Multi-coupling cooperative add-on device and regulation method thereof

Abstract

A multi-coupling cooperative installation device and a regulating method thereof, the device comprising a main frame, a central controller, a seed bin automatic replenishing mechanism, a solid fertilizer automatic replenishing mechanism, a liquid fertilizer automatic filling mechanism, a pesticide liquid automatic filling mechanism, a regulating mechanism arranged on each mechanism and connected with the central controller, and a driving motor connected with each mechanism and the central controller; the seed bin automatic replenishing mechanism, the solid fertilizer automatic replenishing mechanism, the liquid fertilizer automatic filling mechanism and the pesticide liquid automatic filling mechanism are respectively provided with a rotary variable switch and a space position adjusting mechanism; the liquid fertilizer automatic filling mechanism and the pesticide liquid automatic filling mechanism are respectively provided with an automatic dispenser, the seed bin automatic replenishing mechanism and the solid fertilizer automatic replenishing mechanism are respectively provided with an airflow distributor, and the rotary variable switch, the space position adjusting mechanism, the automatic dispenser and the airflow distributor are respectively connected with the central controller, the regulating mechanism and the driving motor; and the device also provides a regulating method thereof.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of agricultural measurement and control, and particularly relates to a multi-coupling and collaborative on-demand loading and regulating device and method for seeding, fertilizing and pesticide spraying. BACKGROUND

[0002] Seeding is one of crop cultivation measures, is to seed material according to a certain quantity and mode, timely sowing into a certain depth of soil layer, and seeding appropriately directly affects the growth and development and yield of crops. Fertilization refers to applying fertilizer to soil or spraying on plants to provide nutrients required by plants and maintain and improve soil fertility, and the main purpose is to increase crop yield, improve crop quality, cultivate soil fertility and improve economic benefits. Spraying is to mix water and pesticide solution, and then spray the liquid to the surface of crops through pressure for killing insects, weeding and sterilization, etc., so as to ensure the yield of crops. Therefore, reasonable and scientific seeding, fertilization and pesticide spraying are one of the main means to ensure food security and maintain sustainable development of agriculture.

[0003] The prior art basically adopts manual or semi-mechanical mode in the multi-coupling and collaborative on-demand loading of seeding, fertilization and pesticide spraying, and it is difficult to match the operation progress of seeding, fertilization and pesticide spraying machines, directly affecting the working progress of seeding, fertilization and pesticide spraying, and there are problems of low production efficiency, high labor intensity and high operation cost. At present, the on-demand loading device of seeding, fertilization and pesticide spraying mainly relies on manual experience to adjust the working parameters of the corresponding mechanism, and the accuracy and real-time performance are low. In addition, since the actual working parameters of the device cannot be detected in real time, the adjustment amount cannot be accurately grasped, and thus a feedback-based automatic adjustment system of working parameters of the on-demand loading device of seeding, fertilization and pesticide spraying cannot be established, and the degree of automation is low. Therefore, how to ensure efficient, low-loss and uniform automatic loading of seeds, fertilizers and pesticides is a problem to be solved in the future multi-coupling and collaborative on-demand loading technology of seeding, fertilization and pesticide spraying. SUMMARY

[0004] The application aims to solve the above-mentioned defects of the prior art, and provides a multi-coupling and collaborative loading and regulating device and method.

[0005] In order to achieve the above-mentioned purpose, the application provides a multi-coupling and collaborative loading device, which comprises:

[0006] A main frame;

[0007] A seed bin automatic replenishing mechanism is installed on the main frame and is used for automatic seed replenishment of the seeding, fertilization and pesticide spraying machine.

[0008] The solid fertilizer automatic supply mechanism is installed on the main frame and used for automatically supplying the solid fertilizer for the seeding and fertilizing and pesticide spraying machine.

[0009] The liquid fertilizer automatic filling mechanism is installed on the main frame and located at one side of the solid fertilizer automatic supply mechanism, and used for automatically filling the liquid fertilizer for the seeding and fertilizing and pesticide spraying machine.

[0010] The pesticide liquid automatic filling mechanism is installed on the main frame and used for automatically filling the pesticide liquid for the pesticide spraying machine of the seeding and fertilizing and pesticide spraying machine, and the pesticide liquid automatic filling mechanism has the same structure as the liquid fertilizer automatic filling mechanism.

[0011] The central controller is installed on the main frame and connected with the seed bin automatic supply mechanism, the solid fertilizer automatic supply mechanism, the liquid fertilizer automatic filling mechanism and the pesticide liquid automatic filling mechanism, respectively, and used for real-time adjusting the working states of the mechanisms and planning the cooperative work of the mechanisms.

[0012] The control mechanism is arranged on the seed bin automatic supply mechanism, the solid fertilizer automatic supply mechanism, the liquid fertilizer automatic filling mechanism and the pesticide liquid automatic filling mechanism, respectively, and connected with the central controller.

[0013] The driving motor is connected with the seed bin automatic supply mechanism, the solid fertilizer automatic supply mechanism, the liquid fertilizer automatic filling mechanism, the pesticide liquid automatic filling mechanism and the central controller, respectively.

[0014] The seed bin automatic supply mechanism, the solid fertilizer automatic supply mechanism, the liquid fertilizer automatic filling mechanism and the pesticide liquid automatic filling mechanism are respectively provided with a rotary variable switch and a space position adjusting mechanism; the liquid fertilizer automatic filling mechanism and the pesticide liquid automatic filling mechanism are respectively provided with an automatic dispenser; the seed bin automatic supply mechanism and the solid fertilizer automatic supply mechanism are respectively provided with an airflow distributor; and the rotary variable switch, the space position adjusting mechanism, the automatic dispenser and the airflow distributor are respectively connected with the central controller, the control mechanism and the driving motor.

[0015] The above multi-coupling and cooperative installation device, wherein the control mechanism comprises:

[0016] The speed sensor is used for detecting the rotating speed.

[0017] The ultrasonic proximity sensor is installed on the seed tank, the fertilizer tank and the pesticide tank of the seeding and fertilizing and pesticide spraying machine, respectively, and used for detecting the residual amounts of the seeds, the solid fertilizer, the liquid fertilizer and the pesticide liquid.

[0018] The inclination sensor is used for detecting the horizontal inclination angles of the seed tank, the fertilizer tank and the pesticide tank of the seeding and fertilizing and pesticide spraying machine.

[0019] a flow sensor for detecting the flow of seeds, solid fertilizers, liquid fertilizers and liquid pesticides; and

[0020] an encoder installed on the rotary variable switch for detecting the rotation angle of the rotary variable switch;

[0021] The speed sensor, ultrasonic proximity sensor, tilt sensor, flow sensor and encoder are respectively connected with the central controller.

[0022] The multi-coupling cooperative installation device, wherein the seed bin automatic replenishment mechanism and the solid fertilizer automatic replenishment mechanism respectively comprise:

[0023] An automatic replenishment rack installed on the main rack;

[0024] A bin body installed on the automatic replenishment rack for storing and providing seeds or solid fertilizers; the rotary variable switch is installed on the automatic replenishment rack corresponding to the bottom end of the bin body for controlling the speed of seed or solid fertilizer unloading; the ultrasonic proximity sensor is installed on the bin body, and the laser radar sensor is installed on the outer wall of the bin body for detecting the horizontal distance between the bin body and the closest seed tank / fertilizer tank;

[0025] A disturbance mechanism installed on the automatic replenishment rack and located inside the bin body for disturbing the seeds or solid fertilizers inside the bin body to prevent clogging and ensure uniform falling of the seeds or solid fertilizers; the speed sensor is installed on the disturbance mechanism;

[0026] A fan installed on the automatic replenishment rack for controlling the replenishment speed of seeds or solid fertilizers; the speed sensor is installed on the fan;

[0027] A replenishment pipeline installed on the spatial position adjusting mechanism for replenishing seeds or solid fertilizers into the seed tank or fertilizer tank of the seeding and fertilizing pesticide spraying machine; the tilt sensor and flow sensor are installed on the replenishment pipeline; the laser radar sensor is installed at the outlet of the replenishment pipeline for detecting the vertical distance between the replenishment pipeline and the seed tank, fertilizer tank and pesticide tank; the spatial position adjusting mechanism is installed on the automatic replenishment rack for adjusting the docking position of the replenishment pipeline with the seed tank; the airflow distributor is installed on the automatic replenishment rack and connected with the replenishment pipeline for distributing seeds or solid fertilizers into different replenishment pipelines; the airflow distributor and spatial position adjusting mechanism are respectively installed with the speed sensor; and

[0028] A conveying pipe is installed on the automatic replenishment frame and connected with the rotary variable switch, an air inlet of the conveying pipe is connected with the fan, and an air outlet of the conveying pipe is connected with the airflow distributor, so as to change the conveying direction of the seeds or solid-state fertilizer; and the flow sensor is installed on the inner wall of the conveying pipe.

[0029] The multi-coupling cooperative installation device, wherein the regulating mechanism further comprises:

[0030] Airflow velocity sensors are respectively installed on the conveying pipe, the material replenishment pipe and the airflow distributor and connected with the central controller, so as to detect the airflow velocities of the conveying pipe, the material replenishment pipe and the airflow distributor.

[0031] The multi-coupling cooperative installation device, wherein the liquid medicine automatic filling mechanism and the liquid fertilizer automatic filling mechanism respectively comprise:

[0032] A support is installed on the main frame.

[0033] A liquid tank is installed on the support, used for storing and providing liquid medicine or liquid fertilizer, the liquid tank is installed with an ultrasonic proximity sensor, and the laser radar sensor is installed on the outer wall of the liquid tank, used for detecting the horizontal distance between the liquid tank and the closest fertilizer tank / medicine tank; the automatic dispenser is installed on the support, above the liquid tank and connected with the inlet of the liquid tank, used for automatically and directly filling and dispensing the liquid medicine or liquid fertilizer; and the rotary variable switch is installed on the support, below the liquid tank, used for controlling the discharging speed of the liquid medicine or liquid fertilizer.

[0034] A liquid disturbance mechanism is installed on the support, inside the liquid tank, used for disturbing the liquid medicine or liquid fertilizer inside the liquid tank, preventing clogging and ensuring uniform flow of the liquid medicine or liquid fertilizer; and the speed sensor is arranged on the liquid disturbance mechanism.

[0035] A pipe pump is installed on the support, used for controlling the filling speed of the liquid medicine or liquid fertilizer, and the speed sensor is installed on the pipe pump.

[0036] A liquid delivery pipe is installed on the bracket, the inlet of the liquid delivery pipe is connected with the pipe pump, the outlet of the liquid delivery pipe is connected with a liquid filling pipe, which is used to change the flow direction of the pesticide liquid or liquid fertilizer and distribute the pesticide liquid or liquid fertilizer into different liquid filling pipes, the inner wall of the liquid delivery pipe and the liquid filling pipe is respectively provided with the flow sensor, the liquid filling pipe is provided with the tilt sensor, and the outlet of the liquid filling pipe is provided with the laser radar sensor, which is used to detect the vertical distance between the liquid filling pipe and the fertilizer tank.

[0037] The multi-coupling cooperative installation device, wherein the automatic dispenser comprises:

[0038] A feeding cylinder is used to feed each component material of the pesticide or fertilizer, and the number of the feeding cylinder corresponds to the number of the component materials of the pesticide or fertilizer; the feeding cylinder is provided with the ultrasonic proximity sensor.

[0039] A spiral conveying mechanism is connected with the outlet of the feeding cylinder and used to convey each component material of the pesticide or fertilizer; the spiral conveying mechanism is provided with the speed sensor.

[0040] An automatic dispensing pipe pump is installed on the spiral conveying mechanism and used to control the automatic pesticide or fertilizer dispensing speed of the liquid bin; the pipe pump is provided with the speed sensor.

[0041] A material mixing cylinder is located below the outlet of the spiral conveying mechanism and used to mix the pesticide liquid or liquid fertilizer; the top of the material mixing cylinder is provided with the ultrasonic proximity sensor; and

[0042] A stirring mechanism is located in the material mixing cylinder and used to uniformly stir each component material of the pesticide or fertilizer to complete the automatic pesticide liquid or liquid fertilizer dispensing; the stirring mechanism is provided with the speed sensor.

[0043] The multi-coupling cooperative installation device, wherein the spatial position adjusting mechanism comprises:

[0044] A support sliding block is installed on a sliding block base.

[0045] A cam disc is connected with the driving motor.

[0046] A sliding block connecting rod is connected with one end of the cam disc; the other end of the sliding block connecting rod is connected with a connecting rod; the driving motor drives the horizontal extension and retraction of the connecting rod to realize the horizontal precise docking with the seed tank, the pesticide tank or the fertilizer tank of the seeding, fertilizing and pesticide spraying machine.

[0047] a rocker, one end of which is connected with the connecting rod, and the other end of which is connected with the replenishment pipeline or liquid filling pipeline; and

[0048] a hydraulic cylinder, one end of which is connected with the slider base, and the other end of which is connected with the bin body or liquid bin, and on which a wire displacement sensor is installed for detecting the extension and retraction displacement of the hydraulic cylinder.

[0049] The multi-coupling collaborative installation device, wherein the rotary variable switch comprises:

[0050] a fixed cylinder, which is installed on the automatic replenishment frame or support and is located below the bin body or liquid bin;

[0051] a plurality of rotary unloading pieces, which are installed on the fixed cylinder and are distributed in a circumferential array; and

[0052] a rotary variable unloading wheel, which is connected with the rotary unloading pieces and drives the rotary unloading pieces to move to adjust the size of the unloading port and control the unloading speed; and the rotary variable unloading wheel is provided with the speed sensor on the rotating shaft thereof.

[0053] In order to better achieve the above-mentioned purpose, the application further provides a regulation and control method of the multi-coupling collaborative installation device, which comprises the following steps:

[0054] S100, respectively using ultrasonic proximity sensors to detect the seed, solid fertilizer, liquid fertilizer and pesticide remaining in the seed box, solid fertilizer box, liquid fertilizer box and pesticide box of the seeding and fertilizing and pesticide spraying machine, and determining whether the seeding and fertilizing and pesticide spraying machine needs to be supplemented with corresponding seeds, fertilizers and pesticides according to the set conditions; if the set conditions are met, automatic installation is not needed, and if the set conditions are not met, automatic installation is carried out according to the following steps;

[0055] S200, respectively using inclination sensors to detect the horizontal inclination angles of the seed bin automatic replenishment mechanism, solid fertilizer automatic replenishment mechanism, liquid fertilizer automatic filling mechanism and pesticide liquid automatic filling mechanism with respect to the corresponding seed box, solid fertilizer box, liquid fertilizer box and pesticide box, and using a wire displacement sensor to detect the extension and retraction displacement of the hydraulic cylinder of the corresponding space position adjusting mechanism, and the central controller drives the corresponding hydraulic cylinder according to the extension and retraction displacement of the hydraulic cylinder to ensure that the replenishment pipeline of the seed bin automatic replenishment mechanism and solid fertilizer automatic replenishment mechanism is parallel to the corresponding seed box and solid fertilizer box, and the liquid filling pipeline of the liquid fertilizer automatic filling mechanism and pesticide liquid automatic filling mechanism is parallel to the corresponding liquid fertilizer box and pesticide box.

