Soil compaction testing device and method for garden farming machinery

Abstract

The present application relates to the technical field of soil compaction testing, and specifically to a soil compaction testing device and method for garden tillage machinery. The method comprises: measuring the height of each set position of the garden tillage machinery from the ground at each moment during its movement, and measuring the vibration frequency and vibration amplitude of each set position at each moment; measuring the inclination angle formed by the tail of the garden tillage machinery with the horizontal plane at each moment during its movement; determining the vibration difference at each set position at each moment; obtaining a height deviation coefficient at each set position at each moment; based on the vibration difference, correcting the height of each set position at each moment using the height deviation coefficient; and based on the corrected height of each set position at each moment, using a trigonometric function relationship, obtaining the soil settlement difference at each moment during the movement of the garden tillage machinery, and testing the soil compaction. This improves the accuracy of the soil compaction test.

Description

Technical Field

[0001] The present application relates to the technical field of soil compaction testing, and in particular to a soil compaction testing device and method for garden farming machinery. Background Art

[0002] Soil compaction has a significant impact on plant growth. Proper soil compaction promotes root expansion and nutrient absorption, while excessive compaction inhibits plant growth. Agricultural production requires dynamic adjustment based on soil compaction to ensure high yields of garden crops, and accurate measurement of soil compaction is crucial.

[0003] Currently, soil compaction testing is often performed using the differential settlement method, which measures soil compaction by measuring the difference in settlement before and after a gardening vehicle passes over the soil. However, this method often ignores the effects of vehicle vibration and body tilt on differential settlement measurements, making it prone to errors when calculating differential settlement using ultrasonic signals, thereby reducing the accuracy of the compaction results. Summary of the Invention

[0004] In order to solve the above technical problems, the purpose of this application is to provide a soil compaction test device and method for garden farming machinery. The technical solutions adopted are as follows:

[0005] In a first aspect, an embodiment of the present application provides a method for testing soil compaction of a garden farming machine, the method comprising the following steps:

[0006] Measure the height of each set position of the garden tillage machine from the ground at each moment during its movement, 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 at each moment during its movement with the horizontal plane;

[0007] Determine the vibration difference of each set position at each time based on the difference in vibration frequency and vibration amplitude between each set position at each time and its adjacent time;

[0008] Analyzing the difference between the height of each set position at each moment and its adjacent moments, and combining the vibration difference, obtaining a height deviation coefficient for each set position at each moment; and correcting the height of each set position at each moment using the height deviation coefficient based on the vibration difference;

[0009] Based on the measured distance between adjacent set positions, combined with the inclination angle at each moment and the corrected height of each set position at each moment, the trigonometric function relationship is used to obtain the soil settlement difference at each moment during the movement of the garden farming machinery, and the soil compaction is tested.

[0010] In one embodiment, the set positions include: a head position, a middle position, and a tail position of the garden tillage machine, wherein the distances between the head position and the middle position, and the distances between the middle position and the tail position are equal.

[0011] In one embodiment, determining the vibration difference includes:

[0012] Calculate the mean of the vibration frequencies of all adjacent moments at each moment, which is recorded as the first mean; calculate the mean of the vibration amplitudes of all adjacent moments at each moment, which is recorded as the second mean;

[0013] Calculate the difference between the vibration frequency at each moment and the first mean, which is recorded as a first difference; calculate the difference between the vibration amplitude at each moment and the second mean, which is recorded as a second difference;

[0014] The first difference and the second difference are combined to obtain the vibration difference.

[0015] In one embodiment, the vibration difference is a normalized result of the product of the first difference and the second difference.

[0016] In one embodiment, determining the height deviation coefficient includes:

[0017] Determining a local height difference at each moment based on differences in the heights measured between adjacent moments in all neighboring moments of each moment;

[0018] The height deviation coefficient is the product of the vibration difference at each moment and the local height difference.

[0019] In one embodiment, the local height difference is the average value of the height differences measured between all adjacent moments in all adjacent moments of each moment.

[0020] In one embodiment, the use of the height deviation coefficient to correct the height at each set position at each moment includes:

[0021] For each set position, calculate the mean of the vibration differences of all adjacent moments at each moment, and record it as the third mean;

[0022] If the vibration difference at each moment is greater than the third mean, the corrected height at each moment is the difference between the height measured at each moment and the height deviation coefficient;

[0023] If the vibration difference at each moment is less than the third mean, the corrected height at each moment is the sum of the height measured at each moment and the height deviation coefficient;

[0024] Otherwise, the corrected altitude at each moment is the altitude measured at each moment.

