Soil compaction degree testing device and method for garden tillage machinery

Abstract

The invention relates to the technical field of soil compaction degree testing, in particular to a soil compaction degree testing device and method for a garden tillage machine, and the method comprises the steps: measuring the height from each set position to the ground at each moment in the movement process of the garden tillage machine, and measuring the vibration frequency and vibration amplitude of each set position at each moment; measuring an inclination angle formed between the tail part of the garden farming machine and the horizontal plane at each moment in the movement process; determining the vibration difference degree of each set position at each moment; obtaining a height deviation coefficient of each set position at each moment; correcting the height of each set position at each moment by using the height deviation coefficient based on the vibration difference degree; and based on the corrected height of each set position at each moment, utilizing a trigonometric function relationship to obtain the settlement difference of the soil at each moment in the movement process of the garden farming machine, and testing the compaction degree of the soil. Therefore, the accuracy of the soil compactness test is improved.

Description

Technical Field

[0001] This application relates to the technical field of soil compaction testing, and specifically relates to a device and method for testing the soil compaction of garden tillage machinery. Background Art

[0002] Soil compaction has a significant impact on the growth of plants. Reasonable soil compaction will help the expansion of plant roots and nutrient absorption, while excessive compaction will inhibit plant growth. Agricultural production needs to be adjusted dynamically according to soil compaction to ensure high yields of garden crops. Accurate measurement of soil compaction is an important link among them.

[0003] Currently, soil compaction testing is often carried out based on the measurement method of settlement difference. The compaction of the soil is determined by the settlement difference that occurs before and after a garden machinery vehicle passes through the soil. However, this method usually ignores the influence of the vibration and body tilt of the machinery vehicle on the measurement of the settlement difference, making it easy to have errors when calculating the settlement difference using ultrasonic signals, and thus reducing the accuracy of the compaction calculation result. Summary of the Invention

[0004] In order to solve the above technical problems, the purpose of this application is to provide a device and method for testing the soil compaction of garden tillage machinery. The specific technical solutions adopted are as follows: In the first aspect, an embodiment of this application provides a method for testing the soil compaction of garden tillage machinery. The method includes the following steps: Measure the height of each set position from the ground at each moment during the movement of the garden tillage machinery, and measure the vibration frequency and vibration amplitude of each set position at each moment; measure the inclination angle formed by the tail of the garden tillage machinery and the horizontal plane at each moment during the movement. Based on the vibration frequency difference and vibration amplitude difference between each set position at each moment and its adjacent moment, determine the vibration difference degree of each set position at each moment. Analyze the difference in the height between each set position at each moment and its adjacent moment, and combine the vibration difference degree to obtain the height deviation coefficient of each set position at each moment; based on the vibration difference degree, use the height deviation coefficient to correct the height of each set position at each moment. Based on the measured distance between adjacent set positions, combine the inclination angle at each moment, and the corrected height of each set position at each moment, and use the trigonometric function relationship to obtain the settlement difference of the soil at each moment during the movement of the garden tillage machinery, and test the soil compaction.

[0005] In one of the embodiments, the set positions include: the head position, the middle position, and the tail position of the garden tillage machinery, where the distance between the head position and the middle position, and the distance between the middle position and the tail position are equal.

[0006] In one embodiment, the determination of the vibration difference degree includes: Calculating the mean value of the vibration frequencies of all adjacent moments at each moment, denoted as the first mean value; calculating the mean value of the vibration amplitudes of all adjacent moments at each moment, denoted as the second mean value; Calculating the difference between the vibration frequency at each moment and the first mean value, denoted as the first difference, and calculating the difference between the vibration amplitude at each moment and the second mean value, denoted as the second difference; Combining the first difference and the second difference to obtain the vibration difference degree.

[0007] In one embodiment, the vibration difference degree is the normalized result of the product of the first difference and the second difference.

[0008] In one embodiment, the determination of the height deviation coefficient includes: Based on the differences in the height measured between adjacent moments among all adjacent moments at each moment, determining the local height difference at each moment; The height deviation coefficient is the product of the vibration difference degree and the local height difference at each moment.

[0009] In one embodiment, the local height difference is the mean value of the differences in the height measured between all adjacent moments among all adjacent moments at each moment.

