CN110226369A - The control method and its control system of crawler belt type miniature ploughing machine - Google Patents
The control method and its control system of crawler belt type miniature ploughing machine Download PDFInfo
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- CN110226369A CN110226369A CN201910280365.7A CN201910280365A CN110226369A CN 110226369 A CN110226369 A CN 110226369A CN 201910280365 A CN201910280365 A CN 201910280365A CN 110226369 A CN110226369 A CN 110226369A
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- China
- Prior art keywords
- crawler belt
- belt type
- ploughing machine
- type miniature
- miniature ploughing
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Classifications
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B33/00—Tilling implements with rotary driven tools, e.g. in combination with fertiliser distributors or seeders, with grubbing chains, with sloping axles, with driven discs
- A01B33/08—Tools; Details, e.g. adaptations of transmissions or gearings
Abstract
The present invention relates to a kind of control methods of crawler belt type miniature ploughing machine, and for controlling the driving mode of a crawler belt type miniature ploughing machine, the control method of the crawler belt type miniature ploughing machine comprises steps of determining that the road surface hardness of a running section；The driving condition of the crawler belt type miniature ploughing machine is determined by the road surface hardness of the running section；The driving mode of the crawler belt type miniature ploughing machine is determined by the driving condition of the crawler belt type miniature ploughing machine.
Description
Technical field
The present invention relates to agricultural mechanical equipment fields, specifically, the present invention relates to one kind to be selected automatically according to landform
Select the control method and its control system of the crawler belt type miniature ploughing machine of driving mode.
Background technique
Mini-tiller is widely used in Plain, mountain area, the nonirrigated farmland on hills, paddy field, orchard etc., and mixing corresponding equipment can carry out
It the operations such as draws water, generate electricity, spraying, spraying, can also draw towed vehicle and carry out short-distance transport.Mini-tiller have it is light-weight, small in size,
The features such as structure is simple can be traveled freely in field, user-friendly and storage, be that vast farmers consumer substitution ox is ploughed
Optimal selection.
Mini-tiller generallys use wheel type traveling mechanism currently on the market, is divided into two major classes: using wheel when the first is transport
Tire, when work, which removes tire, changes the workpieces such as coulter or raking wheel into；Second class is using knife or preceding knife after front-wheel
The structure of rear-wheel.Have the shortcomings that slippage rate is big, passage capacity is poor by thing walking mechanism, and existing mini-tiller mostly uses cast iron
Gearbox also serves as the power chassis of machine, i.e., the installation site and traveling wheel of micro- cultivated workpiece are directly arranged on gearbox
It is coupled, causes the difficulty that gearbox mutability, service life of a machine are short and mini-tiller has a single function, expansible connection workpiece is few
Topic.
In addition, using rotary cutter tooth as the driving of workpiece, also known as rotary cultivator, according to the configuration mode of its rotary knife axis
It is divided into two class of horizontal shaft type and vertical shaft type.And with the horizontal horizontal horizontal shaft type rotary cultivator of cutter shaft using more.Because its have compared with
Strong hack ability, one-stop operation can make soil fine crushing, clay fertilizer blending uniformly, Land leveling, thus reach nonirrigated farmland sowing or
The requirement that paddy field is planted is conducive to strive for farming season, improves work efficiency, and can make full use of the power of tractor.And heavy horizontal shaft type
The deep ploughing of rotary cultivator up to 20-25 centimetres, be chiefly used in opening up wasteland shrub, marsh and farmland running to weeds etc..
But in the prior art, crawler belt type miniature ploughing machine in the process of moving, since a variety of different road conditions can be encountered, without
With road conditions under road surface hardness be it is different, in normal driving process, if encounter road surface hardness it is relatively high if, meeting
It is damaged to the cutter head of crawler belt type miniature ploughing machine, or reduces the service life of crawler belt type miniature ploughing machine, therefore, those skilled in the art need
The control method and its control system of a kind of crawler belt type miniature ploughing machine are invented, so as to enable crawler belt type miniature ploughing machine according to difference
Road surface hardness select different driving modes, so as to improve the cutter head and service life of crawler belt type miniature ploughing machine.
Summary of the invention
It is an object of the present invention to provide a kind of control methods of crawler belt type miniature ploughing machine, plough wherein the crawler type is micro-
The cutter head that the control method of machine can control the crawler belt type miniature ploughing machine is not damaged in the process of moving by road surface, to improve institute
State the service life of the cutter head of crawler belt type miniature ploughing machine.
It is an object of the present invention to provide a kind of control methods of crawler belt type miniature ploughing machine, plough wherein the crawler type is micro-
The control method of machine can monitor the road surface hardness of the crawler belt type miniature ploughing machine current driving road segment, to pass through running section
Road surface hardness determines the driving mode of the crawler belt type miniature ploughing machine.
It is an object of the present invention to provide a kind of control methods of crawler belt type miniature ploughing machine, plough wherein the crawler type is micro-
The control method of machine can be according to the hardness number of the cutter head of the crawler belt type miniature ploughing machine and the road surface hardness number of current driving road segment
Hardness difference determine the driving mode of the crawler belt type miniature ploughing machine.
It is an object of the present invention to provide a kind of control methods of crawler belt type miniature ploughing machine, plough wherein the crawler type is micro-
The control method of machine can determine the road surface hardness number of running section according to the landform of the running section of the crawler belt type miniature ploughing machine
Monitoring reliability and monitoring stability.
It is an object of the present invention to provide a kind of control methods of crawler belt type miniature ploughing machine, plough wherein the crawler type is micro-
The control method of machine can continue to monitor the road surface hardness of running section in the driving process of the crawler belt type miniature ploughing machine, as long as
The road surface hardness of running section does not interfere with the cutter head of the crawler belt type miniature ploughing machine, just make the crawler belt type miniature ploughing machine restore to
Normal running mode, to improve the working efficiency of the crawler belt type miniature ploughing machine.
