Biochar intelligent ditching, broadcasting, moistening and covering all-in-one machine

Abstract

The invention discloses a charcoal intelligent ditching, spreading, moistening and covering all-in-one machine, and belongs to the technical field of charcoal spreading, the charcoal intelligent ditching, spreading, moistening and covering all-in-one machine comprises an all-in-one machine installed at the rear end of a vehicle, and the all-in-one machine comprises a power input mechanism connected with the power output end of the vehicle and providing a power source needed by operation of the all-in-one machine; the soil loosening mechanism is used for crushing and loosening surface soil by utilizing rotary motion, and a foundation is laid for subsequent ditching operation; the ditching mechanism is used for ditching; the biochar applying and scattering mechanism is used for conveying and scattering biochar in an air blowing manner; the water spraying and moistening mechanism is used for sensing the state of the charcoal block in real time and accurately spraying water; the soil covering mechanism is used for pushing loose soil on the two sides of the groove and covering the soil with charcoal to form a protective layer; the all-in-one machine is connected with the control system. The control system is used for controlling all structures of the all-in-one machine to work cooperatively. The all-in-one machine is compact in overall structure and composite in function, and integrated and efficient farmland carbon and fertilizer application operation can be achieved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of biochar application, in particular to a biochar intelligent ditching, applying and wetting integrated machine. BACKGROUND

[0002] Biochar, as a new agricultural input product with soil improvement, carbon sequestration and biochar efficiency functions, its precise application technology in the field has become an important research direction of modern agricultural green development. In recent years, the application scenarios of biochar in agricultural production continue to expand, covering soil structure improvement, heavy metal passivation, carbon sink agriculture and other fields. However, biochar particles have the physical properties of porous and loose, and high brittleness, and its field mechanized application faces the key technical bottlenecks of high breakage rate during transportation, insufficient application accuracy, and low process connection efficiency. At present, there is no intelligent biochar application agricultural machine in China, which restricts the large-scale application of biochar in agricultural production.

[0003] With the increasing demand for soil improvement, precise carbon application and sustainable development in agricultural production, agricultural machinery and equipment continue to innovate in ditching and carbon application. In recent years, image recognition technology based on deep learning has been widely used in crop recognition, weed detection, crop growth monitoring and other scenarios. Although it is still in the initial exploration stage, some research has explored the application of deep learning in agricultural operation object recognition and decision control, such as precise fertilization and pesticide spraying of crops. At present, mature products for real-time identification of the state of applied materials (such as biochar) and dynamic operation adjustment are still relatively rare, and there is still a lot of room for development. The existing biochar application technology of agricultural machinery usually has the following main shortcomings: 1. Biochar is easy to break during transportation Traditional carbon application equipment usually uses mechanical conveying (such as screw conveying and chain conveying) to transport biochar from the hopper to the ditch. This conveying method is prone to breakage of the carbon block during transportation due to the large mechanical shear force, which reduces the integrity of the biochar and affects its improvement effect and durability in the soil.

[0004] 2. Inaccurate control of carbon application amount Most of the current carbon application equipment on the market cannot dynamically adjust the application amount of biochar according to the operation demand, resulting in uneven distribution of biochar in the field, which may cause waste due to excessive local application, or poor improvement effect due to insufficient application.

[0005] 3. Rough control of water spraying process The existing water spraying mechanism mostly uses fixed flow spraying, lacks intelligent identification of carbon block size and state, and self-adaptive control of water spraying amount, making it difficult to achieve precise wetting according to the actual application of carbon block, affecting the close combination of carbon block and soil and the subsequent growth effect of crops.

[0006] 4. Low intelligence degree in operation process Most of the operation processes of agricultural tools rely on manual experience adjustment, lack intelligent perception and decision control ability based on advanced technologies such as deep learning or image recognition, and thus lead to response lag in operation process, unstable operation quality, and inability to adapt to operation requirements under different plots and different soil conditions.

[0007] 5. Incomplete integrated operation process Existing equipment often only realizes mechanization of part of operation links, such as simple ditching or simple soil covering, lacks complete pipeline type function integration from soil loosening, ditching, biochar spreading, precise water spraying wetting, to soil covering operation, and operation process is discontinuous, which is low in efficiency.

[0008] In summary, the prior art urgently needs an integrated intelligent composite agricultural tool capable of realizing flexible biochar conveying, precise spreading, intelligent water spraying wetting, and efficient soil covering, so as to improve the overall quality and efficiency of carbon spreading operation. SUMMARY

[0009] The purpose of the present application is to provide a biochar intelligent ditching, spreading, wetting and covering integrated machine to solve the problems raised in the above background art.