[0010] In one embodiment, the correction of the height at each moment at each set position by using the height deviation coefficient includes: For each set position, calculating the mean value of the vibration difference degrees of all adjacent moments at each moment, denoted as the third mean value; If the vibration difference degree at each moment is greater than the third mean value, the corrected height at each moment is the difference between the height measured at each moment and the height deviation coefficient; If the vibration difference degree at each moment is less than the third mean value, the corrected height at each moment is the sum of the height measured at each moment and the height deviation coefficient; Otherwise, the corrected height at each moment is the height measured at each moment.

[0011] In one embodiment, the process of obtaining the settlement difference of the soil at each moment during the movement of the garden tillage machine is as follows: The settlement difference at the middle position The calculation formula is: ; where is the corrected height at each moment at the middle position, is the measurement distance between the middle position and the head position, is the angle formed by the tail of the gardening tillage machine with the horizontal plane at each moment during the movement process, and sin is the sine function. is the corrected height of the head position at each moment; The settlement difference at the tail position The calculation formula is: ; where is the corrected height of the tail position at each moment; The settlement difference of the soil at each moment during the movement process of the gardening tillage machine is the settlement difference and the settlement difference The mean value of.

[0012] In one embodiment, the testing of the soil compaction degree includes: Obtain the fitting curve relationship between the settlement difference of the soil and the soil compaction degree through historical experiments, and substitute the settlement difference of the soil at each moment during the movement process of the gardening tillage machine into the fitting curve to obtain the soil compaction degree at each moment.

[0013] In a second aspect, the embodiments of the present application further provide a soil compaction degree testing device for a gardening tillage machine, including a memory, a processor, and a computer program stored in the memory and running on the processor. When the processor executes the computer program, the steps of the method described in any one of the above are implemented.

[0014] The present application has at least the following beneficial effects: In this application, the height from the ground at each set position and each moment during the movement of the gardening tillage machine is measured, and the vibration frequency and vibration amplitude at each set position and each moment are measured; the inclination angle formed by the tail of the gardening tillage machine and the horizontal plane at each moment during the movement is measured; based on the difference in vibration frequency between each set position and its adjacent moment, and the difference in vibration amplitude, the vibration difference degree at each set position and each moment is determined; the vibration difference degree reflects the degree of inconsistency in the vibration of the gardening tillage machine at each set position and each moment compared with the historical moment, improving the accuracy of measuring the influence degree of vibration at each set position and each moment; the difference in the height between each set position and its adjacent moment is analyzed, and combined with the vibration difference degree, the height deviation coefficient at each set position and each moment is obtained; the height deviation coefficient reflects the degree of vibration interference received by the measured height data at each set position and each moment, improving the accuracy of subsequent correction of the measured height data; based on the vibration difference degree, the height at each set position and each moment is corrected using the height deviation coefficient; interference of the vibration during the movement of the gardening tillage machine on the measured height data is avoided, improving the accuracy of the height data measurement at each set position and each moment; based on the measurement distance between adjacent set positions, combined with the inclination angle at each moment, and the corrected height at each set position and each moment, the settlement difference of the soil at each moment during the movement of the gardening tillage machine is obtained using trigonometric function relationships, and the soil compaction degree is tested; errors caused by the inclination and vibration of the gardening tillage machine in height data measurement are removed, improving the calculation accuracy of the settlement difference of the soil at each moment, and further improving the accuracy of the soil compaction degree test. Description of the Drawings

[0015] In order to more clearly illustrate the technical solutions and advantages in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0016] Figure 1 It is a step flow chart of a method for testing the soil compaction degree of a gardening tillage machine provided by an embodiment of the present application; Figure 2 It is a schematic diagram of the inclination of the gardening tillage machine; Figure 3 It is a flow chart of the soil compaction degree test. Detailed Embodiments

[0017] In order to further elaborate on the technical means and effects adopted by this application to achieve the intended invention purpose, the following specifically describes, in conjunction with the accompanying drawings and preferred embodiments, a soil compaction degree testing device and method for a garden tillage machine proposed according to this application, including its specific implementation manner, structure, features, and effects, as follows. 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.

[0018] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the technical field to which this application belongs.

[0019] The following specifically describes the specific solutions of a soil compaction degree testing device and method for a garden tillage machine provided by this application in conjunction with the accompanying drawings.

[0020] Please refer to Figure 1 , which shows a step flow chart of a soil compaction degree testing method for a garden tillage machine provided by an embodiment of this application. The method includes the following steps: S1. Measure the height of each set position from the ground at each moment during the movement of the garden tillage machine, and measure the vibration frequency and vibration amplitude of each set position at each moment; measure the inclination angle formed by the tail of the garden tillage machine with the horizontal plane at each moment.

