Unmanned terrain self-adaptive profiling header device of seed harvesting machine

Abstract

The invention discloses an unmanned terrain self-adaptive profiling header device of a seed harvesting machine, and relates to the field of agricultural machinery. An unmanned terrain self-adaptive profiling header device of a seed harvesting machine comprises data sensing modules which are arranged at the front ends of the two sides of a header mechanism and used for collecting data of a profiling angle, a header angle, a vehicle body inclination angle and a vehicle speed in advance; the data processing and decision-making module is used for converting a profiling angle into a profiling height, triggering a corresponding control mode according to a profiling height difference, a vehicle body inclination angle change rate and a header angle difference, generating a PID (Proportion Integration Differentiation) parameter through a permutation and combination algorithm, and outputting a control signal in combination with an integral separation type PID control algorithm; compared with traditional header bottom profiling feedback, topographic changes can be known in advance, the ground contact probability of the front end of the header can be reduced, the header maintenance frequency is reduced, the service life of key components such as a cutter and a profiling mechanism is prolonged, crops are prevented from being ground-contacted and rolled, the seed harvesting rate is increased, and field loss is reduced.

Description

Technical Field

[0001] This invention belongs to the field of agricultural machinery technology, specifically, it relates to a terrain-adaptive contour-following header device for unmanned seed harvesting machinery. Background Technology

[0002] In the process of modern agricultural development, the efficiency and quality of seed harvesting operations directly affect agricultural production benefits. As a key component of seed harvesting machinery, the terrain-adaptive contour-following header adapts to different terrains by adjusting the height and angle of the header, which is of great significance for improving harvesting results. With the development of agricultural intelligence and unmanned operation, the requirements for automation and precision of the terrain-adaptive contour-following header are becoming increasingly stringent.

[0003] However, in practical applications, existing terrain-adaptive contour-following headers rely on real-time feedback adjustment from the contour-following mechanism at the bottom of the header, resulting in significant adjustment lag. This leads to large fluctuations in stubble height and makes it difficult to guarantee the quality of operation. When encountering sudden changes in terrain, the header front is prone to touching the ground due to the inability to adjust the height in time, which not only damages the equipment but also causes crop loss. When facing complex terrains such as hills and terraces, existing headers are insufficient in sensing subtle changes in terrain, have slow adjustment responses, and are difficult to operate stably. In view of this, this invention is proposed. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to overcome the shortcomings of the prior art and provide a terrain-adaptive contour cutting platform device for unmanned seed harvesting machinery that can overcome or at least partially solve the above problems.

[0005] To solve the above-mentioned technical problems, the basic concept of the technical solution adopted by this invention is: a terrain-adaptive contour-following header device for unmanned seed harvesting machinery, comprising: a data sensing module, set at the front ends of both sides of the header mechanism, used to collect contour angle, header angle, vehicle tilt angle, and vehicle speed data in advance; a data processing and decision module, used to convert the contour angle into contour height, trigger corresponding control modes based on the contour height difference, vehicle tilt angle change rate, and header angle difference, generate PID parameters through permutation and combination algorithms, and output control signals in combination with integral separation PID control algorithms; an execution control module, used to adjust the height and tilt angle of the header mechanism through proportional solenoid valves and hydraulic cylinders according to the control signals; and an information feedback and display module, used to receive sensor data and visualize it.

[0006] Furthermore, the data perception module includes a terrain perception unit, an attitude monitoring unit, and a motion parameter unit; the terrain perception unit uses a contour sensor to detect in real time the contour angles of the contour mechanisms on both sides of the bottom of the cutter mechanism as the terrain changes, and converts them into contour height data; the attitude monitoring unit includes a cutter rotation sensor and a vehicle tilt sensor, which are used to acquire the real-time angle of the cutter mechanism and the vehicle attitude information, respectively; the motion parameter unit collects the harvester's travel speed data through a vehicle speed sensor.

[0007] Furthermore, the contour sensor includes a fixed shaft, a mounting rod, a sensing wheel, a pressure sensor, and a tension spring. The header mechanism is mounted on the harvester. The fixed shaft is symmetrically fixedly connected to both sides of the header mechanism. The mounting rod is rotatably connected to the fixed shaft. The end of the mounting rod away from the fixed shaft is located at the front end of the header mechanism and is fixedly connected to a support. The sensing wheel is rotatably connected to the support. Fixed plates are symmetrically fixedly connected to both sides of the header mechanism. The pressure sensor is fixedly connected to the lower end of the fixed plate. The tension spring is fixedly connected to the monitoring end of the pressure sensor. The other end of the tension spring is fixedly connected to the adjacent mounting rod.

