Satellite paddy field land leveler with automatic leveling shovel blade mechanism

Abstract

The invention provides a satellite paddy field land leveler with an automatic leveling shovel blade mechanism, which comprises a paddy field traction locomotive, a leveling control box, a connecting rack assembly, a main control adjusting hydraulic machine, a ground breaking wheel assembly, a connecting hanger plate, a leveling shovel blade assembly, paddy field traveling wheels and a satellite positioning control system, the leveling control box is in bolted connection with the interior of a cab of the paddy field traction locomotive and is electrically connected with a control system of the paddy field traction locomotive; the connecting machine frame assembly is connected to the rear portion of the paddy field traction engine through a shaft. The positioning precision is improved through Beidou satellite positioning, multi-sensor fusion and hydraulic servo control are adopted, the flat ground error is small and is far better than that of traditional equipment, local water accumulation or drought of a paddy field is effectively avoided, and the rice transplanting quality and yield are improved; in the automatic leveling mode, a driver does not need to manually adjust the scraper knife, leveling can be automatically completed only by setting operation parameters, and the operation efficiency is improved.

Description

Technical Field

[0001] This invention belongs to the field of agricultural machinery technology, and in particular relates to a satellite paddy field leveler with an automatic leveling blade mechanism. Background Technology

[0002] The flatness of paddy fields is a key factor affecting rice growth, water-saving irrigation, fertilizer utilization, and final yield. Traditional paddy field leveling mainly relies on manual labor or experienced drivers operating machinery, resulting in low leveling accuracy, poor efficiency, and difficulty in achieving high-standard leveling over large areas.

[0003] Existing technologies include laser-based paddy field graders. These graders establish a plane reference using a laser emitter, and a laser receiver on the grader controls the hydraulic system to automatically raise and lower the blade. However, laser grader systems have significant drawbacks: their effective working distance is limited (typically a few hundred meters), the signal is easily blocked, making them unsuitable for large-scale field operations; and the laser emitter requires manual setup and calibration, increasing operational complexity and time costs.

[0004] With the development of satellite navigation technology, especially the widespread adoption of high-precision GNSS (Global Navigation Satellite System, such as BeiDou and GPS) technology, new solutions have been provided for the precise control of agricultural machinery. Applying satellite positioning technology to graders can overcome the distance and line-of-sight limitations of laser technology, enabling borderless precision operations. However, existing paddy field graders still suffer from the problem of being inconvenient to disassemble and clean.

[0005] Existing leveling mechanisms mostly use a single sensor for detection, such as relying solely on angle sensors or distance sensors, which have blind spots: angle sensors cannot identify local protrusions on the field surface, and distance sensors are easily obscured by mud and water, leading to data distortion, resulting in delayed leveling response and insufficient accuracy.

[0006] Therefore, it is essential to invent a satellite paddy field leveler with an automatic leveling blade mechanism. Summary of the Invention

[0007] To address the aforementioned technical problems, this invention provides a satellite-based paddy field grader with an automatic leveling blade mechanism. This allows existing paddy field graders to improve their efficiency in paddy fields through automatic leveling via BeiDou satellite positioning. The satellite-based paddy field grader with an automatic leveling blade mechanism includes a paddy field traction vehicle, a leveling control box, a connecting frame assembly, a main control adjusting hydraulic press, a soil-breaking wheel assembly, a connecting platform, a leveling blade assembly, paddy field wheels, and a satellite positioning control system. The leveling control box is bolted to the cab of the paddy field traction vehicle and electrically connected to its control system. The connecting frame assembly is axled to the rear of the paddy field traction vehicle. The main control adjusting hydraulic press is connected to both the connecting frame assembly and the soil-breaking wheel assembly. The soil-breaking wheel assembly is bolted to the middle of the connecting frame assembly. The connecting platform is bolted to the left side of the connecting frame assembly. The leveling blade assembly is bolted to the lower part of the connecting platform. The paddy field wheels are axled to the front and rear sides of the paddy field traction vehicle. The satellite positioning control system is independently configured. The leveling blade assembly includes a shovel guard plate, a main shovel plate, a connecting corrugated strip, a self-adjusting hydraulic rod, and a buffer auxiliary spring. The connecting corrugated strip is bolted between the shovel guard plate and the main shovel plate, with the shovel guard plate located on the upper part of the main shovel plate. The self-adjusting hydraulic rod is axially connected to the upper middle position of the main shovel plate. The buffer auxiliary spring is bolted to the lower upper side of the shovel guard plate.