[0056] S300, respectively using laser radar sensor to detect the horizontal distance between the bin body of the seed bin automatic replenishment mechanism and the solid fertilizer automatic replenishment mechanism, the liquid bin of the liquid fertilizer automatic filling mechanism and the pesticide automatic filling mechanism and the closest corresponding seed box, solid fertilizer box, liquid fertilizer box and pesticide box, and adjusting the precise butt joint in the horizontal direction between the feeding pipe of the seed bin automatic replenishment mechanism and the corresponding seed box and solid fertilizer box, and the liquid filling pipe of the liquid fertilizer automatic filling mechanism and the pesticide automatic filling mechanism and the corresponding liquid fertilizer box and pesticide box through the space position adjusting mechanism;

[0057] S400, respectively using laser radar sensor to detect the vertical distance between the feeding pipe of the seed bin automatic replenishment mechanism and the corresponding seed box and solid fertilizer box, and the liquid filling pipe of the liquid fertilizer automatic filling mechanism and the pesticide automatic filling mechanism and the corresponding liquid fertilizer box and pesticide box, and adjusting the vertical distance between the feeding pipe and the corresponding seed box and solid fertilizer box, and the liquid filling pipe and the corresponding liquid fertilizer box and pesticide box through the space position adjusting mechanism to ensure the precise butt joint in the vertical direction;

[0058] S500, using ultrasonic proximity sensor to detect the seed, solid fertilizer, liquid fertilizer and pesticide remaining amount of the bin body respectively, and the central controller controls the seed bin automatic replenishment mechanism, airflow distributor, rotary variable switch, solid fertilizer automatic replenishment mechanism, liquid fertilizer automatic filling mechanism and pesticide automatic filling mechanism to start working;

[0059] S600, using flow sensor to detect the seed flow and solid fertilizer flow of the conveying pipe and each feeding pipe, and the liquid fertilizer flow and pesticide flow of the liquid conveying pipe and each liquid filling pipe, based on the seed / fertilizer / pesticide remaining amount information detected in steps S100 and S500, and combining the rotating speed of the driving motor detected by the speed sensor and the airflow speed of the conveying pipe, feeding pipe and airflow distributor detected by the airflow speed sensor, the central controller automatically adjusts each driving motor to the optimal working parameter combination to ensure the smooth execution of the sowing / fertilizing / pesticide spraying multi-coupling collaborative on-demand installation; and

[0060] S700, the ultrasonic proximity sensor continuously detects the seed / fertilizer / pesticide remaining amount in the seed box, solid fertilizer box, liquid fertilizer box and pesticide box of the sowing and fertilizing and pesticide spraying machine until the set condition is met, and the automatic installation work is ended.

[0061] The above multi-coupling collaborative installation device control method, wherein in step S200, further comprising:

[0062] Step S201, the horizontal inclination angle between the replenishment pipeline and the seed tank, the replenishment pipeline and the fertilizer tank of the fertilizer machine, the liquid filling pipeline and the fertilizer tank of the fertilizer machine, and the liquid filling pipeline and the medicine tank is detected in real time by the inclination sensor, and is recorded as θ1 and θ2 respectively;

[0063] Step S202, the horizontal inclination angle between the two is calculated according to the inclination sensor, and the angle θ that the replenishment pipeline, the replenishment pipeline, the liquid filling pipeline and the liquid filling pipeline need to adjust is calculated, that is, θ = θ1- θ2;

[0064] Step S203, according to the angle θ that needs to be adjusted, the corresponding displacement of the replenishment hydraulic cylinder, the solid-state fertilizer hydraulic cylinder, the liquid-state fertilizer filling hydraulic cylinder and the liquid medicine filling hydraulic cylinder is driven to stretch and retract, wherein the horizontal inclination angle θ1 of the replenishment pipeline, the replenishment pipeline, the liquid filling pipeline and the liquid filling pipeline, that is, the angle between the replenishment slider connecting rod, the solid-state fertilizer slider connecting rod, the liquid-state fertilizer filling slider connecting rod and the medicine liquid filling slider connecting rod and the vertical direction, is obtained according to the cosine law, and Wherein θ1 is the angle between the replenishment slider connecting rod, the solid-state fertilizer slider connecting rod, the liquid-state fertilizer filling slider connecting rod, the liquid medicine filling slider connecting rod and the vertical direction before adjustment; θ1' is the angle between the replenishment slider connecting rod, the solid-state fertilizer slider connecting rod, the liquid-state fertilizer filling slider connecting rod, the liquid medicine filling slider connecting rod and the vertical direction after adjustment, that is, θ2; x0 is the vertical distance between the replenishment slider connecting rod, the solid-state fertilizer slider connecting rod, the liquid-state fertilizer filling slider connecting rod, the liquid medicine filling slider connecting rod and the machine frame hinge point to the machine frame hinge point of the replenishment hydraulic cylinder, the solid-state fertilizer hydraulic cylinder, the liquid-state fertilizer filling hydraulic cylinder and the liquid medicine filling hydraulic cylinder, L AD ; x1 is the distance between the replenishment slider connecting rod, the solid-state fertilizer slider connecting rod, the liquid-state fertilizer filling slider connecting rod, the liquid medicine filling slider connecting rod and the support hinge point and the replenishment hydraulic cylinder, the solid-state fertilizer hydraulic cylinder, the liquid-state fertilizer filling hydraulic cylinder, the liquid medicine filling hydraulic cylinder and the replenishment slider connecting rod, the solid-state fertilizer slider connecting rod, the liquid-state fertilizer filling slider connecting rod, the liquid medicine filling slider connecting rod hinge point, L AB ; y0 is the distance between the replenishment slider connecting rod, the solid-state fertilizer slider connecting rod, the liquid-state fertilizer filling slider connecting rod, the liquid medicine filling slider connecting rod and the machine frame hinge point to the machine frame hinge point of the replenishment hydraulic cylinder, the solid-state fertilizer hydraulic cylinder, the liquid-state fertilizer filling hydraulic cylinder and the liquid medicine filling hydraulic cylinder, L CD and L BD ; y1 is the distance between the replenishment slider connecting rod, the solid-state fertilizer slider connecting rod, the liquid-state fertilizer filling slider connecting rod, the liquid medicine filling slider connecting rod and the machine frame hinge point to the machine frame hinge point of the replenishment hydraulic cylinder, the solid-state fertilizer hydraulic cylinder, the liquid-state fertilizer filling hydraulic cylinder and the liquid medicine filling hydraulic cylinder after adjustment, LBD and L AC ;

[0065] Adjusting angle Wherein y1=y0+y, y is the displacement of the corresponding extension and contraction of the seed supplement hydraulic cylinder, solid fertilizer supplement hydraulic cylinder, liquid fertilizer filling hydraulic cylinder, and pesticide liquid filling hydraulic cylinder, and y is a variable, and since the others are constants, the corresponding displacement of the extension and contraction of the seed supplement hydraulic cylinder, solid fertilizer supplement hydraulic cylinder, liquid fertilizer filling hydraulic cylinder, and pesticide liquid filling hydraulic cylinder can be continuously adjusted to keep the horizontal inclination angle of the seed supplement pipeline and seed tank, solid fertilizer supplement pipeline and solid fertilizer tank, liquid fertilizer filling pipeline and liquid fertilizer tank, and pesticide liquid filling pipeline and pesticide tank parallel.

[0066] The above steps S201-S203 are cycled to ensure that the horizontal inclination angle of the seed supplement pipeline and seed tank, solid fertilizer supplement pipeline and solid fertilizer tank, liquid fertilizer filling pipeline and liquid fertilizer tank, and pesticide liquid filling pipeline and pesticide tank is kept parallel.

[0067] The above-mentioned multi-coupling collaborative installation device control method, wherein step S400 further comprises:

[0068] S401, adjusting the rotation angle θ of the cam disc driving motor of the spatial position adjusting mechanism j , calculating the distance of the vertical movement of the rocker:

[0069]

[0070] Wherein R is the radius of the cam disc; S1 is the distance from the connecting point of the cam disc and connecting rod to the connecting point of the support slider and connecting rod; S2 is the distance from the connecting point of the support slider and connecting rod to the connecting point of the connecting rod and rocker;

[0071] S402, according to the vertical distance detected by the laser radar sensor, the moving distance of the corresponding support slider along the connecting rod is controlled by the corresponding driving motor to accurately adjust the moving distance of the rocker in the vertical direction; and

[0072] S403, if the vertical distance is too large, increase S2 and reduce S1 to speed up the precise docking progress; otherwise, reduce S2 and increase S1 to ensure the precise docking in the vertical direction.

[0073] The above-mentioned multi-coupling collaborative installation device control method, wherein step S600 further comprises:

[0074] Step S601, the rotation angle information of the rotation variable seed unloading wheel, the rotation variable solid fertilizer unloading wheel, the rotation variable liquid fertilizer unloading wheel and the rotation variable liquid medicine unloading wheel is detected by the encoder, wherein the cycle time T is taken as the detection time interval, the encoder pulse value P (the number of pulses per circle is M) is collected, and the cycle number N is recorded at the same time. Then, a numerical value P1=0 is initialized, the above motor starts to work, the encoder pulse value P at this time is recorded, and the rotation angle Finally, P is assigned to P1;

[0075] Step S602, the rotation unloading seed piece, the rotation unloading solid fertilizer piece, the rotation unloading liquid fertilizer piece and the rotation unloading liquid medicine piece slide in the x-axis direction of the fixed seed cylinder, the fixed solid fertilizer cylinder, the fixed liquid fertilizer cylinder and the fixed liquid medicine cylinder, and the A point coordinates are (R1sin(θ z1 +θ z ), The C point coordinates are (R2sin(θ z2 +θ z ), R2cos(θ z2 +θ z )); the B point coordinates are (a, L), and when the rotation switch is closed, the initial value a=0, wherein R1 is the radius of the A point to the center O; R2 is the radius of the C point to the center O; θ z1 is the initial angle of OA and the y-axis; θ z2 is the initial angle of OC and the y-axis; a is the sliding displacement of the rotation unloading seed piece, the rotation unloading solid fertilizer piece, the rotation unloading liquid fertilizer piece and the rotation unloading liquid medicine piece in the x-axis direction of the fixed seed cylinder, the fixed solid fertilizer cylinder, the fixed liquid fertilizer cylinder and the fixed liquid medicine cylinder; and L is the displacement of the rotation unloading seed piece, the rotation unloading solid fertilizer piece, the rotation unloading liquid fertilizer piece and the rotation unloading liquid medicine piece in the y-axis direction of the fixed seed cylinder, the fixed solid fertilizer cylinder, the fixed liquid fertilizer cylinder and the fixed liquid medicine cylinder;

[0076] Step S603, according to the AC coordinates obtained in step S602, the formula of the straight line AC is obtained as:

[0077]

[0078] The coordinates of the B point are brought into the straight line AC formula in step S603, and the sliding displacement a of the rotation unloading seed piece, the rotation unloading solid fertilizer piece, the rotation unloading liquid fertilizer piece and the rotation unloading liquid medicine piece in the x-axis direction of the fixed seed cylinder, the fixed solid fertilizer cylinder, the fixed liquid fertilizer cylinder and the fixed liquid medicine cylinder is obtained as:

[0079]

[0080] According to the obtained rotating seed unloading piece, rotating solid fertilizer unloading piece, rotating liquid fertilizer unloading piece, rotating liquid medicine unloading piece, the fixed seed cylinder, the fixed solid fertilizer cylinder, the fixed liquid fertilizer cylinder, the fixed liquid medicine cylinder are slid in the x-axis direction displacement a, the size area of the rotating variable seed unloading switch, the rotating variable solid fertilizer unloading switch, the rotating variable liquid fertilizer unloading switch, the rotating variable liquid medicine unloading switch can be obtained That is

[0081] The rotating variable seed unloading switch, the rotating variable solid fertilizer unloading switch, the rotating variable liquid fertilizer unloading switch, the rotating variable liquid medicine unloading switch are regular hexagons; a0 is the initial value of the side length of the regular hexagon when the rotating switch is closed; with the rotation of the rotating variable seed unloading wheel, the rotating variable solid fertilizer unloading wheel, the rotating variable liquid fertilizer unloading wheel, the rotating variable liquid medicine unloading wheel, the side length of the regular hexagon is (a+a0);

[0082] S603, the angle of the rotating variable seed unloading wheel, the rotating variable solid fertilizer unloading wheel, the rotating variable liquid fertilizer unloading wheel, the rotating variable liquid medicine unloading wheel and the size area of the rotating variable seed unloading switch, the rotating variable solid fertilizer unloading switch, the rotating variable liquid fertilizer unloading switch, the rotating variable liquid medicine unloading switch can be obtained, therefore, the size area of the rotating variable seed unloading switch, the rotating variable solid fertilizer unloading switch, the rotating variable liquid fertilizer unloading switch, the rotating variable liquid medicine unloading switch can be controlled through the angle of the rotating variable seed unloading wheel, the rotating variable solid fertilizer unloading wheel, the rotating variable liquid fertilizer unloading wheel, the rotating variable liquid medicine unloading wheel, and the seed flow of the seed bin conveying pipeline and each supplementing pipeline, the solid fertilizer flow of the solid fertilizer bin conveying pipeline and each supplementing pipeline, the liquid fertilizer flow of the liquid fertilizer bin conveying pipeline and each liquid supplementing pipeline, and the liquid flow of the liquid medicine bin conveying pipeline and each liquid supplementing pipeline can be controlled.

[0083] The technical effect of the application is that:

[0084] The application matches the operation efficiency of the seeding, fertilizing and pesticide spraying machine, and integrates the monitoring technology control device. According to the actual working parameters detected, the actuator is adjusted in real time to automatically complete the installation process with the optimized working parameter combination, and the working process and operation efficiency of the seeding, fertilizing and pesticide spraying machine are accelerated. The seeding, fertilizing and pesticide spraying multi-coupling collaborative on-demand installation control can automatically control the device to the optimized working parameter combination according to the real-time detected parameters, and plan the seeding, fertilizing and pesticide spraying multi-coupling collaborative on-demand installation operation, which greatly improves the seeding, fertilizing and pesticide spraying multi-coupling collaborative on-demand installation automation level, fills the blank of automatic installation of seeds, fertilizers and pesticides, fundamentally solves the problems of low efficiency, high labor intensity and high operation cost of automatic installation of seeds, fertilizers and pesticides, realizes efficient and low-loss delivery of seeds, fertilizers and pesticides, effectively matches the operation progress of the seeding, fertilizing and pesticide spraying machine, and improves the operation efficiency and endurance time. The seed, fertilizer and pesticide tank that adapts to different distribution and quantity of seeding, fertilizing and pesticide spraying also adapts to different sizes and types of seeds, fertilizers and pesticides, and has a wide range of adaptation. The horizontal inclination angles of the material supplement pipeline and the seed tank, the material supplement pipeline and the fertilizer tank of the fertilizing machine, the liquid filling pipeline and the fertilizer tank of the fertilizing machine, and the liquid filling pipeline and the pesticide tank are kept parallel, and the moving distances in the vertical direction of each material supplement pipeline and the seed tank, each material supplement pipeline and the fertilizer tank of the fertilizing machine, each liquid filling pipeline and the fertilizer tank of the fertilizing machine, and each liquid filling pipeline and the pesticide tank are detected and calculated, so that the problems of difficult accurate butt joint of each material supplement pipeline and the seed tank, each material supplement pipeline and the fertilizer tank of the fertilizing machine, each liquid filling pipeline and the fertilizer tank of the fertilizing machine, and each liquid filling pipeline and the pesticide tank are solved. The rotation angle information of the variable displacement seed unloading wheel, the variable displacement solid fertilizer unloading wheel, the variable displacement liquid fertilizer unloading wheel and the variable displacement pesticide unloading wheel is detected, and the sizes of the variable displacement seed unloading switch, the variable displacement solid fertilizer unloading switch, the variable displacement liquid fertilizer unloading switch and the variable displacement pesticide unloading switch are calculated, so that the seed flow of the seed tank conveying pipeline and each material supplement pipeline, the solid fertilizer flow of the solid fertilizer tank conveying pipeline and each material supplement pipeline, the liquid fertilizer flow of the liquid fertilizer tank conveying pipeline and each liquid filling pipeline, and the pesticide flow of the pesticide tank conveying pipeline and each liquid filling pipeline are controlled by the angle of the variable displacement seed unloading wheel, the variable displacement solid fertilizer unloading wheel, the variable displacement liquid fertilizer unloading wheel and the variable displacement pesticide unloading wheel, and the flow is more accurately controlled.

