CN115230843A

CN115230843A - Agricultural movable platform with variable wheel track and conformal vibration reduction

Info

Publication number: CN115230843A
Application number: CN202210920644.7A
Authority: CN
Inventors: 魏鸿; 童俊华; 王永华; 王小琴
Original assignee: Zhejiang Sci Tech University ZSTU
Current assignee: Zhejiang Sci Tech University ZSTU
Priority date: 2022-08-02
Filing date: 2022-08-02
Publication date: 2022-10-25
Anticipated expiration: 2042-08-02
Also published as: CN115230843B

Abstract

The invention relates to the technical field of agricultural mobile platforms. Aims to provide an agricultural platform with variable wheel track and conformal vibration reduction, which is suitable for both ridge crop cultivation in dry land and seedling cultivation in greenhouses. The mobile platform can not only enlarge the range of operation objects, but also effectively reduce the labor burden of vast workers, and is also beneficial to the development of modern agriculture. The technical scheme is that the agricultural mobile platform with variable wheel track and conformal vibration reduction comprises a rack, wheels arranged below the rack, an electric cabinet and a battery, wherein the electric cabinet and the battery are arranged on the rack; the method is characterized in that: the platform also comprises two variable wheel track modules which are horizontally arranged at the front end and the rear end of the rack respectively and used for adjusting the wheel track, an independent driving and steering module which can be positioned at the two ends of each variable wheel track module respectively in a sliding way and is provided with wheels, and a navigation device which is arranged at the upper part of the rack and used for collecting the position information of the agricultural mobile platform.

Description

Agricultural movable platform with variable wheel track and conformal vibration reduction

Technical Field

The invention relates to the technical field of agricultural mobile platforms, in particular to an agricultural mobile platform with variable wheel track and conformal vibration reduction.

Background

With the development of the agricultural modernization process, the field management operation machine has important significance for promoting the stable development of the modern agriculture of China. The planting area of the dry land in China reaches 9.65 hundred million acres by 2021 years, and the planting area accounts for 50.33 percent of the total cultivated land area; the research on agricultural mobile platforms which perform operations such as spraying, fertilizing, pollinating and the like aiming at ridge culture of different crops, different row spacing and different periods and meet the ridge driving environment is quite lacking at present. In addition, except outdoor, and to the greenhouse grow seedlings, also need a can adapt to different seedbed sizes, satisfy the mobile platform in the uneven use place in traditional nursery, supplementary artifical complex work of accomplishing the greenhouse grow seedlings. In view of the above situation, it is necessary to develop a variable track and adaptive vibration damping agricultural mobile platform.

Disclosure of Invention

The invention aims to overcome the defects of the background technology and provide an agricultural platform which is suitable for ridge crops in dry land or seedling in a greenhouse and has variable wheel track and conformal vibration reduction. The mobile platform can not only enlarge the range of operation objects, but also effectively reduce the labor burden of vast workers, and is also beneficial to the development of modern agriculture.

The technical scheme provided by the invention is as follows:

a variable wheel track and conformal vibration reduction agricultural mobile platform comprises a rack, wheels arranged below the rack, an electric cabinet and a battery, wherein the electric cabinet and the battery are arranged on the rack; the method is characterized in that: the platform further comprises two variable wheel track modules which are horizontally arranged at the front end and the rear end of the rack respectively and used for adjusting the wheel track, independent driving and steering modules which are slidably positioned at the two ends of each variable wheel track module respectively and provided with wheels, and a navigation device which is arranged at the upper part of the rack and used for collecting the position information of the agricultural mobile platform.

The variable wheel track module comprises a cavity formed by a cover plate and a groove plate, two telescopic shafts, two driving modules and two transmission assemblies, wherein the cavity is connected to the rack and is positioned in the cavity in a sliding mode through a sliding table structure, the two telescopic shafts are coaxially arranged, the two driving modules are respectively installed at the top end of a supporting protective cover on the upper side of the cover plate, and the two transmission assemblies are respectively used for transmitting the power of the driving modules to the corresponding telescopic shafts.