It is an object of the present invention to provide a kind of control systems of crawler belt type miniature ploughing machine, plough wherein the crawler type is micro-
The control system of machine can determine the landform of the crawler belt type miniature ploughing machine current driving road segment, and can monitor current driving road
The road surface hardness of section, consequently facilitating controlling the driving mode of the crawler belt type miniature ploughing machine.
It is an object of the present invention to provide a kind of control systems of crawler belt type miniature ploughing machine, plough wherein the crawler type is micro-
The control system of machine can receive the road surface hardness number of running section, so that make the cutter head of the crawler belt type miniature ploughing machine can
Adapt to different road surface hardness.
It is an object of the present invention to provide a kind of control systems of crawler belt type miniature ploughing machine, plough wherein the crawler type is micro-
The control system of machine being capable of difference of hardness between the cutter head hardness number to crawler belt type miniature ploughing machine and the road surface hardness number of running section
Value is calculated, consequently facilitating controlling the driving mode of the crawler belt type miniature ploughing machine.
It is an object of the present invention to provide a kind of control systems of crawler belt type miniature ploughing machine, plough wherein the crawler type is micro-
The control system of machine can switch over the driving mode of the crawler belt type miniature ploughing machine, to enable the crawler belt type miniature ploughing machine
Different road surface hardness is enough adapted to without damaging cutter head.
It is an object of the present invention to provide a kind of control systems of crawler belt type miniature ploughing machine, plough wherein the crawler type is micro-
The control system of machine can compare the road surface hardness number and setting value of running section, consequently facilitating determining the crawler belt type miniature ploughing machine
Driving mode, to improve the convenience of the control system of the crawler belt type miniature ploughing machine.
For up to an above-mentioned at least purpose, the present invention provides a kind of control method of crawler belt type miniature ploughing machine, carried out for controlling one
Driving mode with type miniature ploughing machine, the control method of the crawler belt type miniature ploughing machine the following steps are included:
1001: determining the road surface hardness of a running section；
1002: the driving condition of the crawler belt type miniature ploughing machine is determined by the road surface hardness of the running section；
1003: the driving mode of the crawler belt type miniature ploughing machine is determined by the driving condition of the crawler belt type miniature ploughing machine.
In wherein some embodiments, the step 1001 further comprises step:
10011: determining the landform of the running section；
10012: monitoring the road surface hardness of the running section；
10013: determining the road surface hardness of the running section.
In wherein some embodiments, the step 1002 further comprises step:
10021: obtaining the hardness number of the cutter head of the crawler belt type miniature ploughing machine；
10022: the hardness number and the road surface hardness number on the running section for obtaining the cutter head of the crawler belt type miniature ploughing machine
Between hardness difference X；
10023: if the hardness difference X is higher than one first setting value, the crawler belt type miniature ploughing machine is according to conventional traveling
Mode continues to travel；Conversely, changing the driving mode of the crawler belt type miniature ploughing machine.
In wherein some embodiments, the step 1002 further comprises step:
10021 ': the size of the road surface hardness number of the running section and one second setting value；
10022 ': if the road surface hardness number of the running section is lower than second setting value, the crawler belt type miniature ploughing
Machine continues to travel；Conversely, changing the driving mode of the crawler belt type miniature ploughing machine.
In wherein some embodiments, the step 1003 further comprises step:
10031: exiting normal running mode；
10032: being switched to return sword and driving mode and continue to travel；
10033: the road surface hardness of running section is continued to monitor in the process of moving, if monitoring obtains the road surface of running section
Hardness is lower than the cutter head hardness or first setting value of the crawler belt type miniature ploughing machine, then reverts to normal running mode.
The present invention further provides a kind of control systems of crawler belt type miniature ploughing machine, for controlling the row of a crawler belt type miniature ploughing machine
Method is sailed, the control system of the mini-tiller includes:
Surface hardness determining module all the way, the road surface hardness determining module is by communications setting in the crawler belt type miniature ploughing machine
Control system is so that the control system of the crawler belt type miniature ploughing machine can determine the road surface hardness of running section；
One traveling condition determining module, the driving condition determining module is by communications setting in the crawler belt type miniature ploughing machine
Control system is simultaneously communicated to connect with the road surface hardness determining module with the driving condition of the determination crawler belt type miniature ploughing machine；And
One traveling mode decision module, the driving mode determining module is by communications setting in the crawler belt type miniature ploughing machine
Control system is simultaneously communicated to connect with the driving condition determining module so that the control system of the crawler belt type miniature ploughing machine can be true
The driving mode of the fixed crawler belt type miniature ploughing machine.
In wherein some embodiments, the road surface hardness determining module includes at least surface hardness receiving module all the way, institute
State road surface hardness receiving module by communications setting in the crawler belt type miniature ploughing machine control system so that the crawler belt type miniature ploughing machine
Control system pass through the road surface hardness receiving module receive a running section road surface hardness number.
In wherein some embodiments, the road surface hardness determining module further comprises that at least a running section determines mould
Block, the running section determining module by communications setting in the road surface hardness determining module so that the crawler belt type miniature ploughing machine
Control system the landform of the running section can be determined by the running section determining module.
In wherein some embodiments, the road surface hardness determining module further comprises that at least surface hardness monitors mould all the way
Block, the road surface hardness monitoring modular determine mould by communications setting in the road surface hardness determining module and with the running section
Block communication connection, so that the control system of the crawler belt type miniature ploughing machine detects the traveling by the road surface hardness monitoring modular
The road surface hardness in section.
