Fruit and vegetable picking is an important part of agricultural production, and it relies heavily on manual labor. The development and application of picking robots will greatly reduce labor dependence of picking operations. The picking robotic arm is a key part of the picking robot and a major focus of research on the picking robot. This paper classified the picking manipulators by the degree of freedom, and summarized the development process and research status of the picking manipulators in China and the rest of the world. Aiming at the problem of lack of standardized solutions in thechoice of freedom and configuration of the picking robotic arm for the same fruit and vegetable in the same cultivation mode, it is proposed that indepth integration of the picking manipulator research and agronomy is the key to solving the problem in future. At the same time, considering that the rigid body is difficult to adapt to the picking environment as well as the joint drive mode being single, it is believed that the flexible design of the picking manipulator body and the combined use of the drive mode will be the future development trend.

The identification of crop disease is related to crop yield and quality, and it is an essential part in the development of intelligent agriculture. With the rapid development of deep learning in the field of image processing, the method of identifying crop disease types from images by deep learning has gradually become the mainstream. In this paper, we mainly review the methods of crop disease recognition based on deep learning, briefly introduce deep learning and convolutional neural network, and collect some common public disease image datasets. According to the different collection environment of training sample, we summarize the progress of deep learningbased disease identification methods in recent years from two aspects of laboratory and field, point out their advantages and disadvantages of each method, and conclude that there are three main problems in this research field such as insufficient data, difficult task and complex network structure of deep learning model. On this basis, we propose that the establishment of largescale, multispecies, and multitype disease database and the design of highperformance deep learning model are important development directions in the future.

Focusing on the wholeprocess mechanization of soybean and corn strip compound planting, management and harvesting, using the special machines and tools for synchronous operation such as soybean and corn integrated seeder, synchronous belt spray rod sprayer, soybean and corn integrated harvester, as well as the stepwise applicable machines and tools such as highclearance corn harvester and small narrowrange harvester as research object, depending on the development of test and application situation in recent years, this paper deeply analysises and summaries the technical characteristics, research and development production, test verification, application and points for attention, mastering the special machinery development present situation, improve the operating efficiency, operation quality, adaptability and key structure clearly machinery research and development trend, for soybean corn belt compound planting wholecoursing mechanization development lay the foundation. Centering on the improvement of ripening and popularization of machinery and tools, suggestions were put forward from the aspects of selection and breeding of simultaneous sowing and simultaneous ripening varieties, research on key technologies, formulation of identification and evaluation methods, selection of applicable machinery and tools models, experimental demonstration and popularization, and consolidation of wholeprocess mechanization modes.

At the present stage, the import of soybean and corn is increasing year by year, and food security has a big hidden trouble. China started the soybean and oil production capacity improvement project, and vigorously promoted the soybean and corn strip compound planting technology. The agronomy of soybean and corn strip compound planting is based on the core of “selecting and matching varieties, expanding and increasing light, shrinking plant strain and retaining density” and the supporting of “reducing integrated fertilization, chemical control and lodging resistance, green prevention and control”. The overall requirements for improving the performance and operational efficiency of agricultural machinery are put forward. In terms of sowing, highspeed precision sowing technology, soybean and corn separate control technology, largedisplacement fertilization technology, straw antiblocking technology and cohesive line uniformity technology were developed. In terms of the field management, the double spray technology, spray rod adaptive leveling technology, plant protection wheel spacing adjustable technology, antifloating nozzle technology were developed. In terms of harvesting, the development of corn lowloss picking mechanism, corn lowloss and lowbreak grain harvesting technology, soybean lowloss cutting table technology, soybean lowbreak flexible threshing technology, soybean efficient cleaning technology, soybean lowloss grain transportation technology, soybean online quality detection technology were also developed. At present, it is necessary to optimize the mechanization equipment in the whole process of soybean and corn strip compound planting, further combine the agronomic characteristics of soybean and corn strip compound planting and the characteristics of operating machinery and tools, strengthen the theoretical research, promote the further integration of agricultural machinery and agronomy, strengthen the research and development of innovative machinery and tools, and improve the adaptability of the machine to the planting mode.

