In order to accurately grasp the technological innovation dynamics of Jiangsu agricultural machinery research institutes, universities, enterprises and other innovation subjects in 2021, the annual innovation activities of important innovation subjects and important innovation teams of Jiangsu agricultural machinery are analyzed from the perspective of patents, focusing on five technical fields such as tillage mechanization, planting mechanization, field management mechanization, harvesting mechanization, intelligent agricultural machinery, etc. And the advantages and disadvantages of important innovation subjects in Jiangsu with domestic and foreign major innovation entities in terms of patent quality in each technology field are compared. The research shows that the patent structure of Jiangsu is more optimized, and the comprehensive strength and vitality of innovation are leading in the country, but the international competitiveness of Jiangsu innovation has yet to be improved, and the status of enterprise as the innovation subject has not been fully established.

At present, the mechanized harvesting of cabbage in China is low and laborintensive, and the mechanization of cabbage harvesting is the focus and difficulty of research. This paper focuses on the main harvesting mechanisms and methods of cabbage harvesting machinery at home and abroad, and analyzes and summarizes the technical characteristics and performance parameters of the representative harvesting machinery and equipment of Italy, Switzerland, Belgium and other western developed countries in recent years, introduces the main planting patterns of cabbage in China and analyzes the influence of different regional cultivation methods on cabbage harvesting machinery. The problems of cabbage planting and mechanized harvesting in China are pointed out, and the development direction suitable for cabbage mechanized harvesting in China is proposed as follows: to clarify the intrinsic correlation mechanism of damage under the interaction between cabbage and harvesting mechanism, and to realize low loss and high efficiency harvesting. The new agronomy should be better adapted to the mechanized production standards and promote the development of cabbage harvesting machinery in the direction of informationization, intelligence, science and technology.

 Chinese herbal medicine (CHM) is one of the characteristic industries in Gansu Province. In recent years, the national industrial policy has shifted to characteristic industries. The area of Chinese medicinal plants in Gansu Province is increasing year by year. Planting CHM has become an effective way for the vast rural areas and farmers to get rid of poverty and become rich. The demand for the mechanization of the whole process of CHM production is increasing. Through literature review and field investigation, this paper summarizes the current situation of mechanization research and application from the aspects of tillage, planting, management, harvesting and other operational links, combined with the key cultivation agronomic techniques of authentic Rhizome Chinese herbal medicines such as Angelica sinensis, Codonopsis pilosula and Astragalus membranaceus. The problems existing in mechanized production were analyzed. Such as the planting area of CHM was mostly hilly and mountainous, which was scattered and small. There were many varieties of Rhizome Chinese herbal medicines and the planting methods, and cultivation agronomic requirements were more complex, so it was difficult to integrate agricultural machinery and agronomy. There was poor operation quality of CHM equipment in key links, the rate of return on investment was low, and farmers enthusiasm for purchasing was not high. The existing CHM equipment had low technical content, lack of innovation, and was easy to be copied, and enterprises had low enthusiasm for the mechanized research and development of CHM. This paper puts forward the future trends of largescale development of Chinese medicinal materials industry, standardized development of planting mode, highquality and efficient development of key link machinery and tools, and leading development of Chinese medicinal materials machinery production enterprises, in order to provide reference for the research and development of CHM production equipment, and help the further development of CHM industry.

Farmland tillage is an important link in crop production, and the quality of operation directly affects crop yield. Soil tillage is also a process that occupies a large proportion of energy in the whole production process, and its operation process is actually a process to overcome soil mechanical resistance. Scientific use of tillage energy can significantly improve planting efficiency. Accurate and realtime measurement of tillage load is the prerequisite for realizing accurate operation control. This paper enumerated the commonly used load test methods at home and abroad, analyzed their advantages and disadvantages, introduced several new measurement methods, and studied the research process of test system development and prediction model at home and abroad, summarized the tillage load test methods in China, pointed out the lack of special sensors, research on tillage resistance model and the backward test program, and finally given development suggestions: research on the application of multidimensional force sensors in test methods, research on small size, large range and high strength sensing elements, strengthening the research of tillage resistance prediction model, strengthening the research and development of load invariant transfer structure.

