Fusion-control electrically-driven paddy field precise land leveler and land leveling fusion control method

Abstract

The invention discloses a fusion control electric-driven paddy field precise land leveler and a land leveling fusion control method. The electric-driven paddy field precise land leveler comprises a power chassis, a rack, an elevation electric-driven adjusting mechanism, a profiling adjusting mechanism, a land leveling mechanism, a horizontal adjusting mechanism, a control system and a sensing system. The power chassis of the rice transplanter comprises a mechanical hydraulic locking valve, a hydraulic oil cylinder, a lifting mechanism and a pull rope mechanism, the profiling adjusting mechanism is arranged in front of the land leveling mechanism, the elevation electric drive adjusting mechanism is connected with the pull rope mechanism, the pull rope mechanism controls the opening degree of a mechanical hydraulic locking valve, controls a hydraulic oil cylinder to stretch out and draw back and controls a rack to ascend and descend, and the rack drives the land leveling mechanism to ascend and descend. The sensing system measures the elevation amount of the land leveling mechanism, and the control system regulates and controls the elevation electric drive adjusting mechanism according to the elevation amount to control the rack and the land leveling mechanism to ascend and descend; when the profiling adjusting mechanism judges that the soil moving amount is insufficient in the land leveling operation process, the control system directly controls the land leveling mechanism to descend. The paddy field leveling device improves the paddy field leveling operation quality and efficiency and belongs to the technical field of paddy field leveling.

Description

Technical Field

[0001] The present invention relates to paddy field leveling technology, and in particular to a fusion-controlled electric-driven paddy field precision leveler and a fusion-controlled leveling method. Background Art

[0002] Precision farmland leveling can effectively improve land utilization, weed control efficiency, crop maturity uniformity, and crop yield, while also reducing water use and fertilizer and pesticide application in rice production. Farmland leveling can be performed in two ways: dry paddy field leveling and horizontal paddy field leveling. Due to climate characteristics and the need to maximize crop yields during multi-season rice production, paddy field leveling is an integral part of the rice production process.

[0003] Currently, paddy field levelers, used in conjunction with rice transplanters, utilize hydraulic components to drive the leveling components, enabling paddy field leveling. However, this approach presents numerous challenges. First, the leveler is tightly bound to the transplanter chassis, making it difficult to disassemble and flexibly switching between transplanting and leveling operations. This limits the multi-functionality of the machine and impacts the efficiency of the farming process. Second, the hydraulic components are expensive to purchase, and their installation significantly increases the weight of the machine, making it more difficult to control the leveler's motion.

[0004] More importantly, the existing land leveling control method mainly uses the "digging high and filling low" method to solve the problem of uneven fields. However, when the amount of excavation is insufficient or no excavation is done, it is difficult to eliminate the wheel ruts left by the power machinery, which affects the flatness of the field surface.

[0005] Therefore, the existing technology has technical difficulties such as low elevation control accuracy and poor terrain adaptability in traditional paddy field flat land operations. Summary of the Invention

[0006] In response to the technical problems existing in the prior art, the purpose of the present invention is to provide an electric-driven paddy field precision grader with integrated control and a leveling integrated control method, which significantly improves the quality and efficiency of paddy field leveling operations through the integrated control of electric-driven precision regulation and contour feedback.

[0007] In order to achieve the above object, the present invention adopts the following technical solutions:

[0008] An electric-driven precision land leveler for paddy fields with integrated control, including a power chassis, a frame, an electric height adjustment mechanism, a contour adjustment mechanism, a land leveling mechanism, a leveling mechanism, a control system, and a sensing system; the power chassis is a rice transplanter power chassis, including a mechanical hydraulic locking valve, a hydraulic oil cylinder, a lifting mechanism, and a pull rope mechanism; the land leveling mechanism is connected to the frame in a left-right swinging manner, and is leveled left-right by a horizontal adjustment mechanism; the contour adjustment mechanism is arranged in front of the land leveling mechanism to judge the amount of soil moved during the leveling operation; the electric height adjustment mechanism is used to adjust the height of the land leveling mechanism, and the control system is used to adjust the height of the land leveling mechanism. The drive adjustment mechanism is set on the frame, and the elevation electric drive adjustment mechanism is connected to the rope-pulling mechanism. The rope-pulling mechanism controls the opening of the mechanical hydraulic locking valve, and the mechanical hydraulic locking valve controls the extension and contraction of the hydraulic cylinder. The hydraulic cylinder controls the lifting and lowering of the frame through the lifting mechanism, and the frame drives the leveling mechanism to lift and lower. The sensing system measures the elevation of the leveling mechanism, and the control system adjusts the elevation electric drive adjustment mechanism according to the elevation to control the lifting and lowering of the frame and the leveling mechanism. When the contouring adjustment mechanism determines that the amount of soil moved during the leveling operation is insufficient, the control system directly controls the leveling mechanism to descend.

