In order to improve the seed supply performance of seed-supplying link of high-speed dense planting seeder of maize, an air-assisted spiral seed-supply device was designed and optimized. The kinetic model of maize seeds in the migration zone was established. Based on computational fluid dynamics (CFD) simulation, the pressure and velocity distribution in the axial plane were explored when the blower pressure was 4.0, 4.5, 5.0, 5.5, 6.0 kPa, respectively. A two-factor, five-level central composite design (CCD) experiment was conducted using blower pressure and rotational speed of spiral shaft as test factors and seed supply rate, coefficient of variation of seed supply rate stability and seed breakage rate as seed supply performance indicators. Explored the impact trend of interaction terms of factors on seed supply performance indicators. Based on the multi-objective variable optimization method, the optimal working parameter combination of the air-assisted spiral seed-supply device was determined and verified by bench experiments. The results showed that the optimal combination of working parameters was the blower pressure of 6.0 kPa and the rotational speed of spiral shaft of 80 r/min. Under the verification test, the seed supply rate, the coefficient of variation of seed supply rate stability and the seed breakage rate were 2933.21 g/min, 1.87% and 1.69%, respectively, and the relative error was within 5.5% compared with the optimized results. This study can provide a reference for the optimal design of the seed-supply device of the high-speed dense planting seeder.

为提高玉米高速密植播种机供种环节的供种性能，设计并优化了一种气送式螺旋供种装置。建立了玉米种子在迁移区的动力学模型。基于CFD仿真探究了气流送种区在风机压力分别为4.0、4.5、5.0、5.5、6kPa时中轴面的压强与流速分布。以风机压力、螺旋轴转速为试验因素，以供种速率、供种速率稳定性变异系数、种子破损率为供种性能指标进行了二因素五水平的中心组合设计试验，探究了因素的交互项对供种速率、供种速率稳定性变异系数、种子破损率的影响趋势。基于多目标变量优化的方法确定了气送式螺旋供种装置的最佳工作参数组合并进行了试验验证。结果表明:装置的最佳工作参数组合为风机压力6kPa、螺旋轴转速80r/min，验证试验下该参数组合的供种速率、供种速率稳定性变异系数、种子破损率分别为2933.21g/min、1.87%、1.69%，与参数优化结果相对误差在5.5%以内。本研究可为高速密植播种机供种装置的优化设计提供参考。

DESIGN AND OPTIMIZATION OF AIR-ASSISTED SPIRAL SEED-SUPPLY DEVICE FOR HIGH-SPEED DENSE PLANTING MAIZE SEEDER 

玉米高速密植播种机气送式螺旋供种装置设计与优化

Volume 75 / No. 1 / 2025

To enhance the upright orientation rate of garlic clove bud tips, an air-suction garlic clove directional metering device with a guiding cam was developed. Key parameters influencing garlic clove discharge performance were determined through mechanical analysis. After optimization, the guiding cam's thickness (D) was set at 4 mm, with the lead-in and the seeding section tilt angles(αt,β) of 5° and 15°, respectively. Comparative tests were conducted using optimal parameters, focusing on seed discharge disc rotational speed(n) and negative pressure(P) as main variables, with the upright rate of seeds in the receiving hopper serving as the evaluation index. Under conditions of -11.5 kPa negative pressure and 7 rad/s rotational speed, the upright rate reached 97.2%. Results demonstrated that the addition of guiding cams significantly improved the upright rate, increasing it by over 10% compared to directional metering devices without guiding cams.

为了提高排种后蒜种芽尖向上直立率低的问题。设计了一种带有导向凸轮的气吸式定向排种器，通过完成蒜种接触导向凸轮过程的力学分析，明确了影响导向排种性能的关键参数。得出导向凸轮厚度为4mm、导入段倾斜角度为5°、投种段倾斜角度为15°。在最优参数组合下进行对比验证试验，排种盘转速（n）以及负压大小(P)为试验因素，落入接料斗直立率为评价指标。增设导向凸轮排种器p为-11.5kPa、n为7rad/s时，落入接蒜斗直立率达到97.8％。稳定吸附时，排种器直立率之差Δ>10％。因此，增设导向凸轮的直立率显著高于不安装导向凸轮。

DESIGN AND EXPERIMENT OF GUIDANCE CAM OF AIR SUCTION GARLIC CLOVE DIRECTIONAL METERING DEVICE

气吸式大蒜定向排种器导向凸轮的设计与试验

To address the issue of reduced comfort and operational accuracy in tractors caused by the clutch engagement process in combination with automatic transmissions, dual-clutch transmissions, and hybrid power tractors, a new method is proposed that considers both the slipping process and synchronous instantaneous control at the moment of engagement. In this method, the optimal engagement process model of the clutch considering the clutch sliding process and synchronous instantaneous control was established, and the optimal trajectory of the clutch engagement process was solved based on the pseudo-spectral method. Then, the optimization results were compared with those obtained without considering the synchronous instantaneous. The results show that the proposed method considering the sliding process and synchronous instantaneous constraint can reduce the frictional loss of the clutch by 9%, and suppress the impact to below 10 m/s³. Finally, this method was applied to the control of tractor starting up, gear shifting and hybrid power mode switching processes. Simulation results demonstrate that this method can be effectively applied to these three operating conditions. 

为解决搭配自动变速器、双离合器变速器和混合动力拖拉机离合器接合过程导致的拖拉机舒适性和作业精度降低问题，提出了一种考虑滑摩过程和同步瞬间控制的新方法。在该方法中，建立了考虑离合器滑摩过程和同步瞬间控制的离合器最优接合过程模型，并基于伪谱法求解了离合器接合过程的最优轨迹。结果表明，考虑滑动过程和同步瞬间约束优化方法可使离合器的摩擦损耗降低 9%，并可抑制冲击降低到 10 m/s3以下。最后，将该方法应用于拖拉机起步、换挡和混合动力模式切换过程的控制，仿真结果表明，该方法能较好地应用于上述三种工况。

RESEARCH ON THE OPTIMIZATION METHOD OF CLUTCH ENGAGEMENT TRAJECTORY IN THE TRACTOR POWER SHIFT PROCESS

拖拉机动力换挡过程离合器接合轨迹优化方法研究

Aiming at the complexity and insufficient adaptability of current weeding devices for ridge tillage, this paper presents the design of a clamping-shear weeding device that mimics the hand-grabbing motion. Through the force analysis of the weed root system, the optimal shovel surface inclination angle is determined to be 10°~40°. To ensure the sliding cutting condition, the shovel blade angle is calculated and determined as 30°. Based on the Mohr-Coulomb shear theory, the weed resistance model is developed, and the shovel width is set at 50 mm based on the principle of minimum resistance. A single-factor test was conducted with the soil penetration depth of 40 mm and the clamping-shear speed of 4 cm/s, the results showed that the weed removal rate was over 85% and the crop injury rate was less than 6%, meeting the operational requirements of intra-row weeding. The optimal performance was observed with the shovel inclination angle of 30°.

针对现有垄作田间株间除草装置结构复杂、适应性差等问题，本文设计了一种模仿人手抓取操作的夹持剪切式除草装置。通过对杂草根系的受力分析，确定最佳铲面倾角为10°~40°。以满足滑切条件为原则，对铲刃倾角进行分析计算，确定铲刃角为30°。基于摩尔-库仑剪切理论，建立除草阻力模型，以最小阻力为原则，确定除草铲宽度为50mm。设定入土深度40mm、夹持剪切速度4cm/s，进行了铲面倾角单因素试验，结果表明：除草率在85%以上，伤苗率在6%以下，满足垄作田间株间除草作业要求，当铲面倾角为30°时，除草性能为最优值。

DESIGN AND TEST OF A CLAMPING-SHEAR INTRA-ROW WEEDING DEVICE

夹持剪切式株间除草装置设计与试验

The peach fruit moth was a fruit-eating pest and one of the major pests of fruit trees in China, Korea, Japan, and Australia. Due to long-term problems such as improper control methods, low technical quality, and untimely treatment, the yield and efficiency of fruit products were greatly affected, which constrained the development of the fruit industry. This paper developed a method for detecting adult peach fruit moths 
based on an improved YOLOv8m to address the challenging problem of manually detecting peach fruit moths. To increase the Receptive Field of the model, v7Down Sampling was introduced in its backbone network. Then, the channel-prioritized Convolutional Attention Mechanism Module (CPCA), which dynamically allocated the spatial attention weights on each channel, reducing the noise and the algorithm’s complexity, was incorporated. Finally, the inner-WIoU loss function was introduced to enhance the convergence and generalization of the bounding box. The precision (P) of the improved model increased by 3.4 percentage points compared to YOLOv8m. The recall (R) improved by 2.1 percentage points, and the mAP improved by 1.2 percentage points. The single-category precision (AP) for peach fruit moth detection improved by 2.4 percentage points. Moreover, the weight size, number of model parameters, and computational volume were reduced by 3.6MB, 1.8M, and 1.7G, respectively. This achieved an improvement in the model's effectiveness in detecting adult peach fruit moths without increasing the model's complexity. The results provided strong technical support for the subsequent real-time monitoring of the peach fruit moth.


桃小食心虫是一种食果害虫，也是中国、韩国、日本、澳大利亚等果树的主要害虫之一。因为长期的防治方法不当、技术素质低、处理不及时等问题，使果品的产量和效益都受到很大影响，制约果业的发展。本文针对人工检测桃小食心虫困难问题，开发了一种基于改进YOLOv8m的桃小食心虫成虫检测方法。我们在其主干网络引入v7Down Sampling，增加模型的Receptive Field。然后引入通道优先卷积注意力机制模块（CPCA），动态分配各个通道上的空间注意力权重，减少了噪声及算法的复杂度。最后引入Inner-WIoU损失函数，增强了边界框的收敛和泛化能力。改进后模型的精确度P相较YOLOv8m提高了3.4个百分点。召回率R提高了2.1个百分点。mAP提高了1.2个百分点。桃小食心虫单类别精度AP上提高了2.4个百分点。并且权重大小、模型参数量和计算量分别减少了3.6MB、1.8M、1.7G。实现了在不增加模型复杂度的同时提高模型对桃小食心虫成虫的检测效果，其结果可为后续桃小食心虫的实时监测提供有力的技术支撑。

DETECTION OF ADULT PEACH FRUIT MOTH BASED ON IMPROVED YOLOV8M

基于改进YOLOV8M的桃小食心虫成虫检测方法

Silk is a biomaterial with remarkable properties, used in various fields: the textile industry, aeronautics, medicine, etc. Sericulture is the practice of raising silkworms to obtain silk threads. This activity provides an opportunity to improve economic and social status, especially for rural populations. The high demand for labor, along with technical progress, has necessitated the implementation of technical solutions and modern activities in sericulture farms. This paper presents a brief analysis of the current state of research on some innovative technical solutions applied in sericulture sectors and activities, aimed at increasing silk thread production.

Mătasea este un biomaterial cu proprietăți deosebite, utilizat în diverse domenii: industria textilă, aeronautică, în medicina, etc. Sericicultura se ocupa cu crestererea viermilor de matase pentru obtinerea firelor. Aceasta activitate oferă posibilitatea de crestere a statutului economic si social, mai ales pentru populația rurala. Consumul ridicat de fortă de muncă, precum si progresul tehnic au impus implementarea unor solutii tehnice și activităti moderne în fermele sericicole. Aceasta lucrare prezintă o scurtă analiză a stadiului actual al cercetărilor privind unele soluții tehnice inovative aplicate in sectoarele și activitatile din sericicultură, în vederea sporirii producției de fire de mătase.

INNOVATIVE TECHNICAL SYSTEMS USED IN SERICULTURE – A REVIEW

SISTEME TEHNICE INOVATIVE UTILIZATE IN SERICICULTURA – A REVIEW

Conventional simultaneous localization and mapping (SLAM) systems for agricultural robots rely heavily on static rigidity assumptions, which makes it susceptible to the influence of dynamic target feature points in the environment thus leading to poor localization accuracy and robustness of the system. To address the above issues, this paper proposes a method that utilizes a target detection algorithm to identify and eliminate dynamic target feature points in a farm depot. The method initially employs the YOLOv5 target detection algorithm to recognize dynamic targets in the captured warehouse environment images. The detected targets are then integrated into the feature extraction process at the front end of the visual SLAM. Next, dynamic feature points belonging to the dynamic target part are eliminated from the extracted image feature points using the LK optical flow method. Finally, the remaining feature points are used for location matching, map construction and localization. The final test on the TUM dataset shows that the enhanced vision SLAM system improves the localization accuracy by 91.47% compared to ORB-SLAM2 in highly dynamic scenes. This improvement increases the accuracy and robustness of the system and outperforms some of the best SLAM algorithms while maintaining high real-time performance. These features make it more valuable for mobile devices.

