Active anti-drift device and method for spraying of boom sprayer

Abstract

The present invention relates to the technical field of sprayers, and provides an active drift prevention device and an active drift prevention method for spraying pesticides on a boom sprayer. The above-mentioned active drift prevention device for spraying pesticides on a boom sprayer includes: a spraying device, a wind blocking and guiding device, a sensing and detection component, and a control module; the spraying device includes a boom and a spraying unit, and the spraying unit has a nozzle with a spray angle that can be changed; the wind blocking and guiding device includes a wind blocking and guiding fixed plate and a wind blocking and guiding unit; the sensing and detection component includes a lidar, a height detection sensor, and an anemometer and wind vane; the control module is used to adjust the spray angles of the nozzles at different positions and the pose of the wind blocking and guiding moving plate according to the information collected by the sensing and detection component, so as to actively control the pesticide spraying of each nozzle under the condition of changing environmental wind fields. The present invention can adapt to changes in environmental wind fields and crop information, and actively adjust the wind blocking and guiding unit and the spraying unit, so as to achieve good effects of pesticide spraying and drift prevention and reduction.

Description

Technical Field

[0001] The present invention relates to the technical field of sprayers, and in particular to an active anti-drift device and an active anti-drift method for spraying pesticides on a boom sprayer. Background Art

[0002] Chemical pesticides for controlling diseases, insects and weeds are one of the indispensable means to ensure the healthy growth of food crops. Pesticide drift is the biggest limiting factor for the safe application of pesticides. Boom sprayers are the most widely used ground pesticide spraying equipment in field spraying. Optimizing the anti-drift performance of boom sprayers in pesticide spraying plays an important role in improving the ability of safe pesticide application, reducing the pollution of pesticides to the environment, the harm to crops outside the field and the lives of humans and livestock, and promoting the intelligent level of plant protection equipment.

[0003] At present, the anti-drift technologies for the liquid medicine of boom sprayers mainly include anti-drift nozzles, air curtain anti-drift technology and windshield cover anti-drift technology, etc. The anti-drift nozzles have been applied earlier. The principle is to increase the droplet size, so that the kinetic energy of the droplets moving to the crops increases. However, the too large droplet size causes the liquid medicine to rebound, which is not conducive to the uniformity of droplet deposition and cannot adapt to the change of the wind field. The air curtain anti-drift technology has the disadvantages of complex structure, high energy consumption and high cost, and it is difficult to be widely applied on small and medium-sized boom sprayers. The windshield cover anti-drift technology has problems of energy consumption loss and air flow drift caused by slow droplet deposition.

[0004] The existing boom sprayer technologies are mostly passive and fixed liquid medicine anti-drift methods for the maximum estimated crosswind speed, which cannot adapt to the influence of the changing natural wind on spray drift. Moreover, the existing technologies only consider a single parameter such as wind speed in anti-drift, ignoring the influence of the dynamic changes of natural wind, crops and spraying parameters on liquid medicine drift, and it is difficult to achieve good dual effects of pesticide droplet deposition distribution and liquid medicine anti-drift. Summary of the Invention

[0005] The present invention provides an active anti-drift device and an active anti-drift method for spraying pesticides on a boom sprayer to solve the problem of poor anti-drift effect of the existing passive and fixed boom sprayer anti-drift devices for spraying pesticides.

[0006] To solve the above technical problems, the present invention is implemented as follows:

[0007] In a first aspect, the present invention provides an active anti-drift device for spraying pesticides on a boom sprayer, including: a spraying device, a wind deflector and flow guiding device, a sensing and detection component, and a control module;

[0008] The spraying device includes a boom and spraying units. A plurality of the spraying units are sequentially arranged along the extension direction of the boom, and the spraying unit has a nozzle with an adjustable spraying angle;

[0009] The windshields and flow deflectors include a windshield and flow deflector fixing plate and a windshield and flow deflector unit. The windshield and flow deflector fixing plate is arranged along the extension direction of the spray boom. A plurality of the windshield and flow deflector units and a plurality of the spraying units are correspondingly arranged on the same side of the windshield and flow deflector fixing plate. The windshield and flow deflector unit includes a driving component and a windshield and flow deflector moving plate. The driving component is connected to the windshield and flow deflector moving plate to adjust the pushing and prodding depth and the pushing and prodding angle of the windshield and flow deflector moving plate on the crop canopy.