[0008] Preferably, position sensors are screwed to the left and right sides of the front of the main shovel plate, an extension scraper is movably inserted into the inside of the main shovel plate, and connecting protrusions are welded to the left and right sides of the front of the main shovel plate; an extension hydraulic rod is bolted to the outside of the connecting protrusions; the output of the extension hydraulic rod is bolted to the extension scraper.

[0009] Preferably, two self-adjusting hydraulic rods and two buffer auxiliary springs are respectively arranged symmetrically; the self-adjusting hydraulic rods and two buffer auxiliary springs are respectively bolted to the lower part of the connecting hanging plate.

[0010] Preferably, the leveling control box includes a control box body, a touch screen all-in-one unit, a mechanical keyboard, and an adjusting arm rod. The touch screen all-in-one unit is screwed to the upper middle position of the front part of the control box body; the mechanical keyboard is screwed to the lower right side of the front part of the control box body; and the adjusting arm rod is bolted to the lower left side of the front part of the control box body.

[0011] Preferably, the connecting frame assembly includes a front frame body, a connecting ring, a swing frame body, a rear frame body, and a fixing ring. The connecting ring is welded to the right side of the front frame body; the swing frame body is axially connected to the left side of the front frame body; the rear frame body is welded to the left side of the front frame body; and the fixing ring is axially connected to the left side of the swing frame body.

[0012] Preferably, the soil-breaking wheel assembly includes a main baffle, side baffles, a position sensor, a soil-loosening rake shaft, and soil-loosening rake teeth. The side baffles are bolted to the front and rear sides of the main baffle, respectively. The position sensor is screwed to the upper right side of the inner side of the main baffle. The soil-loosening rake shaft is embedded in the lower inner side of the main baffle. The soil-loosening rake teeth are sleeved on the outside of the soil-loosening rake shaft and fixed with bolts.

[0013] Preferably, the satellite positioning and control system specifically adopts the BeiDou satellite navigation system.

[0014] Preferably, the upper part of the paddy field traction locomotive is bolted with a Beidou satellite navigation system receiving antenna to provide locomotive attitude and position reference.

[0015] Preferably, the touch screen all-in-one machine has an embedded industrial-grade controller (such as a PLC or a dedicated agricultural machinery controller) with a built-in automatic leveling control algorithm. Its core functions include: Data fusion processing: Receive the body attitude data from the satellite positioning system, the blade status from the multi-sensor detection group, and the field surface data. Use the Kalman filter algorithm to remove interference data and obtain accurate information on field surface elevation difference and blade deviation. Leveling command generation: Based on the preset leveling accuracy (e.g., ±1cm), calculate the angle, height, and deflection of the blade that need to be adjusted, and send the drive command to the hydraulic control system; Manual / Automatic Switching: Supports manual mode (operator adjusts blade via lever) and automatic mode (fully controlled by controller) to meet the needs of different operating scenarios; Data storage and uploading: Records work trajectory, leveling accuracy, and equipment status data, which can be uploaded to the cloud platform via 4G / 5G modules to achieve work quality traceability.

[0016] Preferably, the shovel plate guard plate is bolted to the lower left side of the rear frame.

[0017] Preferably, the main baffle and the side baffle are respectively axially connected to the connecting hanging plate; a drive chain is provided inside the side baffle.

[0018] Preferably, the main control regulating hydraulic press is bolted and fixed inside the fixing ring.

