Drive-by-wire chassis of soil testing robot

Abstract

The invention provides a drive-by-wire chassis of a soil testing robot, and relates to the technical field of agricultural engineering, the drive-by-wire chassis of the soil testing robot comprises a frame bearing module, a frame, a longitudinal beam, a front cross beam and a rear cross beam, the frame bearing module adopts a high-strength steel middle beam bearing type structure, and the high-strength steel middle beam bearing type frame is subjected to anti-corrosion treatment and is matched with multiple groups of standard mounting hole positions; the invention has the advantages that the impact corrosion resistance is realized, the expansion is flexible, the 300kg load meets multi-equipment carrying, four-wheel driving and multi-mode steering are combined, the grounding specific pressure is reduced by more than 40%, the 1.82 m minimum turning radius is adaptive to a complex farmland, slipping and vehicle sinking are avoided, double-battery redundant power supports quick change, the endurance is 80-100km, multi-voltage output is adaptive to multiple sensors, and the double-fork-arm suspension and the 180mm ground clearance guarantee the stable running; the sampling positioning error is smaller than 10 cm through CAN bus closed-loop control, multiple braking protection is compatible with automatic driving, the operation safety, efficiency and intelligent level are greatly improved, and the requirement for precise soil measurement is perfectly met.

Description

Technical Field

[0001] This invention relates to the field of agricultural engineering technology, and in particular to a wire-controlled chassis for a soil testing robot. Background Technology

[0002] Precision agriculture is an important development direction for modern agriculture. Soil testing robots, as one of the core devices in precision agriculture, can automatically collect, analyze, and process soil parameters, providing data support for variable-rate fertilization and precision irrigation. The wire-controlled chassis, as the mobile platform of the soil testing robot, directly determines the robot's operating efficiency, environmental adaptability, and data acquisition accuracy.

[0003] In recent years, with the rapid iteration of autonomous driving and drive-by-wire technologies, the field of drive-by-wire chassis for agricultural robots has ushered in a wave of technological upgrades: from early mechanically connected chassis to drive-by-wire chassis with CAN bus control; from a single rear-wheel drive and front-wheel steering mode to multi-drive and multi-steering modes; and the chassis's protection level and terrain passability have gradually been optimized for complex farmland scenarios, adapting to urban roads. However, farmland environments are characterized by rugged terrain, loose soil, and randomly distributed obstacles, and existing drive-by-wire chassis still have many shortcomings in adaptability.

[0004] However, in practical use, the following shortcomings still exist: Existing wire-controlled chassis for soil testing robots have poor terrain adaptability: most are two-wheel drive or single-axle drive, with high ground pressure, making them prone to slipping and getting stuck in soft farmland; the single Ackerman steering mode results in a large turning radius, making it difficult to maneuver flexibly on narrow field ridges or between crop rows. Insufficient functional adaptability: They lack customized designs for soil testing operations, cannot accommodate multiple types of soil sensors, and lack stable multi-voltage power supply interfaces, making it difficult to support continuous sensor operation. Insufficient safety redundancy: Relying solely on a single remote control, there is no emergency braking mechanism after signal loss, increasing the risk of collisions and rollovers in complex farmland environments. Weak battery life and reliability: Small battery capacity and lack of battery swapping support, failing to meet the operational needs of large-area farmland operations per day; the chassis uses ordinary steel, resulting in poor corrosion and impact resistance, making it susceptible to damage from farmland gravel and straw. Low motion control precision: The steering and drive systems lack closed-loop control, failing to guarantee straight-line driving accuracy, leading to significant positioning deviations at soil sampling points and affecting the accuracy of soil testing data. Poor scalability: The closed chassis structure makes it impossible to flexibly adjust the sensor installation position and number according to soil testing tasks, and it is also difficult to connect with mainstream autonomous driving systems. Weak environmental perception and coordination: There are no reserved interfaces for environmental perception sensors, making it impossible to deeply integrate with radar and vision sensors, and it is difficult to achieve autonomous identification and avoidance of obstacles in farmland.

