Method for determining soil compactness of a baler based on real-time parameters of the implement

Abstract

This invention relates to a method for determining soil compaction degree using balers based on real-time machine parameters. Specifically, it relates to a method for determining soil compaction degree in the agricultural field. The purpose of this invention is to address the problems of existing soil compaction degree determination methods, which rely on laboratory testing, consider only a single parameter, have low accuracy, and poor real-time performance. The process is as follows: Acquire the real-time driving speed of the tractor, the tractor's own weight, the tractor's load weight, the tractor's tire pressure, the number of tractor trips, the mass of straw collected per unit time, and the baler's straw compaction density; obtain standardized real-time driving speed of the tractor, standardized tractor's own weight, standardized tractor's load weight, standardized tractor's tire pressure, standardized number of tractor trips, standardized mass of straw collected per unit time, and standardized baler's straw compaction density; calculate the soil compaction degree using a matrix method; and classify the soil compaction degree into grades.

Description

Technical Field

[0001] This invention relates to the agricultural field, specifically to a method for predicting soil compaction. Background Technology

[0002] Soil compaction is an important indicator of soil physical properties, referring to the degree of compaction of soil particles due to external forces. Excessive soil compaction leads to poor soil aeration and reduced water permeability, thereby affecting crop growth and the sustainability of agricultural production. Therefore, real-time monitoring and prediction of soil compaction are crucial for agricultural management and land conservation.

[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. Factors such as the movement of the machinery, load weight, tire pressure, and operating speed can all lead to varying degrees of soil compaction. To effectively assess the impact of machinery operations on soil compaction, it is necessary to dynamically predict soil compaction by combining real-time operating parameters of the machinery. Summary of the Invention

[0004] The purpose of this invention is to solve the problems of existing soil compaction determination methods that rely on laboratory testing, consider only one parameter, have low accuracy and poor real-time performance, and propose a soil compaction determination method for balers based on real-time parameters of the equipment.

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

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

[0007] Step 2: Standardize the real-time driving speed, tractor weight, tractor load weight, tractor tire pressure, tractor driving times, straw collection mass per unit time, and baler straw compaction density of the tractor to obtain standardized real-time driving speed, standardized tractor weight, standardized tractor load weight, standardized tractor tire pressure, standardized tractor driving times, standardized straw collection mass per unit time, and standardized baler straw compaction density.

[0008] Step 3: Based on the standardized tractor's real-time driving speed, standardized tractor weight, standardized tractor load weight, standardized tractor tire pressure, standardized tractor driving times, standardized straw collection mass per unit time, and standardized baler straw compaction density, the soil compaction degree is calculated using the matrix method.

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

[0010] Preferably, in step one, the real-time driving speed of the tractor, the tractor's own weight, the tractor's load weight, the tractor's tire pressure, the number of times the tractor travels, the mass of straw picked up per unit time, and the straw compaction density of the baler are obtained; the specific process is as follows:

[0011] Step 11: Obtain relevant tractor parameters; the specific process is as follows:

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

[0013] 2) Obtain the tractor's own weight W t ;

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

[0015] 4) The tractor tire pressure P is monitored in real time by tire pressure sensors installed inside the tires. t ;

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

[0017] Steps 1 and 2: Obtain relevant parameters for the baler; the specific process is as follows:

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

[0019] 2) The pressure during the compaction process is measured by a pressure sensor inside the baler, and the straw compaction density ρ is calculated based on the pressure. c The specific process is as follows:

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

[0021] V = V0 - kP

[0022] Where V0 represents the initial volume of the baler's compaction chamber, k represents the compression coefficient, k = 0.001; P represents the pressure measured by the pressure sensor; and V represents the real-time volume of the straw.

