Bundling machine soil compaction degree judgment method based on machine tool real-time parameters

Abstract

The invention discloses a bundling machine soil compaction degree judgment method based on machine tool real-time parameters, and relates to the field of agriculture, in particular to a soil compaction degree judgment method. The invention aims to solve the problems that an existing soil compaction degree judgment method depends on laboratory detection and is single in considered parameter, low in accuracy and poor in real-time performance. The method comprises the following steps: acquiring the real-time running speed of a tractor, the dead weight of the tractor, the load weight of the tractor, the tire pressure of the tractor, the running times of the tractor, the mass of picked straws in unit time and the straw compaction density of a bundling machine; obtaining the standardized real-time running speed of the tractor, the standardized dead weight of the tractor, the standardized load weight of the tractor, the standardized tire pressure of the tractor, the standardized running times of the tractor, the standardized mass of the straw picked up in unit time and the standardized straw compaction density of the bundling machine according to the standardized real-time running speed, the standardized dead weight of the tractor, the standardized load weight of the tractor, the standardized tire pressure of the tractor, the standardized running times of the tractor and the standardized straw compaction density of the bundling machine; calculating the soil compaction degree by using a matrix method; and grading the soil compaction degree.

Description

Technical Field

[0001] The invention relates to the field of agriculture, and in particular to a method for predicting soil compaction. Background Art

[0002] Soil compaction is one of the important indicators of soil physical properties, which refers to the degree of compactness of soil particles due to external forces. Excessive soil compaction will lead to poor soil aeration and reduced water permeability, which will in turn affect crop growth and the sustainability of agricultural production. Therefore, real-time monitoring and prediction of soil compaction is crucial for agricultural management and land protection.

[0003] With the development of modern agricultural mechanization, the use of agricultural machinery such as tractors and balers has a direct impact on soil compaction. The driving process of the machinery, load weight, tire pressure, running speed and other factors may lead to different degrees of soil compaction. In order to effectively evaluate the impact of mechanical operation on soil compaction, it is necessary to dynamically predict soil compaction in combination with the real-time working parameters of the machinery. Summary of the invention

[0004] The purpose of the present invention is to solve the problems that the existing soil compaction determination method relies on laboratory testing, considers a single parameter, has low accuracy and poor real-time performance, and proposes a baler soil compaction determination method based on real-time parameters of the machine.

[0005] The specific process of the soil compaction determination method for balers based on real-time parameters of the machine is as follows:

[0006] Step 1: Obtain the real-time speed of the tractor, the deadweight of the tractor, the load weight of the tractor, the tire pressure of the tractor, the number of tractor trips, the mass of the straw picked up per unit time, and the compaction density of the straw of the baler;

[0007] Step 2, standardize the acquired real-time driving speed of the tractor, the dead weight of the tractor, the load weight of the tractor, the tire pressure of the tractor, the number of driving times of the tractor, the mass of the straw picked up per unit time, and the compaction density of the straw of the baler to obtain the standardized real-time driving speed of the tractor, the standardized dead weight of the tractor, the standardized load weight of the tractor, the standardized tire pressure of the tractor, the standardized number of driving times of the tractor, the standardized mass of the straw picked up per unit time, and the standardized compaction density of the straw of the baler;

[0008] Step 3, based on the standardized real-time driving speed of the tractor, the standardized dead weight of the tractor, the standardized load weight of the tractor, the standardized tire pressure of the tractor, the standardized number of driving times of the tractor, the standardized mass of the straw picked up per unit time, and the standardized compaction density of the baler straw, the soil compaction degree is calculated using a matrix method;

[0009] Step 4: Classify the soil compaction degree calculated in step 3.

