Method and apparatus for spraying orchards

Abstract

The application provides a fruit garden pesticide spraying method and device, comprising the following steps: S1, obtaining the structure parameter information of fruit trees needing pesticide spraying in the fruit garden; S2, constructing a corresponding elliptical envelope surface model based on the structure parameter information of the fruit trees; S3, obtaining dynamic control information for controlling the pesticide spraying device to perform corresponding operations in the pesticide spraying process based on the elliptical envelope surface model, wherein the dynamic control information comprises spraying range information and pesticide spraying flow information; and S4, controlling the pesticide spraying device to perform corresponding operations based on the pesticide spraying control information, so as to complete the pesticide spraying in the fruit garden. The fruit garden pesticide spraying method determines a personalized spraying scheme by collecting the structure parameter information of the fruit trees, adopts a lateral layered spraying mode to enhance the pesticide adsorption capacity while reducing the pesticide spraying amount of single plant. The misty pesticide spraying can reduce the pesticide loading frequency in the pesticide spraying process, improves the pesticide spraying efficiency and uniformity, and thus improves the management level and yield of the fruit garden.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of agricultural machinery, and more particularly relates to a method and device for spraying pesticide in orchard. BACKGROUND

[0002] Orchard spraying is an important agricultural technology, which refers to the use of pesticides or plant protection agents to spray fruit trees during their growth period. The purpose is to prevent and control pests, weeds and other harmful organisms, promote the healthy growth of fruit trees and increase yield, which is an agricultural technology means used by mankind since its development.

[0003] Orchard spraying is an important part of orchard management, and the spraying method and performance of the spraying machine will directly affect the spraying effect. With the increasing demand for spraying and the progress of science and technology, orchard spraying technology is constantly developing, and new pesticides, equipment and control methods are emerging. However, unlike the stable agricultural planting environment of fields or greenhouses, orchard spraying is affected by many complex and variable factors. Fruit trees are usually planted in complex terrains such as hills and mountains, which will affect the passability and running stability of the spraying machine. In order to ensure the running stability, the spraying machine often needs to reduce the single liquid loading capacity, which leads to a decrease in spraying efficiency. In addition, the distribution of fruit trees is uneven, and the size and height are different. The existing spraying machine often uses constant spraying to spray the orchard. In the fixed point state, the spraying range is small and cannot cover the entire tree canopy, and the vertical plane needs to be walked, which takes a long time and affects the efficiency of pesticide spraying. In this process, the loss of pesticide is large and the uniformity of spraying is poor, resulting in poor spraying effect.

[0004] Therefore, it is necessary to propose a new technical solution for orchard spraying. SUMMARY

[0005] The present application is to overcome the problems of low spraying efficiency and poor spraying effect of the existing orchard spraying equipment and method. The present application proposes a method and device for spraying pesticide in orchard to improve the spraying efficiency and uniformity, thereby improving the management level and yield of the orchard.

[0006] In order to achieve the above purpose, the present application adopts the following technical solution:

[0007] In a first aspect, the present application provides a method for spraying pesticide in orchard, comprising the steps of:

[0008] S1, obtaining the structure parameter information of the fruit trees in the orchard that need to be sprayed;

[0009] S2, constructing a corresponding elliptical envelope surface model based on the structure parameter information of the fruit trees;

[0010] S3, obtaining dynamic control information for controlling the spraying equipment to perform corresponding operations in the spraying process based on the elliptical envelope surface model, wherein the dynamic control information comprises spraying range information and liquid spraying flow information;

[0011] S4, controlling the spraying equipment to perform corresponding operations based on the spraying control information, so as to complete the orchard spraying.

[0012] As a preferred solution, the fruit tree structure parameter information of the fruit trees needing spraying in the orchard obtained in step S1 comprises the following steps:

[0013] Obtaining a fruit tree crown height parameter c;

[0014] Obtaining a middle section of the fruit tree crown perpendicular to the direction of the crown height of the fruit tree, and selecting a first direction size parameter a and a second direction size parameter b of the middle section, wherein the first direction and the second direction are perpendicular to each other.