农业机器人的传统同步定位和地图构建（SLAM）系统在很大程度上依赖于静态刚性假设，这使得它很容易受到环境中动态目标特征点的影响从而导致系统的定位精度和鲁棒性变差。针对上述问题，本文提出了一种利用目标检测算法来识别和消除农场库房中动态目标特征点的方法。该方法最初采用 YOLOv5 目标检测算法来识别采集库房环境图像中的动态目标。然后将检测到的目标整合到视觉 SLAM 前端的特征提取过程中。接着，使用 LK 光流方法从提取的图像特征点中剔除属于动态目标部分的动态特征点。最后，剩余的特征点用于位置匹配、地图构建和定位。在 TUM 数据集上的最终测试表明，在高动态场景中，增强型视觉 SLAM 系统与 ORB-SLAM2 相比，定位精度提高了 91.47%。这一改进提高了系统的准确性和鲁棒性，并在保持高实时性的同时超越了一些优秀的 SLAM 算法。这些特点使其对移动设备更有价值。

RESEARCH ON YOLOV5-BASED VISUAL SLAM OPTIMISATION METHOD IN FARM DEPOT ENVIRONMENT

农场仓库环境中基于 YOLOV5 的视觉 SLAM 优化方法研究 

The lack of effective visualization research methods for the crushing process of grass kneading has restricted the development of grass kneading machine to a certain extent. In this paper, the hay kneading process was numerically simulated by using the discrete element method, the stem movement rule, the mechanical characteristics of the stem particle group and the power consumption of the kneading were analyzed, and the motion and breaking mechanism of the grass in the hay kneading machine were defined. The effects of motor output speed and feed rate on the spinning rate and power consumption were studied. The regression equation between test factors and evaluation indexes was established. With the goal of maximizing the silk rates and minimizing the power consumption, the motor output speed and feeding amount are optimized and solved. The optimal parameter combination is determined as follows: when the output speed of the motor is 282.88r/min and the feeding amount is 1.86kg/s, the knead verification test shows that the silk rates is 92.88% and the power consumption is 3.68kJ. The research results provide a reference for realizing high efficiency and low power consumption of grass kneading and parameter optimization of kneading device.

针对牧草揉丝破碎过程缺乏有效可视化研究方法，在一定程度上制约了牧草揉丝机发展进程的问题。本文以铡切揉碎协同式牧草揉丝机为研究对象，采用离散元方法对牧草揉丝过程进行数值模拟，对牧草茎秆运动规律、茎秆颗粒群力学特性、揉丝功耗进行分析，明确了牧草在揉丝机内运动和破碎机理。进行了台架多因素性能试验，研究了电机输出转速和喂入量对丝化率和功耗的影响，构建了试验因素和评价指标之间的回归方程。以丝化率最大化和功耗最小化为目标，对电机输出转速和喂入量进行优化求解，确定最优参数组合为：电机输出转速为282.88r/min、喂入量为1.86kg/s时，揉丝验证试验表明，丝化率为92.88%、功耗为3.68kJ。研究结果为实现牧草高效、低功耗揉丝和揉丝装置的参数优化提供参考。

NUMERICAL SIMULATION AND PARAMETER OPTIMIZATION OF COMBINED CUTTING AND CRUSHING FORAGE CRUSHER

铡切揉碎组合式牧草粉碎机数值模拟与参数优化 

To address the challenge of parameter accuracy in discrete element method (DEM) simulations of buckwheat seeds within a seed metering device, this study characterized the physical properties of buckwheat seeds and subsequently calibrated the simulation model parameters. Initially, physical experiments were conducted to determine the triaxial dimensions, angle of repose, and static friction coefficients of buckwheat seeds against stainless steel surfaces. A three-dimensional model of the buckwheat seeds was then generated using Inventor and it was imported into EDEM to simulate the seed stacking process, with the angle of repose quantified via image processing techniques. Employing a Plackett-Burman design, initial parameters were screened, identifying the static friction coefficient between buckwheat seeds, the rolling friction coefficient between buckwheat seeds, and the static friction coefficient between buckwheat seeds and stainless steel as significant factors influencing the angle of repose. The optimal range for these significant parameters was determined through a steepest ascent experiment, and a second-order regression model was developed using Box-Behnken experimental results to optimize the angle of repose and the identified parameters. The optimized parameter set comprised a static friction coefficient between buckwheat seeds and stainless steel of 0.448, a rolling friction coefficient between buckwheat seeds of 0.038, and a static friction coefficient between buckwheat seeds of 0.372. Validation through both simulations and physical experiments revealed a relative error of 1.08%, confirming the reliability of the calibrated parameters for simulating buckwheat seed sowing machinery.

针对荞麦种子在排种器中进行离散元排种仿真模拟试验缺乏准确参数的问题，本研究对荞麦种子进行物性参数测定及仿真模型参数标定。首先,通过物理试验测定荞麦种子的三轴尺寸，休止角以及荞麦种子与不锈钢板间静摩擦系数。其次,运用Inventor绘制荞麦种子的三维模型，并导入到EDEM中建立荞麦离散元模型，来模拟荞麦种子的堆积过程，通过图像处理技术，获得准确的休止角。通过Plackett-Burman试验对初始参数进行筛选，得出荞麦间静摩擦系数、荞麦间滚动摩擦系数、荞麦-不锈钢之间的静摩擦系数对颗粒堆休止角影响显著。最后在最陡爬坡试验确定显著性参数最优值区间的基础上，根据Box-Behnken试验结果建立了休止角与显著性参数的二阶回归模型并对其进行优化，得到显著性参数的最佳组合。通过试验得出荞麦－不锈钢静摩擦系数为 0.448 、荞麦间滚动摩擦系数为 0.038 、荞麦间静摩擦系数为 0.372 。通过仿真与物理试验对比验证，得到二者相对误差为1.08%，标定参数可为荞麦播种机械仿真提供数据依据。

CALIBRATION OF DISCRETE ELEMENT SIMULATION PARAMETERS FOR BUCKWHEAT SEEDS

荞麦种子离散元仿真参数标定

Addressing the issues of water resource wastage, low fertilizer utilization efficiency, and uneven water-fertilizer mixing in current irrigation and fertilization practices, a new type of coaxial counter-rotating agitator was designed. Based on computer numerical simulation technology, this paper simulated and analysed the agitator's modes and flow field distribution, establishing the law that governed the variation of velocity distribution within the agitator's internal flow field with changes in rotational speed. An orthogonal experimental design was employed, utilizing stirring speed, stirring duration, and submerged depth as the experimental variables, and the outcomes were subsequently analysed utilizing Design-Expert software. The findings indicated that optimal fertilizer solubility was achieved when the stirring speed was 400 r/min, the stirring time was 5 minutes, and the stirring depth was 660 mm. This study provided a theoretical basis for the design and application of the coaxial counter-rotating agitator and aided in guiding parameter selection and optimization for practical applications.

针对目前灌溉施肥中存在的水资源浪费、肥料利用率较低以及水肥混合不均匀的问题，设计了一种新型同轴异转搅拌器.本文基于计算机数值模拟仿真技术，对搅拌器的模态、流场分布进行模拟分析，确定了搅拌器内部流场的速度分布随转速变化的规律；以搅拌转速、搅拌时间和潜液深度为试验因素设计正交试验，使用Design-Expert软件对结果进行分析，结果表明:当搅拌速度400 r/min、搅拌时间5 min、搅拌深度660 mm时，肥料溶解度最优。本研究为新型同轴异转搅拌器的设计和运用提供了理论依据，并有助于指导实际应用中的参数选择和优化。

SIMULATION AND TEST OF A NEW COAXIAL COUNTER-ROTATING AGITATOR

新型同轴异转搅拌器的仿真与试验

Based on the requirements for hybrid garlic seed sowing, the overall structure of an air-suction garlic seeding unit was designed, and its working principle was described. The adsorption pressure required for the seed metering device was determined to be -5 kPa. One hopper was selected for the bud reversing device, with an angle of 24.5°, and the perimeter of the insertion device measured 600 mm. The optimal combination of parameters for sowing involved a negative pressure of -5 kPa and a forward speed of 1 km/h at the third level. Under these conditions, the qualified rate of individual sowing reached 84.26%, while the missed sowing rate was 7.12%, meeting the agronomic requirements for garlic seed sowing. Field experiments validated the theoretical analysis and bench tests, providing a solid foundation for the future production and promotion of garlic sowing units. 

根据杂交大蒜种子的播种要求，设计了吸气式大蒜播种单体的整体结构，并描述了其工作原理。确定种子计量装置所需的吸附压力为-5 kPa。为磷芽交换装置选择了一个料斗，角度为24.5°，插入装置的周长为600 mm。播种的最佳参数组合为负压-5 kPa，前进速度为1 km/h，设定在三级档位。在此条件下，单粒播种的合格率达到了84.26%，漏播率为7.12%，满足了大蒜种子播种的农艺要求。田间试验验证了理论分析和台架试验的准确性，为大蒜播种单体的未来生产和推广奠定了基础。

DESIGN AND EXPERIMENT OF AIR-SUCTION GARLIC SEEDING UNIT

气吸式蒜苗单体的设计与实验

The feed rate is an important index for evaluating the performance of a combine harvester. Determining how to accurately reflect the feed rate during harvesting and establishing a reliable detection model is a major focus of current research and an important basis for the next step of feed rate stable control. This paper provides an overview of feed rate detection methods and stable control techniques for combine harvesters. It reviews methods that estimate the feed rate based on the inclined conveyor extrusion pressure, header power, and threshing unit energy consumption. Additionally, it introduces machine learning-based methods that incorporate multiple influencing factors to predict the feed rate. A comparison of different noise reduction techniques used in feed rate detection is also presented, analyzing their effectiveness. Furthermore, this study examines feed rate control methods in combine harvesters, discussing various control approaches with an emphasis on methods that stabilize the feed rate by adjusting header height and harvester forward speed. In response to the current issues of inadequate detection accuracy in feed rate monitoring, limited adaptability, and instability in control systems, it is pointed out that future research needs to innovate in developing advanced sensor technology, optimizing automatic control algorithms as well as data fusion and analytical methodologies. 

喂入量是衡量联合收割机性能的重要指标，通过何种方式将收获时机的喂入量反应出来并建立可靠的检测模型是当前研究的重点，也是下一步稳定控制喂入量的重要依据。该文概述了联合收割机喂入量检测方法以及喂入量稳定控制方法的研究现状，综述了基于过桥挤压力、割台功率、脱粒元件功耗等反应收割机喂入量的方法，介绍了利用机器学习结合多种影响喂入量的因素预测喂入量的方法，并对比了喂入量检测中不同降噪方法的降噪效果的优劣，接着对联合收割机喂入量控制方法进行了梳理，探讨了不同控制策略，着重分析了通过调节喂入量高度、收割机前进速度使喂入量保持稳定的方法。结果表明现阶段喂入量检测方法均能在一定程度上反映出喂入量变化情况，但普遍存在稳定性差、检测精度不高等问题。通过控制喂入量有效减少了收获损失率，但控制误差易受田间环境影响、波动大。针对上述问题，指出今后研究需要在发展先进传感器技术、优化自动控制算法、数据融合与分析等方面开拓创新。

A REVIEW OF THE FEED RATE DETECTION AND STABILITY CONTROL METHODS IN COMBINE HARVESTERS

联合收割机喂入量检测与稳定控制方法研究现状与发展趋势

Water quality is a critical factor in shrimp farming, directly influencing the growth, reproduction, and survival of shrimp. pH is one of the key parameters that affect water quality, with deviations from the optimal range (5.5–8.5) leading to stress, weakened immune responses, and potential infections in shrimp. This research presents the development of an automated pH monitoring and forecasting system aimed at improving water quality management in shrimp farms. The system uses a moving average algorithm to predict future pH levels based on real-time data collected by a pH sensor. The predicted and real-time values are transmitted to a cloud database, and farmers receive alerts via the Line application if pH levels deviate from the acceptable range. The system's performance was evaluated through six experiments, using different data collection intervals and durations. The most accurate forecasting results were achieved with 10-minute data collection intervals over a 2-hour period, yielding a mean squared error (MSE) of 0.003050 and a root mean square error (RMSE) of 0.038628. The system also demonstrated its ability to send real-time alerts to the farmer, ensuring prompt corrective action in the event of critical pH values.

คุณภาพน้ำเป็นปัจจัยสำคัญในอุตสาหกรรมการเลี้ยงกุ้ง ซึ่งส่งผลโดยตรงต่อการเจริญเติบโต การสืบพันธุ์ และอัตราการรอดชีวิตของกุ้ง โดยค่า pH เป็นหนึ่งในตัวแปรสำคัญที่มีผลต่อคุณภาพน้ำ หากค่า pH เบี่ยงเบนจากช่วงที่เหมาะสม (5.5–8.5) จะทำให้กุ้งเกิดความเครียด ภูมิคุ้มกันอ่อนแอลง และเสี่ยงต่อการติดเชื้อ งานวิจัยนี้นำเสนอการพัฒนาระบบตรวจสอบและพยากรณ์ค่าความเป็นกรด-ด่าง (pH) แบบอัตโนมัติที่มีวัตถุประสงค์เพื่อปรับปรุงการจัดการคุณภาพน้ำในฟาร์มกุ้ง ระบบนี้ใช้เทคนิคการพยากรณ์แบบค่าเฉลี่ยเคลื่อนที่ (Moving Average Algorithm) เพื่อทำนายค่าความเป็นกรด-ด่างในอนาคต โดยอิงจากข้อมูลแบบเรียลไทม์ที่เก็บรวบรวมจากเซ็นเซอร์ตรวจวัดค่า pH ข้อมูลค่าที่ทำนายและค่าที่วัดได้ในปัจจุบันจะถูกส่งไปยังฐานข้อมูลบนคลาวด์ และเกษตรกรจะได้รับการแจ้งเตือนผ่านแอปพลิเคชัน Line หากค่าความเป็นกรด-ด่างเบี่ยงเบนออกจากช่วงที่เหมาะสม ประสิทธิภาพของระบบได้รับการประเมินผ่านการทดลอง 6 ครั้ง โดยใช้ช่วงเวลาและระยะเวลาการเก็บข้อมูลที่แตกต่างกัน ผลการพยากรณ์ที่แม่นยำที่สุดได้รับจากการเก็บข้อมูลทุก ๆ 10 นาทีเป็นระยะเวลา 2 ชั่วโมง ซึ่งให้ค่า MSE (Mean Squared Error) เท่ากับ 0.003050 และค่า RMSE (Root Mean Square Error) เท่ากับ 0.038628 นอกจากนี้ ระบบยังแสดงความสามารถในการส่งการแจ้งเตือนแบบเรียลไทม์ไปยังเกษตรกร ทำให้สามารถดำเนินการแก้ไขได้อย่างทันท่วงทีเมื่อเกิดค่าความเป็นกรด-ด่างที่ผิดปกติ