[0009] As a preferred embodiment, the elevation electric drive adjustment mechanism includes an electric push rod, a multi-porous lever, a push rod base, and a rope mechanism mounting seat. The rope mechanism mounting seat and the push rod base are fixed to the frame, and one end of the rope mechanism is mounted on the rope mechanism mounting seat; one end of the electric push rod is rotatably connected to the push rod base, and the other end of the electric push rod is rotatably connected to one end of the multi-porous lever. The middle part of the multi-porous lever is rotatably connected to the rope mechanism mounting seat through a pin shaft, and the other section of the multi-porous lever is provided with a plurality of connecting holes, and the steel rope of the rope mechanism is connected to one of the connecting holes.

[0010] As a preferred embodiment, the multi-hole lever is used to expand the extension and retraction range of the mechanical hydraulic locking valve piston, and is adapted to various models of power chassis through multiple connection holes.

[0011] As a preferred embodiment, the electric push rod has a potential feedback function to measure the telescopic length of the electric push rod, calibrate the relationship between the telescopic length and the rising, falling, and stopping states of the leveling mechanism, and judge the rising, falling, and stopping states of the leveling mechanism.

[0012] As a preferred embodiment, the contouring adjustment mechanism includes a contouring float, an angle detection device, a buffer device, and a connecting piece; the contouring float is located in the middle of the front side of the leveling mechanism, and the rear end of the contouring float is connected to the front end of the leveling mechanism in an up and down swinging manner through a connecting piece. The angle detection device is fixed to the upper end of the contouring float, and detects the rotation angle of the contouring float relative to the leveling mechanism in real time, and feeds back to the control system; the buffer device for buffering vibration is fixed to the upper end of the contouring float.

[0013] As a preferred embodiment, the upper end of the contoured floating plate is a plane, the lower end is a convex structure, and the front side of the convex structure is a curved structure for sliding along the field surface.

[0014] As a preferred embodiment, the leveling mechanism includes a main shovel, two auxiliary shovels, and a floating drag plate. The two auxiliary shovels are located on the left and right sides of the main shovel, and the floating drag plate is located behind the main shovel. The auxiliary shovel includes a main body and a side plate part perpendicular to the end of the main body. The upper end of the main body is slidably connected to the upper end of the main shovel, so that the main body and the main shovel form a telescopic structure for adjusting the width of the leveling.

[0015] As a preferred embodiment, the control system is a display and control terminal.

[0016] As a preferred embodiment, the sensing system is used to measure the real-time height and inclination information of the leveling mechanism, and the sensing system includes a GNSS antenna installed above the frame.

[0017] A land leveling fusion control method employs a fusion-controlled electric-driven precision paddy field leveler. The fusion control includes a baseline control mode based on elevation perception and a field surface contour control mode. The two modes are automatically switched to achieve intelligent and precise leveling operations. The steps include:

[0018] (1) According to the feedback value of the potentiometer, the relationship between the electric push rod stroke range and the lifting, lowering, and stopping states of the leveling mechanism is calibrated, and the electric push rod stroke ranges for the lifting, lowering, and stopping of the leveling mechanism are determined, namely, the lifting range, the lowering range, and the stopping range;

[0019] (2) Calibrate the angle between the contour float and the horizontal plane as the threshold value, and define the contour float swinging upward as a positive value and the contour float swinging downward as a negative value;

[0020] (3) Set the base height for leveling operations based on the terrain height of the field;

[0021] (4) Measure the real-time height of the leveling mechanism through the sensing system;

[0022] (5) collecting the angle change of the contour float as the terrain changes between the working areas through the angle detection device, and transmitting the collected angle information to the control system;

[0023] (6) calculating the real-time height difference of the leveling mechanism based on the real-time height information of the leveling mechanism measured in step (4) and the reference height information set in step (3);

[0024] (7) The control system determines the earthwork transported by the leveling mechanism based on the angle information of the contoured float. When the angle is positive, the earthwork is being transported, and the larger the angle, the greater the transported amount. When the angle is negative, the earthwork has been unloaded at a low point, and the larger the angle, the more the field surface is below the leveling reference height.

