Frequency acquisition method for a vibratory subsoiling device used in gardening operations

Abstract

The present invention relates to the technical field of agricultural machinery control, and particularly relates to a method for obtaining the frequency of a vibrating subsoiling device for garden operations. This method collects the vibration data of the frame and each subsoiling shovel and performs noise reduction processing to generate a time series sequence of vibration data; based on the time series sequence of the vibration data of the subsoiling shovel, the distribution characteristics of the vibration data of each subsoiling shovel are obtained, the abnormal evaluation of each subsoiling shovel is determined, and the vibration correlation degree between the subsoiling shovel and the frame is obtained by combining the time series sequence of the vibration data of the frame. The time series sequences of the vibration data of the frame and each subsoiling shovel are converted into vibration frequencies, and the possibility that any vibration frequency is the natural frequency of the frame is calculated through the vibration frequency and the vibration correlation degree between the subsoiling shovel and the frame; all vibration frequencies with the possibility that the vibration frequency is the natural frequency of the frame being greater than the screening threshold are obtained to form the natural frequency range of the frame; during the actual subsoiling process, the operation of the frame avoids the fixed frequency range to prevent the frame from resonating.

Description

Technical Field

[0001] The present invention relates to the technical field of agricultural machinery control, and particularly relates to a method for obtaining the frequency of a vibratory subsoiling device for garden operations. Background Art

[0002] During the construction and maintenance of gardens, soil quality has a decisive impact on the growth of plants; over time and due to frequent human activities, garden soil is prone to compaction problems. That is, factors such as pedestrian trampling, vehicle rolling, and the construction of garden facilities may all cause soil particles to be closely arranged, reducing the air permeability and water permeability of the soil. This makes it difficult for plant roots to expand and breathe, thereby affecting their absorption of water and nutrients. The vibratory subsoiling device is a key equipment for subsoiling operations and has been widely used in garden operations. However, during subsoiling operations, the vibration generated by the subsoiling shovel of the vibratory subsoiling device cutting the soil may resonate with the frame, resulting in serious deformation of the frame and reducing the service life of the vibratory subsoiling device.

[0003] Therefore, currently, theoretical calculation methods such as finite element analysis are usually used to determine the natural frequency of the frame in the vibratory subsoiling device. However, these calculation methods are often based on idealized models and require simplification and assumptions of the frame. In fact, the frame structure of the vibratory subsoiling device is more complex and contains various non-linear factors, which leads to inaccurate selection of the natural frequency. As a result, the vibration generated by the subsoiling shovel cutting the soil may resonate with the frame, causing serious deformation of the frame and affecting the service life of the vibratory subsoiling device. Summary of the Invention

[0004] In order to solve the technical problem that the existing method for determining the natural frequency of the frame is relatively idealized, resulting in inaccurate selection of the natural frequency, the purpose of the present invention is to provide a method for obtaining the frequency of a vibratory subsoiling device for garden operations. The specific technical solutions adopted are as follows:

[0005] Collect the vibration data of the frame and each subsoiling shovel in the vibratory subsoiling device, and perform noise reduction processing on the vibration data to generate a vibration data time series.

[0006] Based on the vibration data time series of the subsoiling shovel, obtain the distribution characteristics of the vibration data of each subsoiling shovel, determine the abnormal evaluation of each subsoiling shovel, combine the vibration data time series of the frame to obtain the vibration correlation degree between the subsoiling shovel and the frame, convert the vibration data time series of the frame and each subsoiling shovel into vibration frequencies, and calculate the possibility that any vibration frequency is the natural frequency of the frame through the vibration frequency and the vibration correlation degree between the subsoiling shovel and the frame.

[0007] Set a screening threshold, and obtain all vibration frequencies whose possibility of being the natural frequency of the frame is greater than the screening threshold to form the natural frequency range of the frame.

[0008] Preferably, the vibration data of the frame and each subsoiler in the vibratory subsoiling device are collected, and the vibration data are denoised to generate a vibration data time series, including: setting a collection frequency, collecting the vibration data of the frame and each subsoiler in the vibratory subsoiling device based on the collection frequency, and using median filtering to denoise the vibration data to generate a vibration data time series.

[0009] Preferably, the distribution characteristics of the vibration data of each subsoiler are obtained based on the vibration data time series of the subsoiler, including:

[0010] Dividing the vibration data time series of each subsoiler into several first sequence segments, and determining the amplitude of any first sequence segment;

[0011] Obtain the distribution characteristics of the vibration data of each subsoiler, and the corresponding calculation formula is:

[0012]

[0013] where, represents the distribution characteristics of the vibration data of the th first sequence segment of the th subsoiler; represents the amplitude of the th data point in the th first sequence segment of the th subsoiler; represents the amplitude of the th first sequence segment of the th subsoiler; represents the number of data points in the th first sequence segment of the th subsoiler; represents the mean value of the absolute value of the difference between the amplitude of the th first sequence segment of the th subsoiler and the amplitudes of the remaining all first sequence segments of the th subsoiler.