[0021] In this embodiment, integrated transceiver ultrasonic probes are respectively installed at the head position, middle position, and tail position of the garden tillage machine. The head position, middle position, and tail position are all recorded as set positions. Among them, the head position is specifically the position directly in front of the front wheel of the garden tillage machine, the middle position is the middle position between the front wheel and the rear wheel of the garden tillage machine, specifically the position directly behind the front wheel and directly in front of the rear wheel, and the tail position is the position directly behind the rear wheel of the garden tillage machine.

[0022] It should be noted that the head position, middle position, and tail position are all on the same horizontal plane, and the distances between the head position and the middle position, and between the middle position and the tail position are equal. The height of the integrated transceiver ultrasonic probe from the ground remains consistent, the frequency of emitting ultrasonic waves is consistent, and the time interval between each signal emission is greater than the time monitored when the reflected signal returns to the probe, that is, when each signal is emitted, it is ensured that the ultrasonic signal returned last time has been obtained. The installation position of the integrated transceiver ultrasonic probe is ensured to be above the passing of the wheels. The load of the garden tillage machine is kept balanced, and the forces on each wheel are evenly distributed. The height of each moment of the head position, middle position, and tail position of the garden tillage machine from the ground is measured through the integrated transceiver ultrasonic probes installed at the head position, middle position, and tail position of the garden tillage machine.

[0023] In addition, this embodiment installs vibration sensors at positions adjacent to the integrated transceiver ultrasonic probe to collect the vibration frequency and vibration amplitude at each moment during the movement of the garden farming machinery; in addition, the spirit level equipped with the garden farming machinery is used to measure the inclination angle formed by the tail of the garden farming machinery and the horizontal plane at each moment during the movement of the garden farming machinery, that is, the angle formed between the tail of the garden farming machinery and the horizontal plane because the head and tail of the garden farming machinery are not on the same horizontal plane during the movement.

[0024] In this embodiment, the integrated ultrasonic transceiver probe transmits ultrasonic waves at a frequency of 100 kHz. All data collected in this embodiment, including the height of the gardening machine's head, middle, and tail positions above the ground, vibration frequency and amplitude, and tilt angle, is collected simultaneously. During the soil compaction test in this embodiment, the gardening machine's route was set to a relatively flat area.

[0025] S2, determining the vibration difference of each set position at each moment based on the vibration frequency difference and vibration amplitude difference between each set position at each moment and its adjacent moments.

[0026] Because garden tillage machinery is in motion, the surface of the soil it rolls over will settle. The higher the original soil compaction, the smaller the difference in settlement before and after the machinery rolls over it. On the other hand, if the original soil compaction is lower, the difference in settlement before and after the machinery rolls over it will be larger. Therefore, by analyzing the difference in soil settlement before and after the machinery passes over it, we can determine the degree of soil compaction.

[0027] However, during the settlement difference calculation process, the height measured by the integrated ultrasonic transceiver probe is primarily affected by two factors: First, the gardening machinery inevitably vibrates during operation, and the intensity of the vibration directly affects the height measurement. The primary impact is the vibration perpendicular to the ground, which causes the probe to continuously move away from or approach the ground. Furthermore, the higher the vibration frequency during operation, the faster the probe moves away from or approaches the ground, leading to inaccurate height and settlement difference calculations. Second, because the integrated ultrasonic transceiver probe detects along the rutted area, the front and rear wheels experience different settlement amplitudes, while the four wheels of the gardening machinery are subjected to similar forces. Consequently, the front of the gardening machinery will exhibit a certain degree of tilting, causing the probes at each set position of the gardening machinery to not be on the same horizontal line. This means that the rear of the gardening machinery forms an angle with the horizontal plane, affecting the final settlement difference calculation.

[0028] First, regarding the influence caused by vibration during the operation of garden tillage machinery, in this embodiment, the differences in local vibration data are compared, and the vibration difference degrees at each set position and each moment are calculated. Specifically: In this embodiment, the height from the ground measured at each set position and each moment, and the moments corresponding to the previously measured N height data are recorded as the adjacent moments of each set position and each moment. In this embodiment, N = 10, and the implementer can adjust it according to the actual situation, and this embodiment does not limit it here.

