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.

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.

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.

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.

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 that singleline LiDAR cannot sense irregularly shaped flowers, a 3D-SLAM method based on singleline LiDAR was proposed to solve the problem that singleline LiDAR cannot achieve multiplane sensing. In this paper, an automatic lifting LIDAR height device was designed, which mainly consisted of a screw slide, stepper motor, radar frame, singleline LiDAR and so on. The vertical movement of the LiDAR was controlled by the horizontal feed of the screw slide slider. Lawn mowing robots at work, obstacle information was detected by laser SLAM (Simultaneous Localization and Mapping) technology, and the ROS (Robot Operating System) system made corresponding countermeasures according to the height of irregular obstacles. By quantifying and comparing the effect of map building in different states, the experimental results showed that: the relative error rate was reduced by 1.04% after improvement compared to before improvement; the missed detection rate was reduced to 0; and the obstacle avoidance rate was increased by 93.33%. This research provided a theoretical basis for the accurate localization and obstacle avoidance of lawn mowing robots

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.

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.

Chinas hilly and mountainous areas account for 10% of the countrys land area, due to its small plots and narrow roads, it is not convenient for largescale plant protection machinery to enter the operation. In view of the existing problems, a 3WP-200A intelligent plant protection robot suitable for orchard protection in hilly and mountainous area was developed. In this paper, the basic concepts of physics and theoretical mechanics are applied to calculate the range of the oscillating spray gun without considering the wind force and the air resistance. The structure and working principle of the spraying device are introduced, and the parameters such as the inlet and outlet diameter of the spraying gun, the pressure loss of the medicated fluid and the diameter of the gun are designed. The results of calculation and test show that when the working pressure is 0.4-0.5 MPa, the maximum row distance is 7-9 m and the height is more than 6 m, which can meet the requirements of design parameters. The research results can provide theoretical reference and technical support for the development of mechanical spraying device for orchard plant protection.

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.

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 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.

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 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.

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.

Under the background of ensuring food security, grasping the initiative of food security and realizing the sustainable development of agriculture, how to reduce the competition for land between corn and soybean, improve the supply capacity of soybean and realize the sustainable development of agriculture becomes the key. According to the structure of “goalpolicy support” of soybean and corn strip compound planting technology, this paper combed and analyzed the policy support of national level and local level represented by Inner Mongolia as the driving force of grain production, and summarized the experience and practice of Inner Mongolia in promoting soybean and corn strip compound planting in successive years. The results showed that in the process of promoting soybean and corn strip compound planting, the local government should gradually promote, take measures according to local conditions, guide farmers from various directions, eliminate farmers concerns, and strengthen the supervision of the whole process.

Aiming at the problems of low weeding rate and high seedling damage rate of existing paddy field interplant weeding device, this paper carried out finite element virtual simulation on the designed inverted Vshaped paddy field interplant weeding device. The ALE multisubstance unit algorithm was used to establish a soilwater coupling model, and a penalty function method was used to perform fluidstructure interaction between the weeding claw and the soilwater model. Using the quadratic orthogonal rotation combined experiment design method to select the machine forward speed, the rotary velocity of weeding claw and the thickness of water layer for virtual simulation experiment and analysis, the influence of each factor and its firstlevel interaction on the disturbance rate of the weeding claw and the soilwater model was obtained. The order of the influence of each factor on the soil disturbance rate was rotary velocity of weeding claw>thickness of water layer>machine forward speed. By optimizing the design of the virtual simulation test results, the optimal combination of factors and parameters of the inverted Vshaped interplant weeding device was obtained as the machine forward speed was 0.53 m/s, the rotary velocity of weeding claw was 180 r/min, and the thickness of water layer was 0.01 m. Through the verification of the simulation optimization design results, the indoor test showed that the inverted Vtype paddy field weeding device performed weeding operations with the best combination of factors and parameters. The average weeding rate was 85.04% and the average seedling damage rate was 3.62%, which met the agronomic requirements of paddy field machinery for interplant weeding.

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.