a right planetary mechanism carrier and a right planetary mechanism sun gear; the right planetary mechanism large gear driving wheel and the synchronous gear are driven to rotate synchronously by a steering motor, the right planetary mechanism large gear driving wheel is externally meshed with the right planetary mechanism large gear, the right planetary mechanism carrier is internally meshed with the right planetary mechanism large gear, and the right planetary mechanism sun gear is externally meshed with the right planetary mechanism carrier.

[0013] When the power platform normally travels in a straight line, the right planetary mechanism large gear driving wheel does not rotate, the right planetary mechanism sun gear independently drives the right planetary mechanism carrier, the synchronous gear is externally meshed with the idler, the left planetary mechanism large gear driving wheel rotates coaxially with the idler, the left planetary mechanism large gear driving wheel is externally meshed with the left planetary mechanism large gear, the left planetary mechanism carrier is internally meshed with the left planetary mechanism large gear, and the left planetary mechanism sun gear is externally meshed with the left planetary mechanism carrier; when the power platform normally travels in a straight line, the synchronous gear does not rotate, and the left planetary mechanism sun gear independently drives the left planetary mechanism carrier.

[0014] Further, the rotation speed sensor is installed on the housing of the differential planetary mechanism, and the rotation speeds of the left planetary mechanism sun gear, the right planetary mechanism sun gear and the steering motor in the differential planetary mechanism are measured in real time, and the measured data are transmitted to the vehicle controller, so as to provide data support for the vehicle controller to calculate the PWM duty ratio, and to help the closed-loop control of the deviation correction system, and to provide a basis for the vehicle controller to optimize the output deviation correction electric signal instruction; the vehicle controller calculates the platform running speed v according to the collected rotation speeds of the left planetary mechanism sun gear and the right planetary mechanism sun gear, and transmits the platform running speed v to the navigation system vehicle computer, so as to calculate the deviation correction control amount.

[0015] Further, the servo valve is installed on the upper surface of the steering pump, and the servo valve adjusts the position of the valve core, controls the flow and direction of the hydraulic oil, indirectly adjusts the output displacement and direction of the steering pump, and realizes the precise control of the working state of the steering pump through the precise deviation correction electric control signal of the vehicle controller.

[0016] Further, the steering pump is a swash plate piston pump, and the steering pump is installed on the housing of the differential planetary mechanism; the angle of the swash plate of the steering pump is controlled by the flow and direction of the hydraulic oil output by the servo valve; the angle of the swash plate is changed through the dynamic adjustment of the servo valve, so as to change the displacement and the direction of the hydraulic oil of the steering pump, and to provide the flow demand of the hydraulic oil of the steering motor.

[0017] Further, the steering motor is mounted on the shell of the differential planetary mechanism, and the steering motor realizes positive and reverse driving of the differential planetary mechanism according to the direction of the hydraulic oil provided by the steering pump, and realizes the change of the speed difference between the left and right sides of the differential planetary mechanism according to the flow of the hydraulic oil provided by the steering pump.

[0018] The orchard track power platform automatic navigation correction system has the following advantages in use:

[0019] 1. In the high-crown orchard, the lateral deviation amount λ of the power platform is fused and calculated by the navigation system vehicle-mounted computer on the laser radar measurement positioning point and the cloud architecture high-precision path point received by the edge architecture control box, so that the absolute positioning of centimeter level can be realized, and the problem of poor satellite positioning accuracy or even positioning failure under the working condition of high-crown orchard can be solved. The correction output δ is calculated by introducing the running speed v of the power platform, so as to reduce the correction output value at high speed, effectively reduce the adjustment range of the power platform, meet the working state requirement of less correction at high speed, and improve the working stability of the machine tool; the lateral deviation amount λ of the power platform is introduced, so as to effectively solve the problem that the correction amount is too large or even cannot normally avoid obstacles or turn at the end of the road when the power platform needs to be greatly adjusted; the lateral inclination β of the power platform is introduced, so as to limit the compensation of the lateral correction slip amount of the power platform when working on the lateral slope, realize the stable correction of the lateral slope, and improve the correction accuracy and the working quality of the machine tool.

