Orchard multi-operation mode spraying machine and spraying method based on single-point laser radar

Abstract

The present application relates to a multi-operation mode orchard spraying machine and method based on single-point laser radar and growth characteristics of fruit trees, comprising a rack mechanism, a spraying mechanism, a pneumatic conveying mechanism and an electric control mechanism. The present application is simple to operate and has a high degree of automation, and has four functions of constant spraying, quantitative spraying, target spraying and variable spraying. The practicality and application range of the machine are increased by flexibly selecting the operation mode according to the growth characteristics of the fruit tree canopy and the prevention and control requirements. When the volume of the fruit tree canopy is large and the gap is large (such as citrus, pear, apple, etc.), the target spraying can significantly improve the utilization rate of pesticides; when the fruit tree canopy is dense and the leaf curtain is continuously distributed (such as grape, etc.), the medicine-saving effect of quantitative spraying or variable spraying is better. In addition, during operation, if unexpected situations such as failure of the electric control mechanism, unresponsive solenoid valve, etc. occur, the spraying machine will automatically switch to the constant spraying mode to prevent missed spraying, thereby improving the fault tolerance and reliability of the machine.

Description

Technical Field

[0001] This invention relates to the field of agricultural machinery technology, specifically to a multi-mode orchard sprayer and spraying method based on a single-point lidar. Background Technology

[0002] Automated targeted spraying technology in orchards can apply pesticides precisely based on the presence or absence of targets within the canopy, effectively improving pesticide utilization and reducing waste. Stable and reliable target detection technology is a prerequisite for precise targeted spraying. Currently, the main target detection sensors used in this field include lidar, ultrasonic sensors, infrared sensors, and CCD image sensors. Among these, two-dimensional or three-dimensional lidar offers high detection accuracy, but its large data volume, complex supporting systems, and high cost make it difficult to implement in small orchards. Ultrasonic sensors are inexpensive, but their large beam diffusion angle and susceptibility to canopy density result in lower resolution and detection accuracy. Infrared sensors and CCD image sensors are both susceptible to environmental influences (light, dust, etc.), leading to poor detection stability.

[0003] In recent years, my country has made continuous progress in the research and development of target variable displacement spraying machinery. However, due to the complexity of the system, unstable performance, and high overall cost, the relevant equipment is mainly concentrated in the experimental stage. At present, my country does not yet have a simple, efficient, reliable, and practical high-performance target variable displacement spraying machine for orchards. Summary of the Invention

[0004] To address the shortcomings of existing technologies, the purpose of this invention is to provide a multi-mode orchard sprayer and spraying method based on a single-point lidar that is applicable to various fruit trees, stable and reliable, practical, has high target detection accuracy, and reduces pesticide waste. This invention provides technical and methodological support for promoting green, cost-effective, simplified, and efficient plant protection operations in orchards in my country.

[0005] To solve the above-mentioned technical problems, the technical solution provided by the present invention is as follows:

[0006] Orchard multi-operation mode sprayer based on single-point lidar

[0007] The multi-mode sprayer includes a frame structure, a spraying mechanism, an air delivery mechanism, and an electrical control mechanism;

[0008] The air conveying mechanism is fixedly mounted on the frame mechanism; the electrical control mechanism is fixedly connected to the air conveying mechanism;

[0009] The electronic control mechanism includes a control cabinet 11 and several sets of target variable spray units;

[0010] The spraying mechanism includes a medicine tank 2 disposed on the top of the frame mechanism, and spray pipes 6 are connected to both sides of the medicine tank 2; the spray pipes 6 are connected to several sets of target variable spray units;

[0011] Each group of target-target variable spray units includes a solenoid valve 13, a nozzle 7, and a single-point lidar 12; the inlet of the solenoid valve 13 is connected to the spray pipe 6, and the outlet of the solenoid valve 13 is connected to the nozzle 7; the nozzle 7 is located at the air outlet of the air delivery mechanism, and the spray angle of the nozzle 7 is adjustable; the single-point lidar 12 is connected to the spray pipe 6 and its position is adjustable, and the single-point lidar 12 corresponds one-to-one with the nozzle 7, and their fixed positions are at the same height;

[0012] The nozzle 6 is fixedly installed on the air delivery mechanism;

[0013] When not powered on, the solenoid valve 13 and the nozzle 7 are normally open, and the multi-mode sprayer performs constant spraying; when powered on, the control cabinet 11 of the electrical control mechanism controls the on / off state and spray volume of the nozzle 7 by controlling the duty cycle of the solenoid valve 13, and performs quantitative spraying, target spraying or variable spraying.