[0005] Therefore, this invention proposes a wire-controlled chassis for a soil testing robot to solve the above problems. Summary of the Invention

[0006] The purpose of this invention is to overcome the shortcomings of the existing technology and propose a wire-controlled chassis for a soil testing robot.

[0007] To achieve the above objectives, the present invention adopts the following technical solution: a wire-controlled chassis for a soil testing robot, comprising a frame, longitudinal beams, a front crossbeam, and a rear crossbeam. The frame is a high-strength steel beam-load-bearing structure. The longitudinal beams are arranged longitudinally along the frame. The front and rear crossbeams are respectively transversely connected to the front and rear ends of the longitudinal beams. The frame surface has multiple standardized mounting holes pre-drilled. The system also includes: The system integrates a four-wheel drive module, a multi-mode steering module, a braking and parking module, a dual-battery power module, a drive-by-wire control module, a suspension and damping module, and an expansion adapter module. The drive-by-wire control module includes a VCU controller, which is fixedly installed on the front crossbeam of the vehicle frame. It is connected to the four-wheel drive module, the multi-mode steering module, and the brake parking module via a CAN bus, and is used to receive commands and output control signals. The suspension damping module adopts a double wishbone independent suspension structure, which is connected to the four-wheel drive module and the vehicle frame respectively to achieve shock absorption and buffering; The extended adapter module includes sensor interfaces pre-installed at the positions of the front and rear crossbeams and longitudinal beams of the vehicle frame, as well as an installation structure adapted to the standardized mounting holes of the vehicle frame.

[0008] Furthermore, the four-wheel drive module includes four independently controlled front hub motors, rear hub motors, and corresponding motor controllers. The front hub motors are mounted under the front crossbeam of the vehicle frame via the front suspension, and the rear hub motors are mounted under the rear crossbeam of the vehicle frame via the rear suspension. Each motor controller is connected to the VCU controller via a CAN bus and receives control signals from the VCU controller to adjust the motor's operating status.

[0009] The beneficial effects of adopting the above-mentioned further solution are: the VCU controller sends control signals to each motor controller through the CAN bus, the front wheel hub motor is installed under the front and rear crossbeams of the vehicle frame via the front suspension and the rear wheel hub motor is installed via the rear suspension respectively, and the four motors are independently controlled, which can realize the switching between two-wheel drive and four-wheel drive modes. Combined with the torque distribution algorithm, the operating status is adjusted, the ground pressure is reduced, and the vehicle is prevented from slipping and getting stuck in soft farmland, which is suitable for different operating terrains.

[0010] Furthermore, the multi-mode steering module includes a front steering motor and a rear steering motor respectively mounted on the front axle and the rear axle. The front steering motor is mounted on the frame position corresponding to the front crossbeam, and the rear steering motor is mounted on the frame position corresponding to the rear crossbeam. Both the front steering motor and the rear steering motor are connected to ball joint bearings and are connected to an electric power steering system, which transmits steering power to the wheel steering knuckles through the ball joint bearings.

[0011] The beneficial effects of adopting the above-mentioned further solution are as follows: the front steering motor is mounted on the front crossbeam corresponding to the frame position, and the rear steering motor is mounted on the rear crossbeam corresponding to the frame position. Both are connected to the ball joint bearing and the electric power steering system. After receiving the VCU controller command, the steering power is transmitted to the wheel steering knuckle through the ball joint bearing, supporting front wheel Ackerman steering and four-wheel steering modes, and realizing flexible and precise steering.

[0012] Furthermore, the braking and parking module includes a hydraulic braking subsystem and an electric cable parking subsystem. The hydraulic braking subsystem includes a brake motor, an electronically controlled brake cable, and a hydraulic pump. The brake motor is installed at the front of the frame, and the hydraulic pump is integrated with the brake motor and connected to the four-wheel braking structure through hydraulic lines. One end of the electronically controlled brake cable is connected to the brake motor, and the other end is connected to the wheel braking structures corresponding to the front wheel hub motor and the rear wheel hub motor, respectively. The electric cable parking subsystem includes a push rod motor, which is installed in the middle of the frame and connected to the wheels through brake cables.