[0023] 22) Calculate the straw compaction density ρ based on the real-time volume V of the straw. c ; indicates as:

[0024]

[0025] Where m represents the real-time mass of the 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 kilopascal (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 two, the acquired tractor real-time driving speed, tractor weight, tractor load weight, tractor tire pressure, tractor driving frequency, straw collection mass per unit time, and baler straw compaction density are standardized to obtain standardized tractor real-time driving speed, standardized tractor weight, standardized tractor load weight, standardized tractor tire pressure, standardized tractor driving frequency, standardized straw collection mass per unit time, and standardized baler straw compaction density; the specific process is as follows:

[0028] The standardized formula is:

[0029] Where μ is the mean of the feature data and σ is the standard deviation of the feature data;

[0030] X represents the tractor's real-time driving speed, tractor weight, tractor load weight, tractor tire pressure, number of tractor trips, mass of straw picked up per unit time, or straw compaction density of the baler.

[0031] X' represents the standardized real-time driving speed of the tractor, the tractor's own weight, the tractor's load weight, the tractor's tire pressure, the number of times the tractor travels, the mass of straw picked up per unit time, or the straw compaction density of the baler.

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

[0033] The standardized tractor has a weight of W. t ′;

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

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

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

[0037] The mass of straw collected per unit time after standardization is Q. p ′;

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

[0039] Preferably, in step three, the soil compaction degree is calculated using a matrix method based on the standardized tractor's real-time driving speed, standardized tractor weight, standardized tractor load weight, standardized tractor tire pressure, standardized tractor driving frequency, standardized straw collection mass per unit time, and standardized baler straw compaction density; the specific process is as follows:

[0040] Step 31: Based on the standardized tractor real-time driving speed, standardized tractor self-weight, standardized tractor load weight, standardized tractor tire pressure, standardized tractor driving times, standardized straw collection mass per unit time, and standardized baler straw compaction density, construct matrix Z;

[0041] Step 3.2: Based on the basic soil compaction degree β0, the influence of the standardized tractor's real-time driving speed on soil compaction degree β1, the influence of the standardized tractor's self-weight on soil compaction degree β2, the influence of the standardized tractor's load weight on soil compaction degree β3, the influence of the standardized tractor's tire pressure on soil compaction degree β4, the influence of the standardized tractor's driving frequency on soil compaction degree β5, the influence of the standardized mass of straw picked up per unit time on soil compaction degree β6, and the influence of the standardized baler's straw compaction density on soil compaction degree β7, construct matrix β;

[0042] Step 3: Calculate soil compaction degree based on matrix Z and matrix β.

[0043] Preferably, in step three-one, matrix Z is constructed based on the standardized real-time driving speed of the tractor, the standardized self-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 straw picked up per unit time, and the standardized straw compaction density of the baler; the specific process is as follows:

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

[0045] Preferably, in step three, matrix β is constructed based on the following factors: the influence of the basic soil compaction degree β0, the influence of the standardized tractor's real-time driving speed β1, the influence of the standardized tractor's self-weight β2, the influence of the standardized tractor's load weight β3, the influence of the standardized tractor's tire pressure β4, the influence of the standardized tractor's driving frequency β5, the influence of the standardized straw collection mass per unit time β6, and the influence of the standardized baler straw compaction density β7. The specific process is as follows:

[0046]

[0047] in:

[0048] The compaction degree of the basic soil β0 = 15;

[0049] The effect of the standardized tractor's real-time travel speed on soil compaction degree β1 = 0.6;

[0050] The effect of the standardized tractor weight on soil compaction is β2 = 0.0004;

[0051] The effect of standardized tractor load weight on soil compaction degree β3=0.0005;

[0052] The effect of standardized tractor tire pressure on soil compaction is β4 = 0.015;

[0053] The effect of the number of tractor trips on soil compaction was β5 = 0.25;

[0054] The effect of the mass of straw collected per unit time after standardization on soil compaction is β6 = 0.2;

[0055] The effect of standardized baler straw compaction density on soil compaction degree β7=0.0008.

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

[0057] Soil compaction degree is calculated using matrix multiplication:

[0058] y = Z·β

[0059] Where · represents matrix multiplication.

[0060] Preferably, in step four, the soil compaction degree calculated in step three is graded; the specific process is as follows:

[0061] When the soil compaction degree y < 30, the soil compaction degree is light.