[0025] (8) When the leveling mechanism is transporting earth, the rotation angle of the contoured float is positive, and the control mode of the elevation perception is switched to. When the real-time height is higher / lower than the reference height, the control system controls the electric push rod to extend / retract to the lowering / raising range, so that the leveling mechanism descends / ascends. After descending / ascending to a height difference within a specific range, the electric push rod is extended / retracted to the stop range to ensure that the leveling mechanism is quickly and accurately adjusted to the reference height.

[0026] (9) When the leveling mechanism unloads the soil to the point where there is no more soil to be transported, the rotation angle of the contour float is a negative value, and the system switches to the contour control mode. The control system controls the leveling mechanism to descend, and the rotation angle of the contour float gradually increases, ensuring that the leveling mechanism contours the paddy field surface. The contour float gradually increases, and the leveling mechanism rises accordingly. When the leveling mechanism reaches the set reference height and the contour float is a positive value, the control system automatically switches to the elevation perception reference control mode.

[0027] The principle of the present invention is:

[0028] The motor grader of the present invention is used in conjunction with a rice transplanter. It utilizes the transplanter's power chassis, which includes a mechanical hydraulic locking valve, hydraulic cylinder, lifting mechanism, and pull rope mechanism, and is equipped with a frame, an electric height adjustment mechanism, a contour adjustment mechanism, a leveling mechanism, a horizontal adjustment mechanism, a control system, and a sensing system. The mechanical hydraulic locking valve, hydraulic cylinder, lifting mechanism, pull rope mechanism, and electric height adjustment mechanism form a height adjustment mechanism.

[0029] The electric elevation adjustment mechanism utilizes an electric push rod and multi-position levers to adapt to various power chassis models, and uses potential feedback to monitor the push rod's stroke in real time. The contour adjustment mechanism features a contouring float with an arc structure. An angle sensor detects the contouring float's rotation angle to determine the earthwork handling capacity, and a buffer device is used to improve detection stability. The leveling mechanism utilizes a combination of a primary and secondary shovel for width adjustment. The control system integrates elevation reference control and field surface contour control. By real-time monitoring of the difference between the leveling mechanism's height and the reference value and combining it with the changing angle characteristics of the contouring float, the control strategy automatically switches. Closed-loop height control is implemented during the earthwork handling phase, and terrain-following contouring is employed during the unloading phase.

[0030] The present invention effectively solves the technical problems of low elevation control accuracy and poor terrain adaptability in traditional paddy field leveling operations through the fusion control of electric drive precision regulation and contour feedback, and significantly improves the quality and efficiency of paddy field leveling operations.

[0031] The present invention has the following advantages:

[0032] 1. By spatially separating the contoured float and the leveling mechanism, a closed control system is established. The dynamic response differences of the float caused by material extrusion force and terrain changes are utilized to achieve accurate identification and adaptive control of operating conditions.

[0033] 2. The electric elevation adjustment mechanism utilizes a multi-position lever, supporting mechanical adjustment and adapting to various powertrain models. The electric elevation adjustment mechanism is separated from the transplanter's mechanical components, minimizing interference with the machine's original functions. The frame and lifting mechanism utilize a three-point quick-connect interface, significantly reducing installation time.

[0034] 3. The left and right auxiliary shovels in the leveling mechanism can slide along the main shovel to achieve changes in the working width of the leveling mechanism. It can adapt to the working environment of irregular small-area fields, save space without affecting working efficiency, and facilitate transportation. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 It is a schematic diagram of the structure of the present invention installed on a rice transplanter.

[0036] Figure 2 It is a three-dimensional diagram of the elevation electric drive adjustment mechanism.

[0037] Figure 3 This is the schematic diagram of an electric-driven paddy field precision grader.

[0038] Figure 4 It is the principle diagram of the contour adjustment mechanism.

[0039] Figure 5 It is a schematic diagram of the leveling mechanism.

[0040] In the figure, 1-leveling mechanism, 2-electric height adjustment mechanism, 3-contact adjustment mechanism, 4-electric push rod, 5-multi-hole lever, 6-roping mechanism mounting seat, 7-push rod base, 8-roping mechanism, 9-contact floating plate, 10-angle detection device, 11-buffer device, 12-connector, 13-GNSS antenna, 14-frame, 15-horizontal adjustment mechanism. DETAILED DESCRIPTION

[0041] The present invention will be further described in detail below with reference to specific implementation methods.