[0010] The sensing and detecting component includes a lidar, a height detection sensor, and an anemometer and wind vane. The lidar is used to detect the density of the crop canopy. The height detection sensor is used to detect the height of the spray boom relative to the crop canopy. The anemometer and wind vane is used to detect the wind speed and wind direction at the position where the spray boom is located.

[0011] The sensing and detecting component is electrically connected to the control module. The control module is respectively electrically connected to each of the spraying units and each of the windshield and flow deflector units.

[0012] The control module is used to adjust the spraying angle of the nozzles at different positions and the pose of the windshield and flow deflector moving plate according to the information collected by the sensing and detecting component, so as to actively control the anti-drift of the spraying of each nozzle under the condition of changing environmental wind fields.

[0013] According to an active anti-drift device for spraying of a spray boom sprayer provided by the present invention, the spraying unit includes a support rod, a servo motor, and the nozzle.

[0014] The support rod is connected to the spray boom. At least part of the support rod is arranged above the windshield and flow deflector unit. The servo motor is arranged on the support rod. The nozzle is connected to the output end of the servo motor.

[0015] According to an active anti-drift device for spraying of a spray boom sprayer provided by the present invention, the driving component includes a first telescopic driving member and a four-bar linkage driving mechanism.

[0016] The spray boom is connected to the four-bar linkage driving mechanism through the first telescopic driving member. The first telescopic driving member is used to drive the four-bar linkage driving mechanism to lift and lower in the vertical direction.

[0017] The windshield and flow deflector moving plate is arranged at the bottom end of the four-bar linkage driving mechanism. The four-bar linkage driving mechanism is used to change the pushing and prodding angle of the windshield and flow deflector moving plate.

[0018] According to an active anti-drift device for spraying of a spray boom sprayer provided by the present invention, the four-bar linkage driving mechanism includes a first link, a second link, a third link, a fourth link, and a second telescopic driving member.

[0019] The first link, the second link, the third link, and the fourth link are sequentially hinged end to end; the first link and the third link are arranged in parallel in the vertical direction, and the second link and the fourth link are arranged in parallel.

[0020] One end of the first telescopic driving member is connected to the spray boom, and the other end is connected to the first link; one end of the second telescopic driving member is hinged to the first link, and the other end is hinged to the second link; the wind deflector moving plate is arranged on the lower side of the fourth link.

[0021] According to an active anti-drift device for spraying pesticides of a spray boom sprayer provided by the present invention, a chute is provided on one side of the spray boom facing the wind deflector unit; the first link is movably inserted into the chute in the vertical direction.

[0022] According to an active anti-drift device for spraying pesticides of a spray boom sprayer provided by the present invention, the wind deflector device further includes an elastic connecting plate; the wind deflector moving plates of two adjacent spraying units are connected by the elastic connecting plate.

[0023] According to an active anti-drift device for spraying pesticides of a spray boom sprayer provided by the present invention, the lidar is arranged at the center position of the front end of the body of the spray boom sprayer; the height detection sensor and the wind speed and direction meter are respectively arranged on the spray boom.

[0024] In a second aspect, the present invention provides an active anti-drift method based on the active anti-drift device for spraying pesticides of a spray boom sprayer as described above, including:

[0025] Obtain the liquid medicine drift influence parameters, where the liquid medicine drift influence parameters include the density of the crop canopy, the height of the spray boom relative to the crop canopy, the wind speed and direction at the position of the spray boom;

[0026] Input the liquid medicine drift influence parameters into the active anti-drift control model to obtain the drift prevention and reduction output parameters output by the active anti-drift control model, where the drift prevention and reduction output parameters include the spraying pressure of the nozzle, the spraying angle of the nozzle, and the pose parameters of the wind deflector moving plate;

[0027] Control the spraying unit and the wind deflector unit according to the set spraying parameters and the drift prevention and reduction output parameters;

[0028] Wherein, the active anti-drift control model is constructed based on the damage degree of the crop and the drift amount of the liquid medicine during the liquid medicine spraying process of the spray boom sprayer as the measurement criteria.

