Impurity rate is one of the key performance indicators of the rice combine harvester and is also the main basis for parameter regulation. At present, the tracked rice combine harvester impurity rates cannot be monitored in real time. Due to the lack of parameter regulation basis, the harvest working parameters are set according to the operator’s experience and not adjusted during the operation, which leads to the harvest quality fluctuating greatly in a complex environment. In this paper, an impurity-detection system, including a grain-sampling device and machine vision system, was developed. Sampling device structure and impurity extraction algorithm were studied to enhance the impurity identification accuracy. To reduce the effect of impurity occlusion on visual recognition, an infusion-type sampling device was designed. The sampling device light source form was determined based on the brightness histogram analysis of a captured image under different light irradiations. The effect of sampling device structures on impurity visualization, grain distribution, and mass flow rate was investigated by the discrete element method (DEM). The impurity recognition algorithm was proposed based on Mask R-CNN, which mainly includes an impurity feature extraction network, an ROI generation network, and a target segmentation network. The test set experiment showed that the precision rate, recall rate, average precision, and comprehensive evaluation indicator of the impurity recognition model were 92.49%, 88.63%, 81.47%, and 90.52%, respectively. The conversion between impurity pixel number and its actual mass was realized according to the pixel density calibration test and impurity rate correction factor. The bench test result showed that the designed system has a good detection accuracy of 91.15~97.26% for the five varieties. The result relative error was in a range of 5.71~11.72% between the impurity-detection system and manual method in field conditions. The impurity-detection system could be applied to tracked rice combine harvesters to provide a reference for the adjustment of operating parameters.

Gridded concave plate sieves are usually used for threshing operations of grain and oilseed crops. In response to the problems of high threshing loss rate and grain breakage rate when threshing oilseed rape, this research modified the threshing concave plate of oilseed rape (Brassica napus L.) harvesters to improve the performance and efficiency of oilseed rape separation. The improved threshing concave plate adopts a 360° wrap angle, and a guide plate with an adjustable inflow angle is designed on the inner side of the concave plate. The optimal combination of parameters for the threshing device is determined by simulation analysis and field testing. Single-factor simulations of the threshing cylinder speed and guide plate angle are carried out using EDEM, which showed that both are influencing factors for the force and speed of the oilseed rape particles. A three-factor and three-level orthogonal experiment was undertaken to validate the simulation analysis further. The threshing cylinder speed, concave plate speed, and guide plate angle were influencing factors. The threshing loss rate and grain breakage rate are evaluation indicators. The field validation tests are carried out on concave plates with 180° wrap angle and 360° wrap angle, the results showed that the concave plate with 360° wrap angle reduces the threshing loss rate by 4.25%, the grain breakage rate by 0.93%, and improved the harvesting efficiency by 0.31 km/h when the threshing cylinder speed was 81.89 rad/s, concave plate speed was 9.34 rad/s, and guide plate angle was 40°. This study demonstrates that the concave plate with a 360° wrap angle has better performance and operational efficiency, and it provides design ideas for threshing devices for other crop combine harvesters.

As one of the core working parts of a combine harvester, the cleaning device directly affects the operation performance of the whole machine. This is especially the case on hilly and gently sloping terrain, which, due to the uneven ground, causes the combine harvester body to incline and material to accumulates on one side, resulting in a high cleaning loss rate. To solve this problem, a self-leveling cleaning screen device and a control system based on a fuzzy PID control algorithm are developed for a caterpillar harvester, enabling it to operate on gentle slopes of 10°. To verify the performance of the fuzzy PID algorithm applied to this system, simulation tests, response tests, comparison tests, and field tests were carried out. The indoor test results show that the system has a good tracking effect when the inclination amplitude does not exceed 10°. The maximum leveling error is −0.62°, the maximum leveling time is 1.85 s, and the maximum overshoot is 1.5°. The field test results show that when the tilt angle of the harvester body is within 10°, the system can stabilize the real-time leveling of the cleaning screen. Even with an increase in the tilt angle of the harvester, the cleaning loss of the harvester installed with the automatic leveling system can still be maintained at a low level. The cleaning loss rate of the harvester is 1.2% higher after leveling than during flat operation, which meets the accuracy requirements of the system design. Therefore, this system can be applied to grain combine harvesters and effectively reduce the cleaning loss caused by their operation.