PREDICTIVE MODELLING OF PH LEVELS FOR OPTIMIZING WATER QUALITY IN SHRIMP FARMING

การสร้างแบบจำลองการพยากรณ์ค่าความเป็นกรด-ด่างเพื่อเพิ่มประสิทธิภาพการจัดการคุณภาพน้ำในการเลี้ยงกุ้ง

To investigate the vibration characteristics of the Thinker Agricultural Machinery 4LZ-2.0 crawler-type combine harvester under operational conditions, vibration tests were conducted on the chassis frame at three different engine speeds: 2700 r/min, 1500 r/min, and 800 r/min. A static analysis was initially performed to identify regions of significant stress and deformation on the chassis frame, which guided the placement of measurement points for collecting vibration acceleration data. Subsequent processing of the acceleration data in the frequency domain revealed the variation in vibration velocity at each measurement point on the chassis frame. It was found that as the engine speed increased, the excitation frequencies from the vibrating screen and cutting platform appeared as dominant resonance frequencies at nine out of twelve measurement points on the chassis frame. By referencing the international standard ISO 20816, it was determined that most of these measurement points fell into Class D, indicating a high level of vibration severity. To mitigate the vibration of the chassis frame, two measures were implemented: enhancing the structural rigidity of the frame and reducing the area of the center of mass trajectory of the vibrating screen. Following these modifications, re-testing showed that the average vibration intensity at the three maximum vibration measurement points of the chassis in the high engine speed condition successfully decreased by 34.57% compared to the original structure.

为了解收割机运行状态下底盘机架振动特性，以星光农机4LZ-2.0型履带式联合收割机为研究对象，在发动机处于2700r/min,1500r/min,850r/min三种不同转速下对其底盘机架进行振动测试。首先通过静力分析找到底盘机架应力与变形较大的区域，并以此在其表面布置测点，采集振动加速度数据。通过在频域内对加速度数据进行处理得到底盘机架各测点振动速度变化情况。发现随发动机转速提升，振动筛与割台的激励频率在收割机底盘机架12个测点中9个测点作为主振频率出现。结合国际标准ISO 20816，发现这些测点大多处于振动等级最大的D级，振动强度过大。为减小收割机底盘机架振动，采取增强机架结构、减小振动筛质心运动轨迹面积两种措施。经重新测试，发动机高转速状态下底盘3个振动最大测点各方向平均振动强度较原结构成功降低34.57%。

ANALYSIS OF VIBRATION CHARACTERISTICS AND STRUCTURAL OPTIMIZATION OF THE CHASSIS FRAME OF CRAWLER-TYPE COMBINE HARVESTER

履带式联合收割机底盘机架振动特性分析与结构优化

Despite the abundance of agricultural straw as a renewable resource, its low utilization efficiency remains a significant challenge due to inadequate mechanical processing methods. To solve the problem, the ANSYS finite element simulation software was employed to simulate and analyze two screw configurations (parallel and staggered arrangement) and four compression zone designs. The optimal coupling breaking method was determined to be the parallel type with a 2-2-2 compression zone combination for the twin-screw system. Based on the simulation results, a twin-screw straw pulping machine was constructed. The test factors included screw speed, thread pitch, and straw moisture content, with straw breaking rate as the test index. Simulation test was conducted to optimize the structural parameters of the twin-screw straw pulping machine, followed by a verification test. The results indicated that at a screw speed of 120 r/min, a thread pitch of 203 mm, and a straw moisture content of 60%, the straw breaking rate was the highest at 79.9%. The verification test results were consistent with the simulation results, with less than 5% deviation, confirming the reliability of the simulation model and optimization outcomes. This paper provides a basis for the design and optimization of twin-screw pulping machines and offers theoretical support for the high-value utilization of agricultural waste through enhanced mechanical processing technologies.

为提高秸秆原料化利用率，推进秸秆综合利用进程，采用ANSYS有限元仿真软件，对并列型与错列型2种螺杆流道结构和4种压缩区组合工况进行模拟分析，确定最佳耦合碾压破碎方式为并列型2-2-2压缩区组合的双螺杆，根据仿真结果试制稻秆双螺杆制浆机。以螺杆转速、螺纹间距和稻秆含水率为试验因素，以稻秆破碎率为试验指标，通过仿真试验对稻秆双螺杆制浆机进行结构参数优化，并进行验证试验。试验表明: 螺杆转速为120r/min，螺纹间距为203mm，秸秆含水率为60%时，秸秆破碎率最高为79.9%；验证试验结果与仿真结果具有一致性，仿真模型和优化结果具有可靠性。本文为双螺杆制浆机的设计和优化提供了依据，为农业废弃物的高值化利用提供了理论支持。

DESIGN AND EXPERIMENTAL STUDY ON TWIN-SCREW STRAW PULPING MACHINE

稻秆双螺杆制浆机设计与试验

Aiming at the problems such as low seeding qualification rate of vegetable precision seeder, this paper designs a kind of air-absorbing precision seeder. The device is mainly composed of chassis part, seed discharge device, power unit, fan, gearbox and transmission device. ADAMS software is used to simulate the kinematics and dynamics of the air-absorbent seed discharger, and the simulation results show the movement and falling process of the seeds inside the seed discharger, and at the same time analyze the movement and force of the whole machine. By building a test bench, the seeding qualified rate under different factors is obtained to meet the requirements, which verifies the rationality of the machine design.

针对蔬菜精量播种机播种合格率低等问题，本文设计了一种气吸式精量播种机。该装置主要由底盘部分、排种装置、动力装置、风机、变速箱以及传动装置等组成。利用ADAMS软件对气吸式排种器进行运动学和动力学仿真，仿真结果显示了种子在排种器内部运动及下落过程，同时对整机的运动及受力情况进行分析。通过搭建试验台，得到不同因素下的播种合格率均满足要求，验证了整机设计的合理性。

STRUCTURAL DESIGN AND SIMULATION ANALYSIS OF AIR-ABSORBING VEGETABLE PRECISION SEEDER

气吸式蔬菜精量播种机结构设计与仿真分析 

To address the issues of poor boom stability and inconsistent spray quality due to harsh field conditions and varying boom height relative to the target, a five-section planar truss boom capable of height adjustment, overall tilt adjustment, and unilateral tilt adjustment was designed. A contour levelling control system for the boom was developed based on the STM32F103 platform. The levelling system uses ultrasonic distance sensors to detect the distance between the boom's ends and the target in real-time. The limit average filtering method is employed to eliminate sudden signal interference and process feedback data. The control system then drives electric actuators to adjust the boom's posture in real-time. Field and spray tests were conducted using a small electric self-propelled sprayer as the test platform. The results indicate that the best levelling performance was achieved with overall height adjustment, overall tilt adjustment, and unilateral tilt adjustment thresholds set to 30mm, 30mm, and 40mm, respectively. The field spray tests showed minimal relative errors in droplet deposition coverage and density on both sides. The coefficient of variation CV of deposition along the boom direction was less than 15%, ensuring good spray distribution uniformity. These findings provide valuable references for the design and optimization of sprayer booms.

本文设计了一种可实现高度调节、整体倾斜调节、单侧倾斜调节功能的平面五段式桁架喷杆。基于STM32F103平台设计了喷杆仿形调平控制系统，调平系统采用超声波测距传感器实时检测喷杆两侧末端与目标物之间距离，利用限幅平均滤波法以排除突变信号的干扰并对反馈数据进行计算处理，控制系统驱动各机构电动推杆伸缩对喷杆姿态进行实时调整。以小型电动自走式喷雾机为试验平台，分别进行了场地试验及田间喷雾试验，场地试验结果表明当设定整体高度调节阈值为30mm、整体倾斜调节阈值为30mm、单侧倾斜调节阈值为40mm时调平效果最佳，田间喷雾试验结果表明两侧雾滴沉积覆盖率及沉积密度相对误差较小，沿喷杆方向上的沉积量变异系数CV小于15%，可以保证较好的喷雾分布均匀性，研究成果为喷雾机喷杆的设计与优化提供了参考。

STRUCTURE DESIGN AND LEVELLING CONTROL SYSTEM DEVELOPMENT FOR SELF-PROPELLED SPRAYER BOOM

自走式喷雾机喷杆结构设计与仿形调平控制系统开发

To explore the change law of contact stress distribution in the process of planting seedlings, the greenhouse transplanting equipment was developed to reduce labor intensity and improve the mechanization level of facility horticulture. This paper takes the direct insertion seedling planter as the research object, adopts the pressure distribution measurement system to study the soil stress distribution rule of different cross-section, digging depth and types of seedling planter. Both horizontal and longitudinal sections were obtained to show an increasing and then decreasing trend. The stress distribution is basically consistent at different digging depths, and the peak contact stress is roughly located at the center position. With the increasing of digging depths, the soil disturbance increases by the seedling planter and the hole tray seedlings, and the peak contact stress also shows a gradually increasing trend, leading to a gradual increase in the peak resistance of the seedling planter. The peak contact stress of the four opening seedling plant was higher than that of the three opening seedling plant. The main reason was that the soil disturbance of the four opening seedling plant increased, the peak contact stress distribution increased, and the peak resistance also increased. This study provides a basis for designing the greenhouse transplanters.

为探明栽苗过程中接触应力分布变化规律，研制温室移栽机具，降低劳动强度，提高设施园艺机械化水平。本文以直插式栽苗器为研究对象，采用压力分布测量系统研究了不同截面、不同入土深度和不同类型栽苗器的接触界面土壤应力分布变化规律。通过分析不同截面土壤应力的变化规律，得出横向截面和纵向截面均是呈现先增加后减小的趋势。不同入土深度下接触应力分布基本一致，接触应力峰值大致位于中心位置。随着入土深度的逐渐增加，栽苗器、穴盘苗对接触界面土壤的扰动增加，高应力区域占比逐渐增大，接触应力峰值也呈现逐渐增加的趋势，导致栽苗器的峰值阻力也呈现逐渐增大的趋势。四开口栽苗器的峰值接触应力大于三开口的栽苗器，主要原因是由于栽苗过程中四开口栽苗器的土壤扰动量增加，峰值接触应力分布增大，导致峰值阻力也增大。该研究为温室移栽机具的设计提供参考。

ANALYSIS OF SOIL STRESS VARIATIONS DURING THE SEEDLING PLANTING PROCESS WITH DIRECT INSERTION SEEDLING DEVICE

直插式栽苗器栽苗过程中土壤应力变化过程分析

The mechanical properties of walnuts play an influential role in the process of walnut shell-cracking. To determine the optimal mechanical properties of walnuts, the effect of moisture content (MC) on the mechanical properties of walnuts was investigated. The results showed that Rupture force (F), Rupture displacement (D), and Rupture energy (E) of walnuts decreased proportionally with a reduction in the MC. To select an optimal pre-treatment for enhancing the mechanical properties of walnuts prior to shell-cracking, the effects of radio frequency (RF) and hot air (HA) heating treatment to change the mechanical properties of the walnuts were examined. The results indicated that the heating treatments of walnuts could lead to a brittle and easily breakable shell, with the F decreasing from 231.99±34.31 N to 174.73±24.89 N, the D decreasing from 1.68±0.18 mm to 1.36±0.13 mm, and the E decreasing from 207.31±44.29 mJ to 119.47±25.99 mJ. The mechanical properties of walnut shells are optimized to the best condition with the application of either a 2-minute RF treatment, a 3-minute RF treatment, or an 8-minute HA treatment. Notably, RF heating is significantly more time-efficient compared to the HA treatment. Quality evaluation indicated that there were no significant (p > 0.05) changes in color values, hardness, and brittleness between the heat-treated walnut kernels and the untreated walnut kernels. Overall, the results obtained from this study demonstrate that RF heating treatment is an effective method for optimizing the mechanical properties of walnuts prior to shell-cracking, and the results may provide guidance for the design and improvement of walnuts shell-cracking processes.


核桃的力学性能是影响核桃破壳效果的重要因素。为了获取最优的力学性能，研究了含水率对核桃力学性能的影响。结果表明，核桃的破壳力、破壳位移和破壳能均随着含水率的降低而降低。为了确定核桃破壳之前最佳的预处理方法，研究了射频(RF)加热处理和热风(HA)加热处理对核桃力学性能的影响。结果表明，加热处理使核桃壳变脆易碎；其中，在RF 2min、RF 3min、HA 8min三种加热处理方法下，核桃的力学性能达到最优；并且与HA加热处理相比，RF加热处理大大缩短了加热时间。品质分析结果表明，加热处理后的核桃和未处理的核桃的颜色值、硬度和脆性没有显著变化（p>0.05）。本研究的结果表明，RF加热处理是优化核桃力学性能的有效方法，此研究结果可为核桃破壳工艺的设计和改进提供指导。

OPTIMIZING WALNUT SHELL MECHANICAL PROPERTIES FOR EFFICIENT SHELL-CRACKING USING HEAT TREATMENTS: A COMPARATIVE STUDY OF RADIO FREQUENCY AND HOT AIR HEATING METHODS

通过热处理优化核桃壳破壳时的力学性能：射频和热风加热的对比

This study addresses the issue of grain crushing during the mechanical harvesting of soybeans, systematically analyzing the effect of moisture content on its mechanical crushing characteristics. Single-factor and multi-factor orthogonal experimental methods were employed to record the grain crushing process through compression tests combined with high-speed camera technology, allowing for a quantitative analysis of moisture content, loading speed, compression direction, and their interactions. Field experiments were conducted in five different planting areas, The results confirmed that when the moisture content was controlled within the range of 13%-17%, the grain crushing force could be maintained at a stable level between 137N and 182N, At the same time, the crushing rate was reduced to a minimum value of 2.15%±0.43%, generally remaining within a good range of 1.09% to 3.34%. The research findings provide a necessary theoretical basis for improving the design of key components of harvesting machinery.