[0008] Furthermore, the sensing wheel is a rubber wheel, used to cushion ground impacts and reduce instantaneous pressure fluctuations on the pressure sensor.

[0009] Furthermore, when the contour height difference is greater than a first preset value, the data processing and decision-making module arranges and combines the height difference range and the vehicle speed range to generate PID parameters, outputs PWM values ​​through integral separation PID control calculation, and adjusts the height of the cutting platform mechanism through a hydraulic cylinder.

[0010] Furthermore, when the rate of change of the vehicle body tilt angle is greater than the second preset value, the data processing and decision-making module combines the tilt angle change rate range with the vehicle body tilt angle range to adjust the PID parameters, thereby achieving rapid response control of the height of the cutting platform mechanism.

[0011] Furthermore, when the angle difference of the cutting platform is greater than a third preset value, the data processing and decision-making module combines the height difference range, angle difference range, and vehicle speed range to generate PID parameters to control the tilt angle adjustment of the cutting platform mechanism.

[0012] Furthermore, the execution control module adjusts the height of the cutting platform mechanism through a second proportional solenoid valve and a cutting platform lifting hydraulic cylinder, and adjusts the tilt angle of the cutting platform mechanism through a first proportional solenoid valve and a cutting platform rotating hydraulic cylinder.

[0013] Furthermore, the information feedback and display module receives and visualizes the data from the height sensor of the cutting platform mechanism and the vehicle body tilt sensor via the CAN bus.

[0014] After adopting the above technical solution, the present invention has the following beneficial effects compared with the prior art: The present invention adds a pre-sensing structure consisting of an installation rod, a sensing wheel, a tension spring, and a pressure sensor to the front end of the header. The sensing wheel contacts the ground first, and the terrain undulation causes the installation rod to rotate around a fixed axis, pulling and pressing the tension spring so that the pressure sensor can capture the mechanical signal. The terrain change is converted into an electrical signal for transmission in advance. Compared with the traditional method of relying solely on the contour feedback of the bottom of the header, terrain changes can be known in advance. The data processing and decision-making module starts adjustment before the terrain affects the header based on the pre-sensing data. Combined with the integral separation PID control algorithm, the header height adjustment response speed is faster, ensuring the uniformity of harvest quality and reducing seed waste and subsequent cleaning burden caused by uneven stubble cutting.

[0015] This device's pre-sensing structure detects the terrain in advance. When the sensing wheel encounters a protrusion, the mounting rod rises to compress the tension spring, the pressure sensor provides rapid feedback, and the data processing module triggers height adjustment in advance, causing the header to rise before reaching the protrusion. When encountering a depression, the mounting rod swings down to stretch the tension spring, and the pressure signal causes the header to descend in advance. Through this prediction and pre-adjustment mechanism, the probability of the header's front end touching the ground is reduced, decreasing the frequency of header maintenance, extending the lifespan of key components such as the cutter and contouring mechanism, and preventing crops from being crushed due to contact with the ground, thus improving seed harvesting rate and reducing field losses.

[0016] This device's pre-sensing and pre-adjustment system can autonomously respond to terrain changes without human intervention. The data processing and decision-making module automatically completes parameter calculations and outputs control commands, while the execution control module precisely adjusts the height and tilt angle. The information feedback and display module presents operational data in real time, providing a stable and reliable cutter head adaptation guarantee for the unmanned driving system. This promotes the upgrade of seed harvesting from manual assistance to fully autonomous unmanned operation, reduces labor intensity, and improves agricultural production efficiency and intelligence.

[0017] The specific embodiments of the present invention will now be described in further detail with reference to the accompanying drawings. Attached Figure Description

[0018] In the attached diagram: Figure 1 This is a block diagram of the module structure of the present invention; Figure 2 This is a flowchart illustrating the system steps of the present invention; Figure 3 This is a schematic diagram of the structure of the present invention. Figure 1 ; Figure 4 This is a schematic diagram of the structure of the present invention. Figure 2 ; Figure 5 For the present invention Figure 4 A schematic diagram of the structure of part A.