[0010] To achieve the above purpose, the present application provides a biochar intelligent ditching, spreading, wetting and covering integrated machine, which comprises an integrated machine installed at the rear end of a vehicle, the integrated machine comprising a power input mechanism connected with the power output end of the vehicle, providing a power source required for operation of the integrated machine; a soil loosening mechanism for breaking and loosening the surface soil by rotary motion to lay a foundation for subsequent ditching operation; a ditching mechanism for opening a ditch; a biochar spreading mechanism for air blowing conveying and spreading biochar; a water spraying and wetting mechanism for real-time sensing of biochar block state and precise water spraying; a soil covering mechanism for pushing the loosened soil on both sides of the ditch to cover the biochar to form a protective layer; the integrated machine is connected with a control system, and the control system is used for controlling the coordinated operation of each structure of the integrated machine.

[0011] Preferably, the integrated machine further comprises a rack, and mobile wheels are symmetrically arranged at the rear end of the rack.

[0012] Preferably, the power input mechanism comprises a power input shaft and a transfer case, and the power input shaft is connected with the rear power output interface of the vehicle through a universal transmission shaft.

[0013] Preferably, the soil loosening mechanism includes a soil loosening frame set at the front end of the frame, a soil loosening wheel axle rotatably mounted on the soil loosening frame, the soil loosening wheel axle being rotatably connected to a pulley via a belt, the pulley being connected to a power input shaft via a bevel gear, and a number of soil loosening blades being arranged alternately on the circumference of the soil loosening wheel. The slack wheel axle is connected to the frame via a hydraulic lifting structure. The hydraulic lifting structure includes a fixed hinge support 1, a fixed hinge support 2, and a fixed hinge support 3 connected to the rear end of the vehicle. Fixed hinge support 1 is hinged to the front end of the frame, fixed hinge support 2 is hinged to the bottom end of the hydraulic cylinder, the hydraulic rod at the top of the hydraulic cylinder is hinged to the middle of transmission rod 1, one end of transmission rod 1 is hinged to fixed hinge support 3, the other end of transmission rod 1 is hinged to the top end of transmission rod 2, and the bottom end of transmission rod 2 is hinged to a sliding rod. The frame is provided with a sliding elongated hole that matches the sliding rod, and the sliding rod is slidably disposed in the sliding elongated hole.

[0014] Preferably, the trenching mechanism includes a trenching disc located behind the loosening wheel axle. The trenching disc is a symmetrically arranged double disc. The trenching disc is connected to the frame via a disc support. The trenching disc is rotatably mounted on the disc support. An inclined push plow is installed at the bottom of the frame. The push plow is located behind the trenching disc. The trenching disc is covered with a protective cover for protection.

[0015] Preferably, the biochar application mechanism includes a biochar storage tank and a vacuum pump mounted on a frame. The vacuum pump is connected to the biochar storage tank and the spray head via a delivery pipeline. The spray head is located above the trench after the trenching disc has opened the trench. An airflow regulating valve for adjusting the airflow is installed on the delivery pipeline.

[0016] Preferably, the water spraying and wetting mechanism includes a water tank mounted on a frame and a high-resolution camera for real-time monitoring of the biochar status in the trench. The water tank is connected to an adjustable nozzle via a water pump. The water pump is connected to the water pump and the adjustable nozzle via water pipes. A flow controller is installed on the pipe connecting the water pump and the adjustable nozzle. After acquiring images of biochar in the trench using a high-resolution camera, the image recognition model based on YOLOv5s was trained to identify the size and distribution density of the biochar blocks.

[0017] Preferably, the soil covering mechanism includes a soil covering frame located at the rear end of the frame, and a soil covering wheel is rotatably mounted at the bottom end of the soil covering frame.

[0018] Preferably, the control system includes The vehicle-mounted control terminal uses a touch screen as the human-machine interface. The sensor module collects data on biochar flow rate, forward velocity, biochar mixing ratio, soil depth, and soil moisture. The sensor module includes a biochar flow rate sensor, a forward velocity sensor, a biochar mixing ratio sensor, a soil depth sensor, and a soil moisture sensor. The central processing unit receives sensor data by using a PLC controller, executes operation instructions and feedback control; The prescription map loading module imports and parses a pre-prepared field application prescription map; The data acquisition and storage module acquires and records various operation data in real time, and supports data playback and analysis in the later period; The intelligent decision-making module makes dynamic decision optimization of carbon application amount and water spraying amount based on a deep learning algorithm; The communication module is used for wireless data synchronization and remote monitoring.

