To increase the cutting efficiency for castor stem, the castor harvester cutting device was developed. The structure of the disc cutting device was designed. Cutting blade angle, sufficient working and minor cutting edge lengths were determined, which were 20°, 73 mm and 19.8 mm, respectively. The finite element model of disc cutter for castor stem was established. The incision volume was selected as the cutting performance evaluation index. The cutting process of the cutter was simulated. The results show that the cutting performance of the trapezoidal cutter is preferable to that of the rectangular and the curved cutters. When cutting blade cuts the stem, the volume of the incision decreases first and then increases, and the size of the incision increases with the increase of cutting edge angle. When the blade angle is 10°, the cutter has the ideal cutting quality. Considering the blade angle, the slip angle, and the angle of the cutter head as factors, the virtual test of the cutter was made with the incision volume as the index. The response surface analysis was used to obtain the cutter structure parameters when the incision volume was the least. The result for the blade, slip and cutter head inclination angles are 14.06°, 19.93°, and 10.54°, respectively. The cutting efficiency evaluation index (one-time cutting) was established to optimize the cutter running parameters. The results show that when the cutter moving speed was 1.011 m/s and the cutter rotation speed was 282.0 r/min, the maximum cutting efficiency is 2.25 castor stems/s.

In the field of conservation tillage, no-till seeding technology has emerged as an efficient and environmentally friendly form of agricultural production. It is increasingly recognized as a crucial avenue toward sustainable agricultural development. This study focuses on the research of no-till seeding technology, specifically analyzing the technical characteristics of no-till seeders, their principles of operation, and their application. No-till planters are designed to either minimize or eliminate soil tillage. When paired with precision seeding technology, they can significantly reduce soil erosion, promote soil and water conservation, reduce agricultural production costs, and ensure optimal growing conditions for crops. No-till seeding breakers play a critical role in resolving the stubble-breaking issue that is inherent in no-till seeding technology. The integration of no-till planters with stubble breaker knife technology can substantially improve the adaptability and operational efficiency of no-tillage operations under conservation tillage scenarios. This progress offers indispensable technical backup, which not only aims to ramp up food production levels but also contributes agro-ecological protection of the environment.

Accurate obstacle detection and proper behavior planning are key factors in the success of transmission line inspection robots. To achieve the autonomous location and identification of line obstacles in the operation of transmission line inspection robots, we propose a method in which information from various sensors is used to control a robot such that it can reliably and stably approach, locate, and identify obstacles. The accuracy and real-time requirements of obstacle information in the autonomous operation of the inspection robot are analyzed, a multi-sensor integrated structure for line obstacle location and identification is proposed, and an obstacle location and identification algorithm is designed for each stage. The principle of monocular vision ranging is used to control the robot such that it approaches obstacles and enters the short-range location stage, where the reliable location of obstacles is achieved via collision-encoder-current sensor data fusion. Obstacles are identified and the identification results are combined with those of the approaching rolling phase. The robot state vector is constructed according to the obstacle detection information and information measured by the robot sensors. Based on the current state vector, combined with the robot obstacle surmounting process, an obstacle surmounting behavior planning method based on multi-sensor fusion is implemented. Experiments were conducted using laboratory-simulated lines to verify the effectiveness of the proposed method for obstacle detection and behavior planning during transmission line inspection.