[0015] As a preferred solution, the elliptical envelope surface model is constructed based on the fruit tree structure parameter information in step S2, comprising the following steps:

[0016] Obtaining a major axis parameter c of the elliptical envelope surface model based on the fruit tree crown height parameter c;

[0017] Obtaining a minor axis parameter of the elliptical envelope surface model based on the first direction size parameter a and the second direction size parameter b;

[0018] Obtaining a generatrix equation of the elliptical envelope surface model based on the major axis parameter and the minor axis parameter.

[0019] As a preferred solution, the generatrix equation of the elliptical envelope surface model is obtained based on the major axis parameter and the minor axis parameter, comprising the following steps:

[0020] Calculating the average value of the first direction size parameter a and the second direction size parameter b to obtain the minor axis parameter of the elliptical envelope surface model Obtaining the generatrix equation of the elliptical envelope surface model based on the major axis parameter c of the elliptical envelope surface model and the minor axis parameter of the elliptical envelope surface model

[0021] The generatrix equation of the elliptical envelope surface model is

[0022] As a preferred solution, the dynamic control information for controlling the spraying equipment to perform corresponding operations in the spraying process is obtained based on the elliptical envelope surface model in step S3, wherein the dynamic control information comprises spraying range information and liquid spraying flow information, comprising the following steps:

[0023] ​The elliptical envelope surface model is divided into a plurality of sectioned surfaces along the running direction of the pesticide spraying device;

[0024] The running speed V of the pesticide spraying device within the preset pesticide spraying time t is obtained;

[0025] The pesticide spraying area between each of the sectioned surfaces is obtained based on the elliptical envelope surface model generatrix equation, the pesticide spraying time t and the running speed V;

[0026] The pesticide spraying range information and the pesticide spraying flow information corresponding to each time within the pesticide spraying time t are obtained based on the pesticide spraying area between each of the sectioned surfaces.

[0027] As a preferred solution, the pesticide spraying area between each of the sectioned surfaces is obtained based on the elliptical envelope surface model generatrix equation, the pesticide spraying time t and the running speed V, comprising the steps of:

[0028] The running distance of the pesticide spraying device within the pesticide spraying time t is obtained based on the pesticide spraying time t and the running speed V, and the running distance is Vt;

[0029] The circumference L of each of the sectioned surfaces is obtained based on the elliptical envelope surface model generatrix equation and the running distance;

[0030] The pesticide spraying area S between each of the sectioned surfaces is obtained based on the running distance and the circumference L;

[0031] The pesticide spraying area S = VtL.

[0032] As a preferred solution, the pesticide spraying control information is used to control the pesticide spraying device to perform corresponding operations to complete the orchard pesticide spraying in step S4, comprising the steps of:

[0033] The length of the telescopic crank is controlled based on the pesticide spraying range information corresponding to each time within the pesticide spraying time t, so that the swing range of the nozzle of the pesticide spraying device covers the tree crown;

[0034] The motor rotation speed and the corresponding pesticide spraying flow are obtained based on the pesticide spraying range information corresponding to each time within the pesticide spraying time t, and the pesticide is sprayed based on the motor rotation speed and the corresponding pesticide spraying flow.

[0035] In a second aspect, the present application provides an orchard pesticide spraying device based on the orchard pesticide spraying method as described in the first aspect:

[0036] The pesticide spraying device comprises a pesticide spraying system and a dynamic analysis system for controlling the pesticide spraying system;

[0037] The pesticide spraying system comprises a loading unit for loading pesticide and a dynamic execution unit;

[0038] The dynamic analysis system comprises a capturing unit for capturing fruit tree information and an analysis unit for analyzing the fruit tree information;

[0039] The loading unit is provided with a mounting base plate, and the loading unit is connected with the dynamic execution unit through the mounting base plate;

[0040] The dynamic execution unit comprises a dynamic control subunit and a dynamic execution subunit;

[0041] The dynamic execution subunit comprises a spray head, an atomizer for controlling the amount of sprayed medicine, and a spray head guide rod for changing the spraying direction of the spray head;

[0042] The dynamic control subunit comprises a rotating assembly connected with the mounting base plate and a motor for driving the rotation of the dynamic execution subunit, and the motor is provided with a telescopic crank for controlling the spraying height of the spray head.