[0013] The beneficial effects of adopting the above-mentioned further solution are as follows: In the hydraulic braking subsystem, the brake motor drives the integrated hydraulic pump, which is connected to the four-wheel braking structure through hydraulic pipelines. The electronically controlled brake cable assists in transmitting braking force. The push rod motor of the electric cable parking subsystem is connected to the wheel through the brake cable. The VCU controller monitors the status in real time and triggers emergency braking when the signal is lost. Reliable parking can be achieved in scenarios such as slopes.

[0014] Furthermore, the dual-battery power module includes two batteries, which are respectively installed in the reserved installation area between the longitudinal beams of the vehicle frame, and each battery is equipped with a power supply interface, which includes at least 12V and 24V interfaces, and the interface terminals are fixed to the reserved positions on the side of the vehicle frame.

[0015] The beneficial effects of adopting the above-mentioned further solution are as follows: two batteries are installed in the reserved area between the longitudinal beams of the frame to form a dual-battery redundancy structure. The main battery provides the main power and supports quick swapping, while the backup battery ensures the power supply of the safety system. The configured 12V / 24V power supply interface is fixed on the side of the frame to provide stable power supply for multiple devices such as soil testing sensors and control systems, meeting the needs of long-term operation.

[0016] Furthermore, the suspension damping module includes a front suspension, a rear suspension, and a spring-damped shock absorber. One end of the upper and lower wishbone of the front suspension is connected to the front crossbeam and longitudinal beam, respectively, and the other end is connected to the wheel steering knuckle corresponding to the front hub motor. One end of the upper and lower wishbone of the rear suspension is connected to the rear crossbeam and longitudinal beam, respectively, and the other end is connected to the wheel steering knuckle corresponding to the rear hub motor. The upper end of the spring-damped shock absorber is connected to the vehicle frame, and the lower end is connected to the lower wishbone of the suspension.

[0017] The beneficial effects of adopting the above-mentioned further solution are as follows: the upper and lower wishbones of the front suspension are respectively connected to the front crossbeam, the longitudinal beam and the wheel steering knuckle corresponding to the front wheel hub motor; similarly, the rear suspension is connected to the rear crossbeam, the longitudinal beam and the wheel steering knuckle corresponding to the rear wheel hub motor; the upper end of the spring damping shock absorber is connected to the frame and the lower end is connected to the lower wishbone of the suspension, which can filter out bumps in the farmland, reduce vehicle vibration, and ensure chassis stability and equipment stability.

[0018] Furthermore, the VCU controller connects to an external autonomous driving system via a communication interface, receives path planning instructions from the external autonomous driving system, and sends drive and steering control signals to the motor controller, front steering motor, and rear steering motor via the CAN bus.

[0019] The beneficial effects of adopting the above-mentioned further solution are: the VCU controller connects to the external autonomous driving system through the communication interface, receives the path planning instructions, and then accurately sends the drive and steering control signals to the motor controller and the front and rear steering motors via the CAN bus, so as to realize driving according to the planned path, complete the movement control in the soil surveying operation, and connect the autonomous driving and the chassis actuator.

[0020] Furthermore, the VCU controller is connected to the wheel speed sensor via a wire to collect wheel speed signals, and adjusts the output of each motor controller via the CAN bus according to the wheel speed difference or a preset mode, thereby adjusting the torque distribution ratio between the front hub motor and the rear hub motor.

[0021] The beneficial effects of adopting the above-mentioned further solution are: the VCU controller collects signals from the wheel speed sensors through wires, analyzes the wheel speed difference or adjusts the output parameters of each motor controller via the CAN bus according to a preset mode, thereby changing the torque distribution ratio of the front and rear wheel hub motors, optimizing the driving force distribution, and improving the passability and driving stability in complex terrain.

[0022] Furthermore, the VCU controller is connected to the brake motor and push rod motor via wires. When a signal loss is detected, the controller controls the brake motor and push rod motor to operate, thereby achieving emergency braking and parking, and improving operational safety.