[0019] Preferably, the main control regulating hydraulic press and the self-adjusting hydraulic rod include a hydraulic pump, an oil tank, a filter and a pressure sensor. The hydraulic pump is driven by a power system to provide high-pressure oil to the leveling cylinder. The pressure sensor monitors the cylinder pressure in real time. When the pressure exceeds a set threshold (such as when encountering a hard object), the cylinder pressure is automatically reduced to achieve overload protection.

[0020] Compared with the prior art, the beneficial effects of the present invention are as follows: 1. High Precision and High Efficiency: Utilizing high-precision positioning technology, the leveling accuracy can reach the centimeter level, far exceeding manual operation and comparable to or even better than traditional laser levelers. Furthermore, it is not limited by operating distance or line of sight, making it particularly suitable for large-scale paddy field operations covering hundreds to thousands of acres, significantly improving operational efficiency.

[0021] 2. Fully automated and intelligent: The entire leveling process requires no manual intervention in the blade posture. The system automatically senses, decides, and executes, reducing reliance on the driver's operating skills and achieving "foolproof" operation. Labor intensity is significantly reduced. In automatic leveling mode, the driver does not need to manually adjust the blade. The leveling can be completed automatically by simply setting the operating parameters, increasing work efficiency by 30%-50% (e.g., a 3m wide blade can work 1.5-2 acres per hour, while traditional equipment can only work 1-1.2 acres), while reducing the driver's labor intensity.

[0022] 3. Strong terrain adaptability: By monitoring the height difference between the two ends of the blade in real time, the control system can respond instantly to changes in terrain and quickly adjust the blade posture to effectively cope with irregular settlement caused by the soft bottom of paddy fields and ensure uniform leveling quality.

[0023] 4. Cost-effectiveness advantage: With the improvement of satellite positioning infrastructure (such as BeiDou augmentation network), the overall cost of using satellite levelers is gradually decreasing, avoiding the trouble of additional base station construction and maintenance required by laser systems, and the long-term economic benefits are better.

[0024] 5. Improve overall agricultural benefits: High-precision leveling helps reduce differences in water depth in the field, promotes balanced rice growth, improves fertilizer and pesticide utilization, saves irrigation water (more than 20% water saving), and ultimately increases rice production and income. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the structure of the present invention.

[0026] Figure 2 This is a schematic diagram of the leveling control box of the present invention.

[0027] Figure 3 This is a structural schematic diagram of the connecting frame assembly of the present invention.

[0028] Figure 4 This is a schematic diagram of the structure of the soil-breaking wheel assembly of the present invention.

[0029] Figure 5 This is a schematic diagram of the structure of the leveling blade assembly of the present invention.

[0030] Figure 6 This is a top view of the main shovel plate of the present invention.

[0031] In the picture: 1. Paddy field tractor; 2. Leveling control box; 21. Control box body; 22. Touch screen all-in-one machine; 23. Mechanical keyboard; 24. Adjusting arm; 3. Connecting frame assembly; 31. Front frame body; 32. Connecting ring; 33. Swing frame body; 34. Rear frame body; 35. Fixing ring; 4. Main control regulating hydraulic press; 5. Soil-breaking wheel assembly; 51. Main baffle; 52. Side baffle; 53. Position sensor one; 54. Loosening rake shaft; 55. Loosening rake teeth; 6. Connecting hanging plate; 7. Leveling shovel assembly; 71. Soil-shoveling plate guard plate; 72. Main soil-shoveling plate; 721. Position sensor two; 722. Extension scraper; 723. Extension hydraulic rod; 724. Connecting convex plate; 73. Connecting corrugated strip; 74. Self-adjusting hydraulic rod; 75. Buffer auxiliary spring; 8. Paddy field walking wheels. Detailed Implementation

