New energy multi-legged agricultural equipment intelligent power system and driving and posture control method

Abstract

The invention discloses a new energy multi-legged agricultural equipment intelligent power system and a driving and posture control method. The system comprises a chassis platform, a plurality of three-joint foot type modules, a distributed electric driving system, a central controller, a quick-change new energy power module and an integrated operation module. Wherein each foot type module comprises a steering joint, a wheel track adjusting joint and a chassis lifting joint which are respectively used for realizing plane steering, wheel track adjusting and chassis lifting actions of the vehicle; the central controller executes attitude adjustment and steering strategy control based on the sensor information of each joint; the power module and the operation module are of a standardized insertion structure, and disassembly, assembly and replacement are convenient. The control method comprises the steps of state sensing, region division, attitude adjustment, multi-mode steering and the like, and supports dynamic attitude control and energy mode switching under complex terrains. The adaptability, the modular configuration capability and the intelligent control level of the agricultural machine in the hilly terrain can be improved, and the good application and popularization value is achieved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of agricultural machinery, in particular to a new energy multi-legged agricultural equipment intelligent power system and a driving and posture control method. BACKGROUND

[0002] With the continuous development of modern agriculture towards high efficiency, intelligence and precision, agricultural equipment suitable for hilly and mountainous areas, complex terrains and other non-flat farmlands has become the focus of the industry. At present, the widely used agricultural machine chassis system is mainly in the form of wheeled or tracked structure, which has certain passability and operation capacity on flat terrain, but in complex terrain conditions such as slopes, soft soil and terraces, it often faces the following technical bottlenecks: Firstly, the traditional agricultural machine chassis lacks flexible posture adjustment capability, and it is difficult to realize accurate control of the vehicle's longitudinal pitch, lateral tilt and other states. When the agricultural machine enters the side slope or steep slope operation area, problems such as center of gravity deviation, adhesion reduction and whole machine stability reduction may occur, which poses a great safety hazard.

[0003] Secondly, the existing chassis structure generally adopts a single wheel frame design with rigid connection, and the wheel track is fixed and the lifting range is limited, which makes it difficult to flexibly adjust according to different agricultural needs and operation scenarios. Especially in the case where multi-legged structure has not been widely applied, the existing equipment lacks the ability to actively adapt to complex terrain.

[0004] Thirdly, in terms of power system design, current agricultural machines mostly rely on internal combustion drive or fixed energy architecture, lack a unified standardized interface for adapting to various energy forms (such as pure electricity, range extension, etc.), and the replacement process of power modules is complex, which restricts the development of multi-energy collaborative operation. At the same time, the mechanical, electrical and hydraulic connections between the power system and the chassis platform are mainly based on traditional wiring or customized structure, which is not conducive to modular maintenance and flexible deployment.

[0005] In addition, the steering mode of traditional agricultural machines is mainly front-wheel steering, and some high-end products realize four-wheel same-direction or opposite-direction steering, but they generally lack the ability to coordinate the adjustment of chassis posture and wheel track under different steering modes, especially in small-radius U-turn, steep slope steering and other scenarios, which have problems such as insufficient maneuverability and poor space adaptation.

[0006] Therefore, how to build an agricultural equipment intelligent power platform with multi-legged support capability, dynamic posture adjustment capability, modular energy system and multi-mode steering capability has become a key problem in the current evolution of agricultural equipment technology. The present application is proposed in the above technical background, aiming to break through the bottlenecks of adaptability, safety and modular expansion of traditional agricultural machines in complex terrain through structure reconstruction and control coordination. SUMMARY

[0007] This invention aims to solve the technical problems of existing agricultural equipment, such as poor adaptability to complex terrain, non-adjustable overall posture, low modularity of power system, and insufficient steering flexibility. It proposes a multi-legged agricultural machinery chassis structure with multi-degree-of-freedom adjustment capability, which supports quick replacement of new energy power modules, rapid attachment of operation modules, and multi-mode steering strategy control, so as to achieve stable driving and efficient operation of agricultural machinery in complex working environments such as hilly and mountainous areas.

[0008] To solve the above-mentioned technical problems, the present invention provides a new energy multi-legged agricultural equipment intelligent power system, comprising: The chassis platform is used to support the foot module, power module, and work module. At least four three-jointed foot modules are symmetrically installed below the chassis platform, each foot module comprising: Steering joint, used to drive the caster wheels to achieve planar steering; Wheelbase adjustment joints are used to drive the foot to extend and retract in the horizontal direction; The chassis lifting joint is used to drive the foot to move up and down in the vertical direction; The distributed electric drive system drives the three joints of each leg module to move, and each joint is equipped with a sensor to collect real-time status. The central controller, based on sensor information from each joint, coordinates and controls steering, wheel track, and lifting to achieve overall machine attitude adjustment; A quick-change new energy power module is plugged into the chassis platform. It includes a heat dissipation system, a power system, a controller system, and a hydraulic system, and is connected to the chassis through a unified interface. The integrated operating module plugs into the standard mounting interface of the chassis platform and includes an electro-hydraulic lifting mechanism and a power output interface; The system has attitude control capabilities for lateral leveling, longitudinal leveling, and overall lifting. It supports multi-mode steering strategies, including front-wheel steering, four-wheel same-direction steering, and four-wheel opposite-direction steering. The system achieves coordinated operation of attitude control and wheel track adjustment through a central controller. The central controller automatically identifies terrain slope and vehicle attitude based on sensor information and dynamically adjusts the action state of each leg module, thereby enabling proactive adaptation to complex terrain in hilly and mountainous areas.

[0009] Optionally, the three-joint leg module is constructed using a standardized structure, including a standard platform, three joint actuators, and three independent drivers, wherein the drivers employ an electric or electro-hydraulic hybrid actuator structure.