[0019] Preferably, the biochar intelligent trenching, spreading and mulching integrated machine has the following steps: Step one, prescription map loading and initialization: before the operation starts, the prescription map data of the target field is loaded through the vehicle-mounted terminal, the carbon application amount and water spraying amount distribution parameters are set, and the system automatically completes the preliminary parameter setting and sensor self-checking; Step two, power transmission and soil loosening operation: the vehicle starts, the power input mechanism works, and the soil loosening knife mechanism rotates to loosen the surface soil; Step three, trenching operation: the double-disc trencher follows up the operation to form a trench according to the set depth and width, and the push-hoe plow is used to scrape and shape the trench bottom after trenching; Step four, biochar flexible spreading: the vacuum pump is started to flexibly spray biochar into the trench, the flow sensor detects the carbon block spreading amount in real time, compares it with the prescription map data, and dynamically corrects the airflow rate and carbon conveying amount; Step five, intelligent water spraying and mulching: the high-resolution camera collects the biochar state in the trench in real time, identifies the carbon block size and distribution, automatically decides the water spraying amount and time, and accurately wets the surface of the carbon layer; Step six, covering operation: the covering wheel pushes the soil on both sides of the trench to cover the biochar according to the set parameters, and the covering thickness is dynamically adjusted according to the soil state and spreading amount; Step seven, data recording and operation ending: in the operation process, the sensor collects operation data in real time and stores it in the data storage module; After the operation is completed, the operation track, spreading amount change and water spraying adjustment record are played back through the vehicle-mounted terminal for later operation optimization and quality evaluation.

[0020] Therefore, the biochar intelligent trenching, spreading and mulching integrated machine and the spreading method thereof have the following beneficial effects: 1. The application adopts the structure of air blowing type vacuum conveying, which is composed of biochar storage tank, vacuum pump, conveying pipeline and spraying head, realizes flexible and high-speed conveying of biochar, and significantly reduces the breaking of carbon blocks; the carbon blocks are conveyed by negative pressure airflow suspension, without mechanical extrusion and shearing, avoiding the carbon block breaking phenomenon caused by traditional mechanical methods such as spiral conveying and chain conveying; the integrity of the carbon blocks is effectively maintained, the stability and effectiveness of the biochar in the soil are improved, and the long-term effect of soil improvement is achieved.

[0021] 2. The application realizes real-time dynamic regulation and control of the biochar application amount by integrating flow sensors and forward speed sensors, and making variable application decisions combined with prescription map data, realizes precise control and on-demand variable application of biochar application, ensures on-demand and precise application of carbon materials in different field areas, optimizes resource utilization, improves application efficiency and reduces waste.

[0022] 3. The application realizes real-time identification of the distribution state of carbon blocks in the trench through deep learning visual recognition technology, dynamically adjusts the water spraying amount according to the size and density of the carbon blocks, improves the bonding degree of the carbon blocks and the soil through water spraying and wetting, ensures the moderate wetting of the carbon block surface, enhances the adhesion of biochar and surrounding soil particles, and improves the fixation and long-term effect of the carbon blocks in the field environment.

[0023] 4. The application realizes linkage of the whole process of soil loosening, ditching, carbon application, wetting and covering, forms a continuous and efficient assembly line operation mode, avoids intermittent operation and repeated labor; through the unified control system, the actions of each module are coordinated, the operation process is smooth and stable, the field carbon application operation efficiency and application quality are greatly improved; the operation process is highly integrated, the operation efficiency and operation quality are significantly improved; it is suitable for various topography and different soil conditions, and has good environmental adaptability and application prospect.

[0024] The technical solutions of the application will be further described in detail below through the drawings and examples. BRIEF DESCRIPTION OF DRAWINGS

[0025] Figure 1 It is a left side view structural schematic diagram of the all-in-one machine of the embodiment of the application; Figure 2 It is a right side view structural schematic diagram of the all-in-one machine of the embodiment of the application; Figure 3 It is an operation flowchart of the all-in-one machine of the embodiment of the application; Figure 4 It is a control logic schematic diagram of the control system of the all-in-one machine of the embodiment of the application; Figure 5 It is a water spraying operation execution flowchart of the all-in-one machine of the embodiment of the application.

[0026] REFERENCE NUMERALS 1. Fixed hinge support one; 2. Fixed hinge support two; 3. Pulley; 4. Power input shaft; 5. Ripper shaft; 6. Ditching disc; 7. Pushing plow; 8. Vacuum pump; 9. Mobile wheel; 10. Water tank; 11. Biochar storage tank; 12. Covering wheel; 13. Adjustable nozzle; 14. Transmission rod one; 15. Transmission rod two; 16. Frame; 17. Sliding rod; 18. Sliding long hole; 19. Hydraulic cylinder; 20. Fixed hinge support three. DETAILED DESCRIPTION

[0027] In order to make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the embodiments of the present application are further described in detail below with reference to the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the embodiments of the present application and should not be used to limit the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative labor fall within the scope of the present application. Examples of the embodiments are shown in the drawings, wherein the same or similar reference signs represent the same or similar elements or elements having the same or similar functions throughout.

[0028] It should be noted that the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, mechanism, product or server comprising a series of steps or units does not have to be limited to those steps or units clearly listed, but can include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0029] Similar reference signs and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings.