[0023] The beneficial effects of adopting the above-mentioned further solution are: the VCU controller is connected to the brake motor and push rod motor through wires, and monitors the operating status such as remote control signals in real time. When a signal loss is detected, it immediately sends an action command to the brake motor and push rod motor to quickly activate the hydraulic emergency brake and electric cable parking, thereby achieving dual safety protection and avoiding the risk of loss of control.

[0024] Compared with the prior art, the advantages and positive effects of the present invention are as follows: In this invention, the wire-controlled chassis of the soil testing robot features a multi-module integrated design. The high-strength steel beam load-bearing frame undergoes electrophoretic anti-corrosion treatment, complemented by a metal sheet shell, providing strong impact and corrosion resistance. With a 300kg load capacity and multiple standard mounting holes, it allows for flexible mounting of multiple devices. Four-wheel independent drive and torque distribution technology reduce ground pressure by over 40%. Combined with a 180mm ground clearance and double wishbone suspension, it easily handles complex farmland terrain, preventing slippage and getting stuck. The multi-mode steering system achieves a minimum turning radius of 1.82m and a steering accuracy of 1°. CAN bus closed-loop control ensures a sampling and positioning error of <10cm. Dual-battery redundant power supports quick swapping, providing a range of 80-100km. Multiple voltage outputs adapt to multiple sensors. Dual braking plus emergency braking in case of signal loss ensures safety. It is compatible with mainstream autonomous driving systems, and its open structure enhances scalability, significantly improving operational efficiency, safety, and intelligence, adapting to the full range of precise soil testing needs. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the structure of a wire-controlled chassis for a soil testing robot according to the present invention; Figure 2 This is a schematic diagram of the steering system of a wire-controlled chassis for a soil testing robot according to the present invention; Figure 3 This is a schematic diagram of the braking and parking system of a wire-controlled chassis for a soil testing robot according to the present invention; Figure 4 This is a schematic diagram of the suspension system structure of a wire-controlled chassis for a soil testing robot according to the present invention.

[0026] Figure label: 1. Chassis; 2. Longitudinal beams; 3. Front crossbeam; 4. Rear crossbeam; 5. Front hub motor; 6. Rear hub motor; 7. Front steering motor; 8. Rear steering motor; 9. Ball joint bearing; 10. Brake motor; 11. Electronic brake cable; 12. Push rod motor; 13. Battery; 14. VCU controller; 15. Front suspension; 16. Rear suspension; 17. Spring damping shock absorber; 18. Motor controller. Detailed Implementation