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

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

[0064] The beneficial effects of this invention are as follows:

[0065] This invention proposes a method for determining soil compaction degree using balers based on real-time machine parameters. By acquiring multi-dimensional operational parameters of the tractor and baler in real time (such as travel speed, load weight, tire pressure, and straw mass flow rate), and combining sensor technologies (GPS, piezoelectric sensors, tire pressure sensors, etc.), dynamic monitoring and prediction of soil compaction degree are achieved, significantly improving the efficiency of determination. Standardized methods are used to process multi-source heterogeneous data (such as normalization of parameters like weight, load, and tire pressure), and a matrix method is used to calculate soil compaction degree. By weighting the influence factors of each parameter (such as speed, weight, and number of trips), the scientific nature and prediction accuracy of the model are enhanced. The synergistic effects of the tractor and baler during mechanical operations (such as straw compaction density and collection flow rate) are comprehensively considered to fully assess the compaction effect of mechanical operations on the soil, avoiding the limitations of single parameters. Based on the calculation results, soil compaction degree is classified into "light," "moderate," and "heavy" levels, providing intuitive decision-making basis for agricultural management and facilitating timely adjustments to mechanical operation modes to protect soil structure. This method solves the problems of traditional soil compaction determination methods, which rely on laboratory testing, consider only one parameter, have low accuracy, and poor real-time performance, thus improving the accuracy and real-time performance of soil compaction determination methods. Attached Figure Description

[0066] Figure 1 This is a flowchart of the present invention. Detailed Implementation

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

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

[0069] Various measurement methods were used to measure the real-time driving speed of the tractor, the tractor's own weight, the tractor's load weight, the tractor's tire pressure, the number of times the tractor drove, the mass of straw picked up per unit time, and the straw compaction density of the baler.

[0070] Step 2: Standardize the real-time driving speed, tractor weight, tractor load weight, tractor tire pressure, tractor driving times, straw collection mass per unit time, and baler straw compaction density of the tractor to obtain standardized real-time driving speed, standardized tractor weight, standardized tractor load weight, standardized tractor tire pressure, standardized tractor driving times, standardized straw collection mass per unit time, and standardized baler straw compaction density.

[0071] Step 3: Based on the standardized tractor's real-time driving speed, standardized tractor weight, standardized tractor load weight, standardized tractor tire pressure, standardized tractor driving times, standardized straw collection mass per unit time, and standardized baler straw compaction density, the soil compaction degree is calculated using the matrix method.

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

[0073] Specific Implementation Method Two: This implementation method differs from Specific Implementation Method One in that: in step one, the real-time driving speed of the tractor, the tractor's own weight, the tractor's load weight, the tractor's tire pressure, the number of times the tractor travels, the mass of straw picked up per unit time, and the straw compaction density of the baler are obtained; the specific process is as follows:

[0074] Step 11: Obtain relevant tractor parameters; the specific process is as follows:

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

[0076] 2) Obtain the tractor's own weight W t ;

[0077] Fixed values, provided by tractor specifications;

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

[0079] 4) The tractor tire pressure P is monitored in real time by tire pressure sensors installed inside the tires. t ;

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

[0081] Steps 1 and 2: Obtain relevant parameters for the baler; the specific process is as follows:

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

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

[0084] 2) The pressure during the compaction process is measured by a pressure sensor inside the baler, and the straw compaction density ρ is calculated based on the pressure. c The specific process is as follows:

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

[0086] V = V0 - kP

[0087] Where V0 represents the initial volume of the baler's compaction chamber, k represents the compression coefficient, k = 0.001; P represents the pressure measured by the pressure sensor; and V represents the real-time volume of the straw.

[0088] 22) Calculate the straw compaction density ρ based on the real-time volume V of the straw. c ; indicates as:

[0089]

[0090] Where m represents the real-time mass of the straw.

[0091] The other steps and parameters are the same as in Specific Implementation Method 1.

[0092] Specific Implementation Method Three: This implementation method differs from Specific Implementation Method One or Two in that: the unit of v(t) is meters 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 kilograms per second (kg / s); ρ c The unit is kilograms per cubic meter (kg / m³) 3 ).

[0093] Other steps and parameters are the same as in specific implementation method one or two.