The transmission assembly comprises a driving gear driven by the driving module and a driven gear driven by the transmission gear, and each gear shaft in the transmission assembly is respectively arranged on the cover plate through a bearing and is surrounded and protected by the supporting protective cover; the driving gear shaft and the driven gear shaft further penetrate through the cover plate downwards to be connected with a rack gear respectively.

The upper side and the lower side of the telescopic shaft are respectively fixed with a sliding strip parallel to the length direction of the telescopic shaft, and the inner side surface of the cover plate and the bottom surface of the groove plate are respectively fixed with two sliding tables in sliding fit with the sliding strips one by one.

Two parallel racks are symmetrically arranged on two sides of the telescopic shaft in the width direction, and the two racks are respectively meshed with a rack gear connected with the driving gear and the gear shaft of the driven gear one by one.

The driving module comprises a worm and gear reducer arranged on the supporting protective cover and a servo motor for driving the worm and gear reducer; and an output shaft of the worm gear speed reducer vertically extends downwards into the supporting protective cover to perform power transmission with the driving gear shaft.

The independent driving and steering module comprises a bearing support, a driving bearing frame, a stepping motor, a planetary reducer and a quadrilateral driving assembly, wherein the top end of the bearing support is fixed with the end of the telescopic shaft, the driving bearing frame can be rotationally positioned at the bottom end of the bearing support around a vertical axis, the stepping motor is positioned on the bearing support, the planetary reducer is driven by the stepping motor and drives the driving bearing frame to rotate, and the quadrilateral driving assembly is mounted at the lower part of the driving bearing frame and is provided with wheels.

The quadrilateral driving assembly comprises a driving bearing frame, two connecting plates and a configuration plate which are sequentially hinged end to end through hinges to form a parallelogram mechanism, and a conformal shock absorber with two ends respectively hinged with the driving bearing frame and the configuration plate; the wheel is a wheel hub motor driving wheel connected with the configuration plate.

An in-situ sensor and an end sensor for detecting the extension length of each telescopic shaft are arranged on the inner wall of the cavity, and a position detecting piece matched with the in-situ sensor and the end sensor is arranged at the tail part of each telescopic shaft so as to ensure the structural stability of the mobile platform; and an angle sensor for detecting the rotation angle of the bearing support is arranged on the bearing support.

The main electric control box is provided with a main control board which is electrically connected with each motor driver, each sensor data box and each camera, and the auxiliary electric control box is provided with each motor driver, each sensor data box, a position module, a remote control module and an energy module.

Two navigation cameras are respectively installed at the middle position of the third aluminum profile, two electric cabinets are respectively installed at the middle position of the first aluminum profile, and four groups of batteries are installed on the first aluminum profile in a pairwise manner.

The invention has the beneficial effects that:

the agricultural mobile platform with the variable wheel track and the conformal vibration reduction is characterized in that a telescopic shaft is driven to extend or retract in a gear and rack mode, four-wheel independent driving and steering modes are adopted, a method of connecting a conformal vibration reducer and a driving wheel is adopted, operating environment information is collected through two navigation cameras, and after analysis of a main control board, a driver controls each motor to operate, so that the agricultural mobile platform can autonomously move along the edge of a ridge where a crop is located and autonomously adjust for different ridge widths of different crops (the range of an operating object is expanded), and the stability, the accuracy and the adaptability of the agricultural mobile platform in the traveling process are realized. In addition, the invention can be carried with different agricultural robots to carry out operations such as spraying, fertilizing, harvesting and the like on ridge crops with different ridge widths. The seedling bed is also suitable for seedling bed in greenhouse, and can be used for cultivating seedbeds with different sizes, thereby not only effectively improving the economic benefit of agricultural crops, but also reducing the labor burden for the majority of workers.

Drawings

Fig. 1 is a schematic perspective view of an embodiment of the present invention.