本研究针对大豆机械收获过程中的籽粒破碎问题，系统分析含水率对其力学破碎特性的影响，采用单因素试验和多因素正交试验方法，通过压缩试验并结合高速摄像技术记录籽粒破碎过程，对含水率、加载速度、压缩方向及其交互作用进行定量分析。在五个不同种植区域开展田间试验，结果验证当含水率控制在13%-17%范围内时，籽粒压破力能够保持在137N~182N之间的稳定水平，此时破碎率降至最低值2.15%±0.43%，总体维持在1.09%~3.34%的良好范围内。研究结果为改进收获机械关键部件的设计提供了重要的理论依据。

EFFECTS OF MOISTURE CONTENT ON MECHANICAL CRUSHING PERFORMANCE OF SOYBEAN SEEDS AND ITS APPLICATION IN MECHANIZED HARVESTING

含水率对大豆种子机械破碎性能的影响及其在机械化收获中的应用

The paper develops a regression model to predict the density of Fuel Rolls produced from Agricultural Crop Stem Biomass. The study evaluates the influence of Variable-volume Pressing Chamber pressure (P, MPa), biomass volume per linear meter (V, m³), and flax stem content (m, %) on Fuel Roll density (ρ). The goal is to optimize these parameters to ensure the desired density of Fuel Roll. A regression analysis combined with response surface methodology was employed. The optimal parameters for Fuel Rolls production include Variable-volume Pressing Chamber pressure of 0.45–0.55 MPa, biomass volumes of 0.65–0.75 m³/m and flax stem content 75%. These technological parameters enable the production of fuel rolls with required density of 110-130 kg/m³. The results show that increasing pressure in the Variable-volume Pressing Chamber enhances Fuel Roll density, while larger biomass volumes lead to lower densities. Additionally, higher flax stem content improves cohesion and compaction, resulting in higher densities. These findings emphasize the importance of fine-tuning technological parameters to optimize Fuel Roll production. Utilizing agricultural crop stems for biofuel production offers significant environmental benefits, including reduced agricultural waste and lower combustion emissions.

У статті розроблено регресійну модель для прогнозування щільності паливних рулонів, вироблених із біомаси стебла сільськогосподарських культур, зокрема, стебла льону. Дослідження оцінює вплив тиску камери пресування зі змінним об’ємом (P, МПа), об’єму біомаси на погонний метр (V, м³) і вмісту стебла льону (m, %) на щільність рулону палива (ρ). Результати показують, що підвищення тиску в камері пресування зі змінним об’ємом підвищує щільність рулону палива, тоді як більші об’єми біомаси призводять до зниження щільності. Крім того, більш високий вміст стебла льону покращує когезію та ущільнення, що призводить до більшої щільності. Ці висновки підкреслюють важливість точного налаштування технологічних параметрів для оптимізації виробництва паливних рулонів. Аналіз поверхні відгуку показує, що суміші з вищим вмістом льону досягають оптимальної щільності завдяки волокнистій природі льону, що покращує когезію матеріалу. Оптимальними параметрами для виробництва паливних рулонів є тиск у камері пресування змінного об’єму 0,45–0,55 МПа, об’єм біомаси 0,65–0,75 м³/м і вміст стебла льону 75%. Ці технологічні параметри дозволяють виготовляти паливні валки необхідної щільності (110-130 кг/м³). Використання стебел сільськогосподарських культур, зокрема льону, для виробництва біопалива забезпечує значні переваги для навколишнього середовища, включаючи зменшення сільськогосподарських відходів і менші викиди під час спалювання. Оптимізовані параметри забезпечують більш ефективне виробництво рулонів палива, що робить їх конкурентоспроможним і стійким джерелом енергії.

OPTIMIZATION OF TECHNOLOGICAL PARAMETERS FOR FUEL ROLL PRODUCTION USING AGRICULTURAL CROP STEM BIOMASS

ОПТИМІЗАЦІЯ ТЕХНОЛОГІЧНИХ ПАРАМЕТРІВ ДЛЯ ВИРОБНИЦТВА ПАЛИВНИХ РУЛОНІВ З ВИКОРИСТАННЯМ СТЕЛБОВОЇ БІОМАСИ СІЛЬСЬКОГОСПОДАРСЬКИХ КУЛЬТУР

The cultivated land in hilly and mountainous areas of China accounts for a high proportion. However, the complex terrain makes it extremely difficult for traditional agricultural machinery to operate. There is a high risk of rollover, and the operation effect is not satisfactory. Achieving agricultural mechanization in these areas faces huge challenges. This study is dedicated to designing a four-wheel adaptive chassis suitable for hilly and mountainous areas to solve the stability problem of agricultural machinery during operation. The research adopts the leveling strategy of tracking the lowest fixed point plane in the four-point leveling method. By constructing the chassis coordinate system and analyzing the coordinate transformation matrix, the motion relationships of each support point are determined, and precise leveling is achieved based on this. In the system design, the hydraulic system is crucial. According to the preset vehicle parameters, various parameters of the hydraulic cylinder are accurately calculated, and a suitable gear pump is selected to ensure stable operation under different working conditions. The control system calculates the height errors of each point based on the body tilt angle data collected by the biaxial sensor, and then controls the action of the hydraulic valve to achieve automatic leveling of the chassis. The MATLAB/Simulink platform is used to simulate different tilt angle conditions, verifying the effectiveness of the control system. The experimental results show that the chassis can achieve rapid leveling within the range of -12° to 12° in the transverse direction and -8° to 8° in the longitudinal direction, and the leveling time is within two seconds. The leveling process is stable, without shaking and insufficient stroke problems. This indicates that the leveling strategy and system design of the chassis are reasonable and effective, which can significantly improve the stability and safety of agricultural machinery during operation in hilly and mountainous areas, providing important technical support for promoting agricultural mechanization in hilly and mountainous areas.

中国丘陵山区耕地占比高，但地形复杂致使传统农机作业困难重重，翻车风险大且作业效果不佳，实现农业机械化面临巨大挑战。本研究致力于设计一种适用于丘陵山区的四轮自适应底盘，以解决农机作业的稳定性问题。
研究采用四点调平中的最低点不动面追逐调平策略，通过构建底盘坐标系和分析坐标变换矩阵，确定各支撑点的运动关系，以此为基础实现精准调平。在系统设计上，液压系统是关键，根据预设的车辆参数，精确计算液压缸的各项参数，选用合适的齿轮泵，确保在不同作业工况下都能稳定运行。控制系统依据双轴传感器采集的车身倾斜角度数据，计算各点高度误差，进而控制液压阀动作，实现底盘自动调平。利用 MATLAB/Simulink 平台对不同倾斜角度工况进行仿真，验证了控制系统的有效性。实验结果显示，该底盘在横向 -12°至 12°、纵向 -8° 至 8° 范围内可实现快速调平，且调平时间在两秒以内，调平过程平稳，无晃动和行程不足问题。这表明底盘的调平策略和系统设计合理有效，能显著提升农机在丘陵山区作业的稳定性和安全性，为推动丘陵山区农业机械化发展提供了重要技术支持。

DESIGN OF A WHEELED ADAPTIVE CHASSIS LEVELING SYSTEM  FOR HILLY AND MOUNTAINOUS AREAS

丘陵山区轮式自适应底盘调平系统设计

In response to the current challenges in the harvesting process of hybrid rice, where the threshing gap cannot adequately adapt to the varying threshing requirements, leading to high grain breakage rates, loss rates, and frequent clogging of the drum, a new threshing device for hybrid rice was designed by adjusting the gap of the concave screen. The concave screen was divided into a low-loss threshing section and a low-damage threshing section, with the addition of a hydraulic system to enable the adjustment of the threshing gap. A dynamic analysis of the rice at the spiral feeding inlet and within the threshing drum was conducted, determining that the adjustable range of the threshing gap is between 10 and 20 mm. A prototype of the low-loss threshing device for hybrid rice was built, and bench tests were performed with feed rate, drum speed, and threshing gap as influencing factors, while cleaning rate and breakage rate were used as response indicators in an orthogonal experiment to determine the optimal parameter combination. The optimal threshing performance was achieved at a threshing gap of 14.19 mm, a drum speed of 460.12 r/min, and a feed rate of 2.13 kg/s, resulting in a cleaning rate of 97.67% and a breakage rate of 0.295%. Subsequent verification tests under the optimal combination showed a cleaning rate of 96.2% and a breakage rate of 0.36%, meeting the harvesting standards for hybrid rice. This research provides theoretical support for the development of mechanized harvesting equipment for hybrid rice.

针对目前制繁种水稻收获过程中脱粒间隙无法很好的适应不同条件下水稻脱粒需求，脱粒过程中水稻籽粒破碎率、损失率及滚筒易堵塞等问题，从调节凹板筛脱粒间隙的角度出发，设计了一种制繁种水稻脱粒装置。将凹板筛设计为低损失脱粒段与低损伤脱粒段，通过加入液压系统能够实现脱粒间隙调节。对水稻在螺旋喂入口和脱粒滚筒内进行动力学分析，确定了脱粒间隙可调范围为10～20mm。试制了制繁种水稻低损脱粒装置试验台，进行台架试验，以喂入量、滚筒转速、脱粒间隙作为影响因素，以脱净率和破损率作为响应指标进行正交实验，确定最优组合参数，获得脱粒装置在脱粒间隙14.19mm、滚筒转速460.12r/min、喂入量2.13kg/s的组合参数下脱粒效果最优，脱净率为97.67%，破损率为0.295%，并在最优组合下验证试验，结果表明脱净率为96.2%，破损率为0.36%，满足水稻制繁种收获标准，该研究可为制繁种水稻机械化收获装备的研制提供理论支持。

DESIGN AND EXPERIMENT OF SEGMENTABLE ADJUSTABLE THRESHING DEVICE FOR RICE SEED BREEDING

制繁种水稻分段可调脱粒装置设计与试验

Mold contamination of stored maize can cause significant economic losses, and it is crucial to effectively classify maize kernels without destroying their original structure. But existing studies have found it difficult to distinguish moldy maize. In this paper, a method for non-destructive detection of mold in maize using near-infrared spectral fingerprinting is proposed. The spectral raw data are initially acquired using a handheld near-infrared spectrometer. To enhance the signal quality, preprocessing is conducted, and a classification model is developed for full-band spectral data. In order to further optimize the model and enhance the classification accuracy, the feature wavelengths were extracted from the spectral data with effective preprocessing techniques in the full-band model. Finally, the maize kernel mold classification model is constructed. The classification accuracy of SG+SNV-SVM-ISFLA model can reach up to 97.22%, and the accuracy for the identification of asymptomatic moldy maize is 96.30%, which can realize the accurate grading of moldy accurate classification of maize and can well distinguish asymptomatic moldy maize. This work may significantly control the spread of molds in the food industry while improving storage economics and safety.

仓储玉米受到霉菌污染会造成重大经济损失，因此在不破坏玉米原有结构的情况下对玉米进行有效分类至关重要。但现有研究发现，轻微霉变玉米难以区分。本文提出了一种利用近红外光谱指纹的玉米霉变无损检测的方法。最初使用手持式近红外光谱仪获取光谱原始数据。为了提高信号质量，进行了预处理，并为全波段光谱数据建立分类模型。为了进一步优化模型并提高分类准确率，对预处理后的数据进行特征提取。最后，构建了玉米霉变分类模型。结果表明SG+SNV-ISFLA-SVM模型的分类准确率高达97.22%，对无症状霉变玉米的识别准确率为96.30%，可实现对玉米霉变的准确分级，并能很好地区分无症状霉变玉米。这项工作可大大控制霉菌在食品工业中的传播，同时提高贮藏的经济性和安全性。

NON-DESTRUCTIVE DETECTION OF MOLD IN MAIZE USING NEAR-INFRARED SPECTRAL FINGERPRINTING

基于近红外光谱指纹技术的霉变玉米籽粒无损检测

To ensure the stability of seeding depth for a corn planter unit under different soil moisture conditions, a control system was designed to adjust the seeding depth of the unit based on soil moisture content. Using a PLC controller as the control foundation, the system employs a hydraulic system as its actuator. Soil moisture content is detected by moisture sensors, and the PLC controller processes the analog signals from the sensors. The controller then adjusts the forward and reverse rotation and speed of the motor via a variable frequency drive, thereby controlling the vertical displacement of the depth-limiting wheel to regulate the seeding depth. At the same time, a pressure sensor provides feedback to the PLC controller to control the switching time of the solenoid directional valve, driving the hydraulic cylinder stroke. The profiling mechanism connected to the hydraulic system moves the depth-limiting wheel accordingly, achieving stability in the planter's seeding depth. The control system is further optimized using the Mamdani fuzzy PID algorithm. Experimental results demonstrate that the designed seeding depth control system is stable and reliable, accurately adjusting the seeding depth according to different soil moisture levels. When the unit operates at speeds of 8 ~10 km/h, the stability of the seeding depth reaches 90%, significantly improving the stability of the unit's seeding depth.