[0029] Calculate the mean value of the vibration frequencies of all adjacent moments at each moment, denoted as the first mean value; calculate the mean value of the vibration amplitudes of all adjacent moments at each moment, denoted as the second mean value; Calculate the difference between the vibration frequency at each moment and the first mean value, denoted as the first difference, and calculate the difference between the vibration amplitude at each moment and the second mean value, denoted as the second difference; Combine the first difference and the second difference to obtain the vibration difference degree.

[0030] It should be noted that the difference represents the degree of difference between two variables. Specifically, it can be calculated by means such as the absolute value of the difference, the square of the difference, the ratio, etc. In this embodiment, the absolute value of the difference is used as the calculation method for the difference.

[0031] The expression of the vibration difference degree at each set position and each moment in this embodiment is: ; In the formula, is the vibration difference degree at the i-th moment of each set position, is the vibration frequency at the i-th moment of each set position, is the mean value of the vibration frequencies of all adjacent moments at the i-th moment of each set position, is the vibration amplitude at the i-th moment of each set position, is the mean value of the vibration amplitudes of all adjacent moments at the i-th moment of each set position, and norm() is the normalization function. Denote as the first mean value, as the second mean value, as the first difference, as the second difference.

[0032] It should be understood that the i-th moment is the moment corresponding to the i-th height data measured at each set position; for each set position, when the difference between the vibration frequency at the i-th moment and the vibration frequency at the historical moment is greater, and the difference between the vibration amplitude at the i-th moment and the vibration amplitude at the historical moment is greater, it indicates that the consistency degree of the vibration frequency and the vibration amplitude at the i-th moment compared with the historical moment is lower, and it is more likely to affect the measurement of the height at each set position.

[0033] S3. Analyze the differences in the heights of each set position at each moment and its adjacent moments, and combine the vibration difference degree to obtain the height deviation coefficient of each set position at each moment; based on the vibration difference degree, use the height deviation coefficient to correct the height of each set position at each moment.

[0034] Since the measurement of the height data of each set position has a time sequence, if the height data obtained from a certain measurement differs more from the height data obtained from the previous measurement, it indicates that the height data obtained from this measurement is more affected by vibration, and it is more necessary to correct the height data obtained from this measurement to avoid errors in the calculation of the soil settlement difference.

[0035] Based on the above analysis, first calculate the height deviation coefficient of each set position at each moment, specifically: For each set position, for all adjacent moments of each moment, calculate the average value of the absolute values of the differences in the heights measured between all adjacent moments as the local height difference of each set position at each moment. In this embodiment, the expression of the local height difference of each set position at each moment is: ; where is the local height difference of the i-th moment of each set position, is the height measured from the ground at the (k + 1)-th moment of each set position, is the height measured from the ground at the k-th moment of each set position, and N is the number of adjacent moments of the i-th moment of each set position.

[0036] In this embodiment, the height deviation coefficient of each set position at each moment is the product of the local height difference of each set position at each moment and the vibration difference degree.

[0037] It should be understood that since the driving route of the garden tillage machine in this embodiment is a relatively flat area, the height measured from the ground at each set position at each moment should not differ much from the height measured from the ground at the historical moment. If there is a large difference, that is, the larger the local height difference, it indicates that the height measured at each set position during the movement of the garden tillage machine is more affected by vibration. At the same time, combined with the vibration difference degree of each set position at each moment, both are large, that is, the larger the height deviation coefficient, the greater the error in the measured height data.

[0038] Therefore, based on the above analysis, use the height deviation coefficient of each set position at each moment to correct the height measured from the ground at each set position at each moment, specifically: Calculate the mean of the vibration difference degrees of all adjacent moments at each set position and each moment, denoted as the third mean; the calculation method of the corrected height data at each set position and each moment is as follows: In the formula, is the corrected height at the i-th moment of each set position, is the height measured at the i-th moment of each set position, is the height deviation coefficient at the i-th moment of each set position, is the vibration difference degree at the i-th moment of each set position, is the mean of the vibration difference degrees of all adjacent moments at the i-th moment of each set position, that is, the third mean.

[0039] It should be noted that when the vibration difference degree at the i-th moment is greater than the mean of the vibration difference degrees of all its adjacent moments, it indicates that the vibration frequency and amplitude at the i-th moment are more inconsistent compared with its adjacent moments. To reduce the influence degree of vibration on the height, the measured height data needs to be reduced. On the contrary, when the vibration difference degree at the i-th moment is less than the mean of the vibration difference degrees of all its adjacent moments, the measured height data needs to be increased. And when the vibration difference degree at the i-th moment is equal to the mean of the vibration difference degrees of all its adjacent moments, the measured height data is not adjusted; through the above method, the corrected height data at each set position and each moment can be obtained, avoiding the error caused by vibration on the measured height from the ground during the movement of the garden tillage machine.