In wherein some embodiments, the driving condition determining module further comprises that at least a data transfer module,
The data transfer module by communications setting in the driving condition determining module, so that the control system of the crawler belt type miniature ploughing machine
System transfers the hardness number of the cutter head of crawler belt type miniature ploughing machine described in module calls by the data.
In wherein some embodiments, the driving condition determining module further comprises a data computation module, described
Data computation module transfers module communication connection by communications setting in the driving condition determining module and with the data, so that
The crawler belt type miniature ploughing machine by the data computation module obtain the crawler belt type miniature ploughing machine cutter head hardness number with it is described
Hardness difference X between road surface hardness number on running section.
In wherein some embodiments, the driving condition determining module further comprise an at least data setting module and
One data comparison module, the data setting module and the data comparison module are respectively by communications setting in the driving condition
Determining module is simultaneously communicated to connect with the data computation module.
In wherein some embodiments, the driving condition determining module further comprises an at least mode conversion module,
The mode conversion module is communicated to connect by communications setting in the driving condition determining module and with the data comparison module,
So that the control system of the crawler belt type miniature ploughing machine converts the traveling of the crawler belt type miniature ploughing machine by the mode conversion module
Mode.
In wherein some embodiments, the driving mode determining module exits module including at least one, described to exit mould
Block by communications setting in the driving mode determining module so that the control system of the crawler belt type miniature ploughing machine is exited by described
Module exits normal running mode.
Detailed description of the invention
Fig. 1 is the flowage structure signal of the first embodiment of the control method of crawler belt type miniature ploughing machine of the present invention；
Fig. 2 is the stream of the variant embodiment of the first embodiment of the control method of crawler belt type miniature ploughing machine of the present invention
Journey schematic diagram；
Fig. 3 is the modular structure schematic diagram of the first embodiment of the control system of crawler belt type miniature ploughing machine of the present invention；
Fig. 4 is the application of the control method of crawler belt type miniature ploughing machine of the present invention and its first embodiment of control system
Schematic diagram.
Specific embodiment
It is described below for disclosing the present invention so that those skilled in the art can be realized the present invention.It is excellent in being described below
Embodiment is selected to be only used as illustrating, it may occur to persons skilled in the art that other obvious modifications.It defines in the following description
Basic principle of the invention can be applied to other embodiments, deformation scheme, improvement project, equivalent program and do not carry on the back
Other technologies scheme from the spirit and scope of the present invention.
It will be understood by those skilled in the art that in exposure of the invention, term " longitudinal direction ", " transverse direction ", "upper",
The orientation or position of the instructions such as "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outside"
Relationship is to be based on the orientation or positional relationship shown in the drawings, and is merely for convenience of description of the present invention and simplification of the description, rather than
The device or element of indication or suggestion meaning must have a particular orientation, be constructed and operated in a specific orientation, therefore above-mentioned
Term is not considered as limiting the invention.
It is understood that term " one " is interpreted as " at least one " or " one or more ", i.e., in one embodiment,
The quantity of one element can be one, and in a further embodiment, the quantity of the element can be it is multiple, term " one " is no
It can be interpreted as the limitation to quantity.
As shown in Figures 1 to 4, present invention generally provides a kind of control system 12 of crawler belt type miniature ploughing machine 10 and its controlling parties
Method, for controlling the driving mode of a crawler belt type miniature ploughing machine 10, in the first embodiment of the present invention, the crawler belt type miniature ploughing machine
10 control method the following steps are included:
1001: determining the road surface hardness 21 of a running section 20；
1002: the driving condition of the crawler belt type miniature ploughing machine 10 is determined by the road surface hardness 21 of the running section 20；
1003: the traveling mould of the crawler belt type miniature ploughing machine 10 is determined by the driving condition of the crawler belt type miniature ploughing machine 10
Formula.
In the step 1001, the road surface hardness 21 of the running section 20 includes being supervised by the crawler belt type miniature ploughing machine 10
It surveys or is detected by other equipment, for example detected by the other equipment on the running section 20,10 row of crawler belt type miniature ploughing machine
When sailing to the running section 20, as long as receiving the testing result transmitted from other equipment.
In addition, the present invention also includes that the crawler belt type miniature ploughing machine 10 knows the hard of the track by other means
Degree, such as mark on the track etc., as long as by described in 21 value of road surface hardness indicated on the track input
Crawler belt type miniature ploughing machine 10.
In the step 1002, determine that the driving condition of the crawler belt type miniature ploughing machine 10 refers to according to the running section
20 road surface hardness 21 determines whether crawler belt type miniature ploughing machine 10 can continue to travel, if journey is hardened on the road surface of the running section 20
Degree is that the cutter head 11 of the crawler belt type miniature ploughing machine 10 is able to bear, then the crawler belt type miniature ploughing machine 10 continue to continue to use it is current
Driving mode, conversely, if journey is hardened on the road surface of the unbearable running section 20 of the cutter head 11 of the crawler belt type miniature ploughing machine 10
Other factors are spent or had, then change the driving mode of the crawler belt type miniature ploughing machine 10.
The step 1003 is in hardness or the traveling road of the crawler belt type miniature ploughing machine 10 by the track
The difference of the hardness number of the cutter head 11 of the hardness in face and the crawler belt type miniature ploughing machine 10 and determine the crawler belt type miniature ploughing machine 10
Driving mode, because the hardness number of different tracks or different hardness differences can generate different driving mode.