The promotion of soybean and corn strip compound planting mode is one of the important measures to revitalize domestic soybeans and increase oil production capacity, which can effectively alleviate the difficulties of Chinas soybean dependence on foreign countries and high import pressure. Based on the analysis of the promotion and implementation of soybean and corn strip compound planting mode in southwest China, Huanghuaihai and northwest China in 2022, this paper summarizes the current status of mechanized technology and equipment for soybean and corn strip compound planting in each region. It is proposed that the problems faced by the mechanization of soybean and corn strip compound planting mainly include the lack of special tools for herbicide spraying and harvesting, the serious shortage of existing available production equipment, the low quality of mechanical operation, poor applicability, and nonstandard operation of machine operators. In view of the existing technical problems, the phased development suggestions of mechanization technology and equipment for soybean and corn strip compound planting production in China are put forward, and the method of first partial and then all, easy and then difficult is gradually promoted, first solving the problem of mechanization in Huanghuaihai and northwest China, and then conducting research and development for hilly and mountainous areas to realize the whole process of mechanization in most parts of the country, and finally comprehensively using electronic information and sensor technologies such as autonomous navigation assistance driving technology, autonomous avoidance technology and remote sensing telemetry technology to improve the mechanization technology level of machine tools. It provides a reference for promoting the comprehensive mechanization and highquality development of Chinas soybean and corn strip compound planting mode.

China is a big fruit producer in the world. With the development of modern agricultural technology, citrus production and harvesting automation is an inevitable trend, and citrus target recognition is an important link to realize harvesting automation. This paper proposes a citrus recognition system based on Raspberry Pi, which uses Raspberry Pi as the software platform. The convolutional neural network model was constructed by Python language, and the citrus recognition was realized by Tensorflow platform. The relevant data of the citrus trees were collected by machine vision, and the citrus on the citrus tree was recognized and counted by combining with the deep learning algorithm. After testing, the recognition accuracy was about 92.4%. In addition, the GPS module was used to locate the recognition position, determine the citrus density in the area, measure the ambient light intensity with the light intensity sensor, and process the image histogram equalization to reduce the impact of light on Citrus recognition.

Aiming at the problem of single diameter of round bale formed by traditional straw baling machine when harvesting crop straw, a variable round bale baling machine was designed, which was composed of pickingup mechanism, feeding mechanism, baling mechanism and straw bale unloading device. A threedimensional model of the variable baling chamber round baler was established in Solidworks, its working principle and the structural design of key components were briefly described, and the power transmission system of the whole machine was analyzed. The law of material movement in the baling room, and the linear speed of the steel roller was 2.29 m/s through calculation; the kinematics simulation of the baler was carried out with ADAMS software to verify that the baler does not block and accumulate materials during operation, and the steel roll was obtained. The linear velocity of the roller was 2.3 m/s, which was basically consistent with the calculation result. The modal analysis of the baler frame was carried out by using ANSYS Workbench software, and it was concluded that the frame did not have resonance phenomenon when the baler was working normally, which could provide theoretical support for the innovative design and structural improvement of subsequent straw balers.

It is a feasible way for soybean and corn strip compound planting mode to achieve “corn without reducing yield and harvesting more beans for one season”, but it is very different from the existing planting mode in various places in China, which puts forward new requirements for seeding and fertilization operations. This paper systematically combs the characteristics of the planting model, i.e. Firstly, it is precision seeding. Sow corn in single seeds and soybeans in 1 or 2 seeds per hole. Secondly, the row spacing and plant spacing are reduced, planting in a reasonable density. Soybean plant spacing is 7-10 cm, row spacing is 25-30 cm or 40 cm; Corn plant spacing is 8-11 cm or 14 cm, row spacing is 40 cm; Soybean and corn row spacing is 60-65 cm or 70 cm. Thirdly, fertilizer application per unit area is increased, another is decreased. High nitrogen and slow release compound fertilizer for corn is 750-975 kg/hm2, much more than normal level, and low nitrogen and slow release compound fertilizer for soybean is 225-300 kg/hm2, quite fewer than normal level. Fertilizer application in “4+4” and “4+6” planting modes should be increased appropriately. This paper briefly introduces the main contents, qualified indexes and verification methods of the corresponding special seeder, such as the requirements of the safety, applicability and advancement of the special planter for soybean and corn belt compound planting, and the key technical points of verification implementation. This paper expounds the obtaining and limitation of the verification conclusion, and puts forward three suggestions to promote the development of special planter: increasing the configuration and improving the performance; training farmers and perfecting the agronomy; carrying short and long term strategies, patiently cultivate to promote its development.