[0010] Preferably, in step 1, the real-time speed of the tractor, the deadweight of the tractor, the load weight of the tractor, the tire pressure of the tractor, the number of tractor trips, the mass of the picked-up straw per unit time, and the compaction density of the straw of the baler are obtained; the specific process is:

[0011] Step 11: Obtain tractor related parameters; the specific process is:

[0012] 1) Use the GPS installed on the tractor to obtain the real-time driving speed v(t) of the tractor;

[0013] 2) Get the tractor's deadweight W t ;

[0014] 3) The piezoelectric sensor installed on the tractor's traction device measures the tractor's load weight W in real time. l ;

[0015] 4) Monitor the tractor tire pressure P in real time through the tire pressure sensor installed in the tire t ;

[0016] 5) Record the number of times the tractor repeatedly drives in a certain area N p ;

[0017] Step 1 and 2: Get the relevant parameters of the baler; the specific process is as follows:

[0018] 1) The mass flow sensor in the baler measures the mass Q of the straw picked up per unit time in real time. p ;

[0019] 2) Measure the pressure of the compaction process through the compaction force sensor inside the baler, and calculate the straw compaction density ρ based on the pressure c ; The specific process is:

[0020] 21) Calculate the real-time volume of the straw based on the pressure P measured by the pressure sensor; expressed as:

[0021] V=V 0 -kP

[0022] Among them, V 0 represents the initial volume of the compaction chamber of the baler, k represents the compression coefficient, k=0.001; P represents the pressure measured by the pressure sensor; V represents the real-time volume of the straw;

[0023] 22) Based on the real-time volume V of the straw, calculate the compacted density ρ of the straw c ; expressed as:

[0024]

[0025] Wherein, m represents the real-time quality of straw.

[0026] Preferably, the unit of v(t) is meters per second; W t The unit is kilogram; W l The unit is kilogram; P t The unit is kPa; N p The unit is times; Q p The unit is kilograms per second; ρ c The unit is kilograms per cubic meter.

[0027] Preferably, in step 2, the acquired real-time driving speed of the tractor, the dead weight of the tractor, the load weight of the tractor, the tire pressure of the tractor, the number of driving times of the tractor, the mass of the picked-up straw per unit time, and the compaction density of the straw of the baler are standardized to obtain the standardized real-time driving speed of the tractor, the standardized dead weight of the tractor, the standardized load weight of the tractor, the standardized tire pressure of the tractor, the standardized number of driving times of the tractor, the standardized mass of the picked-up straw per unit time, and the standardized compaction density of the straw of the baler; the specific process is:

[0028] The normalization formula is:

[0029] Among them, μ is the mean of the characteristic data, σ is the standard deviation of the characteristic data;

[0030] X is the real-time speed of the tractor, the deadweight of the tractor, the weight of the tractor load, the tire pressure of the tractor, the number of tractor trips, the mass of the straw picked up per unit time, or the compaction density of the straw by the baler;

[0031] X' is the standardized real-time speed of the tractor, the deadweight of the tractor, the weight of the tractor load, the tire pressure of the tractor, the number of tractor trips, the mass of the picked-up straw per unit time, or the compacted density of the baler straw.

[0032] Preferably, the normalized real-time speed of the tractor is v(t)′;

[0033] The standardized tractor weight is W t ′;

[0034] The standardized tractor load weight is W l ′;

[0035] The standardized tractor tire pressure is P t ′;

[0036] The standardized number of tractor trips is N p′;

[0037] The standardized mass of straw picked up per unit time is Q p ′;

[0038] The standardized compacted density of baler straw is ρ c ′.

[0039] Preferably, in step 3, the soil compaction degree is calculated using a matrix method based on the standardized real-time driving speed of the tractor, the standardized deadweight of the tractor, the standardized load weight of the tractor, the standardized tire pressure of the tractor, the standardized number of tractor driving times, the standardized mass of the picked-up straw per unit time, and the standardized compaction density of the baler straw; the specific process is:

[0040] Step 31: construct a matrix Z based on the standardized real-time driving speed of the tractor, the standardized dead weight of the tractor, the standardized load weight of the tractor, the standardized tire pressure of the tractor, the standardized number of tractor driving times, the standardized mass of the picked-up straw per unit time, and the standardized compaction density of the baler straw;

[0041] Step 32: Based on the basic soil compaction degree β 0 , the effect of the standardized tractor's real-time driving speed on soil compaction β 1 , Effect of standardized tractor deadweight on soil compaction β 2 , Effect of standardized tractor load weight on soil compaction β 3 , Effect of standardized tractor tire pressure on soil compaction β 4 , Effect of standardized tractor travel times on soil compaction β 5 , the effect of the mass of straw picked up per unit time on soil compaction after standardization β 6 , Effect of standardized baler straw compaction density on soil compaction β 7 , construct the matrix β;

[0042] Step 33: Calculate soil compaction based on matrix Z and matrix β.