[0010] Optionally, the central controller is equipped with an IMU inertial measurement unit, a tilt sensor and a joint position sensor, and executes a real-time adjustment strategy for pitch and roll angles based on a multi-source fusion algorithm.

[0011] Optionally, the new energy power module includes two types: pure electric power module and range-extended power module, both of which adopt a unified plug-in quick-connect structure and interface standard.

[0012] Optionally, the power module is connected to the chassis platform via an integrated standard plug-in device, which integrates a power interface, a hydraulic interface, a heat dissipation pipeline, and a signal interface.

[0013] Optionally, the integrated operation module can be detachably connected to the standard mounting platform of the chassis platform, and the operation module supports quick replacement of agricultural implements, including robotic arms, digging shovels or planting devices.

[0014] Optionally, the system supports three driving modes: front-wheel steering, four-wheel steering in the same direction, and four-wheel steering in opposite directions. The central controller adjusts the angle of each steering joint according to the current mode.

[0015] Optionally, in four-wheel opposite steering mode, the central controller controls the inner foot module to reduce the wheel track to optimize spatial adaptability when turning in a small radius.

[0016] Optionally, each drive unit in the distributed electric drive system communicates with the central controller via a CAN bus or EtherCAT industrial Ethernet to support high-precision synchronous control.

[0017] To address the aforementioned technical problems, the present invention also provides a method for driving and attitude control of new energy multi-legged agricultural equipment, applied to an intelligent power system including a chassis platform, multiple three-jointed leg modules, a central controller, and a quick-change power module, characterized by comprising the following steps: Step 1: Perform status sensing on the steering joint, wheel track adjustment joint, and lifting joint of each foot module, and collect the angle and position of each joint; Step 2: Divide the chassis into four independent control areas: front, rear, left, and right; Step 3: Execute based on tilt sensor and IMU data: Lateral attitude control: The left and right modules rise and fall in opposite directions to adjust the vehicle body tilt. Longitudinal attitude control: Differential lifting of the front and rear modules enables vehicle pitch adjustment; Overall posture adjustment: All modules rise and fall synchronously to achieve the lifting or lowering of the entire vehicle; Step 4: Identify the driving mode and execute front wheel steering, four-wheel steering in the same direction, or four-wheel steering in opposite directions respectively; Step 5: If it is a small radius steering mode, control the inner wheel track to shrink to reduce the turning radius; Step 6: Quickly switch between pure electric power module and range-extended power module according to operational requirements to complete the energy mode conversion; among which... The method divides multiple foot modules into independent control areas for front, rear, left, and right. Based on data from tilt sensors and inertial measurement units, it calculates longitudinal pitch adjustment, lateral roll adjustment, and overall height adjustment, and simultaneously controls the lifting joints and wheelbase adjustment joints of each foot module to maintain the chassis in a preset posture during driving or operation. Furthermore, when performing four-wheel counter-steering or small-radius steering, the method adjusts the wheelbase parameters of the inner foot module to reduce steering space requirements and improve passability in complex terrain.

[0018] The beneficial effects of the technical solution of this invention are: The intelligent power system for agricultural equipment of the present invention adopts multiple three-jointed leg modules, which can realize various posture control modes such as lateral leveling, longitudinal leveling and overall lifting, significantly improving the driving stability and operational passability of agricultural machinery in complex terrains such as slopes, terraces and hills.

[0019] The intelligent power system for agricultural equipment of the present invention adopts a standardized plug-in structure design, and both the new energy power module and the operation module can be quickly disassembled and replaced, supporting flexible configuration under different operation scenarios, reducing the complexity of overall machine maintenance and replacement costs.

[0020] In the intelligent power system for agricultural equipment of the present invention, the central controller can identify the vehicle posture and terrain slope in real time by integrating information from IMU, tilt sensor and joint sensor, so as to realize fine coordinated control of the actions of each leg module, thereby improving the intelligence level and adaptability of the system.

[0021] The intelligent power system for agricultural equipment of the present invention supports multiple driving modes such as front wheel steering, four-wheel steering in the same direction, and four-wheel steering in opposite directions. Combined with the wheel track scaling function, it meets the needs of small-radius steering in narrow spaces and is suitable for path planning and obstacle avoidance in hilly terrain.

[0022] The intelligent power system for agricultural equipment of this invention achieves free switching between pure electric drive and range-extended drive modes through the design of a quick-change new energy power module, adapting to different work intensities and range requirements, while reducing exhaust emissions, which is in line with the development trend of green agriculture. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the chassis structure of the four-wheeled chassis in the intelligent power system for new energy multi-legged agricultural equipment according to an embodiment of the present invention; Figure 2 This is a schematic diagram of the chassis structure of the 6-wheel chassis in the intelligent power system for new energy multi-legged agricultural equipment according to an embodiment of the present invention; Figure 3 This is a side view of the four-wheeled chassis in the intelligent power system for new energy multi-legged agricultural equipment according to an embodiment of the present invention; Figure 4 This is a schematic diagram of the range-extending power platform in the intelligent power system for new energy multi-legged agricultural equipment according to an embodiment of the present invention; Figure 5 This is a top view of the range-extending power platform in the intelligent power system for new energy multi-legged agricultural equipment according to an embodiment of the present invention; Figure 6 This is a schematic diagram of the pure electric power platform in the intelligent power system for new energy multi-legged agricultural equipment according to an embodiment of the present invention; Figure 7 This is a top view of the pure electric power platform in the intelligent power system for new energy multi-legged agricultural equipment according to an embodiment of the present invention; Figure 8 This is a schematic diagram illustrating the posture adjustment of the new energy multi-legged agricultural equipment in an embodiment of the present invention; Figure 9 This is a schematic diagram of the wheel steering posture adjustment of the new energy multi-legged agricultural equipment in an embodiment of the present invention; Figure 10 This is a schematic diagram illustrating the steps of the driving and attitude control method for new energy multi-legged agricultural equipment in an embodiment of the present invention. Detailed Implementation

[0024] The present invention will be further described below with reference to the accompanying drawings and specific embodiments, but this is not intended to limit the scope of the invention.