Fig. 2 is a schematic view of a variable track effect in the embodiment of the present invention.

Fig. 3 is a schematic view of a variable track module according to an embodiment of the present invention.

Fig. 4 is a schematic structural view of a telescopic shaft in the variable track module shown in fig. 3.

Fig. 5 is a second schematic structural view of the telescopic shaft in the variable track module shown in fig. 3.

Fig. 6 is a schematic view illustrating an installation structure of a driving module in the variable track module shown in fig. 3.

Fig. 7 is a schematic view of an installation structure of a transmission assembly in the driving module shown in fig. 6.

Fig. 8 is a schematic view showing the installation position of the sensor in the variable track module shown in fig. 3.

Fig. 9 is a schematic perspective view of an independent driving and steering module according to an embodiment of the present invention.

Fig. 10 is a schematic view illustrating an installation structure of an angle sensor in the independent driving and steering module shown in fig. 9.

Fig. 11 isbase:Sub>A schematic view of the structure along the linebase:Sub>A-base:Sub>A in fig. 10.

Fig. 12 is a schematic perspective view of the driving receiving rack in fig. 9.

Fig. 13 is a schematic diagram of the damping effect according to different terrains in the embodiment of the invention.

Reference numerals:

01-frame, 0101-first aluminum section bar, 0102-second aluminum section bar, 0103-third aluminum section bar, 0104-fourth aluminum section bar, 02-main electric control box, 0201-auxiliary electric control box, 03-battery, 04-navigation device, 0401-navigation camera, 0402-YZ direction rotary platform, 05-variable wheel base module, 0501-groove plate, 0502-cover plate, 0503-servo motor, 0504-worm gear reducer, 0505-worm gear reducer seat cushion, 0506-support shield, 0507-driving gear shaft, 0508-driving gear, 0509-driving gear shaft bearing, 0510-rack gear, 0511-first transmission gear shaft, 0512-first transmission gear, 0513-first transmission gear shaft bearing, 0514-second transmission gear shaft bearing 0515-second drive gear, 0516-second drive gear shaft bearing, 0517-driven gear shaft, 0518-driven gear, 0519-driven gear shaft bearing, 0520-rack, 0521-telescopic shaft, 0522-upper slide bar, 0523-upper slide table, 0524-lower slide bar, 0525-lower slide table, 0526-in-situ sensor, 0527-end sensor, 0528-position detecting piece, 06-independent drive and steering module, 0601-bearing support, 0602-stepping motor, 0603-planetary reducer, 0604-rotating shaft, 0605-hexagonal nut, 0606-elastic pad, 0607-thrust bearing, 0608-upper bearing cover, 0609-deep groove ball bearing, 0610-lower bearing cover, 0611-measuring gear wheel, 0612-angle sensor, 0613-measuring pinion, 0614-driving bearing frame, 0616-spring absorber, 0617-wheel, 0618-configuration plate, 0619-connecting plate.

Detailed Description

The following further description is made with reference to the embodiments shown in the drawings.

The agricultural mobile platform with the variable wheel track and the vibration reduction shown in the attached drawing comprises a rack 01, wheels arranged below the rack, an electric cabinet and a battery 03 (preferably a lead storage battery) arranged on the rack; the agricultural mobile platform is characterized by further comprising two variable wheel track modules 05 which are horizontally arranged at the front end and the rear end of the rack respectively and used for adjusting wheel tracks, independent driving and steering modules 06 which are slidably positioned at the two ends of each variable wheel track module respectively and are provided with wheels, and a navigation device 04 which is arranged on the upper portion of the rack and used for collecting position information of an agricultural mobile platform operation environment.