[0020] 2. The orchard track power platform automatic navigation correction system adopts the whole vehicle controller to control the servo valve control mode, has fast correction response speed and high control accuracy, can adapt to the high-speed working condition of the orchard power platform, and improves the working efficiency; the swash plate plunger steering pump is used to drive the steering motor, has small driving power, stable heat balance, and low cost; the differential steering mechanism is used as the correction execution mechanism, does not affect the transmission efficiency of the power platform, the steering line type is controllable, the steering is stable, the overcorrection phenomenon is effectively avoided, the working accuracy of automatic navigation is effectively improved, and the stability of the orchard power platform automatic navigation correction is improved; the turning radius is small, zero steering can be realized, and the small-radius steering demand of the orchard working space is met. BRIEF DESCRIPTION OF DRAWINGS

[0021] Figure 1 is the automatic navigation correction element arrangement diagram of the orchard track power platform;

[0022] Figure 2 is the automatic navigation correction system schematic diagram of the orchard track power platform;

[0023] Figure 3 is the left planetary mechanism arrangement diagram of the differential planetary mechanism;

[0024] Figure 4 is an orchard track power platform deviation rectification method flow chart;

[0025] The figure marks are: 1, chassis; 2, whole vehicle controller; 3, navigation system vehicle-mounted computer; 4, laser radar; 5, navigation control box; 6, navigation antenna; 7, steering motor; 8, differential planetary mechanism; 81, right planetary mechanism big gear ring drive wheel; 82, synchronous gear; 83, idler; 84, left planetary mechanism big gear ring drive wheel; 85, left planetary mechanism sun gear; 86, left planetary mechanism planetary carrier; 87, left planetary mechanism big gear ring; 88, right planetary mechanism big gear ring; 89, right planetary mechanism planetary carrier; 810, right planetary mechanism sun gear; 9, rotating speed sensor; 91, hydraulic motor rotating speed sensor; 92, differential planetary mechanism sun gear rotating speed sensor; 10, edge frame control box; 11, drive wheel assembly; 111, left drive wheel; 112, right drive wheel; 12, servo valve; 13, steering pump. DETAILED DESCRIPTION

[0026] Specific embodiment 1: in order to make the person in the technical field better understand the technical scheme of the present application, the technical scheme of the present application will be described clearly and completely in combination with the embodiment below, obviously, the described embodiment is a part of the embodiment of the present application, rather than all the embodiment. Based on the embodiment in the present application, all other embodiments obtained by the person skilled in the art without making creative labor are within the scope of protection of the present application. It should be noted that: in the present application, if there is no special description, all the embodiments and preferred implementation methods mentioned in the present application can be combined to form new technical scheme. In the present application, if there is no special description, all the technical features and preferred features mentioned in the present application can be combined to form new technical scheme. The range disclosed in the present application is in the form of lower limit and upper limit, which can be one or more lower limit and one or more upper limit respectively. Unless otherwise specified, the professional and scientific terms used in the present application have the same meaning as that familiar to the person skilled in the art.

[0027] As the description of the drawings Figure 1As shown, an orchard track power platform automatic navigation deviation correction system includes chassis 1, vehicle controller 2, navigation system vehicle computer 3, laser radar 4, navigation control box 5, navigation antenna 6, steering motor 7, differential planetary mechanism 8, rotational speed sensor 9, edge architecture control box 10, drive wheel assembly 11, servo valve 12, steering pump 13. Vehicle controller 2 and navigation system vehicle computer 3 are installed at the rear end of chassis 1, facilitating debugging and maintenance. Laser radar 4 is installed at the highest point of the power platform and is centrally arranged, ensuring that there is no obstruction within the working angle range of the laser probe. Navigation control box 5 is arranged horizontally, with little vibration interference. Navigation antenna 6 is symmetrically arranged with the longitudinal center plane of chassis 1 as the symmetry plane, and its upper end is unobstructed. Steering motor 7, rotational speed sensor 9, and steering pump 13 are installed on the housing of differential planetary mechanism 8; drive wheel assembly 11 is installed at both ends of differential planetary mechanism 8; servo valve 12 is integrated and installed on the upper part of steering pump 13.