[0025] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0026] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0027] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0028] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0029] To make the content of this invention clearer and more explicit, the invention will be described in detail below with reference to the accompanying drawings and embodiments. The embodiments are only preferred embodiments of this invention and do not constitute a limitation on the scope of protection of this invention.

[0030] I. Overall Structural Composition and System Layout like Figure 1 , Figure 2 and Figure 3 As shown, the present invention proposes a new energy multi-legged agricultural equipment intelligent power system, which includes: a chassis platform 1, multiple three-jointed leg modules 2, a distributed electric drive system 3, a central controller 4, a quick-change new energy power module 5, and an integrated operation module. These components work together to form an intelligent agricultural equipment platform with adaptive capabilities to complex terrain, adaptability to multiple energy sources, and multi-purpose operational expansion capabilities.

[0031] The chassis platform 1 is a load-bearing structure that supports and connects the core components. It is constructed with high-strength lightweight alloy material and has standard mounting interfaces and module plug-in areas, supporting the symmetrical installation of the foot-type modules 2 and the quick replacement of the working modules.

[0032] The upper surface of the chassis platform 1 is provided with a standard mounting platform 11 for the operation module, which is used for the insertion of the integrated operation module; the middle part is provided with a new energy power module slot 12, which has a unified standard interface structure embedded in it, and can be used to insert a pure electric module or a range extender module; the bottom surface is provided with four, six or eight foot-type module fixing positions 13, forming a symmetrical mechanical support foundation.

[0033] The system of this invention employs at least four three-jointed leg modules 2, which are symmetrically arranged on the lower part of the chassis platform 1. The number can be expanded according to different terrain complexities and load requirements. Each leg module 2 includes a steering joint 21, a wheel track adjustment joint 22, and a chassis lifting joint 23, which are connected in series to form a flexible and controllable mechanical leg structure in space.

[0034] The steering joint 21 is located at the connection between the foot module and the chassis platform, driving the foot wheel to rotate around the vertical axis to achieve single-foot or multi-foot planar steering. The wheel track adjustment joint 22 is a horizontal telescopic structure, which allows the foot module to extend and retract horizontally to adjust the wheel track or turning space. The chassis lifting joint 23 is located at the lower end of the foot and drives the foot wheel to lift and lower in the vertical direction, which is used to adjust the overall height of the vehicle or to balance the posture.

[0035] Each joint is equipped with an independent drive unit 31 and a position / status sensor (not shown). The drive unit can be an electric actuator or an electro-hydraulic hybrid actuator. The sensors include an angle sensor, a displacement sensor, and a pressure feedback device, used to collect real-time operating status data.

[0036] The drive and sensing control signals for each joint are provided by the distributed electric drive system 3. This system is distributed and located inside each foot module 2. It communicates with the central controller 4 via CAN bus or EtherCAT industrial Ethernet to achieve high-precision synchronous control.

[0037] The central controller 4 is the core of the vehicle's control system, equipped with a processor, an inertial measurement unit (IMU), tilt sensors, joint feedback signal acquisition modules, and a task scheduling module. It possesses high computing power and real-time multitasking capabilities. Based on attitude perception data and driving mode settings, the central controller 4 enables coordinated calculation and control of each joint.

[0038] like Figure 4 , Figure 5 , Figure 6 and Figure 7 As shown, the new energy power module 5 is connected to the chassis platform 1 via a standard plug-in structure, enabling modular and rapid replacement. The internal structure of the power module 5 includes: Controller system 51: Receives vehicle control commands and coordinates power output; Electric drive system 52: provides drive power in pure electric mode; Hydraulic system 53: Provides a hydraulic power source for the actuator; Cooling system 54: Regulates temperature to ensure operational stability.

[0039] The power modules can be divided into two categories: pure electric modules and range-extending modules. They use a unified plug-in quick-connect interface, which facilitates energy configuration switching according to the operating scenario.

[0040] The integrated operation module (not shown) has a quick-change structure and plugs into the standard mounting interface 11 on the chassis platform. It can be replaced with different agricultural implement components, including robotic arms, digging shovels, or planting devices, depending on the task requirements. The module is equipped with an electro-hydraulic lifting mechanism and a power output interface to power the operating tools and perform lifting and lowering actions.

[0041] II. Attitude Control and Terrain Adaptation Mechanism See Figure 8 The system of this invention has three posture adjustment modes based on foot-type module linkage control: lateral leveling, longitudinal leveling, and overall lifting. Its core advantage lies in its adaptive capability to complex terrains such as hills, mountains, or terraced fields.

[0042] The specific mechanism of attitude control is as follows: 1. Lateral leveling control: When the IMU unit and tilt sensor detect the left and right tilt of the vehicle body, the central controller issues a control command to cause the chassis lifting joints 23 of the left and right symmetrical foot modules to move in opposite directions, with one side rising and the other side falling, thereby achieving lateral balance adjustment of the vehicle body.

[0043] 2. Longitudinal leveling control: When the equipment is traveling on slopes or terraced sections, the lifting joints 23 of the front and rear foot modules perform differential lifting based on the longitudinal pitch angle, realizing automatic adjustment of the vehicle pitch angle and preventing the working module from tilting or leaving the ground.

[0044] 3. Overall Lifting Control: By controlling the synchronous movement of all chassis lifting joints 23, the entire vehicle can be lifted. During work preparation, implement changing, or obstacle crossing, the chassis can be raised as a whole; during stable operation, it can be lowered to improve center of gravity stability.