[0029] An active anti-drift method provided by the present invention, wherein the active anti-drift control model is trained by using a neural network model with the liquid medicine drift influence parameters as samples and the drift prevention and reduction output parameters corresponding to the liquid medicine drift influence parameters as labels.

[0030] An active anti-drift method provided by the present invention, before constructing the active anti-drift control model, further includes:

[0031] Establish a near-canopy wind and fog field model based on a boom sprayer, and determine the drift amount of the spray from the nozzles at different positions on the boom;

[0032] Establish a regression equation of wind speed, wind direction, pushing and deflecting depth, and pushing and deflecting angle with respect to the drift amount. According to the drift amount of the spray from the nozzles at different positions on the boom and the regression equation, obtain the structural parameters of the wind deflector unit when the drift amount is at the minimum value;

[0033] Based on the structural parameters of the wind deflector unit, establish a first correlation function of the density of the crop canopy, the height of the boom relative to the crop canopy, the pushing and deflecting depth, and the pushing and deflecting angle with respect to the degree of crop damage, and establish a second correlation function of wind speed, wind direction, and the spraying angle of the nozzle with respect to the drift amount;

[0034] Based on the first correlation function and the second correlation function, determine the liquid medicine drift influence parameters and the drift prevention and reduction output parameters of the active anti-drift control model.

[0035] The active anti-drift device and the active anti-drift method for spraying of the boom sprayer provided by the present invention can make the control module adjust the spraying angles of the nozzles at different positions and adjust the pose of the wind deflector moving plate in the wind deflector unit according to the information collected by the sensing detection component by using a lidar to detect the density of the crop canopy, a height detection sensor to detect the height of the boom relative to the crop canopy, and an anemometer and wind vane to detect the wind speed and wind direction at the position where the boom is located, so as to realize the active anti-drift control of the spraying of each nozzle under the change of the environmental wind field.

[0036] As can be seen from the above, the whole set of devices of the present invention can adapt to the changes of the environmental wind field and crop information, and actively adjust the wind deflector unit and the spraying unit, so as to achieve good liquid medicine spraying and drift prevention and reduction effects. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0038] Figure 1 It is a schematic structural diagram of the active anti-drift device for spraying of a boom sprayer provided by the present invention;

[0039] Figure 2 It is a partial structural schematic diagram of the wind blocking and guiding device and the spraying device provided by the present invention;

[0040] Figure 3 It is a control structure block diagram of the active anti-drift device for spraying of a boom sprayer provided by the present invention;

[0041] Figure 4 It is a schematic flow diagram of the active anti-drift method based on the active anti-drift device for spraying of a boom sprayer provided by the present invention;

[0042] Figure 5 It is a schematic flow diagram of constructing an active anti-drift control model provided by the present invention;

[0043] Figure 6 It is a distribution schematic diagram of multiple wind field acquisition points based on a rectangular three-dimensional space constructed in the direct spraying area of a boom sprayer provided by the present invention;

[0044] Figure 7 It is provided by the present invention Figure 6 A distribution schematic diagram of the wind field acquisition points in one wind field area A1.

[0045] Reference numerals:

[0046] 1. Wind blocking and guiding device; 11. Wind blocking and guiding fixing plate; 12. Wind blocking and guiding unit; 13. Elastic connecting plate; 121. Driving assembly; 122. Wind blocking and guiding moving plate; 1211. First telescopic driving member; 1212. Four-bar linkage driving mechanism; 12121. First connecting rod; 12122. Second connecting rod; 12123. Third connecting rod; 12124. Fourth connecting rod; 12125. Second telescopic driving member;

[0047] 2. Spraying device; 21. Boom; 22. Spraying unit; 211. Slide groove; 221. Support rod; 222. Servo; 223. Nozzle;

[0048] 3. Sensing and detecting assembly; 31. Lidar; 32. Height detection sensor; 33. Anemometer and wind vane;

[0049] 4. Control module; 5. Human-computer interaction module. Detailed implementation manners

[0050] To make the objectives, technical solutions, and advantages of the present invention clearer, the technical solutions in the present invention will be clearly and completely described below with reference to the accompanying drawings in the present invention. Apparently, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present invention without making creative efforts fall within the protection scope of the present invention.

