Innovative Design of Desert Bean-Sowing Agricultural Machinery with Full-Domain Automatic Cruise

To address the problems of wheeled chassis sinking in sandy soil, insufficient wind-sand protection structures, low automation level and poor seeding uniformity during desert legume seeding operations, this paper designs a pure electric desert bean seeder with full-domain autonomous cruise. The whole machine adopts a triangular bionic crawler chassis and is powered by a 76.8 V/155 Ah lithium iron phosphate battery pack. A VCU coordinates a 5 kW permanent magnet synchronous motor, electric push rods, and a DCDC/PDU integrated power distribution system to construct a pure electric drive-by-wire chassis. It integrates a multi-sensor fusion perception system consisting of BeiDou RTK-GNSS, an IP68-rated gyroscope and millimeter-wave radar to realize full-domain path planning and unmanned cruising. The seeding unit adopts a pneumatic precision seed metering device and an active profiling depth control mechanism, which completes furrow opening, seed dropping, soil covering and pressing in a single pass. Parameter matching is carried out based on Bekker's theory, RecurDyn and EDEM simulations. The control system complies with standard T/CAAMM 348-2024 and establishes a three-tier “perception-decision-execution” architecture and a four-layer “data-cloud-end” management framework. Through collaborative optimization of crawler travelling, precision seeding and active depth control, the design achieves a target lateral navigation error of 5 cm and a seeding depth fluctuation of ±5 mm. This work provides a complete mechanical and electronic control solution for intelligent desert seeding equipment.