Cabbage is the main cultivated crop of vegetables in China, which is grown from south to north. Aiming at the problems of low manual efficiency, high cost and low degree of mechanization for cabbage harvesting operation, in this paper, a kind of handheld cabbage harvester suitable for the main planting varieties and planting patterns of cabbage in Jiangsu is designed, which can complete the operations of cabbage plucking, clamping and conveying, root cutting and boxing at one time. Based on the analysis of the overall structure of the cabbage harvester, the working principle of whole machine is explained, and the prototype is completed after the analysis and verification of the key components of the harvester based on the physical and mechanical characteristics of cabbage and Ansys modal analysis. The field test was conducted with cabbage harvesting pass rate, root cutting pass rate, cabbage damage rate and cabbage loss rate as evaluation indexes. The test results show that the machine has stable working performance and good harvesting effect, the cabbage harvesting qualification rate is 92.8%, root cutting pass rate is 93.5%, cabbage damage rate is 6.6%, cabbage loss rate is 4.2%, all the performance indexes meet the design requirements and relevant standards, and the research results can provide reference for the development and structural improvement of cabbage harvesting equipment.

At present, the development of agricultural mechanization in hilly and mountainous areas in China is slow, and the main restrictive factor is the unfavorable topographic and geomorphic conditions. However, in South Korea, where hills and mountains are the main landforms, the level of agricultural mechanization had been basically mechanized in the late 1990s, and the important experience was the mechanization transformation of farmland for decades. This paper sorted out and summarized the policy background of farmland reform in the early stage of “New Village Movement” in South Korea, the implementation content of technical standard system of farmland consolidation in South Korea, the intensity of capital investment in farmland reform, and the achievements of farmland reform and agricultural mechanization. Finally in this paper, some important conclusions, beneficial reference and enlightenment are obtained, in which a perfect system of laws, regulations and policies is an important prerequisite for the mechanized construction of hilly and mountainous areas in China, and the mechanized construction cannot be achieved without a complete system of technical standards and the high participation of farmers, and the continuous investment of government finance and efficient work propulsion mechanism, which are also important guarantees for the construction of hilly and mountainous areas in China.

In recent years, the growing global demand for Chinese herbal medicine (CHM) has led to a continually increase in planting area under CHM, and the demand for harvesting machines for Rhizome Chinese herbal medicine (RCHM) enlarges. At present, the harvesting methods of RCHM in China are still mainly manual harvesting and small & mediumsized excavator harvesting. The low level of mechanization and low production efficiency have seriously restricted the development of CHM industry. This paper briefly describes the current situation of planting CHM in China, and comprehensively analyzes the application and current situation of harvesting mechanization of RCHM, as well as focus on the research on the key components of excavation mechanical structure, separation mechanical structure and conveying mechanical structure. The main existing problems of RCHM harvester is summarized: the integration of agricultural machinery and agronomy is insufficient, the enthusiasm for developing combine harvesters is not high, lack of systematic research on harvest rate and damage rate, and lack of research on intelligent regulation technology of harvesting operation. This paper expounds lowconsumption and deepexcavation technology, flexible and low loss technology and intelligent control technology are the future development trend of mechanization of RCHM in China. In order to provide reference for the research of RCHM harvesters, so as to promote the further development of harvesting mechanization of RCHM.

For wheat harvester working path planning under complicated boundary problems, because the agricultural machinery operation paths largely determine the operation quality, efficiency, and cost, the cutter path planning model based on operation direction was set up, and an algorithm was presented in view of the convex and concave side boundary farmland with the least number of turns. The algorithm included the scanline method to calculate the number of turns with convex edges and the imaginaryregionfilling method to calculate the number of turns with concave edges. The rotation step method is used to calculate the optimal working direction corresponding to the minimum number of turns, and the optimal path trajectory of the harvester is obtained. The results of the simulation field boundary show that the optimization algorithm can effectively obtain the operation direction and path trajectory with the least number of turns. In the simulation case of the convex edge field, the optimization degree of the optimal operation direction can reach 11.32% compared with the path along the long side direction. In the field simulation case with concave edges, the optimization degree of the optimal operation direction is 5.66% compared with the path along the long side. The path planning model and algorithm can provide a certain decision basis for harvester harvesting in an actual complex boundary environment.