[0042] An electric-driven precision land leveler for paddy fields with integrated control, including a power chassis, a frame, an electric height adjustment mechanism, a contour adjustment mechanism, a land leveling mechanism, a leveling mechanism, a control system, and a sensing system; the power chassis is a rice transplanter power chassis, including a mechanical hydraulic locking valve, a hydraulic oil cylinder, a lifting mechanism, and a pull rope mechanism; the land leveling mechanism is connected to the frame in a left-right swinging manner, and is leveled left-right by a horizontal adjustment mechanism; the contour adjustment mechanism is arranged in front of the land leveling mechanism to judge the amount of soil moved during the leveling operation; the electric height adjustment mechanism is used to adjust the height of the land leveling mechanism, and the control system is used to adjust the height of the land leveling mechanism. The drive adjustment mechanism is set on the frame, and the elevation electric drive adjustment mechanism is connected to the rope-pulling mechanism. The rope-pulling mechanism controls the opening of the mechanical hydraulic locking valve, and the mechanical hydraulic locking valve controls the extension and contraction of the hydraulic cylinder. The hydraulic cylinder controls the lifting and lowering of the frame through the lifting mechanism, and the frame drives the leveling mechanism to lift and lower. The sensing system measures the elevation of the leveling mechanism, and the control system adjusts the elevation electric drive adjustment mechanism according to the elevation to control the lifting and lowering of the frame and the leveling mechanism. When the contouring adjustment mechanism determines that the amount of soil moved during the leveling operation is insufficient, the control system directly controls the leveling mechanism to descend.

[0043] The electric elevation adjustment mechanism includes an electric push rod, a multi-hole lever, a push rod base, and a cable mechanism mounting base. The cable mechanism mounting base and push rod base are both fixed to the machine frame, and one end of the cable mechanism is mounted on the cable mechanism mounting base. One end of the electric push rod is rotatably connected to the push rod base, while the other end of the electric push rod is rotatably connected to one end of the multi-hole lever. The middle portion of the multi-hole lever is rotatably connected to the cable mechanism mounting base via a pin. The other end of the multi-hole lever is provided with multiple connection holes, and the steel rope of the cable mechanism is connected to one of the connection holes. In this embodiment, one end of the cable mechanism is connected to a mechanical hydraulic locking valve, and the other end is fixed to the notch of the cable mechanism mounting base via a double-nut locking structure.

[0044] The multi-hole lever is used to expand the mechanical hydraulic locking valve piston extension and contraction, and through multiple connection holes, it is adapted to various models of power chassis. In this embodiment, three connection holes are provided at different positions.

[0045] The electric push rod has a potential feedback function to measure the telescopic length of the electric push rod, calibrate the relationship between the telescopic length and the rising, falling, and stopping status of the leveling mechanism, and judge the rising, falling, and stopping status of the leveling mechanism.

[0046] The working process of the elevation electric drive adjustment mechanism is:

[0047] The control system controls the extension and retraction of the electric push rod 4, thereby driving the porous lever 5 to rotate around the pin shaft. The rotation angle of the porous lever 5 changes with the extension and retraction of the electric push rod 4, and the amplitude of the lifting rope mechanism 8 is also different; when the electric push rod 4 is extended, the steel rope is pulled by the porous lever, thereby controlling the opening of the mechanical hydraulic locking valve, and delivering hydraulic oil to the hydraulic cylinder to push the telescopic shaft to extend, and the leveling mechanism 1 is lifted; when the stroke of the electric push rod 4 is at a certain position, that is, the gravity of the leveling mechanism 1 itself is equal to the upward thrust given by the hydraulic cylinder, the leveling mechanism 1 is in a stationary state in terms of elevation change, and the position of the push rod extension is fed back by the potentiometer of the electric push rod 4, and this position is calibrated as the middle position; when When the electric push rod 4 is extended to the maximum stroke, the rope-pulling mechanism 8 is also pulled to the longest position. At this time, the opening of the mechanical hydraulic locking valve is at the maximum state, and the extension speed of the hydraulic cylinder reaches the fastest; when the electric push rod 4 retracts, the rope-pulling mechanism 8 controls the mechanical hydraulic locking valve to close under the action of rebound, and the leveling mechanism 1 descends under its own gravity. As the electric push rod 4 gradually retracts, the channel port of the mechanical hydraulic locking valve gradually closes, the thrust given by the hydraulic cylinder becomes smaller and smaller, and the descending speed of the leveling mechanism 1 accelerates; when the electric push rod 4 is fully retracted, the rope-pulling mechanism 8 is in a fully retracted state, the mechanical hydraulic locking valve is fully closed, and the leveling mechanism 1 descends at the fastest speed.