[0045] During the above adjustment process, the central controller 4 calculates the required motion of each joint in real time based on the attitude data, and synchronously controls the distributed drive system 3 through CAN or EtherCAT to achieve millisecond-level linkage response.

[0046] In addition, the system also has the ability to actively recognize and dynamically adapt to slope. During vehicle movement, the central controller 4 continuously collects the trend of terrain changes and dynamically adjusts the movement rhythm and amplitude of each leg module to achieve adaptive transition under complex terrain.

[0047] Through the above-described structure and control strategy, this invention can effectively improve the operational capabilities of agricultural equipment in non-flat areas such as mountainous areas, terraced fields, and orchards, avoiding the problems of overturning, skidding, or being unable to pass by traditional wheeled vehicles.

[0048] III. Steering Control and Wheel Track Adjustment System This invention is in Figure 9 The structure shown further illustrates the collaborative working mechanism of the three-joint foot modules in multi-mode steering and wheel track adjustment strategies. Each foot module in the system configuration not only has independent steering, wheel track extension and retraction capabilities, but also achieves optimal adaptation and passability in multiple driving modes through the coordinated scheduling of the central controller.

[0049] 1. Multi-mode steering control This system supports three basic steering modes: front-wheel steering, four-wheel steering in the same direction, and four-wheel steering in opposite directions. Among them: The front wheel steering mode is suitable for straight driving and regular turning conditions in normal terrain. The front foot module performs the steering action, while the rear foot module remains fixed. The central controller adjusts the front wheel angle according to the steering request to ensure driving stability. Four-wheel steering is suitable for special terrain operations such as crossing field ridges and turning around in narrow scenes. The four foot modules adjust the steering angle synchronously to achieve the vehicle to move diagonally or turn diagonally on the spot, improving flexibility and controllability. The four-wheel counter-steering mode is suitable for small-radius U-turns. The central controller controls the inner foot module to contract its steering angle, while the outer foot module expands in the opposite direction, thereby creating a smaller turning radius and significantly improving the ability to pass through complex terrain.

[0050] 2. Dynamic wheel track adjustment mechanism In four-wheel counter-steering mode, to reduce the minimum turning radius and improve operational safety, the central controller also controls the wheel track adjustment joint of the inner foot module, causing it to retract inward while the outer side remains stationary or slightly expands. This method ensures that the vehicle will not overturn due to oversteering and also prevents deviation from the work path due to understeering.

[0051] 3. Controller scheduling logic Throughout the steering process, after receiving the operation command, the central controller calculates the optimal steering path and linkage strategy with the foot module based on terrain recognition data, current attitude data (tilt sensor + IMU), wheel track status, and foot module position coordinates. All actions are executed through a distributed electric drive system, and modules communicate at high speed via CAN bus or EtherCAT Ethernet to achieve high-precision synchronization.

[0052] This system significantly improves the vehicle's steering flexibility and spatial adaptability in complex agricultural environments such as hills, orchards, and terraced fields through the aforementioned multi-mode steering strategy and dynamic wheel track adaptation capability, while ensuring the overall machine's posture stability and operational continuity.

[0053] IV. Quick-change structure for new energy power modules Figures 4 to 7 The structure of the quick-swap new energy power module was further demonstrated. This module adopts a standard plug-in design and includes the following key components: 1. Plug-in quick-release structure: The power module is connected to the chassis platform via an electric plug-in device. The structure integrates power interface, hydraulic interface, heat dissipation pipeline and signal control bus. All interfaces have dustproof and waterproof sealing performance. 2. Power system unit: including high-power motor set and range extender generator system, which can be quickly switched according to the operation scenario; 3. Heat dissipation system: It adopts a dual-circulation liquid cooling structure, which has high heat exchange efficiency and ensures stable temperature during long-term heavy-load operation; 4. Controller module: Supports independent scheduling and status monitoring of battery, motor and hydraulic system, and has remote diagnostic and OTA upgrade capabilities.

[0054] This module can be replaced in minutes, adapting to the needs of inconvenient power supply in long-term or remote operation scenarios, and significantly improving the endurance efficiency and uptime of agricultural equipment.

[0055] The modular quick-swap mechanism not only improves the continuity of vehicle operation and reduces downtime caused by energy switching, but also provides a foundation for the integration of more energy technologies (such as hydrogen fuel and electro-hydraulic hybrid) through a unified interface platform.

[0056] V. Integrated Operation Module and Implement Connection Mechanism The operation module connects via a standard mounting interface on the chassis platform and has the following functional structure: 1. Electro-hydraulic lifting device: It has an embedded electric-hydraulic composite drive unit, which can realize the rapid lifting and angle adjustment of agricultural implements; 2. Power Take-Off Shaft Interface: Standardized PTO interface, which can provide driving force for various passive agricultural implements, including rotary tillers, plant protection nozzles, digging arms, etc. 3. Quick-release buckle mechanism: It has a quick-release buckle structure, and the replacement can be completed within 5 minutes.

[0057] Supported tools include: plant protection robotic arms for spraying pests and diseases; digging shovels for shallow soil loosening and ditch digging; and precision planting mechanisms for precise seeding and localized fertilization.

[0058] The module's mounting and electro-hydraulic control structure enhances the overall machine's operational adaptability and module reuse rate, enabling the same chassis platform to be widely adapted to various agricultural tasks and significantly reducing the total cost of ownership of agricultural equipment.