[0028] As shown in the accompanying drawings Figure 2 , as shown in the accompanying drawings Figure 3 As shown, differential planetary mechanism 8 includes right planetary mechanism large gear drive wheel 81, synchronous gear 82, idler 83, left planetary mechanism large gear drive wheel 84, left planetary mechanism sun gear 85, left planetary mechanism carrier 86, left planetary mechanism large gear 87, right planetary mechanism large gear 88, right planetary mechanism carrier 89, and right planetary mechanism sun gear 810. Right planetary mechanism large gear drive wheel 81 and synchronous gear 82 are driven to rotate synchronously by steering motor 7, right planetary mechanism large gear drive wheel 81 is externally meshed with right planetary mechanism large gear 88, right planetary mechanism carrier 89 is internally meshed with right planetary mechanism large gear 88, and right planetary mechanism sun gear 810 is externally meshed with right planetary mechanism carrier 89. When the power platform is driving straight, right planetary mechanism large gear drive wheel 81 does not rotate, and right planetary mechanism sun gear 810 independently drives right planetary mechanism carrier 89. Synchronous gear 82 is externally meshed with idler 83, left planetary mechanism large gear drive wheel 84 rotates coaxially with idler 83, left planetary mechanism large gear drive wheel 84 is externally meshed with left planetary mechanism large gear 87, left planetary mechanism carrier 86 is internally meshed with left planetary mechanism large gear 87, and left planetary mechanism sun gear 85 is externally meshed with left planetary mechanism carrier 86. When the power platform is driving straight, synchronous gear 82 does not rotate, and left planetary mechanism sun gear 85 independently drives left planetary mechanism carrier 86.

[0029] As shown in the accompanying drawings Figure 4As shown, the power platform automatically drives in the high-crown orchard. When GNSS positioning drifts or loses signal, the navigation system vehicle computer 3 will automatically collect the positioning data of the laser radar 4, and call the cloud architecture high-precision path positioning data received by the edge architecture control box 10, and perform fusion operation on the two data to realize accurate positioning of the power platform and determine the lateral deviation value λ of the power platform. The navigation system vehicle computer 3 reads the power platform deflection angle α value measured by the navigation control box 5, the power platform lateral inclination β value and the power platform running speed v value calculated by the vehicle controller 2, and according to the above data, calls the optimized K1, K2 and K3 parameter values, and independently calculates the correction output δ value, and sends the correction output to the vehicle controller 2. The vehicle controller 2 outputs a control electric signal to the servo valve 12 through a motion control algorithm, and the servo valve 12 changes the opening and position of the valve core according to the size and direction of the electric signal, adjusts the direction and flow of the hydraulic oil output by the steering pump 13 to the steering motor 7, and the hydraulic oil drives the steering motor 7 to rotate forward, and the steering motor 7 drives the right planetary mechanism large gear driving wheel 81 to rotate reversely, and the right planetary mechanism large gear driving wheel 81 drives the right planetary mechanism large gear 88 to rotate forward, which is the same direction as the right planetary mechanism sun gear 810, and the speed of the right planetary mechanism carrier 89 increases, driving the right drive wheel 112 to rotate faster. The synchronous gear 82 is driven by the steering motor 7 to drive the idler 83 to rotate forward, and the left planetary mechanism large gear driving wheel 84 rotates forward synchronously with the idler 83, and the left planetary mechanism large gear driving wheel 84 drives the left planetary mechanism large gear 87 to rotate reversely, which is opposite to the left planetary mechanism sun gear 85, and the speed of the left planetary mechanism carrier 86 decreases, driving the left drive wheel 111 to rotate slower, and the power platform realizes left correction. When the power platform needs to correct to the right during automatic driving, the vehicle controller 2 receives the correction control amount of the navigation system vehicle computer 3, and the vehicle controller 2 outputs a control electric signal to the servo valve 12, and the servo valve 12 changes the opening and position of the valve core according to the size and direction of the electric signal, adjusts the direction and flow of the hydraulic oil output by the steering pump 13 to the steering motor 7, and the hydraulic oil drives the steering motor 7 to rotate reversely, and the right planetary mechanism large gear 88 rotates reversely, which is opposite to the right planetary mechanism sun gear 810, and the speed of the right drive wheel 112 decreases, and the left planetary mechanism large gear driving wheel 84 rotates forward, which is the same direction as the left planetary mechanism sun gear 85, driving the left drive wheel 111 to rotate faster, and the power platform realizes right correction. When the power platform needs to correct greatly or turn in place, the vehicle controller 2 increases the output voltage signal to the servo valve 12, and the servo valve 12 increases the opening of the valve core according to the electric signal, and adjusts the output hydraulic oil flow of the steering pump 13 to the steering motor 7 to realize large correction or turning in place.During the whole deviation correction process, the navigation system vehicle computer 3 records and stores the values of lambda, alpha, beta, nu, K1, K2, K3 before correction and the corresponding values of lambda, alpha, beta, nu after correction in real time. After each row ends, the navigation system vehicle computer 3 will compare and analyze the values of lambda, alpha, beta, nu before and after correction based on the stored data, and automatically optimize the fine-tuning of K1, K2, K3 values. When the coincidence degree of the working track and the preset path reaches 95% or more, and the deviation value of the machine sensor feedback reaches 95% or more to meet the normal working state without limit overage value, the navigation system vehicle computer will automatically solidify the K1, K2, K3 values.