According to the irrigation needs of different irrigation areas of largescale farmlands, an automatic irrigation control system was designed based on STM32. Modular design was adopted to realize centralized control of irrigation and fertilization equipments. The equipments monitoring, rotation irrigation plan and parameters setting were realized by humancomputer interaction interface. Accurate water and fertilizer irrigation was realized according to the demands of different crops. The system had characteristics of high integration, low cost, high control accuracy, and had high application value in farmland irrigation. The experimental results show that the maximum error between the theoretical output value of analog quantity and the actual output value is 7.5%; The maximum error between the output value of pressure sensor and the input value of analog quantity is 3.7%.

Steel frame plastic greenhouse is the most common type of horticultural facilities in China. But there is no concise and applicable local standard to use in the design and construction, which leads to frequent safety problems in the use of plastic greenhouse. This study was to promote the standardized development of plastic greenhouse in Henan Province and provide scientific basis for its design and construction. The plastic greenhouses models designed by 7 common arch materials under different spans (8, 10, 12 and 14 m) were established by Ansys Workbench. The maximum stress of ground joints of plastic greenhouses with different spans and different arch materials under different load combinations in 18 areas of Henan Province was compared, and the control load and the most dangerous load combination were selected. Then the safety of these models were checked by using the ultimate limit state under the most dangerous load combination, and the selection of arch material specifications of plastic greenhouse in Henan Province were suggested. The results showed that the control load of plastic greenhouses in Luanchuan, Nanyang, Shangqiu and Gushi is snow load, and the most dangerous load combination was permanent load + 1.2 × Uneven snow load, the control load of plastic greenhouses in other 14 areas was wind load, and the most dangerous load combination was permanent load + 1.0 × Wind load. In 18 areas of Henan Province, wind load was the primary dangerous load of plastic greenhouse, which has the greatest impact on the safety of plastic greenhouse, followed by snow load. 24 plastic greenhouse models were used to simulate and calculate the maximum joint stress of the most unfavorable load combination in 18 areas of Henan Province. 432 groups of safety calculations were carried out, and suggestions on the selection of material specifications suitable for different span plastic greenhouses under different wind load levels in 18 areas of Henan Province were put forward, which had wide applicability.

In order to break through the limitation of the low mechanization level of seeder and reduce the adverse effects of hard clay and rainy conditions for the soybean and corn composite planting mode, this paper designed a 2BSQF-6 seeder for soybean and corn strip compound planting that integrated rotary tillage, ridging, fertilization and sowing operations. Firstly, combined with the agronomic requirements of soybean and corn strip compound planting, the overall structure design scheme of the 2BSQF-6 seeder was proposed. The key components such as rotary tillage device, ridging device, sowing device, and profiling device were then analyzed and calculated, and thus key parameters were determined. Finally, the sowing experiment of soybean and corn strip compound planting was carried out at the soybean farm planting base in Guanyun County. Field experiments showed that at a working speed of 4.7 km/h, the pass rate of soybean and corn sowing depth was 93.3%, the pass rate of soybean and corn grain distance was 85% and 95.2%, respectively, and the missed sowing rate was controlled below 8%, and the various indicators of the designed machine can meet the agronomic requirements of soybean and corn strip compound planting.

At present, Chinas grain production has basically achieved “selfsufficiency of grain and absolute security of rations”, but food production is still facing a series of challenges. It is a key technology of soybean and corn belt compound planting for the guarantee of corn and soybean production in our country, in the corn belt compound of soybean cultivation, on the basis of the concept, meaning and principle of combing, in combination with soybean and corn belt compound planting grace “selecting and matching varieties, expanding space and increasing light, shrinking plant strain and retaining density” at the core of the technology, and with reasonable choice, choosing to grow with the necessary technical main points and field management, based on the actual pilot situation in Inner Mongolia in 2021, it is pointed out that the current soybean and corn strip composite planting technology mainly has the problems of farmers insufficient knowledge of planting technology, challenging technology application, watersaving irrigation, professional machinery and equipment and financial support policies have not kept up. In the next step, we should strengthen the guidance and publicity of agricultural technology, promote the construction of highstandard farmland and enhance the financial support.