[0085] The application will be described in detail below in combination with the drawings and specific embodiments, but is not limited to the application. BRIEF DESCRIPTION OF DRAWINGS

[0086] Figure 1 The device structure schematic diagram of an embodiment of the application is shown in the figure.

[0087] Figure 2 The seed tank automatic replenishment mechanism structure schematic diagram of an embodiment of the application is shown in the figure.

[0088] Figure 3Structure diagram of rotary variable switch of an embodiment of the present application;

[0089] Figure 4 Structure diagram of rotary unloading piece of an embodiment of the present application;

[0090] Figure 5 Structure diagram of air flow distributor of an embodiment of the present application;

[0091] Figure 6 Structure diagram of spatial position adjusting mechanism of an embodiment of the present application;

[0092] Figure 7 Structure diagram of liquid automatic filling mechanism of an embodiment of the present application;

[0093] Figure 8 Structure diagram of automatic dispenser of an embodiment of the present application;

[0094] Figure 9 Working principle diagram of adjusting mechanism of an embodiment of the present application;

[0095] Figure 10 Principle diagram of keeping adjusting feeding pipeline and seed fertilizer box parallel of an embodiment of the present application;

[0096] Figure 11 Motion displacement analysis diagram of rotary variable switch of an embodiment of the present application.

[0097] Wherein, the reference signs

[0098] Automatic warehouse replenishment mechanism

[0099] 11 warehouse body

[0100] 12 automatic replenishment frame

[0101] 13 disturbance mechanism

[0102] 14 feeding pipeline

[0103] 15 fan

[0104] 16 conveying pipeline

[0105] 2 liquid automatic filling mechanism

[0106] 21 support

[0107] 22 liquid warehouse

[0108] 23 liquid disturbance mechanism

[0109] 24 liquid conveying pipeline

[0110] 25 liquid filling pipeline

[0111] 26 pipeline pump

[0112] 3. Automatic liquid fertilizer dispensing mechanism

[0113] 4. Automatic Solid Fertilizer Replenishment Mechanism

[0114] 5. Spatial Position Adjustment Mechanism

[0115] 51 hydraulic cylinder

[0116] 52 Cam Disc

[0117] 53 Slider Link

[0118] 54 Support Slider

[0119] 55 Slider Base

[0120] 56 connecting rods

[0121] 57 joysticks

[0122] 58 Gears

[0123] 6 Automatic Dispenser

[0124] 61 Feeding cylinder

[0125] 62 Screw Conveyor

[0126] 63 Automatic Dispensing Pipeline Pump

[0127] 64 Mixing Mechanism

[0128] 65 Batching Cylinder

[0129] 7 Central Controller

[0130] 8 Rotary Variable Switch

[0131] 81 Rotary Unloading Plate

[0132] 82 Rotary Variable Unloading Wheel

[0133] 83 Fixed Cylinder

[0134] 84 Unloading Port

[0135] 85 boss

[0136] 86 Slide

[0137] 9 airflow distributors

[0138] 91 Distribution Shell

[0139] 92 distribution fans

[0140] 10 mainframe racks Detailed Implementation

[0141] The structural principle and working principle of the present application will be described in detail below with reference to the drawings:

[0142] Referring to Figure 1 , Figure 1 The device structure diagram of an embodiment of the present application. The multifunctional composite automatic loading device of the present application comprises: a main frame 10; a seed bin automatic replenishing mechanism 1 installed on the main frame 10 and located at the upper right, for automatically replenishing seeds for a seeding, fertilizing and pesticide spraying machine; a solid fertilizer automatic replenishing mechanism 4 installed on the main frame 10 and located at the lower left, for automatically replenishing fertilizers for the seeding, fertilizing and pesticide spraying machine, the solid fertilizer automatic replenishing mechanism 4 having the same structure as the seed bin automatic replenishing mechanism 1; a liquid fertilizer automatic filling mechanism 3 installed on the main frame 10 and located at one side of the solid fertilizer automatic replenishing mechanism 4, i.e. at the lower right, for automatically filling liquid fertilizers for the seeding, fertilizing and pesticide spraying machine; a pesticide liquid automatic filling mechanism 2 installed on the main frame 10 and located at the upper left, for automatically filling pesticide liquid for the seeding, fertilizing and pesticide spraying machine, the pesticide liquid automatic filling mechanism 2 having the same structure as the liquid fertilizer automatic filling mechanism 3; and a central controller 7 installed on the main frame 10 and connected with the seed bin automatic replenishing mechanism 1, the solid fertilizer automatic replenishing mechanism 4, the liquid fertilizer automatic filling mechanism 3 and the pesticide liquid automatic filling mechanism 2, for adjusting the working state of each mechanism in real time and planning the coordinated operation of each mechanism; a control mechanism arranged on the seed bin automatic replenishing mechanism 1, the solid fertilizer automatic replenishing mechanism 4, the liquid fertilizer automatic filling mechanism 3 and the pesticide liquid automatic filling mechanism 2 and connected with the central controller 7; and a driving motor connected with the seed bin automatic replenishing mechanism 1, the solid fertilizer automatic replenishing mechanism 4, the liquid fertilizer automatic filling mechanism 3, the pesticide liquid automatic filling mechanism 2 and the central controller 7; wherein the seed bin automatic replenishing mechanism 1, the solid fertilizer automatic replenishing mechanism 4, the liquid fertilizer automatic filling mechanism 3 and the pesticide liquid automatic filling mechanism 2 are respectively provided with a rotary variable switch 8 and a spatial position adjusting mechanism 5; the liquid fertilizer automatic filling mechanism 3 and the pesticide liquid automatic filling mechanism 2 are respectively provided with an automatic dispenser 6, the seed bin automatic replenishing mechanism 1 and the solid fertilizer automatic replenishing mechanism 4 are respectively provided with an airflow distributor 9, and the rotary variable switch 8, the spatial position adjusting mechanism 5, the automatic dispenser 6 and the airflow distributor 9 are respectively connected with the central controller 7, the control mechanism and the driving motor.

[0143] The control mechanism of the embodiment comprises a speed sensor for detecting the rotating speed, ultrasonic proximity sensors respectively installed on the seed tank, the fertilizer tank and the pesticide tank of the seeding and fertilizing and pesticide spraying machine for detecting the remaining amount of seeds, solid fertilizer, liquid fertilizer and pesticide solution, an inclination sensor for detecting the horizontal inclination angle of the seed tank, the fertilizer tank and the pesticide tank of the seeding and fertilizing and pesticide spraying machine, a flow sensor for detecting the flow of seeds, solid fertilizer, liquid fertilizer and pesticide solution, and an encoder installed on the rotary variable switch for detecting the rotating angle of the rotary variable switch; the speed sensor, the ultrasonic proximity sensors, the inclination sensor, the flow sensor and the encoder are respectively connected with the central controller. It can also comprise air flow speed sensors connected with the central controller and respectively installed on the conveying pipeline, the material supplementing pipeline and the air flow distributor for detecting the air flow speed of the conveying pipeline, the material supplementing pipeline and the air flow distributor.

[0144] Referring to Figure 2 , Figure 2It is a structure schematic view of the seed automatic replenishing mechanism 1 of an embodiment of the present application. The seed automatic replenishing mechanism 1 and the solid-state fertilizer automatic replenishing mechanism 4 are of the same structure, and the seed automatic replenishing mechanism 1 is taken as an example for description. The seed automatic replenishing mechanism 1 and the solid-state fertilizer automatic replenishing mechanism 4 can respectively include: an automatic replenishing frame 12 installed on the main frame 10; a bin body 11 installed on the automatic replenishing frame 12, used for storing and providing seeds or solid-state fertilizers, and can correspond to a seed bin and a solid-state fertilizer bin; the rotary variable switch 8 is installed on the automatic replenishing frame 12 corresponding to the bottom end of the bin body 11, used for controlling the speed of unloading seeds or solid-state fertilizers; the ultrasonic proximity sensor is installed on the bin body 11, and the laser radar sensor is installed on the outer wall of the bin body 11, used for detecting the horizontal distance between the bin body 11 and the closest seed tank / fertilizer tank; a disturbance mechanism 13 is installed on the automatic replenishing frame 12 and located in the bin body 11, used for disturbing the seeds or solid-state fertilizers inside the bin body 11, preventing the seeds or solid-state fertilizers from being blocked and ensuring the uniform falling of the seeds or solid-state fertilizers, and can correspond to a seed bin disturbance mechanism and a solid-state fertilizer bin disturbance mechanism; a fan 15 is installed on the automatic replenishing frame 12, used for controlling the replenishing speed of the seeds or solid-state fertilizers, and can correspond to a seed bin fan and a solid-state fertilizer bin fan; a feeding pipeline 14 is installed on the spatial position adjusting mechanism 5, used for replenishing the seeds or solid-state fertilizers into the seed tank or the fertilizer tank of the seeding and fertilizing pesticide spraying machine, and the feeding pipeline 14 is installed with the inclination sensor and the flow sensor, and can correspond to a seed feeding pipeline and a solid-state fertilizer feeding pipeline; the laser radar sensor is installed at the outlet of the feeding pipeline 14, used for detecting the vertical distance between the feeding pipeline 14 and the seed tank, the fertilizer tank and the pesticide tank; the spatial position adjusting mechanism 5 is installed on the automatic replenishing frame 12, used for adjusting the butt joint position of the feeding pipeline 14 and the seed tank or the fertilizer tank; the airflow distributor 9 is installed on the automatic replenishing frame 12 and connected with the feeding pipeline 14, used for distributing the seeds or solid-state fertilizers into different feeding pipelines 14, and the airflow distributor 9 and the spatial position adjusting mechanism 5 are respectively installed with the speed sensor; and the conveying pipeline 16 is installed on the automatic replenishing frame 12, the inlet of the conveying pipeline 16 is connected with the rotary variable switch 8, the air inlet of the conveying pipeline 16 is connected with the fan 15, and the air outlet of the conveying pipeline 16 is connected with the airflow distributor 9, used for changing the conveying direction of the seeds or solid-state fertilizers; and the flow sensor is installed on the inner wall of the conveying pipeline.

[0145] Referring to Figure 3 and Figure 4 , Figure 3 It is a structure schematic view of the rotary variable switch 8 of an embodiment of the present application, Figure 4The structure diagram of the rotating unloading piece 81 of an embodiment of the present application. The rotating variable switch 8 is respectively installed on the corresponding mechanism for controlling the unloading flow of seeds / solid fertilizers / liquid fertilizers / liquid chemicals, and comprises: a fixed cylinder 83 installed on the automatic supply frame 12 or the support 21 and located below the bin body 11 or the liquid bin 22; the fixed cylinder 83 is located directly below the outlet of the bin body 11 or the liquid bin 22 and can be connected by a bolt and a nut; a plurality of rotating unloading pieces 81 installed on the fixed cylinder 83 and arranged in a circular array; the upper and lower surfaces of the rotating unloading piece 81 are respectively provided with a cylindrical boss 85, which can move along the long strip hole provided on the rotating variable unloading wheel 82 and the sliding groove 86 provided on the fixed cylinder 83; and the rotating variable unloading wheel 82 is connected with the rotating unloading piece 81 and drives the rotating unloading piece 81 to move to adjust the size of the unloading port 84 and control the unloading speed (seed unloading or solid fertilizer unloading), and the rotating shaft of the rotating variable unloading wheel is provided with the speed sensor; the rotating variable unloading wheel 82 can correspondingly include a rotating variable seed unloading wheel, a rotating variable solid fertilizer unloading wheel, a rotating variable liquid fertilizer unloading wheel and a rotating variable liquid chemical unloading wheel, and other mechanisms and their parts can also be respectively provided with specific names corresponding to their respective positions and functions, and the person skilled in the art can confirm the name and corresponding relationship without any doubt, so they are not listed one by one. The rotating variable unloading wheel 82 of the embodiment can be driven by a motor to drive six rotating unloading pieces 81 to rotate together, and the upper surface cylindrical boss 85 of the six rotating unloading pieces 81 moves under the driving of the circular long strip hole of the rotating variable unloading wheel 82, and then the lower surface cylindrical boss 85 of the six rotating unloading pieces 81 moves along the sliding groove 86 on the fixed cylinder 83 to change the size of the unloading port 84.

[0146] Referring to Figure 5 , Figure 5 The structure diagram of the airflow distributor 9 of an embodiment of the present application. In the embodiment, the airflow distributor 9 is used for distributing the seed or solid fertilizer supplement, and comprises: a distribution shell 91 installed on the automatic supply frame 12, wherein the inlet of the distribution shell 91 is connected with the outlet of the conveying pipeline 16, the outlet of the distribution shell 91 is connected with the supplement pipeline 14, and the number of the outlet of the distribution shell 91 corresponds to the number of the seed tank or the fertilizer tank; and a distribution fan 92 connected with the outlet at the bottom end of the distribution shell 91 and used for controlling the supplement rate of the seed or the solid fertilizer; which can correspondingly include a seed supplement distribution fan and a solid fertilizer supplement distribution fan.

[0147] Referring to Figure 6 , Figure 6A schematic view of the spatial position adjusting mechanism 5 of an embodiment of the present application. In this embodiment, the spatial position adjusting mechanism 5 can be installed in the corresponding mechanism to adjust the docking position of the filling pipe and the seed tank, fertilizer tank, or pesticide tank of the seeding and fertilizing machine during the corresponding reseeding, solid fertilizer, liquid fertilizer, or pesticide supplement. The spatial position adjusting mechanism 5 comprises: a support slider 54 installed on a slider base 55 and connected with a slider connecting rod 53, which can move under the support of the slider base 55 to control the vertical adjustment distance of the rocker 57, that is, the same rotation of the cam disc 52 can change the vertical movement distance of the rocker 57, thereby achieving the vertical precise docking with the seed tank, fertilizer tank, or pesticide tank of the seeding and fertilizing machine; a cam disc 52 connected with a driving motor for driving the spatial position adjusting mechanism 5 to move, which can correspondingly include a reseeding cam disc, a solid fertilizer supplement cam disc, a liquid fertilizer filling cam disc, and a pesticide liquid filling cam disc; one end of the slider connecting rod 53 is connected with the cam disc 52; the other end of the slider connecting rod 53 is connected with a connecting rod 56; the number of connecting rods 56 can be determined according to the number of seed tanks, fertilizer tanks, or pesticide tanks of the seeding and fertilizing machine, which can include reseeding connecting rods, solid fertilizer supplement connecting rods, liquid fertilizer filling connecting rods, and pesticide liquid filling connecting rods; the first connecting rod 56 from left to right has a toothed end, which is convenient for the motor to drive the connecting rod 56 to move horizontally, thereby achieving the horizontal precise docking with the seed tank, fertilizer tank, or pesticide tank of the seeding and fertilizing machine; the connecting rod 56 is connected with the driving motor through a gear 58, and the driving motor drives the connecting rod 56 to move horizontally, thereby achieving the horizontal precise docking with the seed tank of the seeding and fertilizing machine; a rocker 57, one end of which is connected with the connecting rod 56 and keeps a vertical downward state, the other end of the rocker 57 is connected with the supplement pipe 14 to drive the supplement pipe 14 to move together; the supplement pipe 14 can be a plastic hose fixed with the rocker 57 through a U-shaped buckle; and a hydraulic cylinder 51 for supporting and adjusting the position of the spatial position adjusting mechanism 5, one end of which is connected with the slider base 55 through a bolt and nut, the other end of the hydraulic cylinder 51 is connected with the bin body 11 or the liquid bin 22, and a wire displacement sensor is installed on the hydraulic cylinder for detecting the extension and retraction displacement of the hydraulic cylinder. The hydraulic cylinder can correspondingly include reseeding hydraulic cylinders, solid fertilizer supplement hydraulic cylinders, liquid fertilizer filling hydraulic cylinders, and pesticide liquid filling hydraulic cylinders for controlling the vertical movement of the reseeding spatial position adjusting mechanism, the solid fertilizer supplement spatial position adjusting mechanism, the liquid fertilizer filling spatial position adjusting mechanism, and the pesticide liquid filling spatial position adjusting mechanism, thereby controlling the vertical movement of the reseeding pipe, the solid fertilizer supplement pipe, the liquid fertilizer filling pipe, and the pesticide liquid filling pipe. Among them, the slider connecting rod 53 has a long slot in the middle for achieving the vertical precise docking with the seed tank, fertilizer tank, or pesticide tank of the seeding and fertilizing machine, the support slider 54 moves along the long slot of the slider connecting rod 53, and the cam disc 52 drives the slider connecting rod 53 to slide up and down to control the vertical movement distance of the rocker 57.That is, the support slider 54 moves in the long hole of the slider link 53, and the support slider 54 is the fulcrum, according to the principle of leverage, the cam disc 52 drives the slider link 53 to slide up and down, if the support slider 54 is close to one end of the cam disc 52, the other end of the slider link 53 has a larger vertical movement amplitude, and vice versa, thereby changing the moving distance of the rocker 57 in the vertical direction.

