Intelligent orchard prevention and control irrigation, fertilization and pesticide spraying method and system

Abstract

The invention relates to an intelligent orchard prevention and control irrigation, fertilization and pesticide spraying method and system. The method comprises the following steps that insect pest situation data, plant data and soil data of fruit trees are collected for standby application; data storage and analysis are performed, a preset operation scheme is sent to the model customization module, in the irrigation, fertilization and pesticide spraying scheme, whether the fertilized fertilizer and the pesticide spraying pesticide can be mixed or not is judged according to the chemical performance and physical state of the fertilized fertilizer and the pesticide spraying pesticide, and if the fertilized fertilizer and the pesticide spraying pesticide can be mixed, the irrigation, fertilization and pesticide spraying are completed. Fertilized fertilizer and sprayed insecticide are added into the irrigation module to be mixed with water, and mixed liquid is added into the telescopic spraying pipe device for fixed-point and directional fertilization and spraying. Compared with the prior art, the method solves the problem that in the prior art, whether the fertilizer and the insecticide can be mixed or not is not judged from acid-base conflict, ionic reaction, physical state and prevention and control target difference.

Description

Technical Field

[0001] The present invention relates to the technical field of orchard planting, and in particular to an intelligent orchard prevention and control irrigation fertilization spraying method and system. Background Art

[0002] To reduce labor costs and improve orchard pest and disease control capabilities, achieve precise water and fertilizer management, and increase fruit tree yield and quality, a number of water and fertilizer dispensers and insect monitoring systems have begun to be developed. However, existing insect monitoring equipment, soil testing equipment, and irrigation and fertilization equipment mostly operate independently, failing to form an effective linkage mechanism.

[0003] Existing water and fertilizer machine patents, such as CN119605439A, CN118923316A, CN222485371U, CN118476368A, CN222396389U, and CN221996052U, all irrigate and fertilize crops by manually adjusting the ratio of water and fertilizer. CN119722367A irrigates and fertilizes crops based on collected plant data. CN119344201A irrigates and fertilizes crops via a remote control system. Existing insect monitoring systems, such as CN119429481A, CN119026037A, and CN119054667A, monitor insect infestations by trapping them. Existing soil detection systems such as CN119290473A, CN119178871A, and CN119322162A use sensors to detect soil moisture, pH value, and nutrients such as nitrogen, phosphorus, and potassium.

[0004] Existing pest monitoring systems can monitor pest occurrences with relative accuracy, but most of them focus solely on pest monitoring and fail to integrate plant and soil information with pesticide spraying systems for comprehensive prevention and control. Existing soil detection systems typically operate independently and are not integrated with pest monitoring systems, resulting in limitations in pest and disease control. Existing patented water and fertilizer machines only allow for manual or remote control of crop watering and fertilization. It is impossible to accurately fertilize plants based on data collected from crop soil and plant testing and pest monitoring. Existing pest monitoring systems lack automatic height-adjusting nozzles and full-wide-angle acquisition sensors at the end, making them incapable of precise pest control.

[0005] In the process of implementing the present invention, the inventors found that the prior art has the following problems:

[0006] Existing patents for water and fertilizer machines do not determine whether fertilizers and pesticides can be mixed and administered based on acid-base conflicts, ion reactions, physical states, and differences in prevention and control targets. Summary of the Invention

[0007] In view of the above problems, the present application provides an intelligent orchard control irrigation fertilization spraying method and system to solve the technical problem of existing water and fertilizer machine patents, which do not judge whether fertilizers and pesticides can be mixed based on acid-base conflicts, ion reactions, physical states, and differences in control targets.

[0008] To achieve the above objectives, in a first aspect, the present application provides an intelligent orchard prevention and control irrigation fertilization spraying method, comprising the following steps:

[0009] Through the data collection and monitoring module, the insect data of fruit trees, plant data of fruit trees, and soil data are collected for backup;

[0010] The fruit tree insect data, plant data, and soil data are sent to the data storage and analysis module for data storage and analysis, and a database of associations between the fruit trees, soil, and environment is established. Through data analysis, the pest density, growth status, soil nutrients, and moisture conditions of the fruit trees are determined, and corresponding preset operation plans are generated for backup.

[0011] The preset operation plan is sent to the model customization module. The model customization module combines the fruit tree type, planting method, current growth stage, and preset nutrient ratio to generate the final irrigation, fertilization and spraying plan for future use;

[0012] In the irrigation and fertilization spraying scheme, whether the fertilizer and the pesticide can be mixed is determined based on their chemical properties and physical states. If they can be mixed, the fertilizer and the pesticide are added to the irrigation module and mixed with water. The mixed liquid is then added to the telescopic nozzle device for targeted fertilization and spraying.

[0013] If the fertilizer for fertilization and the pesticide for spraying cannot be mixed, irrigation and fertilization are carried out through the irrigation module, and the pesticide is sprayed separately through the telescopic nozzle device.

[0014] Different from the existing technology, the above technical solution forms a preliminary preset operation plan through the insect data of fruit trees, plant data of fruit trees, and soil data. Here is theoretical data. In practice, the model customization module is combined with the fruit tree type, planting method, current growth stage, and preset nutrient ratio to generate the final irrigation, fertilization and spraying plan. According to the chemical properties and physical state of the fertilizer and the spray pesticide, it is judged whether the fertilizer and the spray pesticide can be mixed. If the fertilizer and the spray pesticide can be mixed, the fertilizer and the spray pesticide are added to the irrigation module and mixed with water. The mixed liquid is added The telescopic nozzle device is used for point-to-point fertilization and spraying. In this way, the corresponding pesticide can be obtained according to the insect data of the fruit trees, and the corresponding fertilizer can be determined according to the plant data and soil data of the fruit trees. Then, the chemical properties and physical state of the pesticide and fertilizer can be used to determine whether the pesticide and fertilizer can be mixed. This solves the problem in the existing technology that there is no way to determine whether the fertilizer and pesticide can be mixed based on the differences in acid-base conflicts, ion reactions, physical states, and control targets. The mixed liquid is finally used for point-to-point fertilization and spraying through the telescopic nozzle device, generating accurate irrigation, fertilization and pest control plans, and improving the efficiency of irrigation, fertilization and control.

[0015] As an embodiment of the present invention, in the step of generating the final fertigation and spraying plan, specifically:

[0016] Select the appropriate insecticide based on the insect data of the fruit trees;

[0017] Select the appropriate fertilizer based on the plant data and soil data of the fruit tree;

[0018] First determine whether the acidity and alkalinity of the pesticide conflict with that of the fertilizer, and whether an ion reaction will occur between the pesticide and the fertilizer;

[0019] Then determine whether the physical state of the pesticide is compatible with the physical state of the fertilizer, and whether the concentration of the pesticide and the concentration of the fertilizer are appropriate to be sprayed on the leaves of the fruit trees;

[0020] Finally, determine whether the growth stage of the fruit tree is suitable for spraying, whether the control position of the pesticide overlaps with the fertilization position of the fertilizer, and finally determine whether the pesticide and fertilizer should be mixed for spraying.