[0030] In the description of the present application, it should be noted that the terms "upper", "lower", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship in which the product of the present application is usually placed, which is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application.

[0031] In the description of the present application, it is also necessary to explain that, unless otherwise explicitly specified and limited, the terms "set", "install", "connect" should be understood broadly, for example, can be fixedly connected, can also be detachably connected, or integrally connected; can be mechanically connected, can also be electrically connected; can be directly connected, can also be indirectly connected through an intermediate medium, can be the communication inside two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0032] Embodiments As shown in Figure 1 , Figure 2 , the intelligent biochar ditching, spreading and mulching integrated machine of the present application comprises an integrated machine installed at the rear end of a vehicle, and the vehicle is a tractor in the embodiment. The integrated machine comprises a power input mechanism, a soil loosening mechanism, a ditching mechanism, a biochar spreading mechanism, a water spraying and mulching mechanism, and a soil covering mechanism. The integrated machine is connected with a control system, and the control system is used to control the cooperative operation of each structure of the integrated machine. The overall structure is compact and multifunctional, and can realize integrated and efficient farmland carbon and fertilizer application operation. Specifically, the integrated machine takes the installation at the rear part of the tractor as the basic operation mode, and each working part is driven to work cooperatively by the output power of the tractor. Dynamic coordination between each module is realized through the control system.

[0033] The integrated machine further comprises a rack 16, and mobile wheels 9 are symmetrically arranged at the rear end of the rack 16. The mobile wheels 9 are arranged on the rack 16 away from the power output end of the vehicle.

[0034] The power input mechanism is connected with the power output end of the tractor, and provides the power source required for the operation of the integrated machine. The power input mechanism comprises a standard power input shaft 4 (PTO), which is connected with the rear power output interface of the tractor through a universal transmission shaft. The soil covering mechanism and the ditching mechanism are driven to rotate by the friction or supporting force generated when moving with the tractor relative to the ground, without the need for an external power source.

[0035] The soil loosening mechanism is located at the front end of the all-in-one machine and is mainly used for pretreatment of the surface layer of soil. The soil loosening mechanism is used for breaking and loosening the surface layer of soil by rotating movement to provide an ideal working basis for subsequent ditching and biochar application. The soil loosening mechanism comprises a soil loosening frame arranged at the front end of the machine frame 16, a soil loosening shaft 5 rotatably arranged on the soil loosening frame, the soil loosening shaft 5 being rotatably connected with the belt and the belt pulley 3, the belt pulley 3 being connected with the power input shaft 4 through bevel gears. A plurality of soil loosening blades are arranged on the circumferential surface of the soil loosening shaft 5, the soil loosening blades are made of high-strength wear-resistant materials, the blades are arranged in an alternating manner, and the soil can be continuously and uniformly broken and loosened during the rotation. The soil loosening shaft 5 is connected with the machine frame 16 through a hydraulic lifting structure, the working depth can be adjusted according to different soil conditions, and the adaptability is wide. The soil loosening blades rotate at high speed under the action of power, cut, loosen and break the surface soil, which not only reduces the ditching resistance, but also improves the working environment of subsequent biochar application and soil covering, and improves the overall working effect.

[0036] The soil loosening shaft 5 is connected with the machine frame 16 through a hydraulic lifting structure, the hydraulic lifting structure comprises a fixed hinge support one 1, a fixed hinge support two 2 and a fixed hinge support three 20 connected with the rear end of the vehicle, the fixed hinge support one 1 is hinged to the front end of the machine frame 16, the fixed hinge support two 2 is hinged to the bottom end of the hydraulic cylinder 19, the hydraulic rod at the top end of the hydraulic cylinder 19 is hinged to the middle part of the transmission rod one 14, one end of the transmission rod one 14 is hinged to the fixed hinge support three 20, the other end of the transmission rod one 14 is hinged to the top end of the transmission rod two 15, the bottom end of the transmission rod two 15 is hinged to the sliding rod 17, and the machine frame 16 is provided with a sliding long hole 18 matched with the sliding rod 17, the sliding rod 17 is slidingly arranged in the sliding long hole 18.

[0037] The ditching mechanism is used for continuously digging a required ditch after the soil loosening operation, creating an ideal burying space for the application of biochar, and providing a basis for subsequent soil covering operation. The ditching mechanism comprises a ditching disc 6 located behind the soil loosening shaft 5. The ditching disc 6 is a double-disc structure arranged symmetrically left and right, serving as a main cutting component and undertaking the task of ditch forming. The ditching disc 6 is connected with the machine frame 16 through a disc support, and is rotatably arranged on the disc support. An inclined push shovel plow 7 is installed at the bottom end of the machine frame 16, and is arranged behind the ditching disc 6. The function of the push shovel plow 7 is to scrape and shape the bottom of the ditch after ditching, so as to ensure that the bottom of the ditch is flat and uniform. A protective cover is arranged around the ditching disc 6 for protection, which is used for preventing soil from splashing during operation and improving the safety and cleanliness of the equipment.