为了使玉米播种机单体在不同含水率土壤播种工作时保持播种深度的稳定性，设计了一种根据土壤含水率控制播种单体播种深度的的控制系统。以PLC控制器为控制基础，系统采用液压系统作为其执行机构，通过水分传感器检测土壤含水率，PLC控制器分析处理传感器检测所获得的模拟信号后，控制器通过控制变频器调节电机正反转和转速，实现对限深轮的上下位移，完成对播种深度的控制。同时压力传感器将信号反馈给PLC控制器控制电磁换向阀的开断时间来驱动液压缸行程，与之相连接的仿形机构带动限深轮一同运动，实现对播种机播深的稳定性调节。利用Mamdani模糊PID算法对控制系统进行优化。实验结果表明，所设计的播种深度控制系统稳定可靠，能根据不同土壤含水率精确控制播种深度，单体作业速度在8～10 km/h时，播深稳定性	达到90%，系统提高了单体的播种深度稳定性。 

INVESTIGATION OF THE CONTROL SYSTEM FOR MAIZE SEEDER SOWING DEPTH BASED ON SOIL MOISTURE CONTENT

基于土壤含水率的玉米播种机播深控制系统的研究

To address the high efficiency and precision seeding requirements for rice factory seedling cultivation, a whole tray air-suction dual-station high efficiency seedling cultivation and seeding assembly line was designed. Based on the whole-tray air-suction principle, the study focused on the design of a dual-suction seed tray dual-station precision hole-to-hole seeding device, a transverse seedling tray conveying device, and an automatic seed replenishment device. Nan Jing 46, Nan Jing 5055, and Koshihikari rice seeds were used for seeding performance experiments on the assembly line. The impact of workstation configuration and production efficiency on the empty hole rate, reseeding rate, damage rate, and seeding precision was analyzed. Experimental results showed that the dual-station precision seeding method significantly improved seeding efficiency. When the seeding efficiency reached 2000 trays per hour, the seeding rate of 1-3 seeds per hole was 90.1%, while the damage rate, empty hole rate and reseeding rate were 0.38%, 0.84%, 9.06% respectively. This study shows that combining the whole tray air-suction principle with transverse seedling tray conveying device, dual-station precision hole seeding device, and automatic seed addition device can significantly enhance the seeding efficiency while ensuring the seeding accuracy, achieving a seeding efficiency of over 2000 trays per hour. This study provides an important reference for further improving the seeding accuracy and efficiency of precision rice seedling cultivation and seeding assembly line.

针对水稻工厂化育秧的高效率精量播种需求，本文设计了一种整盘气吸式双工位高效育秧播种流水线。基于整盘气吸式原理，重点设计了双吸种盘双工位精量对穴播种装置、横向秧盘输送装置及自动加种装置。南粳46、南粳5055及越光稻种子被用于流水线播种性能试验，分析了工位配置和生产效率对合格率、损伤率、空穴率和重播率的影响。试验结果表明，双工位精量对穴播种方式显著提高了播种效率。当播种效率达到2000盘/h时，每穴1-3粒的合格率为90.1%，损伤率、空穴率、重播率分别为0.38%、0.84%、9.06%。该研究表明，将整盘气吸式原理与横向秧盘输送装置、双工位精量对穴播种装置及自动加种装置相结合，能够在保证播种效果的同时显著提升播种效率，达到超过2000盘/小时的播种效率。这一研究为进一步提高水稻精量育秧播种流水线的播种精度和效率提供了重要参考。

DESIGN AND TESTING OF DUAL-STATION HIGH EFFICIENCY WHOLE TRAY AIR-SUCTION SEEDING ASSEMBLY LINE FOR RICE SEEDLING CULTIVATION

整盘气吸式水稻双工位高效育秧播种流水线设计与试验

This paper proposes a lightweight spore detection method for millet downy mildew based on an improved YOLOv8s, aiming to enhance the accuracy and efficiency of spore detection. First, the backbone network of the YOLOv8s model was modified by replacing the original backbone with EfficientViT. The substitution of the EfficientViT backbone enables global receptive field and multi-scale learning, which helps to reduce computational costs. While maintaining high performance, this modification significantly improves computational efficiency. Second, a Frequency-Adaptive Dilated Convolution (FADC) module was added to the neck of the model. By adaptively adjusting the receptive field of dilated convolution, the FADC module optimizes the detection of different frequency information. It improves the detection of small objects without adding extra computational burden. Finally, the detection head was optimized to better adapt to the task of detecting millet downy mildew spores, resulting in enhanced detection speed and accuracy. The improved algorithm, named EFP-YOLOv8s, maintains the same mAP50 as the original YOLOv8s model while reducing the number of parameters by 37.8% and computational cost by 58.5%. By balancing high performance with reduced computational resource demands, the model achieves lightweight design, making it more deployable and scalable in practical applications.

谷子白发病是一种严重影响谷子产量的病害，传统的白发病监测方法通常依赖人工识别，容易出现漏检和误判的情况。本文提出了一种基于改进YOLOv8s的轻量化谷子白发病孢子检测方法，旨在提高孢子检测的准确性和效率。首先，针对YOLOv8s模型的主干网络进行了改进，将原有的主干网络替换为EfficientViT。通过替换主干网络EfficientViT实现全局感受野和多尺度学习，有助于降低计算成本。在保持高性能的同时，显著提高了计算效率。其次，在模型的颈部添加了FADC（Frequency-Adaptive Dilated Convolution）模块，通过自适应地调整膨胀卷积的感受野，针对不同频率的信息进行优化。在不增加额外计算量的同时改善小目标的检测效果。最后，对检测头进行了优化，使其更加适应谷子白发病孢子的检测任务，提高了检测速度和准确性。改进后的算法EFP-YOLOv8s相比原YOLOv8s模型mAP50保持不变，达到97.6%，参数量下降37.8%，计算量下降58.5%。该模型在保持高性能的同时，也降低了计算资源的需求，实现轻量化，更易于在实际应用中部署和推广。

A LIGHTWEIGHT MILLET DOWNY MILDEW SPORE DETECTION METHOD BASED ON IMPROVED YOLOV8S

基于改进YOLOV8S的轻量化谷子白发病孢子检测方法

In order to clarify the working mechanism of forage crusher, the combined cutting and crushing forage crusher was taken as the research object, the mechanical analysis was carried out on the cutting and crushing process of alfalfa stalk, the dynamic model was established, and the relationship between the shear force and the relevant parameters of the cutting mechanism was defined. It was found that the cutting Angle, the installation Angle and the wedge Angle had important effects on the cutting effect and power consumption. The force of alfalfa stem in the grinding chamber is mainly related to the speed of the grinding shaft, the gap between the hammer and the rolling plate. With the output speed of motor, feeding amount, screen diameter and water content as test factors, productivity, silking rate, power consumption and average crushing length as evaluation indicators, the single factor test was carried out to determine the influence of each test factor on the evaluation indicators. The research results can provide reference for the optimization design of grass crusher.

为明确牧草粉碎机工作机理，以切割粉碎组合式牧草粉碎机为研究对象，对苜蓿茎秆切割和粉碎过程进行了力学分析，建立了动力学模型，明确了剪切力与切割机构相关参数的关系，得到动刀遇角、安装后角和楔角对切割效果和功耗具有重要影响；苜蓿茎秆在粉碎室内受力主要与粉碎轴转速、锤片和揉搓板间隙有关。以电机输出转速、喂入量、筛孔直径、含水率为试验因素，生产率、丝化率、功耗、平均粉碎长度为评价指标，进行了单因素试验，确定了各试验因素对评价指标的影响规律，研究结果可为牧草粉碎机的优化设计提供参考。

WORKING MECHANISM ANALYSIS AND EXPERIMENTAL STUDY OF GRASS CRUSHER

牧草粉碎机工作机理分析与试验研究

For the accurate detection of obstacles in complex farmland environments, ResNet50 is adopted as the backbone feature extraction network, feature pyramid network (FPN) is utilized to enhance the multi-scale feature fusion capability, and the region of interest alignment (ROI Align) strategy is introduced to improve the candidate box localization precision. The experimental results show that the precision, recall, and mean accuracy (mAP) of the improved model are 91.6%, 89.7%, and 93.8%, respectively, which are improved by 2.7, 2.3, and 3.1 percentage points compared with the original base network, and provide a technical reference for navigation and obstacle avoidance of unmanned agricultural machinery.

针对复杂农田环境中障碍物的准确检测，采用ResNet50作为骨干特征提取网络，利用特征金字塔网络（FPN）提升多尺度特征融合能力，并引入感兴趣区域对齐（ROI Align）策略提高候选框定位精度。实验结果显示，改进模型的精度、召回率和平均精度（mAP）分别为91.6%、89.7%和93.8%，相比于原基础网络，提升了2.7、2.3和3.1个百分点，为无人农业机械的导航避障提供了技术参考。

FARMLAND OBSTACLE RECOGNITION BASED ON IMPROVED FASTER R-CNN

基于改进FASTER R-CNN的农田障碍物识别

Wheat grains are a common type of cereal variety, and due to their large quantity and high demand, traditional manual quality inspection requires a significant amount of labor with potentially inadequate results. To address this issue, this study focuses on intact, damaged, moldy, and shriveled wheat grains, and establishes a YOLO-wheat automatic wheat grain appearance quality detection model. First, a large number of wheat grain sample images were collected, preprocessed, and annotated. Next, YOLOv5n, YOLOv8n, and YOLOv10n wheat grain object detection models were established, and the optimal model YOLOv8n was selected as the base model for automatic wheat grain appearance quality detection. To further improve wheat grain detection performance, the Dilation-wise Residual (DWR) module was integrated into the YOLOv8n network structure to enhance feature extraction from the expandable receptive field in the higher layers of the network. Additionally, the TripletAttention attention mechanism was introduced, and this improved network was named YOLO-wheat. Experimental results showed that YOLO-wheat achieved an mAP value of 91.3% in wheat grain appearance quality detection, representing a 4.3% improvement compared to the previous version. This study provides technical support for automatic wheat quality detection.

小麦籽粒是一种常见的谷物类品种，且由于其数量多需求量大，在传统人工品质检测时耗费大量精力而效果不见得足够好。为解决上述问题，本研究以小麦完善粒、破损粒、发霉粒和干瘪粒为研究对象，建立YOLO-wheat小麦籽粒外观品质自动检测模型。首先，采集了大量小麦籽粒样本图像，并进行了数据预处理和标注整理。其次，建立了YOLOv5n、YOLOv8n、YOLOv10n小麦籽粒目标检测模型，从中选取最优模型YOLOv8n为小麦籽粒外观品质自动检测基础模型。为了进一步提升小麦籽粒检测性能，在YOLOv8n网络结构中使用Dilation-wise Residua(DWR)模块加强从网络高层的可扩展感受野中提取特征，并引入了TripletAttention注意力机制，将此网络命名为YOLO-wheat。实验结果表明YOLO-wheat在小麦籽粒外观品质检测中mAP值为91.3%,较改进前提升4.3% 。该研究可为小麦品质自动检测提供技术支持。

WHEAT GRAIN APPEARANCE QUALITY DETECTION BASED ON IMPROVED YOLOV8N

基于改进YOLOV8N的小麦籽粒外观品质检测

Abstract: UI design and user interaction optimization of smart agricultural management cloud platforms are key research directions for enhancing the overall value of the system. However, there is still room for improvement in terms of functionality and visibility of the platform interface. This study constructs a UI design evaluation model by combining the Analytic Hierarchy Process (AHP) and Fuzzy Comprehensive Evaluation (FCE), systematically evaluating and optimizing three UI design schemes of the platform. First, AHP was used to allocate weights to design factors, and then FCE was applied for comprehensive evaluation of each scheme, ultimately selecting the optimal one. Based on user heatmap data, the visual design of high-click areas was further optimized, improving the platform's score from 80.524 to 86.927. The study demonstrates that the combined AHP and FCE method has significant effects on UI design evaluation and optimization, providing scientific evidence and practical guidance for enhancing user experience in other smart agricultural management cloud platforms.

智慧农业管理云平台的UI设计与用户交互优化是提升系统整体价值的关键研究方向。然而，目前平台界面在功能性与可视性方面仍有改进空间。本研究通过结合层次分析法（AHP）与模糊综合评价法（FCE）构建了UI设计评价模型，对平台的三种UI设计方案进行了系统评估与优化。首先，采用AHP对设计因素进行权重分配，然后运用FCE对各方案进行综合评价，最终筛选出最优方案。基于用户热力图数据，进一步优化了高点击区域的视觉设计，使平台评分从80.524提升至86.927。研究表明，AHP与FCE结合的方法在UI设计评价与优化中具有显著效果，为其他智慧农业管理云平台的用户体验提升提供了科学依据和实践指导。

EVALUATION AND OPTIMIZATION OF AGRICULTURAL MANAGEMENT CLOUD PLATFORM BASED ON AHP/FCE

基于AHP/FCE的智慧农业管理云平台评价与优化

TTo address the issue of increased fuel consumption and reduced efficiency caused by excessive slip of the drive wheels during tractor ploughing operations, this paper considered the time-varying, uncertain, and highly nonlinear characteristics of the tractor-operating unit. A nonlinear dynamic model was constructed and a nonlinear slip control method for the drive wheels was designed using sliding mode variable structure control (SMVSC). The method was validated and tested on both the MATLAB/Simulink platform and a hardware-in-the-loop (HIL) simulation platform based on dSPACE. The HILS results indicated that, compared to the fuzzy PID algorithm, under varying soil specific resistance pulses, the mean absolute deviation of slip rate was reduced by 0.013, and the response time decreased by approximately 1.3 seconds with the SMVSC method. In case of pulse variation in slip rate, the SMVSC method reduced the tracking response time by approximately 0.8 seconds and the average control overshoot by about 0.03. Under both experimental conditions, the SMVSC method demonstrated superior control performance, ensuring more stable tractor operation. These findings provide valuable insights for drive slip control in tractor ploughing operations.