[0021] In this way, a comprehensive judgment can be made by judging the acidity and alkalinity of the pesticide and the fertilizer, whether an ion reaction will occur, whether the physical state of the pesticide is compatible with the physical state of the fertilizer, whether stratification, precipitation or poor emulsification will occur, whether the fertilizer solution and pesticide will cause burns to crop leaves after mixing, whether soil fertilization will target the roots, while the pesticide may target foliar or soil pests, and the two may act on different sites.

[0022] As an embodiment of the present invention, the telescopic nozzle device fertilizes and sprays the leaves, crowns and roots of fruit trees based on insect data, plant data and soil data.

[0023] In this way, the telescopic nozzle device adjusts the length and angle of the nozzle according to the distribution of pests, and accurately targets the concentrated areas of pests for directional spraying; the telescopic nozzle device can flexibly adjust the spray height and range of the spray according to the height of different fruit trees and the location of pests, which not only improves the prevention and control efficiency, but also effectively reduces the use of pesticides and avoids unnecessary spraying waste.

[0024] As an embodiment of the present invention, the data acquisition and monitoring module includes a plant image acquisition unit and a soil information acquisition unit. The plant image acquisition unit uses sensors and image recognition algorithms to identify the type, number and distribution of pests, and monitors the color, spots, curling and wilting of leaves.

[0025] The soil information collection unit collects soil moisture, pH value, conductivity, temperature, nitrogen, phosphorus, and potassium data through sensors.

[0026] The insect and plant image acquisition unit uses high-definition cameras and AI image recognition algorithms to identify in real time the species, abundance, and distribution of typical pests such as spider mites, aphids, peach borers, and leaf rollers. It also monitors leaf color, spotting, curling, and wilting to promptly identify the presence of diseases or nutrient deficiencies such as powdery mildew, anthracnose, and premature aging. The soil information acquisition unit monitors soil moisture, pH, conductivity, temperature, and the levels of the three main nutrients: nitrogen, phosphorus, and potassium. All of this data is uploaded to the data storage and analysis module for further analysis and processing.

[0027] As an embodiment of the present invention, the model customization module combines the fruit tree type, planting method, current growth stage, and preset nutrient ratio, calls the preset planting model and historical data, and generates the final irrigation, fertilization and spraying plan for the specific fruit tree in the current state through an algorithm.

[0028] In this way, the model customization module combines the crop type (such as apples, peaches, pears, etc.), planting method (open-air / greenhouse), current growth stage (germination, flowering, fruit expansion, maturity, etc.) and target yield parameters, calls the preset expert model and historical big data, and generates the best irrigation and fertilization plan for specific fruit trees in the current state through optimization algorithms, realizing differentiated and precise management.

[0029] To achieve the above objectives, in a second aspect, the inventors provide an intelligent orchard pest control irrigation, fertilization, and spraying system for executing any of the above-described intelligent orchard pest control irrigation, fertilization, and spraying methods, comprising an insect and plant monitoring device, a soil monitoring device, a control terminal, an irrigation device, and a telescopic nozzle device;

[0030] The insect and plant monitoring equipment is used to collect insect data of fruit trees and plant data of fruit trees, and send the insect data and plant data to the control terminal;

[0031] The soil monitoring device is used to collect soil data under the fruit trees and send the soil data to the control terminal;

[0032] The control terminal generates a final irrigation, fertilization, and spraying plan based on the fruit tree insect data, fruit tree plant data, and soil data, determines whether the fertilizer and the spraying insecticide can be mixed, and sends the data to the irrigation equipment and the telescopic nozzle equipment;

[0033] The irrigation equipment is used to mix water, fertilizer, and pesticide, and output the mixed liquid to the telescopic nozzle equipment;

[0034] The telescopic nozzle device is used to spray the mixed liquid or insecticide onto designated positions of the leaves, crowns and roots of fruit trees.

[0035] Different from the existing technology, the technical solution of the present application uses insect and plant monitoring equipment to collect insect data and plant data of fruit trees, and soil monitoring equipment to collect soil data under the fruit trees. The control terminal generates the final irrigation, fertilization and spraying plan based on the insect data, plant data and soil data of the fruit trees, determines whether the fertilizer for fertilization and the pesticide for spraying can be mixed, and sends the data to the irrigation equipment and the telescopic nozzle equipment; the irrigation equipment is used to mix water, fertilizer and pesticide, and output the mixed liquid to the telescopic nozzle equipment; the telescopic nozzle equipment is used to spray the mixed liquid or pesticide onto the designated positions of the leaves, crowns and roots of the fruit trees. In this way, the corresponding pesticide can be obtained based on the insect data of the fruit trees, and the corresponding fertilizer can be determined based on the plant data and soil data of the fruit trees. Then, the chemical properties and physical states of the pesticide and fertilizer can be used to determine whether the pesticide and fertilizer can be mixed. This solves the problem in the existing technology that there is no way to determine whether fertilizer and pesticide can be mixed based on acid-base conflicts, ion reactions, physical states, and differences in prevention and control targets. The mixed liquid is finally sprayed with fertilizers in a fixed and directional manner through a telescopic nozzle device, generating precise irrigation, fertilization, and pest control plans, thereby improving the efficiency of irrigation, fertilization, and prevention.

[0036] As an embodiment of the present invention, the insect and plant monitoring device includes a frame, a solar panel, a deep learning camera, an insect trap light tube, a box, a delivery tube, a storage tray, two or more storage cups, and a sealed electrical box;

[0037] The solar panel is arranged on the rack, the deep learning camera is arranged above the solar panel, the insect-catching light tube is arranged below the solar panel, the box is arranged below the insect-catching light tube, the delivery pipe, the storage tray, two or more storage cups and a sealed electrical box are arranged in the box, one end of the delivery pipe is connected to the collection tray on the box, and the other end of the delivery pipe is connected to the storage cup on the storage tray, two or more storage cups are arranged around the center of the storage tray, and the storage tray is rotatably arranged above the sealed electrical box.

[0038] In this way, solar panels are used to power other devices, deep learning cameras capture insect data and plant data of fruit trees, insect-catching lamps are used to trap pests, and the trapped pests are transported to storage cups on the storage tray through collection trays and delivery tubes. Multiple storage cups can store different types of pests, or the same type of pests.

[0039] As an embodiment of the present invention, the soil monitoring equipment includes a soil monitor, a first motor, a drill bit, a spiral blade and a bracket; the spiral blade and the drill bit are respectively connected to the output end of the first motor, the drill bit is located below the spiral blade, the bracket is detachably connected to the first motor, and the soil monitor is arranged on the bracket.

[0040] In this way, through the cooperation of the drill bit and the spiral blade, the equipment drills into the soil, the soil monitor contacts the soil and collects soil data, and the bracket fixes the soil monitor; multiple soil monitoring devices can be set up to collect soil data at different locations.

[0041] As an embodiment of the present invention, the control terminal includes a data storage and analysis module, a remote control terminal and a model customization module. The insect and plant monitoring equipment and the soil monitoring equipment are communicatively connected to the data storage and analysis module, the data storage and analysis module is communicatively connected to the remote control terminal, the remote control terminal is communicatively connected to the model customization module, and the model customization module is communicatively connected to the irrigation equipment.