[0043] As a preferred solution, the capturing unit is provided with a depth camera and a laser radar; the capturing unit measures the distance between the target fruit tree and the camera by emitting and receiving infrared rays or laser light, thereby obtaining depth information;

[0044] The analysis unit is provided with a built-in fruit tree structure parameter rapid extraction algorithm, and based on the fruit tree point cloud and depth information obtained by the capturing unit, the structure parameters are rapidly calculated and fed back to the dynamic execution unit in real time.

[0045] As a preferred solution, the dynamic execution unit is symmetrically arranged along the center of the mounting base plate as two; the dynamic analysis system is symmetrically arranged along the center of the mounting base plate as two.

[0046] Compared with the prior art, the present application has the following beneficial effects:

[0047] The orchard pesticide spraying method determines an individualized spraying scheme by collecting the structure parameter information of fruit trees, adopts a lateral layered spraying mode to enhance the adsorption capacity of pesticide liquid while reducing the amount of pesticide sprayed on each plant, and the misty pesticide liquid can reduce the loading frequency of pesticide liquid during the spraying process, thereby improving the spraying efficiency and uniformity, and thus improving the management level and yield of the orchard.

[0048] The orchard pesticide spraying equipment analyzes the information of fruit trees through the dynamic analysis system, automatically adjusts the operation of the pesticide spraying system according to the analysis result, realizes accurate spraying of fruit trees, not only improves the efficiency and accuracy of pesticide spraying, but also reduces the situation of excessive use of pesticide, which is helpful for protecting the ecological environment and promoting the sustainable development of agriculture.

[0049] Further or more detailed beneficial effects will be described in the specific embodiments. BRIEF DESCRIPTION OF DRAWINGS

[0050] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments or prior art description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative effort on the basis of these drawings.

[0051] Figure 1 is a flowchart of the orchard pesticide spraying method described in the present application.

[0052] Figure 2 is a structural diagram of the orchard pesticide spraying device described in the present application.

[0053] Figure 3 is a principle diagram of the orchard pesticide spraying method described in the present application.

[0054] Figure 4 is another principle diagram of the orchard pesticide spraying method described in the present application.

[0055] DRAWINGS

[0056] 100, pesticide spraying system;

[0057] 110, loading unit; 111, mounting base plate;

[0058] 120, dynamic execution unit;

[0059] 121, dynamic control subunit; 1211, rotating assembly; 1212, motor; 1213, telescopic crank;

[0060] 122, dynamic execution subunit; 1221, spray head; 1222, atomizer; 1223, spray head guide rod;

[0061] 200, dynamic analysis system;

[0062] 210, depth camera;

[0063] 220, laser radar. DETAILED DESCRIPTION

[0064] The application will be further described below in conjunction with the accompanying drawings and specific embodiments. Those skilled in the art can implement the application based on these descriptions. In addition, the embodiments of the application described in the following description are generally only embodiments of a part of the application, not all embodiments. Therefore, all other embodiments obtained by those skilled in the art based on the embodiments in the application without creative labor should be within the scope of protection of the application. In addition, the terms "vertical", "horizontal", "front", "back" and the like in the embodiments of the application indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship when the product is usually placed, which is only for the convenience of describing the application and simplifying the description, and does not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation of the application. It needs to be further explained that, unless otherwise specified and limited, the terms "mounting", "connecting", "connecting", "fixing" and the like in the description should be understood broadly, for example, "connecting" can be fixedly connected, or detachably connected, or integrally connected; can be directly connected, or indirectly connected through an intermediate medium, or the internal connection of two elements. For those skilled in the art, the specific meaning of the above terms in the application can be understood according to the specific circumstances.