In order to explore the effect of biodiesel on combustion process and emission performance of diesel engine fueled with F-T diesel, F-T diesel / biodiesel blends (B10F-T、B20F-T、B30F-T) were prepared and tested on diesel engine. The results showed that with the increase of biodiesel blending ratio, the maximum burst pressure in cylinder increased gradually. Compared with F-T diesel, the maximum burst pressure in cylinder increased by 1.9%, 5.1% and 6.9% when the blending ratio of biodiesel was 10%, 20% and 30% respectively, the corresponding time lagged slightly, and the heat release starting point moved backward, and the peak value of heat release rate increased. When the blending ratio of biodiesel was increased from 0 to 30%, the combustion delay period was prolonged by 1 ℃A, the combustion start point moved backward, the combustion duration increased slightly, from 35.4 ℃A to 36.1 ℃A, the combustion center of gravity moved backward from 4.8 ℃A to 5.9 ℃A, and the maximum combustion temperature in the cylinder increased from 1 872 K to 1 951 K. At medium and high load, soot emission decreased significantly with the increase of biodiesel blending ratio. Mixing biodiesel into F-T diesel could effectively reduce HC and CO emissions. HC and CO emissions almost linearly decreased with the increase of biodiesel blending ratio. With the increase of load, HC and CO emissions of blended fuel gradually decreased. At 75% load, compared with F-T diesel, when the blending ratio of biodiesel was 10%, 20% and 30%, the CO emission was reduced by 2.9%, 7.8% and 12.1% respectively. Under different load conditions, with the increase of biodiesel blending ratio, NOX emissions showed an upward trend, and the NOX emission increased more obviously under high load conditions.

Abstract: Under the belt type compound planting mode of soybean and corn, the plant height of soybean and corn varies greatly during their growth. The height of each section of the spray bar needs to be adjusted independently to ensure that the distance between the spray head and the crop is consistent. For this reason, the mechatronic hydraulic integrated control method is adopted, and the segmented spray bar height adjusting mechanism and control system for high clearance spray bar sprayer with adjustable height of each section are designed. The designed fourbar lifting mechanism controls the expansion and contraction of the hydraulic cylinder through the electromagnetic reversing valve to drive the parallel fourbar mechanism to achieve lifting, so that the spray bar bracket can drive the overall lifting of each segmented height adjustment mechanism. The designed segmented height adjustment mechanism drives the shear fork arm to rotate around each hinge point by controlling the extension and contraction of the electric push rod, driving the spray bar to adjust up and down, and realizing the independent height adjustment of each section of the spray bar. Taking the 3WP-1000GS high clearance pesticide applicator as the test platform, the height adjustment range and height adjustment consistency of the spray bar were compared and analyzed. The test results showed that the adjustment range of the parallel four bar mechanism was 120 cm, the maximum height above the ground could reach 162 cm, and the minimum height above the ground could reach 42 cm, which met the design requirements and could meet the requirements of corn and soybean field spraying. The height adjustment range of the segmented height adjustment mechanism was 68 cm. The maximum absolute deviation of the height adjustment range of five groups of segmented height adjustment mechanisms was -0.73 cm, and the maximum relative deviation was -1.08%. Each segmented height adjustment mechanism can adjust the height in a wide range, with good consistency. The height adjustment process is smooth and free of stagnation, which can meet the requirement that the distance between the field spray nozzle and the crop is consistent under the soybean corn belt composite planting mode.

Lentinus edodes stick debagging is an important production process before turning color or producing mushrooms. The time of debagging will directly affect the yield and quality of Lentinus edodes. Based on the current production practice of Lentinus edodes stick debagging in China, this paper comprehensively analyzes the principles, advantages, and disadvantages of the existing Lentinus edodes stick bag breaking equipment and Lentinus edodes stick debagging equipment and points out the existing problems of Lentinus edodes stick debagging equipment in China at the present stage, such as no breakthrough in debagging technology, low rate of equipment debagging, poor work continuity and stability, etc. The key research direction of Lentinus edodes stick debagging equipment is put forward: further improving the theoretical research of Lentinus edodes stick debagging and consolidating the R & D foundation of Lentinus edodes stick debagging equipment; focusing on overcoming the key technical difficulties such as Lentinus edodes stick bag breaking and debagging, to realize high efficiency, low loss, and lowcost debagging; an applying intelligent control technology to increase the intelligent level of equipment.