[0042] In this way, the data storage and analysis module conducts multi-dimensional modeling and dynamic updating of insect, plant and soil data to establish a correlation database between fruit trees, soil and environment; the model customization module generates the best irrigation and fertilization plan based on actual conditions to achieve differentiated and precise management.

[0043] As an embodiment of the present invention, the irrigation equipment includes a clean water pipeline, a fertilizer pipeline, an insecticide pipeline, a liquid container, a second motor and a hydraulic pump;

[0044] The clean water pipeline, the fertilizer pipeline, and the pesticide pipeline are respectively provided with hydraulic valves, and the clean water pipeline, the fertilizer pipeline, and the pesticide pipeline are respectively connected to the liquid container. A stirring mechanism is provided in the liquid container. The second motor is connected to the hydraulic pump, and the hydraulic pump is connected to the telescopic nozzle device through an irrigation pipeline.

[0045] In this way, the clean water pipeline provides clean water to the liquid container, the fertilizer pipeline provides fertilizer to the liquid container, and the pesticide pipeline provides pesticide to the liquid container. The stirring mechanism in the liquid container mixes the clean water, fertilizer and pesticide, and the hydraulic pump supplies the mixed liquid to the telescopic nozzle equipment; by controlling the electric valves of different pipelines, the system can selectively introduce clean water, fertilizer or pesticide according to operational requirements, and after mixing and proportioning in the liquid container, it is pressurized by the hydraulic pump and output to the target area through the irrigation water pipe to complete the clean water irrigation, fertilization irrigation or pesticide application operations.

[0046] As an embodiment of the present invention, the telescopic nozzle device includes a spray nozzle, a telescopic nozzle assembly, a spray main pipe, a first control valve, a second control valve, a left branch pipe, a right branch pipe, a rotating spray disc and a fixed cone needle;

[0047] The spray nozzle is arranged on the telescopic nozzle assembly, the spray main pipe is connected to the spray nozzle, the left branch pipe is connected to the spray main pipe through the first control valve, and the right branch pipe is connected to the spray main pipe through the second control valve. The spray nozzle, telescopic nozzle assembly, spray main pipe, first control valve, second control valve, left branch pipe, and right branch pipe are arranged on the rotating spray disc, and the rotating spray disc is rotatably arranged on the fixed cone needle.

[0048] In this way, the pesticide liquid supply system is connected through the spray main pipe, which is located in the middle of the device and connected to the left branch pipe and the right branch pipe. Control valves are respectively provided at the connection points of the left branch pipe, the right branch pipe and the main liquid supply pipe, which can independently control the opening / closing status and spray flow rate of the left branch pipe and the right branch pipe to achieve the spraying of different mixed liquids and pesticides; a nozzle rotating disk is provided at the lower part of the device to drive the entire branch pipe system to rotate in a circle, so that the spraying range covers a 360-degree area centered on the device, thereby improving the spraying efficiency; a fixed cone needle is provided at the bottom of the device, and is inserted into the soil through a pointed cone structure to stabilize the device to prevent the equipment from tipping over due to water pressure or wind during spraying.

[0049] The above-mentioned records related to the content of the invention are only an overview of the technical solution of this application. In order to enable ordinary technicians in this field to understand the technical solution of this application more clearly, and then implement it according to the text of the specification and the contents recorded in the drawings, and to make the above-mentioned purposes and other purposes, features and advantages of this application easier to understand, the following is an explanation in combination with the specific implementation methods and drawings of this application. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] The accompanying drawings are only used to illustrate the principles, implementation methods, applications, characteristics and effects of the specific embodiments of this application and other related contents, and are not to be considered as limiting this application.

[0051] In the drawings of the specification:

[0052] Figure 1 This is a logic diagram of an intelligent orchard prevention and control irrigation, fertilization and spraying method according to one embodiment of the present application;

[0053] Figure 2 This is a system structure diagram of an intelligent orchard prevention and control irrigation, fertilization and spraying system according to one embodiment of the present application;

[0054] Figure 3 This is a schematic diagram of the structure of an insect and plant monitoring device according to one embodiment of the present application;

[0055] Figure 4 This is a schematic diagram of the internal structure of an insect and plant monitoring device according to one embodiment of the present application;

[0056] Figure 5 This is a schematic structural diagram of a soil monitoring device according to an embodiment of the present application;

[0057] Figure 6 This is a schematic structural diagram of a soil monitoring device according to an embodiment of the present application from another angle;

[0058] Figure 7 This is a front schematic diagram of an irrigation device according to an embodiment of the present application;

[0059] Figure 8 This is a schematic diagram of the back of an irrigation device according to an embodiment of the present application;

[0060] Figure 9 This is a schematic structural diagram of a telescopic nozzle device according to one embodiment of the present application;

[0061] Figure 10 This is a cross-sectional schematic diagram of a telescopic nozzle device according to an embodiment of the present application.

[0062] The reference numerals in the above drawings are described as follows:

[0063] 1. Insect and plant monitoring equipment, 11. Rack, 12. Solar panel, 13. Deep learning camera, 14. Insect trap light, 15. Box, 16. Transport tube, 17. Storage tray, 18. Storage cup, 19. Sealed electrical box, 20. Divider;

[0064] 2. Soil monitoring equipment, 21. Soil monitor, 22. First motor, 221. Motor hole; 222. Through hole, 23. Drill bit, 24. Spiral piece, 241. Spiral hole, 25. Bracket,

[0065] 3. Control terminal,

[0066] 4. Irrigation equipment, 41. Fresh water pipeline, 42. Fertilizer pipeline, 43. Pesticide pipeline, 44. Liquid container, 45. Second motor, 46. Hydraulic pump, 47. Irrigation pipeline; 48. Hydraulic valve, 49. Water meter;

[0067] 5. Telescopic nozzle equipment, 51. Spray nozzle, 52. Telescopic nozzle assembly, 53. Spray main pipe, 54. First control valve, 55. Second control valve, 56. Left branch pipe, 57. Right branch pipe, 58. Rotating spray disc, 59. Fixed cone needle. DETAILED DESCRIPTION

[0068] In order to explain in detail the possible application scenarios, technical principles, specific solutions that can be implemented, and the purpose and effects of this application, the following is a detailed description of the specific embodiments listed in conjunction with the accompanying drawings. The embodiments described herein are only used to more clearly illustrate the technical solutions of this application and are therefore only examples and are not intended to limit the scope of protection of this application.

[0069] References to "embodiments" herein mean that the specific features, structures, or characteristics described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the word "embodiment" in various places in the specification does not necessarily refer to the same embodiment, nor does it particularly limit its independence or relevance to other embodiments. In principle, in this application, as long as there are no technical contradictions or conflicts, the various technical features mentioned in the embodiments can be combined in any manner to form a corresponding implementable technical solution.

[0070] Unless otherwise defined, the technical terms used herein have the same meanings as those generally understood by those skilled in the art to which this application belongs; the use of relevant terms herein is only for describing specific embodiments and is not intended to limit this application.