In addition, the traveling module of the crawler belt type miniature ploughing machine 10 includes normal running mode and returns sword driving mode, wherein
Normal running mode is will not be by the traveling mould of pavement damage in the case where the cutter head 11 of the crawler belt type miniature ploughing machine 10 is opened
Formula, driving mode of returning sword refer in the mode downward driving for packing up the cutter head 11 of the crawler belt type miniature ploughing machine 10, due to row of returning sword
The mode of sailing can be related to the change of the mechanical structure of the crawler belt type miniature ploughing machine 10 and the variation of some of the operating parameters, therefore general
In the case of, the crawler belt type miniature ploughing machine 10 is all only to encounter some special statuss, such as road in normal running mode downward driving
In the case where the excessively high cutter head 11 that can injure the crawler belt type miniature ploughing machine 10 of surface hardness 21, it can just be converted to return sword and travel module row
It sails.
In the first embodiment of the present invention, the control method of the crawler belt type miniature ploughing machine 10 is by a crawler belt type miniature ploughing
The control system 12 of machine 10 is completed, and the control system 12 of the crawler belt type miniature ploughing machine 10 is by communications setting in the crawler belt type miniature ploughing
Machine 10, to control the driving mode of the crawler belt type miniature ploughing machine 10.
Correspondingly, in the first embodiment of the present invention, the control system 12 of the crawler belt type miniature ploughing machine 10 includes at least
Surface hardness determining module 121 all the way, the road surface hardness determining module 121 is by communications setting in the crawler belt type miniature ploughing machine 10
Control system 12, so that the control system 12 of the crawler belt type miniature ploughing machine 10 can determine the hardness of the track.Institute
It states in step 1001, the road surface in control system 12 that the crawler belt type miniature ploughing machine 10 passes through the crawler belt type miniature ploughing machine 10
Hardness determining module 121 detects the hardness of the track.
As a kind of deformation of the first embodiment of the present invention, the control system 12 of the crawler belt type miniature ploughing machine 10 includes extremely
Few 21 receiving module of surface hardness all the way, 21 receiving module of road surface hardness is by communications setting in the crawler belt type miniature ploughing machine 10
Control system 12 is so that the control system 12 of the crawler belt type miniature ploughing machine 10 can receive the road surface hardness of the running section 20
21。
The control system 12 of the crawler belt type miniature ploughing machine 10 further comprises at least one traveling condition determining module 122, institute
State driving condition determining module 122 by communications setting in the control system 12 of the crawler belt type miniature ploughing machine 10 and with the road surface it is hard
The communication connection of determining module 121 is spent so that the control system 12 of the crawler belt type miniature ploughing machine 10 can determine the crawler belt type miniature ploughing
The driving condition of machine 10.In the step 1002, the control system 12 of the crawler belt type miniature ploughing machine 10 passes through the traveling shape
Condition determining module 122 determines the actual travel situation of the crawler belt type miniature ploughing machine 10.
The control system 12 of the crawler belt type miniature ploughing machine 10 further comprises at least one traveling mode decision module 123, institute
State driving mode determining module 123 by communications setting in the control system 12 of the crawler belt type miniature ploughing machine 10 and with the data tune
Modulus block 1221 and the road surface hardness monitoring modular 1212 communication connection, so that the control system of the crawler belt type miniature ploughing machine 10
12 can determine the driving mode of the crawler belt type miniature ploughing machine 10.In the step 1003, the crawler belt type miniature ploughing machine 10
Control system 12 determines the driving mode of the crawler belt type miniature ploughing machine 10 by the driving mode determining module 123.
That is, in the control method of crawler belt type miniature ploughing machine 10 of the present invention, the crawler belt type miniature ploughing machine 10
Control system 12 the road surface hardness 21 on the running section 20 is detected by the road surface hardness determining module 121, and lead to
The driving condition that the driving condition determining module 122 determines the crawler belt type miniature ploughing machine 10 is crossed, the traveling mould is then passed through
Formula determining module 123 according to 21 value of road surface hardness of the running section 20 or 21 value of road surface hardness of the running section 20 with
The difference determining module of the hardness number of the cutter head 11 of the crawler belt type miniature ploughing machine 10 determines the traveling of the crawler belt type miniature ploughing machine 10
Mode.
The first embodiment of control method as crawler belt type miniature ploughing machine 10 of the present invention it is further preferred, it is described
Step 1001 further comprises step:
10011: determining the landform of the running section 20；
10012: monitoring the road surface hardness 21 of the running section 20；
10013: determining the road surface hardness 21 of the running section 20.
That is, in the step 10011, the crawler belt type miniature ploughing machine 10 it needs to be determined that its running section 20 ground
Shape because different landform its be also to the driving requirements of the crawler belt type miniature ploughing machine 10 it is different, compared with detect come road
The hardness in face be not yet be right-on, such as on marshland, since to there may be some stones etc. hard for marshland
Object, but have no effect on the crawler belt type miniature ploughing machine 10 in normal running mode downward driving, if not considering landform, once
The control system 12 of the crawler belt type miniature ploughing machine 10 detects the hard objects of this high rigidity of stone, just may require that the crawler belt
Type miniature ploughing machine 10 is converted to driving mode of returning sword and is travelled, and this instruction is clearly wrong instruction, therefore is that it is necessary to tie
The landform for closing different running sections 20 goes to judge the road surface hardenability of running section 20.
The step 10012 refers to, monitors the road on running section 20 again by the landform in conjunction with the running section 20
Surface hardness 21, it is that can be integrated into consider that the monitoring come out in this way, which combines, to improve the control of the crawler belt type miniature ploughing machine 10
The instruction correctness of system 12.
