A micro-tiller and its working method

Abstract

The present invention relates to a micro-tiller and its working method, belonging to the field of land preparation. The micro-tiller includes an internal combustion engine (1), an electric motor (2), traveling wheels (5), rotary tilling blades (6), and a gearbox (8); the micro-tiller has a first crushing mode and a second crushing mode; in the first crushing mode, the internal combustion engine (1) independently drives the traveling wheels (5), the electric motor (2) independently drives the rotary tilling blades (6) to work, and the electric motor (2) rotates in reverse; in the second crushing mode, the internal combustion engine (1) independently drives the traveling wheels (5), the electric motor (2) independently drives the rotary tilling blades (6) to work, and the electric motor (2) rotates forward and reverses alternately. The present invention enables the rotary tilling blades to rotate in reverse or forward and reverse alternately, improving the soil crushing ability of the rotary tilling blades.

Description

Technical Field

[0001] The invention relates to the technical field of land consolidation, and relates to a micro-tillage machine and a working method thereof. Background Art

[0002] A micro-tillage machine is a common agricultural land preparation machine, which usually uses a small internal combustion engine as its main power source and has the characteristics of light weight, small size, and convenient operation. Precisely because the micro-tillage machine is a small agricultural machine with low horsepower and light weight, it is often not effective for compacted and hard soil plots. It can only improve the soil clod breaking effect by plowing back and forth many times, which is time-consuming and laborious. Summary of the invention

[0003] In view of the above problems existing in the micro-tillage machine, the present invention provides a micro-tillage machine and a working method thereof.

[0004] The micro-tillage machine of the present application comprises an internal combustion engine, a motor, a travel wheel, a rotary tillage blade and a gear box; the rotary tillage blade has a rotation axis perpendicular to the travel direction of the micro-tillage machine and substantially parallel to the ground, and the rotary tillage blade rotates around the axis of its rotation axis; the internal combustion engine, the motor, the travel wheel and the rotary tillage blade are connected by transmission through the gear box;

[0005] The micro-tillage machine has at least a standard rotary tillage mode, a crushing mode 1 and a crushing mode 2;

[0006] In the standard rotary tillage mode, the internal combustion engine and the motor jointly drive the travel wheel and the rotary tillage blade to work, the motor rotates forward, and the rotation direction of the rotary tillage blade is the same as that of the travel wheel;

[0007] In the crushing mode, the internal combustion engine drives the traveling wheel alone, the motor drives the rotary tiller alone, and the motor is reversed, and the rotating direction of the rotary tiller is opposite to that of the traveling wheel;

[0008] In the second crushing mode, the internal combustion engine drives the traveling wheel alone, and the motor drives the rotary tiller alone, and the motor rotates forward and reverse alternately.

[0009] Furthermore, the micro-tillage machine of the present application further includes a frequency converter and a battery pack, wherein the frequency converter is electrically connected to the motor and the battery pack, and can at least provide a first driving voltage and a second driving voltage for the motor, wherein the second driving voltage is greater than the first driving voltage;

[0010] The battery pack provides power to the motor through the inverter or receives power from the motor for charging;

[0011] In the standard rotary tillage mode, the frequency converter provides a first driving voltage to the motor;

[0012] Under the first crushing mode, the frequency converter provides a second driving voltage for the motor;

[0013] Under the second crushing mode, the frequency converter provides a second driving voltage for the motor.

[0014] Further, the gearbox includes a first input shaft, a high-speed gear driving gear, a first synchronizer, a low-speed gear driving gear, a high-speed gear driven gear, a second synchronizer, a low-speed gear driven gear, a first output shaft, a motor gear, a second input shaft, a third synchronizer and a universal shaft;

[0015] The first input shaft is connected to the internal combustion engine. The high-speed gear driving gear and the low-speed gear driving gear are sleeved on the first input shaft. The first synchronizer is fixed on the first input shaft and arranged between the high-speed gear driving gear and the low-speed gear driving gear. The first synchronizer can selectively combine one of the high-speed gear driving gear and the low-speed gear driving gear with the first input shaft to rotate synchronously therewith;