[0038] During operation, the trenching mechanism is driven to rotate passively by forward traction. The rotating double discs cut the soil and push it to both sides, forming regular trenches. Following the double discs, the pusher plow operates to lightly scrape and level the residual soil layer at the bottom of the trench. This structure can further compact and shape the trench bottom, giving the trench more stable load-bearing characteristics and providing a better foundation for the subsequent uniform deposition and flexible spraying of biochar.

[0039] Advantages of trenching mechanism design: High-quality trench forming: The double disc cutting process, combined with the shaping function of the pusher plow 7, forms a standard trench with clear edges, flat bottom, and consistent depth, which is suitable for high-quality carbonization operations. Low operating resistance and strong adaptability: The disc structure combined with the pusher plow 7 can adapt to different soil textures, including wet, medium hard or heavy clay fields, with low cutting resistance and high efficiency; Strong structural adjustment capability: The disc angle, trenching depth, and the soil penetration depth and installation angle of the pusher plow 7 can all be flexibly adjusted according to the actual field conditions. Optimize flexible application conditions: The pusher plow 7 helps form a stable trench bottom structure, improves the uniformity of biochar spraying points and the consistency of sedimentation, and enhances the overall stability and application quality of the application.

[0040] The biochar application mechanism employs air-blowing vacuum conveying technology to achieve flexible, high-speed, and low-breakage application of biochar. The mechanism includes a biochar storage tank 11 mounted on a frame 16 and a vacuum pump 8. The vacuum pump 8 is connected to the biochar storage tank 11 and the spray head via a conveying pipeline. The spray head is located above the trench created by the trenching disc 6. An airflow regulating valve is installed on the conveying pipeline to adjust the airflow. The vacuum pump 8 uses negative pressure to draw biochar from the biochar storage tank 11 into the conveying pipeline, and then uses high-speed airflow to flexibly convey the biochar blocks to the spray head. The spray head is connected to the conveying pipeline and can be fixed to the frame 16 by a bracket. The spray head, in conjunction with the airflow regulating valve, controls the airflow speed and spray direction, ensuring the char blocks fall directionally and evenly into the pre-drilled trenches. During the conveying process, the biochar remains suspended, minimizing mechanical shearing and compression, thus effectively protecting the integrity of the biochar blocks.

[0041] Advantages of the biochar spreading mechanism design: flexible conveying, making the charcoal blocks less prone to breakage; precise spraying, with uniform and controllable application rate; good operational continuity; real-time flow monitoring, allowing for traceability of application quality.

[0042] The water spraying mechanism is used for real-time sensing of the state of the biochar briquette and precise water spraying. Based on YOLO visual recognition and intelligent control technology, the water spraying mechanism is used for precise wetting treatment during the biochar spreading process. The water spraying mechanism includes a water tank 10 arranged on a rack 16 and a high-resolution camera for real-time monitoring of the state of the biochar in the trench. The water tank 10 is connected to an adjustable nozzle 13 through a water pump. The water pump is connected to the water tank 10 and the adjustable nozzle 13 through a water pipe. A flow controller is arranged on the pipe connecting the water pump and the adjustable nozzle 13. The high-resolution camera is fixed to the front part of the middle of the rack 16, and the lens is vertically downward and aligned with the trench area behind the ditching mechanism. The connection mode is that the high-resolution camera is connected to the control system through an HDMI cable, and the power supply is provided by a built-in 4V DC power supply in the rack 16 through a shielded wire. The cable is laid along the inside sleeve of the rack 16 to prevent damage caused by operation vibration. The water pump is fixed to the outside of the bottom of the water tank 10 and is connected to the water outlet of the water tank 10 through a flange.

[0043] After the high-resolution camera collects the biochar image data in the trench, the image recognition model based on YOLOv5s is used to train and identify the size and distribution density of the biochar briquette. The high-resolution camera collects the image of the biochar briquette in the trench, analyzes the size and distribution density of the biochar briquette through the control system, and dynamically adjusts the water spraying amount and range according to the analysis results. The control system generates the best water spraying instruction according to the actual spreading situation, accurately controls the water spraying flow, pressure and direction, and realizes on-demand wetting, thereby enhancing the adhesion of biochar and soil.

[0044] During the algorithm training process of the water spraying mechanism, in order to improve the accuracy and efficiency of identification, some modules of the original YOLOv5s model are replaced. Specifically as follows: ① Backbone network replacement: The backbone network used in the original YOLOv5s is CSPDarknet. In order to reduce the amount of calculation while maintaining high feature extraction capability, MobileNetV3 is used as the new backbone network. MobileNetV3 uses lightweight depthwise separable convolution and efficient attention mechanism to effectively extract the features of the biochar briquette image while reducing the number of parameters. It optimizes the network structure through an automatic search algorithm, so that it can achieve good performance under different computing resources.