[0071] In the description of this application, the term "and / or" is used to describe a logical relationship between objects, indicating that three relationships can exist. For example, A and / or B means: A exists, B exists, and both A and B exist. In addition, the character " / " in this document generally indicates that the objects before and after are in a logical "or" relationship.

[0072] In this application, terms such as "first" and "second" are merely used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual quantity, priority or sequence relationship between these entities or operations.

[0073] Without further limitations, in this application, the words "include", "comprise", "have" or other similar open-ended expressions used in sentences are intended to cover non-exclusive inclusion. These expressions do not exclude the presence of additional elements in the process, method or product that includes the elements, so that the process, method or product that includes a series of elements may include not only those defined elements, but also other elements that are not explicitly listed, or also include elements inherent to such process, method or product.

[0074] Consistent with the understanding in the Examination Guidelines, in this application, expressions such as "greater than," "less than," and "exceed" are understood to exclude the number itself; expressions such as "above," "below," and "within" are understood to include the number itself. Furthermore, in the description of the embodiments of this application, "multiple" means more than two (including two), and similar expressions related to "multiple" are also understood in this manner, such as "multiple groups," "multiple times," etc., unless otherwise specifically defined.

[0075] In the description of the embodiments of the present application, the space-related expressions used, such as "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "vertical", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicate the orientation or position relationship based on the orientation or position relationship shown in the specific embodiments or drawings, and are only for the convenience of describing the specific embodiments of the present application or facilitating the reader's understanding, and do not indicate or imply that the device or component referred to must have a specific position, a specific orientation, or be constructed or operated in a specific orientation. Therefore, it should not be understood as a limitation on the embodiments of the present application.

[0076] According to some embodiments of this application, please refer to Figures 1 to 10 This embodiment relates to an intelligent orchard prevention and control irrigation fertilization spraying method, comprising the following steps:

[0077] Through the data collection and monitoring module, the insect data of fruit trees, plant data of fruit trees, and soil data are collected for backup;

[0078] The fruit tree insect data, plant data, and soil data are sent to the data storage and analysis module for data storage and analysis, and a database of associations between the fruit trees, soil, and environment is established. Through data analysis, the pest density, growth status, soil nutrients, and moisture conditions of the fruit trees are determined, and corresponding preset operation plans are generated for backup.

[0079] The preset operation plan is sent to the model customization module. The model customization module combines the fruit tree type, planting method, current growth stage, and preset nutrient ratio to generate the final irrigation, fertilization and spraying plan for future use;

[0080] In the irrigation and fertilization spraying scheme, whether the fertilizer and the pesticide can be mixed is determined based on their chemical properties and physical states. If they can be mixed, the fertilizer and the pesticide are added to the irrigation module and mixed with water. The mixed liquid is then added to the telescopic nozzle device for targeted fertilization and spraying.

[0081] If the fertilizer for fertilization and the pesticide for spraying cannot be mixed, irrigation and fertilization are carried out through the irrigation module, and the pesticide is sprayed separately through the telescopic nozzle device.

[0082] In this embodiment, before generating a fertilization or pesticide application plan, the system has the function of determining the compatibility of the mixture of pesticides and fertilizers. It can perform a systematic analysis based on the acidity (pH), main ion composition, physical state (such as whether precipitation will form or emulsion instability), and control objectives (whether it is applicable to the same crop or pest) of the solution to be mixed. Through the component database and rule engine, the system automatically identifies potential acid-base neutralization conflicts, ion reaction precipitation risks, physical incompatibility, and conflicting usage purposes, and determines whether they can be mixed and used, avoiding improper mixing that may cause decreased efficacy, crop damage, or equipment blockage.

[0083] For example, when fruit trees enter the fruit-swelling period, the system comprehensively analyzes the trees' sensitivity to water and potassium. Taking into account the low potassium content and insufficient soil moisture in the soil, the system automatically generates a comprehensive policy plan of "potassium supplementation + quantitative irrigation" and controls the execution module for precise scheduling. When the insect recognition module detects that the density of red spider mites exceeds the set threshold and is concentrated in the middle and upper leaf areas, the system will instruct the spraying device to carry out targeted pesticide spraying on the corresponding parts, thereby improving prevention and control efficiency and reducing pesticide usage.

[0084] A preliminary preset operation plan is formed through the fruit tree insect data, fruit tree plant data, and soil data. This is theoretical data. In practice, the final irrigation, fertilization, and spraying plan must be generated through the model customization module in combination with the fruit tree type, planting method, current growth stage, and preset nutrient ratio. Based on the chemical properties and physical state of the fertilizer and the pesticide, it is determined whether the fertilizer and the pesticide can be mixed. If they can be mixed, the fertilizer and the pesticide are added to the irrigation module and mixed with water. The mixed liquid is then added to the telescopic nozzle device for fixed-point and directional fertilization and spraying.

[0085] In this way, the corresponding pesticide can be obtained based on the insect data of the fruit trees, and the corresponding fertilizer can be determined based on the plant data and soil data of the fruit trees. Then, the chemical properties and physical states of the pesticide and fertilizer can be used to determine whether the pesticide and fertilizer can be mixed. This solves the problem in the existing technology that there is no way to determine whether fertilizer and pesticide can be mixed based on acid-base conflicts, ion reactions, physical states, and differences in prevention and control targets. The mixed liquid is finally sprayed with fertilizers in a fixed and directional manner through a telescopic nozzle device, generating precise irrigation, fertilization, and pest control plans, thereby improving the efficiency of irrigation, fertilization, and prevention.

[0086] According to some embodiments of the present application, optionally, in the step of generating the final fertigation and spraying plan, specifically:

[0087] Select the appropriate insecticide based on the insect data of the fruit trees;

[0088] Select the appropriate fertilizer based on the plant data and soil data of the fruit tree;

[0089] First determine whether the acidity and alkalinity of the pesticide conflict with that of the fertilizer, and whether an ion reaction will occur between the pesticide and the fertilizer;

[0090] Then determine whether the physical state of the pesticide is compatible with the physical state of the fertilizer, and whether the concentration of the pesticide and the concentration of the fertilizer are appropriate to be sprayed on the leaves of the fruit trees;

[0091] Finally, determine whether the growth stage of the fruit tree is suitable for spraying, whether the control position of the pesticide overlaps with the fertilization position of the fertilizer, and finally determine whether the pesticide and fertilizer should be mixed for spraying.

[0092] In this way, a comprehensive judgment can be made by judging the acidity and alkalinity of the pesticide and the fertilizer, whether an ion reaction will occur, whether the physical state of the pesticide is compatible with the physical state of the fertilizer, whether stratification, precipitation or poor emulsification will occur, whether the fertilizer solution and pesticide will cause burns to crop leaves after mixing, whether soil fertilization will target the roots, while the pesticide may target foliar or soil pests, and the two may act on different sites.

[0093] According to some embodiments of the present application, optionally, the telescopic nozzle device fertilizes and sprays the leaves, crowns, and roots of fruit trees based on insect data, plant data, and soil data.