[0016] The first output shaft is connected to the traveling wheel. The first output shaft is arranged parallel to the first input shaft. The high-speed gear driven gear and the low-speed gear driven gear are sleeved on the first output shaft. The second synchronizer is fixed on the first output shaft and arranged between the high-speed gear driven gear and the low-speed gear driven gear. The second synchronizer can selectively combine one of the high-speed gear driven gear and the low-speed gear driven gear with the first output shaft to rotate synchronously therewith. The high-speed gear driven gear meshes with the high-speed gear driving gear, and the low-speed gear driven gear meshes with the low-speed gear driving gear;

[0017] The second input shaft is connected to the motor. The second input shaft is arranged parallel to the first input shaft and the first output shaft. The motor gear is sleeved on the second input shaft. The third synchronizer is fixed on the second input shaft and arranged on one side of the motor gear. The third synchronizer can selectively combine the motor gear with the second input shaft to rotate synchronously therewith. The motor gear meshes with the high-speed gear driven gear. The end of the second input shaft far from the motor is connected to the rotary tillage blade through a universal shaft.

[0018] Further, in the standard rotary tillage mode, the first synchronizer and the second synchronizer are in the high-speed position, and the third synchronizer is engaged;

[0019] In the first crushing mode and the second crushing mode, the first synchronizer and the second synchronizer are in the low-speed position, and the third synchronizer is in neutral.

[0020] Further, the rotary tiller further includes a crosstalk sensor, a rotary tiller body, a tillage blade holder, and a controller;

[0021] The rotating shaft is rotatably connected to the tillage blade holder, and the tillage blade holder is connected to the rotary tiller body;

[0022] The crosstalk sensor is disposed on the tillage blade holder and is signal-connected to the controller; the crosstalk sensor monitors the crosstalk of the rotary tillage blade. When the crosstalk exceeds the threshold, the controller determines that the rotary tiller is operating in a compacted and hard soil area.

[0023] Further, the rotary tiller further includes a speed sensor for detecting the traveling speed of the rotary tiller.

[0024] Further, the rotary tiller further has a traveling mode, a rotary tilling and charging mode, and a parking charging mode;

[0025] In the traveling mode, the motor stops, and the internal combustion engine independently drives the traveling wheels;

[0026] In the rotary tilling and charging mode, the motor operates in the power generation mode, and the internal combustion engine simultaneously drives the traveling wheels, the rotary tillage blade, and the motor;

[0027] In the parking charging mode, the motor operates in the power generation mode, the rotary tiller stops, and the internal combustion engine drives the motor to generate electricity.

[0028] The working method of the rotary tiller of the present application includes the following steps:

[0029] S1. After the rotary tiller is started, select the working mode according to whether the rotary tiller needs to start rotary tilling operations. If rotary tilling operations are required, switch to the standard rotary tilling mode and proceed to step S2. If rotary tilling operations are not required, switch to the traveling mode;

[0030] S2. The controller determines whether the crosstalk of the rotary tillage blade exceeds the threshold. If so, switch to the crushing mode one and proceed to step S3. Otherwise, continue to operate in the standard rotary tilling mode;

[0031] S3. The controller determines whether the traveling speed of the rotary tiller is lower than the threshold. If so, switch to the crushing mode two. Otherwise, continue to operate in the crushing mode one;

[0032] S4. In the standard rotary tilling mode, the crushing mode one, and the crushing mode two, the controller determines whether the SOC of the battery pack is lower than the threshold. If so, switch to the rotary tilling and charging mode or the parking charging mode. Otherwise, return to the original mode.