[0014] Preferably, determine the anomaly evaluation of each subsoiler, and the corresponding calculation formula is:

[0015]

[0016] where, represents the anomaly evaluation of the th first sequence segment of the th subsoiler; represents the distribution characteristics of the vibration data of the th first sequence segment of the th subsoiler; Indicates the distribution characteristics of the vibration data of the th subsoiler except the th subsoiler for the th sequence segment 1; Indicates the number of subsoilers on the vibratory subsoiling device.

[0017] Preferably, the correlation degree between the vibration of the subsoiler and the frame is obtained by combining the time series of the vibration data of the frame, including:

[0018] The time series of the vibration data of the frame is equally divided to obtain several sequence segments 2;

[0019] The correlation degree between the vibration of the subsoiler and the frame is obtained, and the corresponding calculation formula is:

[0020]

[0021] where Indicates the th subsoiler's th sequence segment 1 and the correlation degree of the vibration with the frame; Indicates the th subsoiler's th sequence segment 1's anomaly evaluation; Indicates the th subsoiler's th sequence segment 1; Indicates the th sequence segment 2 of the frame; Indicates and 's dynamic time warping matching distance; is an exponential function with the natural constant as the base.

[0022] Preferably, the time series of the vibration data of the frame and each subsoiler is converted into vibration frequencies, and the possibility that any vibration frequency is the natural frequency of the frame is calculated through the vibration frequencies and the correlation degree between the vibration of the subsoiler and the frame, including:

[0023] The time series of the vibration data of the frame and each subsoiler is subjected to Fourier transform to obtain the vibration frequency corresponding to each vibration data;

[0024] The vibration frequencies that appear in both the frame and each subsoiler are screened to obtain all target vibration frequencies, and the vibration energy values corresponding to each target vibration frequency in the time series of the vibration data of the frame and each subsoiler are obtained, and the possibility of resonance between the frame and the subsoiler based on any target vibration frequency is calculated;

[0025] Determine the possibility that any target vibration frequency is the natural frequency of the frame by the possibility of resonance between the frame and the subsoiling shovel.

[0026] Preferably, calculate the possibility of resonance between the frame and the subsoiling shovel based on any target vibration frequency. The corresponding calculation formula is:

[0027]

[0028] Wherein, represents the possibility of resonance between the frame and the th subsoiling shovel at the th target vibration frequency; represents the mean value of the correlation degree between all sequence segments one of the th subsoiling shovel and the vibration of the frame; represents the vibration energy value corresponding to the th target vibration frequency in the vibration data time series of the th subsoiling shovel; represents the vibration energy value corresponding to the th target vibration frequency in the vibration data time series of the frame.

[0029] Preferably, determine the possibility that any target vibration frequency is the natural frequency of the frame. The corresponding calculation formula is:

[0030]

[0031] Wherein, represents the possibility that the th target vibration frequency is the natural frequency of the frame; represents the possibility of resonance between the frame and the th subsoiling shovel at the th target vibration frequency; represents the possibility of resonance between the frame and the th subsoiling shovel other than the th subsoiling shovel at the th target vibration frequency; represents the number of subsoiling shovels on the vibratory subsoiling device; is a normalization function.

[0032] Preferably, obtain all vibration frequencies with the possibility of the vibration frequency being the natural frequency of the frame greater than the screening threshold, and form the natural frequency range of the frame, including: screening all target vibration frequencies with the possibility of the target vibration frequency being the natural frequency of the frame greater than the screening threshold, constituting the natural frequency range of the frame. When the vibratory subsoiling device is working, avoid the natural frequency range of the frame.

[0033] To solve the above technical problems, the present application further provides a vibratory subsoiling device for garden operations. The device includes a frame and a plurality of subsoiling shovels, and stores program data. When the program data is executed, the frequency acquisition method of the vibratory subsoiling device for garden operations as described in any one of the foregoing is implemented in combination with the frame and the subsoiling shovels.