The rack shown in fig. 1 to 2 is constructed by aluminum profiles of different types and sizes, a first aluminum profile 0101 is installed along the X direction, the end part of the first aluminum profile 0101 is fixedly connected with a groove plate 0501 of a variable track module 05 to form a rectangular shape, second aluminum profiles 0102 are respectively installed at two ends of the first aluminum profile along the Z direction, third aluminum profiles 0103 are respectively installed on the second aluminum profile at the side along the Y direction, and fourth aluminum profiles 0104 are respectively installed on the second aluminum profile at the side along the X direction; the navigation device includes a YZ-direction rotating platform 0402 (a shopping item) and a navigation camera 0401 mounted on the YZ-direction rotating platform. The YZ-direction rotating platform can rotate a certain angle around the Z-axis and the Y-axis for adjusting the optimal navigation angle of the navigation camera 0401; and is fixedly connected with the middle position of the third aluminum section through a bolt. The main electric cabinet and the auxiliary electric cabinet are respectively arranged in the middle of the first aluminum profile and are fixedly connected with the fourth aluminum profile, and the four groups of batteries are respectively arranged on the first aluminum profile and are fixed with the fourth aluminum profile.

As shown in fig. 3-6; the variable track width modules 05 are arranged horizontally along the width direction of the frame (the length direction of the variable track width modules is parallel to the width direction of the frame); wherein: the groove plate 0501 is connected with the end of the first aluminum profile, the cover plate 0502 is matched with the groove plate to form a cavity of the variable wheel base module, and two ends of the cavity are slidably inserted into the telescopic shaft; the left end and the right end above the cover plate are respectively provided with a driving module, and each driving module drives the telescopic shaft through a transmission component. Two coaxial and horizontally disposed telescoping shafts 0521 are slidably inserted into the cavity via a slipway structure, with one end of each telescoping shaft extending outside the cavity for connection to an independent drive and steering module 06 (see fig. 3: one end of each telescoping shaft extends at each of the left and right ends of the cavity). The sliding table structure comprises an upper sliding strip 0522, an upper sliding table 0523 matched with the upper sliding strip, a lower sliding strip 0524 and a lower sliding table 0525 matched with the lower sliding strip; the upper sliding strip is arranged at the upper end of the telescopic shaft, the upper sliding table is arranged on the lower side surface of the cover plate, and the sliding direction of the upper sliding strip is consistent with the length direction of the telescopic shaft; two lower sliding strips are arranged at the lower end of the telescopic shaft, two lower sliding platforms are arranged on the surface of the bottom end of the groove plate, and the sliding direction of the lower sliding strips is consistent with the length direction of the telescopic shaft. Above slip table structure can guarantee that the telescopic shaft can stretch out and draw back the translation motion with more level and smooth mode when the atress. As can be seen from fig. 7 and 8: two parallel racks 0520 are symmetrically arranged on two sides of the telescopic shaft in the width direction.

The driving module consists of a servo motor 0503 and a worm and gear reducer 0504 and is used for providing power for driving the telescopic shaft; the drive module is mounted on the support shield 0506 via a worm gear reducer seat 0505. The supporting protective cover is arranged on the cover plate; the transmission assembly (see fig. 7) is mounted in the support shield, and the support shield provides support and protection for the transmission assembly. The transmission assembly comprises a driving gear shaft 0507 provided with the driving gear 0508, a first transmission gear shaft 0511 provided with a first transmission gear 0512, a second transmission gear shaft 0514 provided with a second transmission gear 0515, a driven gear shaft 0517 provided with a driven gear 0518 and two rack gears 0510 arranged at the lower ends of the driving gear shaft and the driven gear shaft; each gear shaft is vertically installed on the supporting shield through corresponding gear shaft bearings (a driving gear shaft bearing 0509, a first transmission gear shaft bearing 0513, a second transmission gear shaft bearing 0516 and a driven gear shaft bearing 0519).