[0045] ② Introducing CPCA attention module: In order to improve the detection performance of the convolutional neural network on the biochar briquette, the CPCA (Channel and Position Convolutional Attention) attention module is introduced into the detection algorithm. In the biochar spreading operation environment, the field background is complex and there is a lot of interference information such as weeds and soil texture.

[0046] ③ Lightweight design: Model pruning: During the training process, the weight parameters of the model are pruned. By analyzing the importance of each convolution kernel, the convolution kernels and connections that have little effect on the performance of the model are removed. Specifically, an amplitude-based pruning method is used, which judges the importance of the weight according to its absolute value. For weights with absolute values less than a certain threshold, they are set to zero, thereby reducing the number of model parameters. After pruning, the model is fine-tuned to restore the performance lost due to pruning. During the fine-tuning process, a smaller learning rate and fewer training rounds are used to avoid overfitting.

[0047] Knowledge distillation: A larger teacher model and a smaller student model are introduced. The teacher model is trained using the complete YOLOv5s model and has a higher recognition accuracy. The student model is a model that has been replaced by modules and lightened. During the training process, the output of the teacher model is used as a soft label, and the output of the student model is compared. The student model is trained by minimizing the difference between the two. Knowledge distillation can help the student model learn the knowledge of the teacher model and improve its recognition performance while keeping the model lightweight.

[0048] The design advantages of the water spraying and covering mechanism: based on image intelligent recognition, the model is lightweight, and the water spraying is accurate and appropriate; dynamic adjustment, suitable for different working conditions.

[0049] The covering mechanism is used to push the soil on both sides of the trench to cover the biochar layer after the biochar is applied and moistened, forming a complete protection zone. The covering mechanism includes a covering frame arranged at the rear end of the machine frame 16, and a covering wheel 12 rotatably arranged at the bottom end of the covering frame. The covering wheel 12 is a left and right arranged pressing wheel made of tough and wear-resistant material. The covering wheel 12 rolls forward with the all-in-one machine, pushes the soil inward along the two sides of the trench, and covers the biochar layer after the biochar is applied.

[0050] The design advantages of the covering mechanism: uniform covering, protecting the integrity of the carbon layer; strong adaptability, stable operation, high efficiency, and reducing secondary turning.

[0051] As Figure 4As shown, the control system includes a vehicle-mounted control terminal, adopts a SMART LINE V3 touch screen as a man-machine interactive interface; a sensor module, which collects biochar flow, forward speed, biochar mixing ratio, soil depth data, and soil humidity data, the sensor module includes a biochar flow sensor, a forward speed sensor, a biochar mixing ratio sensor, a soil depth sensor, and a soil humidity sensor; the biochar flow sensor is arranged on a conveying pipeline, the forward speed sensor is arranged on an axle of the moving wheel 9, the biochar mixing ratio sensor is arranged on the rack 16, the biochar mixing ratio sensor is located directly above a groove in front of the soil covering mechanism, the soil depth sensor is arranged at a lower end of a front end beam of the rack 16, and the soil humidity sensor is arranged at the lower end of the front end beam of the rack 16; a central processing unit, which adopts a PLC controller to receive sensor data, execute operation instructions, and feedback control; a prescription map loading module, which imports and analyzes a pre-prepared field application prescription map; a data acquisition and storage module, which collects and records each operation data in real time, supports later data playback and analysis; an intelligent decision-making module, which makes dynamic decision optimization of carbon application amount and water spraying amount based on a deep learning algorithm; and a communication module, which is used for wireless data synchronization and remote monitoring (optional configuration).

[0052] The operation interface software program is an existing software written in WinCC flexible SMART V3 language, and the software program of the vehicle-mounted control terminal is written in Utility Manager language, so as to ensure stability and flexible interface interactive experience of the system.

[0053] When the hydraulic cylinder 19 receives an ascending instruction of the control system, the hydraulic rod of the hydraulic cylinder 19 drives the transmission rod one 14 to rotate upward, the transmission rod one 14 drives the transmission rod two 15 to ascend, and then drives the entire rack 16 to ascend. When the rack 16 ascends, the soil breaking depth of the soil breaking mechanism changes. When the rack 16 is raised, the distance between the soil breaking axle 5 and the ground increases, the soil breaking depth becomes shallow, the soil plowing depth and intensity are weakened, and the arrangement is suitable for shallow biochar demand; on the contrary, when the rack 16 is lowered, the soil breaking depth increases, the soil breaking knife can penetrate deeper into the soil, and the soil breaking effect is enhanced. At the same time, when the rack 16 is raised, the relative position between the ditching mechanism and the ground moves upward, the ditching depth becomes shallow, and the land is easy to be leveled after ditching; when the rack 16 is lowered, the ditching depth increases to meet the requirement of biochar on the ditch depth.