[0033] Beneficial effects

[0034] The micro-tiller of the present invention is equipped with crushing mode 1 and crushing mode 2 suitable for compacted and hard soil plots. In these two working modes, the present invention makes full use of the motor characteristics to reverse the rotary tiller blades or alternate forward and reverse rotation, and increases the working voltage of the motor, improving the soil-breaking ability of the rotary tiller blades. At the same time, the internal combustion engine operates in a low gear to provide sufficient driving torque for driving. For other beneficial effects of the present invention, they will be further elaborated in the specific implementation section. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 Schematic diagram of the main components of the micro-tiller of the present invention;

[0036] Figure 2 Schematic diagram of the gearbox structure of the present invention;

[0037] Figure 3 Working mode list of the micro-tiller of the present invention;

[0038] Figure 4 Working method of the micro-tiller of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0039] To make the objectives, technical solutions, and advantages of the present invention clearer, the embodiments of the present invention will be further described in detail below with reference to the accompanying drawings.

[0040] The present invention provides a micro-tiller, as Figure 1 shown, the micro-tiller includes an internal combustion engine 1, a motor 2, a frequency converter 3, a battery pack 4, a walking wheel 5, a rotary tiller blade 6, a crosstalk sensor 7, a gearbox 8, a speed sensor 9, a micro-tiller body, a tiller blade holder, and a controller.

[0041] The internal combustion engine 1 is a diesel engine, a gasoline engine, a natural gas engine, or other fossil energy engines, which is connected to the input end of the gearbox 8 as one of the power inputs of the gearbox 8, and provides power for the walking wheel 5 and / or the rotary tiller blade 6.

[0042] The motor 2 is an integrated motor-generator, which is electrically connected to the frequency converter 3 and is in transmission connection with the gearbox 8. On the one hand, it can receive power from the battery pack 4 through the frequency converter 3 and provide power for the walking wheel 5 and / or the rotary tiller blade 6 through the gearbox 8. On the other hand, it can receive power from the internal combustion engine 1 and charge the battery pack 4 through the frequency converter 3.

[0043] The frequency converter 3 is electrically connected to the motor 2 and the battery pack 4, and it can at least provide a first driving voltage and a second driving voltage for the motor 2, where the second driving voltage is greater than the first driving voltage.

[0044] The battery pack 4 is a lithium-ion battery or other type of secondary battery, which is electrically connected to the frequency converter 3 to supply power to the motor 2 or receive power from the motor 2 for charging.

[0045] The traveling wheels 5 are connected to a micro-tiller body (not shown), and are used to receive power from the gearbox 8 and support the micro-tiller body to travel on the ground.

[0046] The rotary tilling blades 6 have a rotation axis perpendicular to the traveling direction of the micro-tiller and generally parallel to the ground. The rotation axis is rotatably connected to a tilling blade holder (not shown), and the tilling blade holder is connected to the micro-tiller body. The rotary tilling blades 6 receive power from the gearbox 8 and rotate as a whole about the axis of its rotation axis to break up the clumped soil and achieve soil loosening. The number of rotary tilling blade heads in this embodiment can be one or more.

[0047] The crosstalk sensor 7 is disposed on the tilling blade holder and is signal-connected to the controller. When the micro-tiller encounters compacted and hard soil, the rotary tilling blades 6 crosstalk in the vertical direction. The crosstalk sensor 7 monitors the crosstalk of the rotary tilling blades 6. When the crosstalk exceeds the threshold, the controller can determine that the micro-tiller is operating in a compacted and hard soil area. The crosstalk sensor 7 can be a displacement sensor or other sensor that can characterize the crosstalk amplitude and frequency of the rotary tilling blades 6 in the vertical direction. The threshold can be the crosstalk amplitude or the crosstalk frequency or a combination of both.

[0048] As Figure 2 shown, the gearbox 8 includes a first input shaft 80, a high-speed gear driving gear 81, a first synchronizer 82, a low-speed gear driving gear 83, a high-speed gear driven gear 84, a second synchronizer 85, a low-speed gear driven gear 86, a first output shaft 87, a motor gear 88, a second input shaft 89, a third synchronizer 810, and a universal shaft 811.

[0049] The first input shaft 80 is connected to the internal combustion engine 1. The high-speed gear driving gear 81 and the low-speed gear driving gear 83 are sleeved on the first input shaft 80. The first synchronizer 82 is fixed on the first input shaft 80 and is arranged between the high-speed gear driving gear 81 and the low-speed gear driving gear 83. The first synchronizer 82 can selectively couple either the high-speed gear driving gear 81 or the low-speed gear driving gear 83 to the first input shaft 80 to rotate synchronously therewith.