[0034] The present invention has the following beneficial effects:

[0035] 1. The frequency acquisition method of the vibratory subsoiling device for garden operations proposed in the present application determines the anomaly evaluation of each sequence segment of each subsoiling shovel according to the distribution characteristics of the vibration data of each sequence segment of the subsoiling shovel. According to the magnitude of the anomaly evaluation and the dynamic time warping matching distance of the vibration data obtained from the frame in the same time period, the vibration correlation degree between the subsoiling shovel and the frame is analyzed, and then the possibility of resonance between the frame and each subsoiling shovel at different frequencies is determined, and the natural frequency range of the frame is obtained; that is, by analyzing the performance of the real-time vibration data of the vibratory subsoiling device in the actual working environment, the fixed frequency range of the frame is determined, which is more accurate than the natural frequency obtained only based on the idealized theoretical model. During the actual subsoiling process, the operation of the frame avoids the fixed frequency range to prevent the frame from resonating.

[0036] 2. The vibratory subsoiling device for garden operations provided by the present invention has the same beneficial effects as the frequency acquisition method of the vibratory subsoiling device for garden operations provided by the present invention, and will not be elaborated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the technical solutions and advantages in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required to be used in the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0038] Figure 1 It is a flowchart of the steps of the frequency acquisition method of the vibratory subsoiling device for garden operations provided by an embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0039] In order to further elaborate on the technical means and effects adopted by the present invention to achieve the intended invention purpose, the following will, in combination with the accompanying drawings and preferred embodiments, describe in detail the specific implementation manner, structure, features and effects of the frequency acquisition method of the vibratory subsoiling device for garden operations proposed according to the present invention. In the following description, different "one embodiment" or "another embodiment" do not necessarily refer to the same embodiment. In addition, the specific features, structures or characteristics in one or more embodiments can be combined in any suitable form.

[0040] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the technical field to which this invention belongs.

[0041] The following specifically describes the specific scheme of the method for obtaining the frequency of the vibratory subsoiling device for garden operations provided by the present invention in conjunction with the accompanying drawings.

[0042] The existing method for determining the natural frequency of the frame in the vibratory subsoiling device usually adopts theoretical calculation methods such as finite element analysis. It is based on an idealized model, and there are various influencing factors in the actual subsoiling process, resulting in the vibration generated by the subsoiling shovel cutting the soil may resonate with the frame, causing serious deformation of the frame and affecting the service life of the vibratory subsoiling device. In one embodiment of the present invention, a method for obtaining the frequency of the vibratory subsoiling device for garden operations is provided. By analyzing the performance of the real-time vibration data of the vibratory subsoiling device in the actual working environment, the fixed frequency range of the frame is determined, which is more accurate than the natural frequency obtained only based on the idealized theoretical model. During the actual subsoiling process, the frame operation avoids the fixed frequency range to prevent the frame from resonating. To implement the method for obtaining the frequency of the vibratory subsoiling device for garden operations, a vibratory subsoiling device for garden operations is provided. This device is essentially an existing vibratory subsoiling device combined with a software system, which is composed of various devices that implement corresponding functions. The specific steps in this method are introduced in detail below.

[0043] Please refer to Figure 1 , which shows the flowchart of the steps of the method for obtaining the frequency of the vibratory subsoiling device for garden operations provided by one embodiment of the present invention. The method includes:

[0044] Step S1: Collect the vibration data of the frame and each subsoiling shovel in the vibratory subsoiling device, and perform noise reduction processing on the vibration data to generate a vibration data time series sequence.

[0045] Step S2: Based on the vibration data time series sequence of the subsoiling shovel, obtain the distribution characteristics of the vibration data of each subsoiling shovel, determine the abnormal evaluation of each subsoiling shovel, combine the vibration data time series sequence of the frame to obtain the vibration correlation degree between the subsoiling shovel and the frame, convert the vibration data time series sequence of the frame and each subsoiling shovel into vibration frequencies, and calculate the possibility that any vibration frequency is the natural frequency of the frame through the vibration frequency and the vibration correlation degree between the subsoiling shovel and the frame.

[0046] Step S3: Set a screening threshold, and obtain all vibration frequencies whose possibility of being the natural frequency of the frame is greater than the screening threshold to form the natural frequency range of the frame.

[0047] For better illustration, as an agricultural machine, the vibratory subsoiling device is mainly used for deep loosening of the soil to improve soil aeration and water permeability, and to promote the root development of crops. That is, in actual operation, the device is installed on a tractor or other agricultural machine, and the subsoiling shovel is inserted into the soil by vibration to achieve the purpose of deep soil loosening; the frame is the main support structure of the vibratory subsoiling device, bearing the weight of the entire device and ensuring the stability of the device during operation; the subsoiling shovel is the core working component of the vibratory subsoiling device, directly contacting the soil and completing the soil loosening operation. It is usually made of wear-resistant materials to cope with the wear of stones and other hard objects in the soil. Through the vibratory movement of the subsoiling shovel, the hard layer in the soil can be effectively broken, making the soil structure more loose and creating good conditions for crop growth.