[0094] Specific Implementation Method Four: This implementation method differs from Specific Implementation Methods One to Three in that: in step two, the acquired real-time tractor speed, tractor weight, tractor load weight, tractor tire pressure, tractor driving frequency, straw collection mass per unit time, and baler straw compaction density are standardized to obtain standardized real-time tractor speed, standardized tractor weight, standardized tractor load weight, standardized tractor tire pressure, standardized tractor driving frequency, standardized straw collection mass per unit time, and standardized baler straw compaction density; the specific process is as follows:

[0095] The standardized formula is:

[0096] Where μ is the mean of the feature data and σ is the standard deviation of the feature data;

[0097] X represents the tractor's real-time driving speed, tractor weight, tractor load weight, tractor tire pressure, number of tractor trips, mass of straw picked up per unit time, or straw compaction density of the baler.

[0098] X' represents the standardized real-time driving speed of the tractor, the tractor's own weight, the tractor's load weight, the tractor's tire pressure, the number of times the tractor travels, the mass of straw picked up per unit time, or the straw compaction density of the baler.

[0099] The other steps and parameters are the same as those in one of the specific implementation methods one to three.

[0100] Specific Implementation Method Five: This implementation method differs from one of the specific implementation methods one to four in that the real-time driving speed of the standardized tractor is v(t)′;

[0101] The standardized tractor has a weight of W. t ′;

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

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

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

[0105] The mass of straw collected per unit time after standardization is Q. p ′;

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

[0107] The other steps and parameters are the same as those in specific implementation methods one through four.

[0108] Specific Implementation Method Six: This implementation method differs from Specific Implementation Methods One through Five in that: in step three, the soil compaction degree is calculated using a matrix method based on the standardized tractor's real-time driving speed, standardized tractor weight, standardized tractor load weight, standardized tractor tire pressure, standardized tractor driving frequency, standardized straw collection mass per unit time, and standardized baler straw compaction density; the specific process is as follows:

[0109] Step 31: Based on the standardized tractor real-time driving speed, standardized tractor self-weight, standardized tractor load weight, standardized tractor tire pressure, standardized tractor driving times, standardized straw collection mass per unit time, and standardized baler straw compaction density, construct matrix Z;

[0110] Step 3.2: Based on the basic soil compaction degree β0, the influence of the standardized tractor's real-time driving speed on soil compaction degree β1, the influence of the standardized tractor's self-weight on soil compaction degree β2, the influence of the standardized tractor's load weight on soil compaction degree β3, the influence of the standardized tractor's tire pressure on soil compaction degree β4, the influence of the standardized tractor's driving frequency on soil compaction degree β5, the influence of the standardized mass of straw picked up per unit time on soil compaction degree β6, and the influence of the standardized baler's straw compaction density on soil compaction degree β7, construct matrix β;

[0111] Step 3: Calculate soil compaction degree based on matrix Z and matrix β.

[0112] The other steps and parameters are the same as those in specific implementation methods one through five.

[0113] Specific Implementation Method Seven: This implementation method differs from Specific Implementation Methods One through Six in that: in step three, matrix Z is constructed based on the standardized real-time driving speed of the tractor, the standardized self-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 straw picked up per unit time, and the standardized straw compaction density of the baler; the specific process is as follows:

[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 one of the specific implementation methods one to six.

[0116] Specific Implementation Method Eight: This implementation method differs from Specific Implementation Methods One through Seven in that: in step three, matrix β is constructed based on the following factors: the influence of the basic soil compaction degree β0, the effect of the standardized tractor's real-time driving speed on soil compaction degree β1, the effect of the standardized tractor's self-weight on soil compaction degree β2, the effect of the standardized tractor's load weight on soil compaction degree β3, the effect of the standardized tractor's tire pressure on soil compaction degree β4, the effect of the standardized tractor's driving frequency on soil compaction degree β5, the effect of the standardized mass of straw collected per unit time on soil compaction degree β6, and the effect of the standardized baler straw compaction density on soil compaction degree β7. The specific process is as follows:

[0117]

[0118] in:

[0119] Basic soil compaction degree β0 = 15: constant term, to avoid outputting zero;

[0120] The effect of the standardized tractor's real-time travel speed on soil compaction is β1 = 0.6, indicating that higher speeds lead to higher compaction.