[0065] Embodiment one:

[0066] As shown in the figure, the embodiment provides a fruit orchard spraying method, which comprises the steps of: Figure 1

[0067] S1, obtaining fruit tree structure parameter information of fruit trees needing to be sprayed in the fruit orchard;

[0068] S2, constructing a corresponding elliptical envelope surface model based on the fruit tree structure parameter information;

[0069] S3, obtaining dynamic control information for controlling the spraying equipment to perform corresponding operations in the spraying process based on the elliptical envelope surface model, the dynamic control information comprising spraying range information and pesticide spraying flow information;

[0070] S4, controlling the spraying equipment to perform corresponding operations based on the spraying control information to complete the fruit orchard spraying.

[0071] Specifically, the embodiment provides a preferred embodiment, and the fruit tree structure parameter information of fruit trees needing to be sprayed in the fruit orchard in step S1 comprises the steps of:

[0072] obtaining the crown height parameter c of the fruit tree;

[0073] ​An intermediate section of the fruit tree crown is obtained perpendicular to the height direction of the crown, and a first direction size parameter a and a second direction size parameter b of the intermediate section are selected, the first direction and the second direction being perpendicular to each other.

[0074] Specifically, the embodiment provides a preferred implementation, and the step S2 of constructing the corresponding elliptical envelope surface model based on the fruit tree structure parameter information comprises the steps of:

[0075] The long axis parameter c of the elliptical envelope surface model is obtained based on the fruit tree crown height parameter c;

[0076] The short axis parameter of the elliptical envelope surface model is obtained based on the first direction size parameter a and the second direction size parameter b;

[0077] The generatrix equation of the elliptical envelope surface model is obtained based on the long axis parameter and the short axis parameter.

[0078] Specifically, the embodiment provides a preferred implementation, and the step of obtaining the generatrix equation of the elliptical envelope surface model based on the long axis parameter and the short axis parameter comprises the steps of:

[0079] The average value of the first direction size parameter a and the second direction size parameter b is calculated to obtain the short axis parameter of the elliptical envelope surface model The generatrix equation of the elliptical envelope surface model is obtained based on the long axis parameter c of the elliptical envelope surface model and the short axis parameter of the elliptical envelope surface model The generatrix equation of the elliptical envelope surface model is obtained based on the long axis parameter c of the elliptical envelope surface model and the short axis parameter of the elliptical envelope surface model

[0080] The generatrix equation of the elliptical envelope surface model is

[0081] Specifically, the embodiment provides a preferred implementation, and the step S3 of obtaining dynamic control information for controlling the corresponding operation of the pesticide spraying equipment in the pesticide spraying process based on the elliptical envelope surface model comprises the steps of:

[0082] The elliptical envelope surface model is divided into a plurality of section planes along the running direction of the pesticide spraying equipment;

[0083] The running speed V of the pesticide spraying equipment within a preset pesticide spraying time t is obtained;

[0084] The pesticide spraying area between each section plane is obtained based on the generatrix equation of the elliptical envelope surface model, the pesticide spraying time t, and the running speed V;

[0085] The pesticide spraying range information and the pesticide spraying flow information corresponding to each time within the pesticide spraying time t of the pesticide spraying equipment are obtained based on the pesticide spraying area between each section plane.

[0086] Specifically, this embodiment provides a preferred implementation method, which obtains the spraying area between each of the cutting surfaces based on the generatrix equation of the elliptical envelope model, the spraying time t, and the running speed V, including the following steps:

[0087] Based on the spraying time t and the operating speed V, the operating distance of the spraying equipment within the spraying time t is obtained, and the operating distance is Vt.

[0088] The perimeter L of each of the cutting surfaces is obtained based on the generatrix equation of the elliptical envelope model and the running distance;

[0089] The spraying area S between each of the cutting surfaces is obtained based on the running distance and the perimeter L.

[0090] The spraying area S = VtL.

[0091] Specifically, this embodiment provides a preferred implementation method, wherein step S4, which involves controlling the spraying equipment to perform corresponding operations based on the spraying control information to complete orchard spraying, includes the following steps:

[0092] The length of the telescopic crank is controlled based on the spraying range information corresponding to each moment within the spraying time t, so that the swing range of the spraying equipment nozzle covers the canopy of the fruit tree.