[0014] Preferably, the bottom of the medicine tank 2 is connected to a medicine pump 4 via a filter 3; the medicine pump 4 is connected to a pressure regulating valve 5; the outlet of the pressure regulating valve 5 is connected to the bottom of the spray pipes 6 on both sides of the medicine tank 2, and the overflow port of the pressure regulating valve 5 is connected to the return water port at the top of the medicine tank 2.

[0015] Preferably, the air delivery mechanism includes a blower 8, on which a blower speed increaser 9 and a blower housing 10 are mounted; the output shaft of the blower speed increaser 9 is connected to the input shaft of the blower 8; the input shaft of the blower speed increaser 9 is connected to the output shaft of the drug pump 4; the spray pipe 6 and several sets of target variable spray units are fixedly mounted on the blower housing 10; the nozzle 7 is located at the air outlet inside the blower housing 10.

[0016] Preferably, a radar fixing plate 17 is installed on one side of the fan housing 10. The installation distance between the radar fixing plate 17 and the nozzle 6 is adjusted according to the general operating speed during operation to ensure the accuracy of the target variable.

[0017] Preferably, the control cabinet 11 of the electrical control mechanism is fixedly installed on one side of the fan housing 10 of the air conveying mechanism.

[0018] Preferably, the electronic control mechanism is powered by the storage battery 14.

[0019] The orchard multi-operation mode spraying method is based on the above-mentioned orchard multi-operation mode sprayer based on single-point lidar.

[0020] The spraying methods include: constant spraying mode, quantitative spraying mode, target spraying mode, and variable spraying mode;

[0021] As the sprayer moves forward, the liquid medicine is sprayed from nozzle 7 and atomized for the first time. Then, under the action of the auxiliary airflow generated by the air delivery mechanism, it is atomized for the second time and blown towards the target canopy.

[0022] In the constant spray mode, the control cabinet 11 does not need to be powered on, and all nozzles 7 of the sprayer are always fully open during operation.

[0023] In the quantitative spraying mode, before operation, the duty cycle of each solenoid valve 13 is input through the human-machine interface on the control cabinet 11 according to the growth stage of the fruit tree, the canopy outline and the spraying requirements; each solenoid valve 13 controls the spray volume of the corresponding nozzle 7 according to the input solenoid valve 13 duty cycle based on the pulse width modulation principle.

[0024] In the target spraying or variable mode, the control cabinet 11 automatically calculates the effective canopy target detection range of the single-point lidar 12 based on the planting row spacing of the orchard input on the human-machine interface. The range is 0.8 times the orchard row spacing, ensuring that the single-point lidar 12 only acquires the target canopy information of the current working row.

[0025] In the target spraying mode, during operation, as the sprayer moves forward, each single-point lidar 12 detects whether there is a fruit tree canopy at the current position; if there is no fruit tree canopy, the solenoid valve 13 remains closed and the corresponding nozzle 7 stops spraying; if there is a fruit tree canopy, the solenoid valve 13 remains open and the corresponding nozzle 7 sprays at full capacity.

[0026] In the variable spray mode, the control cabinet 11 automatically calculates the spray amount of each nozzle 7 and the duty cycle of the corresponding solenoid valve 13 based on the unit thickness of the spray amount input on the human-machine interface and the canopy thickness detected by the single-point lidar 14, and performs variable spray based on the canopy thickness.

[0027] Preferably, during target spraying or variable spraying operations, the distance between the target variable spray unit and the nozzle 6 can be adjusted in a timely manner according to the general operating speed and actual spraying conditions to improve the target variable spraying accuracy; if the nozzle 7 sprays prematurely before reaching the target canopy and causes drift, the distance between the target variable spray unit and the nozzle 6 is increased; if the nozzle 7 does not start spraying after reaching the target canopy and causes missed spraying, the distance between the target variable spray unit and the nozzle is decreased.

[0028] The beneficial effects of this invention are:

[0029] (1) This invention uses a single-point lidar to detect canopy target information. This sensor has low cost, sensitive response, is easy to integrate and has strong environmental adaptability. It can greatly improve the accuracy and stability of the target variable spray control mechanism, and is easy to transplant and promote.