[0094] In this way, the telescopic nozzle device adjusts the length and angle of the nozzle according to the distribution of pests, and accurately targets the concentrated areas of pests for directional spraying; the telescopic nozzle device can flexibly adjust the spray height and range of the spray according to the height of different fruit trees and the location of pests, which not only improves the prevention and control efficiency, but also effectively reduces the use of pesticides and avoids unnecessary spraying waste.

[0095] According to some embodiments of the present application, the data acquisition and monitoring module optionally includes a plant image acquisition unit and a soil information acquisition unit. The plant image acquisition unit uses sensors and image recognition algorithms to identify the type, quantity, and distribution of pests, and simultaneously monitors the color, spots, curling, and wilting symptoms of leaves.

[0096] The soil information collection unit collects soil moisture, pH value, conductivity, temperature, nitrogen, phosphorus and potassium data through sensors.

[0097] The insect and plant image acquisition unit uses high-definition cameras and AI image recognition algorithms to identify in real time the species, abundance, and distribution of typical pests such as spider mites, aphids, peach borers, and leaf rollers. It also monitors leaf color, spotting, curling, and wilting to promptly identify the presence of diseases or nutrient deficiencies such as powdery mildew, anthracnose, and premature aging. The soil information acquisition unit monitors soil moisture, pH, conductivity, temperature, and the levels of the three main nutrients: nitrogen, phosphorus, and potassium. All of this data is uploaded to the data storage and analysis module for further analysis and processing.

[0098] According to some embodiments of the present application, optionally, the model customization module combines the fruit tree type, planting method, current growth stage, and preset nutrient ratio, calls the preset planting model and historical data, and generates the final irrigation, fertilization and spraying plan for the specific fruit tree in the current state through an algorithm.

[0099] In this way, the model customization module combines the crop type (such as apples, peaches, pears, etc.), planting method (open-air / greenhouse), current growth stage (germination, flowering, fruit expansion, maturity, etc.) and target yield parameters, calls the preset expert model and historical big data, and generates the best irrigation and fertilization plan for specific fruit trees in the current state through optimization algorithms, realizing differentiated and precise management.

[0100] This embodiment also relates to an intelligent orchard pest control irrigation, fertilization and spraying system, which is used to implement any of the above-mentioned intelligent orchard pest control irrigation, fertilization and spraying methods, including an insect and plant monitoring device 1, a soil monitoring device 2, a control terminal 3, an irrigation device 4 and a telescopic nozzle device 5;

[0101] The insect and plant monitoring device 1 is used to collect insect data of fruit trees and plant data of fruit trees, and send the insect data and plant data to the control terminal 3;

[0102] The soil monitoring device 2 is used to collect soil data under the fruit trees and send the soil data to the control terminal 3;

[0103] The control terminal 3 generates the final irrigation, fertilization and spraying plan based on the fruit tree insect data, fruit tree plant data and soil data, determines whether the fertilizer and the spraying pesticide can be mixed, and sends the data to the irrigation equipment 4 and the telescopic nozzle equipment 5;

[0104] The irrigation device 4 is used to mix water, fertilizer, and pesticide, and output the mixed liquid to the telescopic nozzle device 5;

[0105] The telescopic nozzle device 5 is used to spray the mixed liquid or insecticide to the designated positions of the leaves, crowns and roots of the fruit trees.

[0106] In this embodiment, the data acquisition and monitoring module collects the insect infestation, soil moisture, pH value, fertilizer and other growth data of fruit trees in real time through equipment such as insect infestation and plant monitoring equipment, soil moisture sensors, pH sensors and fertilizer sensors. The insect infestation and plant image acquisition unit uses high-definition camera equipment in conjunction with AI image recognition algorithms to identify the types, quantity and distribution of typical pests such as red spider mites, aphids, peach borers, and leaf rollers in real time. At the same time, it monitors the color, spots, curling, and wilting of the leaves to promptly determine whether there are diseases or nutrient deficiency symptoms such as powdery mildew, anthracnose, and premature aging. The soil information acquisition unit monitors the moisture, pH value, electrical conductivity, temperature and the content of the three main nutrients: nitrogen, phosphorus and potassium in the soil in real time. All of these data will be uploaded to the data storage and analysis module for further analysis and processing.

[0107] The data storage and analysis module dynamically updates multi-dimensional modeling of pest infestations, plant health, and soil environmental data, establishing a database linking fruit trees, soil, and the environment. Through data analysis, the system determines the current growth status of fruit trees, pest density, soil nutrients, and moisture levels, and generates the necessary operation plan. When the orchard requires irrigation, the intelligent control system issues instructions to the model customization module via the remote control terminal. The model customization module automatically generates the optimal irrigation and fertilization plan based on the fruit tree variety, current growth stage, soil moisture and nutrient status, and preset nutrient ratios.

[0108] Specifically, when fruit trees enter the fruit-swelling stage, the system automatically generates a comprehensive "potassium supplementation + quantitative irrigation" strategy based on the trees' water and potassium needs, combined with low potassium levels and insufficient moisture in the soil. This strategy, through precise scheduling by the execution control module, ensures the optimal growth environment for the trees during this stage. When fertilization is needed, the irrigation module automatically mixes fertilizer according to the set nutrient ratio and delivers nutrient-rich water to the soil through the irrigation system, meeting the tree's growth needs.

[0109] During fertilization and pesticide application, the system features an automatic mixing compatibility determination mechanism. Before executing a mixing instruction, the system intelligently analyzes the acidity and alkalinity of the mixed substances, their primary ionic composition, their physical state (e.g., easy precipitation, poor emulsification), and whether their intended use (e.g., the target of control and whether the timing of application matches) is consistent. If there is an acid-base conflict, precipitation from ion reactions, or other physical and chemical incompatibilities, the system automatically blocks the mixing operation and prompts the user to adjust the solution. This feature effectively avoids problems such as reduced efficacy, crop damage, or equipment blockage caused by chemical or physical incompatibilities, thereby enhancing the scientific nature and safety of fertilization and pesticide application.

[0110] When the insect monitoring equipment detects that the number of pests exceeds the set safety threshold, the system will activate the pest control mechanism. When the pests are concentrated in a specific area of ​​the fruit tree (such as the middle and upper leaves), the system will automatically start the precision spraying function. The irrigation module extracts pesticides and uses the spray unit in conjunction with the telescopic nozzle device to adjust the nozzle length and angle according to the distribution of pests, and accurately align the pest-concentrated areas for directional spraying. The telescopic nozzle device can flexibly adjust the spray height and range of the spray according to the height of different fruit trees and the location of the pests, which not only improves the prevention and control efficiency, but also effectively reduces the amount of pesticide used and avoids unnecessary spraying waste.

[0111] The remote control terminal monitors the entire system's operating status and allows users to manually intervene, adjust settings, or view data in real time. When the system is operating automatically, the execution control module automatically executes watering, fertilizing, and precision spraying operations according to instructions from the model customization module. The irrigation unit controls drip irrigation, sprinkler irrigation, or infiltration irrigation based on soil moisture and tree needs. The fertilization unit automatically mixes and delivers fertilizer according to a model-generated solution. The spraying unit precisely applies pesticides based on insect infestation analysis.