[0093] Based on the spraying range information corresponding to each moment within the spraying time t, the motor rotation speed and its corresponding liquid spraying flow rate are obtained, and the liquid spraying is performed based on the motor rotation speed and its corresponding liquid spraying flow rate.

[0094] The described orchard spraying method determines a personalized spraying plan by collecting structural parameter information of fruit trees. It employs a lateral, layered spraying approach to enhance pesticide adsorption while reducing the amount of pesticide needed per plant. The mist-like spraying reduces the number of pesticide loading operations during spraying, improving spraying efficiency and uniformity, thereby enhancing orchard management and yield. The following is combined with... Figure 3 and Figure 4 Further explanation of the orchard spraying method:

[0095] First, the first directional dimension parameter a is obtained using an RGB camera and a LiDAR (e.g., ...). Figure 3 (X-direction), second direction dimension parameter b (e.g.) Figure 3 The data includes the Y-direction and the tree canopy height parameter c. Based on the above data, the elliptical envelope model is constructed and divided into multiple cross-sections along the spraying equipment's operating direction (e.g., ...). Figure 4 (As shown in the left part), then the major axis of the section is The preset spraying time of the spraying device is t, and the preset running speed of the spraying device in the preset spraying time t is V. Therefore, the running distance of the spraying device in the fixed time t is Vt, and the size of the cutting surface distance from the Z axis is Substituting into , the calculation result is , that is, the long semi-axis of the cutting surface is The short semi-axis of the cutting surface is According to the circumference length formula L = 2πb + 4(a-b), the long semi-axis and the short semi-axis parameters are substituted to obtain:

[0096]

[0097] When the spraying process running speed V is a determined value, the spraying area of the envelope surface corresponding to the spraying process in the fixed time t is approximately:

[0098]

[0099] According to the fruit tree crown height judged by the left and right images, the control system automatically adjusts the length of the telescopic crank to make the swing range of the spray head cover the fruit tree crown. Based on the function formula formed by the spraying area S and the time t, a dynamic control curve is formed to control the motor rotation speed and the pesticide spraying flow. When the spraying device moves transversely from the starting point of the spraying process to the fruit tree crown, before reaching the midpoint of the transverse dimension, the motor rotation speed increases with the increase of the area S. After passing through the midpoint of the transverse dimension, the area S decreases, and the motor rotation speed decreases accordingly. According to the uniformity of the envelope surface spraying, the pesticide spraying flow and the motor rotation speed are strictly positively correlated. During the rotation of the telescopic crank, the guide rod of the spray head swings nonlinearly and dynamically, which increases the swinging force of the sprayed pesticide and makes the pesticide more easily absorbed on the leaf surface.

[0100] Example Two:

[0101] As shown in Figure 2 , the present embodiment provides a fruit orchard spraying device based on a fruit orchard spraying method as described in Example One:

[0102] The spraying device comprises a spraying system and a dynamic analysis system for controlling the spraying system.

[0103] The spraying system comprises a loading unit for loading pesticide and a dynamic execution unit.

[0104] The dynamic analysis system comprises a capture unit for capturing fruit tree information and an analysis unit for analyzing fruit tree information.

[0105] The loading unit is provided with a mounting bottom plate, and the loading unit is connected with the dynamic execution unit through the mounting bottom plate.

[0106] The orchard pesticide spraying equipment analyzes information of the fruit trees through the dynamic analysis system, automatically adjusts operation of the pesticide spraying system according to the analysis result, realizes accurate spraying of the fruit trees, improves efficiency and accuracy of pesticide spraying, reduces overuse of pesticides, and is helpful for protecting an ecological environment and promoting sustainable development of agriculture.