[0148] Referring to Figure 7 , Figure 7The structure schematic view of the automatic liquid filling mechanism 2 of an embodiment of the present application. The automatic liquid filling mechanism 2 and the automatic liquid fertilizer filling mechanism 3 of the present application have the same structure, and the automatic liquid filling mechanism 2 is taken as an example for description below. The automatic liquid filling mechanism 2 and the automatic liquid fertilizer filling mechanism 3 can each include: a support 21 mounted on the main frame 10; a liquid bin 22 mounted on the support 21, used for storing and providing liquid or liquid fertilizer, which can include a liquid fertilizer bin and a liquid bin. An ultrasonic proximity sensor is installed on the liquid bin, and a laser radar sensor is installed on the outer wall of the liquid bin for detecting the horizontal distance between the liquid bin and the closest fertilizer tank / chemical tank. The automatic dispenser 6 is installed on the support 21, located above the liquid bin 22, and connected with the inlet of the liquid bin 22 for direct filling, used for automatic direct filling of the liquid bin 22 with liquid or liquid fertilizer. The rotary variable switch 8 is installed on the support 21 and located below the liquid bin 22, used for controlling the speed of discharging liquid or liquid fertilizer. The liquid disturbance mechanism 23 is installed on the support 21 and placed inside the liquid bin 22, used for disturbing the liquid or liquid fertilizer inside the liquid bin 22 to prevent clogging and ensure uniform flow of the liquid or liquid fertilizer. The liquid disturbance mechanism can correspondingly include a liquid fertilizer bin disturbance mechanism and a liquid bin disturbance mechanism. The speed sensor is installed on the liquid disturbance mechanism. The pipeline pump 26 is installed on the support 21, used for controlling the filling speed of the liquid or liquid fertilizer, and the speed sensor is installed on the pipeline pump. The pipeline pump can correspondingly include a liquid fertilizer bin pipeline pump and a liquid bin pipeline pump. The liquid delivery pipeline 24 is installed on the support 21, the inlet of the liquid delivery pipeline 24 is connected with the pipeline pump 26, and the outlet of the liquid delivery pipeline 24 is connected with the liquid filling pipeline 25, used for changing the flow direction of the liquid or liquid fertilizer and distributing the liquid or liquid fertilizer into different liquid filling pipelines 25. The flow sensors are respectively installed on the inner walls of the liquid delivery pipeline and the liquid filling pipeline, the inclination sensor is installed on the liquid filling pipeline, the laser radar sensor is installed at the outlet of the liquid filling pipeline for detecting the vertical distance between the liquid filling pipeline and the fertilizer tank, the number of outlets of the liquid delivery pipeline 24 is determined by the number of chemical tanks or fertilizer tanks of the seeding and fertilizing pesticide spraying machine, and the liquid filling pipeline 25 can correspondingly include a liquid fertilizer filling pipeline and a liquid filling pipeline. The spatial position adjusting mechanism 5 is installed on the support 21, used for adjusting the docking position of the liquid filling pipeline 25 and the fertilizer tank of the seeding and fertilizing pesticide spraying machine.

[0149] Referring to Figure 8 , Figure 8The automatic dispenser 6 of an embodiment of the present application is shown in a structural schematic view. The automatic dispenser 6 of the embodiment comprises: feeding cylinders 61 for feeding each component material of a pesticide or fertilizer, the number of the feeding cylinders 61 corresponding to the number of the component materials of the pesticide or fertilizer; the feeding cylinders are provided with the ultrasonic proximity sensors; a screw conveying mechanism 62 connected with the outlets of the feeding cylinders 61 for conveying each component material of a pesticide or fertilizer; the screw conveying mechanism is provided with the speed sensors; automatic dispensing pipeline pumps 63 installed on the screw conveying mechanism 62 for controlling the speed of automatic pesticide or fertilizer dispensing of the liquid tank 22, which can correspondingly include an automatic pesticide dispensing pipeline pump of a pesticide liquid tank and an automatic fertilizer dispensing pipeline pump of a liquid fertilizer tank; the automatic dispensing pipeline pumps are provided with the speed sensors; a material mixing cylinder 65 located below the outlet of the screw conveying mechanism 62 for mixing pesticide liquid or liquid fertilizer, the top of the material mixing cylinder being provided with the ultrasonic proximity sensor; and a stirring mechanism 64 located in the material mixing cylinder 65 for stirring each component material of a pesticide or fertilizer uniformly to complete automatic mixing of pesticide liquid or liquid fertilizer, the stirring mechanism being provided with the speed sensors.

[0150] The method for regulating and controlling the multi-coupling cooperative installation device comprises the following steps:

[0151] In step S100, the ultrasonic proximity sensors are used to detect the remaining amount of seeds, solid fertilizers, liquid fertilizers and pesticides in the seed tank, the solid fertilizer tank, the liquid fertilizer tank and the pesticide tank of the seeding and fertilizing pesticide spraying machine, and to determine whether the seeding and fertilizing pesticide spraying machine needs to be supplemented with corresponding seeds, fertilizers or pesticides according to the set conditions. If the set conditions are met, automatic installation is not needed, and if the set conditions are not met, automatic installation is performed according to the following steps.

[0152] In step S200, the tilt angle sensors are used to detect the horizontal tilt angle of the seed tank automatic supplementing mechanism, the solid fertilizer automatic supplementing mechanism, the liquid fertilizer automatic filling mechanism and the pesticide liquid automatic filling mechanism with the corresponding seed tank, solid fertilizer tank, liquid fertilizer tank and pesticide tank, and the wire displacement sensors are used to detect the hydraulic cylinder extension and retraction displacement amount of the corresponding space position adjusting mechanism. The central controller drives the corresponding hydraulic cylinders according to the hydraulic cylinder extension and retraction displacement amount to ensure that the supplementing pipelines of the seed tank automatic supplementing mechanism and the solid fertilizer automatic supplementing mechanism and the liquid filling pipelines of the liquid fertilizer automatic filling mechanism and the pesticide liquid automatic filling mechanism are parallel to the corresponding seed tank, solid fertilizer tank, liquid fertilizer tank and pesticide tank.

[0153] Step S300, respectively using laser radar sensor to detect the horizontal distance between the bin body of the seed bin automatic replenishment mechanism and the solid fertilizer automatic replenishment mechanism, the liquid bin of the liquid fertilizer automatic filling mechanism and the pesticide automatic filling mechanism and the closest corresponding seed box, solid fertilizer box, liquid fertilizer box and pesticide box, and adjusting the precise butt joint in the horizontal direction between the feeding pipeline of the seed bin automatic replenishment mechanism and the corresponding seed box and solid fertilizer box, and the liquid filling pipeline of the liquid fertilizer automatic filling mechanism and pesticide automatic filling mechanism and the corresponding liquid fertilizer box and pesticide box through the space position adjusting mechanism;

[0154] Step S400, respectively using laser radar sensor to detect the vertical distance between the feeding pipeline of the seed bin automatic replenishment mechanism and the corresponding seed box and solid fertilizer box, and the liquid filling pipeline of the liquid fertilizer automatic filling mechanism and pesticide automatic filling mechanism and the corresponding liquid fertilizer box and pesticide box, and adjusting the vertical distance between the feeding pipeline and the corresponding seed box and solid fertilizer box, and the liquid filling pipeline and the corresponding liquid fertilizer box and pesticide box through the space position adjusting mechanism to ensure the precise butt joint in the vertical direction;

[0155] Step S500, using ultrasonic proximity sensor to respectively detect the seed, solid fertilizer, liquid fertilizer and pesticide remaining amount of the bin body, and the central controller controls the seed bin automatic replenishment mechanism, airflow distributor, rotary variable switch, solid fertilizer automatic replenishment mechanism, liquid fertilizer automatic filling mechanism and pesticide automatic filling mechanism to start working;

[0156] Step S600, using flow sensor to detect the seed flow and solid fertilizer flow of the conveying pipeline and each feeding pipeline, and the liquid fertilizer flow and pesticide flow of the liquid conveying pipeline and each liquid filling pipeline, based on the seed / fertilizer / pesticide remaining amount information detected in steps S100 and S500, and combining the rotating speed of the driving motor detected by the speed sensor and the airflow speed of the conveying pipeline, feeding pipeline and airflow distributor detected by the airflow speed sensor, the central controller automatically adjusts each driving motor to the optimal working parameter combination to ensure the smooth execution of the sowing / fertilizing / pesticide spraying multi-coupling collaborative on-demand installation; and

[0157] Step S700, the ultrasonic proximity sensor continuously detects the seed / fertilizer / pesticide remaining amount in the seed box, solid fertilizer box, liquid fertilizer box and pesticide box of the sowing and fertilizing and pesticide spraying machine until the set condition is met, and the automatic installation work is ended.

[0158] In step S200, further comprising:

[0159] Step S201, detecting the horizontal inclination angle between the seed tank and solid fertilizer tank and the corresponding feeding pipe, the liquid fertilizer tank and the corresponding liquid filling pipe by the inclination sensor in real time;

[0160] Step S202, calculating the angle θ that the corresponding feeding pipe and liquid filling pipe need to adjust according to the horizontal inclination angle detected by the inclination sensor; and

[0161] Step S203, driving the hydraulic cylinder of the corresponding spatial position adjusting mechanism to extend or retract the corresponding displacement according to the angle θ, so as to ensure that the feeding pipe is parallel to the corresponding seed tank and solid fertilizer tank, and the liquid filling pipe is parallel to the corresponding liquid fertilizer tank and chemical tank.

[0162] In step S400 of the embodiment, further comprising:

[0163] Step S401, calculating the rotation angle θ of the cam disc driving motor of the spatial position adjusting mechanism j , calculating the distance of the vertical movement of the rocker:

[0164]

[0165] wherein R is the radius of the cam disc; S1 is the distance from the connecting point of the cam disc and the connecting rod to the connecting point of the support slider and the connecting rod; S2 is the distance from the connecting point of the support slider and the connecting rod to the connecting point of the connecting rod and the rocker;

[0166] Step S402, according to the vertical distance detected by the laser radar sensor, controlling the movement distance of the corresponding support slider along the connecting rod by the corresponding driving motor, so as to accurately adjust the movement distance of the rocker in the vertical direction; and

[0167] Step S403, if the vertical distance is too large, increasing S2 and reducing S1 to speed up the accurate docking progress; otherwise, reducing S2 and increasing S1 to ensure accurate docking in the vertical direction.

[0168] In step S600 of the embodiment, further comprising:

[0169] Step S601, detecting the rotation angle of the rotation variable switch by the encoder;

[0170] Step S602, calculating the unloading port area of the rotation variable switch, and finding the relationship between the rotation angle of the rotation variable unloading wheel and the unloading port area; and

[0171] Step S603, according to the relationship between the rotation variable unloading wheel rotation angle and the unloading port area, the unloading port area is adjusted by controlling the rotation variable unloading wheel rotation angle, so as to change the seed flow / solid fertilizer flow of the conveying pipeline and each replenishment pipeline, and the liquid fertilizer flow / liquid medicine flow of the liquid conveying pipeline and each liquid filling pipeline.

[0172] After starting, the remaining amount of seeds, solid fertilizer, liquid fertilizer and pesticide in the seed box, solid fertilizer box, liquid fertilizer box and pesticide box of the seeding and fertilizing and pesticide spraying machine is judged by the ultrasonic proximity sensor. If the distance of the seed and fertilizer tank is greater than the critical reaction distance, the central controller 7 sends a signal to the multi-coupling collaborative installation device, prompting the multi-coupling collaborative installation device to supplement the seeding and fertilizing and pesticide spraying machine with seeds, fertilizers and pesticides. The horizontal inclination angle of the supplementing pipe 14 and the seed tank, the supplementing pipe and the solid fertilizer tank, the liquid filling pipe and the liquid fertilizer tank, and the liquid filling pipe 25 and the pesticide tank is detected by the inclination sensor. Combined with the space position adjustment mechanism 5, the corresponding supplementing hydraulic cylinder, the solid fertilizer supplementing hydraulic cylinder, the liquid fertilizer supplementing hydraulic cylinder, and the pesticide supplementing hydraulic cylinder, the central controller 7 drives the supplementing hydraulic cylinder, the solid fertilizer supplementing hydraulic cylinder, the liquid fertilizer supplementing hydraulic cylinder, and the pesticide supplementing hydraulic cylinder to ensure that the supplementing pipe and the seed tank, the supplementing pipe and the solid fertilizer tank, the liquid filling pipe and the liquid fertilizer tank, and the liquid filling pipe and the pesticide tank are kept parallel. Then, the horizontal distance between the seed tank and the closest seed tank, the solid fertilizer tank and the closest solid fertilizer tank, the liquid fertilizer tank and the closest liquid fertilizer tank, and the pesticide tank and the closest pesticide tank is detected by the laser radar sensor. The corresponding drive motor of the supplementing connecting rod, the solid fertilizer supplementing sliding block connecting rod, the liquid fertilizer supplementing connecting rod, and the pesticide supplementing connecting rod is driven to adjust the horizontal distance between each supplementing pipe and the seed tank, each supplementing pipe and the solid fertilizer tank, each liquid filling pipe and the liquid fertilizer tank, and each liquid filling pipe and the pesticide tank to ensure that each supplementing pipe and the seed tank, each supplementing pipe and the solid fertilizer tank, each liquid filling pipe and the liquid fertilizer tank, and each liquid filling pipe and the pesticide tank are precisely connected in the horizontal direction. Then, the vertical distance between the supplementing pipe and the seed tank, the supplementing pipe and the solid fertilizer tank, the liquid filling pipe and the liquid fertilizer tank, and the liquid filling pipe and the pesticide tank is detected by the laser radar sensor. The drive motor of the supplementing cam disc, the solid fertilizer supplementing cam disc, the liquid fertilizer supplementing cam disc, and the pesticide supplementing cam disc is driven to adjust the vertical distance between each supplementing pipe and the seed tank, each supplementing pipe and the solid fertilizer tank, each liquid filling pipe and the liquid fertilizer tank, and each liquid filling pipe and the pesticide tank to ensure that each supplementing pipe and the seed tank, each supplementing pipe and the solid fertilizer tank, each liquid filling pipe and the liquid fertilizer tank, and each liquid filling pipe and the pesticide tank are precisely connected in the vertical direction. Thus, the vertical distance between each supplementing pipe and the seed tank, each supplementing pipe and the solid fertilizer tank, each liquid filling pipe and the liquid fertilizer tank, and each liquid filling pipe and the pesticide tank ensures that each supplementing pipe and the seed tank, each supplementing pipe and the solid fertilizer tank, each liquid filling pipe and the liquid fertilizer tank, and each liquid filling pipe and the pesticide tank complete the precise connection process.