[0032] The present invention will be further described below with reference to the accompanying drawings: Example: As attached Figure 1 To be continued Figure 2 As shown, this invention provides a satellite paddy field grader with an automatic leveling blade mechanism, comprising a paddy field traction locomotive 1, a leveling control box 2, a connecting frame assembly 3, a main control adjusting hydraulic press 4, a soil-breaking wheel assembly 5, a connecting hanging plate 6, a leveling blade assembly 7, paddy field wheels 8, and a satellite positioning control system. The leveling control box 2 is bolted to the cab of the paddy field traction locomotive 1 and electrically connected to its control system. The connecting frame assembly 3 is axled to the rear of the paddy field traction locomotive 1. The main control adjusting hydraulic press 4 is connected to both the connecting frame assembly 3 and the soil-breaking wheel assembly 5. The soil-breaking wheel assembly 5 is bolted to the middle of the connecting frame assembly 3. The connecting hanging plate 6 is bolted to the left side of the connecting frame assembly 3. The leveling blade assembly 7 is bolted to the lower part of the connecting hanging plate 6. The paddy field wheels 8 are axled to the front and rear sides of the paddy field traction locomotive 1. The satellite positioning control system is independently configured. The leveling blade assembly 7 includes a shovel guard plate 71, a main shovel plate 72, a connecting corrugated strip 73, a self-adjusting hydraulic rod 74, and a buffer auxiliary spring 75. The connecting corrugated strip 73 is bolted between the shovel guard plate 71 and the main shovel plate 72, and the shovel guard plate 71 is located on the upper part of the main shovel plate 72. The self-adjusting hydraulic rod 74 is axially connected to the upper middle position of the main shovel plate 72. The buffer auxiliary spring 75 is bolted to the lower upper side of the shovel guard plate 71.

[0033] In the above implementation scheme, specifically, position sensors 721 are screwed to the left and right sides of the front part of the main shovel plate 72, an extension scraper 722 is movably inserted into the inside of the main shovel plate 72, and connecting protrusions 724 are welded to the left and right sides of the front part of the main shovel plate 72; an extension hydraulic rod 723 is bolted to the outside of the connecting protrusion 724; the output of the extension hydraulic rod 723 is bolted to the extension scraper 722.

[0034] In the above implementation scheme, specifically, two self-adjusting hydraulic rods 74 and two buffer auxiliary springs 75 are respectively arranged symmetrically; the self-adjusting hydraulic rods 74 and two buffer auxiliary springs 75 are respectively bolted to the lower part of the connecting hanging plate 6.

[0035] In the above implementation scheme, specifically, the leveling control box 2 includes a control box body 21, a touch screen integrated machine 22, a mechanical keyboard 23, and an adjusting arm 24. The touch screen integrated machine 22 is screwed to the upper middle position of the front part of the control box body 21; the mechanical keyboard 23 is screwed to the lower right side of the front part of the control box body 21; and the adjusting arm 24 is bolted to the lower left side of the front part of the control box body 21.

[0036] In the above implementation scheme, specifically, the connecting frame assembly 3 includes a front frame body 31, a connecting ring 32, a swing frame body 33, a rear frame body 34, and a fixing ring 35. The connecting ring 32 is welded to the right side of the front frame body 31; the swing frame body 33 is axially connected to the left side of the front frame body 31; the rear frame body 34 is welded to the left side of the front frame body 31; and the fixing ring 35 is axially connected to the left side of the swing frame body 33.

[0037] In the above implementation scheme, specifically, the soil-breaking wheel assembly 5 includes a main baffle 51, side baffles 52, a position sensor 53, a soil-loosening rake shaft 54, and soil-loosening rake teeth 55. The side baffles 52 are bolted to the front and rear sides of the main baffle 51, respectively; the position sensor 53 is screwed to the upper right side of the inner side of the main baffle 51; the soil-loosening rake shaft 54 ​​is embedded in the lower inner side of the main baffle 51; and the soil-loosening rake teeth 55 are sleeved on the outside of the soil-loosening rake shaft 54 ​​and fixed with bolts.

[0038] In the above implementation scheme, specifically, the satellite positioning and control system adopts the BeiDou satellite navigation system.

[0039] In the above implementation scheme, specifically, the upper part of the paddy field tractor 1 is bolted with a Beidou satellite navigation system receiving antenna to provide locomotive attitude and position reference.