为解决拖拉机犁耕作业时驱动轮过度滑转引起燃油消耗量增加和效率降低的问题，本文考虑拖拉机作业机组时变、不确定和强非线性特征，构建了非线性动力学模型并结合滑模变结构控制设计了驱动轮滑转非线性控制方法，分别在MATLAB/Simulink平台以及基于dSPACE搭建的硬件在环仿真平台进行验证测试。硬件在环测试结果表明，相比模糊PID算法，在土壤比阻脉冲变化时，SMVSC方法下滑转率的平均绝对值偏差减少了0.013，响应时间减少了约 1.3s；在滑转率脉冲变化时，SMVSC 方法的跟踪响应时间减少了约 0.8s，平均控制过冲减少了约 0.03。两种试验条件下，SMVSC的控制效果更佳且能够使拖拉机保持较稳定的作业状态，对于拖拉机犁耕作业中的驱动防滑控制具有一定的参考意义。

HARDWARE-IN-THE-LOOP SIMULATION FOR DRIVE WHEEL SLIP CONTROL OF HIGH-POWER TRACTOR FOR PLOUGHING OPERATION

基于硬件在环仿真的大马力拖拉机犁耕作业驱动轮滑转控制研究

Path planning is crucial for agricultural machinery navigation. To address the issue of operational path planning in fields with obstacles, this paper proposes a method for obstacle avoidance path planning in farmland by combining an improved whale optimization algorithm with Dijkstra's algorithm. The population initialization is conducted using Tent mapping and a nonlinear convergence factor α^* is introduced to reduce the oscillation and instability of the traditional whale optimization algorithm. By using the grid method to model the environment of the target field, the field is divided into multiple regular subplots. The improved whale optimization algorithm is employed to determine the optimal traversal order of these subplots. Subsequently, Dijkstra's algorithm is applied to find the shortest path connecting the subplots, achieving global obstacle avoidance path planning for farmland. Taking a rectangular plot of land in Jiaolai Town, Jiaozhou City, Qingdao as the target area for this study, the experimental results indicate that this method achieves a coverage rate of 100% in the plot coverage path experiment. Additionally, the path redundancy rate is 4.87%, which represents a reduction of 1.63% compared to traditional algorithms. This research method is applicable to regular plots, but it still has limitations for irregular plots or those with curved boundaries.

路径规划是农机导航的关键。针对地块中存在障碍物的作业路径规划问题，本文旨在提出一种基于改进鲸鱼优化算法与Dijkstra算法相结合的农田避障路径规划的方法。本文通过利用Tent映射进行种群初始化，以及引入非线性收敛因子α^*，降低传统鲸鱼优化算法的振荡性以及不稳定性。通过栅格法对目标地块进行环境建模，将地块分成多个规则子地块,通过改进鲸鱼算法求解子地块最佳遍历顺序，再利用Dijkstra算法进行子地块之间连接最短路径，实现农田全局避障路径规划。以青岛市胶州市胶莱镇的一块矩形地块为本次研究目标地块，实验结果表明：本方法在目标地块覆盖路径实验中，地块覆盖率达到100%，路径重复率为4.87%，路径重复率较传统算法减少1.63%。

GLOBAL PATH PLANNING OF FARMLAND PLOTS BASED ON IMPROVED WHALE OPTIMIZATION ALGORITHM

基于改进鲸鱼优化算法地块整体路径规划

The three high-valuable products generated by the pyrolysis process are the biochar, the syngas, and the pyrolysis oil. The proportions of these products are influenced by several factors such as temperature, heating rate, and feedstock type. This research aimed to develop an innovative and improved pyrolysis reactor design, that can enhance both the quality and yield of biochar produced in thermochemical processes. The main objective was to enable the rapid conversion of various organic wastes, such as agricultural byproducts, wood chips, and other plant-based materials, into high-quality biochar. The experimental pyrolyzer model was designed with precise temperature control to optimize biochar properties and an intelligent process control system, which minimize emissions and maximize energy efficiency. This equipment not only contributes to sustainable waste management but also supports soil improvement by enhancing soil fertility and carbon sequestration in agricultural practices. The experimental results showed a high efficiency in obtaining a quality biochar within a short production time. Additionally, the biochar exhibited a water retention potential of up to 150% relative to the pre-treated biomass mass, while the energy consumption was estimated to be up to 15% lower compared to conventional methods.

Cele trei produse de mare valoare generate de procesul de piroliză sunt biocharul, gazul de sinteză și uleiul de piroliză. Proporțiile acestor produse sunt influențate de mai mulți factori, cum ar fi temperatura, viteza de încălzire și tipul de materie primă. Prezenta cercetare a avut ca scop dezvoltarea unui proiect inovator de reactor de piroliză îmbunătățit, care poate îmbunătăți atât calitatea, cât și randamentul biocharului generat în procesele termochimice. Obiectivul principal a fost acela de a permite conversia rapidă a diferitelor deșeuri organice, cum ar fi produse secundare agricole, așchii de lemn și alte materiale pe bază de plante, în biochar de înaltă calitate. Modelul experimental de pirolizator este proiectat cu un control precis al temperaturii pentru a optimiza proprietățile biocharului și un sistem inteligent de control al procesului, care minimizează emisiile și maximizează eficiența energetică. Acest echipament nu numai că contribuie la gestionarea durabilă a deșeurilor, dar oferă și o îmbunătățire a solului, îmbunătățind fertilitatea solului și captarea carbonului în practicile agricole. Rezultatele experimentale au arătat o eficiență ridicată în obținerea unui biochar de calitate, intr-un timp scurt de producție. Rezultatele experimentale au arătat o eficiență ridicată în obținerea unui biochar de calitate, cu un potential de inmagazinare a apei de pana la 150% raportat la masa de tulpina inainte de tratare si un consum de energie estimat cu pana la 15% mai mic.

INNOVATIVE PYROLYSIS REACTOR DESIGN FOR ENHANCED PERFORMANCE AND SUPERIOR BIOCHAR QUALITY

REACTOR INOVATOR DE PIROLIZĂ PENTRU O PERFORMANȚĂ ȘI O CALITATE SUPERIOARĂ ÎMBUNĂTITĂ A BIOCHARULUI

To address the challenges of high labor intensity and expensive manpower in morel harvesting, a specialized morel picking machine was designed. It is capable of performing the tasks of grasping, cutting, and collecting morels. A three-degree-of-freedom robotic arm was incorporated to ensure precise positioning of the picking claw. The kinematic model of this arm was established to determine the operational radius for effective picking. A three-finger picking claw was developed, with the synchronous opening and closing of the three fingers through a wire-pulling mechanism and a four-bar linkage. Buffer elastic material was installed on the picking fingers, and cutting blades were placed at the fingertips. Simulation analyses were conducted to study the movement of the robotic arm’s end, the forces acted on the picking arm, the hinge between the upper and lower arms, and the hinge at the lower arm’s end, as well as the velocity of the picking claw’s end. Single-factor experiments were employed to investigate the effects of the blade length of the picking finger on the picking success rate, the damage rate of mature morels, and the damage rate of immature morels. The results demonstrated that with a blade length set at 15mm, the picking success rate reached 96.2%, while the damage rates of mature and immature morels were 8.6% and 6.8%, respectively. These findings indicate that the machine can effectively meet the operational requirements for morel picking.

为解决羊肚菌采摘劳动强度大、人工成本高的问题，设计了一种羊肚菌采摘机，可以完成抓取、切断、收集作业。采用三自由度机械臂实现采摘爪的精确定位，建立了机械臂的运动学模型，确定了采摘作业半径。设计了三指结构采摘爪，通过拉线驱动与四杆机构实现三指同时闭合和松开。采摘手指上安装缓冲弹性材料，末端装有切割刀片。对机械臂末端运动、机械臂受力、大臂与小臂铰链处作用力、小臂末端铰链处作用力、采摘爪末端速度进行了仿真分析。通过单因素试验，研究了采摘手指刀片长度对采摘成功率、羊肚菌损伤率、未成熟羊肚菌损伤率的影响。结果表明，当刀片长度为15mm时，采摘成功率为96.2%，采摘损伤率为8.6%，未成熟羊肚菌损伤率为6.8%，基本满足羊肚菌采摘的作业要求。

DESIGN AND EXPERIMENT OF A MOREL PICKING MACHINE

羊肚菌采摘机设计与试验

To address the issue of seed filling in mechanical seed meters for different varieties of adzuki beans and to provide a basis for designing the shape and size of seed metering plate holes, a statistical analysis of the physical parameters of seeds from 10 adzuki bean varieties with significant morphological differences was conducted. The three-axis dimensions (length, width, and thickness) and the equivalent diameter of the seeds were found to approximately follow a normal distribution. The distribution and dispersion of each physical parameter were analyzed. A linear correlation analysis was performed between the equivalent diameter and the hundred-seed weight, showing a consistent overall trend. By measuring the hundred-seed weight, the relative equivalent diameter was determined, which was then used to select the appropriate seed metering plate diameter. The linear correlation coefficient analysis of the three-axis dimensions of different varieties indicated that, when modeling adzuki bean seeds for simulation, either the width or thickness could be selected as the primary dimension based on specific conditions.

为解决红小豆机械式排种器对不同品种红小豆的充种问题，提供排种盘型孔结构设计参数依据，选取形态差异较大的10种红小豆种植品种的种子物理参数进行数据统计分析。种子的三轴尺寸长、宽、厚及均径均近似服从正态分布，分析确定了各物理参数的分布离散情况，均径与百粒重整体变化趋势基本一致并进行线性相关分析，通过测量百粒重得出相对均径从而选择排种盘直径，不同品种三轴尺寸间线性相关系数分析结果表明，仿真红小豆种子建模时可根据具体情况选取宽或厚作为主尺寸。

STATISTICS AND ANALYSIS OF PHYSICAL PARAMETERS OF ADZUKI BEAN SEEDS

红小豆种子物理参数统计及分析

In view of the difficulty and high cost of monitoring the invasion of small aggregations of Spartina alterniflora in coastal wetlands, this study proposes a SA-YOLO detection model. First, by adopting a lightweight cascade attention mechanism as the feature extraction part of the network, the model's ability to extract features from Spartina alterniflora images is optimized. Secondly, the convolution layer with an improved adaptive attention mechanism is added to optimize feature extraction, dynamically adjust the weight of the feature map, and reduce the amount of calculation. Thirdly, the improved adaptive convolution network is used to optimize the original neck layer, improve the model's ability to integrate Spartina alterniflora image features, and reduce the amount of calculation. Finally, a Spartina alterniflora recognition system is independently built. The system effectively implements the proposed method and realizes the detection and recording of Spartina alterniflora information. This study successfully verifies the effectiveness of the proposed method by conducting experiments on the actual collected Spartina alterniflora dataset. The test results show that the recall rate and accuracy of the proposed SA-YOLO Spartina alterniflora detection model are 94.5% and 92.4%, respectively, both reaching a high level. It can be seen that the model can complete the identification and detection tasks of Spartina alterniflora, providing a solution for the identification and information collection of Spartina alterniflora in coastal areas.

为实现对复杂环境中互花米草的快速识别和信息采集，及时发现和清理，保护生态环境的目的。针对互花米草的生长环境和植物特性，本研究提出了一种基于级联注意力机制和可变形卷积的SA-YOLO互花米草识别方法。首先，通过采用级联注意力机制作为网络的特征提取部分，优化模型对于互花米草图像的识别精度和特征提取的能力，提高模型识别速度和精度；其次，添加自适应注意力机制改进型的卷积层，优化特征提取，动态的调整特征图的权重和减少计算量；最后，采用改进的自适应卷积网络优化原neck层，提升模型对互花米草图像特征的融合能力并减少计算量。测试结果表明：改进型SA-YOLO的互花米草检测模型的召回率和精确度分别为94.5%和92.4%，均达到较高水平。由此可知，该模型可以完成对互花米草的识别检测任务，并表现出良好的鲁棒性和实时性，为滨海地区互花米草的识别和信息采集提供了解决方案。

RESEARCH ON DETECTION OF SPARTINA ALTERNIFLORA BASED ON SA-YOLO

基于SA-YOLO的互花米草识别算法研究

This study explores the use of deep neural networks for detecting and quantifying the cattle population in Mongolia using drone imagery, addressing the limitations of traditional methods that are labor-intensive and time-consuming. A custom dataset of aerial images featuring grazing cattle in Mongolia was developed, focusing on winter and spring seasons, to train and validate a model based on state-of-the-art object detection algorithms. Specifically, the You Only Look Once (YOLOv8) architecture was employed to detect cattle across diverse environmental conditions. Model performance was evaluated using widely accepted metrics, including precision, recall, F1 score, and the mean average precision (mAP). The findings demonstrate the effectiveness of the proposed approach, with the YOLOv8 model achieving a mAP of 97.3% at an IoU threshold of 0.5, highlighting its potential for efficient cattle detection and monitoring in Mongolia's unique environmental contexts.