[0050] The first output shaft 87 is connected to the traveling wheel 5. The first output shaft 87 is arranged parallel to the first input shaft 80. The high-speed gear driven gear 84 and the low-speed gear driven gear 86 are sleeved on the first output shaft 87. The second synchronizer 85 is fixed on the first output shaft 87 and arranged between the high-speed gear driven gear 84 and the low-speed gear driven gear 86. The second synchronizer 85 can selectively couple one of the high-speed gear driven gear 84 and the low-speed gear driven gear 86 to the first output shaft 87 to rotate synchronously therewith. The high-speed gear driven gear 84 meshes with the high-speed gear driving gear 81, and the low-speed gear driven gear 86 meshes with the low-speed gear driving gear 83.

[0051] The second input shaft 89 is connected to the motor 2. The second input shaft 89 is arranged parallel to the first input shaft 80 and the first output shaft 87. The motor gear 88 is sleeved on the second input shaft 89. The third synchronizer 810 is fixed on the second input shaft 89 and arranged on one side of the motor gear 88. The third synchronizer 810 can selectively couple the motor gear 88 to the second input shaft 89 to rotate synchronously therewith. The motor gear 88 meshes with the high-speed gear driven gear 84. One end of the second input shaft 89 away from the motor 2 is connected to the rotary tillage blade 6 through a universal shaft 811.

[0052] The speed sensor 9 is used to detect the traveling speed of the micro-tiller. For example, the speed sensor 9 is used to detect the rotation speed of the traveling wheel 5 to obtain the traveling speed of the micro-tiller, but the method for the speed sensor 9 to detect the traveling speed of the micro-tiller is not limited thereto.

[0053] The frequency converter 3, the battery pack 4, the jerk sensor 7, the first synchronizer 82, the second synchronizer 85, the third synchronizer 810 and the speed sensor 9 are all signal-connected to the controller. As Figure 3 shown, the controller controls the micro-tiller to work at least in the standard rotary tillage mode, the first crushing mode, the second crushing mode, the traveling mode, the rotary tillage charging mode, and the parking charging mode. Figure 3In it, the "high-speed position" of the first synchronizer and the second synchronizer refers to the working position where the synchronizer synchronizes the rotation of the high-speed gear driving gear 81 and the high-speed gear driven gear 84 with the corresponding shaft, and the "low-speed position" refers to the working position where the synchronizer synchronizes the rotation of the low-speed gear driving gear 83 and the low-speed gear driven gear 86 with the corresponding shaft; the "engagement" of the third synchronizer refers to the working position where the synchronizer combines the motor gear 88 onto the second input shaft 89 to rotate synchronously therewith; the "neutral position" of the first synchronizer, the second synchronizer and the third synchronizer refers to the working position where the synchronizer does not synchronize the rotation of any adjacent gear with the corresponding shaft; the "forward rotation" of the motor refers to the motor rotation direction that drives the rotary tiller 6 to rotate in the same rotation direction as when the walking wheel 5 travels forward under the drive of the motor 2, and the "reverse rotation" of the motor refers to the motor rotation direction that drives the rotary tiller 6 to rotate in the opposite rotation direction to when the walking wheel 5 travels forward under the drive of the motor 2.

[0054] In the standard rotary tilling mode, the first synchronizer 82 and the second synchronizer 85 are in the high-speed position, the third synchronizer 810 is engaged, and the frequency converter makes the motor 2 rotate forward at a lower first drive voltage. The internal combustion engine 1 and the motor 2 jointly drive the walking wheel 5 and the rotary tiller 6 to work. This mode is the default working mode of the micro-tiller and is used when the soil hardness in the working area is moderate. Both the internal combustion engine 1 and the motor 2 work at a lower load, taking into account both working efficiency and energy efficiency.