[0048] Understandably, during the subsoiling operation, the vibratory subsoiling device cuts the soil through its subsoiling shovel. The vibration generated during this process, as well as the vibration frequency of the frame itself, if the natural frequency ranges of the subsoiling shovel and the frame are close to each other, may cause resonance between the subsoiling shovel and the frame. This will cause the frame to bear excessive stress, resulting in serious deformation of the frame. This phenomenon will not only damage the structural integrity of the frame, but also have an extremely adverse impact on the overall service life of the vibratory subsoiling device; in order to prevent this situation from occurring and ensure the stability and reliability of the vibratory subsoiling device during operation, it is necessary to accurately calculate and analyze the natural frequency range of the frame to effectively avoid resonance between the frame and the subsoiling shovel during work, protect the frame from damage, and extend the service life of the vibratory subsoiling device.

[0049] Furthermore, step S1 includes:

[0050] Set the acquisition frequency, collect the vibration data of the frame and each subsoiling shovel in the vibratory subsoiling device based on the acquisition frequency, and use median filtering to denoise the vibration data to generate a vibration data time series.

[0051] As an optional implementation, in this embodiment, the acquisition frequency is set to once per second.

[0052] Specifically, the working environment of the vibratory subsoiling device is often outdoors, so that the acquired vibration data contains interference from the surrounding environment. In order to improve the accuracy of the data, median filtering is used to denoise the acquired vibration data. Among them, median filtering is achieved by replacing the value of each data with the median of all data in its neighborhood, and is used to remove random noise in the vibration data, especially those sharp pulse noises, to effectively remove or reduce the noise components in the vibration data, thereby generating a more accurate and reliable vibration data time series.

[0053] Understandably, the time series of the vibration data of each subsoiler is analyzed to obtain its distribution characteristics. The distribution characteristics of the vibration data of the local segment of each subsoiler are compared with the distribution characteristics of the vibration data of other subsoilers in the same time period, and the abnormal evaluation of the local vibration data of each subsoiler is judged. Combining the vibration data obtained by each subsoiler and the frame in the same time period, the dynamic time warping matching distance of the vibration data is obtained; the possibility of resonance between the frame and each subsoiler at different frequencies is determined, and then the natural frequency range of the frame is determined.

[0054] It can be explained that in the actual working process, due to different soil conditions between different subsoilers, such as soil humidity, soil hardness, and soil type and other factors, the vibration data generated are different. When the soil conditions are abnormal, it is manifested as abnormal vibration data or obvious changes in vibration data on the subsoiler, that is, there are significant differences in the distribution characteristics of the vibration data of any one subsoiler in a certain sequence segment of the vibratory subsoiling device and the distribution characteristics of the vibration data of other subsoilers in the same sequence segment. Then this abnormal situation of vibration data is very likely due to the soil conditions in the area where the subsoiler is located; therefore, by analyzing the vibration data of the subsoiler, the physical properties of the soil can be indirectly understood and evaluated, which is conducive to analyzing the working parameters of the vibratory subsoiling device to improve the subsequent soil tillage quality.

[0055] Further, in step S2, based on the time series of the vibration data of the subsoiler, the distribution characteristics of the vibration data of each subsoiler are obtained, including:

[0056] The time series of the vibration data of each subsoiler is equally divided into several sequence segments 1, and the amplitude of any one sequence segment 1 is determined.

[0057] Optionally, in this embodiment, taking the

[0058] th subsoiler as an example for illustration, and the time series of the vibration data is equally divided into 30 sequence segments 1.

[0059] Specifically, calculate the amplitude values of all data points in each sequence segment 1, and calculate the average of these amplitude values, and take this average as the amplitude of each sequence segment 1; it can be explained that equally dividing the time series of the vibration data is to facilitate the analysis and processing of the complete time series of vibration data with a large amount of data, so as to be able to more accurately analyze the running state of the data.

[0059] The corresponding calculation formula for obtaining the distribution characteristics of the vibration data of each subsoiler is:

[0060]

[0061] Among them, represents the th subsoiler's The distribution characteristics of the vibration data of a sequence segment 1; Indicates the th subsoiler's amplitude of the th data point in a sequence segment 1; Indicates the th subsoiler's amplitude of a sequence segment 1; Indicates the th subsoiler's number of data points in a sequence segment 1; Indicates the th subsoiler's mean value of the absolute value of the difference between the amplitude of a sequence segment 1 and the amplitudes of all the remaining sequence segments 1 of the th subsoiler.