As shown in fig. 6 to 7, the output shaft of the worm gear reducer passes through the support shield downwards and is connected with the driving gear shaft (preferably, connected through a coupling) so as to drive the driving gear; the driving gear is meshed with the driven gear after passing through the first transmission gear and the second transmission gear in sequence, so that the driving gear and the driven gear have the same rotating speed and opposite directions; and rack gears 0510 arranged at the lower ends of the driving gear shaft and the driven gear shaft can be meshed with corresponding racks 0517, so that the telescopic shafts are driven to horizontally move in the width direction of the moving platform. When the two telescopic shafts in each variable wheel track module move oppositely, the two independent driving and steering modules with wheels approach each other; when the two telescopic shafts in each variable track module move back and forth, the two independent driving and steering modules with wheels move away from each other.

Further, in order to ensure structural stability of the moving platform, home sensors 0526, last sensors 0527 (see fig. 8) are installed on the groove plate corresponding to each telescopic shaft. The primary and final sensors are used for detecting the maximum distance-changing position of the telescopic shaft during wheel track changing and the position information during resetting; position detection piece 0528 is installed to the telescopic shaft afterbody, and when the telescopic shaft was at home position, the position was surveyed the piece and is in the normal position sensor. The telescopic shaft can extend outwards for a plurality of lengths according to operation requirements, then the driving module stops power output, and the telescopic shaft is fixed by utilizing the self-locking property of the worm gear reducer so as to prevent sliding; in order to ensure the structural stability of the mobile platform, the linear distance between the original position sensor and the final position sensor is 2/3 of the length of the telescopic shaft, and when the position detection sheet reaches the final position sensor, the telescopic shaft reaches the maximum variable-pitch position.

As shown in fig. 9 to 12, the top end of the independent driving and steering module 06 is a load carrier 0601 connected to the telescopic shaft through a bolt, and a step motor 0602 for providing steering power is installed in the load carrier in cooperation with a planetary reducer 0603. The driving bearing frame 0614 is provided with a vertically arranged rotating shaft 0604 through bearing assemblies (comprising a thrust bearing 0607, an upper bearing end cover 0608, a deep groove ball bearing 0609 and a lower bearing end cover 0610, wherein the thrust bearing 0607, the upper bearing end cover 0608, the deep groove ball bearing 0609 and the lower bearing end cover 0610 are sequentially arranged at the bottom of the bearing frame and used for bearing axial force, the deep groove ball bearing is used for bearing radial force, and the lower bearing end cover is arranged on the driving bearing frame 0614), the upper end of the rotating shaft is provided with external threads, and the rotating shaft is fixed on the bearing frame through a hexagon nut 0605 and an elastic cushion 0606 and coaxially matched with an output shaft of the planetary reducer. Thereby realizing the connection and the relative rotation of the bearing bracket and the drive bearing bracket through the bearing assembly. An angle sensor 0612 is further installed on the bearing support, a measuring pinion 0613 is fixed on an input shaft of the angle sensor, a measuring gearwheel 0611 is fixed at the upper end of the rotating shaft, and the gearwheel is meshed with the pinion; when the output shaft of the planetary reducer drives the rotating shaft to rotate, the large gear is meshed with the small gear, and the angle sensor detects the rotating angle of the rotating shaft and transmits a signal to the main control board.

As shown in fig. 9 and 12, the drive receiving frame is provided with a pair of compliant vibration dampers for improving the driving smoothness of the agricultural mobile platform. The wheel hub motor driving wheel 0617 is connected with the driving bearing frame 0614 through a parallelogram mechanism, and the conformal vibration absorber is arranged between the wheel hub motor driving wheel and the driving bearing frame. As can be seen from fig. 12: the driving bearing frame, the configuration plate 0618 and the two connecting plates 0619 which are arranged in parallel form a parallelogram mechanism through hinging; two ends of two conformal vibration absorbers which are parallel to each other are hinged with the driving bearing frame and the configuration plate respectively, and the driving wheel of the hub motor is fixed on the configuration plate through a bolt. Therefore, the axis of the driving wheel of the hub motor is always parallel to the horizontal plane in the driving process. The shape-adapted damper is a commercially available spring damper 0616 for absorbing impact from a road surface, and when the wheel passes through a road surface in a concave or convex state, an inner spring of the spring damper filters vibration of the road surface by being stretched or compressed, thereby improving driving stability.