[0112] Through the deep integration of insect awareness, plant status identification and soil nutrient analysis, this system can intelligently generate precise irrigation, fertilization and pest and disease control plans based on fruit tree varieties, current growth stages and soil conditions, significantly improving the intelligence level and resource utilization efficiency of orchard management, and achieving refined orchard management tailored to the trees and the times.

[0113] In this embodiment, the insect and plant monitoring device 1 is used to collect insect data and plant data of fruit trees, and the soil monitoring device 2 is used to collect soil data under the fruit trees. The control terminal 3 generates a final irrigation, fertilization and spraying plan based on the insect data, plant data and soil data of the fruit trees, determines whether the fertilizer for fertilization and the pesticide for spraying can be mixed, and sends the data to the irrigation device 4 and the telescopic nozzle device 5; the irrigation device 4 is used to mix water, fertilizer and pesticide, and output the mixed liquid to the telescopic nozzle device 5; the telescopic nozzle device 5 is used to spray the mixed liquid or pesticide onto the designated positions of the leaves, crowns and roots of the fruit trees.

[0114] In this way, the corresponding pesticide can be obtained based on the insect data of the fruit trees, and the corresponding fertilizer can be determined based on the plant data and soil data of the fruit trees. Then, the chemical properties and physical states of the pesticide and fertilizer can be used to determine whether the pesticide and fertilizer can be mixed. This solves the problem in the existing technology that there is no way to determine whether fertilizer and pesticide can be mixed based on acid-base conflicts, ion reactions, physical states, and differences in prevention and control targets. The mixed liquid is finally sprayed with fertilizers in a fixed and directional manner through a telescopic nozzle device, generating precise irrigation, fertilization, and pest control plans, thereby improving the efficiency of irrigation, fertilization, and prevention.

[0115] According to some embodiments of the present application, optionally, the insect and plant monitoring device 1 includes a frame 11, a solar panel 12, a deep learning camera 13, an insect trap light tube 14, a box 15, a delivery tube 16, a storage tray 17, two or more storage cups 18, and a sealed electrical box 19;

[0116] The solar panel 12 is set on the frame 11, the deep learning camera 13 is set above the solar panel 12, the insect catching lamp 14 is set below the solar panel 12, the box 15 is set below the insect catching lamp 14, the delivery pipe 16, the storage tray 17, two or more storage cups 18 and the sealed electrical box 19 are set in the box 15, one end of the delivery pipe 16 is connected to the collection tray on the box 15, and the other end of the delivery pipe 16 is connected to the storage cup 18 on the storage tray 17. The two or more storage cups 18 are arranged around the center of the storage tray 17, and the storage tray 17 is rotatably set above the sealed electrical box 19.

[0117] In this embodiment, the insect trap 14 utilizes the principle of light attraction. The trap typically emits light of specific wavelengths, such as ultraviolet (UV), particularly UV-A (wavelength 320-400 nanometers) and UV-B (wavelength 280-320 nanometers). Some also utilize visible light, such as blue or green. Many insects have compound eyes that are highly sensitive to these specific wavelengths, and have evolved a phototaxis to these wavelengths. This trait helps them find food, mates, and suitable habitats. The light emitted by the trap acts as a lure, attracting insects toward the light source.

[0118] In this embodiment, Figure 3 and Figure 4 As shown, the insect and plant monitoring device 1 uses a built-in small fan system to suck approaching insects into the internal capture container. Usually, these containers are also sticky or charged, so as to capture the insects.

[0119] A plurality of partition plates 20 are provided around the insect trap lamp 14. Insects hit the partition plates 20 and fall onto the collection tray. They are eventually sucked into the storage cup 18 of the storage tray 17 by the fan.

[0120] A plurality of storage cups 18 are provided on the storage tray 17. The storage tray 17 can be rotated so that different storage cups 18 correspond to the bottom of the delivery tube 16. By adjusting the specific wavelength of light of the insect trap lamp, different insects are attracted. Different storage cups 18 can store different types of pests.

[0121] In this way, the solar panel 12 is used to power other devices, the deep learning camera 13 captures the insect data and plant data of the fruit trees, the insect-catching lamp 14 traps the pests, and the trapped pests are transported to the storage cup 18 on the storage tray 17 through the collection tray and the delivery tube 16. Multiple storage cups 18 can store different types of pests or the same type of pests.

[0122] According to some embodiments of the present application, optionally, the soil monitoring equipment 2 includes a soil monitor 21, a first motor 22, a drill bit 23, a spiral blade 24 and a bracket 25; the spiral blade 24 and the drill bit 23 are respectively connected to the output end of the first motor 22, the drill bit 23 is located below the spiral blade 24, the bracket 25 is detachably connected to the first motor 22, and the soil monitor 21 is set on the bracket 25.

[0123] In some embodiments, as Figure 5 and Figure 6 As shown, a spiral piece 24 is provided on the outer shell of the first motor 22, and a spiral hole 241 is provided on the spiral piece 24. The top of the first motor 22 is a hollow structure. A motor hole 221 is provided on the first motor 22, and a plurality of through holes 222 are provided above the motor hole 221. The first motor 22 drives the drill bit 23 to rotate and drill into the soil. The soil passes through the spiral hole 241, enters the motor hole 221 and reaches the top of the first motor 22. Finally, the soil contacts the bottom of the soil monitor 21, and the soil monitor 21 monitors the soil on the top of the first motor 22; three brackets 25 are fixed between the soil monitor 21 and the top of the first motor 22 to play a fixing role.

[0124] The soil monitor 21 can reflect the water content by measuring the dielectric constant or resistance value of the soil, utilizing the characteristic that the resistance or voltage of the thermistor changes with temperature, based on the electrochemical principle, by measuring the pH potential difference of the soil solution, using spectral analysis or electrochemical methods to detect the ion concentration in the soil, etc. The structure and principle of the soil monitor 21 belong to conventional technical means and will not be repeated here.

[0125] In this way, through the cooperation of the drill bit 23 and the spiral blade 24, the equipment drills into the soil, the soil monitor 21 contacts the soil and collects soil data, and the bracket 25 fixes the soil monitor 21; multiple soil monitoring devices 2 can be set up to collect soil data at different locations.

[0126] According to some embodiments of the present application, optionally, the control terminal 3 includes a data storage and analysis module, a remote control terminal 3 and a model customization module, the insect and plant monitoring equipment 1 and the soil monitoring equipment 2 are communicatively connected to the data storage and analysis module, the data storage and analysis module is communicatively connected to the remote control terminal 3, the remote control terminal 3 is communicatively connected to the model customization module, and the model customization module is communicatively connected to the irrigation equipment 4.

[0127] In this way, the data storage and analysis module conducts multi-dimensional modeling and dynamic updating of insect, plant and soil data to establish a correlation database between fruit trees, soil and environment; the model customization module generates the best irrigation and fertilization plan based on actual conditions to achieve differentiated and precise management.