[0121] The effect of the standardized tractor weight on soil compaction is β2 = 0.0004. The heavier the tractor, the higher the soil compaction.

[0122] The effect of standardized tractor load weight on soil compaction is β3 = 0.0005, indicating that heavier loads will increase compaction.

[0123] The effect of standardized tractor tire pressure on soil compaction is β4 = 0.015, indicating that higher tire pressure leads to stronger compaction.

[0124] The effect of the number of tractor trips on soil compaction after standardization is β5 = 0.25, meaning that more trips will exacerbate soil compaction.

[0125] The effect of the mass of straw collected per unit time on soil compaction after standardization is β6 = 0.2. Collecting more straw may lead to a certain compaction effect.

[0126] The effect of standardized baler straw compaction density on soil compaction degree β7=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 methods one through seven.

[0128] Specific Implementation Method Nine: This implementation method differs from Specific Implementation Methods One through Eight in that: in step three, the soil compaction degree is calculated based on matrix Z and matrix β; the specific process is as follows:

[0129] Soil compaction degree is calculated using 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 methods one through eight.

[0133] Specific Implementation Method Ten: This implementation method differs from Specific Implementation Methods One through Nine in that: in step four, the soil compaction degree calculated in step three is graded; the specific process is as follows:

[0134] When the soil compaction degree y < 30, the soil compaction degree is light.

[0135] When the soil compaction degree is 30≤y<60, the soil compaction degree is considered moderate.

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

[0137] The other steps and parameters are the same as those in specific implementation methods one through nine.

[0138] This invention may have other embodiments. Without departing from the spirit and essence of this invention, those skilled in the art can make various corresponding changes and modifications according to this invention, but these corresponding changes and modifications should all fall within the protection scope of the appended claims.

Claims

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

2. The method for determining soil compaction degree of a baler based on real-time machine parameters according to claim 1, characterized in that: In step one, the following data are obtained: the tractor's real-time speed, tractor weight, tractor load weight, tractor tire pressure, number of tractor trips, mass of straw picked up per unit time, and baler straw compaction density; the specific process is as follows: Step 11: Obtain relevant tractor parameters; the specific process is as follows: 1) Use the GPS installed on the tractor to obtain the real-time driving speed v(t) of the tractor; 2) Obtain the tractor's own weight W t ; 3) The tractor load weight W is measured in real time using a piezoelectric sensor installed on the tractor's traction device. l ; 4) The tractor tire pressure P is monitored in real time by tire pressure sensors installed inside the tires. t ; 5) Record the number of times the tractor repeatedly travels in a certain area, N. p ; Steps 1 and 2: Obtain relevant parameters for the baler; The specific process is as follows: 1) The mass Q of straw picked up per unit time is measured in real time by a mass flow sensor inside the baler. p ; 2) The pressure during the compaction process is measured by a pressure sensor inside the baler, and the straw compaction density ρ is calculated based on the pressure. c The specific process is as follows: 21) Calculate the real-time volume of straw based on the pressure P measured by the pressure sensor; expressed as: V = V0 - kP Where V0 represents the initial volume of the baler's compaction chamber, k represents the compression coefficient, k = 0.001; P represents the pressure measured by the pressure sensor; and V represents the real-time volume of the straw. 22) Calculate the straw compaction density ρ based on the real-time volume V of the straw. c ; indicates as: Where m represents the real-time mass of the straw.

3. The method for determining soil compaction degree of a baler based on real-time machine parameters 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 kilopascal (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 machine parameters according to claim 3, characterized in that: In step two, the acquired real-time tractor speed, tractor weight, tractor load weight, tractor tire pressure, tractor driving frequency, straw collection mass per unit time, and baler straw compaction density are standardized to obtain standardized tractor speed, standardized tractor weight, standardized tractor load weight, standardized tractor tire pressure, standardized tractor driving frequency, standardized straw collection mass per unit time, and standardized baler straw compaction density. The specific process is as follows: The standardized formula is: Where μ is the mean of the feature data and σ is the standard deviation of the feature data; X represents the tractor's real-time driving speed, tractor weight, tractor load weight, tractor tire pressure, number of tractor trips, mass of straw picked up per unit time, or straw compaction density of the baler. X′ represents the standardized real-time driving speed of the tractor, the tractor's own weight, the tractor's load weight, the tractor's tire pressure, the number of times the tractor travels, the mass of straw picked up per unit time, or the straw compaction density of the baler.