[0062] Explanation is made to obtain the distribution characteristics of the vibration data of each subsoiler, that is, to obtain the distribution rules and characteristics of the vibration data based on each equally divided sequence segment 1, including but not limited to the central tendency, dispersion degree, skewness, kurtosis, etc. of the vibration data. Among them, the central tendency can reflect the general level of the vibration data of the subsoiler, such as the average value, median, mode, etc.; the dispersion degree describes the fluctuation range and stability of the vibration data; the skewness reveals the symmetry of the vibration data distribution, that is, whether the vibration data distribution is biased to one side; the kurtosis describes the sharpness or flatness of the vibration data distribution; by analyzing the distribution characteristics of the vibration data, it provides support for the subsequent optimization and adjustment of the vibration data.

[0063] It can be explained that the smaller, the th subsoiler has smoother vibration; Indicates the th subsoiler's degree of difference between the amplitude of each data point in a sequence segment 1 and the overall amplitude of this sequence segment 1. The smaller the degree of difference, the closer the amplitudes of each data point in this sequence segment 1 are to the amplitude of this sequence segment 1, indicating that the vibration amplitude change is very small during the time period corresponding to this sequence segment 1 and has high stability.

[0064] Furthermore, in step S2, the abnormal evaluation of each subsoiler is determined, and the corresponding calculation formula is:

[0065]

[0066] Among them, Indicates the th subsoiler's abnormal evaluation of a sequence segment 1; Indicates the th subsoiler's The distribution characteristics of the vibration data of a first sequence segment indicating the th subsoiler except the th subsoiler The distribution characteristics of the vibration data of a first sequence segment indicating the number of subsoilers on the vibratory subsoiling device

[0067] An explanation is made to determine the abnormality evaluation of each subsoiler. Herein, the abnormality evaluation refers to the performance deviation or failure caused by certain abnormal factors, such as soil conditions, during the use of the subsoiler. By identifying and recording these abnormality evaluations, the performance of the subsoiler in actual work can be understood, and then corresponding maintenance measures or design improvements can be taken to ensure that the subsoiler can efficiently and stably complete its operation tasks

[0068] According to the distribution characteristic differences between each first sequence segment of each subsoiler and the same first sequence segment of other subsoilers, the abnormality evaluation of each first sequence segment is determined. When the distribution characteristic differences of the vibration data of the subsoiler are greater, the corresponding abnormality evaluation is greater. That is, when the abnormality evaluation of the th subsoiler for the th first sequence segment is relatively high, it indicates that the distribution characteristics of the vibration data of this first sequence segment are less similar to those of the vibration data of the same first sequence segment of other subsoilers. Then it shows that the abnormality of the vibration data of the th subsoiler for the th first sequence segment is more likely to be affected by the soil conditions at its location, and the possibility of resonance with the frame is smaller

[0069] Furthermore, in step S2, the vibration correlation degree between the subsoiler and the frame is obtained by combining the time series sequence of the vibration data of the frame, including:

[0070] The time series sequence of the vibration data of the frame is equally divided into several second sequence segments

[0071] Optionally, in this embodiment, the time series sequence of the vibration data of the frame is also equally divided into 30 segments, corresponding to the time series sequence of the vibration data of the subsoiler

[0072] The vibration correlation degree between the subsoiler and the frame is obtained, and the corresponding calculation formula is:

[0073]

[0074] wherein, represents the vibration correlation degree between the th subsoiler for the th first sequence segment and the frame represents the th subsoiler for the Abnormal evaluation of the first sequence segment Indicating the first sequence segment of the th subsoiler Indicating the second sequence segment of the frame Indicating the dynamic time warping matching distance with being the exponential function with the natural constant as the base

[0075] An explanation is made on the degree of vibration correlation between the subsoiler and the frame. Among them, the degree of vibration correlation represents the mutual correlation of vibrations between the subsoiler and the frame during operation; the dynamic time warping matching distance, that is, the DTW (Dynamic Time Warping, abbreviated as DTW) matching distance, is a measurement method used to measure the similarity between two time series. By elastically stretching or compressing the time series, the two series are aligned on the time axis to find the best matching path, which allows the time series to undergo non-linear deformation on the time axis to eliminate differences in the time scale and more accurately evaluate the similarity of the two series.