[0107] More specifically, the dynamic execution unit comprises a dynamic control subunit and a dynamic execution subunit; the dynamic control subunit comprises a rotating assembly connected with the mounting base and a motor for driving the dynamic execution subunit to rotate, and a telescopic crank is arranged on the motor; the dynamic execution subunit comprises a spray head, an atomizer for controlling a pesticide spraying amount, and a spray head guide rod for changing a spraying direction of the spray head. In the embodiment, the spray head is arranged as a supersonic atomizing nozzle, and compared with a conventional high-pressure spraying machine, the spray head and the atomizer greatly reduce particle size of pesticide liquid. The embodiment can greatly reduce the pesticide spraying amount per unit area of a leaf surface by increasing a pesticide liquid concentration, increase a use time after single loading of the pesticide liquid, reduce a number of times of changing the pesticide liquid in a pesticide spraying process, and improve working efficiency of the orchard atomizing pesticide spraying machine.

[0108] More specifically, the capturing unit is provided with an RGB camera; and the analysis unit is provided with a laser radar.

[0109] More specifically, the dynamic execution unit is symmetrically arranged along a center of the mounting base; and the dynamic analysis system is symmetrically arranged along the center of the mounting base. The dynamic execution unit and the dynamic analysis system are symmetrically arranged in the embodiment, which reduces direction limitation of work and makes the orchard pesticide spraying equipment more flexible.

[0110] It should be noted that, for the foregoing method embodiments, in order to simply describe, the method embodiments are all described as a series of action combinations, but those skilled in the art should know that the present application is not limited to the action sequence described, because according to the present application, certain steps can be performed in other sequences or simultaneously. Secondly, those skilled in the art should know that the embodiments described in the specification all belong to preferred embodiments, and the actions and modules involved are not necessarily necessary for the present application.

[0111] In the above embodiments, the description of each embodiment has its own focus, and the parts not described in detail in a certain embodiment can be referred to the related description of other embodiments.

[0112] The above merely describes exemplary embodiments of the present disclosure, and cannot limit the scope of the present disclosure. That is, equivalent changes and modifications made in accordance with the teachings of the present disclosure are still within the scope of the present disclosure. Those skilled in the art will readily conceive of other implementations of the present disclosure upon considering the specification and practicing the disclosure herein. The present application is intended to cover any variations, uses, or adaptive changes of the present disclosure that follow the general principles of the present disclosure and include common knowledge or conventional techniques in the art that are not described in the present disclosure. The specification and examples are merely considered as exemplary, and the scope and spirit of the present disclosure are defined by the claims.

[0113] Although the terms: 100, pesticide spraying system; 110, loading unit; 111, mounting base plate; 120, dynamic execution unit; 121, dynamic control subunit; 1211, rotating assembly; 1212, motor; 122, dynamic execution subunit; 1221, spray head; 1222, atomizer; 1223, spray head guide rod; 200, dynamic analysis system; 210, depth camera; 220, laser radar, etc. are used more frequently herein, the possibility of using other terms is not excluded. The use of these terms is merely for the convenience of describing and explaining the essence of the present application; any interpretation of them as any kind of additional limitation is contrary to the spirit of the present application.