[0030] In practical application, under the working condition of high canopy orchard, the navigation system vehicle computer 3 is used to fuse and operate the positioning data measured by the laser radar 4 and the cloud architecture path positioning data received by the edge architecture to position the power platform, and the precision can reach centimeter level, which fully meets the requirements of navigation system deviation correction positioning and effectively solves the problem of inaccurate positioning of GNSS; the deviation control amount calculation introduces the speed value of the power platform, and the deviation process of the power platform is less affected by the speed value, the deviation process is stable, and the stability of the machine work is improved; the introduction of the lateral deviation amount of the power platform greatly improves the coincidence degree of the running track and the preset path when obstacle avoidance and turning at the end of the field, and the running attitude of the power platform is fully controllable; the introduction of the lateral inclination of the power platform makes the deviation amplitude and deviation frequency of the power platform tend to be stable when working on a lateral slope, and realizes the stable deviation of the working area with large lateral slope or large lateral slope deviation. In summary, the present application improves the positioning accuracy, deviation control amount calculation accuracy and deviation stability of the orchard track power platform under complex working conditions. The above shows and describes the basic principles, main features and advantages of the present application. Those skilled in the art should understand that the present application is not limited by the above examples, and the above examples and descriptions in the specification are only to illustrate the principles of the present application. Without departing from the spirit and scope of the present application, various changes and improvements can be made to the present application, and these changes and improvements all fall within the scope of the claimed present application.

Claims

1. An orchard track-powered platform automatic navigation and deviation correction system, characterized in that, The chassis (1), the vehicle controller (2), the navigation system vehicle computer (3), the laser radar (4), the navigation control box (5), the navigation antenna (6), the steering motor (7), the differential planetary mechanism (8), the rotational speed sensor (9), the edge architecture control box (10), the drive wheel assembly (11), the servo valve (12) and the steering pump (13) are included. The vehicle controller (2) and the navigation system vehicle computer (3) are installed at the rear end of the chassis (1), facilitating debugging and maintenance; the laser radar (4) is installed at the upper part of the power platform and arranged centrally to ensure that there is no obstruction in the working angle range of the laser probe; the navigation control box (5) is horizontally arranged, and the vibration interference is small; the navigation antenna (6) is symmetrically arranged with the longitudinal center plane of the chassis (1) as the symmetry plane, and the upper end is not obstructed; the steering motor (7), the rotational speed sensor (9) and the 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); and the servo valve (12) is integrally installed on the upper part of the steering pump (13). The navigation system vehicle computer (3) is used for completing multi-variable correction function big data fusion operation and outputting correction control quantity; the vehicle controller (2) manages network information of the power platform through the CAN bus, receives the correction output quantity instruction of the automatic navigation system vehicle computer (3), outputs the electric signal to control the servo valve (12) through the motion control algorithm, and then adjusts the hydraulic output direction and flow of the steering pump (13), drives the forward and reverse rotation and rotational speed adjustment of the steering motor (7), and drives the drive wheel assembly (11) to realize the rotational speed difference of the differential planetary mechanism (8) driven by the steering motor (7). In order to improve the navigation accuracy, the following multi-variable correction control function is used: ， wherein: δ is the correction output; K1 is the dynamic platform deflection angle correction coefficient; α is the dynamic platform deflection angle; K2 is the dynamic platform lateral deviation correction coefficient; v is the dynamic platform running speed; the dynamic platform running speed correction value; λ is the dynamic platform lateral deviation; β is the dynamic platform lateral inclination angle; K3 is the dynamic platform lateral deviation change rate correction coefficient; the dynamic platform lateral deviation change rate In order to simplify the operation amount, when the correction condition v≤3km / h, the V value is forcibly assigned as 3; when the lateral inclination β≤10°, the β value is forcibly assigned as 0°; K1, K2 and K3 are dynamic variable values, the initial values of which are assigned by the least square method, and after each row of work is completed, the navigation system vehicle computer (3) optimizes the dynamic variable values K1, K2 and K3 by fusing and collecting stored data, so as to improve the correction output quantity accuracy.