[0054] The distance between the soil covering mechanism (soil covering wheel 12) and the ground can be flexibly adjusted according to the height of the rack 16. When the rack 16 is raised, the soil covering wheel 12 is raised, the soil covering is thin, and it is suitable for shallow biochar spreading; when the rack 16 is lowered, the soil covering wheel 12 is lowered, and the biochar is promoted to be mixed in the soil at a depth.

[0055] As Figure 3As shown, the biochar intelligent trenching and spreading integrated machine of the present application has the following steps: Step one, prescription map loading and initialization: before the operation starts, the prescription map data of the target field is loaded through the vehicle-mounted terminal, the carbon application amount and water spraying amount distribution parameters are set, and the system automatically completes the preliminary parameter setting and sensor self-checking.

[0056] Step two, power transmission and soil loosening operation: the tractor is started, the power input mechanism works, the soil loosening knife mechanism rotates, and the surface soil is loosened; the soil depth sensor monitors the loosening depth, and the hydraulic lifting device adjusts the height of the loosening wheel shaft 5.

[0057] Step three, trenching operation: the double-disc trencher follows the operation, forms a trench according to the set depth and width, and the push-hoe plow 7 performs scraping and shaping on the trench bottom after trenching.

[0058] Step four, biochar flexible spreading: the vacuum pump 8 is started, and the biochar is flexibly sprayed into the trench, the flow sensor detects the carbon block spreading amount in real time, compares with the prescription map data, and dynamically corrects the airflow rate and carbon conveying amount.

[0059] Step five, intelligent water spraying and wetting: as shown, Figure 5 The high-resolution camera collects the biochar state in the trench in real time, identifies the size and distribution of the carbon block, automatically decides the water spraying amount and time, and accurately wets the surface of the carbon layer.

[0060] Step six, covering operation: the covering wheel 12 pushes the soil on both sides of the trench to cover the biochar according to the set parameters, and the covering thickness is dynamically adjusted according to the soil state and spreading amount.

[0061] Step seven, data recording and operation ending: during the operation, the sensor collects the operation data in real time and stores it in the data storage module.

[0062] After the operation is completed, the operation trajectory, spreading amount change, and water spraying adjustment record are played back through the vehicle-mounted terminal for post-operation optimization and quality evaluation.

[0063] Finally, it should be noted that: the above examples are only used to illustrate the technical solutions of the present application and not to limit them, although the present application has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that: the technical solutions of the present application can still be modified or replaced by equivalents, and these modifications or equivalent replacements cannot make the modified technical solutions deviate from the spirit and scope of the technical solutions of the present application.

Claims

1. A biochar intelligent ditching, spreading and mulching integrated machine, characterized in that, The integrated machine comprises a machine body mounted at the rear end of a vehicle, and the machine body comprises: a power input mechanism connected with a power output end of the vehicle to provide a power source for operation of the integrated machine; a soil loosening mechanism for breaking and loosening surface soil by rotary motion to lay a foundation for subsequent trenching operation; a trenching mechanism for trenching; a biochar spreading mechanism for air-blowing delivery and spreading of biochar; a water spraying mechanism for real-time sensing of biochar block state and accurate water spraying; a soil covering mechanism for pushing and covering loose soil on both sides of the trench to form a protective layer of biochar; the integrated machine is connected with a control system for controlling cooperative operation of various structures of the integrated machine.

2. The charcoal intelligent ditching, spreading and mulching all-in-one machine according to claim 1, characterized in that: The machine body further comprises a machine frame, and mobile wheels are symmetrically arranged at both sides of the rear end of the machine frame and arranged on the machine frame away from the power output end of the vehicle.

3. The charcoal intelligent ditching, spreading and mulching all-in-one machine according to claim 2, characterized in that: The power input mechanism comprises a power input shaft and a transfer case, and the power input shaft is connected with a rear power output interface of the vehicle through a universal transmission shaft.

4. The charcoal intelligent ditching, spreading and mulching all-in-one machine according to claim 3, characterized in that: The soil loosening mechanism comprises a soil loosening frame arranged at the front end of the machine frame, a soil loosening shaft rotatably arranged on the soil loosening frame, a belt rotatably connected with a belt pulley, the belt pulley connected with the power input shaft through bevel gears, and a plurality of soil loosening blades arranged on the circumferential surface of the soil loosening shaft in an interlaced and staggered manner. The soil loosening shaft is connected with the machine frame through a hydraulic lifting structure, and the hydraulic lifting structure comprises fixed hinge supports one, two and three connected with the rear end of the vehicle, the fixed hinge support one hinged to the front end of the machine frame, the fixed hinge support two hinged to the bottom end of a hydraulic cylinder, a hydraulic rod at the top end of the hydraulic cylinder hinged to the middle part of a transmission rod one, one end of the transmission rod one hinged to the fixed hinge support three, the other end of the transmission rod one hinged to the top end of a transmission rod two, the bottom end of the transmission rod two hinged to a sliding rod, and the machine frame is provided with a sliding long hole matched with the sliding rod, and the sliding rod is slidingly arranged in the sliding long hole.