[0051] The following will be combined with Figures 1 - 7 , and the active anti-drift device and active anti-drift method for spraying of a boom sprayer provided by the embodiments of the present invention will be described in detail through specific embodiments and their application scenarios.

[0052] In the first aspect, as Figure 1 and Figure 2 shown, this embodiment provides an active anti-drift device for spraying of a boom sprayer. The active anti-drift device for spraying of the boom sprayer includes: a spraying device 2, a wind blocking and guiding device 1, a sensing and detecting component 3, and a control module 4.

[0053] The spraying device 2 includes a boom 21 and spraying units 22. A plurality of spraying units 22 are sequentially arranged along the extending direction of the boom 21. The spraying unit 22 has a nozzle 223 with an adjustable spraying angle.

[0054] The wind blocking and guiding device 1 includes a wind blocking and guiding fixed plate 11 and wind blocking and guiding units 12. The wind blocking and guiding fixed plate 11 is arranged along the extending direction of the boom 21. A plurality of wind blocking and guiding units 12 and a plurality of spraying units 22 are arranged on the same side of the wind blocking and guiding fixed plate 11 in a one-to-one correspondence; the wind blocking and guiding unit 12 includes a driving component 121 and a wind blocking and guiding moving plate 122; the driving component 121 is connected to the wind blocking and guiding moving plate 122 to adjust the pushing and dialing depth and pushing and dialing angle of the wind blocking and guiding moving plate 122 against the crop canopy.

[0055] The sensing and detecting component 3 includes a lidar 31, a height detection sensor 32, and an anemometer and wind vane 33; the lidar 31 is used to detect the density of the crop canopy, the height detection sensor 32 is used to detect the height of the boom 21 relative to the crop canopy, and the anemometer and wind vane 33 is used to detect the wind speed and wind direction at the position where the boom 21 is located.

[0056] The sensing and detecting component 3 is electrically connected to the control module 4, and the control module 4 is electrically connected to each spraying unit 22 and each wind blocking and guiding unit 12 respectively.

[0057] The control module 4 is used to adjust the spraying angles of the nozzles 223 at different positions and the postures of the wind blocking and guiding moving plates 122 according to the information collected by the sensing and detecting component 3, so as to actively control the anti-drift of the spraying of each nozzle 223 under the condition of changing environmental wind fields.

[0058] It is understandable that the nozzle 223 includes various different types and can be replaced before the pesticide application operation to adapt to the pesticide application operations of different crops.

[0059] Specifically, the windshield and flow deflector fixing plate 11 includes a strip plate and a flanging plate. The strip plate is arranged along the extending direction of the spray boom. The strip plate and the flanging plate are arranged at an obtuse angle. The bottom end of the strip plate is connected to the first end of the flanging plate. The second end of the flanging plate is bent toward the side of the spraying unit 22, so that there is a smooth transition part at the lower edge of the windshield and flow deflector fixing plate 11, thereby effectively preventing the spray boom sprayer from damaging the crop canopy when moving forward during pesticide application. During the movement of the spray boom sprayer, the windshield and flow deflector fixing plate 11 can block the lateral wind below the nozzle 223 and avoid the influence of the lateral wind on the pesticide application process.

[0060] Meanwhile, the windshield and flow deflector moving plate 122 includes an arc plate, a first strip plate and a second strip plate. The first strip plate and the second strip plate are respectively arranged on opposite sides of the arc plate. The windshield and flow deflector moving plate 122 is arranged at the bottom of the driving component 121 and covers the droplet spraying area of the nozzle 223. In this embodiment, by setting the windshield and flow deflector moving plate 122 to be arc-shaped, when adjusting the pushing and dialing depth and angle of the crop canopy, the relative position or angle change of each point on the windshield and flow deflector moving plate 122 is smoother and the transition is more natural.

[0061] In this embodiment, by correspondingly arranging a plurality of windshield and flow deflector units 12 and a plurality of spraying units 22 on the same side of the windshield and flow deflector fixing plate 11, the windshield and flow deflector unit 12 and the spraying unit 22 work together. By changing the inclination angle of the nozzle 223 and the pose of the windshield and flow deflector moving plate 122, a side-wind-free environment and an unobstructed position for the spray diffusion of the nozzle 223 are found, so as to achieve high-efficiency deposition of droplets and prevent the drift of the liquid medicine.