[0043] Preferably, in step 31, the matrix Z is constructed based on the standardized real-time driving speed of the tractor, the standardized deadweight of the tractor, the standardized load weight of the tractor, the standardized tire pressure of the tractor, the standardized number of tractor driving times, the standardized mass of the picked-up straw per unit time, and the standardized compaction density of the baler straw; the specific process is:

[0044] Z=[1 v(t)′ W t ′ W l′ P t ′ N p ' Q p ′ρ c ′].

[0045] Preferably, in step 32, based on the basic soil compaction degree β 0 , the effect of the standardized tractor's real-time driving speed on soil compaction β 1 , Effect of standardized tractor deadweight on soil compaction β 2 , Effect of standardized tractor load weight on soil compaction β 3 , Effect of standardized tractor tire pressure on soil compaction β 4 , Effect of standardized tractor travel times on soil compaction β 5 , the effect of the mass of straw picked up per unit time on soil compaction after standardization β 6 , Effect of standardized baler straw compaction density on soil compaction β 7 , construct the matrix β; the specific process is:

[0046]

[0047] in:

[0048] Basic soil compaction β 0 =15;

[0049] Effect of standardized tractor real-time driving speed on soil compaction β 1 =0.6;

[0050] Effect of standardized tractor deadweight on soil compaction β 2 =0.0004;

[0051] Effect of standardized tractor load weight on soil compaction β 3 =0.0005;

[0052] Effect of standardized tractor tire pressure on soil compaction β 4 =0.015;

[0053] Effect of standardized tractor travel times on soil compaction β 5 =0.25;

[0054] Effect of the mass of straw picked up per unit time on soil compaction after standardization β 6 =0.2;

[0055] Effect of standardized baler straw compaction density on soil compaction β 7 =0.0008.

[0056] Preferably, in step 33, the soil compaction degree is calculated based on the matrix Z and the matrix β; the specific process is:

[0057] Calculate soil compaction by matrix multiplication:

[0058] y=Z·β

[0059] where · represents matrix multiplication.

[0060] Preferably, in step 4, the soil compaction degree calculated in step 3 is graded; the specific process is:

[0061] When the soil compaction degree y is less than 30, the soil compaction is mild;

[0062] When the soil compaction degree is 30≤y<60, the soil compaction degree is moderate;

[0063] When the soil compaction degree y ≥ 60, the soil compaction degree is severe.

[0064] The beneficial effects of the present invention are:

[0065] The present invention proposes a soil compaction determination method for balers based on real-time machine parameters. By acquiring multi-dimensional operating parameters of tractors and balers in real time (such as driving speed, load weight, tire pressure, straw mass flow, etc.), combined with sensor technology (GPS, piezoelectric sensor, tire pressure sensor, etc.), dynamic monitoring and prediction of soil compaction are realized, and the determination efficiency is significantly improved. A standardized method is used to process multi-source heterogeneous data (such as normalization of parameters such as dead weight, load, and tire pressure), and the soil compaction is calculated in combination with the matrix method. The scientific nature and prediction accuracy of the model are enhanced by weighting the influencing factors of each parameter (such as speed, weight, number of driving times, etc.). The synergistic effects of tractors and balers in mechanical operations (such as straw compaction density and picking flow) are comprehensively considered, and the compaction effect of mechanical operations on the soil is comprehensively evaluated, avoiding the limitations of a single parameter. According to the calculation results, the soil compaction is divided into "mild", "moderate", "severe" and other levels, providing an intuitive decision-making basis for agricultural management, and facilitating timely adjustment of mechanical operation modes to protect soil structure. It solves the problems of traditional soil compaction determination, which relies on laboratory testing, considers a single parameter, has low accuracy and poor real-time performance, and improves the low accuracy and real-time performance of the soil compaction determination method. BRIEF DESCRIPTION OF THE DRAWINGS