It in the step 10013, determines that the road surface hardness 21 of the running section 20 refers to, is determining the traveling road
The road surface hardness 21 that the running section 20 monitored is considered in the case where 20 landform of section, if the landform and monitoring of running section 20
To road surface hardness 21 have obviously be not inconsistent in the case where, will continue to the road surface hardness 21, Zhi Daojian for monitoring the running section 20
The hardness number to match with 20 landform of running section is measured, determines the hardenability of running section 20 again later.
It should be noted that under the premise of the landform of running section 20 determines, if the landing stiffness repeatedly monitored
It is necessary to considering to control the crawler belt type miniature ploughing machine 10 according to the result that monitors if not all being inconsistent with landform, such as in marshland
Section greatly may be very inside marshland includes a large amount of stone if the result that road surface repeatedly monitors is that hardness is very high
The hard objects such as son, at this time if being additionally considered that is marshland and continues to travel the crawler belt type miniature ploughing machine with normal running mode
10, then the cutter head 11 of the crawler belt type miniature ploughing machine 10 is possible to be damaged.
Correspondingly, the road surface hardness determining module 121 includes an at least running section determining module 1211, the traveling
Section determining module 1211 is by communications setting in the road surface hardness determining module 121 so that the control of the crawler belt type miniature ploughing machine 10
System 12 processed can determine the landform, such as marshland, level land, mountainous region of running section 20 etc. of the crawler belt type miniature ploughing machine 10,
In the step 10011, the control system 12 of the crawler belt type miniature ploughing machine 10 passes through in the road surface hardness determining module 121
The running section determining module 1211 determine the crawler belt type miniature ploughing machine 10 running section 20 landform.
The road surface hardness determining module 121 includes that at least surface hardness monitoring modular 1212, the road surface hardness are supervised all the way
Module 1212 is surveyed to be communicated in the road surface hardness determining module 121 and by communications setting with the running section determining module 1211
Connection is so that the control system 12 of the crawler belt type miniature ploughing machine 10 can monitor the road surface hardness 21 of the running section 20.Institute
It states in step 1002, the control system 12 of the crawler belt type miniature ploughing machine 10 detects institute by the road surface hardness monitoring modular 1212
It states the road surface hardness 21 of running section 20 and institute is determined by the road surface hardness determining module 121 in the step 10013
State the road surface hardness 21 of running section 20.
That is, the control system 12 of the crawler belt type miniature ploughing machine 10 passes through the traveling in the step 1001
Section determining module 1211 determines the landform of the running section 20 of the crawler belt type miniature ploughing machine 10, then passes through the road surface hardness 21
Detection module monitors the road surface hardness 21 on the running section 20, combines finally by the road surface hardness determining module 121
Road surface hardness 21 in the landform of the running section 20 and the running section 20 monitored determines the running section 20
On road surface hardness 21.
Further, the first of the control method of crawler belt type miniature ploughing machine 10 of the present invention and its control system 12
In embodiment, the step 1002 further comprises step:
10021: obtaining the hardness number of the cutter head 11 of the crawler belt type miniature ploughing machine 10；
10022: showing that the hardness of the cutter head 11 of the crawler belt type miniature ploughing machine 10 and the road surface on the running section 20 are hard
The hardness difference X of degree 21；
10023: if the hardness difference X is higher than one first setting value, the crawler belt type miniature ploughing machine 10 is according to current
Driving mode continues to travel；Conversely, changing the driving mode of the crawler belt type miniature ploughing machine 10.
Wherein, in the step 10021, as described above, the hardness number of the cutter head 11 of the crawler belt type miniature ploughing machine 10 is only
It to be transferred from the control system 12 of the crawler belt type miniature ploughing machine 10, different cutter heads 11 has different hardness numbers, phase
The hardness number for the cutter head 11 answered all is recorded by the control system 12 of the crawler belt type miniature ploughing machine 10.
In the step 10022, the hardness of the cutter head 11 of the crawler belt type miniature ploughing machine 10 is obtained, is referred to due to the shoe
Cutter head 11 with type miniature ploughing machine 10 can be replaced, and under different occasions and use demand, that uses is different knife
First 11, and the hardness of different cutter heads 11 also has difference, therefore the crawler belt type miniature ploughing machine 10 needs or current driving shape
11 hardness number of cutter head configured under condition, wherein 11 hardness number of cutter head of the crawler type mini-tiller 10 is determining, different knife
First 11 hardness number is entered in the control system 12 of the crawler belt type miniature ploughing machine 10, when the crawler belt type miniature ploughing machine 10
Control system 12 need these numerical value when, as long as directly transferring.
The crawler belt type miniature ploughing machine 10 needs the landing stiffness and the crawler belt type miniature ploughing machine according to the running section 20
The difference of the hardness of 10 cutter head 11 determines the driving mode of the crawler belt type miniature ploughing machine 10.Because of the crawler belt type miniature ploughing machine
The hardness of 10 cutter head 11 is also very high, as long as so road surface hardness 21 is not too greatly, even if using normal running mode
It is out of question.That is, illustrating the cutter head of the crawler belt type miniature ploughing machine 10 if the hardness difference is greater than certain numerical value
11 hardness is higher than the road surface hardness 21 of the running section 20, would not as long as this hardness difference reaches certain degree
Damage the cutter head 11 of the crawler belt type miniature ploughing machine 10.
In the step 10023, first setting value needs those skilled in the art according to behaviour in service or reality
Situation is set, for example, if it is desired to the cutter head 11 of the crawler belt type miniature ploughing machine 10 is protected as far as possible, then just by the difference of hardness
Value X is set as that numerical value is big, to pull open the hardness number and the running section 20 of the cutter head 11 of the crawler belt type miniature ploughing machine 10
Hardness 21 value in road surface thereby protects the cutter head 11 of the crawler belt type miniature ploughing machine 10.If the cutter head 11 of the crawler belt type miniature ploughing machine 10
It is extra high to belong to hardness, it is not easy to it is impaired, then the first setting of the hardness difference X can be reduced according to situation
Value, reduces the probability for converting the driving mode of the crawler belt type miniature ploughing machine 10 with this.