[0027] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0028] like Figures 1-4 As shown, this embodiment provides a technical solution: a wire-controlled chassis for a soil testing robot, including: a frame 1 load-bearing module, which adopts a high-strength steel beam load-bearing structure, and further including: The frame 1, longitudinal beam 2, front crossbeam 3, and rear crossbeam 4 have anti-corrosion treatment and multiple standardized mounting holes. The four-wheel drive module includes four independently controlled front hub motors 5 and rear hub motors 6. The front hub motors 5 and rear hub motors 6 are mounted on the frame 1 load-bearing module through the suspension system and support switching between two-wheel drive and four-wheel drive modes. The multi-mode steering module includes a front steering motor 7 located on the front axle and a rear steering motor 8 located on the rear axle. The front steering motor 7 and rear steering motor 8 cooperate with ball joint bearings 9 to drive the wheels to achieve front wheel Ackerman steering mode or four-wheel steering mode. The braking and parking module includes a hydraulic braking subsystem and an electric cable parking subsystem. The hydraulic braking subsystem includes a brake motor 10 and an electronically controlled brake cable 11. The electric cable parking subsystem includes a push rod motor 12, which are used to realize service braking and static parking. The dual-battery power module includes a main battery that supports quick replacement and an auxiliary battery that serves as a backup power source, and provides multiple voltage outputs for the drive-by-wire chassis; The drive-by-wire control module includes a VCU controller 14, which is communicatively connected to the four-wheel drive module, the multi-mode steering module and the brake parking module via a CAN bus, and is used to receive control commands and execute drive-by-wire operations. The suspension damping module, including the front suspension 15, the rear suspension 16 and the spring damping shock absorber 17, adopts a double wishbone independent suspension structure to provide damping and maintain a preset ground clearance. The expansion adapter module includes a reserved sensor interface and mounting structure for mounting soil sensors or environmental sensing sensors. The chassis 1, comprising a load-bearing module, a four-wheel drive module, a multi-mode steering module, a braking and parking module, a dual-battery power module, a drive-by-wire control module, a suspension and shock absorption module, and an expansion adapter module, is integrated into a single unit, forming the drive-by-wire chassis of the soil testing robot. This chassis features a multi-module integrated design, a high-strength steel beam load-bearing chassis 1 treated with electrophoretic anti-corrosion coating, and a metal sheet metal shell, providing strong impact and corrosion resistance. With a 300kg load capacity and multiple standard mounting holes, it allows for flexible mounting of multiple devices. Four-wheel independent drive and torque distribution technology reduce grounding specific voltage by 40%. With a ground clearance of 180mm and a double wishbone suspension, it can easily handle complex farmland terrain, avoiding slippage and getting stuck. The multi-mode steering system achieves a minimum turning radius of 1.82m and a steering accuracy of 1°. The CAN bus closed-loop control ensures that the sampling and positioning error is less than 10cm. The dual-battery 13-redundancy power supports quick swapping and has a range of 80-100km. The multi-voltage output adapts to multiple sensors. The dual braking plus emergency braking in case of signal loss ensures safety. It is compatible with mainstream autonomous driving systems. The open structure enhances scalability and greatly improves work efficiency, safety and intelligence, adapting to the needs of accurate soil testing in all scenarios. like Figures 1-4 As shown, in the four-wheel drive module, the four front hub motors 5 and the rear hub motors 6 are all hub motors with a rated voltage of 48V, and are connected to the CAN bus of the drive-by-wire control module through the motor controller 18. The VCU controller 14 is configured to dynamically allocate the output torque of each hub motor according to the terrain information. The 48V hub motors, together with the motor controller 18 and the CAN bus, and the VCU controller 14 dynamically allocate torque according to the terrain, significantly reduce the ground voltage, effectively avoid slipping and getting stuck in soft farmland, and allow for independent control. The four-wheel drive design combines the flexibility of switching between two-wheel drive and four-wheel drive, ensuring both the ability to pass through complex terrain and improving the accuracy of power output, providing stable and reliable drive support for soil testing operations, and adapting to the needs of different farmland working conditions. The ground clearance provided by the suspension damping module is not less than 180mm. The front suspension 15 and rear suspension 16 of the double wishbone independent suspension are connected to the frame 1 and the wheel steering knuckle respectively, and work together with the spring damping shock absorber 17 to filter terrain impacts. The ground clearance of ≥180mm can easily avoid field ridges and gravel scraping. The double wishbone independent suspension, through the stable connection of the upper and lower wishbones to the frame 1 and wheel steering knuckles, works in conjunction with the spring damping shock absorbers 17 to efficiently filter terrain impacts, significantly reducing vehicle bumps and body roll. This creates a stable working environment for the onboard sensors, ensuring data acquisition accuracy and significantly improving the chassis's adaptability and driving stability in rugged farmland. The multi-mode steering module supports a minimum turning radius of no more than 1.82 meters, with a steering control accuracy of 1°. The front steering motor 7 and rear steering motor 8 are 12V brushed motors connected to an electric power steering system, transmitting steering power through ball bearings 9. The 12V brushed steering motors combined with the electric power steering system, 1° steering accuracy, and a minimum turning radius of ≤1.82m allow the chassis to flexibly steer on narrow field ridges and between crop rows. The ball bearings 9 transmit steering power precisely and efficiently, and the front wheel Ackermann and four-wheel steering modes can be switched freely, solving the problems of cumbersome and inaccurate steering in traditional chassis and improving the mobility of soil testing operations. To ensure accurate sampling point positioning, the braking and parking module includes a hydraulic braking subsystem driven by a brake motor 10, which provides synchronized braking pressure to all four wheels. The electric cable parking subsystem includes a push rod motor 12 connected to the wheels via brake cables. The VCU controller 14 is configured to automatically trigger the hydraulic braking subsystem for emergency braking via the electric brake cable 11 when a remote control signal loss is detected. The hydraulic braking subsystem achieves synchronized braking of all four wheels by driving the hydraulic pump with the brake motor 