The facility agriculture is regarded as the main development direction of modern agriculture, which is of great significance to comprehensively push forward rural vitalization and accelerate the modernization of agriculture and rural areas. By analyzing type, scale, industrial layout and supporting facilities of facility planting in China in recent years, the phased characteristics of facility planting are summarized from the three aspects of mechanization, informatization and intellectualization. Technology research and application of each stage are analyzed. In view of the existing problems such as uneven application of supporting equipment, weak driving force of technological innovation and scattered industrial layout, combined with the application needs of digital technology, suggestions are put forward to improve quality and efficiency, focus on key technology breakthroughs, achieve largescale development and accelerate digital transformation, in order to provide technical support for the highquality development of facility planting in the future.

In order to fully promote the technology of wholeprocess mechanization of soybean and corn strip composite planting in the loess hilly region of China, through making analysis of soybean corn and its mechanized production characteristics and soybean corn strip composite planting conditions in Pingliang, the key factors restricting the development of soybean and corn strip composite planting in Pingliang are proposed as follows, the planting efficiency is low, the climate and market impact the effect, and the mechanization technology is immature. The four aspects of optimizing appropriate planting methods, strengthening the integrated development of mechanization, informatization and agronomy, giving full play to the advantages of agricultural mechanization technology extension system, and improving the mechanization level of soybean and corn strip compound planting are deeply analyzed, so as to promote the integration of agricultural machinery and agronomy, and promote the balanced development of soybean and corn strip compound planting in large areas.

With the advent of the era of agricultural intelligence, the application of robot technology in the field of intelligent picking in agriculture and fruit industry is becoming more and more extensive. As the core technology of picking operation, the advanced degree of path planning algorithm plays a decisive role in the efficiency and quality of picking operation. Therefore, according to the characteristics of path planning algorithm of picking mechanical arm, it can be divided into four categories such as swarm optimization algorithm, graph search algorithm, probability map algorithm (PRM) and rapidly expanding random tree algorithm (RRT), and based on the above classification, the representative research achievements of domestic and foreign scholars in recent years are introduced, the advantages and disadvantages of various path planning algorithm applied in picking operations are analyzed, and the feasibility, applicability and limitations of various algorithms are systematically summarized by comparison. Finally, the future development direction of path planning algorithm of picking mechanical arm is prospected, and specific suggestions on algorithm optimization are put forward, providing some ideas for path planning research of picking mechanical arm.

 In order to solve the problems of poor adaptability,  easy tipping,  and low trafficability performance of existing hilly tractors,  the 504type hilly tractor with an automatic leveling mechanism was designed. The hilly tractor adopted mechanical drive,  a fourwheeldrive walking system,  independent steering systems on both sides,  and a parallel fourbar automatic leveling mechanism,  which could realize the tractor posture automatic profile leveling. Threedimensional modeling of the tractor was carried out based on SolidWorks. ADAMS software was used to model the virtual prototype and analyze the dynamic simulation of roll stability. The results showed that: the leveling action range of the automatic leveling mechanism was 732 mm,  which can ensure the horizontal level of the vehicle body on the slope of 25°. The limit tilt angle of uphill and downhill were both 45°. The longitudinal slip angle of uphill and downhill was 33.69° and 16°,  respectively. The obstacleclimbing height of its front and rear driving wheels was 214 mm. The maximum roll angle of the vehicle body in the leveled state was 37.5°,  which was close to the theoretical calculation of 35.93°. Both the front and rear drive axles of the 504type hilly tractor could be leveled independently and always keep the tractor body in a horizontal position,  which could meet the requirements of hilly and mountain production.

Aiming at the problems of incomplete shelling and low shelling rate in the almond shelling device, the loading damage of the almond shell during the process of shelling and removing kernels was analyzed, the basic characteristics of crack propagation and husk separation in the shelling zone under extrusion loading were determined. According to the thin shelled almond physical property test and pretest results, the shelling gap, rigid roll speed and flexible belt linear speed were selected as the test factors, and the shelling rate and the core breakage rate were taken as the test indexes for the orthogonal test. The test samples were grade Ⅱ almonds with a thickness of 12-13 mm. The test showed that the shelling gap was 11 mm, the rotating speed of rigid roll was 200 r/min, and the linear speed of flexible belt was 0.7 m/s, which was the optimal combination of the working parameters of the machines. The verification test of the parameter combination showed that the shelling rate was 97.68% and the core breakage rate was 6.85%, which met the production requirements and laid a foundation for the deep processing of almonds.