[0055] In the first crushing mode, the first synchronizer 82 and the second synchronizer 85 are in the low-speed position, the third synchronizer 810 is in the neutral position, the frequency converter makes the motor 2 rotate in reverse at a higher second drive voltage, the internal combustion engine 1 drives the walking wheel 5 alone, and the motor 2 drives the rotary tiller 6 alone to work. When the micro-tiller is in the standard rotary tilling mode, if the crosstalk sensor 7 detects that the crosstalk of the rotary tiller 6 exceeds the threshold, the controller determines that the micro-tiller is operating in a compacted and hard soil area, and at this time the micro-tiller switches to the first crushing mode. In the first crushing mode, the reverse rotation of the motor 2 makes the rotary tiller 6 rotate in the opposite direction to the walking wheel 5, which improves the ground-gripping ability of the rotary tiller 6; at the same time, on the one hand, the first synchronizer 82 and the second synchronizer 85 are in the low-speed position, so that the engine works in the low-speed gear, which improves the driving torque of the walking wheel 5 and ensures that the micro-tiller can continue to travel forward in the first crushing mode; on the other hand, the motor 2 works at a higher second drive voltage, which further improves the soil-breaking ability of the rotary tiller 6.

[0056] In the second crushing mode, the first synchronizer 82 and the second synchronizer 85 are in the low-speed position, the third synchronizer 810 is in neutral, the internal combustion engine 1 drives the traveling wheels 5 alone, the motor 2 drives the rotary tillage blades 6 to work alone, and the frequency converter makes the motor 2 rotate forward and reverse alternately under a relatively high second driving voltage. When the micro-tiller is in the first crushing mode, if the traveling speed of the micro-tiller obtained by the speed sensor 9 is lower than the threshold value, it indicates that the resistance brought by the reversed rotation of the motor to the micro-tiller in the first crushing mode is too large. At this time, the micro-tiller switches to the second crushing mode. In the second crushing mode, the motor 2 works in forward and reverse alternation according to the set frequency, and then the rotary tillage blades 6 work in forward and reverse alternation. On the one hand, the forward and reverse alternation of the rotary tillage blades 6 improves the soil crushing efficiency and reduces the traveling resistance of the micro-tiller at the same time; on the other hand, by using the motor characteristics, the forward and reverse alternation of the rotary tillage blades 6 can be realized through a simple circuit design, which simplifies the structure of the gearbox 8.

[0057] In the traveling mode, the first synchronizer 82 and the second synchronizer 85 are in the high-speed position, the third synchronizer 810 is in neutral, the motor 2 is shut down, and the internal combustion engine 1 drives the traveling wheels 5 alone. When the micro-tiller does not need rotary tillage operation, the controller controls the micro-tiller to be in the traveling mode.

[0058] In the rotary tillage charging mode, the first synchronizer 82 and the second synchronizer 85 are in the high-speed position, the third synchronizer 810 is engaged, the motor 2 works in the power generation mode, and the internal combustion engine 1 drives the traveling wheels 5, the rotary tillage blades 6 and the motor 2 at the same time.

[0059] In the parking charging mode, the first synchronizer 82 is in the high-speed position, the second synchronizer 85 is in neutral, the third synchronizer 810 is engaged, the motor 2 works in the power generation mode, the micro-tiller stops, and the internal combustion engine 1 drives the motor 2 to generate electricity.

[0060] During rotary tillage work (when the micro-tiller is in the standard rotary tillage mode, the first crushing mode or the second crushing mode), if the SOC of the battery pack 4 is lower than the threshold value, the micro-tiller can be selectively switched to the rotary tillage charging mode or the parking charging mode.

[0061] The present invention also includes the working method of the above micro-tiller. As Figure 4 shown, the working method of the micro-tiller includes the following steps:

[0062] S1. After the rotary tiller is started, select the working mode according to whether the micro-tiller needs to start rotary tillage operation. If rotary tillage operation is required, turn to the standard rotary tillage mode and enter step S2; if rotary tillage operation is not required, turn to the traveling mode;

[0063] S2. The controller determines whether the rotation of the rotary tillage blade exceeds the threshold. If so, it switches to the crushing mode and proceeds to step S3. Otherwise, it continues to operate in the standard rotary tillage mode.