The main electric cabinet and the auxiliary electric cabinet are arranged and fixed on the rack, and are provided with a main control board for receiving, processing and issuing command information, a driver for controlling the motion of each motor, a data box for receiving the information of each sensor, a position module for receiving the position information of the navigation camera, a remote control module for adapting remote control operation and an energy module for distributing batteries. The main control board is arranged in the main control electric cabinet, the main control electric cabinet is also provided with a function button for starting, stopping and continuing by one key and an emergency stop button, and when the emergency stop button is pressed, the whole mobile platform is powered off; the driver, the data box, the position module, the remote control module and the energy module are arranged in the auxiliary electric cabinet; all the devices carry out information interaction through various data lines (wired and wireless). The data box, the position module, the remote control module, the energy module, the driver and the main control board are outsourcing parts which can be directly applied, so the working principle is not detailed one by one.

The agricultural mobile platform with the variable wheel track and the conformal vibration reduction can be applied to planting scenes of various ridge crops in dry land, and can finish the links of spraying, fertilizing, harvesting and the like of the crops by carrying different operation devices on the agricultural platform. Besides, the agricultural mobile platform is suitable for the outdoor and greenhouse seedling raising scenes, and shows great adaptability. The four independent driving and steering modules can realize clockwise and anticlockwise 90-degree rotation. The mobile platform can also realize the effects of autonomous forward and backward and left and right translation movement through the independent driving and rotating module, so as to meet different scenes encountered in the operation process.

The operation process of the invention comprises the following steps:

the method comprises the following steps: the agricultural mobile platform can be moved to an operation area by a remote control module on the early-stage road surface, and the autonomous walking mode is switched after relevant operation preparation is made;

step two: the navigation camera acquires the crop ridge width and ridge distance information and sends the crop ridge width and ridge distance information to the main control board, the main control board sends an instruction to the driver according to the received information, and the driver controls the corresponding motor to enable the agricultural mobile platform to stably advance along the direction of the ridge;

step three: when the agricultural mobile platform autonomously moves to the tail end of the ridge, under the condition that the field allows, the forward direction X is taken as the front, the right front wheel and the left rear wheel rotate 90 degrees anticlockwise, the left front wheel and the right rear wheel rotate 90 degrees clockwise, the agricultural mobile platform is translated to the next ridge, the four wheels are reset after the agricultural mobile platform is translated, and the operation is continued in the reverse direction; if the field is not allowed, directly returning along the ridge in the reverse direction, returning to the initial position, then translating, continuing to operate along the next ridge, and repeating the operation;

step four: when the agricultural platform detects that the wheel distance needs to be changed through a navigation camera, the right front wheel and the left rear wheel rotate 90 degrees anticlockwise, the left front wheel and the right rear wheel rotate 90 degrees clockwise, under the driving of a servo motor in the wheel distance changing module, the four wheels move for a plurality of distances along the direction of a telescopic shaft, namely the Y direction, so that the four wheels adapt to the width of a ridge of a crop, and when the wheel distance is changed, the four wheels reset;

step five: in the agricultural mobile autonomous movement driving process, the main control board can control the steering motor to automatically adjust the yaw phenomenon in the driving process through the driver according to the position information transmitted by the navigation camera;

step six: the agricultural mobile platform adapts to different ridge widths through variable wheel track, changes in translation through the steering module, switches to different ridges to continue operation, and repeats the operation until all the ridge operations are finished.

Claims

1. A variable wheel track and conformal vibration reduction agricultural mobile platform comprises a rack (01), wheels (0617) arranged below the rack, an electric cabinet and a battery (03) arranged on the rack; the method is characterized in that: the platform further comprises two variable wheel track modules (05) which are horizontally arranged at the front end and the rear end of the rack respectively and used for adjusting wheel tracks, independent driving and steering modules (06) which are slidably positioned at the two ends of each variable wheel track module respectively and are provided with wheels, and a navigation device (04) which is arranged at the upper part of the rack and used for collecting position information of the agricultural mobile platform.