[0025] In one embodiment, the process of obtaining the soil settlement difference at each moment during the movement of the garden tillage machine is as follows:

[0026] The settlement difference at the intermediate position The calculation formula is: Where, is the corrected height of the intermediate position at each moment, is the measured distance between the middle position and the head position, is the angle formed by the tail of the garden farming machinery and the horizontal plane at each moment during its movement, sin is the sine function, is the height of the head position after correction at each moment;

[0027] The sedimentation difference at the tail position The calculation formula is: Where, is the height of the tail position after correction at each moment;

[0028] The settlement difference of the soil at each moment during the movement of the garden farming machinery is the settlement difference The settlement difference The mean of .

[0029] In one embodiment, the testing of soil compaction includes:

[0030] The relationship between soil settlement difference and soil compaction is obtained through historical experiments. The soil settlement difference at each moment during the movement of the garden farming machinery is substituted into the fitting curve to obtain the soil compaction at each moment.

[0031] In a second aspect, an embodiment of the present application also provides a soil compaction testing device for garden tillage machinery, comprising a memory, a processor, and a computer program stored in the memory and running on the processor, wherein the processor implements the steps of any one of the above methods when executing the computer program.

[0032] This application has at least the following beneficial effects:

[0033] The present application measures the vibration frequency and vibration amplitude of each set position at each moment during the movement of the garden tillage machinery by measuring the height from the ground at each set position at each moment; measures the inclination angle formed by the tail of the garden tillage machinery at each moment and the horizontal plane during the movement; determines the vibration difference of each set position at each moment based on the difference in vibration frequency and vibration amplitude between each set position at each moment and its adjacent moments; the vibration difference reflects the degree of inconsistency of the garden tillage machinery vibration at each set position at each moment compared with historical moments, thereby improving the accuracy of measuring the degree of vibration influence of each set position at each moment; analyzes the difference in the height between each set position at each moment and its adjacent moments, and obtains the height deviation coefficient of each set position at each moment in combination with the vibration difference; the height deviation coefficient reflects the height difference measured at each set position at each moment The degree of vibration interference to the data improves the accuracy of subsequent correction of the measured height data; based on the vibration difference, the height at each set position at each moment is corrected using the height deviation coefficient; the interference of vibration in the movement process of garden tillage machinery on the measured height data is avoided, and the accuracy of height data measurement at each set position at each moment is improved; based on the measured distance between adjacent set positions, combined with the inclination angle at each moment, and the corrected height of each set position at each moment, the trigonometric function relationship is used to obtain the settlement difference of the soil at each moment in the movement process of the garden tillage machinery, and the soil compaction is tested; the error caused by the inclination and vibration of the garden tillage machinery on the height data measurement is eliminated, the calculation accuracy of the settlement difference of the soil at each moment is improved, and thus the accuracy of the soil compaction test is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the technical solutions and advantages of the embodiments of the present application or the prior art, the following is a brief introduction to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0035] Figure 1 A flowchart of a method for testing soil compaction of a garden farming machine according to one embodiment of the present application;

[0036] Figure 2 It is a schematic diagram of the tilting of garden farming machinery;

[0037] Figure 3 Flow chart for soil compaction testing. DETAILED DESCRIPTION

[0038] To further illustrate the technical means and effectiveness of this application to achieve its intended purpose, the following, in conjunction with the accompanying drawings and preferred embodiments, details the specific implementation, structure, features, and effectiveness of a soil compaction testing device and method for gardening machinery proposed in this application. In the following description, references to different "one embodiment" or "another embodiment" do not necessarily refer to the same embodiment. Furthermore, specific features, structures, or characteristics of one or more embodiments may be combined in any suitable manner.

[0039] Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.

[0040] The following describes in detail a specific solution of a soil compaction testing device and method for garden farming machinery provided by the present application in conjunction with the accompanying drawings.

[0041] See also Figure 1 , which shows a flow chart of the steps of a soil compaction test method for garden farming machinery provided by one embodiment of the present application, the method comprising the following steps:

[0042] S1, measuring the height of each set position of the garden tillage machine from the ground at each moment during the movement, measuring the vibration frequency and vibration amplitude of each set position at each moment; measuring the inclination angle formed by the tail of the garden tillage machine at each moment during the movement.

[0043] In this embodiment, integrated transceiver ultrasonic probes are installed at the head position, middle position, and tail position of the garden tillage machinery, respectively, and the head position, middle position, and tail position are all recorded as set positions, wherein the head position is specifically the position directly in front of the front wheel of the garden tillage machinery, the middle position is the middle position between the front wheel and the rear wheel of the garden tillage machinery, 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 machinery.