[0066] Figure 1 It is a flow chart of the present invention. DETAILED DESCRIPTION

[0067] Specific implementation method 1: The specific process of the method for determining soil compaction degree of a baler based on real-time parameters of the machine in this implementation method is as follows:

[0068] Step 1: Obtain the real-time speed of the tractor, the deadweight of the tractor, the load weight of the tractor, the tire pressure of the tractor, the number of tractor trips, the mass of the straw picked up per unit time, and the compaction density of the straw of the baler;

[0069] Through various measurement methods, the real-time speed of the tractor, the deadweight of the tractor, the weight of the tractor load, the tire pressure of the tractor, the number of tractor trips, the mass of the straw picked up per unit time, and the compaction density of the baler straw were measured;

[0070] Step 2, standardize the acquired real-time driving speed of the tractor, the dead weight of the tractor, the load weight of the tractor, the tire pressure of the tractor, the number of driving times of the tractor, the mass of the straw picked up per unit time, and the compaction density of the straw of the baler to obtain the standardized real-time driving speed of the tractor, the standardized dead weight of the tractor, the standardized load weight of the tractor, the standardized tire pressure of the tractor, the standardized number of driving times of the tractor, the standardized mass of the straw picked up per unit time, and the standardized compaction density of the straw of the baler;

[0071] Step 3, based on the standardized real-time driving speed of the tractor, the standardized dead weight of the tractor, the standardized load weight of the tractor, the standardized tire pressure of the tractor, the standardized number of driving times of the tractor, the standardized mass of the straw picked up per unit time, and the standardized compaction density of the baler straw, the soil compaction degree is calculated using a matrix method;

[0072] Step 4: Classify the soil compaction degree calculated in step 3.

[0073] Specific implementation method 2: This implementation method is different from specific implementation method 1 in that: in step 1, the real-time driving speed of the tractor, the dead weight of the tractor, the load weight of the tractor, the tire pressure of the tractor, the number of tractor driving times, the mass of the picked-up straw per unit time, and the compaction density of the baler straw are obtained; the specific process is:

[0074] Step 11: Obtain tractor related parameters; the specific process is:

[0075] 1) Use the GPS installed on the tractor to obtain the real-time driving speed v(t) of the tractor;

[0076] 2) Get the tractor's deadweight W t ;

[0077] Fixed value, provided by tractor specifications;

[0078] 3) The piezoelectric sensor installed on the tractor's traction device measures the tractor's load weight W in real time. l ;

[0079] 4) Monitor the tractor tire pressure P in real time through the tire pressure sensor installed in the tire t ;

[0080] 5) Record the number of times the tractor repeatedly drives in a certain area N p ;

[0081] Step 1 and 2: Get the relevant parameters of the baler; the specific process is as follows:

[0082] 1) The mass flow sensor in the baler measures the mass Q of the straw picked up per unit time in real time. p ;

[0083] Indicates the mass of straw collected by the baler through its pickup device per second. This parameter is used to quantify the straw collection rate;

[0084] 2) Measure the pressure of the compaction process through the compaction force sensor inside the baler, and calculate the straw compaction density ρ based on the pressure c The specific process is:

[0085] 21) Calculate the real-time volume of the straw based on the pressure P measured by the pressure sensor; expressed as:

[0086] V=V 0 -kP

[0087] Among them, V 0 represents the initial volume of the compaction chamber of the baler, k represents the compression coefficient, k=0.001; P represents the pressure measured by the pressure sensor; V represents the real-time volume of the straw;

[0088] 22) Based on the real-time volume V of the straw, calculate the compacted density ρ of the straw c ; expressed as:

[0089]

[0090] Wherein, m represents the real-time quality of straw.

[0091] The other steps and parameters are the same as those in the first embodiment.