Энэхүү судалгаа нь дроны зураг ашиглан Монгол дахь үхрийн тоо толгойг илрүүлэх, тоо хэмжээг тогтооход гүн мэдрэлийн сүлжээг ашигласан. Энэхүү ажил нь хөдөлмөр, цаг хугацаа их шаарддаг уламжлалт аргуудаас татгалзах боломжийг судалсан. Хамгийн сүүлийн үеийн объект илрүүлэх алгоритмд суурилсан загварыг сургаж, турших зорилгоор өвөл, хаврын улиралд анхаарлаа хандуулж, Монголын бэлчээрийн үхрийг харуулсан агаарын зургийн зорилтод өгөгдлийн багцыг боловсруулсан. Үүндээ YOLOv8 архитектурыг байгаль орчны янз бүрийн нөхцөлд үхэр илрүүлэхэд ашигласан. Загварын гүйцэтгэлийг нарийвчлал, санах ой, F1 оноо, дундаж нарийвчлал (mAP) зэрэг нийтээр хүлээн зөвшөөрөгдсөн хэмжигдэхүүнүүдийг ашиглан үнэлэв. Судалгааны үр дүн нь санал болгож буй аргын үр дүнг харуулж байгаа бөгөөд YOLOv8 загвар нь IoU-ийн босго 0.5-д 97.3%-ийн mAP-д хүрсэн нь Монгол орны байгаль орчны өвөрмөц нөхцөлд үхрийг үр дүнтэй илрүүлэх, хянах, тоолох боломжийг харуулсан.

DETECTION AND COUNTING OF GRAZING CATTLE FROM AERIAL IMAGES USING CNN

CNN АШИГЛАН АГААРЫН ЗУРГААС БЭЛЧЭЭРИЙН МАЛЫГ ИЛРҮҮЛЭХ, ТООЛОХ 

As an important facility structure in China, the solar greenhouse can provide a suitable environment for plant growth and development during winter, making it a viable structure for cultivating landscape flowers in cold regions. However, the impact of crop spacing in solar greenhouses on the thermal environment had received scant attention from researchers. Therefore, computational fluid dynamics (CFD) software was used to simulate the effect of crops on the thermal environment in solar greenhouses. The results of this study show that: the presence of crops in the greenhouse has a greater influence on the temperature in the solar greenhouse along the horizontal, vertical and longitudinal directions within the ranges of (3000, 8000 mm), (300 mm, at the film) and the distance from the inner surface of the east and west walls within the range of 10,000 mm; the presence of crops in the greenhouse has a greater influence on the internal temperature of the east wall, the west wall and the north wall; The influence of different planting densities of crops in the greenhouse on the internal temperatures of the solar greenhouse in the horizontal, vertical and longitudinal directions was within the ranges of (1000 mm, at the film), (600 mm, at the film), and the distance from the inner surface of the east and west walls was within the range of 6000 mm, respectively. This study can provide a theoretical basis for the cultivation and management of flowers in solar greenhouses in cold regions.

日光温室作为中国重要的设施结构，在冬季可提供植物生长发育的适宜环境，因此可作为寒冷地区种植景观花卉的设施结构。但是针对日光温室内花卉景观种植密度对温室湿热环境的影响较少，因此本文以CFD作为模拟手段，通过设置不同密度的种植方式，探究景观不同种植密度对温室湿热环境的影响。本研究结果显示：温室内有无作物对日光温室内温度沿横向、竖向和纵向的影响范围分别为（3000,8000）mm、（300mm，棚膜处）和距离东西墙体内表面距离为10000mm范围内；温室内有无作物对东墙、西墙和北墙内部温度影响较大；温室内作物不同种植密度对日光温室内温度沿横向、竖向和纵向的影响范围分别为（棚膜处,1000）mm、（600mm，棚膜处）和距离东西墙体内表面距离为6000mm范围内。该研究可为寒冷地区日光温室花卉种植和管理提供理论依据。

RESEARCH ON GREENHOUSE PLANTING DENSITY OF LANDSCAPE FLOWERS IN COLD REGIONS BASED ON CFD SIMULATION

基于CFD模拟的寒冷地区景观花卉温室种植密度研究

To identify the specific manifestations and influencing factors of the poor straw crushing and spreading effects in Northeast rice-growing areas, this paper focuses on the straw crushing and spreading device widely used on single axial flow harvesters. Experimental and theoretical analyses were conducted. The results indicate that the existing straw crushing and spreading devices, under different operating speeds and with various active blade types, exhibit crushing performance, spreading width, and spreading uniformity significantly below standard values. The primary issues are straw clumping, insufficient straw crushing, lateral bias in spreading, and inadequate spreading width. By establishing a theoretical model, the analysis reveals that the straw crushing effect is related to the characteristics of the straw itself, such as blade rotational speed, cutting angle, and support angle. In contrast, the spreading effect is associated with the motion direction of the straw leaving the threshing drum, straw ejection speed, and the arrangement of deflector plates. This paper clarifies the elements that need improvement in the operational effectiveness of the straw crushing and spreading devices attached to combine harvesters, providing a theoretical basis for subsequent enhancements.

为找到东北稻区秸秆粉碎抛撒效果差的具体表现形式及其影响因素，本文以广泛使用的单纵轴流收获机装配的秸秆粉碎抛撒装置为研究对象，开展试验和理论分析研究。试验表明，现有秸秆粉碎抛撒装置在不同作业速度下，采用不同动刀类型，粉碎抛撒装置粉碎效果、抛撒幅宽和抛撒不均匀度都远低于标准值，作业效果问题主要变现为：秸秆成团、秸秆粉碎不充分、抛撒偏向一侧、抛撒幅宽不足。通过建立理论模型分析得出，秸秆粉碎效果与秸秆自身特性，粉碎刀转速、开刃角、支撑角有关；抛撒效果与秸秆离开脱粒滚筒时运动方向、秸秆抛离速度、导流板布置有关。文章明确了联合收获机装配的秸秆粉碎抛撒装置作业效果需要提升的要素，为后续的改进提供理论依据。

STUDY ON THE OPERATING EFFECT OF STRAW CRUSHING AND SPREADING DEVICES ON SINGLE AXIAL FLOW HARVESTERS

单纵轴流收获机装配秸秆粉碎抛撒装置作业效果问题研究

The calibration of parameters for pelleted rice seeds (PR) is crucial for enhancing research on PR-related machinery and for executing high-speed precision hole sowing with unmanned aerial vehicles. This paper focuses on determining the fundamental physical and contact parameters of PR. A series of tests were conducted, including the Plackett-Burman test, the steepest ascent test, and the Box-Behnken test, using the stacking angle as the primary variable. These tests led to the identification of optimal combinations of simulation parameters. Specifically, the coefficients of rolling friction for the PR-PLA plate and PR-PR were measured at 0.137, while the coefficient of static friction for the PR-PLA plate was 0.336. This study provides a reference for calibrating simulation parameters of pelleted seeds and research on high-speed precision seeding.

丸粒化水稻种子的参数标定，可以为无人机的高速精量穴播提供指导。本文以丸粒化的水稻为对象，对其基本物性参数和接触参数开展测定。以堆积角为试验值进行Plackett-Burman试验、最陡爬坡试验和Box-Behnken试验，获得最佳仿真参数组合并开展试验验证，通过T检验分析得出结果无显著差异（P>0.05），该研究为丸粒化种子的仿真参数标定提供了参考。

DETERMINATION OF PHYSICAL PARAMETERS OF PELLETED RICE SEEDS AND CALIBRATION OF DISCRETE ELEMENT SIMULATION PARAMETERS

丸粒化水稻种子物性参数测定与离散元仿真参数标定

To address the issues of low precision and high cost in pig house environmental monitoring, an Internet of Things (IoT)-based pig house environmental monitoring system is proposed in this study. The system utilizes ESP32 as the main control chip of each sensor node, which is constructed in a star topology structure, realizing data transmission by using wireless communication technology. By incorporating the median filtering function and the Kalman filtering algorithm to perform data fusion of the same type of environmental parameters, the accuracy of the data is ensured. Based on the environmental suitability requirements of pigs, an evaluation index system for pig house environmental suitability is established, and comprehensive weight calculations are carried out by combining the entropy weight method and the improved analytic hierarchy process. Simulation experimental results demonstrate that the error of the temperature data after Kalman filtering fusion is merely 0.12%, fulfilling the monitoring accuracy requirements. The system can precisely evaluate the environmental suitability of pig houses, and it is applicable for monitoring pig house environments.



为解决猪舍环境监测精度低和成本高等问题，本研究提出了一种基于物联网的猪舍环境监测系统。系统采用ESP32作为各传感器节点的主控芯片，并通过星型拓扑结构搭建，利用无线通信技术实现数据传输。通过引入中值滤波函数和卡尔曼滤波算法对同类型的环境参数进行数据融合，确保数据准确性。基于猪只对环境的适宜度要求，构建了猪舍环境适宜度评价指标体系，并结合熵权法与改进层次分析法进行综合权重计算。仿真实验结果表明，经过卡尔曼滤波融合后的温度数据误差仅为0.12%，满足监测精度要求。系统能够准确评价猪舍环境适宜度，适用于猪舍环境监测。

RESEARCH ON ENVIRONMENTAL MONITORING AND COMPREHENSIVE EVALUATION SYSTEM OF PIG HOUSE BASED ON INTERNET OF THINGS TECHNOLOGY

基于物联网技术的猪舍环境监测与综合评价系统研究

This article presents a preliminary thermodynamic evaluation of a refrigeration system using phase change materials (PCM) for defrosting. The objective of this study is to highlight the potential of heat recovery during the operation of the refrigeration system and its subsequent use in the defrosting process. The system is analyzed energetically, considering both the cooling and defrosting cycles using PCM-RT 35 HC.
Input data were experimentally measured on a vapor-compression refrigeration system installed in a freezing chamber located in the university campus. The analysis includes the following refrigerants: R32, R404a, R134a, R290, R600a, R600, R1234yf, and R1234ze.The results indicate that as the defrosting time increases, the refrigerant flow rate required for PCM-based defrosting decreases. Furthermore, it was observed that R600 requires the smallest refrigerant flow rate, while R404a requires the highest to defrost the same mass of ice.
The analysis reveals that R32 is the most suitable refrigerant for PCM-based defrosting, followed by wet or dry refrigerants (R404a, R134a, R290) and, finally, isentropic refrigerants (R600, R600a, R1234yf, R1234ze). Additionally, it is noted that as the condensing temperature increases, the recoverable heat increases for R32, R404a, R134a, and R290, but decreases for isentropic refrigerants such as R600a, R600, R1234yf, and R1234ze. This analysis was conducted using a computational model implemented in the Engineering Equation Solver software.


Acest articol prezintă o evaluare termodinamică preliminară a unui sistem frigorific cu degivrare pe bază de materiale cu schimbare de fază (MSF). Scopul acestei lucrări este de a evidenția posibilitățile de recuperare a căldurii în timpul funcționării sistemului frigorific si utilizarea ulterioară a acesteia in procesul de degivrare. Se analizează sistemul din punct de vedere energetic atat ciclul de răcire cât și cel de degivrare cu MSF-RT 35 HC. Datele de intrare au fost măsurate experimental pe o instalație frigorifică cu comprimare mecanică de vapori ce echipează o cameră de congelare existentă în campusul universitar. Sunt luați în considerare agenții frigorifici: R32, R404a, R134a, R290a R600a, R600, R1234yf si R1234ze. Rezultatele arată că dacă timpul de degivrare creste, debitul de agent frigorific necesar degivrarii cu MSF, scade. De asemenea, se observă că în cazul agentului frigorific  R600 se utilizează cel mai mic debit de  agent frigorific iar in cazul lui R404a, cel mai mare debit, pentru a degivra aceeași masă de gheață. Din analiză se constată că freonul R32 se pretează cel mai bine în cazul degivrării cu MSF urmat de freonii umezi sau uscați: R404a, R134a, R290 și în final de freonii izentropici: R600, R600a, R1234yf, R1234ze. Se constată de asemenea că odată cu creșterea temperaturii de condensare crește caldura recuperată în cazul lui R32, R404a, R134a, R290a și scade în cazul agenților frigorifici isentropici: R600a, R600, R1234yf si R1234ze. Această analiză se realizează folosind un model computerizat în software-ul Engineering Equation Solver.

PRELIMINARY THERMODYNAMIC ASESSEMENT OF A REFRIGERATION SYSTEM WITH A PCM BASED DEFROSTING

EVALUAREA TERMODINAMICĂ PRELIMINARĂ A UNUI SISTEM FRIGORIFIC CU DEGIVRARE PE BAZĂ DE PCM

Traditional corn threshing devices face issues of high unthreshed grain rate and high breakage rate under conditions of high feeding rates. To address this, a high-throughput double longitudinal axial flow corn threshing device was designed in this study. Based on a stress analysis of the interaction between threshing components and corn ears, an arc-shaped plate tooth structure was developed to progressively increase the squeezing force between the plate teeth and the ears. A combined threshing element, integrating arc-shaped plate teeth and round-headed nail teeth, was designed to improve threshing cleanliness and minimize grain breakage under high feed capacity conditions. The crucial parameters of the threshing cylinder were determined by theoretical analysis. Threshing bench experiments were conducted to investigate the effects of feed rate, threshing cylinder speed, and guide plate angle on the device's grain breakage rate and unthreshed grain rate. Based on the findings, the optimal parameter ranges were identified. An orthogonal test involving three factors at three levels each was conducted to determine the optimal working parameters of the device. The results indicated that the ideal conditions were a feed rate of 16 kg/s, a threshing cylinder speed of 400 r/min, and a guide plate angle of 26°. Under these parameters, the grain breakage rate was 5.02%, and the unthreshed grain rate was 0.171%. The operational performance met the actual harvesting requirements. This research could offer a reference for the design of large-feed-rate threshing devices and related harvesters.

