In order to study the detection effect of cotton boll opening after spraying defoliant, and to solve the problem of low efficiency of traditional manual detection methods for the use effect of cotton defoliant, this study proposed a cotton detection method improved YOLOv5x+ algorithm. Convolution Attention Module (CBAM) was embedded after Conv to enhance the network’s feature extraction ability, suppress background information interference, and enable the network to focus better on cotton targets in the detection process. At the same time, the depth separable convolution (DWConv) was used to replace the ordinary convolution (Conv) in the YOLOv5x model, reducing the convolution kernel parameters in the algorithm, reducing the amount of calculation, and improving the detection speed of the algorithm. Finally, the detection layer was added to make the algorithm have higher accuracy in detecting small size cotton. The test results show that the accuracy rate P (%), recall rate R (%), and mAP value (%) of the improved algorithm reach 90.95, 89.16, and 78.47 respectively, which are 8.58, 8.84, and 5.15 higher than YOLOv5x algorithm respectively, and the convergence speed is faster, the error is smaller, and the resolution of cotton background and small target cotton is improved, which can meet the detection of cotton boll opening effect after spraying defoliant.

To improve the automation, welding efficiency, and welding quality of duckbill welding of the cotton seeder, this study designed a cotton seeder duckbill welding robot. According to the characteristics of the duckbill weldment and welding requirements, the overall structure of the welding robot was determined, including the girdle feeding mechanism, static duckbill feeding mechanism, hinge feeding mechanism, welding fixture, welding actuator, and control system. To realize the continuous automatic feeding, positioning, fixing, welding, and unloading of the workpiece in the duckbill welding, the feeding mechanism adopts the method of cooperative cooperation of inductive proximity switch, electromagnet, and cylinder. The main body of the welding fixture adopts the pneumatic clamping method; the welding actuator adopts the synchronous belt module electric drive so that the welding torch can move in a straight line along the X axis and the Z axis. The welding process of the duckbill was simulated by Simufact Welding software, and the deformation and stress changes of the weldment were compared and analyzed when the single-sided single welding, the bilateral symmetrical double welding torch, two welding forms, and two welding process parameters were used to determine the welding process parameters of the welding robot. The prototype was made and the welding test was carried out. The test results show that the duckbill welding robot of the cotton seeder has stable feeding, solid clamping, accurate positioning, and high welding efficiency. According to the national standard, the appearance of the duckbill weld is inspected. The surface of the duckbill weld and the heat-affected zone has no cracks, incomplete fusion, slag inclusion, crater, and porosity. The forming quality of the welded parts is good. The design of the duckbill welding robot for cotton seeder is helpful in solving the problems of cumbersome positioning and clamping and low efficiency in manual and semi-automatic duckbill welding robots, which provides a strong guarantee for the large-scale and standardized welding production of the dibbler duckbill.

In view of the harm of residual film retention to soil environment in Xinjiang which even affected the germination of seeds and hindered the growth of crop roots in severe cases, in this paper, a 4SGMS-220 plough layer residual film recovery machine with a ground preparation device is designed. The main part of the machine is composed of a filming mechanism, a conveying mechanism, a soil crushing roller, and a film collecting box. The machine can achieve simultaneous film lifting, film stripping, collecting membrane and suppression operations. In this paper, primary focus is placed on the design of the filming mechanism, while the movement trajectory of the comb teeth and the filming condition are analysed in detail. In order to obtain the optimal combination of equipment and operating parameters, the equipment traveling speed, the filming device rotational speed, and the comb teeth depth are used as the influencing factors. Furthermore, the residual film recovery rate and impurity rates are employed as test indicators for three-factor three-level response surface experiment and optimization via Design-Expert software. The results indicate that optimal operation is achieved for the machine travel speed of 4.1 km/h, the filming device speed of 106 min-1, and the comb tooth soil penetration depth of 139.2 mm. The residual film recovery rate is equal to 74.32%, while the residual film impurity rate is equal to 7.11%. The difference between the test results and the predicted values is relatively small. Thus, it can be concluded that the optimized model is reliable.

No abstract

Film mulching agriculture in arid areas is faced with pollution caused by film mulching, and currently mainly adopts the mechanized recycling of mulch film. However, residual mulch film in the soil will bind with soil under the farming environment, which affects the recycling effect. The main factors affecting the recycling of mulch film in the soil are not clear. In order to find out the specific factors, the actual dry-wet cycle water environment was simulated by using a small soil trough system based on the film lifting, separation and recycling problem of residual mulch film in the soil. The film lifting force and recycling efficiency of the residual mulch film under the action of wet-dry cycle were studied. The following results were obtained: soil compaction, film lifting angle, and the dry-wet cycle had a significant influence on the film lifting force value, indicating that the dry-wet cycle including water fertilizer had an impact on the soil structure. After mechanical loosening, the film lifting force decreased and the recycling rate of residual mulch film increased obviously. The optimal film recycling effect could be obtained under the following conditions, namely, a film lifting angle of 21.37–45.37°, the number of dry-wet cycles <3.8, a soil moisture of 22.43–23.18%, a soil compaction of 132.51–144.06 KPa, and a residual mulch film area of 45.85–64.5 cm2. The experimental results can provide technical reference for residual mulch film pollution control and mechanized recycling.