[0092] Specific implementation method three: This implementation method is different from specific implementation methods one or two in that: the unit of v(t) is meter per second (m / s); W t The unit is kilogram (kg); W l The unit is kilogram (kg); P t The unit is kilopascal (kPa); N p The unit is times; Q p The unit is kilogram per second (kg / s); ρ cThe unit is kilograms per cubic meter (kg / m 3 ).

[0093] The other steps and parameters are the same as those in the first or second embodiment.

[0094] Specific implementation method 4: This implementation method is different from any one of specific implementation methods 1 to 3 in that: in step 2, the real-time driving speed of the tractor, the dead weight of the tractor, the load weight of the tractor, the tire pressure of the tractor, the number of tractor trips, the mass of the picked-up straw per unit time, and the compaction density of the baler straw are standardized to obtain the standardized real-time driving speed of the tractor, the standardized dead weight of the tractor, the standardized load weight of the tractor, the standardized tire pressure of the tractor, the standardized number of tractor trips, the standardized mass of the picked-up straw per unit time, and the standardized compaction density of the baler straw; the specific process is:

[0095] The normalization formula is:

[0096] Among them, μ is the mean of the characteristic data, σ is the standard deviation of the characteristic data;

[0097] X is the real-time speed of the tractor, the deadweight of the tractor, the weight of the tractor load, the tire pressure of the tractor, the number of tractor trips, the mass of the straw picked up per unit time, or the compaction density of the straw by the baler;

[0098] X' is the standardized real-time speed of the tractor, the deadweight of the tractor, the weight of the tractor load, the tire pressure of the tractor, the number of tractor trips, the mass of the picked-up straw per unit time, or the compacted density of the baler straw.

[0099] The other steps and parameters are the same as those in Specific Embodiments 1 to 3.

[0100] Specific implementation method 5: This implementation method is different from any one of the specific implementation methods 1 to 4 in that: the real-time driving speed of the standardized tractor is v(t)′;

[0101] The standardized tractor weight is W t ′;

[0102] The standardized tractor load weight is W l ′;

[0103] The standardized tractor tire pressure is P t ′;

[0104] The standardized number of tractor trips is N p ′;

[0105] The standardized mass of straw picked up per unit time is Qp ′;

[0106] The standardized compacted density of baler straw is ρ c ′.

[0107] The other steps and parameters are the same as those in Specific Implementation 1 to 4-1.

[0108] Specific implementation method 6: This implementation method is different from any one of specific implementation methods 1 to 5 in that: in step 3, based on the standardized real-time driving speed of the tractor, the standardized dead weight of the tractor, the standardized load weight of the tractor, the standardized tire pressure of the tractor, the standardized number of tractor driving times, the standardized mass of the picked-up straw per unit time, and the standardized compaction density of the baler straw, the soil compaction degree is calculated using the matrix method; the specific process is:

[0109] Step 31: construct a matrix Z based on the standardized real-time driving speed of the tractor, the standardized dead weight of the tractor, the standardized load weight of the tractor, the standardized tire pressure of the tractor, the standardized number of tractor driving times, the standardized mass of the picked-up straw per unit time, and the standardized compaction density of the baler straw;

[0110] Step 32: Based on the basic soil compaction degree β 0 , the effect of the standardized tractor's real-time driving speed on soil compaction β 1 , Effect of standardized tractor deadweight on soil compaction β 2 , Effect of standardized tractor load weight on soil compaction β 3 , Effect of standardized tractor tire pressure on soil compaction β 4 , Effect of standardized tractor travel times on soil compaction β 5 , the effect of the mass of straw picked up per unit time on soil compaction after standardization β 6 , Effect of standardized baler straw compaction density on soil compaction β 7 , construct the matrix β;

[0111] Step 33: Calculate soil compaction based on matrix Z and matrix β.

[0112] The other steps and parameters are the same as those in Specific Implementation Methods 1 to 5-1.