[0048] The contour adjustment mechanism includes a contour float, an angle detection device, a buffer device, and a connector. The contour float is located in the middle of the front side of the leveling mechanism, with the rear end of the contour float connected to the front end of the leveling mechanism in an up-and-down swinging manner via a connector. The angle detection device is fixed to the upper end of the contour float and detects the rotation angle of the contour float relative to the leveling mechanism in real time, providing feedback to the control system. The buffer device, which is used to cushion vibrations, is fixed to the upper end of the contour float. In this embodiment, the connector is a hinged shaft with an axis of rotation parallel to the ground and perpendicular to the direction of travel. The angle detection device is a high-precision angle sensor. The upper end of the buffer device is connected to the frame, and the buffer device can cushion vibrations from the machine body, thereby improving the stability of the detection device.

[0049] The upper end of the contoured floating plate is a plane, the lower end is a convex structure, and the front side of the convex structure is a curved structure for sliding along the field surface.

[0050] The working process of the profiling adjustment mechanism is:

[0051] The profiling float 9 is located in front of the leveling mechanism 1 as a leading detection unit. During the leveling operation, a control method combining dynamic detection of the profiling float 9 and closed-loop control is adopted. When the leveling mechanism 1 performs earthwork transportation, the accumulated earthwork materials will generate a vertical extrusion torque on the front profiling float 9, causing the float to generate a vertical extrusion torque around the hinge axis. Figure 1The angle detection device detects the dynamic changes of the rotation angle in real time. When the angle increment Δθ exceeds the preset threshold value θmax, the control system determines that the current state is earthwork handling.

[0052] When the machine moves to the low-lying area of ​​the field, the contoured floating plate 9 generates a rotation around the hinge axis under the action of gravity torque due to the disappearance of the earth extrusion force. Figure 1 As shown, the vehicle rotates counterclockwise (the angle becomes increasingly negative). The angle sensor detects a continuous decrease in the rotation angle. When Δθ falls below the set lower threshold θmin, the control system determines that the vehicle has entered the low-lying compensation state and immediately drives the electric height adjustment mechanism 2 to lower the leveling mechanism 1, achieving automatic leveling.

[0053] The leveling mechanism includes a main shovel, two auxiliary shovels, and a floating platform. The auxiliary shovels are located on either side of the main shovel, and the floating platform is located behind the main shovel. The auxiliary shovels consist of a main body and side panels perpendicular to the main body. The upper end of the main body is slidably connected to the upper end of the main shovel, forming a telescopic structure that adjusts the leveling width. In this embodiment, the leveling width can be adjusted according to the working requirements.

[0054] The control system is a display and control terminal, including a controller.

[0055] The sensing system is used to measure the real-time height and inclination of the leveling mechanism. It includes a GNSS antenna mounted above the frame. In this embodiment, a tilt sensor is also included. The GNSS antenna detects the elevation of the leveling mechanism 1, while the tilt sensor senses the tilt angle of the leveling mechanism 1. A controller automatically adjusts the elevation and horizontal adjustment mechanisms based on the obtained elevation information and the error between the leveling tilt angle and the user's desired elevation and tilt angle.

[0056] A land leveling fusion control method employs a fusion-controlled electric-driven precision paddy field leveler. The fusion control includes a baseline control mode based on elevation perception and a field surface contour control mode. The two modes are automatically switched to achieve intelligent and precise leveling operations. The steps include:

[0057] (1) According to the feedback value of the potentiometer, the relationship between the electric push rod stroke range and the lifting, lowering, and stopping states of the leveling mechanism is calibrated, and the electric push rod stroke ranges for the lifting, lowering, and stopping of the leveling mechanism are determined, namely, the lifting range, the lowering range, and the stopping range;

[0058] (2) Calibrate the angle between the contour float and the horizontal plane as the threshold value, and define the contour float swinging upward as a positive value and the contour float swinging downward as a negative value;