2. A variable track and compliant vibration damped agricultural mobile platform according to claim 1, characterized in that: the variable wheel track module comprises a cavity formed by a cover plate (0502) and a groove plate (0501) and connected to the frame, two telescopic shafts (0521) which are positioned in the cavity in a sliding mode through a sliding table structure and are coaxially arranged, two driving modules which are respectively installed at the top end of a supporting protective cover (0506) on the upper side of the cover plate, and two transmission assemblies which respectively transmit the power of the driving modules to the corresponding telescopic shafts.

3. A variable track and compliant vibration damped agricultural mobile platform according to claim 2, characterized in that: the transmission assembly comprises a driving gear (0508) driven by the driving module and a driven gear (0518) driven by the driving gear, and each gear shaft in the transmission assembly is respectively arranged on the cover plate through a bearing and is surrounded and protected by the supporting protective cover (0516); the driving gear shaft and the driven gear shaft further penetrate through the cover plate downwards to be connected with a rack gear (0510) respectively.

4. A variable track and compliant vibration damped agricultural mobile platform according to claim 3, characterized in that: the upper side and the lower side of the telescopic shaft are respectively fixed with a sliding strip parallel to the length direction of the telescopic shaft, and the inner side surface of the cover plate and the bottom surface of the groove plate are respectively fixed with two sliding tables in sliding fit with the sliding strips one by one.

5. A variable track and compliant vibration damped agricultural mobile platform according to claim 4, wherein: two parallel racks (0520) are symmetrically arranged on two sides of the telescopic shaft in the width direction and are respectively meshed with a rack gear connected with the driving gear and the gear shaft of the driven gear one by one.

6. A variable track and compliant vibration damped agricultural mobile platform according to claim 5, characterized in that: the driving module comprises a worm and gear reducer (0504) mounted on the support shield and a servo motor (0503) driving the worm and gear reducer; and an output shaft of the worm gear speed reducer vertically extends downwards into the supporting protective cover to perform power transmission with the driving gear shaft.

7. A variable track and compliant vibration damped agricultural mobile platform according to claim 6, wherein: the independent driving and steering module comprises a bearing support (0601) with the top end fixed with the end part of the telescopic shaft, a driving bearing frame (0614) capable of being positioned at the bottom end of the bearing support in a rotating mode around a vertical axis, a stepping motor (0602) positioned on the bearing support, a planetary reducer (0603) driven by the stepping motor and driving the driving bearing frame to rotate, and a quadrilateral driving assembly which is arranged at the lower part of the driving bearing frame and provided with wheels.

8. A variable track and compliant vibration damped agricultural mobile platform according to claim 7, characterized in that: the quadrilateral driving component comprises a driving bearing frame (0614), two connecting plates (0619) and a configuration plate (0618) which are hinged end to end in sequence through hinges to form a parallelogram mechanism, and a conformal shock absorber with two ends hinged with the driving bearing frame and the configuration plate respectively; the wheel is a wheel hub motor driving wheel connected with the configuration plate.

9. A variable track and compliant vibration damped agricultural mobile platform according to claim 8, wherein: an in-situ sensor (0526) and a last sensor (0527) for detecting the extension length of each telescopic shaft are installed on the inner wall of the cavity, and a position detecting piece (0528) matched with the in-situ sensor and the last sensor is installed at the tail of each telescopic shaft to ensure the structural stability of the mobile platform; and an angle sensor (0612) for detecting the rotation angle of the bearing support is arranged on the bearing support.

10. A variable track and compliant vibration damped agricultural mobile platform according to claim 9, wherein: the main electric control box is provided with a main control board which is electrically connected with each motor driver, each sensor data box and each camera, and the auxiliary electric control box is provided with each motor driver, each sensor data box, a position module, a remote control module and an energy module.