Correspondingly, the driving condition determining module 122 into one in the control system 12 of the crawler belt type miniature ploughing machine 10
Step includes that an at least data transfer module 1221, and the data are transferred module 1221 and determined by communications setting in the driving condition
Module 122 is so that the control system 12 of the crawler belt type miniature ploughing machine 10 can know the cutter head 11 of the crawler belt type miniature ploughing machine 10
Hardness number.In the step 10021, the control system 12 of the crawler belt type miniature ploughing machine 10 transfers module by the data
1221 obtain the hardness number for the cutter head 11 that the crawler belt type miniature ploughing machine 10 is currently installed on.
The driving condition determining module 122 in the control system 12 of the crawler belt type miniature ploughing machine 10 further comprise to
A few data computation module 1222, the data computation module 1222 is by communications setting in the driving condition determining module 122
So that the control system 12 of the crawler belt type miniature ploughing machine 10 being capable of road surface hardness 21 to the running section 20 and the crawler belt
The hardness difference of the hardness number of the cutter head 11 of type miniature ploughing machine 10 is calculated, in the step 10022, the crawler belt type miniature ploughing
The control system 12 of machine 10 obtains 11 hardness number of cutter head of the crawler belt type miniature ploughing machine 10 by the data computation module 1222
With the difference of 21 value of road surface hardness of the running section 20.
The driving condition determining module 122 in the control system 12 of the crawler belt type miniature ploughing machine 10 further comprise to
A few data setting module 1223, the data setting module 1223 is by communications setting in the driving condition determining module 122
And it communicates to connect with the data computation module 1222 so that the control system 12 of the crawler belt type miniature ploughing machine 10 can set one
First setting value.
Driving condition determining module 122 in the control system 12 of the crawler belt type miniature ploughing machine 10 further comprises at least one
Data comparison module 1224, the data comparison module 1224 by communications setting in the driving condition determining module 122 and with
The communication connection of data setting module 1223 is so that the control system 12 of the crawler belt type miniature ploughing machine 10 can be by the hardness
Difference is compared with the first setting value.
Driving condition determining module 122 in the control system 12 of the crawler belt type miniature ploughing machine 10 further comprises at least one
Mode conversion module 1225, the mode conversion module 1225 by communications setting in the driving condition determining module 122 and with
The communication connection of data comparison module 1224 is so that the control system 12 of the crawler belt type miniature ploughing machine 10 can be according to data ratio
Compared with the driving mode that the result that module 1224 obtains converts the crawler belt type miniature ploughing machine 10.In the step 10023, the shoe
Control system 12 with type miniature ploughing machine 10 sets first setting value by the data setting module 1223, and by described
Data between the hardness difference of data comparison module 1224 and first setting value turn finally by the mode
Mold changing block 1225 converts the driving mode of the crawler belt type miniature ploughing machine 10.
That is, the control system 12 of the crawler belt type miniature ploughing machine 10 passes through the data in the step 1002
The hardness number that module 1221 transfers the cutter head 11 of the crawler belt type miniature ploughing machine 10 is transferred, then passes through the data computation module 1222
Calculate the hardness of 11 hardness number of cutter head of the crawler belt type miniature ploughing machine 10 and 21 value of road surface hardness of the running section 20
Difference compares the hardness difference and the first setting value by being calculated finally by the data comparison module 1224
If desired size changes driving mode, then again by the mode conversion module 1225 to the row of the crawler belt type miniature ploughing machine 10
The mode of sailing is converted.
A kind of deformation of the first embodiment of control method as crawler belt type miniature ploughing machine 10 of the present invention, such as Fig. 2
It is shown, in the step 1002 comprising steps of
10021 ': 21 value of road surface hardness of the running section 20 and the size of one second setting value；
10022 ': if 21 value of road surface hardness of the running section 20 is lower than second setting value, continuing to travel；Instead
It, changes the driving mode of the crawler belt type miniature ploughing machine 10.
In the variant embodiment, the driving mode of the crawler belt type miniature ploughing machine 10 depend on second setting value with
21 value of road surface hardness of the running section 20, and it is unrelated with the hardness of the cutter head 11 of the crawler belt type miniature ploughing machine 10.Change sentence
It talks about, in the variant embodiment, regardless of what 11 type of cutter head and hardness of the crawler belt type miniature ploughing machine 10 be, as long as inspection
21 value of road surface hardness for measuring the running section 20 is higher than fixed second setting value, just changes the crawler belt type miniature ploughing
The driving mode of machine 10.
And the size of second setting value depends in all types of the cutter head 11 of the crawler belt type miniature ploughing machine 10, firmly
Spend the hardness number of the smallest cutter head 11, that is to say, that second setting value is less than the adaptation of the crawler belt type miniature ploughing machine 10
The hardness number of the smallest cutter head 11 of hardness in cutter head 11, so that it is guaranteed that no matter what class the crawler belt type miniature ploughing machine 10 collocation is
The cutter head 11 of type, can not be by the pavement damage of the running section 20.
As a kind of deformation of the invention, those skilled in the art can be to second setting value and first setting
The size of value is adjusted according to the actual situation, if use technical solution identical or approximate with the present invention, solve and
The identical or approximate technical problem of the present invention, and reached technical effect identical or approximate with the present invention, belong to this hair
Within bright protection scope, a specific embodiment of the invention is not limited thereto.