10. The electric cable parking system locks the wheels with the push rod motor 12, providing double protection against the risk of vehicle slippage. The VCU controller 14 monitors the remote control signal in real time and triggers emergency braking within 0.5 seconds when lost, ensuring rapid braking response and uniform braking force. This effectively avoids collisions and loss of control hazards during farmland operations, ensuring the safety of equipment and personnel. In the dual-battery power module, the main battery is a lithium iron phosphate battery, and the auxiliary battery is a lead-acid battery. The multi-voltage output includes at least 12V and 24V interfaces for powering external sensors. The lithium iron phosphate main battery supports quick swapping, and the lead-acid auxiliary battery provides redundant power to ensure continuous and stable power. The 80-100km range meets the needs of large-area operations in a single day. The 12V / 24V multi-voltage interface is directly compatible with various soil sensors without the need for an additional power module. This solves the problems of short range and single power supply of traditional chassis, reduces equipment installation costs, and improves the efficiency and convenience of soil testing operations. The VCU controller 14 supports command interaction with external autonomous driving systems via the CAN2.0b protocol and supports seamless switching between remote driving mode and autonomous driving mode. The VCU controller 14 receives motion control commands and, based on the motion control commands and real-time collected wheel status signals, performs the necessary operations. The outputs of the four front hub motors 5 and the rear hub motors 6 are independently controlled by a torque distribution algorithm. According to the steering requirements in the motion control command, the front steering motor 7 and the rear steering motor 8 are controlled to drive the multi-mode steering module to switch between the front wheel Ackerman steering mode and the four-wheel steering mode and perform steering actions. The remote control signal status is monitored in real time, and when the signal is lost, the brake motor 10 and the push rod motor 12 of the braking and parking module are controlled to perform emergency braking. The VCU controller 14 is compatible with the CAN2.0b protocol, realizing seamless switching between remote control and autonomous driving. It responds quickly and accurately controls the motor torque and steering action by collecting wheel status signals in real time. When the signal is lost, emergency braking is triggered, taking into account both operational flexibility and safety. Its integrated control logic simplifies the operation process, improves the accuracy of chassis motion control, and adapts to diverse soil testing operation scenarios. The VCU controller 14 receives path planning commands from the external autonomous driving system, generates corresponding drive and steering control signals according to the path planning commands, and sends them to the corresponding execution modules such as the motor controller 18, the front steering motor 7, and the rear steering motor 8 through the CAN bus. The VCU controller 14 receives path planning instructions from the external autonomous driving system, accurately generates drive and steering signals, and transmits them via the CAN bus to achieve automated and intelligent operation. It can complete the soil testing path execution without human intervention, reduce human operation errors, improve the rationality of sampling point distribution, and significantly reduce labor costs. This makes accurate soil testing in large-area farmland more efficient and reliable. The torque distribution algorithm dynamically adjusts the torque distribution ratio between the front hub motor 5 and the rear hub motor 6 based on the wheel speed difference or the preset soil terrain pattern to reduce ground pressure and prevent slippage. The torque distribution algorithm dynamically adjusts the torque ratio of the four wheels based on the wheel speed difference or the soil terrain pattern, effectively reducing ground pressure and preventing slippage and getting stuck in soft farmland from the root. This ensures that the chassis can obtain stable power output under different terrains, improves driving smoothness and passability, and ensures that the soil testing robot moves accurately along the preset path, laying the foundation for the accuracy of soil parameter collection. like Figures 1-4As shown, the wire-controlled chassis of this soil testing robot achieves all-terrain adaptation, precise control, and safe operation through the coordinated linkage of multiple modules and the core scheduling of the VCU controller 14. The frame 1 load-bearing module is based on a high-strength steel beam structure, with a corrosion-resistant shell and standardized mounting holes, providing a stable mounting platform for various functional modules and sensors. In the four-wheel drive module, the 48V hub motor is connected to the CAN bus through the motor controller 18. The VCU controller 14 dynamically adjusts the output torque of the four wheels based on terrain information or wheel speed differences through a torque distribution algorithm, and can flexibly switch between two-wheel drive and four-wheel drive modes, reducing the ground pressure by more than 40% to avoid slipping on soft farmland. The suspension and shock absorption module avoids scraping with a ground clearance of ≥180mm. The double wishbone independent suspension is connected to the frame 1 and wheel steering knuckles through the upper and lower wishbones, working in conjunction with the spring damping shock absorbers 17 to filter terrain impacts and ensure chassis stability. The multi-mode steering module uses a 12V brushed steering motor in conjunction with an electric power steering system, through a ball joint shaft. The system transmits power via the 9-wheel drive and supports switching between front-wheel Ackerman and four-wheel steering modes. It achieves a minimum turning radius of ≤1.82m with an accuracy of 1°, making it suitable for narrow farmland scenarios. The braking and parking module adopts dual protection with hydraulic braking and electric cable parking. The VCU controller 14 monitors the remote control signal in real time. In case of loss, it triggers emergency braking through the electric brake cable 11. The brake motor 10 drives the hydraulic pump to achieve synchronous braking of all four wheels. The push rod motor 12 ensures static parking safety. The dual-battery power module uses a lithium iron phosphate main battery and a lead-acid auxiliary battery for redundant power supply, supports quick swapping and 12V / 24V multi-voltage output, and meets the continuous operation requirements of sensors and equipment. The VCU controller 14 connects to an external autonomous driving system via the CAN2.0b protocol, seamlessly switching between remote control and autonomous driving modes. After receiving path planning instructions, it generates drive and steering control signals and transmits them to the corresponding execution modules via the CAN bus. The closed-loop control throughout the process ensures that the sampling and positioning error is <10cm, achieving accurate, efficient and safe soil testing operations.