当前传统的玉米脱粒装置在大喂入量条件下，存在籽粒未脱净率高、破碎率高的问题，对此本研究设计了一种大喂入量双纵轴流玉米脱粒装置。基于脱粒元件与玉米果穗的受力分析，本研究设计了弧形板齿结构，逐步增加板齿与果穗之间的挤搓力，有利于脱下不同脱粒难度的玉米籽粒；本研究设计了“弧形板齿+圆头钉齿”组合式脱粒元件，满足了大喂入量条件下装置实现高脱净率和籽粒破碎；通过理论分析的方法确定了脱粒滚筒的关键参数。通过台架试验研究了该装置中喂入量、滚筒转速和导流板角度对籽粒破碎率和未脱净率的影响规律，并确定了较优参数区间。通过三因素三水平正交试验，确定了该装置的最佳工作参数为：喂入量为16kg/s、滚筒转速为400r/min、导流板角度为26°，此时籽粒破碎率为5.02%，未脱净率为0.171%，作业性能满足了实际收获需求。该研究可为大喂入量脱粒装置和相关收获机设计提供参考。

DESIGN AND EXPERIMENT OF A DOUBLE LONGITUDINAL AXIAL-FLOW CORN THRESHING DEVICE FOR LARGE FEEDING CAPACITY

大喂入量双纵轴流玉米脱粒装置设计与试验

To improve the material conveying efficiency in the elbow lifting transportation process under negative pressure airflow and to solve pipeline material blockage issues, a chili cleaning device was used as the core model. CFD-DEM coupled simulation was employed to analyze the lifting process of non-spherical chili materials in the elbow pipe. Key parameter optimization was carried out through experimental design, determining the optimal parameter combination as a pipeline curvature of 2.03 and an air-to-feed ratio of 4.571. This combination achieved a conveying efficiency 4.406 times higher than the lowest efficiency case, and the uniformity of material transport under optimal parameters was verified through simulation. This study lays a solid foundation for the design of pipeline bends and the optimization of material conveying analysis.

为提高负压气流下弯管抬升输送过程物料输送效率，解决管道物料堵塞。以辣椒清选装置为核心模型，采用 CFD-DEM 耦合模拟，分析非球形辣椒物料弯管的提升过程。通过试验设计进行关键参数优化，确定最佳参数组合为管道曲率 2.03 和气送比 4.571。该组合的输送效率是最低效率情况下的 4.406 倍，并通过仿真验证了最佳参数组合下物料输送的均匀性。这为设备弯管的设计和物料输送分析的优化奠定了坚实的基础。

CFD-DEM BASED DESIGN OF ELBOW LIFTING PIPE CONVEYANCE UNDER NEGATIVE PRESSURE AIRFLOW

基于 CFD-DEM 的负压气流下弯头提升管道输送设计

Aiming to address the limited space and the inapplicability of large harvesting equipment in Chinese greenhouses, a small electric double-row leek harvester was designed. This machine is capable of cutting, clamping, transporting, and collecting leeks simultaneously. A reciprocating cutting device was employed to accommodate varying row spacings. To make the machine suitable for small greenhouse environments, the parameters of the torsion clamping conveyor belt were optimized to reduce the overall size. Through theoretical analysis of the clamping and conveying system, the cutting mechanism, and the parameters for coordinated clamping-cutting operations, the structural design and working parameters were determined. A prototype was developed, and field experiments were conducted. The results showed that when the machine's forward speed was 0.3 m/s, the linear speed of the cutting knife was 0.66 m/s, and the conveyor belt speed was 0.42 m/s, the average damage rate was 4.87%, meeting the requirements for mechanized leek harvesting. This study provides a reference for the design of leek harvesters.

针对中国设施温室空间小、大型收获设备不适应等问题，设计了小型电动双行韭菜收获机，可一次性完成韭菜切割、夹持、输送、装框作业。采用往复式切割装置适应不同行距韭菜切割，优化扭转夹持输送带参数，减小整机尺寸，适应温室小空间作业。通过对夹持输送装置、切割装置以及夹持-切割协同作业参数进行理论分析，确定了夹持输送装置、切割装置的结构、工作参数。试制样机并进行了田间试验，试验结果表明，当机器前进速度为0.3 m/s，割刀线速度为0.66 m/s、输送带速度为0.42 m/s时，平均作业损失率为4.87%，满足韭菜机械化收获要求。本研究旨为韭菜收获机的设计提供参考。

DESIGN AND TESTING OF SMALL ELECTRIC DOUBLE-ROW LEEK HARVESTER

小型电动双行韭菜收获机设计与试验

In view of the problems of low efficiency, poor crushing quality and inapplicability to high water content forage, the cutter and crusher rotor of hammer type forage grinder was designed, the cutter and crusher process was analyzed theoretically, and the parameters of cutter and crusher rotor were determined. The modal analysis of the cutting and crushing rotor was carried out by ANSYS Workbench to verify the rationality of the rotor structure. The alfalfa with water content of 65% was taken as the processing object, and the quadratic orthogonal rotation combination test was carried out with the output speed of motor, sieve diameter and feeding amount as the test factors, and the productivity and silking rate as the evaluation indexes. Through the analysis of variance and target optimization of the test results by Design-Expert 12.0 software, the regression equation between the test factors and the evaluation index was obtained. With the goal of maximizing the productivity and silking rate at the same time, the output speed of the motor, the diameter of the sieve and the feeding amount were solved by multi-objective optimization, and the optimal parameter combination was determined as follows: The output speed of the motor is 443.77r/min, the diameter of the sieve is 14mm, and the feeding amount is 1.27kg/s. The verification test shows that the productivity is 5065.98kg/h, and the silk rates is 94.87%. The device has high crushing efficiency, good quality, and can crush high water content forage, which meets the design requirements of forage mill.

针对现有的牧草粉碎机效率低、粉碎质量差、对高含水率牧草不适用等问题，对锤片式牧草粉碎机的铡切和粉碎转子进行了创新设计，对铡切和粉碎过程进行了理论分析，确定了铡切和粉碎转子的参数。利用ANSYS Workbench对铡切和粉碎转子进行了模态分析，验证转子结构的合理性。将含水率为65%的苜蓿作为加工对象，进行了以电机输出转速、筛孔直径、喂入量为试验因素，以生产率和丝化率为评价指标的二次正交旋转组合试验。通过Design-Expert 12.0软件对试验结果进行了方差分析及目标优化，得到了试验因素与评价指标之间的回归方程，以生产率和丝化率同时最大化为目标，对电机输出转速、筛孔直径、喂入量进行多目标寻优求解，确定最优参数组合为：电机输出转速443.77r/min、筛孔直径14mm、喂入量1.27kg/s，验证试验表明，生产率为5065.98kg/h、丝化率为94.87%；该装置粉碎效率高、质量好，而且能够粉碎高含水率牧草，满足牧草粉碎机设计要求。

DESIGN AND SIMULATION ANALYSIS OF KEY COMPONENTS OF GRASS CRUSHER

牧草粉碎机关键部件设计与仿真分析

To address the issues of high admixture and loss rates during seed production and harvesting operations with combine harvesters, a low-loss, high-purity cleaning device suitable for wheat seed production and harvesting was designed. Considering the actual conditions of seed production and harvesting operations, the structure and dimensional parameters of key components were optimized. Through theoretical analysis, a motion model of wheat seeds on the cleaning sieve was established, identifying the main factors affecting the cleaning performance as fan speed, sieve amplitude, and vibration frequency. The CFD-DEM coupling method was used to simulate and analyze the sieving process under the influence of airflow within the cleaning chamber. A three-factor, three-level quadratic regression orthogonal combination simulation test was conducted to establish a response surface regression model for seed admixture rate and seed loss rate. Multi-objective comprehensive optimization of the factors indicated that the optimal operating parameters of the cleaning device are a fan speed of 1143 rps, an amplitude of 28 mm, and a vibration frequency of 9.4 Hz. Finally, field trial verification was conducted by setting the working parameters based on the coupled simulation test data. The operational results of the optimized cleaning device showed a seed admixture rate of 1.47% and a seed loss rate of 1.07%, with all results meeting the relevant standards. This study can provide valuable theoretical support for the development of wheat seed production and harvesting machines.

为解决联合收获机在进行制繁种收获作业时混杂率、损失率较高等问题，设计了一款适用于小麦制繁种收获作业的低损高净度清选装置。结合实际制繁种收获作业情况，优化了关键部件的结构及尺寸参数。通过理论分析，建立了小麦种子在清选筛上的运动模型，确定了影响清选效果的主要因素为风机转速、清选筛振幅和振动频率。采用 CFD-DEM耦合方法对清选室内部气流作用下的筛分过程进行模拟分析，开展了三因素三水平二次回归正交组合仿真试验，建立了种子混杂率和种子损失率的响应面回归模型，对各因素进行多目标综合优化，结果表明：风机转速1143 rps、振幅28 mm、振动频率9.4 Hz，是清选装置的最优工作参数。最后，以耦合仿真试验数据为基础设置工作参数，进行田间试验验证，优化后的清选装置作业结果为：种子混杂率1.47 %、种子损失率1.07 %，结果各项均满足相关标准。本研究可为小麦制繁种收获机的研发提供有价值的理论依据。

DESIGN AND EXPERIMENTAL STUDY OF CLEANING DEVICE FOR WHEAT HARVESTER BASED ON CFD-DEM

基于CFD-DEM的制繁种小麦收获机清选装置的设计与试验研究

The processes of sowing and fertiliser application represent a significant aspect of agricultural production. In order to achieve efficient and precise seeding and fertiliser application, mass flow detection of seed and fertiliser particles can facilitate real-time monitoring and precise decision-making for intelligent seeding and fertiliser application. However, the diversity of seed and fertiliser particle types and particle flow modes presents a challenge for existing detection methods, particularly in meeting the varying operational requirements, especially for particle mass flow detection in low-altitude and high-speed sowing operations of agricultural drones. In such cases, the overlap and flow rate will have a significant impact on the detection results due to the large displacement and the continuous high-throughput dense phase of the particle flow. This paper provides a summary of the existing seed and fertiliser particle mass flow detection techniques and their underlying working principles. It compares the direct detection based on mass with the indirect detection methods based on velocity and concentration, and analyses their respective advantages, disadvantages and applicability. It also explores the possibility of optimising the existing detection methods for the specific needs of agricultural UAVs and considers the potential introduction of cutting-edge science and technology in order to develop an efficient, accurate and convenient detection system to meet the growing market demand.

播种和施肥是农业生产中的重要环节。在实现高效和精准化播种和施肥作业中，种肥颗粒的质量流量检测能够为智能化播种和施肥提供实时监控和精准决策。然而由于种肥颗粒类型和颗粒流动方式的多样性，现有检测方法较难满足不同的作业需求，尤其是农用无人机低空高速播撒作业中的颗粒质量流量检测，由于排量较大，颗粒流为连续高通量密相，重叠度和流动速度会对检测结果产生较大影响。本文总结了现有的种肥颗粒质量流量检测技术及其工作原理，比较了基于质量的直接检测与基于速度和浓度的间接检测方法，分析了各自的优缺点及适用性。针对农用无人机的特定需求，探讨了优化现有检测方法的可能性，并展望了引入前沿科学技术以研发高效、精准、便捷的检测系统，以满足日益增长的市场需求。

MASS FLOW DETECTION TECHNOLOGY FOR SEED AND FERTILISER PARTICLES AND ITS APPLICATION IN UAV-BASED SPREADING

种肥颗粒质量流量检测技术及其在无人机播撒中的应用建议

The efficiency and quality of tobacco leaf harvesting are crucial for the economic performance of the tobacco industry. To enhance harvesting efficiency, a non-destructive tobacco leaf harvesting robot based on machine vision and robotics technology was developed. Experimental evaluations of key components demonstrated that the biomimetic flexible gripper based on the fin ray effect has good stiffness when the clamping force is 2.5 N, ensuring stable subsequent harvesting and collection of tobacco leaves. The introduction of a 6+1-axis robotic arm significantly expands the working range compared to the original 6-axis design, effectively covering the height of the tobacco column. The robotic arm's speed notably affects harvesting time (P < 0.001), with 1.2 m/s identified as optimal for balancing recognition efficiency and success rates. Additionally, exposure time plays a critical role in success rates (P < 0.001), achieving peaks of 90.00% in the morning and 83.33% in the afternoon at 40000 μs. These advancements enhance tobacco harvesting technology and provide valuable insights for intelligent crop harvesting.

烟叶采摘的效率和质量对烟草行业的经济效益至关重要。为了提高采摘效率，基于机器视觉和机器人技术开发了一种无损烟叶采摘机器人。关键部件的实验评估表明，基于鳍条效应的仿生柔性夹爪在夹紧力为2.5 N时具有良好的刚度确保了后续烟叶采摘和回收的稳定性。引入的6+1轴机械臂相比原有的6轴设计，显著扩展了工作范围，有效覆盖了烟草柱的高度。机械臂的速度显著影响采摘时间（P < 0.001），1.2 m/s的速度被确定为平衡识别效率和成功率的最佳值。此外，曝光时间对成功率也有关键作用（P < 0.001），上午和下午在40000 μs时成功率分别达到90.00%和83.33%。这些进展提升了烟叶采摘技术，并为农作物智能采摘提供了借鉴。