Further, in the first embodiment of the present invention, the step 1003 further comprises step:
10031: exiting normal running mode；
10032: switching new driving mode and continue to travel；
10033: the road surface hardness 21 of running section 20 is continued to monitor in the process of moving, if road surface hardness 21 is higher than described
11 hardness of cutter head or first setting value of crawler belt type miniature ploughing machine 10, then continue to move ahead；Conversely, restoring normal running mode.
Even if the step 1003 refers to that the crawler belt type miniature ploughing machine 10 is switched to driving mode of returning sword, can also run over
The hardness that road surface is monitored in journey, as long as 21 value of road surface hardness of the running section 20 will not damage the crawler belt type miniature ploughing machine 10
Cutter head 11, be restored to often then the control system 12 of the crawler belt type miniature ploughing machine 10 will control the crawler belt type miniature ploughing machine 10
Driving mode is advised, it can be direct in order to the holding of the running parameter of the crawler belt type miniature ploughing machine 10 and after arriving at the destination
Into working procedure.
Correspondingly, the driving mode determining module 123 into one in the control system 12 of the crawler belt type miniature ploughing machine 10
Step exits module 1231 including at least one, described to exit module 1231 by communications setting in the driving mode determining module 123
So that the control system 12 of the crawler belt type miniature ploughing machine 10 can exit normal running mode.It is described in the step 10031
The control system 12 of crawler belt type miniature ploughing machine 10 exits module 1231 described in and exits current normal running mode.
That is, the control system 12 of the crawler belt type miniature ploughing machine 10 is exited by described in the step 1003
Module 1231 exits normal running mode, then by the mode conversion module 1225 is switched to new driving mode and after continuing
It sails, the road surface hardness 21 on running section 20 is monitored by the road surface hardness monitoring modular 1212 in the process of moving, until
Road surface hardness 21 on running section 20 will not damage the cutter head 11 of the crawler belt type miniature ploughing machine 10, the crawler belt type miniature ploughing machine 10
Control system 12 driving mode of the crawler belt type miniature ploughing machine 10 is switched to by routine by the mode conversion module 1225
Driving mode.
It, can be by travelling in the control method and its control system 12 of crawler belt type miniature ploughing machine 10 of the present invention
It monitors the hardness on road surface in the process and protects the cutter head 11 of the crawler belt type miniature ploughing machine 10 without damage, once 21 meeting of road surface hardness
The cutter head 11 of the crawler belt type miniature ploughing machine 10 is damaged, then the control system 12 of the crawler belt type miniature ploughing machine 10 can control institute at once
It states crawler belt type miniature ploughing machine 10 to be travelled into the mode of returning sword, but as long as the road surface hardness 21 of running section 20 will not hurt institute
The cutter head 11 of crawler belt type miniature ploughing machine 10 is stated, the control system 12 of the crawler belt type miniature ploughing machine 10 can control the crawler belt type miniature ploughing machine
10 switch to normal running mode at once, to guarantee the accuracy of the running parameter of the crawler belt type miniature ploughing machine 10, Yi Jibian
It works rapidly after arriving at the destination in the crawler belt type miniature ploughing machine 10, to improve the work of the crawler belt type miniature ploughing machine 10
Make efficiency.
It can thus be seen that the object of the invention can be efficiently accomplished sufficiently.It is used to explain the present invention function and structure principle
The embodiment is absolutely proved and is described, and the present invention is not limited by based on the change on these embodiment basis.
Therefore, the present invention includes all modifications covered within appended claims claimed range and spirit.
Claims (14)
1. a kind of control method of crawler belt type miniature ploughing machine, for controlling the driving mode of a crawler belt type miniature ploughing machine, which is characterized in that
The control method of the crawler belt type miniature ploughing machine the following steps are included:
1001: determining the road surface hardness of a running section；
1002: the driving condition of the crawler belt type miniature ploughing machine is determined by the road surface hardness of the running section；
1003: the driving mode of the crawler belt type miniature ploughing machine is determined by the driving condition of the crawler belt type miniature ploughing machine.
2. the control method of crawler belt type miniature ploughing machine according to claim 1, wherein the step 1001 further comprises step
It is rapid:
10011: determining the landform of the running section；
10012: monitoring the road surface hardness of the running section；
10013: determining the road surface hardness of the running section.
3. the control method of crawler belt type miniature ploughing machine according to claim 2, wherein the step 1002 further comprises step
It is rapid:
10021: obtaining the hardness number of the cutter head of the crawler belt type miniature ploughing machine；
10022: obtaining between the road surface hardness number in the hardness number and the running section of the cutter head of the crawler belt type miniature ploughing machine
Hardness difference X；
10023: if the hardness difference X is higher than one first setting value, the crawler belt type miniature ploughing machine is according to normal running mode
Continue to travel；Conversely, changing the driving mode of the crawler belt type miniature ploughing machine.
4. the control method of crawler belt type miniature ploughing machine according to claim 2, wherein the step 1002 further comprises step
It is rapid:
10021 ': the size of the road surface hardness number of the running section and one second setting value；
10022 ': if the road surface hardness number of the running section be lower than second setting value, the crawler belt type miniature ploughing machine after
It continues and sails；Conversely, changing the driving mode of the crawler belt type miniature ploughing machine.
5. the control method of crawler belt type miniature ploughing machine according to claim 3 or 4, wherein the step 1003 further comprises
Step:
10031: exiting normal running mode；
10032: being switched to return sword and driving mode and continue to travel；
10033: the road surface hardness of running section is continued to monitor in the process of moving, if monitoring obtains the road surface hardness of running section
Lower than the cutter head hardness or first setting value of the crawler belt type miniature ploughing machine, then normal running mode is reverted to.