[0128] According to some embodiments of the present application, optionally, the irrigation equipment 4 includes a clean water pipeline 41 , a fertilizer pipeline 42 , an insecticide pipeline 43 , a liquid container 44 , a second motor 45 , and a hydraulic pump 46 ;

[0129] The clean water pipeline 41, the fertilizer pipeline 42, and the pesticide pipeline 43 are respectively provided with hydraulic valves 48. The clean water pipeline 41, the fertilizer pipeline 42, and the pesticide pipeline 43 are respectively connected to the liquid container 44. The liquid container 44 is provided with a stirring mechanism. The second motor 45 is connected to the hydraulic pump 46. The hydraulic pump 46 is connected to the telescopic nozzle device 5 through the irrigation pipeline 47.

[0130] In this embodiment, the irrigation device 4 can be provided with four feed pipes and one discharge pipe, including a water pipe 41, a fertilizer pipe 42, an insecticide pipe 43, and a spare pipe. The discharge pipe is an irrigation pipe 47, which is connected to the telescopic nozzle device 5. The four feed pipes and the discharge pipe are respectively provided with a hydraulic valve 48 and a water meter 49. The hydraulic valve 48 controls the opening and closing of the four feed pipes and the discharge pipe, and the water meter 49 displays the pressure and flow of the four feed pipes and the discharge pipe. The materials are fed into the water pipe 41, the fertilizer pipe 42, and the insecticide pipe 43 respectively, mixed in the liquid container 44, and discharged into the irrigation pipe 47.

[0131] Unlike traditional irrigation systems, the multi-channel liquid input unit in this invention supports the independent input and mixing of pesticides, fertilizers, and water. Before performing a mixing and delivery task, the system uses an intelligent discrimination mechanism to automatically determine whether mixing is permitted or whether application should be timed based on the pH value, solubility, intended use, and the risk of ionic conflicts between different liquids. This prevents precipitation, bubble blockage, and the risk of pesticide damage.

[0132] When a mixing plan is allowed to execute, the hydraulic control valve will automatically switch to the target channel combination according to the model instructions, realizing the independent or coordinated supply of clean water, nutrient solution or pesticides, ensuring that crops obtain the most suitable water and nutrient environment. The entire irrigation process is realized by the system dynamically sensing soil moisture, crop stage and control target, and combining the liquid properties to achieve intelligent matching, significantly improving the accuracy and safety of irrigation and fertilization.

[0133] The liquid container is equipped with multiple independent input ports, connected to the water, fertilizer, and pesticide pipelines, for storing and dispensing water, nutrient solution, or pesticide solution. By controlling the electric valves in different pipelines, the system can selectively introduce water, fertilizer, or pesticide according to operational needs. After mixing and proportioning in the liquid container, the liquid is pressurized by a hydraulic pump and delivered through the irrigation pipes to the target area, completing the water irrigation, fertilization irrigation, or pesticide application operations.

[0134] In this way, the clean water pipe 41 provides clean water to the liquid container 44, the fertilizer pipe 42 provides fertilizer to the liquid container 44, and the pesticide pipe 43 provides pesticide to the liquid container 44. The stirring mechanism in the liquid container 44 mixes the clean water, fertilizer, and pesticide, and the hydraulic pump 46 supplies the mixed liquid to the telescopic nozzle device 5; by controlling the electric valves of different pipes, the system can selectively introduce clean water, fertilizer or pesticide according to the operation requirements, and after mixing and proportioning in the liquid container 44, it is pressurized by the hydraulic pump 46 and output to the target area through the irrigation water pipe to complete the clean water irrigation, fertilizer irrigation or pesticide application operation.

[0135] According to some embodiments of the present application, optionally, the telescopic nozzle device 5 includes a spray nozzle 51, a telescopic nozzle assembly 52, a spray main pipe 53, a first control valve 54, a second control valve 55, a left branch pipe 56, a right branch pipe 57, a rotating spray disc 58 and a fixed cone needle 59; the spray nozzle 51 is arranged on the telescopic nozzle assembly 52, the spray main pipe 53 is connected to the spray nozzle 51, the left branch pipe 56 is connected to the spray main pipe 53 through the first control valve 54, and the right branch pipe 57 is connected to the spray main pipe 53 through the second control valve 55, the spray nozzle 51, the telescopic nozzle assembly 52, the spray main pipe 53, the first control valve 54, the second control valve 55, the left branch pipe 56, and the right branch pipe 57 are arranged on the rotating spray disc 58, and the rotating spray disc 58 is rotatably arranged on the fixed cone needle 59.

[0136] In some embodiments, as Figure 9 and Figure 10 As shown, the left branch pipe 56 and the right branch pipe 57 are not connected to each other. The left branch pipe 56 is connected to the spray main pipe 53 through the first control valve 54, and the right branch pipe 57 is connected to the spray main pipe 53 through the second control valve 55, so that they can be fed separately. A mixed liquid can be added to the spray main pipe 53, and pesticides can also be added separately to the spray main pipe 53.

[0137] In some embodiments, the telescopic nozzle assembly 52 can raise and lower the spray nozzle 51 to change the height of the spray nozzle 51. The telescopic nozzle assembly 52 is a conventional technical means. The rotating spray disc 58 can rotate the spray main 53, the telescopic nozzle assembly 52, and the spray nozzle 51 to change the angle of the spray nozzle 51. The rotating spray disc 58 can be rotated manually or mechanically, both of which are within the scope of protection of this embodiment.

[0138] In this way, the pesticide liquid supply system is connected through the spray main pipe 53, which is located in the middle of the device and connected to the left branch pipe 56 and the right branch pipe 57. Control valves are respectively provided at the connection points of the left branch pipe 56, the right branch pipe 57 and the main liquid supply pipeline, which can independently control the opening / closing status and spray flow rate of the left branch pipe 56 and the right branch pipe 57 to achieve the spraying of different mixed liquids and pesticides; a nozzle rotating disk is provided at the lower part of the device to drive the entire branch pipe system to rotate in a circle, so that the spraying range covers a 360-degree area centered on the device, thereby improving the spraying efficiency; a fixed cone needle 59 is provided at the bottom of the device, and is inserted into the soil through a pointed cone structure to stabilize the device to prevent the equipment from tipping over due to water pressure or wind during spraying.

[0139] The system also integrates a remote monitoring terminal and an intelligent control center, supporting full-process monitoring and remote intervention. The execution control module customizes module instructions based on the model, automatically dispatching micro-drip irrigation, sprinkler irrigation, or infiltration irrigation equipment to accurately complete water and fertilization operations. Simultaneously, the spraying module precisely controls the spraying area and dosage based on pest distribution, achieving intelligent prevention and control measures tailored to the tree and the pest.

[0140] This system is compact, lightweight, flexible, and highly adaptable, without affecting the natural growth of fruit trees. Compared to traditional single-use pest monitoring or soil testing equipment, this system achieves precise orchard management through data fusion and intelligent decision-making, avoiding over-fertilization and over-spraying, significantly improving the utilization rate of water, fertilizer, and pesticide resources, effectively improving the soil environment, reducing operating costs, and simultaneously increasing the yield and quality of orchard crops. It has excellent prospects for widespread application.