5. The charcoal intelligent ditching, spreading and mulching all-in-one machine according to claim 4, characterized in that: The trenching mechanism comprises a trenching disc, the trenching disc located behind the soil loosening shaft, the trenching disc being a double disc symmetrically arranged, the trenching disc connected with the machine frame through a disc support, the trenching disc rotatably arranged on the disc support, an inclined push-hoe plow installed at the bottom end of the machine frame and arranged behind the trenching disc, and a protective cover wrapped around the trenching disc.

6. The charcoal intelligent ditching, spreading and mulching all-in-one machine according to claim 5, characterized in that: The biochar spreading mechanism comprises a biochar storage tank arranged on the machine frame and a vacuum pump, the vacuum pump connected with the biochar storage tank and a spraying head through delivery pipelines, the spraying head located above the trench after the trenching disc trenches, and an air flow adjusting valve arranged on the delivery pipeline for adjusting the size of air flow.

7. The charcoal intelligent ditching, spreading and mulching all-in-one machine according to claim 6, characterized in that: The water spraying mechanism comprises a water tank arranged on the machine frame and a high-resolution camera for real-time monitoring of the state of biochar in the trench, the water tank connected with an adjustable nozzle through a water pump, the water pump connected with the water tank and the adjustable nozzle through water pipes, and a flow controller arranged on the pipeline connected with the adjustable nozzle. After the high-resolution camera collects biochar image data in the trench, a YOLOv5s-based image recognition model is used to train and identify the size and distribution density of the biochar block.

8. The charcoal intelligent ditching, spreading and mulching all-in-one machine according to claim 7, characterized in that: The soil covering mechanism comprises a soil covering frame arranged at the rear end of the machine frame, and a soil covering wheel rotatably arranged at the bottom end of the soil covering frame.

9. The charcoal intelligent ditching, spreading and mulching all-in-one machine according to claim 8, characterized in that: The control system comprises a vehicle-mounted control terminal adopting a touch screen as a man-machine interactive interface. A sensor module collects data on biochar flow rate, forward speed, biochar mixing ratio, soil depth, and soil moisture, and includes biochar flow rate sensors, forward speed sensors, biochar mixing ratio sensors, soil depth sensors, and soil moisture sensors. A central processing unit receives sensor data using a PLC controller, executes job instructions, and performs feedback control. A prescription map loading module imports and parses a pre-prepared field application prescription map. A data acquisition and storage module collects and records job data in real time, and supports post-data playback and analysis. An intelligent decision-making module uses deep learning algorithms to dynamically optimize biochar application and water spraying. A communication module is used for wireless data synchronization and remote monitoring.

10. The charcoal intelligent ditching, spreading and mulching all-in-one machine according to claim 9, characterized in that: The biochar intelligent trenching, spreading, and mulching integrated machine has the following steps: Step one: prescription map loading and initialization: before starting the job, load the prescription map data of the target field through the vehicle-mounted terminal, set the biochar application and water spraying distribution parameters, and control the system to automatically complete the preliminary parameter setting and sensor self-checking. Step two: power transmission and soil loosening: start the vehicle, operate the power input mechanism, and rotate the soil loosening knife mechanism to loosen the surface soil. Step three: trenching: follow up with the double-disc trencher, form a trench according to the set depth and width, and use the push-hoe plow to shape the trench bottom after trenching. Step four: biochar flexible spreading: start the vacuum pump to flexibly spray biochar into the trench, and use the flow rate sensor to detect the biochar application amount in real time, compare it with the prescription map data, and dynamically correct the airflow rate and carbon delivery amount. Step five: intelligent water spraying and mulching: use the high-resolution camera to collect the biochar state in the trench in real time, identify the size and distribution of the carbon blocks, automatically decide the water spraying amount and time, and accurately wet the surface of the carbon layer. Step six: covering: use the covering wheel to push the soil on both sides of the trench to cover the biochar according to the set parameters, and dynamically adjust the covering thickness according to the soil state and application amount. Step seven: data recording and job completion: in the process of the job, the sensors collect job data in real time and store them in the data storage module. After the job is completed, use the vehicle-mounted terminal to play back the job track, application amount changes, and water spraying adjustment records for post-job optimization and quality evaluation.

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