[0030] (2) This invention is simple to operate and highly automated, and has four functions: constant spraying, quantitative spraying, targeted spraying, and variable spraying. During operation, the operating mode can be flexibly selected according to the growth characteristics of the fruit tree canopy and the control requirements, which increases the practicality and adaptability of the equipment. Specifically, when the fruit tree canopy is large and has many gaps (such as citrus, pear, apple, etc.), targeted spraying has a better pesticide-saving effect; when the fruit tree canopy is dense and the leaf canopy is continuously distributed (such as grapes), quantitative spraying or variable spraying has a better pesticide-saving effect.

[0031] (3) During operation, if there is a sudden failure of the electrical control mechanism or the solenoid valve is not sensitive, the sprayer will automatically switch to constant spray mode to prevent missed spraying, thus improving the fault tolerance and reliability of the machine. Attached Figure Description

[0032] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used in conjunction with embodiments of the invention to explain the invention and do not constitute a limitation thereof. In the drawings:

[0033] Figure 1 This is an axial view of the overall structure of an embodiment of the present invention.

[0034] Figure 2 This is a front view of the overall structure of an embodiment of the present invention.

[0035] Figure 3 This is a side view of the overall structure of an embodiment of the present invention.

[0036] Figure 4 This is a schematic diagram of the structure of a target variable spray monomer according to an embodiment of the present invention.

[0037] Figure 5 This is a schematic diagram of the human-machine interface on the control cabinet according to an embodiment of the present invention.

[0038] In the picture:

[0039] 1. Frame; 2. Medicine tank; 3. Filter; 4. Medicine pump; 5. Pressure regulating valve; 6. Spray nozzle; 7. Nozzle; 8. Fan; 9. Fan speed increaser; 10. Fan housing; 11. Electrical control cabinet; 12. Single-point lidar; 13. Solenoid valve; 14. Battery; 15. Drive shaft; 16. Bracket; 17. LiDAR mounting plate Detailed Implementation

[0040] The preferred embodiments of the present invention will be described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are for illustration and explanation only and are not intended to limit the present invention.

[0041] like Figure 1-5 As shown, the orchard multi-operation mode sprayer based on single-point lidar and fruit tree growth characteristics includes: frame mechanism, spraying mechanism, air delivery mechanism and electrical control mechanism;

[0042] like Figure 1-3 As shown, the frame mechanism includes a frame 1; the spraying mechanism includes a medicine tank 2, a filter 3, a medicine pump 4, a pressure regulating valve 5, and a spray pipe 6; the air delivery mechanism includes a fan 8, a fan speed increaser box 9, and a fan housing 10; the electrical control mechanism includes a control cabinet 11, a battery 14, and several sets of target variable spray units, each set of target variable spray units consisting of a solenoid valve 13, a nozzle 7, and a single-point lidar 12;

[0043] The spraying mechanism consists of a medicine tank 2, a filter 3, a medicine pump 4, and a pressure regulating valve 5, all of which are fixedly mounted on the frame 1. The outlet at the bottom of the medicine tank 2 is connected to the inlet of the filter 3. The outlet of the filter 3 is connected to the inlet of the medicine pump 4. The medicine pump 4 has both an outlet and a jet outlet. The outlet of the medicine pump 4 is connected to the inlet of the pressure regulating valve 5, and the jet outlet of the medicine pump 4 is connected to the jet outlet at the bottom of the medicine tank 2. The pressure regulating valve 5 has two outlets and one overflow outlet. The two outlets of the pressure regulating valve 5 are connected to the bottom of the spray pipes 6 on both sides of the medicine tank 2, and the overflow outlet of the pressure regulating valve 5 is connected to the return water outlet at the top of the medicine tank 2. The medicine pump 4 is driven by the rear power take-off shaft of the tractor.

[0044] The liquid medicine in the medicine tank 2 is filtered by the filter 3 and pressurized by the medicine pump 4, and then divided into two paths. One path returns to the bottom of the medicine tank through the jet port to stir the liquid medicine in the medicine tank; the other path enters the pressure regulating valve 5 through the outlet of the liquid pump. The spray pressure in the spray mechanism circuit can be set and stabilized through the pressure regulating valve 5. The liquid medicine exceeding this spray pressure will return to the medicine tank 2 through the overflow port of the pressure regulating valve 5, and the remaining liquid medicine will be divided into two paths and enter the spray pipes 6 on the left and right sides of the sprayer respectively.