Claims

1. An orchard spraying method characterized by comprising: The method comprises the steps of: S1, obtaining the structure parameter information of the fruit trees needing to be sprayed in the orchard; S2, constructing an elliptical envelope surface model based on the structure parameter information of the fruit trees; S3, obtaining dynamic control information for controlling the spraying equipment to perform corresponding operations in the spraying process based on the elliptical envelope surface model, wherein the dynamic control information comprises spraying range information and liquid spraying flow information; S4, controlling the spraying equipment to perform corresponding operations based on the dynamic control information to complete the orchard spraying; In step S1, the structure parameter information of the fruit trees needing to be sprayed in the orchard is obtained, comprising the steps of: obtaining the crown height parameter c of the fruit tree; obtaining the intermediate section of the crown of the fruit tree perpendicular to the crown height direction of the crown, and selecting the first direction size parameter a and the second direction size parameter b of the intermediate section, wherein the first direction and the second direction are perpendicular to each other; In step S2, the elliptical envelope surface model is constructed based on the structure parameter information of the fruit trees, comprising the steps of: obtaining the long axis parameter c of the elliptical envelope surface model based on the crown height parameter c of the fruit tree; obtaining the short axis parameter of the elliptical envelope surface model based on the first direction size parameter a and the second direction size parameter b; obtaining the generatrix equation of the elliptical envelope surface model based on the long axis parameter and the short axis parameter; The method further comprises the steps of: calculating the average value of the first direction size parameter a and the second direction size parameter b to obtain the short axis parameter of the elliptical envelope surface model based on a long axis parameter c of the elliptical envelope surface model and a short axis parameter b of the elliptical envelope surface model obtaining a generatrix equation of the elliptical envelope surface model The generatrix equation of the elliptical envelope surface model is Wherein x represents the size of the section plane distance from the Z axis, and Z represents the long half axis of the section plane. In step S3, the dynamic control information for controlling the spraying equipment to perform corresponding operations in the spraying process is obtained based on the elliptical envelope surface model, wherein the dynamic control information comprises spraying range information and liquid spraying flow information, comprising the steps of: dividing the elliptical envelope surface model into a plurality of section surfaces along the running direction of the spraying equipment; obtaining the running speed V of the spraying equipment within a preset spraying time t; obtaining the spraying area between each section surface based on the generatrix equation of the elliptical envelope surface model, the spraying time t and the running speed V; obtaining the corresponding spraying range information and liquid spraying flow information of the spraying equipment at each time within the spraying time t based on the spraying area between each section surface; In the step of obtaining the spraying area between each section surface based on the generatrix equation of the elliptical envelope surface model, the spraying time t and the running speed V, comprising the steps of: obtaining the running distance of the spraying equipment within the spraying time t based on the spraying time t and the running speed V, wherein the running distance is Vt; obtaining the circumference L of each section surface based on the generatrix equation of the elliptical envelope surface model and the running distance, and obtaining the spraying area S between each section surface based on the running distance and the circumference L; The spraying area S = VtL; The circumference L of the section surface is calculated by the following formula:

2. The method of claim 1, wherein In step S4, the spraying equipment is controlled to perform corresponding operations based on the dynamic control information to complete the orchard spraying, comprising the steps of: controlling the length of the telescopic crank based on the corresponding spraying range information at each time within the spraying time t, so that the swing range of the nozzle of the spraying equipment covers the crown of the fruit tree; The motor rotation speed and the corresponding pesticide injection flow rate are obtained based on the spraying range information corresponding to each time within the spraying time t, and the pesticide is injected based on the motor rotation speed and the corresponding pesticide injection flow rate.

3. An orchard pesticide spraying device based on the method of any one of claims 1-2, characterized in that: It comprises a pesticide spraying system and a dynamic analysis system for controlling the pesticide spraying system; The pesticide spraying system comprises a loading unit for loading pesticide and a dynamic execution unit; The dynamic analysis system comprises a capture unit for capturing fruit tree information and an analysis unit for analyzing fruit tree information; The loading unit is provided with a mounting base, and the loading unit is connected with the dynamic execution unit through the mounting base; The dynamic execution unit comprises a dynamic control subunit and a dynamic execution subunit; The dynamic execution subunit comprises a spray head, an atomizer for controlling the amount of pesticide, and a spray head guide rod for changing the spraying direction of the spray head; The dynamic control subunit comprises a rotation assembly connected with the mounting base and a motor for driving the rotation of the dynamic execution subunit, and the motor is provided with a telescopic crank for controlling the spraying height of the spray head.

4. The orchard pesticide spraying device according to claim 3, characterized in that: The capture unit is provided with a depth camera and a laser radar; the capture unit measures the distance between the target fruit tree and the camera by emitting and receiving infrared rays or laser, thereby obtaining depth information; The analysis unit is provided with an embedded fruit tree structure parameter rapid extraction algorithm, which rapidly calculates the structure parameters based on the fruit tree point cloud and depth information obtained by the capture unit, and feeds back to the dynamic execution unit in real time.

5. The orchard pesticide spraying device according to claim 3, characterized in that: The dynamic execution unit is symmetrically arranged along the center of the mounting base; The dynamic analysis system is symmetrically arranged along the center of the mounting base.

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