[0019] In the diagram: 1. Harvester; 2. Cutting head mechanism; 201. Fixed shaft; 202. Mounting rod; 203. Support; 204. Sensing wheel; 205. Fixing plate; 206. Pressure sensor; 207. Tension spring. Detailed Implementation

[0020] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments will be clearly and completely described below with reference to the accompanying drawings. The following embodiments are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0021] Example: Refer to Figures 1-5 The image shows a terrain-adaptive contour-following header device for unmanned seed harvesting machinery, comprising: a data sensing module, located at the front ends of both sides of the header mechanism 2, for pre-collecting contour-following angle, header angle, vehicle tilt angle, and vehicle speed data; a data processing and decision-making module, for converting the contour-following angle into contour-following height, triggering corresponding control modes based on the contour-following height difference, vehicle tilt angle change rate, and header angle difference, generating PID parameters through a permutation and combination algorithm, and outputting control signals by combining an integral separation PID control algorithm; an execution control module, for adjusting the height and tilt angle of the header mechanism 2 through proportional solenoid valves and hydraulic cylinders according to the control signals; and an information feedback and display module, for receiving sensor data and visualizing it.

[0022] The data perception module includes a terrain perception unit, an attitude monitoring unit, and a motion parameter unit. The terrain perception unit uses contour sensors to detect the contour angles of the contour mechanisms on both sides of the bottom of the cutter head mechanism 2 as the terrain changes, and converts them into contour height data. The attitude monitoring unit includes a cutter head rotation sensor and a vehicle body tilt sensor, which are used to acquire the real-time angle and attitude information of the cutter head mechanism 2, respectively. The motion parameter unit collects the travel speed data of the harvester 1 through a vehicle speed sensor.

[0023] Reference Figures 3-5 As shown: The contour sensor includes a fixed shaft 201, a mounting rod 202, a sensing wheel 204, a pressure sensor 206, and a tension spring 207. The header mechanism 2 is mounted on the harvester 1. The fixed shaft 201 is symmetrically fixedly connected to both sides of the header mechanism 2. The mounting rod 202 is rotatably connected to the fixed shaft 201. One end of the mounting rod 202 away from the fixed shaft 201 is located at the front end of the header mechanism 2 and is fixedly connected to the support 203. The sensing wheel 204 is rotatably connected to the support 203. Fixed plates 205 are symmetrically fixedly connected to both sides of the header mechanism 2. The pressure sensor 206 is fixedly connected to the lower end of the fixed plate 205. The tension spring 207 is fixedly connected to the monitoring end of the pressure sensor 206. The other end of the tension spring 207 is fixedly connected to the adjacent mounting rod 202.

[0024] The sensing wheel 204 is a rubber wheel used to cushion ground impacts and reduce instantaneous pressure fluctuations on the pressure sensor 206.

[0025] When the contour height difference is greater than the first preset value, the data processing and decision-making module will generate PID parameters by arranging and combining the height difference range and the vehicle speed range. The module will then output PWM values ​​through integral separation PID control calculations and adjust the height of the cutting platform mechanism 2 through the hydraulic cylinder.

[0026] When the rate of change of the vehicle body tilt angle exceeds the second preset value, the data processing and decision-making module combines the tilt angle change rate range with the vehicle body tilt angle range to adjust the PID parameters, thereby achieving rapid response control of the height of the cutting platform mechanism 2.

[0027] When the angle difference of the cutting platform is greater than the third preset value, the data processing and decision-making module combines the height difference range, angle difference range, and vehicle speed range to generate PID parameters to control the tilt adjustment of the cutting platform mechanism 2.

[0028] The execution control module adjusts the height of the cutting platform mechanism 2 through the second proportional solenoid valve and the cutting platform lifting hydraulic cylinder, and adjusts the tilt angle of the cutting platform mechanism 2 through the first proportional solenoid valve and the cutting platform rotating hydraulic cylinder.

[0029] The information feedback and display module receives data from the height sensor of the cutting platform mechanism 2 and the vehicle body tilt sensor via the CAN bus and displays it visually.