[0045] The blower 8 in the air delivery mechanism is fixedly installed at the rear of the frame 1; the blower speed increaser 9 and the blower cover 10 are both fixedly installed on the blower 8; the output shaft of the medicine pump 4 is connected to the input shaft of the blower speed increaser 9 through the transmission shaft 15; the output shaft of the blower speed increaser 9 is connected to the input shaft of the blower 8; the power from the rear power take-off shaft of the tractor is transmitted to the blower 8 through the output shaft of the medicine pump 4, the transmission shaft 15 and the blower speed increaser 9 and drives the blower 8 to rotate at high speed. The resulting auxiliary airflow blows the droplets sprayed from the nozzle toward the canopy of the fruit tree under the guiding action of the blower cover 10.

[0046] like Figure 1-4As shown, a bracket 16 is installed at the front of the fan housing 10; a nozzle 6 and a radar mounting plate 17 are fixedly installed on the bracket 16; several sets of target variable spray units are fixedly installed on the nozzle 6 and the radar mounting plate 17; wherein, the water inlet of the solenoid valve 13 is connected to the nozzle 6, and the water outlet of the solenoid valve 13 is connected to the nozzle 7; the nozzle 7 is located at the air outlet inside the fan housing 10, and the spray angle of the nozzle can be freely adjusted; several single-point lidars 12 are fixedly installed on the radar mounting plate 17, and the installation position of the radar mounting plate 17 on the bracket 16 can be adjusted back and forth.

[0047] The control cabinet 11 in the electrical control mechanism is fixedly installed at the rear of the fan housing 10; the storage battery 14 is fixedly installed at the bottom of the frame 1; the power of the electrical control mechanism is provided by the storage battery 14.

[0048] When not powered on, the solenoid valve 13 is normally open, and the sprayer can perform conventional constant spraying. When powered on, the solenoid valve 13 can control the on / off state and spray volume of the nozzle 7 according to the instructions issued by the control cabinet 11, so as to realize quantitative spraying, target spraying or variable spraying. The single-point lidar 12 is used to detect the presence and thickness of the canopy targets on both sides of the sprayer within a specified range (0.8 times the row spacing of the orchard), thereby providing a basis for the electronic control mechanism to make target variable spraying decisions.

[0049] like Figure 5 As shown, a touch screen is installed on the control cabinet 11 as a human-machine interface; through the human-machine interface, four operating modes of the sprayer can be selected, namely: constant spray, quantitative spray, target spray and variable spray.

[0050] Under constant spray conditions, control cabinet 11 does not need to be powered on. The sprayer retains the traditional spraying function of a sprayer, meaning that all nozzles maintain full spraying capacity during the operation of the sprayer.

[0051] In quantitative spraying mode, before operation, the duty cycle of each solenoid valve can be input through the human-machine interface on the control cabinet 11 according to the growth stage of the fruit tree, the canopy outline and the spraying requirements; each solenoid valve 13 will be switched on and off at high speed according to the input duty cycle based on the pulse width modulation principle, thereby controlling the spray volume of the corresponding nozzle 7.

[0052] In target spray or variable mode, the control cabinet 11 can automatically calculate the effective canopy target detection range of the single-point lidar 12 (0.8 times the orchard row spacing) by inputting the orchard planting row spacing on the human-machine interface, so as to ensure that the single-point lidar 12 only acquires the target canopy information of the current working row.

[0053] In the target spraying mode, during operation, as the sprayer moves forward, each single-point lidar 12 will detect whether there is a fruit tree canopy at the current location; if there is no fruit tree canopy, the solenoid valve 13 will remain closed and the corresponding nozzle 7 will stop spraying; if there is a fruit tree canopy, the solenoid valve will remain open and the corresponding nozzle 7 will spray at full capacity.

[0054] In variable spray mode, the control cabinet 11 automatically calculates the amount of pesticide applied per unit thickness and the duty cycle of the corresponding solenoid valve 13 based on the amount of pesticide applied per unit thickness input on the human-machine interface and the canopy thickness detected by the single-point lidar 12, thereby realizing variable spray based on canopy thickness.

