Abstract: A combine harvester for seed production and multiplication of grains with automatic cleaning function includes a machine body. The machine body includes a header for harvesting grain plants, and a cleaning device mounted on the header for cleaning the header. The cleaning device includes a controller connected to both a blowing mechanism and a material collecting box mechanism via signals. The blowing mechanism is employed to allow for automatic cleaning of the header without the need to shut down the machine; and seeds and other residues blown out during the cleaning can be recovered through the material collecting box mechanism, avoiding waste.

Abstract: The present disclosure provides a navigation method and system for caterpillar-type agricultural machinery during loss of a navigation real-time kinematic (RTK) signal, falling within the technical field of vehicle navigation. The method includes the steps of: S1, acquiring operation parameter information about the caterpillar-type agricultural machinery before signal loss, and adjusting a state of the caterpillar-type agricultural machinery based on the operation parameter information; and S2, calculating an operation deviation amount after adjusting the state of the caterpillar-type agricultural machinery for a time t. In the present disclosure, deviation operation caused by signal loss during large-scale operation of agricultural machinery can be improved, and problems in regional scale planting can be prevented.

Abstract: A modeling method for a low-loss transport technology with directed force application and slow landing is provided, including determining relevant parameters, such as friction coefficients between a crop and grid bars, performing theoretical analysis, modeling an auxiliary device for simulating a motion trail of the crop, and modeling a three-dimensional diagram according to structural parameters. In this way, the crop and the soil are effectively separated, and situations, such as high surface scratching rate and internal bruising caused due to a motion manner of a conventional low-loss transport device with directed force application and slow landing, in a separation process of the crop and the soil is greatly reduced.

Abstract: Disclosed is an automatic row-guiding method for maize combine harvester based on the situation of missing plants, comprising: S1, guiding calculation of missing plants according to a traveling speed of a harvester and output values of left and right detecting sensors; and S2, performing guiding calculation of missing plants if there is a situation of missing plant, obtaining a first target turning angle of an electric steering wheel; or obtaining a second target turning angle according to the output values of the left and right detecting sensors if there is no situation of missing plant, then adjusting the steering wheel in terms of controlling direction, and finally, realizing automatic row-guiding of the combine harvester.

Abstract: Disclosed is an automatic row-guiding method for maize combine harvester based on the situation of missing plants, comprising: S1, guiding calculation of missing plants according to a traveling speed of a harvester and output values of left and right detecting sensors; and S2, performing guiding calculation of missing plants if there is a situation of missing plant, obtaining a first target turning angle of an electric steering wheel; or obtaining a second target turning angle according to the output values of the left and right detecting sensors if there is no situation of missing plant, then adjusting the steering wheel in terms of controlling direction, and finally, realizing automatic row-guiding of the combine harvester.

Abstract: The invention discloses an estimation method and estimator for sideslip angle of straight-line navigation of agricultural machinery, which collect and analyze front wheel steering angle information, forward speed information of agricultural machinery, antenna positioning information and current attitude information. The estimation of sideslip angle is realized based on state observation theory. The first estimator, the second estimator and the third estimator are used to estimate the heading deviation of the vehicle body, position deviation and sideslip angle information. In the analysis process, integration is used instead of differentiation, which avoids the error of amplification by differential operation.