[0076] It can be explained that the larger the DTW distance value, the worse the similarity characteristics between the first sequence segment of the th subsoiler and the corresponding second sequence segment of the frame, indicating that the

[0077] It can be understood that the vibration amplitude of the frame of the vibratory subsoiling device will be directly affected by the vibration amplitude of the subsoiler. Because the vibration energy generated by the subsoiler during operation will be transmitted to the frame, when the vibration frequency of the vibratory subsoiling device resonates with the natural frequency of the frame, this energy transmission will become more significant, resulting in the vibration amplitude of the frame possibly changing correspondingly with the change of the vibration amplitude of the subsoiler; in other words, if the vibration amplitude of the subsoiler increases, then the vibration amplitude of the frame will also increase accordingly, and at the same time, the vibration energy value transmitted to the frame will also increase accordingly.

[0078] Furthermore, in step S2, the time series of the vibration data of the frame and each subsoiler is converted into vibration frequency, and the possibility that any vibration frequency is the natural frequency of the frame is calculated through the vibration frequency and the degree of vibration correlation between the subsoiler and the frame, including:

[0079] Step S21: Perform Fourier transform on the time series of vibration data of the frame and each subsoiler to obtain the vibration frequency corresponding to each vibration data.

[0080] It is explained that obtaining the vibration frequency corresponding to each vibration data prepares for analyzing the frequency-domain characteristics of the vibration data time series to master the dynamic behavior of the frame and subsoiler during operation; among them, Fourier transform is used to decompose a complex data, signal or function into a series of simple sine waves.

[0081] Step S22: Screen the vibration frequencies that appear in both the frame and each subsoiler to obtain all target vibration frequencies, and obtain the vibration energy value corresponding to each target vibration frequency in the time series of vibration data of the frame and each subsoiler, and calculate the possibility of resonance between the frame and the subsoiler based on any target vibration frequency.

[0082] It can be explained that among all the vibration frequencies corresponding to the time series of vibration data of the frame and all subsoilers, screen the vibration frequencies that appear in both the frame and all subsoilers, denoted as target vibration frequencies; obtain the vibration energy value corresponding to each target vibration frequency, where the vibration energy value refers to the energy intensity of the vibration data at the target vibration frequency.

[0083] As an optional implementation manner, in this embodiment, the th target vibration frequency is used for explanation.

[0084] Furthermore, in step S22, the possibility of resonance between the frame and the subsoiler based on any target vibration frequency is calculated, and the corresponding calculation formula is:

[0085]

[0086] Among them, represents the possibility of resonance between the frame and the th subsoiler at the th target vibration frequency; represents the average value of the correlation degree between all sequence segments one of the th subsoiler and the vibration of the frame; represents the vibration energy value corresponding to the th target vibration frequency in the time series of vibration data of the th subsoiler; represents the vibration energy value corresponding to the th target vibration frequency in the time series of vibration data of the frame.

[0087] It is explained that in the two different time series of vibration data of the subsoiler and the frame, when the vibration energy values at the same target vibration frequency are the same, that is, the smaller, the At a target vibration frequency, the frame and the th subsoiler have the same amplitude and are phase-synchronized, that is, the th target vibration frequency is more likely to be the resonance frequency; at this time, a special synchronization state is achieved between the frame and the subsoiler.

[0088] Step S23: Determine the possibility that any target vibration frequency is the natural frequency of the frame based on the possibility of resonance between the frame and the subsoiler.

[0089] It can be understood that in a vibratory subsoiling device, the frame is the common support structure for multiple subsoilers. Therefore, when resonance occurs between one subsoiler and the frame, the influence on each subsoiler is consistent; similarly, if resonance causes a decline in the performance or a malfunction of a certain subsoiler, other subsoilers are also likely to face the same problem. Therefore, it is necessary to determine the natural frequency of the frame to avoid it and prevent resonance between the subsoiler and the frame, which affects the service life of the vibratory subsoiling device.

[0090] Furthermore, in step S23, the formula for determining the possibility that any target vibration frequency is the natural frequency of the frame is as follows:

[0091]

[0092] where represents the possibility that the th target vibration frequency is the natural frequency of the frame; represents the possibility of resonance between the frame and the th subsoiler at the th target vibration frequency; represents the possibility of resonance between the frame and the th subsoiler other than the th subsoiler at the th target vibration frequency; represents the number of subsoilers on the vibratory subsoiling device; is a normalization function.

[0093] It should be noted that is the difference between the possibility of resonance between the frame and the th subsoiler and the possibility of resonance between the frame and the th subsoiler other than the th subsoiler at the th target vibration frequency. The smaller the difference, the more consistent the influence degree of each subsoiler by the th target vibration frequency, indicating that there is a high similarity between the th target vibration frequency and the natural frequency of the frame, indicating that at the The greater the possibility that the target vibration frequency is the natural frequency of the frame.