[0055] In addition, when selecting the target spray or variable mode, in order to compensate for the time delay between "single-point lidar 12 detecting canopy target information" and "solenoid valve 13 and corresponding nozzle 7 responding", the installation distance between the radar mounting plate 17 and the nozzle 6 can be flexibly adjusted according to the general operating speed during operation to ensure the target variable effect.

[0056] The working principle of this invention is as follows:

[0057] Before operation, connect the equipment to the tractor and set the spray pressure using the pressure regulating valve. Depending on the actual pest and disease situation and control needs in the orchard, if constant-volume spraying is required, start work by turning on the tractor's rear power take-off shaft. As the sprayer moves forward, the pesticide solution is first sprayed from the nozzle and atomized initially by the pump. Then, propelled by the powerful auxiliary airflow generated by the fan, it undergoes a second atomization and is blown towards the target canopy.

[0058] If the canopy of fruit trees is continuous and the canopy volume varies significantly throughout the growing season (e.g., grapes), turn on the power to the electronic control mechanism and activate the "quantitative spraying" mode. Enter the duty cycle for each solenoid valve sequentially, then press the "start working" button. Each nozzle will then spray according to the corresponding solenoid valve at the appropriate spray volume to improve pesticide utilization. When finished, press the "stop working" button to stop the quantitative spraying control mechanism.

[0059] If the fruit trees are planted with large gaps and the leaf canopy volume changes little throughout the growing season (such as citrus, apples, and pears), after turning on the power to the electronic control mechanism, press the "Targeted Spraying" mode button, input the planting row spacing of the orchard, and press the "Start Working" button. The sprayer will then begin targeted spraying. Specifically, when the lidar detects the presence of a fruit tree canopy at the current location, the solenoid valve remains open, and the nozzle sprays at full capacity; when the lidar detects no fruit tree canopy at the current location, the solenoid valve remains closed, and the nozzle stops spraying. To stop the operation, press the "Stop Working" button to cease operation of the targeted spraying control mechanism.

[0060] When variable-rate spraying is required, after turning on the power to the electronic control mechanism, press the "Variable-Rate Spray" mode button, input the planting row spacing of the orchard and the amount of pesticide applied per unit thickness, and then press the "Start Working" button. The sprayer will then begin variable-rate spraying. Specifically, the variable-rate spray control mechanism will apply pesticides according to the canopy thickness detected by the lidar and the amount of pesticide applied per unit thickness. When the operation is finished, press the "Stop Working" button to stop the variable-rate spray control mechanism.

[0061] When conducting target spraying or variable spraying operations, the installation distance between the radar mounting plate and the nozzle can be adjusted in a timely manner according to the general operating speed and actual spraying conditions to improve the accuracy of target spraying. Specifically, if it is found that the nozzle sprays prematurely and causes drift before reaching the target canopy, the installation distance between the radar mounting plate and the nozzle can be appropriately increased; if it is found that the nozzle has not started spraying after reaching the target canopy and causes missed spraying, the installation distance between the radar mounting plate and the nozzle can be appropriately decreased.

[0062] The contents not described in detail in this specification are existing technologies known to those skilled in the art.