[0044] It should be noted that the head position, middle position and tail position are all located 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 transceiver-integrated ultrasonic probe from the ground is kept consistent, the frequency of transmitting ultrasonic waves is kept consistent, and the time interval between each signal transmission is greater than the time for the reflection back to the probe for monitoring, that is, each time a signal is transmitted, it is ensured that the last returned ultrasonic signal has been obtained. The installation position of the transceiver-integrated ultrasonic probe ensures that it is above the wheel passing by, the load of the garden farming machinery remains balanced, and the force on each wheel is uniform. The transceiver-integrated ultrasonic probes installed at the head position, middle position, and tail position of the garden farming machinery are used to measure the height of the head position, middle position, and tail position of the garden farming machinery from the ground at each moment.

[0045] 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.

[0046] 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.

[0047] 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.

[0048] 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.

[0049] 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.

[0050] First, in view of the impact of vibration during the operation of garden farming machinery, this embodiment compares the difference in local vibration data and calculates the vibration difference at each set position at each time, specifically:

[0051] In this embodiment, the height from the ground measured at each set position at each moment and the moments corresponding to the N height data measured previously are recorded as the adjacent moments of each set position at each moment. In this embodiment, N=10, and the implementer can adjust it according to the actual situation. This embodiment does not impose any restrictions here.

[0052] Calculate the mean of the vibration frequencies of all adjacent moments at each moment, which is recorded as the first mean; calculate the mean of the vibration amplitudes of all adjacent moments at each moment, which is recorded as the second mean;

[0053] Calculate the difference between the vibration frequency at each moment and the first mean, which is recorded as a first difference; calculate the difference between the vibration amplitude at each moment and the second mean, which is recorded as a second difference;

[0054] The first difference and the second difference are combined to obtain the vibration difference.

[0055] It should be noted that the difference represents the degree of difference between two variables, and can be calculated specifically by using the absolute value of the difference, the square of the difference, the ratio, etc. This embodiment uses the absolute value of the difference as the calculation method for the difference.

[0056] In this embodiment, the expression of the vibration difference at each set position at each time is:

[0057] Where, is the vibration difference of each set position at the i-th moment, is the vibration frequency of each set position at the i-th moment, is the mean 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 of the vibration amplitudes of all adjacent moments at the i-th moment of each set position, and norm() is the normalization function. Recorded as the first mean, The second mean is recorded as Recorded as the first difference, Recorded as the second difference.

[0058] 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, the greater the difference between the vibration frequency at the i-th moment and the vibration frequency at the historical moment, and the greater the difference between the vibration amplitude at the i-th moment and the vibration amplitude at the historical moment, the lower the consistency between the vibration frequency at the i-th moment and the vibration amplitude at the historical moment, and the more likely it is to affect the measurement of the height of each set position.

[0059] S3, analyzing the difference in the height of each set position at each moment and its adjacent moments, and combining the vibration difference to obtain the height deviation coefficient of each set position at each moment; based on the vibration difference, using the height deviation coefficient to correct the height of each set position at each moment.

[0060] Since the measurement of the height data of each set position has a chronological order, the greater the difference between the height data obtained in a certain measurement and the height data obtained in the previous measurement, the greater the degree to which the height data obtained in this measurement is affected by the vibration, and the more it is necessary to correct the height data obtained in this measurement to avoid errors in the calculation of the soil settlement difference.

[0061] Based on the above analysis, the height deviation coefficient of each set position at each time is first calculated, specifically:

[0062] For each set position, for all adjacent moments at each moment, calculate the average of the absolute values ​​of the differences in height from the ground measured between all adjacent moments as the local height difference at each set position at each moment;

[0063] In this embodiment, the expression of the local height difference at each set position at each time is:

[0064] Where, is the local height difference of each set position at the i-th moment, is the height from the ground measured at the k+1th moment for each set position, is the height from the ground measured at the kth moment of each set position, and N is the number of adjacent moments of the i-th moment of each set position.

[0065] In this embodiment, the height deviation coefficient at each set position at each time is the product of the local height difference at each set position at each time and the vibration difference.

[0066] It should be understood that since the driving route of the garden tillage machinery is set as a relatively flat area in this embodiment, the height from the ground measured at each set position at each moment should not be much different from the height from the ground measured at historical moments. If there is a large difference, that is, the larger the local height difference, the greater the degree of vibration influence of the height measured at each set position during the movement of the garden tillage machinery. At the same time, combined with the vibration difference at each set position at each moment, both are large, that is, the larger the height deviation coefficient, the greater the error of the measured height data.