[0040] In the above implementation scheme, specifically, the touch screen all-in-one machine 22 has an embedded industrial-grade controller (such as a PLC or a dedicated agricultural machinery controller) with a built-in automatic leveling control algorithm. Its core functions include: Data fusion processing: Receive the body attitude data from the satellite positioning system, the blade status from the multi-sensor detection group, and the field surface data. Use the Kalman filter algorithm to remove interference data and obtain accurate information on field surface elevation difference and blade deviation. Leveling command generation: Based on the preset leveling accuracy (e.g., ±1cm), calculate the angle, height, and deflection of the blade that need to be adjusted, and send the drive command to the hydraulic control system; Manual / Automatic Switching: Supports manual mode (operator adjusts blade via lever) and automatic mode (fully controlled by controller) to meet the needs of different operating scenarios; Data storage and uploading: Records work trajectory, leveling accuracy, and equipment status data, which can be uploaded to the cloud platform via 4G / 5G modules to achieve work quality traceability.

[0041] In the above implementation scheme, specifically, the shovel plate guard plate 71 is bolted to the lower left side of the rear frame 34.

[0042] In the above implementation scheme, specifically, the main baffle 51 and the side baffle 52 are respectively axially connected to the connecting hanging plate 6; a drive chain is provided inside the side baffle 52.

[0043] In the above implementation scheme, specifically, the main control regulating hydraulic press 4 is bolted and fixed inside the fixing ring 35.

[0044] In the above implementation scheme, specifically, the main control regulating hydraulic press 4 and the self-adjusting hydraulic rod 74 include a hydraulic pump, an oil tank, a filter and a pressure sensor. The hydraulic pump is driven by the power system to provide high-pressure oil to the leveling cylinder. The pressure sensor monitors the cylinder pressure in real time. When the pressure exceeds the set threshold (such as when encountering a hard object), the cylinder pressure is automatically reduced to achieve overload protection.

[0045] The working process of this invention is as follows: Preparation before operation: The driver sets the target elevation of the flat ground (refer to the average elevation of the field) and the accuracy requirements (such as ±1cm) through the integrated touch screen 22 in the cab. The satellite positioning system completes the initialization and obtains the field boundary coordinates and initial elevation data. Automatic operation start-up: The machine travels along the satellite-planned path, and the multi-sensor detection group collects the status of the main shovel blade 72 (horizontal angle, height) and field surface data (distance, hardness) in real time. The satellite positioning system transmits the machine's attitude data synchronously. After the operation is completed, the controller generates a leveling accuracy report (displaying the elevation error of each area of ​​the field), and the data is uploaded to the cloud. The driver can view the operation quality through the display screen.

[0046] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0047] Finally, it should be noted that the above descriptions are merely preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A satellite paddy field leveler with an automatic leveling blade mechanism, characterized by, The satellite paddy field land leveler of the automatic leveling spade mechanism comprises a paddy field tractor (1), a leveling control box (2), a connecting frame assembly (3), a main control adjusting hydraulic machine (4), a soil breaking wheel assembly (5), a connecting hanging plate (6), a leveling spade assembly (7), a paddy field walking wheel (8) and a satellite positioning control system, the leveling control box (2) is bolted in the cab of the paddy field tractor (1) and is electrically connected with the control system thereof, the connecting frame assembly (3) is axially connected to the rear of the paddy field tractor (1), the main control adjusting hydraulic machine (4) is connected with the connecting frame assembly (3) and the soil breaking wheel assembly (5) respectively, the soil breaking wheel assembly (5) is bolted in the middle of the connecting frame assembly (3), the connecting hanging plate (6) is bolted to the left side of the connecting frame assembly (3), the leveling spade assembly (7) is bolted to the lower part of the connecting hanging plate (6), the paddy field walking wheel (8) is axially connected to the front and rear sides of the paddy field tractor (1), and the satellite positioning control system is independently arranged. The leveling spade assembly (7) comprises a soil scraping plate guard (71), a main soil scraping plate (72), a connecting corrugated strip (73), a self-adjusting hydraulic rod (74) and a buffer auxiliary spring (75), the connecting corrugated strip (73) is bolted between the soil scraping plate guard (71) and the main soil scraping plate (72) and the soil scraping plate guard (71) is located at the upper part of the main soil scraping plate (72), the self-adjusting hydraulic rod (74) is axially connected to the middle position of the upper part of the main soil scraping plate (72), and the buffer auxiliary spring (75) is bolted to the lower side position of the upper part of the soil scraping plate guard (71).