[0059] (3) Set the base height for leveling operations based on the terrain height of the field;

[0060] (4) Measure the real-time height of the leveling mechanism through the sensing system;

[0061] (5) collecting the angle change of the contour float as the terrain changes between the working areas through the angle detection device, and transmitting the collected angle information to the control system;

[0062] (6) calculating the real-time height difference of the leveling mechanism based on the real-time height information of the leveling mechanism measured in step (4) and the reference height information set in step (3);

[0063] (7) The control system determines the earthwork transported by the leveling mechanism based on the angle information of the contoured float. When the angle is positive, the earthwork is being transported, and the larger the angle, the greater the transported amount. When the angle is negative, the earthwork has been unloaded at a low point, and the larger the angle, the more the field surface is below the leveling reference height.

[0064] (8) When the leveling mechanism is transporting earth, the rotation angle of the contoured float is positive, and the control mode of the elevation perception is switched to. When the real-time height is higher / lower than the reference height, the control system controls the electric push rod to extend / retract to the lowering / raising range, so that the leveling mechanism descends / ascends. After descending / ascending to a height difference within a specific range, the electric push rod is extended / retracted to the stop range to ensure that the leveling mechanism is quickly and accurately adjusted to the reference height.

[0065] (9) When the leveling mechanism unloads the soil to the point where there is no more soil to be transported, the rotation angle of the contour float is a negative value, and the system switches to the contour control mode. The control system controls the leveling mechanism to descend, and the rotation angle of the contour float gradually increases, ensuring that the leveling mechanism contours the paddy field surface. The contour float gradually increases, and the leveling mechanism rises accordingly. When the leveling mechanism reaches the set reference height and the contour float is a positive value, the control system automatically switches to the elevation perception reference control mode.

[0066] The above embodiments are preferred implementation modes of the present invention, but the implementation modes of the present invention are not limited to the above embodiments. Any other changes, modifications, substitutions, combinations, and simplifications that do not deviate from the spirit and principles of the present invention should be considered as equivalent replacement methods and are included in the scope of protection of the present invention.

Claims

1. A fusion-controlled electric-driven precision land grader for paddy fields, characterized by: It includes a power chassis, a frame, an electric height adjustment mechanism, a contour adjustment mechanism, a leveling mechanism, a horizontal adjustment mechanism, a control system, and a sensing system; the power chassis is a rice transplanter power chassis, including a mechanical hydraulic locking valve, a hydraulic cylinder, a lifting mechanism, and a rope mechanism; the leveling mechanism is connected to the frame in a left-right swinging manner, and the leveling mechanism is leveled left-right through the horizontal adjustment mechanism. The contour adjustment mechanism is arranged in front of the leveling mechanism to judge the amount of soil moved during the leveling operation. The electric height adjustment mechanism is arranged on the frame, and the electric height adjustment mechanism is connected to the rope mechanism. The rope mechanism controls the opening of the mechanical hydraulic locking valve, the mechanical hydraulic locking valve controls the extension and retraction of the hydraulic cylinder, the hydraulic cylinder controls the lifting and lowering of the frame through the lifting mechanism, and the frame drives the leveling mechanism to lift and lower; the sensing system measures the elevation of the leveling mechanism, and the control system adjusts the electric height adjustment mechanism according to the elevation to control the lifting and lowering of the frame and the leveling mechanism; when the contour adjustment mechanism determines that the amount of soil moved during the leveling operation is insufficient, the control system directly controls the leveling mechanism to descend.

2. The electric-driven precision land grader with integrated control according to claim 1, characterized in that: The electric elevation adjustment mechanism includes an electric push rod, a multi-porous lever, a push rod base, and a rope mechanism mounting seat. The rope mechanism mounting seat and the push rod base are fixed to the frame, and one end of the rope mechanism is installed on the rope mechanism mounting seat; one end of the electric push rod is rotatably connected to the push rod base, and the other end of the electric push rod is rotatably connected to one end of the multi-porous lever. The middle part of the multi-porous lever is rotatably connected to the rope mechanism mounting seat through a pin shaft. The other section of the multi-porous lever is provided with multiple connecting holes, and the steel rope of the rope mechanism is connected to one of the connecting holes.

3. The electric-driven paddy field precision grader with integrated control according to claim 2, characterized in that: The multi-hole lever is used to expand the extension and retraction range of the mechanical hydraulic locking valve piston, and is adapted to various models of power chassis through multiple connection holes.