[0067] Therefore, based on the above analysis, the height deviation coefficient of each set position at each time is used to correct the height from the ground measured at each set position at each time, specifically:

[0068] Calculate the mean of the vibration differences of all adjacent moments at each set position at each moment, and record it as the third mean. The calculation method of the corrected height data of each set position at each moment is:

[0069] Where, is the height of each set position after correction at the i-th moment, is the height measured at the i-th moment at each set position, is the height deviation coefficient of each set position at the i-th moment, is the vibration difference of each set position at the i-th moment, is the mean value of the vibration differences at all adjacent moments at the i-th moment of each set position, that is, the third mean value.

[0070] It should be noted that when the vibration difference at the i-th moment is greater than the average of the vibration differences at all its adjacent moments, it indicates that the vibration frequency and vibration amplitude at the i-th moment are more inconsistent than those at its adjacent moments. In order to reduce the impact of vibration on height, the measured height data needs to be reduced. Conversely, when the vibration difference at the i-th moment is less than the average of the vibration differences at all its adjacent moments, the measured height data needs to be increased. When the vibration difference at the i-th moment is equal to the average of the vibration differences at all its adjacent moments, the measured height data is not adjusted. In this way, the corrected height data at each set position at each moment can be obtained, thereby avoiding the error in the measured height from the ground caused by vibration during the movement of garden farming machinery.

[0071] S4, based on the measured distance between adjacent set positions, combined with the inclination angle at each moment, and the corrected height of each set position at each moment, using the trigonometric function relationship, the soil settlement difference during the movement of the garden farming machinery is obtained to test the soil compaction.

[0072] During the movement of the garden tillage machinery, if the soil compaction is relatively low, the height difference before and after the wheels of the garden tillage machinery pass by will be more obvious. At this time, since the soil ground corresponding to the head position of the garden tillage machinery has not been compacted by the wheels, the terrain is higher, while the soil ground corresponding to the tail position of the garden tillage machinery has been compacted by the wheels and the terrain is relatively low, the tail of the garden tillage machinery forms a certain degree of angle with the horizontal line, resulting in the probes at the three set positions of this embodiment not being on the same horizontal line, thereby causing errors in the measurement of the height from the ground.

[0073] In this embodiment, the tilt diagram of the garden farming machinery is as follows Figure 2 As shown, Figure 2 In the figure, a represents the head position of the garden tillage machinery, b represents the middle position of the garden tillage machinery, and c represents the tail position of the garden tillage machinery. is the height of the head position after correction at each moment, is the height of the middle position after correction at each moment, L is the measured distance between the middle position and the head position, that is, it is obtained by calculating the distance between two points, It is the angle formed by the tail of the garden farming machinery and the horizontal plane at each moment during its movement; Figure 2 The box in the figure represents the transceiver integrated ultrasound probe, and the dotted line represents the ground horizontal reference line.

[0074] Based on the above analysis, the settlement difference between the middle position and the tail position of the tilted garden farming machinery at each moment is calculated. The specific calculation method is:

[0075] For each moment, the settlement difference at the middle position The calculation formula is: Where, is the corrected height of the intermediate position at each moment, is the measured distance between the middle position and the head position, is the angle formed by the tail of the garden farming machinery and the horizontal plane at each moment during its movement, sin is the sine function, is the height of the head position after correction at each moment;

[0076] The sedimentation difference at the tail position The calculation formula is: Where, is the height of the tail position after correction at each moment.

[0077] In this embodiment, the average of the settlement difference at the middle position and the settlement difference at the tail position at each moment is used as the settlement difference of the soil at each moment during the movement of the garden farming machine.

[0078] For the test of soil compaction, this embodiment first uses garden tillage machinery to compact the soil. During the compaction process, the above-mentioned method is used to measure the soil settlement difference at each moment, and the soil compaction at each moment is measured using the traditional method. The soil settlement difference at each moment and the soil compaction are combined to form a data set at each moment. Through multiple compaction experiments, multiple data sets are obtained. The least squares method is used to perform curve fitting on all data sets to obtain the corresponding fitting curve between the soil compaction and the soil settlement difference. The soil settlement difference at each moment during the movement of the garden tillage machinery is substituted into the fitting curve to obtain the soil compaction at each moment. Among them, the least squares method is an existing well-known technology, and the implementer can choose other existing feasible curve fitting algorithms at his own discretion. This embodiment does not limit this. The flow chart of soil compaction test is as follows: Figure 3 shown.

[0079] It should be noted that the traditional method in this embodiment is the ring knife method. In other embodiments, the sand filling method or the water bag method can be used for measurement. Among them, the ring knife method, the sand filling method, and the water bag method are all existing well-known technologies and will not be described in detail in this embodiment.