[0113] Specific implementation method 7: This implementation method is different from specific implementation methods 1 to 6 in that: in step 31, the matrix Z is constructed based on the standardized real-time driving speed of the tractor, the standardized dead weight of the tractor, the standardized load weight of the tractor, the standardized tire pressure of the tractor, the standardized number of tractor driving times, the standardized mass of the picked-up straw per unit time, and the standardized compaction density of the baler straw; the specific process is:

[0114] Z=[1 v(t)′ W t ′ W l ′ P t ′ N p ' Q p ′ρ c ′].

[0115] The other steps and parameters are the same as those in Specific Embodiments 1 to 6.

[0116] Specific implementation eight: This implementation differs from the specific implementations one to seven in that: in step three two, based on the basic soil compaction degree β 0 , the effect of the standardized tractor's real-time driving speed on soil compaction β 1 , Effect of standardized tractor deadweight on soil compaction β 2 , Effect of standardized tractor load weight on soil compaction β 3 , Effect of standardized tractor tire pressure on soil compaction β 4 , Effect of standardized tractor travel times on soil compaction β 5 , the effect of the mass of straw picked up per unit time on soil compaction after standardization β 6 , Effect of standardized baler straw compaction density on soil compaction β 7 , construct the matrix β; the specific process is:

[0117]

[0118] in:

[0119] Basic soil compaction β 0 =15: constant term, to avoid output being zero;

[0120] Effect of standardized tractor real-time driving speed on soil compaction β 1 = 0.6, higher speed leads to higher compaction;

[0121] Effect of standardized tractor deadweight on soil compaction β 2 = 0.0004, the heavier the tractor, the higher the soil compaction;

[0122] Effect of standardized tractor load weight on soil compaction β 3 = 0.0005, heavier loads increase compaction;

[0123] Effect of standardized tractor tire pressure on soil compaction β 4 =0.015, high air pressure will lead to stronger compaction;

[0124] Effect of standardized tractor travel times on soil compaction β 5 =0.25, more driving times will aggravate soil compaction;

[0125] Effect of the mass of straw picked up per unit time on soil compaction after standardization β 6 = 0.2, picking up more straw may lead to some compaction;

[0126] Effect of standardized baler straw compaction density on soil compaction β 7 =0.0008. When the straw compaction degree is high, it will have a compaction effect on the soil.

[0127] The other steps and parameters are the same as those in Specific Implementation 1 to 7-1.

[0128] Specific implementation method 9: This implementation method is different from the specific implementation methods 1 to 8 in that: in step 33, the soil compaction degree is calculated based on the matrix Z and the matrix β; the specific process is:

[0129] Calculate soil compaction by matrix multiplication:

[0130] y=Z·β

[0131] where · represents matrix multiplication.

[0132] The other steps and parameters are the same as those in Specific Implementation 1 to 8-1.

[0133] Specific implementation method 10: This implementation method is different from any one of specific implementation methods 1 to 9 in that: in step 4, the soil compaction degree calculated in step 3 is graded; the specific process is as follows:

[0134] When the soil compaction degree y is less than 30, the soil compaction is mild;

[0135] When soil compaction is 30≤y<60, the soil compaction is moderate;

[0136] When the soil compaction degree y ≥ 60, the soil compaction degree is severe.

[0137] The other steps and parameters are the same as those in Specific Implementation Methods 1 to 9.

[0138] The present invention may also have many other embodiments. Without departing from the spirit and essence of the present invention, those skilled in the art may make various corresponding changes and modifications based on the present invention, but these corresponding changes and modifications should all fall within the scope of protection of the claims attached to the present invention.

Claims

1. A method for determining soil compaction degree of a baler based on real-time parameters of a machine, characterized in that: The specific process of the method is: Step 1: Obtain the real-time speed of the tractor, the deadweight of the tractor, the load weight of the tractor, the tire pressure of the tractor, the number of tractor trips, the mass of the straw picked up per unit time, and the compaction density of the straw of the baler; Step 2: standardize the acquired real-time driving speed of the tractor, the dead weight of the tractor, the load weight of the tractor, the tire pressure of the tractor, the number of driving times of the tractor, the mass of the straw picked up per unit time, and the compaction density of the straw of the baler to obtain the standardized real-time driving speed of the tractor, the standardized dead weight of the tractor, the standardized load weight of the tractor, the standardized tire pressure of the tractor, the standardized number of driving times of the tractor, the mass of the straw picked up per unit time, and the standardized compaction density of the straw of the baler; Step 3, based on the standardized real-time driving speed of the tractor, the standardized dead weight of the tractor, the standardized load weight of the tractor, the standardized tire pressure of the tractor, the standardized number of driving times of the tractor, the standardized mass of the straw picked up per unit time, and the standardized compaction density of the baler straw, the soil compaction degree is calculated using a matrix method; Step 4: Classify the soil compaction degree calculated in step 3.