[0030] When mature crops need to be harvested, the power supply of the seed harvesting machinery and header device system is turned on. Each module (data sensing module, data processing and decision-making module, execution control module, and information feedback and display module) begins self-testing. The contour sensors, header rotation sensors, vehicle tilt sensors, and vehicle speed sensors of the data sensing module complete hardware initialization and signal calibration to ensure that each sensor can collect data normally. The data processing and decision-making module loads the preset control algorithm, initial values ​​of PID parameters, and various preset thresholds (first preset value, second preset value, third preset value, etc.). The proportional solenoid valves and hydraulic cylinders of the execution control module are in the initial standby state, ready to receive control signals. The information feedback and display module initializes the interface. After the equipment completes self-testing, it receives and displays the data.

[0031] When the harvester 1 drives the header mechanism 2 to harvest in the field, the contour sensor works continuously. The sensing wheel 204 rolls with the undulation of the ground terrain, which drives the mounting rod 202 to rotate around the fixed shaft 201 to a certain extent. The deformation of the tension spring 207 causes the pressure sensor 206 to detect the pressure change. Combined with the rotation angle of the mounting rod 202, it is converted into contour angle and contour height data in real time and transmitted to the data processing and decision module multiple times per second (e.g., 5-10 times).

[0032] The header rotation sensor monitors the angle change of the header mechanism 2 in real time, and outputs the real-time angle data of the header several times per second (e.g., 3-5 times). The vehicle body tilt sensor synchronously captures the tilt angle change of the harvester 1 vehicle body caused by the terrain, and transmits the vehicle body attitude information to the data processing and decision module at the same frequency.

[0033] The vehicle speed sensor detects the speed of the harvester 1. Based on the speed (e.g., low speed, medium speed, high speed), the sensor collects and transmits the speed data to the data processing and decision module at an appropriate frequency (e.g., the higher the speed, the higher the collection frequency to ensure real-time data). This establishes a dynamic data chain between the cutter and the vehicle body during operation.

[0034] The data processing and decision-making module receives contour height data in real time, compares it with the preset contour height to calculate the height difference. If the height difference is less than or equal to the first preset value, it is determined that the current terrain has an acceptable impact on the cutter height, and the height control mode is not triggered temporarily. The data continues to be monitored. If the height difference is greater than the first preset value, the height control mode process is entered. The module calls the permutation and combination algorithm, and matches the corresponding PID parameters (proportional P, integral I, derivative D) according to the current height difference range (such as 0-5cm, 5-10cm, etc.) and the vehicle speed range (0-3m / s, 3-6m / s, etc.) transmitted by the vehicle speed sensor. The corresponding PID parameters are matched, and the integral-separated PID control algorithm is used to calculate and output the PWM value, which is transmitted to the height adjustment unit of the execution control module to prepare for adjusting the cutter height.

[0035] During continuous data acquisition, the module synchronously calculates the vehicle tilt angle change rate (the change in tilt angle per unit time). If the change rate is less than or equal to the second preset value, it indicates that the vehicle attitude is relatively stable, and routine data monitoring continues. If the change rate is greater than the second preset value, the tilt angle intervention control mode is triggered. The module combines the current tilt angle change rate range (such as 0-2° / s, 2-5° / s, etc.) with the vehicle tilt angle range (such as 0° horizontal, 1-5° small slope, 5-15° large slope, etc.) and dynamically adjusts the PID parameters. The adjusted parameters are then substituted into the integral separation PID control algorithm to quickly output a new PWM value, which is sent to the height adjustment unit of the execution control module. Priority is given to adjusting the height of the cutting platform to counteract the impact of sudden changes in vehicle attitude.

[0036] The module compares the real-time angle of the cutting table with the preset angle of the cutting table, calculates the angle difference, and if the angle difference is less than or equal to the third preset value, the cutting table tilt angle is adapted to the current working state and the operation continues. If the angle difference is greater than the third preset value, the module enters the angle control mode. The module integrates the current contour height difference range, the cutting table angle difference range, and the vehicle speed range, and generates corresponding PID parameters through a permutation and combination algorithm. After integral separation PID control calculation, the PWM value is output and transmitted to the angle adjustment unit of the execution control module to prepare for adjusting the cutting table tilt angle.

[0037] The execution control module receives PWM value commands in height control mode or tilt angle intervention control mode. The second proportional solenoid valve adjusts the valve core opening according to the PWM value to control the hydraulic oil flow and pressure. The header lifting hydraulic cylinder connects the header mechanism 2 and the main frame of the harvester 1. Driven by hydraulic oil, the piston rod extends and retracts, driving the header mechanism 2 to rise or fall, adjusting the header height in real time, compensating for height deviations caused by terrain undulations, and ensuring uniform stubble height.