[0059] VI. Overall Control Process and Typical Application Scenarios The control process is as follows: S1. Power-on Startup: The user remotely starts the control system, and the system completes the initialization of the chassis platform, electric drive system, central controller, IMU and hydraulic system; S2. State perception: Sensors at each joint collect position information in real time, and the central controller completes the initial determination of the vehicle's attitude; S3. Attitude Adjustment: Performs pitch adjustment, roll adjustment, and overall lifting action based on IMU and tilt sensor data; S4. Steering mode recognition: Selects front wheel steering, same-direction steering, or opposite-direction steering according to the user's task, and links with the wheel track adjustment module; S5. Power mode switching: Automatically switches between pure electric and range-extended modes based on remaining battery power and workload requirements; S6. Operation Module Control: Allocate electro-hydraulic control strategies according to the type of agricultural implement to achieve precision agriculture tasks; S7. Motion closed-loop correction: The system continuously collects the status of each module and corrects steering, lifting and attitude in real time to ensure accuracy.

[0060] Typical application scenarios include: terraced field rotary tillage: opposite steering + pitch adjustment to improve climbing stability; orchard plant protection: four-wheel same-direction steering + roll compensation to improve cornering passability; wetland crossing: full lift mode + wheelbase extension to improve passability and avoid getting stuck.

[0061] VII. Specific Implementation Methods of the Control Method Reference Figure 10 The control method of this invention is applicable to intelligent power systems for new energy multi-legged agricultural equipment. Its core objective is to achieve stable driving and operation capabilities of agricultural equipment in complex terrain through a modular three-jointed leg mechanism and multi-mode control strategy. This control method combines sensor data acquisition, zone coordination strategy, multi-mode decision logic, and a rapid switching mechanism between energy and operation modules to ensure efficient response and precise control of the equipment under different task and terrain conditions.

[0062] 1. Joint status acquisition and posture recognition: The first step in the control process is to perceive the status of the three joints (steering joint, wheel track adjustment joint, and chassis lifting joint) of each foot module.

[0063] Sensor configuration: Each joint integrates an angle sensor, a position sensor, and a current monitoring module to collect its current angle value, displacement information, and load status. All sensor data is uploaded to the central controller in real time via CAN bus or EtherCAT industrial Ethernet.

[0064] IMU Unit Collaborative Identification: The IMU (Inertial Measurement Unit) built into the central controller works with the tilt sensor to acquire the vehicle's pitch and roll angle information, providing a basis for subsequent attitude adjustment.

[0065] Zone division: The central controller divides the entire chassis into four control zones: the front zone (including the front left and front right modules), the rear zone (including the rear left and rear right modules), the left zone (including the front left and rear left modules), and the right zone (including the front right and rear right modules), providing a structural basis for differential control.

[0066] 2. Attitude control strategy Attitude control employs a combination of zoned differential control and synchronous control to meet the pitch and roll adaptation requirements of different terrains.

[0067] Lateral leveling (tilt control): After the central controller detects that the tilt angle exceeds the threshold, it drives the lifting joints of the left and right modules to move in opposite directions, with the left side rising and the right side falling, or vice versa, to form tilt compensation on the ground support surface and restore the vehicle's lateral level.

[0068] Longitudinal leveling (pitch control): When there is a large difference in ground height between the front and rear wheels or when there is an uphill / downhill terrain, the system drives the differential movement of the lifting joints of the front and rear modules, such as front lifting and rear lowering or front lowering and rear lifting, to achieve the adjustment of the vehicle's pitch angle and improve the balance and traction stability of the front and rear supports.

[0069] Overall lifting: When the vehicle needs to raise or lower the working platform position, the four modules drive the lifting joints synchronously to raise or lower in a unified manner, thereby adjusting the working height of the vehicle, such as to adapt to the row height of different crops or to facilitate loading and unloading.

[0070] Collaborative compensation control: During attitude adjustment, the system simultaneously considers the linkage response of the wheel track adjustment joint to prevent the distortion of the vehicle's rigid structure caused by excessive front-to-rear lateral offset of the wheels, thereby improving stability during the adjustment process.

[0071] 3. Multi-mode steering control process Depending on driving needs, the central controller supports three steering control modes.

[0072] Front wheel steering mode: Only the steering joints of the front left and front right modules move, suitable for steering on conventional straight roads in the field, with a large steering radius but fast response speed.

[0073] Four-wheel same-direction steering mode: The steering joints of the four modules move synchronously in the same direction, enabling diagonal driving or small-range lateral displacement, suitable for flexible U-turns on narrow or edge terrain in orchards.

[0074] Four-wheel opposite steering mode: The steering joints of the front and rear modules move in opposite directions, such as the front wheels turning left and the rear wheels turning right. It is suitable for scenarios with the smallest turning radius and is often used for turning around on the spot or moving in and out of narrow passages.

[0075] Mode switching logic: The central controller automatically determines the optimal steering mode by detecting driving commands and terrain sensor information. If a small work area or obstacle edge is identified, it will prioritize four-wheel opposite-direction steering; in continuous field operation, it will maintain front-wheel steering as the primary mode.

[0076] 4. Wheelbase linkage adjustment mechanism To optimize spatial adaptability and overall vehicle dynamic stability during small-radius turns, this invention establishes a dynamic track shrinkage strategy: When the four-wheel opposite steering mode is executed or the steering radius is detected to be lower than the preset threshold, the central controller automatically controls the wheel track adjustment joint of the inner foot module to retract, reduce the inner wheel track, and improve the cornering adaptability. The outer track is maintained or slightly extended to achieve an outward-expanding curve trajectory for the entire vehicle, in conjunction with the center rotation of the chassis.

[0077] This strategy can significantly reduce the vehicle's lateral footprint, adapt to narrow operating paths, and prevent steering jams or mechanical interference.

[0078] 5. Energy Module Switching Control Process The new energy power module supports both pure electric and range-extended modes, and energy conversion is achieved through module plug-in switching.

[0079] Quick-swap identification: The central controller determines the type of the currently connected module through the electrical identification signal of the plug-in interface, automatically reads the corresponding parameter template, and loads the power distribution strategy and cooling strategy.