[0029] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any other way. Any person skilled in the art may make changes or modifications to the above-disclosed technical content to create equivalent embodiments for application in other fields. However, any simple modifications, equivalent changes, and modifications made to the above embodiments based on the technical essence of the present invention without departing from the scope of the present invention shall still fall within the protection scope of the present invention.

Claims

1. A wire-controlled chassis for a soil testing robot, comprising a frame (1), longitudinal beams (2), a front crossbeam (3), and a rear crossbeam (4), wherein the frame (1) is a high-strength steel beam-bearing structure, the longitudinal beams (2) are arranged longitudinally along the frame (1), and the front crossbeam (3) and the rear crossbeam (4) are respectively transversely connected to the front and rear ends of the longitudinal beams (2), and the surface of the frame (1) has multiple standardized mounting holes, characterized in that, Also includes: The system integrates a four-wheel drive module, a multi-mode steering module, a braking and parking module, a dual-battery power module, a drive-by-wire control module, a suspension and damping module, and an expansion adapter module. The drive-by-wire control module includes a VCU controller (14), which is fixedly installed on the front crossbeam (3) of the frame (1) and connected to the four-wheel drive module, the multi-mode steering module and the brake parking module via the CAN bus, respectively, to receive commands and output control signals. The suspension damping module adopts a double wishbone independent suspension structure, which is connected to the four-wheel drive module and the vehicle frame (1) respectively to achieve shock absorption and buffering; The extended adapter module includes sensor interfaces pre-installed at the positions of the front and rear crossbeams and longitudinal beams of the frame (1), and an installation structure adapted to the standardized mounting holes of the frame (1).