[0038] When the angle control mode is entered, the first proportional solenoid valve of the execution control module adjusts the hydraulic oil passage and pressure according to the PWM value. The hydraulic cylinder of the header rotation (installed in the rotating connection body of the header mechanism 2 and other parts) is activated, pushing the header mechanism 2 to rotate around the rotation axis, changing the header tilt angle, so that the front end of the header adapts to the terrain and crop growth posture, ensuring smooth harvesting operations and avoiding problems such as missed cuts and damage.

[0039] The information feedback and display module receives data such as contour height, cutter angle, vehicle tilt angle, and vehicle speed collected by various sensors in the data sensing module in real time via the CAN bus, as well as information such as control mode, PID parameters, and PWM values ​​output by the data processing and decision-making module. This information is displayed on the screen in a visual interface, such as a dynamic curve showing the adjustment process of the cutter height as the terrain changes, a digital display of the difference between the current cutter tilt angle and the preset value, and the real-time vehicle speed and corresponding control strategy. At the same time, if the system detects abnormal data (such as the pressure sensor 206 value exceeding the limit, the height adjustment exceeding the safe travel, etc.), it immediately triggers an audible and visual alarm and pops up a fault prompt on the interface, so that operators or remote monitoring terminals can be notified and handle it in a timely manner.

[0040] When the harvesting machinery reaches the end position of the farmland operation, or when a stop operation command is issued manually / automatically through the information feedback and display module, the data sensing module stops continuously collecting data, the data processing and decision-making module terminates the operation of the control algorithm, the proportional solenoid valve and hydraulic cylinder of the execution control module return to the initial standby state, and the header mechanism 2 stops operating.

[0041] The information feedback and display module stores and backs up all data collected during the operation (including terrain change data, cutter head adjustment parameters, operating speed, abnormal alarm records, etc.), which can be used for subsequent operation analysis. Operators or managers can access historical data to review the cutter head adjustment effect and terrain adaptability during the operation, providing a basis for parameter optimization and equipment maintenance for the next operation. For example, based on data from multiple operations, preset thresholds and PID parameters can be adjusted to improve system adaptability and operational efficiency.

[0042] Traditional terrain-adaptive contour-following headers rely on real-time terrain feedback for adjustment. There's a time lag between the detection of terrain changes and the start of header adjustment, resulting in lag. This device adds a pre-sensing structure at the front of the header, consisting of a mounting rod 202, a sensing wheel 204, a tension spring 207, and a pressure sensor 206. The sensing wheel 204 contacts the ground first. Terrain undulations cause the mounting rod 202 to rotate around a fixed axis 201, pulling and pressing the tension spring 207, which in turn allows the pressure sensor 206 to capture the mechanical signal. This pre-converts terrain changes into electrical signals, allowing for earlier detection of terrain changes compared to traditional methods that rely solely on contour-following feedback from the bottom of the header. The data processing and decision-making module uses this pre-sensing data to initiate adjustments before the terrain affects the header. Combined with an integral-separated PID control algorithm, this results in faster header height adjustment response, ensuring uniform harvest quality and reducing seed waste and subsequent cleaning burden caused by uneven stubble cutting.

[0043] Traditional headers, due to their delayed adjustment, are prone to hitting the ground at the front end when encountering sudden changes in terrain (low-lying areas, high-lying areas), damaging cutting components and affecting operational continuity. This device's pre-sensing structure detects the terrain in advance. When the sensing wheel 204 encounters a high-lying area, the mounting rod 202 rises to compress the tension spring 207, the pressure sensor 206 provides rapid feedback, and the data processing module triggers height adjustment in advance, causing the header to rise before reaching the high-lying area. When encountering a low-lying area, the mounting rod 202 swings down to stretch the tension spring 207, and the pressure signal causes the header to descend in advance. Through this prediction and pre-adjustment mechanism, the probability of the header front end hitting the ground is reduced, decreasing the frequency of header maintenance, extending the life of key components such as the cutter and contouring mechanism, and preventing crop damage due to ground contact, thus improving seed harvesting rate and reducing field losses.