[0080] Switching logic: When the work scenario is identified as long-distance continuous operation or high power output demand, it is recommended to insert a range extender module; in zero-emission scenarios such as greenhouses, orchards or nighttime operations, pure electric modules should be used first.

[0081] Switching process control: The system supports hot-swap status recognition to ensure safe power disconnection / connection during the switching process, while controlling the heat dissipation and automatic closure of the hydraulic interface.

[0082] 6. Operation module connection and control The operation module is connected to the rear of the chassis platform via a mounting platform, supporting quick implement changes. The control logic is as follows: Connection identification and control signal loading: After successful connection, the central controller identifies the module type (such as planting device, robotic arm, digging shovel, etc.) and loads the matching control parameter template and power output interface configuration according to the identification code.

[0083] Electro-hydraulic lifting and control: The working module has a built-in electro-hydraulic lifting mechanism, which is powered by the chassis and driven by control signals, and supports vertical height adjustment and fine adjustment of working posture.

[0084] Operation and driving modes are linked: During specific operations, the system can adjust the chassis height, attitude and steering strategy in a linked manner to achieve the best working view and position.

[0085] 7. Overview of Control Processes and Fault Tolerance Strategies The main process of vehicle control includes: joint status acquisition → terrain recognition → attitude adjustment → mode determination → steering control → power distribution → work assignment and task issuance.

[0086] In the event of any module sensor failure or abnormal joint movement, the central controller enters a safety mode, activating emergency strategies such as limiting the range of motion, slowing down the response rate, and alerting the driver to ensure operational safety.

[0087] The entire vehicle system supports OTA remote upgrades, and the central controller can optimize the action logic of each sub-module based on the algorithm update package provided by the agricultural machinery manufacturer, thereby improving long-term stability.

[0088] The method for driving and attitude control in this system may also include the following detailed implementation steps: 1. State awareness Angle sensors, stroke sensors, or pressure sensors are installed at the steering joints, wheelbase adjustment joints, and chassis lifting joints of each foot module to collect the angle and position information of each joint in real time. These sensors convert the collected analog signals into digital signals and transmit them to the central controller through their respective signal transmission lines. For example, the angle sensor at the steering joint can accurately measure the angle of rotation of the foot wheel around the vertical axis with an accuracy of ±0.5°; the stroke sensor can accurately measure the distance the foot extends and retracts in the horizontal direction driven by the wheelbase adjustment joint with a resolution of ±1mm; and the pressure sensor at the chassis lifting joint can sense the pressure changes of the foot during vertical lifting in real time, thereby indirectly obtaining information on changes in chassis ground clearance with a measurement error of no more than ±5N. The central controller continuously receives this sensor data to accurately sense the real-time status of each joint.

[0089] 2. Regional Division The chassis is divided into four independent control zones: front, rear, left, and right. This division is based on the chassis's geometry, using the longitudinal and lateral centerlines as references to divide the chassis plane into four quadrants. The foot modules within each zone can be independently adjusted in attitude, providing the foundation for subsequent refined attitude control. For example, when facing a sloping road surface with one side higher than the other, the foot modules in the left and right zones can be independently controlled to raise the right foot module and lower the left foot module, thereby achieving lateral leveling of the vehicle body and ensuring the stability of the work platform.

[0090] 3. Posture Adjustment Lateral Attitude Control: When the central controller receives data from the tilt sensor and IMU (Inertial Measurement Unit) and detects body roll, if the roll angle exceeds a set threshold (e.g., ±3°), the central controller issues a command to control the left and right modules to rise and fall in opposite directions. Specifically, if the body tilts to the left, the central controller will drive the chassis lifting joint of the right-side foot module to rise, while simultaneously driving the chassis lifting joint of the left-side foot module to fall. By precisely calculating the rise and fall amplitude, the body roll angle is gradually reduced and kept within a safe range (e.g., ±1°). During this process, the central controller dynamically adjusts the height of the left and right foot modules in real time based on data from the tilt sensor and IMU, forming a closed-loop control. For example, if a body roll angle of +5° is detected at a certain moment, the central controller calculates according to a preset algorithm that the right foot module needs to rise by 50mm and the left foot module needs to fall by 30mm to correct the roll angle. During execution, the height of both sides is continuously fine-tuned based on sensor feedback data to ensure that the roll angle is ultimately stabilized within ±1°.

[0091] Longitudinal attitude control: Also based on tilt sensor and IMU data, when the vehicle is on an uphill or downhill slope, the central controller controls the front and rear modules to differentially raise and lower, thus actively adjusting the vehicle's pitch angle. For example, when going uphill, if an excessive pitch angle is detected (e.g., exceeding +5°), the central controller will instruct the rear wheel module's chassis lifting joint to rise and the front wheel module's chassis lifting joint to lower, keeping the vehicle level and preventing it from tilting forward or backward due to excessive pitch, which would affect operational safety and stability. The specific lifting height is precisely calculated and adjusted based on the vehicle's actual slope, weight distribution, and preset control algorithms. For example, on a 15° uphill slope, based on vehicle parameters and sensor data, it is calculated that the rear wheel module needs to rise by 80mm and the front wheel module needs to lower by 60mm to maintain vehicle level.

[0092] Overall attitude adjustment: When it is necessary to change the chassis ground clearance, the central controller sends synchronous lifting commands to all foot modules. For example, when encountering a large obstacle and needing to improve passability, the central controller controls all foot modules to rise synchronously, increasing the chassis ground clearance; during vehicle maintenance or transportation, it controls all foot modules to lower synchronously, reducing the vehicle height. The degree of lifting is precisely controlled based on actual needs and sensor feedback. For example, when improving passability, the chassis ground clearance can be raised from the initial 300mm to 500mm to ensure the vehicle can smoothly cross obstacles with a height of 400mm.