Technological innovation and patents are closely related to each other. From the perspective of patents, this paper mined and visually analyzed industry patent data from the dimensions of Jiangsu agricultural machinery manufacturing enterprises technology development trends, technology concentration, important applicants, and core inventors. The research showed that in the past ten years, Jiangsu agricultural machinery manufacturing enterprises have significantly improved their innovation abilities, with an average annual growth rate of 27.60% in patent authorization. Additionally, innovative agricultural machinery manufacturing enterprises have accelerated their development and growth, and the number of top 5 applicants in each subdivision accounted for an average of 72.27% of the total number of patents. Moreover, the innovation activity in subdivisions was uneven, and the innovation momentum was strong in 4 fields such as agricultural power machinery and general machinery. Finally, the industrywide invention patents accounted for only 942% of the total patents, which was obviously low, and the overall innovation level needed to be improved. Relevant research conclusions are helpful to comprehensively understand the status quo of innovation activities of Jiangsu agricultural machinery manufacturing enterprises and provide information support for scientific decisionmaking.

 This paper analyzed the development of mechanization of 8 main cash crops such as cotton, oil, sugar, vegetables, orchard, tea and herbal medicine in China by region, industry, variety and link, and put forward the main direction and technology for the present and future period. The result showed that compared with 2020, the comprehensive mechanization rate of cotton, rape, peanut, sugarcane, vegetables, tea and herbal medicines will increase by 2.7 percentage points, 3.4 percentage points, 3.6 percentage points, 1.9 percentage points, 4 percentage points, 1.8 percentage points and 2.5 percentage points respectively in 2021, only orchard increases by less than 1 percentage point. The main issues that need to be focused on are over 1 000 khm2 cotton, 1 000 khm2sugarcane, 1 800 khm2 peanut cannot be harvested by machine in China, over 4 200 khm2 winter fallow field need to be planted rapeseed, mechanization of vegetable, orchard, tea garden, herbal medicine are very low, no machine to use, machine cannot be used efficiently, field conditions in Southern China and hilly areas and traditional planting modes are not suitable for machinery, the work qualities and reliabilities of domestic machines need to be advanced, plastic film residue in peanut and cotton planting. The main push technologies include advancing domestic machines quality, high efficient plastic film residue reclamations, rape machinery suitable varities selection and combined working, summer peanut no film planting and high efficient harvesting, sugarcane low impurity harvesting and sugar making process reforming, typical vegetable standardized planting and high efficient harvesting, orchard and tea garden machinery suitable construction and management by standard, major herbal medicine varieties mechanized production in customization and so on.

The identification of wheat heading at flowering stage can be used to guide the later water and fertilizer management, disease control, yield prediction and other aspects. In order to realize accurate and automatic ear counting, this paper proposes a new ear counting method based on color features. The color of wheat ear is very close to that of leaf and stem at heading flowering stage, and the common color features can not segment wheat ear effectively. In this paper, we extracted wheat ear effectively by color histogram equalization and red green normalized difference index. Aiming at the problem of wheat spike adhesion in the image, this paper uses the improved Harris corner detection algorithm to verify the wheat images taken at vertical angle and 45° angle respectively. Through the sample image counting experiment, the accuracy is 96.06% and 94.74% respectively. The results showed that there were obvious color differences in wheat ears, leaves and stems after equalization, and the color features could be used to extract the images of wheat ears at flowering stage in field environment. The detection of skeleton intersection point after wheat ear thinning can accurately count the conglutinated wheat ears with high counting accuracy, which can be used to reflect the situation of wheat heading in this period.