The discrete element method (DEM) is an effective technical tool for simulating the dynamic behavior of granular materials in agricultural engineering. However, most of the agricultural materials, such as rape stems, are flexible bodies, and it is difficult to simulate their elastic-plastic characteristics such as bending and failure using the rigid discrete element model. In this research, a flexible DEM model for rape stems was developed and the related parameters were calibrated. The proposed model consists of sequentially arranged rigid units, which were bonded together by the Hertz–Mindlin bonding contact model in the EDEM. The range of the contact parameters of a rape stem was first determined by bench test. The rape stem repose angle test was carried out as an evaluation indicator for the calibration of the DEM contact parameters. The significant factors affecting the repose angle in the contact parameters were discovered using the Plackett–Burman simulation test, and the optimal combination of these parameters was determined based on the response surface simulation test. The rape stem repose angle simulation result was 26.55° with a relative error of 2.2% for the physical tests. The rape-stem flexible DEM model’s bonding parameters were calibrated based on a three-point bending physical test and a Box–Behnken simulation test. The test results show that a rape stem’s maximum damage force obtained from the constructed model was 16.76 N, and the relative error of the measured values from the physical tests was 3.5%. The flexible DEM model could demonstrate the deformation and fracture of rape stems under an external force and can be used for the simulation of harvesting processes such as cutting, conveying, and threshing.

Due to the commitment to the target of green mechanized production and precision agriculture, the operating parameters of the main functional components of a combine harvester need to be adjusted according to the feeding quantity. Therefore, feeding quantity monitoring is one of the key technologies of intelligent control for a combine harvester. In order to obtain the accurate information of feeding quantity in the harvesting operation process in real time, a monitoring system was set up to obtain the accurate information of feeding quantity in real time. The torque signal corresponding to different feeding quantity was obtained through bench calibration experiments. The signal was decomposed, noise reduced, and reconstructed through the analysis of the frequency range of the noise based on the wavelet transform. A fitting relationship between the torque and the feeding quantity was obtained. Field validation experiment results showed good consistency of the measured data and the actual quantity. This paper provides a theoretical basis and technical reference for subsequent research on intelligent control of combine harvesters.

Rape undersowing rice is an effective method to solve the problem of short crop rotation in rice-rape rotation. Applying of ground fertilizer to rape is one of the most critical aspects in this planting pattern. However, a special fertilizer spreading is required after the rice is harvested, which increases the labor intensity and the compaction of rape and soil and is also hindered by a lack of equipment to complete the harvesting and fertilizer spreading simultaneously. In response to the above issues, a centrifugal disc spreader on a tracked combine harvester for rape undersowing rice was developed. The basic parameters of the spreader were designed based on the agronomic requirements for fertilization and tracked combine harvester. Kinematic and kinetic models of fertilizer particles were developed to determine the key parameters that affect fertilizer spreading. Based on discrete element simulations, the effects of single structure and interaction of centrifugal disc spreader on fertilizer distribution pattern were investigated. The spreading range and coefficient of variation of fertilizer lateral distribution regression models were constructed, and the spreader parameters were optimized based on the regression models. The simulation results and fertilizer spreading performance were verified by bench tests. The results show that the distribution of fertilizer from simulation tests and bench tests was consistent. The coefficient of variation of fertilizer lateral distribution was 13.1% for the simulation test and 14.6% for the bench test. The error of simulation test was 10.3%, which indicates that the simulation result was reliable. The developed centrifugal disc spreader can meet the needs of fertilizer spreading for rape undersowing rice. The results serve as a theoretical basis for the design of a fertilizer spreader and provide new ways to promote accurate and efficient spreading of fertilizer.