[0173] The ultrasonic proximity sensor determines the seed reserves of the seed bin, the solid fertilizer reserves of the solid fertilizer bin, the liquid fertilizer reserves of the liquid fertilizer bin, and the pesticide liquid reserves of the pesticide liquid bin. If the distance between the installed device and the fertilizer and pesticide tank is less than the critical reaction distance, the distance between the automatic fertilizer feeding cylinder of the liquid fertilizer bin and the automatic fertilizer cylinder of the liquid fertilizer bin, the distance between the automatic pesticide feeding cylinder of the pesticide liquid bin and the automatic pesticide cylinder of the pesticide liquid bin need to be less than the critical reaction distance (the feeding cylinder 61 can include the automatic fertilizer feeding cylinder of the liquid fertilizer bin and the automatic pesticide feeding cylinder of the pesticide liquid bin, and the material cylinder 65 can correspondingly include the automatic fertilizer cylinder of the liquid fertilizer bin and the automatic pesticide cylinder of the pesticide liquid bin). At this time, the central controller 7 starts to drive the seed bin fan, the seed bin disturbance mechanism, the supplemental seed distribution fan, the rotary variable seed discharge wheel, the solid fertilizer bin fan, the solid fertilizer bin disturbance mechanism, the supplemental solid fertilizer distribution fan, the rotary variable solid fertilizer discharge wheel, the liquid fertilizer bin pipeline pump, the liquid fertilizer bin disturbance mechanism, the rotary variable liquid fertilizer discharge wheel, the pesticide liquid bin pipeline pump, the pesticide liquid bin disturbance mechanism, and the rotary variable pesticide liquid discharge wheel. The drive motor starts to work. Finally, according to the flow sensor detecting the seed flow of the seed bin conveying pipeline and each supplemental material pipeline, the solid fertilizer flow of the solid fertilizer bin conveying pipeline and each supplemental material pipeline, the liquid fertilizer flow of the liquid fertilizer bin conveying pipeline and each liquid filling pipeline, and the pesticide liquid flow of the pesticide liquid bin conveying pipeline and each liquid filling pipeline, based on the above detection of seed, fertilizer and pesticide reserves information, combined with the speed sensor detecting the motor speed and the airflow speed sensor detecting the airflow speed information, the central controller sends instructions to automatically control each drive motor to the optimal working parameter combination, and ensures the smooth execution of the multi-coupling collaborative installation according to the needs. The ultrasonic proximity sensor detects the seed, fertilizer and pesticide reserves in the seed tank, the solid fertilizer tank of the fertilizer machine, the liquid fertilizer tank of the fertilizer machine, and the pesticide tank. If the distance between the installed device and the fertilizer and pesticide tank is less than the critical reaction distance, the central controller sends a signal to the multi-coupling collaborative installation device, prompting the multi-coupling collaborative installation device to not supplement the seed, fertilizer and pesticide to the seeding, fertilizing and pesticide spraying machine. The central controller timely sends an alarm and ends the automatic installation work.

[0174] Referring to Figure 9 , Figure 9The working principle diagram of the control mechanism of an embodiment of the application. In an embodiment of the application, the control mechanism is used to realize the seeding-fertilizing-pesticide spraying multi-coupling and collaborative on-demand installation. The speed sensor is respectively installed on the seed bin automatic replenishment mechanism, the solid-state fertilizer automatic replenishment mechanism, the liquid fertilizer automatic filling mechanism, and the pesticide liquid automatic filling mechanism. In the detection of the seed bin automatic replenishment, it is installed on the seed bin fan, the seed bin disturbance mechanism, the seed supplement distribution fan, the seed supplement cam disc, the seed supplement connecting rod, the seed supplement support sliding block, and the rotating variable unloading wheel shaft to detect the rotating speed thereof. In the solid-state fertilizer automatic replenishment part, it is installed on the solid-state fertilizer bin fan, the solid-state fertilizer bin disturbance mechanism, the solid-state fertilizer supplement distribution fan, the solid-state fertilizer supplement cam disc, the solid-state fertilizer supplement connecting rod, the solid-state fertilizer supplement support sliding block, and the rotating variable unloading wheel shaft to detect the rotating speed thereof. In the liquid fertilizer automatic filling part, it is installed on the liquid fertilizer bin pipeline pump, the liquid fertilizer bin disturbance mechanism, the liquid fertilizer bin automatic fertilizer distribution screw conveying mechanism, the liquid fertilizer bin automatic fertilizer distribution pipeline pump, the liquid fertilizer bin automatic fertilizer distribution stirring mechanism, the rotating variable unloading wheel, the liquid fertilizer filling cam disc, the liquid fertilizer filling connecting rod, and the liquid fertilizer filling support sliding block shaft to detect the rotating speed thereof. In the pesticide liquid automatic filling part, it is installed on the pesticide liquid bin pipeline pump, the pesticide liquid bin disturbance mechanism, the pesticide liquid bin automatic pesticide distribution screw conveying mechanism, the pesticide liquid bin automatic pesticide distribution pipeline pump, the pesticide liquid bin automatic pesticide distribution stirring mechanism, the rotating variable unloading wheel, the pesticide liquid filling cam disc, the pesticide liquid filling connecting rod, and the pesticide liquid filling support sliding block shaft to detect the rotating speed thereof.

[0175] The ultrasonic proximity sensor is installed in the seed bin automatic replenishment mechanism, the solid-state fertilizer automatic replenishment mechanism, the liquid fertilizer automatic filling mechanism, and the pesticide liquid automatic filling mechanism. In the seed bin automatic replenishment part, it is installed on the top of the seed box and the seed bin to detect the seed remaining amount of the seed box and the seed bin. In the solid-state fertilizer automatic replenishment part, it is installed on the top of the fertilizer box of the fertilizer machine and the solid-state fertilizer bin to detect the solid-state fertilizer remaining amount of the fertilizer box of the fertilizer machine and the solid-state fertilizer bin. In the liquid fertilizer automatic filling part, it is installed on the top of the fertilizer box of the fertilizer machine, the liquid fertilizer bin, the liquid fertilizer bin automatic fertilizer distribution feeding cylinder, and the liquid fertilizer bin automatic fertilizer distribution cylinder to detect the liquid fertilizer and fertilizer distribution remaining amount of the fertilizer box of the fertilizer machine, the liquid fertilizer bin, the liquid fertilizer bin automatic fertilizer distribution feeding cylinder, and the liquid fertilizer bin automatic fertilizer distribution cylinder. In the pesticide liquid automatic filling part, it is installed on the top of the medicine box, the pesticide liquid bin, the pesticide liquid bin automatic pesticide distribution feeding cylinder, and the pesticide liquid bin automatic pesticide distribution cylinder to detect the pesticide liquid and pesticide distribution remaining amount of the medicine box, the pesticide liquid bin, the pesticide liquid bin automatic pesticide distribution feeding cylinder, and the pesticide liquid bin automatic pesticide distribution cylinder.

[0176] The inclination sensor is installed in the seed bin automatic replenishing mechanism, the solid-state fertilizer automatic replenishing mechanism, the liquid fertilizer automatic filling mechanism and the pesticide liquid automatic filling mechanism, wherein the seed bin automatic replenishing part is installed on the outer wall surface of the replenishing pipeline and the seed bin to detect the horizontal inclination angle of the replenishing pipeline and the seed bin; the solid-state fertilizer automatic replenishing part is installed on the outer wall surface of the replenishing pipeline and the fertilizer tank of the fertilizer machine to detect the horizontal inclination angle of the replenishing pipeline and the fertilizer tank of the fertilizer machine; the liquid fertilizer automatic filling part is installed on the outer wall surface of the liquid filling pipeline and the fertilizer tank of the fertilizer machine to detect the horizontal inclination angle of the liquid filling pipeline and the fertilizer tank of the fertilizer machine; and the pesticide liquid automatic filling part is installed on the outer wall surface of the liquid filling pipeline and the pesticide tank to detect the horizontal inclination angle of the liquid filling pipeline and the pesticide tank.

[0177] The laser radar sensor is installed in the seed bin automatic replenishing mechanism, the solid-state fertilizer automatic replenishing mechanism, the liquid fertilizer automatic filling mechanism and the pesticide liquid automatic filling mechanism, the seed bin automatic replenishing part is installed at the outlet of the replenishing pipeline and is circumferentially distributed to detect the vertical distance between the replenishing pipeline and the seed tank; and is installed on the outer wall of the seed bin to detect the horizontal distance between the seed bin and the seed tank closest to the seed bin of the seeding machine; the solid-state fertilizer automatic replenishing part is installed at the outlet of the replenishing pipeline and is circumferentially distributed to detect the vertical distance between the replenishing pipeline and the fertilizer tank of the fertilizer machine; and is installed on the outer wall of the solid-state fertilizer bin to detect the horizontal distance between the solid-state fertilizer bin and the fertilizer tank closest to the solid-state fertilizer bin of the fertilizer machine; the liquid fertilizer automatic filling part is installed at the outlet of the liquid filling pipeline and is circumferentially distributed to detect the vertical distance between the liquid filling pipeline and the fertilizer tank of the fertilizer machine; and is installed on the outer wall of the liquid fertilizer bin to detect the horizontal distance between the liquid fertilizer bin and the fertilizer tank closest to the liquid fertilizer bin of the fertilizer machine; and the pesticide liquid automatic filling part is installed at the outlet of the liquid filling pipeline and is circumferentially distributed to detect the vertical distance between the liquid filling pipeline and the pesticide tank; and is installed on the outer wall of the pesticide liquid bin to detect the horizontal distance between the pesticide liquid bin and the pesticide tank closest to the pesticide liquid bin of the pesticide spraying machine.

[0178] The flow sensor is installed in the seed bin automatic replenishing mechanism, the solid-state fertilizer automatic replenishing mechanism, the liquid fertilizer automatic filling mechanism and the pesticide liquid automatic filling mechanism, the seed bin automatic replenishing part is installed on the inner wall surface of the seed bin conveying pipeline and the replenishing pipeline to detect the seed flow of the seed bin conveying pipeline and each replenishing pipeline; the solid-state fertilizer automatic replenishing part is installed on the inner wall surface of the solid-state fertilizer bin conveying pipeline and the replenishing pipeline to detect the solid-state fertilizer flow of the solid-state fertilizer bin conveying pipeline and each replenishing pipeline; the liquid fertilizer automatic filling part is installed on the inner wall surface of the liquid fertilizer bin conveying pipeline and the liquid filling pipeline to detect the liquid fertilizer flow of the liquid fertilizer bin conveying pipeline and each liquid filling pipeline; and the pesticide liquid automatic filling part is installed on the inner wall surface of the pesticide liquid bin conveying pipeline and the liquid filling pipeline to detect the pesticide liquid flow of the pesticide liquid bin conveying pipeline and each liquid filling pipeline.

[0179] The air flow velocity sensor is installed on the seed bin automatic feeding mechanism and the solid fertilizer automatic feeding mechanism. The seed bin automatic feeding part is installed on the inner wall surface of the seed bin conveying pipeline, the feeding pipeline and the seed distribution shell, and is used to detect the air flow velocity in the seed bin conveying pipeline, the feeding pipeline and the seed distribution shell. The solid fertilizer automatic feeding part is installed on the inner wall surface of the solid fertilizer bin conveying pipeline, the feeding pipeline and the solid fertilizer distribution shell, and is used to detect the air flow velocity in the solid fertilizer bin conveying pipeline, the feeding pipeline and the solid fertilizer distribution shell.

[0180] The pull wire displacement sensor is installed in the seed bin automatic feeding mechanism, the solid fertilizer automatic feeding mechanism, the liquid fertilizer automatic filling mechanism and the pesticide liquid automatic filling mechanism. The seed bin automatic feeding part is installed on the seed supplementing hydraulic cylinder, and is used to detect the extension and retraction displacement of the seed supplementing hydraulic cylinder. The solid fertilizer automatic feeding part is installed on the solid fertilizer supplementing hydraulic cylinder, and is used to detect the extension and retraction displacement of the solid fertilizer supplementing hydraulic cylinder. The liquid fertilizer automatic filling part is installed on the liquid fertilizer filling hydraulic cylinder, and is used to detect the extension and retraction displacement of the liquid fertilizer filling hydraulic cylinder. The pesticide liquid automatic filling part is installed on the pesticide liquid filling hydraulic cylinder, and is used to detect the extension and retraction displacement of the pesticide liquid filling hydraulic cylinder.

[0181] The encoder of the embodiment is installed in the seed bin automatic feeding mechanism, the solid fertilizer automatic feeding mechanism, the liquid fertilizer automatic filling mechanism and the pesticide liquid automatic filling mechanism. The seed bin automatic feeding part is installed on the rotating variable seed unloading wheel motor shaft, and is used to detect the rotation angle information of the rotating variable seed unloading wheel. The solid fertilizer automatic feeding part is installed on the rotating variable solid fertilizer unloading wheel motor shaft, and is used to detect the rotation angle information of the rotating variable solid fertilizer unloading wheel. The liquid fertilizer automatic filling part is installed on the rotating variable liquid fertilizer unloading wheel motor shaft, and is used to detect the rotation angle information of the rotating variable liquid fertilizer unloading wheel. The pesticide liquid automatic filling part is installed on the rotating variable pesticide liquid unloading wheel motor shaft, and is used to detect the rotation angle information of the rotating variable pesticide liquid unloading wheel.

[0182] In this embodiment, the driving motor can be connected with the seed bin fan, the seed bin disturbance mechanism, the complementary seed distribution fan, the complementary seed cam disc, the complementary seed connecting rod, the rotary variable seed unloading wheel, the solid fertilizer bin fan, the solid fertilizer bin disturbance mechanism, the complementary solid fertilizer distribution fan, the complementary solid fertilizer cam disc, the complementary solid fertilizer connecting rod, the rotary variable solid fertilizer unloading wheel, the liquid fertilizer bin disturbance mechanism, the liquid fertilizer bin automatic fertilizer distribution screw conveying mechanism, the liquid fertilizer bin automatic fertilizer distribution stirring mechanism, the rotary variable liquid fertilizer unloading wheel, the liquid fertilizer filling cam disc, the liquid fertilizer filling connecting rod, the liquid medicine bin disturbance mechanism, the liquid medicine bin automatic medicine distribution screw conveying mechanism, the liquid medicine bin automatic medicine distribution stirring mechanism, the rotary variable liquid medicine unloading wheel, the liquid medicine filling cam disc and the liquid medicine filling connecting rod, and is used for controlling the rotating speed thereof.

[0183] The control method of the multi-coupling collaborative installation device is used for realizing the multi-coupling collaborative installation on demand of seeding, fertilizing and pesticide spraying.

[0184] In step S100, the ultrasonic proximity sensor judges the remaining amount of seeds, fertilizers and pesticides in the seed box, the solid fertilizer box of the fertilizer machine, the liquid fertilizer box of the fertilizer machine and the medicine box based on the non-contact distance measurement principle.

[0185] In step S200, the inclination sensor detects the horizontal inclination angles of the material supplement pipeline and the seed box, the material supplement pipeline and the fertilizer box of the fertilizer machine, the liquid filling pipeline and the fertilizer box of the fertilizer machine and the liquid filling pipeline and the medicine box.