[0093] 4. Driving mode execution The driver or autonomous driving system selects front-wheel steering, four-wheel same-direction steering, or four-wheel opposite-direction steering modes via the operating control terminal or a preset automatic control program, based on the actual operating scenario and driving requirements. When front-wheel steering is selected, the central controller only controls the steering joints of the front wheels for steering, while the rear wheels maintain straight-line travel. This mode is suitable for high-speed, stable driving on relatively open roads. In this mode, the vehicle's steering characteristics are similar to traditional wheeled vehicles, and the steering angle range can be set to ±35° to meet steering needs under different road conditions. In four-wheel same-direction steering mode (crab-like movement), the central controller controls the steering joints of all wheels, making them point in the same direction. The vehicle can achieve lateral translation. This mode facilitates precise parking or obstacle avoidance in narrow spaces, such as the edge of terraced fields or inside greenhouses. The translation speed can be set between 0-0.5 m / s depending on the actual situation. The four-wheel opposite steering mode (small radius or zero radius steering) is suitable for scenarios where the vehicle's direction of travel needs to be changed in a very small space. The central controller controls the front and rear wheels to turn in opposite directions, achieving a very small turning radius or even zero radius steering on the spot, which greatly improves the vehicle's maneuverability in extreme environments.

[0094] 5. Steering Co-control In small-radius steering mode, regardless of whether it's four-wheel counter-directional steering or other small-radius steering conditions, the central controller will coordinate with the steering mode and current road conditions to control the inner track width reduction. When the vehicle enters small-radius steering mode, the central controller first acquires information such as the vehicle's turning radius and speed, and then calculates the required reduction distance of the inner track width based on a preset collaborative control algorithm. For example, when the vehicle is making a small-radius steering maneuver with a radius of 2m at a speed of 3m / s, the algorithm calculates that the inner track width needs to be reduced by 200mm. The central controller will then send a reduction command to the track width adjustment joint of the inner foot module to reduce the turning space requirement and avoid mechanism interference. During the reduction process, the central controller continuously monitors the sensor data at the track width adjustment joint to ensure that the track width is reduced to the accurate position, with the error controlled within ±10mm.

[0095] 6. Energy mode switching When an operation requires a change in energy mode, such as switching from a zero-emission pure electric operation mode in facility agriculture to a range-extended mode for long-term operation in mountainous areas, the operator first sends an energy mode switching command to the central controller via the control terminal. Upon receiving the command, the central controller first stops the current power output of the power system module and shuts down the relevant electrical, hydraulic, and signal connections. Then, the operator manually operates the snap-fit ​​mechanism to remove the current power module from the chassis platform. Next, the required alternative power module is installed on the chassis platform via the snap-fit ​​mechanism, ensuring that the power interface, hydraulic interface, cooling pipes, and signal interface of the integrated standard plug-in device are accurately connected. After connection, the central controller performs a system self-test on the newly installed power module, checking whether all parameters are normal. If the self-test passes, the central controller activates the new power module, completing the rapid energy mode switch. The entire switching process is completed within 5 minutes, ensuring the vehicle can operate continuously and stably under different energy demand scenarios.

[0096] In summary, the intelligent power system for agricultural equipment of the present invention, by adopting multiple three-jointed leg modules, enables the system to achieve various posture control modes such as lateral leveling, longitudinal leveling, and overall lifting, significantly improving the driving stability and operational passability of agricultural machinery in complex terrains such as slopes, terraces, and hills.

[0097] The intelligent power system for agricultural equipment of the present invention adopts a standardized plug-in structure design, and both the new energy power module and the operation module can be quickly disassembled and replaced, supporting flexible configuration under different operation scenarios, reducing the complexity of overall machine maintenance and replacement costs.

[0098] In the intelligent power system for agricultural equipment of the present invention, the central controller can identify the vehicle posture and terrain slope in real time by integrating information from IMU, tilt sensor and joint sensor, so as to realize fine coordinated control of the actions of each leg module, thereby improving the intelligence level and adaptability of the system.

[0099] The intelligent power system for agricultural equipment of the present invention supports multiple driving modes such as front wheel steering, four-wheel steering in the same direction, and four-wheel steering in opposite directions. Combined with the wheel track scaling function, it meets the needs of small-radius steering in narrow spaces and is suitable for path planning and obstacle avoidance in hilly terrain.

[0100] The intelligent power system for agricultural equipment of this invention achieves free switching between pure electric drive and range-extended drive modes through the design of a quick-change new energy power module, adapting to different work intensities and range requirements, while reducing exhaust emissions, which is in line with the development trend of green agriculture.

[0101] The foot-type module of the intelligent power system for agricultural equipment of the present invention adopts a unified platform structure and standard joint execution unit, which is conducive to production standardization, convenient maintenance, and supports subsequent structural optimization and module upgrades.

[0102] The intelligent power system for agricultural equipment of the present invention is based on a multi-source attitude recognition strategy that integrates IMU and tilt sensor, which can accurately calculate the side tilt angle and pitch angle, thereby improving the accuracy and robustness of the overall machine stability control.

[0103] The intelligent power system for agricultural equipment of the present invention adopts an integrated plug-in interface that integrates electricity, hydraulics, heat dissipation and signals between the power module and the chassis platform, which improves module compatibility and reduces the adaptation and development cost between different modules.

[0104] The operation module of the intelligent power system for agricultural equipment of the present invention is connected to the chassis platform through a standard mounting platform, and can be quickly replaced with agricultural implements such as robotic arms, digging shovels or seeding devices to meet the needs of multi-task agricultural scenarios.