2. The method for determining soil compaction degree of a baler based on real-time parameters of a machine tool according to claim 1, characterized in that: In the step 1, the real-time speed of the tractor, the dead weight of the tractor, the load weight of the tractor, the tire pressure of the tractor, the number of tractor trips, the mass of the picked-up straw per unit time, and the compaction density of the straw of the baler are obtained; the specific process is: Step 11: Obtain tractor related parameters; the specific process is: 1) Use the GPS installed on the tractor to obtain the real-time driving speed v(t) of the tractor; 2) Get the tractor's deadweight W t ; 3) The piezoelectric sensor installed on the tractor's traction device measures the tractor's load weight W in real time. l ; 4) Monitor the tractor tire pressure P in real time through the tire pressure sensor installed in the tire t ; 5) Record the number of times the tractor repeatedly drives in a certain area N p ; Step 1 and 2: Obtain relevant parameters of the baler; The specific process is: 1) The mass flow sensor in the baler measures the mass Q of the straw picked up per unit time in real time. p ; 2) Measure the pressure of the compaction process through the compaction force sensor inside the baler, and calculate the straw compaction density ρ based on the pressure c ; The specific process is: 21) Calculate the real-time volume of the straw based on the pressure P measured by the pressure sensor; expressed as: V=V0-kP Wherein, V0 represents the initial volume of the compaction chamber of the baler, k represents the compression coefficient, k=0.001; P represents the pressure measured by the pressure sensor; V represents the real-time volume of the straw; 22) Based on the real-time volume V of the straw, calculate the compacted density ρ of the straw c ; expressed as: Wherein, m represents the real-time quality of straw.

3. The method for determining soil compaction degree of a baler based on real-time parameters of a machine tool according to claim 2, characterized in that: The unit of v(t) is meters per second; W t The unit is kilogram; W l The unit is kilogram; P t The unit is kPa; N p The unit is times; Q p The unit is kilograms per second; ρ c The unit is kilograms per cubic meter.

4. The method for determining soil compaction degree of a baler based on real-time parameters of a machine tool according to claim 3, characterized in that: In the step 2, the real-time driving speed of the tractor, the dead weight of the tractor, the load weight of the tractor, the tire pressure of the tractor, the number of driving times of the tractor, the mass of the picked-up straw per unit time, and the compaction density of the straw of the baler are standardized to obtain the standardized real-time driving speed of the tractor, the dead weight of the tractor, the load weight of the tractor, the tire pressure of the tractor, the number of driving times of the tractor, the mass of the picked-up straw per unit time, and the compaction density of the straw of the baler; the specific process is: The normalization formula is: Among them, μ is the mean of the characteristic data, σ is the standard deviation of the characteristic data; X is the real-time speed of the tractor, the deadweight of the tractor, the weight of the tractor load, the tire pressure of the tractor, the number of tractor trips, the mass of the straw picked up per unit time, or the compaction density of the straw by the baler; X′ is the standardized real-time speed of the tractor, the deadweight of the tractor, the weight of the tractor load, the tire pressure of the tractor, the number of tractor trips, the mass of straw picked up per unit time, or the compaction density of straw by the baler.

5. The method for determining soil compaction degree of a baler based on real-time parameters of a machine tool according to claim 4, characterized in that: The normalized real-time speed of the tractor is v(t)′; The standardized tractor weight is W t ′; The standardized tractor load weight is W l ′; The standardized tractor tire pressure is P t ′; The standardized number of tractor trips is N p ′; The standardized mass of straw picked up per unit time is Q p ′; The standardized compacted density of baler straw is ρ c ′.