[0186] Step S300, the laser radar sensor detects the horizontal distance between the seed bin closest to the seed bin of the seeding machine, the solid fertilizer bin closest to the fertilizer bin of the fertilizer machine, the liquid fertilizer bin closest to the fertilizer bin of the fertilizer machine, and the pesticide liquid bin closest to the pesticide bin of the pesticide spraying machine. Drive the seed supplement connecting rod, solid fertilizer supplement sliding block connecting rod, liquid fertilizer supplement connecting rod, and pesticide liquid supplement connecting rod motor to adjust the horizontal distance between each supplement pipeline and the seed bin, each supplement pipeline and the fertilizer bin of the fertilizer machine, each liquid supplement pipeline and the fertilizer bin of the fertilizer machine, and each liquid supplement pipeline and the pesticide bin. Ensure that each supplement pipeline and the seed bin, each supplement pipeline and the fertilizer bin of the fertilizer machine, each liquid supplement pipeline and the fertilizer bin of the fertilizer machine, and each liquid supplement pipeline and the pesticide bin are precisely connected in the horizontal direction;

[0187] Step S400, the laser radar sensor detects the vertical distance between the supplement pipeline and the seed bin, the supplement pipeline and the fertilizer bin of the fertilizer machine, the liquid supplement pipeline and the fertilizer bin of the fertilizer machine, and the liquid supplement pipeline and the pesticide bin. Drive the seed supplement cam disc, solid fertilizer supplement cam disc, liquid fertilizer supplement cam disc, and pesticide liquid supplement cam disc motor to adjust the vertical distance between each supplement pipeline and the seed bin, each supplement pipeline and the fertilizer bin of the fertilizer machine, each liquid supplement pipeline and the fertilizer bin of the fertilizer machine, and each liquid supplement pipeline and the pesticide bin. Ensure that each supplement pipeline and the seed bin, each supplement pipeline and the fertilizer bin of the fertilizer machine, each liquid supplement pipeline and the fertilizer bin of the fertilizer machine, and each liquid supplement pipeline and the pesticide bin are precisely connected in the vertical direction;

[0188] Step S500, based on the non-contact distance measurement principle, the ultrasonic proximity sensor judges the seed remaining amount of the seed bin, the solid fertilizer remaining amount of the solid fertilizer bin, the liquid fertilizer remaining amount of the liquid fertilizer bin, and the pesticide liquid remaining amount of the pesticide liquid bin. When the distance between the installed device seed fertilizer bin is less than the critical reaction distance, the distance between the liquid fertilizer bin automatic fertilizer feeding cylinder and the liquid fertilizer bin automatic fertilizer cylinder, and the distance between the pesticide liquid bin automatic pesticide feeding cylinder and the pesticide liquid bin automatic pesticide cylinder need to be less than the critical reaction distance. The central controller starts to drive the seed bin fan, the seed bin disturbance mechanism, the seed supplement distribution fan, the rotary variable unloading wheel, the solid fertilizer bin fan, the solid fertilizer bin disturbance mechanism, the solid fertilizer supplement distribution fan, the rotary variable unloading wheel, the liquid fertilizer bin pipeline pump, the liquid fertilizer bin disturbance mechanism, the rotary variable unloading wheel, the pesticide liquid bin pipeline pump, the pesticide liquid bin disturbance mechanism, and the rotary variable unloading wheel motor. Start working;

[0189] Step S600, according to the flow sensor detects the seed flow of the seed bin conveying pipeline and each replenishment pipeline, the solid fertilizer flow of the solid fertilizer bin conveying pipeline and each replenishment pipeline, the liquid fertilizer flow of the liquid fertilizer bin conveying pipeline and each liquid filling pipeline, the pesticide flow of the pesticide bin conveying pipeline and each liquid filling pipeline, based on the step S100 and the step S500, the residual amount information is detected, the speed sensor detects the motor speed and the airflow speed sensor detects the airflow speed information, and the instructions are sent to the central controller, the driving motor is automatically controlled to the optimal working parameter combination, and the smooth execution of the seeding-fertilizing-spraying multi-coupling cooperation is ensured.

[0190] Step S700, according to the step S100, the ultrasonic proximity sensor detects the residual amount of seeds, solid fertilizer in the fertilizer machine, liquid fertilizer in the fertilizer machine, and pesticide in the pesticide tank, wherein when the measured distance of the seed fertilizer tank is less than the critical reaction distance, the central controller sends a signal to the multi-coupling cooperation installation device, prompting the multi-coupling cooperation installation device to not supplement the seeding, fertilizing and spraying machine with seeds, fertilizers and pesticides, and ending the automatic installation work.

[0191] Referring to Figure 10 , Figure 10 It is the principle diagram of adjusting the parallelism between the replenishment pipeline and the seed fertilizer tank according to an embodiment of the present application. In step S200, the method for adjusting the horizontal inclination angle of the replenishment pipeline and the seed tank, the replenishment pipeline and the fertilizer tank of the fertilizer machine, the liquid filling pipeline and the fertilizer tank of the fertilizer machine, and the liquid filling pipeline and the pesticide tank to keep parallel includes:

[0192] Step S201, the horizontal inclination angle between the replenishment pipeline and the seed tank, the replenishment pipeline and the fertilizer tank of the fertilizer machine, the liquid filling pipeline and the fertilizer tank of the fertilizer machine, and the liquid filling pipeline and the pesticide tank is detected by the inclination sensor in real time, and is recorded as θ1 and θ2 respectively.

[0193] Step S202, the angle θ that needs to be adjusted of the replenishment pipeline, the replenishment pipeline, the liquid filling pipeline and the liquid filling pipeline is calculated according to the horizontal inclination angle detected by the inclination sensor, that is, θ = θ1- θ2.

[0194] Step S203, according to the angle θ that needs to be adjusted, the corresponding displacement of the seed replenishment hydraulic cylinder, the solid fertilizer replenishment hydraulic cylinder, the liquid fertilizer filling hydraulic cylinder and the pesticide liquid filling hydraulic cylinder is driven to stretch and retract, wherein the horizontal inclination angle θ1 of the replenishment pipeline, the replenishment pipeline, the liquid filling pipeline and the liquid filling pipeline, that is, the included angle between the seed replenishment sliding block connecting rod, the solid fertilizer replenishment sliding block connecting rod, the liquid fertilizer filling sliding block connecting rod and the vertical direction, is obtained according to the trigonometric cosine theorem. And Wherein θ1 is the angle between the seed supplementing slider connecting rod, solid-state fertilizer supplementing slider connecting rod, liquid fertilizer supplementing slider connecting rod, liquid medicine supplementing slider connecting rod and the vertical direction before adjustment; θ1' is the angle between the seed supplementing slider connecting rod, solid-state fertilizer supplementing slider connecting rod, liquid fertilizer supplementing slider connecting rod, liquid medicine supplementing slider connecting rod and the vertical direction after adjustment, that is, θ2; x0 is the vertical distance between the seed supplementing slider connecting rod, solid-state fertilizer supplementing slider connecting rod, liquid fertilizer supplementing slider connecting rod, liquid medicine supplementing slider connecting rod and the rack hinge point to the seed supplementing hydraulic cylinder, solid-state fertilizer supplementing hydraulic cylinder, liquid fertilizer supplementing hydraulic cylinder, liquid medicine supplementing hydraulic cylinder and the rack hinge point, L AD ; x1 is the distance between the seed supplementing slider connecting rod, solid-state fertilizer supplementing slider connecting rod, liquid fertilizer supplementing slider connecting rod, liquid medicine supplementing slider connecting rod and the support hinge point and the seed supplementing hydraulic cylinder, solid-state fertilizer supplementing hydraulic cylinder, liquid fertilizer supplementing hydraulic cylinder, liquid medicine supplementing hydraulic cylinder and the seed supplementing slider connecting rod, solid-state fertilizer supplementing slider connecting rod, liquid fertilizer supplementing slider connecting rod, liquid medicine supplementing slider connecting rod hinge point, L AB ; y0 is the unadjusted distance between the seed supplementing slider connecting rod, solid-state fertilizer supplementing slider connecting rod, liquid fertilizer supplementing slider connecting rod, liquid medicine supplementing slider connecting rod and the rack hinge point to the seed supplementing hydraulic cylinder, solid-state fertilizer supplementing hydraulic cylinder, liquid fertilizer supplementing hydraulic cylinder, liquid medicine supplementing hydraulic cylinder and the seed supplementing slider connecting rod, solid-state fertilizer supplementing slider connecting rod, liquid fertilizer supplementing slider connecting rod, liquid medicine supplementing slider connecting rod hinge point, L CD and L BD ; y1 is the adjusted distance between the seed supplementing slider connecting rod, solid-state fertilizer supplementing slider connecting rod, liquid fertilizer supplementing slider connecting rod, liquid medicine supplementing slider connecting rod and the rack hinge point to the seed supplementing hydraulic cylinder, solid-state fertilizer supplementing hydraulic cylinder, liquid fertilizer supplementing hydraulic cylinder, liquid medicine supplementing hydraulic cylinder and the seed supplementing slider connecting rod, solid-state fertilizer supplementing slider connecting rod, liquid fertilizer supplementing slider connecting rod, liquid medicine supplementing slider connecting rod hinge point, L BD and L AC ;

[0195] The adjustment angle is obtained Wherein y1=y0+y, y is the corresponding displacement of the seed supplementing hydraulic cylinder, solid-state fertilizer supplementing hydraulic cylinder, liquid fertilizer supplementing hydraulic cylinder, liquid medicine supplementing hydraulic cylinder, which is a variable, and because the others are constants, the purpose of keeping the horizontal inclination angle of the seed supplementing pipeline and seed tank, solid-state fertilizer supplementing pipeline and solid-state fertilizer tank, liquid fertilizer supplementing pipeline and liquid fertilizer tank, liquid medicine supplementing pipeline and medicine tank parallel can be achieved by continuously adjusting the corresponding displacement of the seed supplementing hydraulic cylinder, solid-state fertilizer supplementing hydraulic cylinder, liquid fertilizer supplementing hydraulic cylinder, liquid medicine supplementing hydraulic cylinder;

[0196] The above steps S201-S203 are cycled to ensure that the horizontal inclination angle of the seed supplementing pipeline and seed tank, solid-state fertilizer supplementing pipeline and solid-state fertilizer tank, liquid fertilizer supplementing pipeline and liquid fertilizer tank, liquid medicine supplementing pipeline and medicine tank keeps parallel.

[0197] In this embodiment, step S400, adjust each feeding pipe and seed tank, each feeding pipe and fertilizer tank, each liquid filling pipe and fertilizer tank, each liquid filling pipe and medicine tank in the vertical direction to keep precise docking, further comprising:

[0198] Step S401, calculate the rotation angle of the seed filling cam disk, the solid fertilizer filling cam disk, the liquid fertilizer filling cam disk, the liquid medicine filling cam disk motor, the seed filling rocker, the solid fertilizer filling rocker, the liquid fertilizer filling rocker, the liquid medicine filling rocker vertical direction moving distance Wherein R is the radius of the seed filling cam disk, the solid fertilizer filling cam disk, the liquid fertilizer filling cam disk, the liquid medicine filling cam disk; S1 is the distance from the connecting point of the seed filling cam disk, the solid fertilizer filling cam disk, the liquid fertilizer filling cam disk, the liquid medicine filling cam disk and the seed filling slider connecting rod, the solid fertilizer filling slider connecting rod, the liquid fertilizer filling slider connecting rod, the liquid medicine filling slider connecting rod to the connecting point of the seed filling support slider, the solid fertilizer filling support slider, the liquid fertilizer filling support slider, the liquid medicine filling support slider and the seed filling slider connecting rod, the solid fertilizer filling slider connecting rod, the liquid fertilizer filling slider connecting rod, the liquid medicine filling slider connecting rod; S2 is the distance from the connecting point of the seed filling support slider, the solid fertilizer filling support slider, the liquid fertilizer filling support slider, the liquid medicine filling support slider and the seed filling slider connecting rod, the solid fertilizer filling slider connecting rod, the liquid fertilizer filling slider connecting rod, the liquid medicine filling slider connecting rod to the connecting point of the seed filling connecting rod, the solid fertilizer filling connecting rod, the liquid fertilizer filling connecting rod, the liquid medicine filling connecting rod and the seed filling rocker, the solid fertilizer filling rocker, the liquid fertilizer filling rocker, the liquid medicine filling rocker;

[0199] Step S402, according to the laser radar sensor detects the vertical distance information between the feeding pipe and the seed tank, the feeding pipe and the fertilizer tank, the liquid filling pipe and the fertilizer tank, the liquid filling pipe and the medicine tank, the driving seed filling support slider, the solid fertilizer filling support slider, the liquid fertilizer filling support slider, the liquid medicine filling support slider motor can be adjusted the moving distance of the seed filling support slider, the solid fertilizer filling support slider, the liquid fertilizer filling support slider, the liquid medicine filling support slider in the seed filling slider connecting rod, the solid fertilizer filling slider connecting rod, the liquid fertilizer filling slider connecting rod, the liquid medicine filling slider connecting rod, and then control the seed filling rocker, the solid fertilizer filling rocker, the liquid fertilizer filling rocker, the liquid medicine filling slider connecting rod vertical direction adjustment moving distance scale, that is, change the distance of S1 and S2 to realize the accurate adjustment of S distance;

[0200] Step S403, the laser radar sensor detects the vertical distance information between the feeding pipe and the seed tank, the feeding pipe and the fertilizer tank, the liquid filling pipe and the fertilizer tank, the liquid filling pipe and the medicine tank is too large, increase S2, reduce S1, speed up the precise docking progress; on the contrary, reduce S2, increase S1, to ensure that the two can be precisely docked.

[0201] Circulating the above steps S401-S403, ensure that each feeding pipeline and seed tank, each feeding pipeline and fertilizer tank of the fertilizer machine, each liquid filling pipeline and fertilizer tank of the fertilizer machine, each liquid filling pipeline and medicine tank are precisely docked in the vertical direction.

[0202] Referring to Figure 11 , Figure 11 The movement displacement analysis diagram of the rotary variable switch of an embodiment of the application. In step S600, the rotary variable seed discharge wheel, the rotary variable solid fertilizer discharge wheel, the rotary variable liquid fertilizer discharge wheel, and the rotary variable pesticide liquid discharge wheel motor are controlled, the sizes of the rotary variable seed discharge switch, the rotary variable solid fertilizer discharge switch, the rotary variable liquid fertilizer discharge switch, and the rotary variable pesticide liquid discharge switch are controlled, and then the seed flow of the seed bin conveying pipeline and each feeding pipeline, the solid fertilizer flow of the solid fertilizer bin conveying pipeline and each feeding pipeline, the liquid fertilizer flow of the liquid fertilizer bin conveying pipeline and each liquid filling pipeline, and the pesticide liquid flow of the pesticide liquid bin conveying pipeline and each liquid filling pipeline are controlled. Further comprising:

[0203] In step S601, the rotation angle information of the rotary variable seed discharge wheel, the rotary variable solid fertilizer discharge wheel, the rotary variable liquid fertilizer discharge wheel, and the rotary variable pesticide liquid discharge wheel is detected by the encoder, wherein the detection time interval is the cycle time T, the encoder pulse value P (the number of pulses per circle is M) is collected, and the cycle number N is recorded at the same time. Then initialize a value P1=0, the above motor starts to work, and record the encoder pulse value P at this time, then the rotation angle Finally, P is assigned to P1;

[0204] In step S602, the rotary seed discharge piece, the rotary solid fertilizer discharge piece, the rotary liquid fertilizer discharge piece, and the rotary pesticide liquid discharge piece slide in the x-axis direction of the fixed seed cylinder, the fixed solid fertilizer cylinder, the fixed liquid fertilizer cylinder, and the fixed pesticide liquid cylinder, and the A point coordinates are (R1sin(θ z1 +θ z ), The C point coordinates are (R2sin(θ z2 +θ z ), R2cos(θ z2 +θ z )); the B point coordinates are (a, L), and when the rotary switch is closed, the initial value a=0, wherein R1 is the radius from the A point to the center O; R2 is the radius from the C point to the center O; θ z1 is the initial angle of OA and the y-axis; θ z2is the initial angle of OC and y-axis; a is the sliding displacement of the rotary seed unloading piece, the rotary solid fertilizer unloading piece, the rotary liquid fertilizer unloading piece, and the rotary liquid medicine unloading piece in the x-axis direction of the fixed seed cylinder, the fixed solid fertilizer cylinder, the fixed liquid fertilizer cylinder, and the fixed liquid medicine cylinder; L is the displacement of the rotary seed unloading piece, the rotary solid fertilizer unloading piece, the rotary liquid fertilizer unloading piece, and the rotary liquid medicine unloading piece in the y-axis direction of the fixed seed cylinder, the fixed solid fertilizer cylinder, the fixed liquid fertilizer cylinder, and the fixed liquid medicine cylinder;

[0205] In step S603, the formula of the straight line AC is obtained according to the AC coordinates obtained in step S602.