[0063] Finally, it should be noted that the above descriptions are merely preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A multi-mode orchard sprayer based on single-point lidar, characterized in that, The multi-mode sprayer includes a frame structure, a spraying mechanism, an air delivery mechanism, and an electrical control mechanism; The air conveying mechanism is fixedly mounted on the frame mechanism; the electrical control mechanism is fixedly connected to the air conveying mechanism; The electronic control mechanism includes a control cabinet (11) and several sets of target variable spray units; The spraying mechanism includes a medicine tank (2) located on the top of the frame mechanism, and spray pipes (6) are connected to both sides of the medicine tank (2); the spray pipes (6) are connected to several sets of target variable spray units; Each of the target variable spray units includes a solenoid valve (13), a nozzle (7), and a single-point lidar (12); the inlet of the solenoid valve (13) is connected to the spray pipe (6), and the outlet of the solenoid valve (13) is connected to the nozzle (7); the nozzle (7) is located at the air outlet of the air delivery mechanism, and the spray angle of the nozzle (7) is adjustable; the single-point lidar (12) is connected to the spray pipe (6) and its position is adjustable; the single-point lidar (12) corresponds one-to-one with the nozzle (7), and their fixed positions are at the same height; The nozzle (6) is fixedly installed on the air delivery mechanism; When not powered on, the solenoid valve (13) and the nozzle (7) are normally open, and the multi-operation mode sprayer performs constant spraying; when powered on, the control cabinet (11) of the electrical control mechanism controls the on / off state and spray volume of the nozzle (7) by controlling the duty cycle of the solenoid valve (13), and performs quantitative spraying, target spraying or variable spraying. The bottom of the medicine tank (2) is connected to a medicine pump (4) via a filter (3); the medicine pump (4) is connected to a pressure regulating valve (5); the outlet of the pressure regulating valve (5) is connected to the bottom of the spray pipes (6) on both sides of the medicine tank (2), and the overflow port of the pressure regulating valve (5) is connected to the return water port at the top of the medicine tank (2). The air delivery mechanism includes a blower (8), on which a blower speed increaser box (9) and a blower housing (10) are mounted; the output shaft of the blower speed increaser box (9) is connected to the input shaft of the blower (8); the input shaft of the blower speed increaser box (9) is connected to the output shaft of the medicine pump (4); the spray pipe (6) and several sets of target variable spray units are fixedly mounted on the blower housing (10); the nozzle (7) is located at the air outlet inside the blower housing (10); A radar mounting plate (17) is installed on one side of the fan housing (10). The installation distance between the radar mounting plate (17) and the nozzle (6) is adjusted according to the operating speed during operation to ensure the accuracy of the target variable.

2. The orchard multi-operation mode sprayer based on single-point lidar according to claim 1, characterized in that, The control cabinet (11) of the electrical control mechanism is fixedly installed on one side of the fan housing (10) of the air delivery mechanism.

3. The orchard multi-operation mode sprayer based on single-point lidar according to claim 1, characterized in that, The electronic control mechanism is powered by a storage battery (14).

4. A multi-mode spraying method for orchards, based on the multi-mode sprayer for orchards based on a single-point lidar as described in any one of claims 1-3, characterized in that, The spraying methods include: constant spraying mode, quantitative spraying mode, target spraying mode, and variable spraying mode; As the sprayer moves forward, the liquid medicine is sprayed out from the nozzle (7) and atomized for the first time. Then, under the action of the auxiliary airflow generated by the air delivery mechanism, it is atomized for the second time and blown toward the target canopy. In the constant spray mode, the control cabinet (11) does not need to be powered on, and all nozzles (7) of the sprayer are always fully open during operation. In the quantitative spraying mode, before operation, according to the growth stage of the fruit tree, the canopy outline and the spraying requirements, the duty cycle of each solenoid valve (13) is input through the human-machine interface on the control cabinet (11); each solenoid valve (13) controls the spray volume of the corresponding nozzle (7) according to the input solenoid valve (13) duty cycle based on the pulse width modulation principle. In the target spray or variable mode, the control cabinet (11) automatically calculates the effective canopy target detection range of the single-point lidar (12) through the row spacing of the orchard input on the human-machine interface, ensuring that the single-point lidar (12) only acquires the target canopy information of the current row. In the target spraying mode, during operation, as the sprayer moves forward, each of the single-point lidars (12) detects whether there is a fruit tree canopy at the current position; if there is no fruit tree canopy, the solenoid valve (13) remains closed and the corresponding nozzle (7) stops spraying; if there is a fruit tree canopy, the solenoid valve (13) remains open and the corresponding nozzle (7) sprays at full capacity; in the variable spraying mode, the control cabinet (11) automatically calculates the spraying amount of each nozzle (7) and the duty cycle of the corresponding solenoid valve (13) based on the unit thickness of the spraying amount input on the human-machine interface and the canopy thickness detected by the single-point lidars (12), and performs variable spraying based on the canopy thickness.

5. The orchard multi-operation mode spraying method according to claim 4, characterized in that, When performing target spraying or variable spraying operations, adjust the distance between the target variable spray unit and the nozzle (6) according to the operating speed and actual spraying conditions to improve the target variable spraying accuracy; if the nozzle (7) sprays prematurely before reaching the target canopy and causes drift, increase the distance between the target variable spray unit and the nozzle (6); if the nozzle (7) does not start spraying after reaching the target canopy and causes missed spraying, decrease the distance between the target variable spray unit and the nozzle.

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