[0141] Finally, it should be noted that although the above embodiments have been described in the specification and drawings of this application, this does not limit the scope of patent protection of this application. All technical solutions generated by replacing or modifying equivalent structures or equivalent processes based on the essential concepts of this application using the contents recorded in the specification and drawings of this application, as well as directly or indirectly implementing the technical solutions of the above embodiments in other related technical fields, are included in the scope of patent protection of this application.

Claims

1. An intelligent orchard control irrigation fertilization spraying method, characterized in that: The following steps are involved: Through the data collection and monitoring module, the insect data of fruit trees, plant data of fruit trees, and soil data are collected for backup; The fruit tree insect data, plant data, and soil data are sent to the data storage and analysis module for data storage and analysis, and a database of associations between the fruit trees, soil, and environment is established. Through data analysis, the pest density, growth status, soil nutrients, and moisture conditions of the fruit trees are determined, and corresponding preset operation plans are generated for backup. The preset operation plan is sent to the model customization module. The model customization module combines the fruit tree type, planting method, current growth stage, and preset nutrient ratio to generate the final irrigation, fertilization and spraying plan for future use; In the irrigation and fertilization spraying scheme, whether the fertilizer and the pesticide can be mixed is determined based on their chemical properties and physical states. If they can be mixed, the fertilizer and the pesticide are added to the irrigation module and mixed with water. The mixed liquid is then added to the telescopic nozzle device for targeted fertilization and spraying. If the fertilizer for fertilization and the pesticide for spraying cannot be mixed, irrigation and fertilization are carried out through the irrigation module, and the pesticide is sprayed separately through the telescopic nozzle device.

2. The intelligent orchard prevention and control irrigation fertilization spraying method according to claim 1 is characterized in that: The steps for generating the final fertigation spraying plan are as follows: Select the appropriate insecticide based on the insect data of the fruit trees; Select the appropriate fertilizer based on the plant data and soil data of the fruit tree; First determine whether the acidity and alkalinity of the pesticide conflict with that of the fertilizer, and whether an ion reaction will occur between the pesticide and the fertilizer; Then determine whether the physical state of the pesticide is compatible with the physical state of the fertilizer, and whether the concentration of the pesticide and the concentration of the fertilizer are appropriate to be sprayed on the leaves of the fruit trees; Finally, determine whether the growth stage of the fruit tree is suitable for spraying, whether the control position of the pesticide overlaps with the fertilization position of the fertilizer, and finally determine whether the pesticide and fertilizer should be mixed for spraying.

3. The intelligent orchard prevention and control irrigation fertilization spraying method according to claim 2 is characterized in that: The telescopic nozzle device fertilizes and sprays the leaves, crowns and roots of fruit trees based on insect data, plant data and soil data.

4. The intelligent orchard prevention and control irrigation fertilization spraying method according to claim 1, characterized in that: The data acquisition and monitoring module includes a plant image acquisition unit and a soil information acquisition unit. The plant image acquisition unit uses sensors and image recognition algorithms to identify the type, number and distribution of pests, and monitors the color, spots, curling and wilting of leaves. The soil information collection unit collects soil moisture, pH value, conductivity, temperature, nitrogen, phosphorus, and potassium data through sensors.

5. The intelligent orchard prevention and control irrigation fertilization spraying method according to claim 4 is characterized in that: The model customization module calls the preset planting model and historical data, and generates the final irrigation, fertilization and spraying plan for the specific fruit tree in its current state through an algorithm.

6. An intelligent orchard control irrigation fertilization spraying system, characterized by: Used to implement the intelligent orchard prevention and control irrigation, fertilization and spraying method as claimed in any one of claims 1 to 5, comprising insect and plant monitoring equipment, soil monitoring equipment, a control terminal, irrigation equipment and a telescopic nozzle equipment; The insect and plant monitoring equipment is used to collect insect data of fruit trees and plant data of fruit trees, and send the insect data and plant data to the control terminal; The soil monitoring device is used to collect soil data under the fruit trees and send the soil data to the control terminal; The control terminal generates a final irrigation, fertilization, and spraying plan based on the fruit tree insect data, fruit tree plant data, and soil data, determines whether the fertilizer and the spraying insecticide can be mixed, and sends the data to the irrigation equipment and the telescopic nozzle equipment; The irrigation equipment is used to mix water, fertilizer, and pesticide, and output the mixed liquid to the telescopic nozzle equipment; The telescopic nozzle device is used to spray the mixed liquid or insecticide onto designated positions of the leaves, crowns and roots of fruit trees.

7. The intelligent orchard prevention and control irrigation fertilization spraying system according to claim 6 is characterized in that: The insect and plant monitoring equipment includes a frame, a solar panel, a deep learning camera, an insect-catching light tube, a box, a delivery tube, a storage tray, two or more storage cups, and a sealed electrical box; The solar panel is arranged on the rack, the deep learning camera is arranged above the solar panel, the insect-catching light tube is arranged below the solar panel, the box is arranged below the insect-catching light tube, the delivery pipe, the storage tray, two or more storage cups and a sealed electrical box are arranged in the box, one end of the delivery pipe is connected to the collection tray on the box, and the other end of the delivery pipe is connected to the storage cup on the storage tray, two or more storage cups are arranged around the center of the storage tray, and the storage tray is rotatably arranged above the sealed electrical box.

8. The intelligent orchard prevention and control irrigation, fertilization and spraying system according to claim 6 is characterized in that: The soil monitoring equipment includes a soil monitor, a first motor, a drill bit, a spiral blade and a bracket; the spiral blade and the drill bit are respectively connected to the output end of the first motor, the drill bit is located below the spiral blade, the bracket is detachably connected to the first motor, and the soil monitor is arranged on the bracket.

9. The intelligent orchard prevention and control irrigation, fertilization and spraying system according to claim 6 is characterized in that: The irrigation equipment includes a clean water pipeline, a fertilizer pipeline, an insecticide pipeline, a liquid container, a second motor and a hydraulic pump; The clean water pipeline, the fertilizer pipeline, and the pesticide pipeline are respectively provided with hydraulic valves, and the clean water pipeline, the fertilizer pipeline, and the pesticide pipeline are respectively connected to the liquid container. A stirring mechanism is provided in the liquid container. The second motor is connected to the hydraulic pump, and the hydraulic pump is connected to the telescopic nozzle device through an irrigation pipeline.

10. The intelligent orchard prevention and control irrigation, fertilization and spraying system according to claim 6, characterized in that: The telescopic nozzle device includes a spray nozzle, a telescopic nozzle assembly, a spray main pipe, a first control valve, a second control valve, a left branch pipe, a right branch pipe, a rotating spray disc and a fixed cone needle; The spray nozzle is arranged on the telescopic nozzle assembly, the spray main pipe is connected to the spray nozzle, the left branch pipe is connected to the spray main pipe through the first control valve, and the right branch pipe is connected to the spray main pipe through the second control valve. The spray nozzle, telescopic nozzle assembly, spray main pipe, first control valve, second control valve, left branch pipe, and right branch pipe are arranged on the rotating spray disc, and the rotating spray disc is rotatably arranged on the fixed cone needle.

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