[0206]

[0207] The sliding displacement a of the rotary seed unloading piece, the rotary solid fertilizer unloading piece, the rotary liquid fertilizer unloading piece, and the rotary liquid medicine unloading piece in the x-axis direction of the fixed seed cylinder, the fixed solid fertilizer cylinder, the fixed liquid fertilizer cylinder, and the fixed liquid medicine cylinder is obtained by substituting the coordinates of point B into the formula of the straight line AC in step S603.

[0208]

[0209] According to the obtained sliding displacement a of the rotary seed unloading piece, the rotary solid fertilizer unloading piece, the rotary liquid fertilizer unloading piece, and the rotary liquid medicine unloading piece in the x-axis direction of the fixed seed cylinder, the fixed solid fertilizer cylinder, the fixed liquid fertilizer cylinder, and the fixed liquid medicine cylinder, the size area of the rotary variable seed unloading switch, the rotary variable solid fertilizer unloading switch, the rotary variable liquid fertilizer unloading switch, and the rotary variable liquid medicine unloading switch can be obtained. That is,

[0210] The rotary variable seed unloading switch, the rotary variable solid fertilizer unloading switch, the rotary variable liquid fertilizer unloading switch, and the rotary variable liquid medicine unloading switch are regular hexagons; a0 is the initial value of the side length of the regular hexagon when the rotary switch is closed; with the rotation of the rotary variable seed wheel, the rotary variable solid fertilizer wheel, the rotary variable liquid fertilizer wheel, and the rotary variable liquid medicine wheel, the side length of the regular hexagon is (a+a0).

[0211] The angle of the rotary variable seed unloading wheel, the rotary variable solid-state fertilizer unloading wheel, the rotary variable liquid-state fertilizer unloading wheel and the rotary variable pesticide unloading wheel and the size of the rotary variable seed unloading switch, the rotary variable solid-state fertilizer unloading switch, the rotary variable liquid-state fertilizer unloading switch and the rotary variable pesticide unloading switch can be obtained, so that the size of the rotary variable seed unloading switch, the rotary variable solid-state fertilizer unloading switch, the rotary variable liquid-state fertilizer unloading switch and the rotary variable pesticide unloading switch can be controlled by the angle of the rotary variable seed unloading wheel, the rotary variable solid-state fertilizer unloading wheel, the rotary variable liquid-state fertilizer unloading wheel and the rotary variable pesticide unloading wheel, and then the seed flow of the seed bin conveying pipeline and each feeding pipeline, the solid-state fertilizer flow of the solid-state fertilizer bin conveying pipeline and each feeding pipeline, the liquid-state fertilizer flow of the liquid-state fertilizer bin conveying pipeline and each liquid filling pipeline and the pesticide flow of the pesticide bin conveying pipeline and each liquid filling pipeline can be controlled.

[0212] The device can automatically control the device to the optimal working parameter combination according to the real-time detected parameters and the demand of seeding, fertilizing and pesticide spraying, and plan the collaborative loading operation of seeds, fertilizers and pesticides, greatly improve the automatic loading level of seeding, fertilizing and pesticide spraying, fill the blank of automatic loading of seeds, fertilizers and pesticides, fundamentally solve the problems of low efficiency, high labor intensity and high operation cost of automatic loading of seeds, fertilizers and pesticides, realize efficient and low-loss conveying of seeds, fertilizers and pesticides, effectively match the operation progress of seeding, fertilizing and pesticide spraying machines, and improve the operation efficiency and endurance time. The seed, fertilizer and pesticide tank that adapts to different distribution and quantity of seeding, fertilizing and pesticide spraying also adapts to different sizes and types of seeds, fertilizers and pesticides, and has a wide range of adaptation. The horizontal inclination angles of the feeding pipeline and the seed tank, the feeding pipeline and the fertilizer tank of the fertilizing machine, the liquid filling pipeline and the fertilizer tank of the fertilizing machine, and the liquid filling pipeline and the pesticide tank are kept parallel, and the vertical movement distances of each feeding pipeline and the seed tank, each feeding pipeline and the fertilizer tank of the fertilizing machine, each liquid filling pipeline and the fertilizer tank of the fertilizing machine, and each liquid filling pipeline and the pesticide tank are detected and calculated, so that the problems of accurate butt joint of each feeding pipeline and the seed tank, each feeding pipeline and the fertilizer tank of the fertilizing machine, each liquid filling pipeline and the fertilizer tank of the fertilizing machine, and each liquid filling pipeline and the pesticide tank are solved. The rotation angle information of the rotary variable seed unloading wheel, the rotary variable solid-state fertilizer unloading wheel, the rotary variable liquid-state fertilizer unloading wheel and the rotary variable pesticide unloading wheel is detected, and the size of the rotary variable seed unloading switch, the rotary variable solid-state fertilizer unloading switch, the rotary variable liquid-state fertilizer unloading switch and the rotary variable pesticide unloading switch is calculated, so that the seed flow of the seed bin conveying pipeline and each feeding pipeline, the solid-state fertilizer flow of the solid-state fertilizer bin conveying pipeline and each feeding pipeline, the liquid-state fertilizer flow of the liquid-state fertilizer bin conveying pipeline and each liquid filling pipeline, and the pesticide flow of the pesticide bin conveying pipeline and each liquid filling pipeline can be controlled by the angle of the rotary variable seed unloading wheel, the rotary variable solid-state fertilizer unloading wheel, the rotary variable liquid-state fertilizer unloading wheel and the rotary variable pesticide unloading wheel, and the flow thereof can be more accurately controlled.

[0213] Of course, the present application can have other various embodiments, and those skilled in the art can make various corresponding changes and modifications according to the present application without departing from the spirit and essence of the present application, and these corresponding changes and modifications shall all belong to the protection scope of the claims of the present application.

Claims

1. A multi-coupling collaborative installation device, characterized in that, include: Mainframe rack; An automatic seed replenishment mechanism is installed on the main frame and is used for automatic reseeding of the seeding, fertilizing and spraying machine; An automatic solid fertilizer replenishment mechanism is installed on the main frame and is used for automatic fertilizer replenishment of the seeding, fertilizing and spraying machine. The automatic solid fertilizer replenishment mechanism has the same structure as the automatic seed bin replenishment mechanism. An automatic liquid fertilizer dispensing mechanism is installed on the main frame and located on one side of the automatic solid fertilizer replenishment mechanism, and is used for automatically dispensing liquid fertilizer into the seeding, fertilizing and spraying machine; An automatic pesticide dispensing mechanism is installed on the main frame and is used to automatically dispense pesticides into the sprayer of the seeding, fertilizing and spraying machine. The automatic pesticide dispensing mechanism has the same structure as the automatic liquid fertilizer dispensing mechanism. The central controller, installed on the main frame, is connected to the automatic seed supply mechanism, the automatic solid fertilizer supply mechanism, the automatic liquid fertilizer dispensing mechanism, and the automatic pesticide dispensing mechanism, respectively. It is used to adjust the working status of each mechanism in real time and plan the collaborative operation of each mechanism. Control mechanisms are respectively installed on the automatic seed storage replenishment mechanism, the automatic solid fertilizer replenishment mechanism, the automatic liquid fertilizer dispensing mechanism, and the automatic pesticide dispensing mechanism, and are connected to the central controller; and The drive motor is connected to the seed bin automatic replenishment mechanism, the solid fertilizer automatic replenishment mechanism, the liquid fertilizer automatic dispensing mechanism, the pesticide liquid automatic dispensing mechanism, and the central controller, respectively. The automatic seed replenishment mechanism, the automatic solid fertilizer replenishment mechanism, the automatic liquid fertilizer dispensing mechanism, and the automatic pesticide dispensing mechanism are each equipped with a rotary variable switch and a spatial position adjustment mechanism; the automatic liquid fertilizer dispensing mechanism and the automatic pesticide dispensing mechanism are each equipped with an automatic dispenser; the automatic seed replenishment mechanism and the automatic solid fertilizer replenishment mechanism are each equipped with an airflow distributor; and the rotary variable switch, the spatial position adjustment mechanism, the automatic dispenser, and the airflow distributor are respectively connected to the central controller, the control mechanism, and the drive motor. The regulatory agencies include: A speed sensor is used to detect rotational speed. Ultrasonic proximity sensors are installed on the seed box, fertilizer box, and pesticide box of the seeding, fertilizing, and spraying machine, respectively, to detect the remaining amount of seeds, solid fertilizer, liquid fertilizer, and pesticide solution. An inclination sensor is used to detect the horizontal tilt angle of the seed box, fertilizer box, and pesticide box of the seeding, fertilizing, and spraying machine. Flow sensors are used to detect the flow rate of seeds, solid fertilizers, liquid fertilizers, and pesticide solutions; and An encoder, mounted on the rotary variable switch, is used to detect the rotation angle of the rotary variable switch; The speed sensor, ultrasonic proximity sensor, tilt sensor, flow sensor, and encoder are respectively connected to the central controller.

2. The multi-coupling collaborative installation device as described in claim 1, characterized in that, The automatic seed storage replenishment mechanism and the automatic solid fertilizer replenishment mechanism respectively include: An automatic supply rack is mounted on the main frame; The silo body, installed on the automatic supply rack, is used to store and supply seeds or solid fertilizer; the rotary variable switch, corresponding to the bottom end of the silo body, is installed on the automatic supply rack and is used to control the speed of unloading seeds or solid fertilizer; the ultrasonic proximity sensor is installed on the silo body, and the lidar sensor is installed on the outer wall of the silo body to detect the horizontal distance between the silo body and the nearest seed box / fertilizer box; A disturbance mechanism, installed on the automatic supply rack and located inside the bin, is used to disturb the seeds or solid fertilizer inside the bin to prevent blockage and ensure that the seeds or solid fertilizer fall evenly; the speed sensor is installed on the disturbance mechanism. A fan, installed on the automatic supply rack, is used to control the supply speed of seeds or solid fertilizer; the fan is equipped with the speed sensor. A feeding pipe, installed on the spatial position adjustment mechanism, is used to supply seeds or solid fertilizer to the seed box or fertilizer box of the sowing, fertilizing, and spraying machine. The feeding pipe is equipped with an inclination sensor and a flow sensor. A lidar sensor is installed at the outlet of the feeding pipe to detect the vertical distance between the feeding pipe and the seed box, fertilizer box, and pesticide box. The spatial position adjustment mechanism, installed on the automatic feeding frame, is used to adjust the docking position of the feeding pipe and the seed box. An airflow distributor, installed on the automatic feeding frame and connected to the feeding pipe, is used to distribute seeds or solid fertilizer into different feeding pipes. The airflow distributor and the spatial position adjustment mechanism are respectively equipped with speed sensors. A conveying pipe is installed on the automatic supply rack and connected to the rotary variable switch. The air inlet of the conveying pipe is connected to the fan, and the air outlet of the conveying pipe is connected to the airflow distributor to change the conveying direction of seeds or solid fertilizer. The flow sensor is installed on the inner wall of the conveying pipe.

3. The multi-coupling collaborative installation device as described in claim 2, characterized in that, The regulatory body also includes: Airflow velocity sensors are installed on the conveying pipe, the feeding pipe, and the airflow distributor, respectively, and are connected to the central controller to detect the airflow velocity in the conveying pipe, the feeding pipe, and the airflow distributor.

4. The multi-coupling collaborative installation device as described in claim 2 or 3, characterized in that, The automatic drug dispensing mechanism and the automatic liquid fertilizer dispensing mechanism each include: The bracket is mounted on the main unit frame; A liquid tank, mounted on the support frame, is used to store and supply liquid medicine or liquid fertilizer. The liquid tank is equipped with an ultrasonic proximity sensor, and a lidar sensor is mounted on its outer wall to detect the horizontal distance between the liquid tank and the nearest fertilizer / pesticide tank. An automatic dispenser, mounted on the support frame above the liquid tank and connected to its inlet, is used to automatically and directly add liquid medicine or liquid fertilizer to the liquid tank. A rotary variable switch, mounted on the support frame and below the liquid tank, is used to control the speed of unloading liquid medicine or liquid fertilizer. A liquid disturbance mechanism, mounted on the bracket and placed inside the liquid tank, is used to disturb the liquid medicine or liquid fertilizer inside the liquid tank to prevent blockage and ensure uniform flow of the liquid medicine or liquid fertilizer; the liquid disturbance mechanism is equipped with the speed sensor; A pipeline pump, mounted on the bracket, is used to control the dispensing rate of liquid medicine or liquid fertilizer; the pipeline pump is equipped with the speed sensor. A liquid delivery pipeline, installed on the support, has its inlet connected to the pipeline pump and its outlet connected to the liquid filling pipeline. This pipeline is used to change the flow direction of the liquid pesticide or liquid fertilizer and distribute it into different liquid filling pipelines. Flow sensors are installed on the inner walls of both the liquid delivery pipeline and the liquid filling pipeline. An angle sensor is installed on the liquid filling pipeline, and a lidar sensor is installed at the outlet of the liquid filling pipeline to detect the vertical distance between the liquid filling pipeline and the fertilizer tank. A spatial position adjustment mechanism, installed on the support, is used to adjust the docking position between the liquid filling pipeline and the fertilizer tank of the seeding, fertilizing, and spraying machine.

5. The multi-coupling collaborative installation device as described in claim 4, characterized in that, The automatic dispenser includes: A feeding cylinder is used to feed in the various components of a medicine or fertilizer, and the number of feeding cylinders corresponds to the number of components of the medicine or fertilizer; the feeding cylinder is equipped with the ultrasonic proximity sensor. A screw conveyor mechanism is connected to the outlet of the feeding cylinder and is used to convey the various components of the medicine or fertilizer mixture; the speed sensor is installed on the screw conveyor mechanism. An automatic dispensing pipeline pump, installed on the screw conveyor mechanism, is used to control the automatic dispensing speed of the liquid tank for medicine or fertilizer; the pipeline pump is equipped with the speed sensor. A mixing cylinder, located below the outlet of the screw conveyor mechanism, is used for mixing and dispensing liquid medicine or liquid fertilizer. The ultrasonic proximity sensor is installed at the top of the mixing cylinder. The stirring mechanism, located inside the mixing cylinder, is used to stir the various components of the medicine or fertilizer mixture evenly to complete the automatic mixing of the medicine or fertilizer solution. The speed sensor is installed on the stirring mechanism.

6. The multi-coupling collaborative installation device as described in claim 4, characterized in that, The spatial position adjustment mechanism includes: Support the slider, which is mounted on the slider base; The cam disk is connected to the drive motor; The slider connecting rod is connected at one end to the cam disk; the other end of the slider connecting rod is connected to the connecting rod; the drive motor drives the connecting rod to move horizontally to achieve precise horizontal docking with the seed box, medicine box or fertilizer box of the sowing, fertilizing and spraying machine. A rocker arm, one end of which is connected to the connecting rod, and the other end of which is connected to the feed pipe or liquid filling pipe; and A hydraulic cylinder is connected at one end to the slider base and at the other end to the chamber or liquid tank. A wire displacement sensor is installed on the hydraulic cylinder to detect the amount of extension and retraction displacement of the hydraulic cylinder.