2. The wire-controlled chassis for a soil testing robot according to claim 1, characterized in that: The four-wheel drive module includes four independently controlled front hub motors (5), rear hub motors (6), and corresponding motor controllers (18). The front hub motors (5) are mounted under the front crossbeam (3) of the frame (1) via the front suspension (15), and the rear hub motors (6) are mounted under the rear crossbeam (4) of the frame (1) via the rear suspension (16). Each motor controller (18) is connected to the VCU controller (14) via the CAN bus and receives control signals from the VCU controller (14) to adjust the motor operating status.

3. The wire-controlled chassis for a soil testing robot according to claim 1, characterized in that: The multi-mode steering module includes a front steering motor (7) and a rear steering motor (8) respectively located on the front axle and the rear axle. The front steering motor (7) is mounted on the frame (1) corresponding to the front crossbeam (3), and the rear steering motor (8) is mounted on the frame (1) corresponding to the rear crossbeam (4). Both the front steering motor (7) and the rear steering motor (8) are connected to ball bearings (9) and are connected to an electric power steering system. The steering power is transmitted to the wheel steering knuckle through the ball bearings (9).

4. The wire-controlled chassis of a soil testing robot according to claim 1, characterized in that: The braking and parking module includes a hydraulic braking subsystem and an electric cable parking subsystem. The hydraulic braking subsystem includes a brake motor (10), an electronically controlled brake cable (11), and a hydraulic pump. The brake motor (10) is installed at the front of the frame (1). The hydraulic pump is integrated with the brake motor (10) and connected to the four-wheel braking structure through hydraulic lines. One end of the electronically controlled brake cable (11) is connected to the brake motor (10), and the other end is connected to the wheel braking structures corresponding to the front wheel hub motor (5) and the rear wheel hub motor (6). The electric cable parking subsystem includes a push rod motor (12). The push rod motor (12) is installed in the middle of the frame (1) and connected to the wheels through brake cables.

5. The wire-controlled chassis of a soil testing robot according to claim 1, characterized in that: The dual-battery power module includes two batteries (13). The two batteries (13) are respectively installed in the reserved installation area between the longitudinal beams (2) of the frame (1), and each is equipped with a power supply interface. The power supply interface includes at least 12V and 24V interfaces, and the interface terminals are fixed to the reserved positions on the side of the frame (1).

6. The wire-controlled chassis for a soil testing robot according to claim 1, characterized in that: The suspension damping module includes a front suspension (15), a rear suspension (16), and a spring damping shock absorber (17). One end of the upper and lower wishbone of the front suspension (15) is connected to the front crossbeam (3) and the longitudinal beam (2) respectively, and the other end is connected to the wheel steering knuckle corresponding to the front hub motor (5). One end of the upper and lower wishbone of the rear suspension (16) is connected to the rear crossbeam (4) and the longitudinal beam (2) respectively, and the other end is connected to the wheel steering knuckle corresponding to the rear hub motor (6). The upper end of the spring damping shock absorber (17) is connected to the frame (1), and the lower end is connected to the lower wishbone of the suspension.

7. The wire-controlled chassis for a soil testing robot according to claim 1, characterized in that: The VCU controller (14) is connected to the external autonomous driving system through the communication interface, receives the path planning instructions of the external autonomous driving system, and sends the drive and steering control signals to the motor controller (18), the front steering motor (7) and the rear steering motor (8) through the CAN bus.

8. The wire-controlled chassis of a soil testing robot according to claim 1, characterized in that: The VCU controller (14) is connected to the wheel speed sensor via a wire to collect the wheel speed signal. Based on the wheel speed difference or a preset mode, it adjusts the output of each motor controller (18) via the CAN bus, thereby adjusting the torque distribution ratio between the front hub motor (5) and the rear hub motor (6).

9. The wire-controlled chassis of a soil testing robot according to claim 7, characterized in that: The VCU controller (14) is connected to the brake motor (10) and the push rod motor (12) via wires. When a signal loss is detected, the controller controls the brake motor (10) and the push rod motor (12) to operate.

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