[0094] Understandably, the frame of the vibratory subsoiling device is usually a three-dimensional structure with a certain volume and complex shape. It may be composed of components such as beams, plates, and columns with different shapes. The differences in the dimensions and stiffness of these components in the horizontal, vertical, and front-back directions will result in different vibration characteristics in different directions, generating different natural frequencies. Therefore, there are multiple natural frequencies for the frame of the vibratory subsoiling device. Furthermore, the range of the natural frequency of the frame is determined to ensure its stability and reliability during actual operation.

[0095] Furthermore, step S3 includes:

[0096] Screen all target vibration frequencies whose possibility that the target vibration frequency is the natural frequency of the frame is greater than the screening threshold, and form the range of the natural frequency of the frame. When the vibratory subsoiling device is working, avoid the range of the natural frequency of the frame.

[0097] Preferably, in this embodiment, the screening threshold is set to 0.7.

[0098] Specifically, all target vibration frequencies whose possibility that the target vibration frequency is the natural frequency of the frame is greater than 0.7 form the range of the natural frequency of the frame; in order to prevent the frame of the vibratory subsoiling device from resonating, avoid the natural frequency of the frame during the subsoiling process; that is, when the vibration sensor on the vibratory subsoiling device detects that the currently running vibration frequency of the frame is close to the range of the natural frequency, adjust the output speed of the power device or change the gear ratio of the transmission system in a timely manner to reduce or increase the frequency of the vibration source, so as to ensure that the vibration frequency can be far from the range of the natural frequency of the frame and avoid the occurrence of resonance.

[0099] Understandably, the frequency acquisition method of the vibratory subsoiling device for garden operations proposed in this application determines the anomaly evaluation of each sequence segment of the subsoiling shovel according to the distribution characteristics of the vibration data of each sequence segment of the subsoiling shovel. According to the magnitude of the anomaly evaluation and the dynamic time warping matching distance of the vibration data obtained simultaneously with the frame, analyze and obtain the vibration correlation degree between the subsoiling shovel and the frame, and then determine the possibility of resonance between the frame and each subsoiling shovel at different frequencies, and obtain the range of the natural frequency of the frame; that is, by analyzing the performance of the real-time vibration data of the vibratory subsoiling device in the actual working environment, determine the fixed frequency range of the frame, which is more accurate than the natural frequency obtained only based on the idealized theoretical model. During the actual subsoiling process, avoid the fixed frequency range during the operation of the frame to prevent the frame from resonating.

[0100] An embodiment of the present invention further provides a vibratory subsoiling device for garden operations. The device includes a frame and a plurality of subsoiling shovels, and stores program data. When the program data is executed, the frame and the subsoiling shovels are combined to implement the frequency acquisition method of the vibratory subsoiling device for garden operations described in any one of the foregoing; this device has the same beneficial effects as the frequency acquisition method of the vibratory subsoiling device for garden operations provided above, and will not be elaborated here.

[0101] It can be understood that when each device of the vibratory subsoiling device for garden operations is operating, it is necessary to use the frequency acquisition method of the vibratory subsoiling device for garden operations provided in the foregoing embodiment. Therefore, whether the frame, the subsoiling shovels and the program data are integrated or different hardware is configured to generate functions similar to the effects achieved by the present invention, they all fall within the protection scope of the present invention.

[0102] It should be noted that the above sequence of embodiments of the present invention is only for description and does not represent the superiority or inferiority of the embodiments. The processes depicted in the drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0103] Each embodiment in this specification is described in a progressive manner. The same or similar parts among the embodiments can be referred to each other, and the key points of each embodiment are the differences from other embodiments.

Claims

1. A frequency acquisition method for a vibrating deep tillage device for gardening, characterized in that: The method comprises: Collect vibration data of the frame and each deep tiller in the vibrating deep tiller, perform noise reduction on the vibration data, and generate a time series of vibration data; Based on the time series of vibration data of the deep plowing shovel, the distribution characteristics of the vibration data of each deep plowing shovel are obtained, and the abnormal evaluation of each deep plowing shovel is determined. The vibration correlation degree between the deep plowing shovel and the frame is obtained by combining the time series of vibration data of the frame, and the time series of vibration data of the frame and each deep plowing shovel is converted into vibration frequency. The possibility of any vibration frequency being the natural frequency of the frame is calculated through the vibration frequency and the vibration correlation degree between the deep plowing shovel and the frame; The method for obtaining the vibration correlation degree is as follows: the vibration data time series sequence of each deep tiller is equally divided into a plurality of sequence segments 1, and the vibration data time series sequence of the frame is equally divided into a plurality of sequence segments 2; The calculation formula for the vibration correlation between the deep tiller and the frame is: in, Indicates The first subsoiler The degree of correlation between each sequence segment and the vibration of the frame; Indicates The first subsoiler Anomaly evaluation of sequence segment one; Indicates The first subsoiler Sequence segment one; Indicates the rack Sequence segment two; express and Dynamic time warping matching distance; The natural constant The exponential function with base ; A screening threshold is set to obtain all vibration frequencies whose probability of being the natural frequency of the frame is greater than the screening threshold, thereby forming a natural frequency range of the frame.