[0044] The unmanned operation mode places high demands on the automation and intelligence of the header. This device's pre-sensing + pre-adjustment system can autonomously cope with terrain changes without human intervention. The data processing and decision-making module automatically completes parameter calculations and outputs control commands, the execution control module precisely adjusts the height and tilt angle, and the information feedback and display module presents the operation data in real time. This provides a stable and reliable header adaptation guarantee for the unmanned system, promotes the upgrade of seed harvesting from manual assistance to fully autonomous unmanned operation, reduces labor intensity, and improves agricultural production efficiency and intelligence.

[0045] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention in any way. Although the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the present invention.

Claims

1. A terrain-adaptive contour-following header device for unmanned seed harvesting machinery, characterized in that, include: The data sensing module is set at the front of both sides of the cutting platform mechanism (2) to collect data on contour angle, cutting platform angle, vehicle body tilt angle and vehicle speed in advance. The data processing and decision-making module is used to convert the contouring angle into the contouring height, trigger the corresponding control mode based on the contouring height difference, the vehicle body tilt angle change rate, and the cutting table angle difference, generate PID parameters through permutation and combination algorithm, and output control signal by combining integral separation PID control algorithm. The execution control module is used to adjust the height and tilt angle of the cutting table mechanism (2) according to the control signal via a proportional solenoid valve and a hydraulic cylinder; The information feedback and display module is used to receive sensor data and visualize it. The data sensing module includes a terrain sensing unit, an attitude monitoring unit, and a motion parameter unit. The terrain sensing unit uses contour sensors to detect in real time the contour angles of the contour mechanisms on both sides of the bottom of the cutting platform mechanism (2) as the terrain changes, and converts them into contour height data. The attitude monitoring unit includes a cutting table rotation sensor and a vehicle body tilt sensor, which are used to acquire the real-time angle and vehicle body attitude information of the cutting table mechanism (2); The motion parameter unit collects the harvester's (1) travel speed data through the vehicle speed sensor; The contour sensor includes a fixed shaft (201), a mounting rod (202), a sensing wheel (204), a pressure sensor (206), and a tension spring (207). The header mechanism (2) is mounted on the harvester (1). The fixed shaft (201) is symmetrically fixedly connected to both sides of the header mechanism (2). The mounting rod (202) is rotatably connected to the fixed shaft (201). One end of the mounting rod (202) away from the fixed shaft (201) is located at the front end of the header mechanism (2) and is fixedly connected to a support (203). The sensing wheel (204) is rotatably connected to the support (203). Fixed plates (205) are symmetrically fixedly connected to both sides of the header mechanism (2). The pressure sensor (206) is fixedly connected to the lower end of the fixed plate (205). The tension spring (207) is fixedly connected to the monitoring end of the pressure sensor (206). The other end of the tension spring (207) is fixedly connected to the adjacent mounting rod (202). The sensing wheel (204) is a rubber wheel, used to buffer ground impact and reduce instantaneous pressure fluctuations on the pressure sensor (206); When the contour height difference is greater than the first preset value, the data processing and decision module will generate PID parameters by arranging and combining the height difference interval and the vehicle speed interval, output PWM value through integral separation PID control calculation, and adjust the height of the cutting platform mechanism (2) through the hydraulic cylinder. When the rate of change of the vehicle body tilt angle is greater than the second preset value, the data processing and decision module combines the tilt angle change rate range with the vehicle body tilt angle range to adjust the PID parameters, thereby achieving rapid response control of the height of the cutting platform mechanism (2). When the angle difference of the cutting platform is greater than the third preset value, the data processing and decision-making module combines the height difference interval, angle difference interval, and vehicle speed interval to generate PID parameters and control the tilt angle adjustment of the cutting platform mechanism (2).

2. The terrain-adaptive contour-following header device for unmanned seed harvesting machinery according to claim 1, characterized in that, The execution control module adjusts the height of the cutting platform mechanism (2) through the second proportional solenoid valve and the cutting platform lifting hydraulic cylinder, and adjusts the tilt angle of the cutting platform mechanism (2) through the first proportional solenoid valve and the cutting platform rotating hydraulic cylinder.

3. The terrain-adaptive contour-following header device for unmanned seed harvesting machinery according to claim 1, characterized in that, The information feedback and display module receives and visualizes the data from the height sensor and body tilt sensor of the cutting platform mechanism (2) via the CAN bus.

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