2. The self-leveling blade mechanism satellite paddy field leveler according to claim 1, characterized by, The front left and right sides of the main soil scraping plate (72) are respectively screw-connected with position sensors (721), the inside of the main soil scraping plate (72) is movably inserted with an extension scraper (722), and the front left and right sides of the main soil scraping plate (72) are welded with connecting convex plates (724); the outer sides of the connecting convex plates (724) are bolted with extension hydraulic rods (723); and the output of the extension hydraulic rod (723) is bolted with the extension scraper (722).

3. The self-leveling blade mechanism satellite paddy field leveler according to claim 1, characterized by, The self-adjusting hydraulic rod (74) and the buffer auxiliary spring (75) are respectively provided with two symmetrical structures, and are respectively bolted to the lower part of the connecting hanging plate (6).

4. The self-leveling blade mechanism satellite paddy field leveler according to claim 1, characterized by, The leveling control box (2) comprises a control box main body (21), a touch display screen all-in-one machine (22), a mechanical keyboard (23) and an adjusting arm rod (24), the touch display screen all-in-one machine (22) is screw-connected to the front upper middle position of the control box main body (21), the mechanical keyboard (23) is screw-connected to the front lower left side of the control box main body (21), and the adjusting arm rod (24) is bolted to the front lower left side of the control box main body (21).

5. The self-leveling blade mechanism satellite paddy field leveler according to claim 1, characterized by, The connecting frame assembly (3) comprises a front frame body (31), a connecting ring (32), a swing frame body (33), a rear frame body (34) and a fixing ring (35), the connecting ring (32) is welded on the right side of the front frame body (31), the swing frame body (33) is connected on the left side of the front frame body (31), the rear frame body (34) is welded on the left side of the front frame body (31), and the fixing ring (35) is connected on the left side of the swing frame body (33).

6. The self-leveling blade mechanism satellite paddy field leveler according to claim 1, wherein The soil breaking wheel assembly (5) comprises a main baffle (51), side baffles (52), a position sensor (53), a soil loosening rake shaft (54) and soil loosening rake teeth (55), the side baffles (52) are bolted on the front and rear sides of the main baffle (51) respectively, the position sensor (53) is screw-connected on the right upper side of the inner side of the main baffle (51), the soil loosening rake shaft (54) is embedded in the lower inner side of the main baffle (51), and the soil loosening rake teeth (55) are sleeved on the outer side of the soil loosening rake shaft (54) and are fixed by bolts.

7. The self-leveling blade mechanism satellite paddy field leveler according to claim 1, characterized by The satellite positioning control system specifically adopts the Beidou satellite navigation system, the upper part of the paddy field tractor (1) is bolted with a Beidou satellite navigation positioning system receiving antenna for providing a vehicle attitude and position reference.

8. The self-leveling blade mechanism satellite paddy field leveler according to claim 1, characterized by, The main control adjusting hydraulic machine (4) and the self-adjusting hydraulic rod (74) comprise a hydraulic pump, an oil tank, a filter and a pressure sensor, and the hydraulic pump is driven by a power system.

9. The self-leveling blade mechanism satellite paddy field leveler according to claim 6, characterized by The main baffle (51) and the side baffles (52) are respectively connected with the connecting hanging plate (6), and the side baffles (52) are provided with driving chains.

10. The self-leveling blade mechanism satellite paddy field leveler according to claim 4, characterized by The touch display screen all-in-one machine (22) is internally embedded with an industrial-grade controller (such as a PLC or a special agricultural machine controller), and is internally provided with an automatic leveling control algorithm.

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