2. The frequency acquisition method of the vibration subsoiling device for gardening as claimed in claim 1, characterized in that: The vibration data of the frame and each deep plowing shovel in the vibratory deep plowing device are collected, and the vibration data are subjected to noise reduction processing to generate a vibration data time series sequence, including: setting a collection frequency, collecting the vibration data of the frame and each deep plowing shovel in the vibratory deep plowing device based on the collection frequency, using median filtering to perform noise reduction processing on the vibration data, and generating a vibration data time series sequence.

3. The frequency acquisition method of the vibration subsoiling device for gardening as claimed in claim 1, characterized in that: Based on the vibration data time series of the deep plowing shovel, the distribution characteristics of the vibration data of each deep plowing shovel are obtained, including: Determine the amplitude of any sequence segment one; The distribution characteristics of the vibration data of each deep tiller are obtained, and the corresponding calculation formula is: in, Indicates The first subsoiler Distribution characteristics of vibration data of a sequence segment; Indicates The first subsoiler Sequence segment 1 The amplitude of each data point; Indicates The first subsoiler The amplitude of the sequence segment one; Indicates The first subsoiler The number of data points in a sequence segment; Indicates The first subsoiler The amplitude of the first sequence segment is The mean of the absolute values ​​of the differences in the amplitudes of all remaining sequence segments of a deep tillage shovel.

4. The frequency acquisition method of the vibration subsoiling device for gardening as claimed in claim 3, characterized in that: Determine the abnormal evaluation of each deep tiller, and the corresponding calculation formula is: in, Indicates The first subsoiler Anomaly evaluation of sequence segment one; Indicates The first subsoiler Distribution characteristics of vibration data of a sequence segment; Indicates that except The second The first subsoiler Distribution characteristics of vibration data of a sequence segment; Indicates the number of subsoilers on a vibrating subsoiler.

5. The frequency acquisition method of the vibration subsoiling device for gardening as claimed in claim 4, characterized in that: The vibration data time series of the frame and each deep tiller are converted into vibration frequency, and the possibility of any vibration frequency being the natural frequency of the frame is calculated by the vibration frequency and the vibration correlation degree between the deep tiller and the frame, including: Perform Fourier transform on the vibration data time series of the frame and each deep tiller to obtain the vibration frequency corresponding to each vibration data; Filter the vibration frequencies that appear in the frame and each deep tiller to obtain all target vibration frequencies, obtain the vibration energy value corresponding to each target vibration frequency in the vibration data time series of the frame and each deep tiller, and calculate the possibility of resonance between the frame and the deep tiller based on any target vibration frequency; The possibility of resonance between the frame and the deep tiller is used to determine the possibility that any target vibration frequency is the natural frequency of the frame.

6. The frequency acquisition method of the vibration subsoiling device for gardening as claimed in claim 5, characterized in that: The calculation formula for calculating the possibility of resonance between the frame and the deep tiller based on any target vibration frequency is: in, Indicates The frame and the first The possibility of resonance of a deep tillage shovel; Indicates The average value of the vibration correlation between all the sequence segments of a deep tiller and the frame; Indicates The vibration data time series of a deep tiller is The vibration energy value corresponding to the target vibration frequency; Indicates the vibration data time series of the rack. The vibration energy value corresponding to the target vibration frequency.

7. The frequency acquisition method of the vibration subsoiling device for gardening as claimed in claim 5, characterized in that: Determine the possibility of any target vibration frequency being the natural frequency of the frame. The corresponding calculation formula is: in, Indicates The possibility that the target vibration frequency is the natural frequency of the frame; Indicates The frame and the first The possibility of resonance of a deep tillage shovel; Indicates The frame and the The second The possibility of resonance of a deep tillage shovel; Indicates the number of subsoilers on the vibrating subsoiler; is the normalization function.

8. The frequency acquisition method of the vibration subsoiling device for gardening as claimed in claim 5, characterized in that: Acquire all vibration frequencies whose probability of being the natural frequency of the frame is greater than a screening threshold to form a natural frequency range of the frame, including: screening all target vibration frequencies whose probability of being the natural frequency of the frame is greater than a screening threshold to form a natural frequency range of the frame, and avoid the natural frequency range of the frame when the vibrating deep tillage device is working.

Images