4. The electric-driven precision land grader with integrated control according to claim 2, characterized in that: The electric push rod has a potential feedback function to measure the telescopic length of the electric push rod, calibrate the relationship between the telescopic length and the rising, falling, and stopping status of the leveling mechanism, and judge the rising, falling, and stopping status of the leveling mechanism.

5. The electric-driven precision land grader with integrated control according to claim 1, characterized in that: The contour adjustment mechanism includes a contour float, an angle detection device, a buffer device, and a connecting piece; the contour float is located in the middle of the front side of the leveling mechanism, and the rear end of the contour float is connected to the front end of the leveling mechanism in an up and down swinging manner through a connecting piece. The angle detection device is fixed to the upper end of the contour float, and detects the rotation angle of the contour float relative to the leveling mechanism in real time and feeds back to the control system; the buffer device for buffering vibration is fixed to the upper end of the contour float.

6. The electric-driven precision land grader with integrated control according to claim 5, characterized in that: The upper end of the contoured floating plate is a plane, the lower end is a convex structure, and the front side of the convex structure is a curved structure for sliding along the field surface.

7. The electric-driven precision land grader with integrated control according to claim 1, characterized in that: The leveling mechanism includes a main shovel, two auxiliary shovels, and a floating drag plate. The two auxiliary shovels are located on the left and right sides of the main shovel, and the floating drag plate is located behind the main shovel. The auxiliary shovel includes a main body and side panels perpendicular to the ends of the main body. The upper end of the main body is slidably connected to the upper end of the main shovel, so that the main body and the main shovel form a telescopic structure that adjusts the width of the leveling.

8. The electric-driven paddy field precision grader with integrated control according to claim 1, characterized in that: The control system is a display and control terminal.

9. The electric-driven precision land grader with integrated control according to claim 1, characterized in that: The perception system is used to measure the real-time height and inclination information of the leveling mechanism. The perception system includes a GNSS antenna installed above the frame.

10. A land fusion control method, using a fusion-controlled electric-driven paddy field precision land grading machine according to any one of claims 1 to 9, characterized in that: Fusion control includes elevation-aware baseline control and field contouring control. The two modes automatically switch to achieve intelligent and precise leveling operations. The steps include: (1) According to the feedback value of the potentiometer, the relationship between the electric push rod stroke range and the lifting, lowering, and stopping states of the leveling mechanism is calibrated, and the electric push rod stroke ranges for the lifting, lowering, and stopping of the leveling mechanism are determined, namely, the lifting range, the lowering range, and the stopping range; (2) Calibrate the angle between the contour float and the horizontal plane as the threshold value, and define the contour float swinging upward as a positive value and the contour float swinging downward as a negative value; (3) Set the base height for leveling operations based on the terrain height of the field; (4) Measure the real-time height of the leveling mechanism through the sensing system; (5) collecting the angle change of the contour float as the terrain changes between the working areas through the angle detection device, and transmitting the collected angle information to the control system; (6) calculating the real-time height difference of the leveling mechanism based on the real-time height information of the leveling mechanism measured in step (4) and the reference height information set in step (3); (7) The control system determines the earthwork transported by the leveling mechanism based on the angle information of the contoured float. When the angle is positive, the earthwork is being transported, and the larger the angle, the greater the transported amount. When the angle is negative, the earthwork has been unloaded at a low point, and the larger the angle, the more the field surface is below the leveling reference height. (8) When the leveling mechanism is transporting earth, the rotation angle of the contoured float is positive, and the control mode of the elevation perception is switched to. When the real-time height is higher / lower than the reference height, the control system controls the electric push rod to extend / retract to the lowering / raising range, so that the leveling mechanism descends / ascends. After descending / ascending to a height difference within a specific range, the electric push rod is extended / retracted to the stop range to ensure that the leveling mechanism is quickly and accurately adjusted to the reference height. (9) When the leveling mechanism unloads the soil to the point where there is no more soil to be transported, the rotation angle of the contour float is a negative value, and the system switches to the contour control mode. The control system controls the leveling mechanism to descend, and the rotation angle of the contour float gradually increases, ensuring that the leveling mechanism contours the paddy field surface. The contour float gradually increases, and the leveling mechanism rises accordingly. When the leveling mechanism reaches the set reference height and the contour float is a positive value, the control system automatically switches to the elevation perception reference control mode.

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