[0080] Based on the same inventive concept as the above method, an embodiment of the present application also provides a soil compaction testing device for garden tillage machinery, comprising 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-mentioned methods for testing the soil compaction of garden tillage machinery.

[0081] It should be noted that the order in which the embodiments of the present application are presented is for illustrative purposes only and does not necessarily represent the superiority or inferiority of the embodiments. Furthermore, the foregoing descriptions of specific embodiments of this specification are provided. Furthermore, the processes depicted in the accompanying drawings do not necessarily require the specific order or sequential sequence shown to achieve the desired results. In certain embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0082] The various embodiments in this specification are described in a progressive manner, and the same or similar parts between the various embodiments can be referred to each other. Each embodiment focuses on the differences from other embodiments.

[0083] The above description is only a preferred embodiment of the present application and is 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 scope of protection of the present application.

Claims

1. A soil compaction test method for garden farming machinery, characterized in that: The method comprises the following steps: Measure the height of each set position of the garden tillage machine from the ground at each moment during its movement, 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 at each moment during its movement with the horizontal plane; Determine the vibration difference of each set position at each time based on the difference in vibration frequency and vibration amplitude between each set position at each time and its adjacent time; Analyzing the difference between the height of each set position at each moment and its adjacent moments, and combining the vibration difference to obtain a height deviation coefficient for each set position at each moment; and correcting the height of each set position at each moment based on the vibration difference and the height deviation coefficient; Based on the measured distance between adjacent set positions, combined with the tilt angle at each moment and the corrected height of each set position at each moment, the trigonometric function relationship is used to obtain the soil settlement difference at each moment during the movement of the garden farming machine, and the soil compaction is tested; Determining a local height difference at each moment based on differences in the heights measured between adjacent moments at the same location in all adjacent moments at each moment; The height deviation coefficient is the product of the vibration difference at each moment and the local height difference.

2. A soil compaction test method for garden farming machinery according to claim 1, characterized in that: The set positions include: a head position, a middle position, and a tail position of the garden farming machine, wherein the distances between the head position and the middle position, and the distances between the middle position and the tail position are equal.

3. The soil compaction test method for garden farming machinery according to claim 1, characterized in that: The determination of the vibration difference includes: Calculate the mean of the vibration frequencies of all adjacent moments at each moment, which is recorded as the first mean; calculate the mean of the vibration amplitudes of all adjacent moments at each moment, which is recorded as the second mean; Calculate the difference between the vibration frequency at each moment and the first mean, which is recorded as a first difference; calculate the difference between the vibration amplitude at each moment and the second mean, which is recorded as a second difference; The first difference and the second difference are combined to obtain the vibration difference.

4. A soil compaction test method for garden farming machinery according to claim 3, characterized in that: The vibration difference is a normalized result of multiplying the first difference by the second difference.

5. The soil compaction test method for garden farming machinery according to claim 1, characterized in that: The local height difference is the average value of the height differences measured between all adjacent moments at the same position in all adjacent moments of each moment.

6. The soil compaction test method for garden farming machinery according to claim 1, characterized in that: The correcting the height at each set position at each moment based on the vibration difference and the height deviation coefficient includes: For each set position, calculate the mean of the vibration differences of all adjacent moments at each moment, and record it as the third mean; If the vibration difference at each moment is greater than the third mean, 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 at each moment is less than the third mean, the corrected height at each moment is the sum of the height measured at each moment and the height deviation coefficient; Otherwise, the corrected altitude at each moment is the altitude measured at each moment.

7. The method for testing soil compaction of a garden farming machine according to claim 2, wherein: The process of obtaining the soil settlement difference at each moment during the movement of the garden farming machinery is as follows: The settlement difference at the intermediate position The calculation formula is: Where, is the corrected height of the intermediate position at each moment, is the measured distance between the middle position and the head position, is the angle formed by the tail of the garden farming machinery and the horizontal plane at each moment during its movement, sin is the sine function, is the height of the head position after correction at each moment; The sedimentation difference at the tail position The calculation formula is: Where, is the height of the tail position after correction at each moment; The settlement difference of the soil at each moment during the movement of the garden farming machinery is the settlement difference The settlement difference The mean of .

8. The method for testing soil compaction of a garden farming machine according to claim 1, wherein: The soil compaction test includes: The relationship between soil settlement difference and soil compaction is obtained through historical experiments. The soil settlement difference at each moment during the movement of the garden farming machinery is substituted into the fitting curve to obtain the soil compaction at each moment.

9. A soil compaction test device for garden farming machinery, 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, the steps of the method according to any one of claims 1 to 8 are implemented.

Images