6. a kind of control system of crawler belt type miniature ploughing machine, for controlling the running method of a crawler belt type miniature ploughing machine, which is characterized in that
The control system of the mini-tiller includes:
Surface hardness determining module all the way, the road surface hardness determining module is by communications setting in the control of the crawler belt type miniature ploughing machine
System is so that the control system of the crawler belt type miniature ploughing machine can determine the road surface hardness of running section；
One traveling condition determining module, the driving condition determining module is by communications setting in the control of the crawler belt type miniature ploughing machine
System is simultaneously communicated to connect with the road surface hardness determining module with the driving condition of the determination crawler belt type miniature ploughing machine；And
One traveling mode decision module, the driving mode determining module is by communications setting in the control of the crawler belt type miniature ploughing machine
System is simultaneously communicated to connect with the driving condition determining module so that the control system of the crawler belt type miniature ploughing machine can determine institute
State the driving mode of crawler belt type miniature ploughing machine.
7. the control system of crawler belt type miniature ploughing machine according to claim 6, wherein the road surface hardness determining module includes
At least surface hardness receiving module all the way, the road surface hardness receiving module is by communications setting in the control of the crawler belt type miniature ploughing machine
System is so that the control system of the crawler belt type miniature ploughing machine receives the road of a running section by the road surface hardness receiving module
Surface hardness value.
8. the control system of crawler belt type miniature ploughing machine according to claim 7, wherein the road surface hardness determining module is into one
Step includes an at least running section determining module, and the running section determining module is determined by communications setting in the road surface hardness
Module, so that the control system of the crawler belt type miniature ploughing machine can determine the traveling road by the running section determining module
The landform of section.
9. the control method of crawler belt type miniature ploughing machine according to claim 8, wherein the road surface hardness determining module is into one
Step includes that at least surface hardness monitoring modular, the road surface hardness monitoring modular are determined by communications setting in the road surface hardness all the way
Module is simultaneously communicated to connect with the running section determining module, so that the control system of the crawler belt type miniature ploughing machine passes through the road
Surface hardness monitoring modular detects the road surface hardness of the running section.
10. the control method of crawler belt type miniature ploughing machine according to claim 9, wherein the driving condition determining module is into one
Step includes that an at least data transfer module, and the data transfer module by communications setting in the driving condition determining module, with
The control system of the crawler belt type miniature ploughing machine is set to transfer the cutter head of crawler belt type miniature ploughing machine described in module calls by the data
Hardness number.
11. the control method of crawler belt type miniature ploughing machine according to claim 10, wherein the driving condition determining module into
One step include a data computation module, the data computation module by communications setting in the driving condition determining module and with institute
It states data and transfers module communication connection, so that the crawler belt type miniature ploughing machine obtains the crawler type by the data computation module
Hardness difference X between road surface hardness number in the hardness number of the cutter head of mini-tiller and the running section.
12. the control method of crawler belt type miniature ploughing machine according to claim 11, wherein the driving condition determining module into
One step includes at least a data setting module and a data comparison module, the data setting module and the data comparison module
It is communicated to connect respectively by communications setting in the driving condition determining module and with the data computation module.
13. the control method of crawler belt type miniature ploughing machine according to claim 12, wherein the driving condition determining module into
One step include an at least mode conversion module, the mode conversion module by communications setting in the driving condition determining module simultaneously
It is communicated to connect with the data comparison module, so that the control system of the crawler belt type miniature ploughing machine passes through the mode conversion module
Convert the driving mode of the crawler belt type miniature ploughing machine.
14. the control method of crawler belt type miniature ploughing machine according to claim 13, wherein the driving mode determining module packet
It includes at least one and exits module, it is described to exit module by communications setting in the driving mode determining module, so that the crawler type
The control system of mini-tiller exits module described in and exits normal running mode.
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| CN201910280365.7A CN110226369A (en) | 2019-04-09 | 2019-04-09 | The control method and its control system of crawler belt type miniature ploughing machine |
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| CN201910280365.7A CN110226369A (en) | 2019-04-09 | 2019-04-09 | The control method and its control system of crawler belt type miniature ploughing machine |
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| JPH0837808A (en) * | 1994-08-03 | 1996-02-13 | Kubota Corp | Paddy working machine |
| CN103004305A (en) * | 2012-12-24 | 2013-04-03 | 邯郸市远华机械制造有限公司 | Deep ploughing rotary plow |
| US20140048295A1 (en) * | 2012-08-20 | 2014-02-20 | Dawn Equipment Company | Agricultural Apparatus For Sensing And Providing Feedback Of Soil Property Changes In Real Time |
| CN107077792A (en) * | 2014-11-18 | 2017-08-18 | 日立汽车系统株式会社 | Drive-control system |
| CN109168337A (en) * | 2018-09-18 | 2019-01-11 | 通海达森工贸有限公司 | The mini-tiller and control method needed applied to different soil and different work |
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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0837808A (en) * | 1994-08-03 | 1996-02-13 | Kubota Corp | Paddy working machine |
| US20140048295A1 (en) * | 2012-08-20 | 2014-02-20 | Dawn Equipment Company | Agricultural Apparatus For Sensing And Providing Feedback Of Soil Property Changes In Real Time |
| CN103004305A (en) * | 2012-12-24 | 2013-04-03 | 邯郸市远华机械制造有限公司 | Deep ploughing rotary plow |
| CN107077792A (en) * | 2014-11-18 | 2017-08-18 | 日立汽车系统株式会社 | Drive-control system |
| CN109168337A (en) * | 2018-09-18 | 2019-01-11 | 通海达森工贸有限公司 | The mini-tiller and control method needed applied to different soil and different work |
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Application publication date: 20190913 |