7. The multi-coupling collaborative installation device as described in claim 4, characterized in that, The rotary variable switch includes: A fixed cylinder is installed on the automatic supply frame or bracket and located below the tank or liquid tank; Multiple rotating unloading plates are mounted on the fixed cylinder and arranged in a circumferential array; and A rotating variable unloading wheel is connected to the rotating unloading plate and drives the rotating unloading plate to move in order to adjust the size of the unloading port and control the unloading speed; the speed sensor is provided on the rotating shaft of the rotating variable unloading wheel.

8. A method for controlling a multi-coupling collaborative installation device, characterized in that, The multi-coupling collaborative installation device according to any one of claims 2-7 comprises the following steps: S100: The remaining amount of seeds / fertilizer / pesticide in the seed box, solid fertilizer box, liquid fertilizer box and pesticide box of the seeding, fertilizing and spraying machine is detected by ultrasonic proximity sensors respectively, and it is determined whether the seeding, fertilizing and spraying machine needs to be replenished according to the set conditions; if the set conditions are met, automatic replenishment is not required; if the set conditions are not met, automatic replenishment is performed according to the following steps. S200: Inclination sensors are used to detect the horizontal tilt angles of the automatic seed replenishment mechanism, the automatic solid fertilizer replenishment mechanism, the automatic liquid fertilizer dispensing mechanism, and the automatic pesticide dispensing mechanism relative to the corresponding seed box, solid fertilizer box, liquid fertilizer box, and pesticide box, respectively. A pull-wire displacement sensor is used to detect the extension and retraction displacement of the hydraulic cylinders of the corresponding spatial position adjustment mechanisms. The central controller drives the corresponding hydraulic cylinders according to the extension and retraction displacement of the hydraulic cylinders to ensure that the replenishment pipes of the automatic seed replenishment mechanism and the automatic solid fertilizer replenishment mechanism are parallel to the corresponding seed box and solid fertilizer box, and the liquid dispensing pipes of the automatic liquid fertilizer dispensing mechanism and the automatic pesticide dispensing mechanism are parallel to the corresponding liquid fertilizer box and pesticide box. S300: The horizontal distance between the bodies of the automatic seed replenishment mechanism and the automatic solid fertilizer replenishment mechanism, the liquid tanks of the automatic liquid fertilizer dispensing mechanism and the automatic pesticide dispensing mechanism, and the nearest corresponding seed box, solid fertilizer box, liquid fertilizer box and pesticide box is detected by a lidar sensor. The replenishment pipes of the automatic seed replenishment mechanism and the automatic solid fertilizer replenishment mechanism are adjusted to be precisely aligned with the corresponding seed box and solid fertilizer box, and the liquid dispensing pipes of the automatic liquid fertilizer dispensing mechanism and the automatic pesticide dispensing mechanism are aligned with the corresponding liquid fertilizer box and pesticide box in the horizontal direction by a spatial position adjustment mechanism. S400: The vertical distance between the feeding pipes of the automatic seed supply mechanism and the automatic solid fertilizer supply mechanism and the corresponding seed box and solid fertilizer box, and the liquid injection pipes of the automatic liquid fertilizer injection mechanism and the automatic liquid medicine injection mechanism and the corresponding liquid fertilizer box and medicine box are detected by the laser radar sensor, respectively. The vertical distance between the feeding pipes and the corresponding seed box and solid fertilizer box, and the liquid injection pipes and the corresponding liquid fertilizer box and medicine box are adjusted by the spatial position adjustment mechanism to ensure accurate vertical alignment. S500: An ultrasonic proximity sensor is used to detect the remaining seed volume, solid fertilizer volume, liquid fertilizer volume, and pesticide volume in the liquid tank. The central controller controls the automatic seed replenishment mechanism, airflow distributor, rotary variable switch, automatic solid fertilizer replenishment mechanism, automatic liquid fertilizer dispensing mechanism, and automatic pesticide dispensing mechanism to start working. S600: Flow sensors are used to detect the seed flow rate and solid fertilizer flow rate in the conveying pipe and each feeding pipe, and the liquid fertilizer flow rate and pesticide flow rate in the liquid conveying pipe and each liquid filling pipe. Based on the seed / fertilizer / pesticide remaining information detected in steps S100 and S500, and combined with the speed sensor detecting the drive motor rotation speed and the airflow speed sensor detecting the conveying pipe, feeding pipe, and airflow distributor, the central controller automatically adjusts each drive motor to an optimized operating parameter combination to ensure smooth execution of multi-coupling collaborative on-demand application of sowing / fertilizing / spraying; and S700: The ultrasonic proximity sensor continuously detects the remaining amount of seeds / fertilizer / pesticide in the seed box, solid fertilizer box, liquid fertilizer box and pesticide box of the sowing, fertilizing and spraying machine until the set conditions are met, and then ends the automatic loading operation.

9. The control method for the multi-coupling collaborative installation device as described in claim 8, characterized in that, Step S200 further includes: Step S201: Real-time detection of the horizontal tilt angles between the feeding pipe and the seed box, the feeding pipe and the fertilizer box of the fertilizer applicator, the liquid injection pipe and the fertilizer box of the fertilizer applicator, and the liquid injection pipe and the medicine box using tilt sensors, and recorded as θ1 and θ2 respectively; Step S202: Calculate the angle θ that needs to be adjusted for the feeding pipe, the liquid filling pipe, and the liquid filling pipe based on the horizontal tilt angle detected by the tilt sensor, i.e., θ = θ1 - θ2; Step S203: Adjust the angle θ as needed to drive the replanting hydraulic cylinder, solid fertilizer replanting hydraulic cylinder, liquid fertilizer injection hydraulic cylinder, and pesticide injection hydraulic cylinder to extend and retract accordingly. The horizontal inclination angle θ1 of the replanting pipe, solid fertilizer replanting pipe, liquid fertilizer injection pipe, and pesticide injection pipe is the angle between the replanting slider connecting rod, solid fertilizer replanting slider connecting rod, liquid fertilizer injection slider connecting rod, and pesticide injection slider connecting rod and the vertical direction. This angle is calculated using the trigonometric cosine theorem. and Where θ1 is the angle between the replanting slider link, the solid fertilizer replanting slider link, the liquid fertilizer replanting slider link, and the pesticide replanting slider link and the vertical direction before adjustment; θ1' is the angle between the replanting slider link, the solid fertilizer replanting slider link, the liquid fertilizer replanting slider link, and the pesticide replanting slider link and the vertical direction after adjustment, which is θ2; x0 is the vertical distance from the hinge point of the replanting slider link, the solid fertilizer replanting slider link, the liquid fertilizer replanting slider link, and the pesticide replanting slider link with the frame to the hinge point of the replanting hydraulic cylinder, the solid fertilizer replanting hydraulic cylinder, the liquid fertilizer replanting hydraulic cylinder, and the pesticide replanting hydraulic cylinder with the frame, L AD x1 represents the distance between the hinge points of the replanting slider link, the solid fertilizer replanting slider link, the liquid fertilizer replanting slider link, and the pesticide replanting slider link and the support, and between these hinge points and the hydraulic cylinders for replanting, solid fertilizer replanting, liquid fertilizer replanting, and pesticide replanting, respectively. L AB y0 represents the unadjusted distance from the hinge point between the replanting slider link, the solid fertilizer replanting slider link, the liquid fertilizer replanting slider link, and the pesticide replanting slider link and the frame to the hinge point between the replanting hydraulic cylinder, the solid fertilizer replanting hydraulic cylinder, the liquid fertilizer replanting hydraulic cylinder, and the pesticide replanting hydraulic cylinder and the replanting slider link, the solid fertilizer replanting slider link, the liquid fertilizer replanting slider link, and the pesticide replanting slider link; L represents the unadjusted distance between the hinge point between the replanting hydraulic cylinder, the solid fertilizer replanting hydraulic cylinder, the liquid fertilizer replanting hydraulic cylinder, and the pesticide replanting hydraulic cylinder and the frame. CD and L BD y1 is the adjusted distance from the hinge point between the replanting slider link, the solid fertilizer replanting slider link, the liquid fertilizer replanting slider link, and the pesticide replanting slider link and the frame to the hinge point between the replanting hydraulic cylinder, the solid fertilizer replanting hydraulic cylinder, the liquid fertilizer replanting hydraulic cylinder, and the pesticide replanting hydraulic cylinder and the replanting slider link, the solid fertilizer replanting slider link, the liquid fertilizer replanting slider link, and the pesticide replanting slider link; L is the distance between the replanting slider link, the solid fertilizer replanting slider link, the liquid fertilizer replanting hydraulic cylinder, and the pesticide replanting hydraulic cylinder and the hinge point between the replanting slider link, the solid fertilizer replanting slider link, the liquid fertilizer replanting slider link, and the pesticide replanting slider link. BD and L AC ; Find the adjustment angle Where y1=y0+y, y is the corresponding displacement of the replanting hydraulic cylinder, the solid fertilizer replanting hydraulic cylinder, the liquid fertilizer refilling hydraulic cylinder, and the medicine refilling hydraulic cylinder, which is a variable. Since the others are constants, the horizontal tilt angle between the replanting pipeline and the seed box, the fertilizer replanting pipeline and the solid fertilizer box, the liquid fertilizer refilling pipeline and the liquid fertilizer box, and the medicine refilling pipeline and the medicine box can be kept parallel by continuously adjusting the corresponding displacement of the replanting hydraulic cylinder, the solid fertilizer replanting hydraulic cylinder, the liquid fertilizer refilling hydraulic cylinder, and the medicine refilling hydraulic cylinder. Repeat steps S201-S203 to ensure that the horizontal tilt angles of the replanting pipe and the seed box, the solid fertilizer replanting pipe and the solid fertilizer box, the liquid fertilizer filling pipe and the liquid fertilizer box, and the pesticide filling pipe and the pesticide box remain parallel.

10. The control method for the multi-coupling collaborative installation device as described in claim 8 or 9, characterized in that, Step S400 further includes: S401, based on the rotation angle θj of the cam disk drive motor of the spatial position adjustment mechanism, calculate the distance the rocker arm moves vertically: Where R is the radius of the cam disk; S1 is the distance from the connection point between the cam disk and the connecting rod to the connection point between the support slider and the connecting rod; S2 is the distance from the connection point between the support slider and the connecting rod to the connection point between the connecting rod and the rocker arm. S402, based on the vertical distance detected by the lidar sensor, the corresponding support slider is controlled by the corresponding drive motor to move along the connecting rod, so as to precisely adjust the vertical movement distance of the rocker arm; and S403, if the vertical distance is too large, increase S2 and decrease S1 to speed up the precise docking process; conversely, decrease S2 and increase S1 to ensure precise docking in the vertical direction.

11. The control method for the multi-coupling collaborative installation device as described in claim 8 or 9, characterized in that, Step S600 further includes: Step S601: The rotation angle information of the rotary variable seed unloading wheel, rotary variable solid fertilizer unloading wheel, rotary variable liquid fertilizer unloading wheel, and rotary variable pesticide unloading wheel is detected by the encoder. The detection time interval is T, the encoder pulse value P is collected, the number of pulses per revolution is M, and the number of cycles N is recorded simultaneously. Then, one value P1 = 0 is initialized, the above motors start working, and the encoder pulse value P at this time is recorded, indicating the rotation angle. Finally, P is assigned to P1; Step S602: The rotating seed unloading tablets, rotating solid fertilizer unloading tablets, rotating liquid fertilizer unloading tablets, and rotating pesticide unloading tablets slide along the x-axis in the fixed seed cylinder, fixed solid fertilizer cylinder, fixed liquid fertilizer cylinder, and fixed pesticide cylinder. Then the coordinates of point A are (R1sin(θ)). z1 +θ z ), The coordinates of point C are (R2sin(θ)). z2 +θ z ), R2cos(θ) z2 +θ z Let the coordinates of point B be (a, L). When the rotary switch is closed, the initial value a = 0, where R1 is the radius from point A to the center O; R2 is the radius from point C to the center O; θ z1 Let θ be the initial angle between OA and the y-axis; z2 Let OC be the initial angle between the OC and the y-axis; 'a' be the sliding displacement of the rotating seed unloader, rotating solid fertilizer unloader, rotating liquid fertilizer unloader, and rotating pesticide unloader in the fixed seed cylinder, fixed solid fertilizer cylinder, fixed liquid fertilizer cylinder, and fixed pesticide cylinder in the x-axis direction; and 'L' be the displacement of the rotating seed unloader, rotating solid fertilizer unloader, rotating liquid fertilizer unloader, and rotating pesticide unloader in the fixed seed cylinder, fixed solid fertilizer cylinder, fixed liquid fertilizer cylinder, and fixed pesticide cylinder in the y-axis direction. Step S603: Based on the coordinates of AC obtained in step S602, the formula for line AC is: Substituting the coordinates of point B into the formula for line AC in step S603, the sliding displacement 'a' of the rotating seed unloader, rotating solid fertilizer unloader, rotating liquid fertilizer unloader, and rotating pesticide unloader in the fixed seed cylinder, fixed solid fertilizer cylinder, fixed liquid fertilizer cylinder, and fixed pesticide cylinder in the x-axis direction is calculated as follows: Based on the obtained sliding displacement 'a' of the rotating seed unloading plate, rotating solid fertilizer unloading plate, rotating liquid fertilizer unloading plate, and rotating pesticide unloading plate in the fixed seed cylinder, fixed solid fertilizer cylinder, fixed liquid fertilizer cylinder, and fixed pesticide cylinder in the x-axis direction, the size and area of ​​the rotating variable seed unloading switch, rotating variable solid fertilizer unloading switch, rotating variable liquid fertilizer unloading switch, and rotating variable pesticide unloading switch can be calculated. The rotary variable seed unloading switch, rotary variable solid fertilizer unloading switch, rotary variable liquid fertilizer unloading switch, and rotary variable pesticide unloading switch are all hexagonal in size; a0 is the initial value of the side length of the hexagon when the rotary switch is closed; as the rotary variable seed unloading wheel, rotary variable solid fertilizer unloading wheel, rotary variable liquid fertilizer unloading wheel, and rotary variable pesticide unloading wheel rotate, the side length of the hexagon becomes a+a0; From this, we can determine the relationship between the angles of the rotating variable seed unloading wheel, the rotating variable solid fertilizer unloading wheel, the rotating variable liquid fertilizer unloading wheel, and the rotating variable pesticide unloading wheel, and the size and area of ​​the rotating variable seed unloading switch, the rotating variable solid fertilizer unloading switch, the rotating variable liquid fertilizer unloading switch, and the rotating variable pesticide unloading switch. Therefore, by controlling the angles of the rotating variable seed unloading wheel, the rotating variable solid fertilizer unloading wheel, the rotating variable liquid fertilizer unloading wheel, and the rotating variable pesticide unloading wheel, we can control the size and area of ​​the rotating variable seed unloading switch, the rotating variable solid fertilizer unloading switch, the rotating variable liquid fertilizer unloading switch, and the rotating variable pesticide unloading switch, thereby controlling the seed flow rate in the seed silo conveying pipeline and each feeding pipeline, the solid fertilizer flow rate in the solid fertilizer silo conveying pipeline and each feeding pipeline, the liquid fertilizer flow rate in the liquid fertilizer silo conveying pipeline and each liquid injection pipeline, and the pesticide flow rate in the pesticide silo conveying pipeline and each liquid injection pipeline.

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