2. The automatic navigation and correction system for orchard track mobile platform according to claim 1, characterized in that, When the GNSS signal drifts or is lost, the offset is determined by the real-time position quantity measured by the laser radar (4) and the shared high-precision path coordinate points received by the edge architecture control box (10) through the navigation system vehicle computer (3) fusion operation, and is determined by the navigation antenna (6) positioning in an open and unobstructed area.

3. The automatic navigation and correction system for orchard track mobile platform according to claim 1, characterized in that, The differential planetary mechanism (8) is a final actuator, and the differential planetary mechanism (8) comprises: a right planetary mechanism big gear driving wheel (81), a synchronous gear (82), an idler (83), a left planetary mechanism big gear driving wheel (84), a left planetary mechanism sun gear (85), a left planetary mechanism carrier (86), a left planetary mechanism big gear (87), a right planetary mechanism big gear (88), a right planetary mechanism carrier (89), and a right planetary mechanism sun gear (810); the right planetary mechanism big gear driving wheel (81) and the synchronous gear (82) are driven to rotate synchronously by the steering motor (7), the right planetary mechanism big gear driving wheel (81) is externally meshed with the right planetary mechanism big gear (88), the right planetary mechanism carrier (89) is internally meshed with the right planetary mechanism big gear (88), and the right planetary mechanism sun gear (810) is externally meshed with the right planetary mechanism carrier (89).

4. The automatic navigation and correction system for orchard track mobile platform according to claim 3, characterized in that, When the power platform normally travels in a straight line, the right planetary mechanism big gear driving wheel (81) does not rotate, the right planetary mechanism sun gear (810) independently drives the right planetary mechanism carrier (89); the synchronous gear (82) is externally meshed with the idler (83), the left planetary mechanism big gear driving wheel (84) rotates coaxially with the idler (83), the left planetary mechanism big gear driving wheel (84) is externally meshed with the left planetary mechanism big gear (87), the left planetary mechanism carrier (86) is internally meshed with the left planetary mechanism big gear (87), the left planetary mechanism sun gear (85) is externally meshed with the left planetary mechanism carrier (86), the synchronous gear (82) does not rotate when the power platform normally travels in a straight line, and the left planetary mechanism sun gear (85) independently drives the left planetary mechanism carrier (86).

5. The automatic navigation and correction system for an orchard track mobile platform according to claim 4, wherein, The rotation speed sensor (9) is installed on the shell of the differential planetary mechanism (8), and is used to measure the rotation speeds 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 transmit the measured data to the vehicle controller (2), so as to provide data support for the vehicle controller (2) to calculate the PWM duty ratio, and help the closed-loop control of the deviation correction system, and provide a basis for the vehicle controller (2) to optimize the output deviation correction electric signal instruction; the vehicle controller (2) calculates the platform running speed v according to the collected rotation speeds of the left planetary mechanism sun gear (85) and the right planetary mechanism sun gear (810), and transmits the platform running speed v to the navigation system vehicle computer (3) for calculating the deviation correction control amount.

6. The automatic navigation and correction system for orchard track mobile platform according to claim 1, characterized in that, The servo valve (12) is installed on the upper surface of the steering pump (13), and the servo valve (12) adjusts the valve core position, controls the flow and direction of the hydraulic oil, indirectly adjusts the output displacement and direction of the steering pump (13), and realizes the precise control of the working state of the steering pump (13) through the accurate deviation correction electric control signal of the vehicle controller (2).

7. The automatic navigation and correction system for an orchard track mobile platform according to claim 6, wherein, The steering pump (13) is a swash plate piston pump, the steering pump (13) is installed on the shell of the differential planetary mechanism (8), the angle of the swash plate of the steering pump (13) is controlled by the flow and direction of the hydraulic oil output by the servo valve (12), by dynamic adjustment of the servo valve (12), the angle of the swash plate is changed, and then the displacement and the direction of the hydraulic oil of the steering pump (13) are changed, to provide the hydraulic oil flow demand of the steering motor (7).

8. The automatic navigation and correction system for orchard track mobile platform according to claim 1, characterized in that, The steering motor (7) is installed on the shell of the differential planetary mechanism (8), the steering motor (7) realizes positive and reverse rotation driving of the differential planetary mechanism (8) according to the direction of the hydraulic oil provided by the steering pump (13), and drives the differential planetary mechanism (8) to realize the change of the size of the speed difference between the left and right sides according to the size of the hydraulic oil flow provided by the steering pump (13).

Images