[0064] S3. The controller determines whether the traveling speed of the micro-tiller is lower than the threshold. If so, it switches to the second crushing mode. Otherwise, it continues to operate in the first crushing mode.

[0065] S4. In the standard rotary tillage mode, the first crushing mode, and the second crushing mode, the controller determines whether the SOC of the battery pack is lower than the threshold. If so, it switches to the rotary tillage charging mode or the parking charging mode. Otherwise, it returns to the original mode (the standard rotary tillage mode, the first crushing mode, or the second crushing mode).

[0066] The present invention also provides a computer program product, which includes a computer program for executing the working method of the above-mentioned micro-tiller.

[0067] The present invention also provides a computer-readable storage medium storing a computer program for executing the working method of the above-mentioned micro-tiller.

[0068] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention by those skilled in the art within the technical scope disclosed by the present invention shall be covered by the protection scope of the present invention.

Claims

1. A micro-tillage machine, comprising an internal combustion engine (1), an electric motor (2), a running wheel (5), a rotary tillage blade (6) and a gear box (8); the rotary tillage blade (6) has a rotation axis perpendicular to the running direction of the micro-tillage machine and parallel to the ground, and the rotary tillage blade (6) rotates around the axis of its rotation axis; the internal combustion engine (1), the electric motor (2), the running wheel (5) and the rotary tillage blade (6) are connected in transmission via the gear box (8); It is characterized in that The micro-tillage machine has at least a standard rotary tillage mode, a crushing mode 1 and a crushing mode 2; In the standard rotary tillage mode, the internal combustion engine (1) and the motor (2) jointly drive the travel wheel (5) and the rotary tiller (6) to work, the motor (2) rotates forward, and the rotary tiller (6) rotates in the same direction as the travel wheel (5); In the crushing mode, the internal combustion engine (1) drives the running wheel (5) alone, the motor (2) drives the rotary tiller (6) alone to work, the motor (2) rotates in the reverse direction, and the rotary tiller (6) rotates in the opposite direction to the running wheel (5); In the second crushing mode, the internal combustion engine (1) drives the walking wheel (5) alone, and the motor (2) drives the rotary tiller (6) alone, and the motor (2) rotates forward and reverse alternately.

2. The micro-tiller according to claim 1, characterized in that, It also includes a frequency converter (3) and a battery pack (4), wherein the frequency converter (3) is electrically connected to the motor (2) and the battery pack (4), and can at least provide the motor (2) with a first driving voltage and a second driving voltage, wherein the second driving voltage is greater than the first driving voltage; The battery pack (4) provides power to the motor (2) or receives power from the motor (2) for charging through the inverter (3); In the standard rotary tillage mode, the frequency converter (3) provides a first driving voltage for the motor (2); In the crushing mode, the frequency converter (3) provides a second driving voltage for the motor (2); In the second crushing mode, the frequency converter (3) provides a second driving voltage for the motor (2).