[0040] S4. Based on the measurement distance between adjacent set positions, combined with the inclination angle at each moment and the corrected height at each set position and each moment, use the trigonometric function relationship to obtain the settlement difference of the soil during the movement of the garden tillage machine and test the soil compaction degree.

[0041] During the movement of the garden tillage machine, if the soil compaction degree is relatively low, the height difference before and after the wheels of the garden tillage machine pass will be relatively obvious. At this time, since the soil ground corresponding to the head position of the garden tillage machine has not been rolled by the wheels and the terrain is relatively high, while the soil ground corresponding to the tail position of the garden tillage machine has been rolled by the wheels and the terrain is relatively low, a certain angle is formed between the tail of the garden tillage machine and the horizontal line, resulting in the probes at the three set positions in this embodiment not being on the same horizontal line, thus causing an error in the measurement of the height from the ground.

[0042] In this embodiment, the schematic diagram of the inclination of the garden tillage machine is as Figure 2 shown Figure 2In this, a represents the head position of the gardening tillage machine, b represents the middle position of the gardening tillage machine, and c represents the tail position of the gardening tillage machine. is the corrected height at each moment of the head position. is the corrected height at each moment of the middle position, and L is the measured distance between the middle position and the head position, that is, obtained by using the distance calculation method between two points. is the angle formed by the tail at each moment and the horizontal plane during the movement of the gardening tillage machine. Figure 2 The square box in represents the transceiver integrated ultrasonic probe, and the dotted line represents the ground horizontal reference line.

[0043] Based on the above analysis, calculate the settlement difference at each moment between the inclined middle position and the tail position of the gardening tillage machine. The specific calculation method is as follows: For each moment, the settlement difference of the middle position The calculation formula is: ; In the formula, is the corrected height at each moment of the middle position. is the measured distance between the middle position and the head position. is the angle formed by the tail at each moment and the horizontal plane during the movement of the gardening tillage machine, and sin is the sine function. is the corrected height at each moment of the head position. The settlement difference of the tail position The calculation formula is: ; In the formula, is the corrected height at each moment of the tail position.

[0044] In this embodiment, the mean value of the settlement difference of the middle position and the settlement difference of the tail position at each moment is used as the settlement difference of the soil at each moment during the movement of the gardening tillage machine.

[0045] For the test of soil compaction degree, in this embodiment, first use the gardening tillage machine to compact the soil. During the compaction process, measure the settlement difference of the soil at each moment by using the above method, measure the compaction degree of the soil at each moment by using the traditional method, and form a data group at each moment with the settlement difference of the soil and the compaction degree of the soil. Through multiple compaction experiments, multiple data groups are obtained. Use the least squares method to perform curve fitting on all data groups to obtain the corresponding fitting curve between the compaction degree of the soil and the settlement difference of the soil. Substitute the settlement difference of the soil at each moment during the movement of the gardening tillage machine into the fitting curve to obtain the compaction degree of the soil at each moment. Among them, the least squares method is a well-known existing technology, and the implementer can select other existing feasible curve fitting algorithms by himself. This embodiment does not limit it here. The soil compaction degree test flow chart is as Figure 3 shown.

[0046] It should be noted that the traditional method in this embodiment is the core cutter method. In other embodiments, the sand replacement method or the water bag method can be used for measurement. Among them, the core cutter method, the sand replacement method, and the water bag method are all well-known existing technologies, and will not be elaborated in detail in this embodiment.

[0047] Based on the same inventive concept as the above method, an embodiment of the present application also provides a soil compaction test device for a garden tillage machine, including a memory, a processor, and a computer program stored in the memory and running on the processor. When the processor executes the computer program, it implements the steps of any one of the above methods for testing the soil compaction of a garden tillage machine.

[0048] It should be noted that the above sequence of embodiments of the present application is only for description and does not represent the advantages or disadvantages of the embodiments. In addition, the above description of specific embodiments of this specification has been made. Also, the processes depicted in the drawings do not necessarily require the specific order or sequential order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0049] 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.

[0050] The above are only the preferred embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent replacements, improvements, etc. made within the principles of the present application shall be included in the protection scope of the present application.