[0105] The central controller of the intelligent power system for agricultural equipment of the present invention can automatically identify the current driving strategy and adjust the steering joint and wheel track in real time to ensure the stability and flexibility of the agricultural machinery in different states such as straight line, high speed and low speed steering.

[0106] The intelligent power system for agricultural equipment of the present invention adopts a communication mechanism built with CAN bus or industrial Ethernet, which makes the control commands between the various leg modules more synchronized and suitable for complex posture adjustment and dynamic response tasks.

[0107] The regional grouping control and attitude hierarchical adjustment scheme described in the method of the intelligent power system for agricultural equipment of the present invention can realize the dynamic stability of the agricultural machinery chassis during operation and reduce the risk of shaking or imbalance of agricultural implements during operation.

[0108] The above are merely preferred embodiments of the present invention and are not intended to limit the implementation methods and protection scope of the present invention. Those skilled in the art should recognize that any equivalent substitutions and obvious changes made based on the description and illustrations of the present invention should be included within the protection scope of the present invention.

Claims

1. A new energy multi-legged agricultural equipment intelligent power system, characterized in that, include: The chassis platform is used to support the foot module, power module, and work module. At least four three-jointed foot modules are symmetrically installed below the chassis platform, each foot module comprising: Steering joint, used to drive the caster wheels to achieve planar steering; Wheelbase adjustment joints are used to drive the foot to extend and retract in the horizontal direction; The chassis lifting joint is used to drive the foot to move up and down in the vertical direction; The distributed electric drive system drives the three joints of each leg module to move, and each joint is equipped with a sensor to collect real-time status. The central controller, based on sensor information from each joint, coordinates and controls steering, wheel track, and lifting to achieve overall machine attitude adjustment; A quick-change new energy power module is plugged into the chassis platform. It includes a heat dissipation system, a power system, a controller system, and a hydraulic system, and is connected to the chassis through a unified interface. The integrated operating module plugs into the standard mounting interface of the chassis platform and includes an electro-hydraulic lifting mechanism and a power output interface; The system has attitude control capabilities for lateral leveling, longitudinal leveling, and overall lifting. It supports multi-mode steering strategies, including front-wheel steering, four-wheel same-direction steering, and four-wheel opposite-direction steering. The system achieves coordinated operation of attitude control and wheel track adjustment through a central controller. The central controller automatically identifies terrain slope and vehicle attitude based on sensor information and dynamically adjusts the action state of each leg module, thereby enabling proactive adaptation to complex terrain in hilly and mountainous areas.

2. The system according to claim 1, characterized in that, The three-joint foot module is constructed with a standardized structure, including a standard platform, three joint actuators and three independent drivers, wherein the drivers adopt an electric or electro-hydraulic hybrid actuator structure.

3. The system according to claim 1, characterized in that, The central controller is equipped with an IMU inertial measurement unit, a tilt sensor, and a joint position sensor, and executes a real-time adjustment strategy for pitch and roll angles based on a multi-source fusion algorithm.

4. The system according to claim 1, characterized in that, The new energy power module includes two types: pure electric power module and range-extended power module. Both adopt a unified plug-in quick-connect structure and interface standard.

5. The system according to claim 1, characterized in that, The power module is connected to the chassis platform via an integrated standard plug-in device, which integrates a power interface, a hydraulic interface, a heat dissipation pipeline, and a signal interface.

6. The system according to claim 1, characterized in that, The integrated operation module can be detachably connected to the standard mounting platform of the chassis platform. The operation module supports quick replacement of agricultural implements, including robotic arms, digging shovels, or planting devices.

7. The system according to claim 1, characterized in that, The system supports three driving modes: front-wheel steering, four-wheel steering in the same direction, and four-wheel steering in opposite directions. The central controller adjusts the angle of each steering joint according to the current mode.

8. The system according to claim 7, characterized in that, In four-wheel opposite steering mode, the central controller controls the inner foot module to reduce the wheel track in order to optimize the space adaptability when turning in a small radius.

9. The system according to claim 1, characterized in that, Each drive unit in the distributed electric drive system communicates with the central controller via a CAN bus or EtherCAT industrial Ethernet with the local control unit, supporting high-precision synchronous control.

10. A method for driving and attitude control based on new energy multi-legged agricultural equipment, applied to an intelligent power system including a chassis platform, multiple three-jointed leg modules, a central controller, and a quick-change power module, characterized in that... Includes the following steps: Step 1: Perform status sensing on the steering joint, wheel track adjustment joint, and lifting joint of each foot module, and collect the angle and position of each joint; Step 2: Divide the chassis into four independent control areas: front, rear, left, and right; Step 3: Execute based on tilt sensor and IMU data: Lateral attitude control: The left and right modules rise and fall in opposite directions to adjust the vehicle body tilt. Longitudinal attitude control: Differential lifting of the front and rear modules enables vehicle pitch adjustment; Overall posture adjustment: All modules rise and fall synchronously to achieve the lifting or lowering of the entire vehicle; Step 4: Identify the driving mode and execute front wheel steering, four-wheel steering in the same direction, or four-wheel steering in opposite directions respectively; Step 5: If it is a small radius steering mode, control the inner wheel track to shrink to reduce the turning radius; Step 6: Quickly switch between pure electric power module and range-extended power module according to operational requirements to complete the energy mode conversion; among which... The method divides multiple foot modules into independent control areas for the front, rear, left, and right. Based on data from tilt sensors and inertial measurement units, it calculates the longitudinal pitch adjustment, lateral roll adjustment, and overall height adjustment, and simultaneously controls the lifting joints and wheelbase adjustment joints of each foot module to maintain the chassis in a preset posture during driving or operation. Furthermore, when performing four-wheel counter-steering or small-radius steering, the method adjusts the wheelbase parameters of the inner foot module to reduce steering space requirements and improve passability in complex terrain.

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