3. The micro-tiller according to claim 1 or 2, characterized in that, The gearbox (8) comprises a first input shaft (80), a high-speed driving gear (81), a first synchronizer (82), a low-speed driving gear (83), a high-speed driven gear (84), a second synchronizer (85), a low-speed driven gear (86), a first output shaft (87), a motor gear (88), a second input shaft (89), a third synchronizer (810) and a universal shaft (811); The first input shaft (80) is connected to the internal combustion engine (1); the high-speed driving gear (81) and the low-speed driving gear (83) are sleeved on the first input shaft (80); the first synchronizer (82) is fixed on the first input shaft (80) and arranged between the high-speed driving gear (81) and the low-speed driving gear (83); the first synchronizer (82) can selectively couple one of the high-speed driving gear (81) and the low-speed driving gear (83) to the first input shaft (80) to rotate synchronously therewith; The first output shaft (87) is connected to the traveling wheel (5). The first output shaft (87) is arranged parallel to the first input shaft (80). The high-speed gear driven gear (84) and the low-speed gear driven gear (86) are sleeved on the first output shaft (87). The second synchronizer (85) is fixed on the first output shaft (87) and arranged between the high-speed gear driven gear (84) and the low-speed gear driven gear (86). The second synchronizer (85) can selectively couple one of the high-speed gear driven gear (84) and the low-speed gear driven gear (86) to the first output shaft (87) to rotate synchronously therewith. The high-speed gear driven gear (84) meshes with the high-speed gear driving gear (81), and the low-speed gear driven gear (86) meshes with the low-speed gear driving gear (83). The second input shaft (89) is connected to the motor (2). The second input shaft (89) is arranged parallel to the first input shaft (80) and the first output shaft (87). The motor gear (88) is sleeved on the second input shaft (89). The third synchronizer (810) is fixed on the second input shaft (89) and arranged on one side of the motor gear (88). The third synchronizer (810) can selectively couple the motor gear (88) to the second input shaft (89) to rotate synchronously therewith. The motor gear (88) meshes with the high-speed gear driven gear (84). One end of the second input shaft (89) away from the motor (2) is connected to the rotary tillage blade (6) through a universal shaft (811).

4. The micro-tiller according to claim 3, characterized in that, In the standard rotary tillage mode, the first synchronizer (82) and the second synchronizer (85) are in the high-speed position, and the third synchronizer (810) is engaged. In the first crushing mode and the second crushing mode, the first synchronizer (82) and the second synchronizer (85) are in the low-speed position, and the third synchronizer (810) is in neutral.

5. The micro-tiller according to claim 1, 2 or 4, characterized in that, It further includes a crosstalk sensor (7), a micro-tiller body, a tillage blade holder, and a controller. The rotating shaft is rotatably connected to the tillage blade holder, and the tillage blade holder is connected to the micro-tiller body. The crosstalk sensor (7) is arranged on the tillage blade holder and is signal-connected to the controller. The crosstalk sensor (7) monitors the crosstalk of the rotary tillage blade (6). When the crosstalk exceeds the threshold, the controller determines that the micro-tiller is operating in a compacted and hard soil area.

6. The micro-tiller according to claim 5, characterized in that, It further includes a speed sensor (9), and the speed sensor (9) is used to detect the traveling speed of the micro-tiller.

7. The micro-tiller according to claim 6, characterized in that, The micro-tiller also has a traveling mode, a rotary tillage charging mode, and a parking charging mode. In the traveling mode, the motor (2) is shut down, and the internal combustion engine (1) drives the traveling wheel (5) alone. In the rotary tillage charging mode, the motor (2) operates in the power generation mode, and the internal combustion engine (1) drives the traveling wheel (5), the rotary tillage blade (6), and the motor (2) simultaneously. In the parking charging mode, the motor (2) operates in the power generation mode, the micro-tiller stops, and the internal combustion engine (1) drives the motor (2) to generate electricity.

8. A method of working using the micro-tiller described in claim 7, characterized in that, It includes the following steps: S1. After the rotary tiller is started, select the working mode according to whether the micro-tiller needs to start rotary tilling operation. If rotary tilling operation is required, switch to the standard rotary tilling mode and enter step S2; if rotary tilling operation is not required, switch to the walking mode. S2. The controller determines whether the rotation of the rotary tiller blades exceeds the threshold. If yes, switch to the crushing mode one and enter step S3; otherwise, continue to operate in the standard rotary tilling mode. S3. The controller determines whether the traveling speed of the micro-tiller is lower than the threshold. If yes, switch to the crushing mode two; otherwise, continue to operate in the crushing mode one. S4. In the standard rotary tilling mode, crushing mode one, and crushing mode two, the controller determines whether the SOC of the battery pack is lower than the threshold. If yes, switch to the rotary tilling charging mode or the parking charging mode; otherwise, return to the original mode.

9. A computer program product, which includes a computer program for executing the working method of the micro-tiller according to claim 8.

10. A computer-readable storage medium storing a computer program for executing the working method of the micro-tiller according to claim 8.

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