Claims

1. A method for testing the soil compaction degree of a garden tillage machine, characterized in that, The method includes the following steps: Measure the height from the ground at each set position at each moment during the movement of the garden tillage machine, and measure the vibration frequency and vibration amplitude at each set position at each moment; measure the inclination angle formed by the tail of the garden tillage machine with the horizontal plane at each moment during the movement of the garden tillage machine; Based on the difference in vibration frequency between each set position at each moment and its adjacent moment, and the difference in vibration amplitude, determine the vibration difference degree at each set position at each moment; Analyze the difference in the height between each set position at each moment and its adjacent moment, and combine the vibration difference degree to obtain the height deviation coefficient at each set position at each moment; based on the vibration difference degree, use the height deviation coefficient to correct the height at each set position at each moment; Based on the measured distance between adjacent set positions, combine the inclination angle at each moment, and the corrected height at each set position at each moment, and use the trigonometric function relationship to obtain the settlement difference of the soil at each moment during the movement of the garden tillage machine, and test the soil compaction degree.

2. The soil compaction test method for a gardening tillage machine according to claim 1, characterized in that, The set positions include: the head position, the middle position, and the tail position of the garden tillage machine, where the distance between the head position and the middle position, and the distance between the middle position and the tail position are equal.

3. The soil compaction degree testing method of a garden tillage machine according to claim 1, characterized in that, The determination of the vibration difference degree includes: Calculate the mean value of the vibration frequencies of all adjacent moments at each moment, denoted as the first mean value; calculate the mean value of the vibration amplitudes of all adjacent moments at each moment, denoted as the second mean value; Calculate the difference between the vibration frequency at each moment and the first mean value, denoted as the first difference, and calculate the difference between the vibration amplitude at each moment and the second mean value, denoted as the second difference; Combine the first difference and the second difference to obtain the vibration difference degree.

4. The soil compaction degree testing method of a gardening tillage machine according to claim 3, characterized in that, The vibration difference degree is the normalized result of the product of the first difference and the second difference.

5. A method for testing the soil compaction degree of a garden tillage machine according to claim 1, characterized in that, The determination of the height deviation coefficient includes: Based on the difference in the height measured between adjacent moments among all adjacent moments at each moment, determine the local height difference at each moment; The height deviation coefficient is the product of the vibration difference degree and the local height difference at each moment.

6. The soil compaction degree testing method of a gardening tillage machine as described in claim 5, characterized in that, The local height difference is the mean value of the differences in the height measured between all adjacent moments among all adjacent moments at each moment.

7. The soil compaction degree testing method of a gardening tillage machine according to claim 1, characterized in that, The correction of the height at each set position at each moment using the height deviation coefficient includes: For each set position, calculate the mean value of the vibration difference degrees of all adjacent moments at each moment, denoted as the third mean value; If the vibration difference degree at each moment is greater than the third mean value, the corrected height at each moment is the difference between the height measured at each moment and the height deviation coefficient; If the vibration difference degree at each moment is less than the third mean value, the corrected height at each moment is the sum of the height measured at each moment and the height deviation coefficient; Otherwise, the corrected height at each moment is the height measured at each moment.

8. The method for testing the soil compaction degree of a garden tillage machine according to claim 2, characterized in that, The process of obtaining the settlement difference of the soil at each moment during the movement of the garden tillage machine is: The settlement difference at the intermediate position The calculation formula is as follows: ; In the formula, is the corrected height at each moment at the intermediate position, is the measured distance between the intermediate position and the head position, is the angle formed by the tail at each moment and the horizontal plane during the movement of the garden tillage machine, and sin is the sine function, is the corrected height at each moment at the head position; The settlement difference at the tail position The calculation formula is as follows: ; In the formula, is the corrected height at each moment at the tail position; The settlement difference of the soil at each moment during the movement of the gardening tillage machine is the said settlement difference and the said settlement difference is the mean value 9. The soil compaction degree testing method of a garden tillage machine as claimed in claim 1, wherein, The test of the soil compaction degree includes: Obtain the fitting curve relationship between the settlement difference of the soil and the soil compaction degree through historical experiments, and substitute the settlement difference of the soil at each moment during the movement of the gardening tillage machinery into the fitting curve to obtain the soil compaction degree at each moment.

10. A soil compaction degree testing device for a garden tillage machine, comprising a memory, a processor, and a computer program stored in the memory and running on the processor, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1-9.

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