6. The method for determining soil compaction degree of a baler based on real-time parameters of a machine according to claim 5, characterized in that: In step 3, the soil compaction degree is calculated using a matrix method based on the standardized real-time driving speed of the tractor, the standardized dead weight of the tractor, the standardized load weight of the tractor, the standardized tire pressure of the tractor, the standardized number of tractor driving times, the standardized mass of the straw picked up per unit time, and the standardized compaction density of the baler straw; the specific process is: Step 31: construct a matrix Z based on the standardized real-time driving speed of the tractor, the standardized dead weight of the tractor, the standardized load weight of the tractor, the standardized tire pressure of the tractor, the standardized number of tractor driving times, the standardized mass of the picked-up straw per unit time, and the standardized compaction density of the baler straw; Step 32: Based on the basic soil compaction β0, the influence of the standardized real-time driving speed of the tractor on the soil compaction β1, the influence of the standardized deadweight of the tractor on the soil compaction β2, the influence of the standardized load weight of the tractor on the soil compaction β3, the influence of the standardized tire pressure of the tractor on the soil compaction β4, the influence of the standardized number of tractor driving times on the soil compaction β5, the influence of the standardized mass of the picked-up straw per unit time on the soil compaction β6, and the influence of the standardized compaction density of the baler straw on the soil compaction β7, construct a matrix β; Step 33: Calculate soil compaction based on matrix Z and matrix β.

7. The method for determining soil compaction degree of a baler based on real-time parameters of a machine tool according to claim 6, characterized in that: In the step 31, a matrix Z is constructed based on the standardized real-time driving speed of the tractor, the standardized dead weight of the tractor, the standardized load weight of the tractor, the standardized tire pressure of the tractor, the standardized number of tractor driving times, the standardized mass of the picked-up straw per unit time, and the standardized compaction density of the baler straw; the specific process is: Z=[1 v(t)′ W t ′ W l ′ P t ′ N p ′ Q p ′ ρ c ′]。 8. The method for determining soil compaction degree of a baler based on real-time parameters of a machine tool according to claim 7, characterized in that: In the step 32, a matrix β is constructed based on the basic soil compaction β0, the influence of the standardized real-time driving speed of the tractor on the soil compaction β1, the influence of the standardized dead weight of the tractor on the soil compaction β2, the influence of the standardized load weight of the tractor on the soil compaction β3, the influence of the standardized tire pressure of the tractor on the soil compaction β4, the influence of the standardized number of tractor driving times on the soil compaction β5, the influence of the standardized mass of the picked-up straw per unit time on the soil compaction β6, and the influence of the standardized compaction density of the baler straw on the soil compaction β7; the specific process is: in: The compaction degree of foundation soil β0 = 15; The effect of the standardized tractor's real-time driving speed on soil compaction is β1 = 0.6; The effect of the standardized tractor deadweight on soil compaction is β2 = 0.0004; The effect of the standardized tractor load weight on soil compaction is β3 = 0.0005; The effect of standardized tractor tire pressure on soil compaction β4 = 0.015; The effect of the standardized tractor travel times on soil compaction is β5 = 0.25; The standardized effect of the mass of straw picked up per unit time on soil compaction is β6 = 0.2; The effect of the standardized baler straw compaction density on soil compaction is β7=0.0008.

9. The method for determining soil compaction degree of a baler based on real-time parameters of a machine tool according to claim 8, characterized in that: In step 33, soil compaction is calculated based on matrix Z and matrix β; the specific process is: Calculate soil compaction by matrix multiplication: y=Z·β where · represents matrix multiplication.

10. The method for determining soil compaction degree of a baler based on real-time parameters of a machine tool according to claim 9, characterized in that: In step 4, the soil compaction degree calculated in step 3 is graded; the specific process is as follows: When the soil compaction degree y is less than 30, the soil compaction is mild; When the soil compaction degree is 30≤y<60, the soil compaction degree is moderate; When the soil compaction degree y ≥ 60, the soil compaction degree is severe.

Images