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

6. The method for determining soil compaction degree of a baler based on real-time machine parameters according to claim 5, characterized in that: In step three, based on the standardized tractor's real-time driving speed, standardized tractor weight, standardized tractor load weight, standardized tractor tire pressure, standardized tractor driving frequency, standardized straw collection mass per unit time, and standardized baler straw compaction density, the soil compaction degree is calculated using the matrix method; the specific process is as follows: Step 31: Based on the standardized tractor real-time driving speed, standardized tractor self-weight, standardized tractor load weight, standardized tractor tire pressure, standardized tractor driving times, standardized straw collection mass per unit time, and standardized baler straw compaction density, construct matrix Z; Step 3.2: Based on the basic soil compaction degree β0, the influence of the standardized tractor's real-time driving speed on soil compaction degree β1, the influence of the standardized tractor's self-weight on soil compaction degree β2, the influence of the standardized tractor's load weight on soil compaction degree β3, the influence of the standardized tractor's tire pressure on soil compaction degree β4, the influence of the standardized tractor's driving frequency on soil compaction degree β5, the influence of the standardized mass of straw picked up per unit time on soil compaction degree β6, and the influence of the standardized baler's straw compaction density on soil compaction degree β7, construct matrix β; Step 3: Calculate soil compaction degree based on matrix Z and matrix β.

7. The method for determining soil compaction degree of a baler based on real-time machine parameters according to claim 6, characterized in that: In step three, matrix Z is constructed based on the standardized tractor's real-time driving speed, standardized tractor weight, standardized tractor load weight, standardized tractor tire pressure, standardized tractor driving frequency, standardized straw collection mass per unit time, and standardized baler straw compaction density; the specific process is as follows: 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 machine parameters according to claim 7, characterized in that: In step three, matrix β is constructed based on the following factors: the basic soil compaction degree β0, the influence of the standardized tractor's real-time driving speed on soil compaction β1, the influence of the standardized tractor's self-weight on soil compaction β2, the influence of the standardized tractor's load weight on soil compaction β3, the influence of the standardized tractor's tire pressure on soil compaction β4, the influence of the standardized number of tractor trips on soil compaction β5, the influence of the standardized mass of straw collected per unit time on soil compaction β6, and the influence of the standardized baler straw compaction density on soil compaction β7. The specific process is as follows: in: The compaction degree of the basic soil β0 = 15; The effect of the standardized tractor's real-time travel speed on soil compaction degree β1 = 0.6; The effect of the standardized tractor weight on soil compaction is β2 = 0.0004; The effect of standardized tractor load weight on soil compaction degree β3=0.0005; The effect of standardized tractor tire pressure on soil compaction is β4 = 0.015; The effect of the number of tractor trips after standardization on soil compaction degree is β5 = 0.25; The effect of the mass of straw collected per unit time after standardization on soil compaction is β6 = 0.2; The effect of standardized baler straw compaction density on soil compaction degree β7=0.0008.

9. The method for determining soil compaction degree of a baler based on real-time machine parameters according to claim 8, characterized in that: In step three, the soil compaction degree is calculated based on matrix Z and matrix β; the specific process is as follows: Soil compaction degree is calculated using matrix multiplication: y = Z·β Where · denotes matrix multiplication.

10. The method for determining soil compaction degree of a baler based on real-time machine parameters according to claim 9, characterized in that: In step four, the soil compaction degree calculated in step three is graded; the specific process is as follows: When the soil compaction degree y < 30, the soil compaction degree is light. When the soil compaction degree is 30≤y<60, the soil compaction degree is considered moderate. When the soil compaction degree y≥60, the soil compaction degree is the unit weight.

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