[0062] Furthermore, the windshield and flow deflector unit 12 and the spraying unit 22 can move separately and independently, which can ensure that the inclination angle of the windshield and flow deflector device 1 and the depth of pushing and dialing the canopy are changed under the condition that the spraying parameters of the nozzle 223 remain unchanged.

[0063] In some embodiments, as Figure 1 shown, the lidar 31 of this embodiment is arranged at the central position of the front end of the body of the spray boom sprayer; the height detection sensor 32 and the anemometer and wind vane 33 are respectively arranged on the spray boom 21.

[0064] Specifically, the lidar 31 of this embodiment is arranged at the central position of the front end of the body of the spray boom sprayer. By analyzing the number of laser point clouds per unit volume, the crop canopy density information within the width range of the spray boom 21 is obtained.

[0065] Meanwhile, the height detection sensor 32 in this embodiment can adopt an ultrasonic ranging sensor. By calibrating the height of crops with different densities from the spray boom 21 and the intensity of the echo signal of the ultrasonic ranging sensor, the height of the spray boom 21 relative to the crop canopy can be obtained.

[0066] Correspondingly, the wind speed and direction sensor 33 in this embodiment can adopt an ultrasonic wind speed and direction sensor 33, which is set at the central position of the spray boom 21 and can obtain two-dimensional wind speed and direction online, so as to obtain the environmental wind field information during the operation of the spray boom sprayer.

[0067] The control module 4 is installed on the spray boom 21. The control module 4 is used to receive the information of the sensing and detection component 3 and control the wind shield and diversion unit 12 and the spraying unit 22 to achieve active anti-drift of liquid medicine spraying.

[0068] In this way, both the control module 4 and the sensing and detection component 3 are arranged on the spray boom 21, so that the control module 4, the sensing and detection component 3, the spraying device 2 and the wind shield and diversion device 1 are integrated into a relatively independent whole. The wiring of the control module 4 and the sensing and detection component 3 is completed inside the spray boom 21, which is convenient for the disassembly and assembly of the active anti-drift device of the spray boom sprayer and the traction mechanism of the spray boom sprayer, and the operation is convenient.

[0069] In practical applications, as Figure 3 shown, the control module 4 can adjust the spraying angle of the nozzles 223 at different positions and the pose of the wind shield and diversion moving plate 122 according to the density of the crop canopy collected by the lidar 31, the height of the spray boom 21 relative to the crop canopy collected by the height detection sensor 32, and the wind speed and direction at the position of the spray boom 21 collected by the wind speed and direction sensor 33, so as to achieve active anti-drift control of the spraying of each nozzle 223 under the condition of changing environmental wind field and provide a deposition environment without crosswind for the diffusion of droplets.

[0070] Optionally, this embodiment further includes a human-computer interaction module 5. The human-computer interaction module 5 is installed at the driving position of the spray boom sprayer. The human-computer interaction module 5 is connected to the control module 4. The human-computer interaction module 5 is used to set the spraying amount of the nozzles 223, the type of the nozzles 223, the optimal spraying height and the drift risk threshold, and to display the density of the crop canopy at the nozzles 223, the height of the spray boom 21 relative to the crop canopy, the wind speed and direction at the spray boom 21, the pose of the wind shield and diversion moving plate 122 at the nozzles 223 and the spraying angle of the nozzles 223.

[0071] Among them, the human-computer interaction module 5 in this embodiment can be set as a touch screen controller or a display device configured with an input module.

[0072] The active anti-drift device for spraying of the boom sprayer provided by the present invention can detect the density of the crop canopy by using the lidar 31, detect the height of the boom 21 relative to the crop canopy by the height detection sensor 32, and detect the wind speed and wind direction at the position where the boom 21 is located by the anemometer and wind vane 33. The control module 4 can adjust the spraying angles of the nozzles 223 at different positions and adjust the pose of the wind baffle and diversion moving plate 122 in the wind baffle and diversion unit 12 according to the information collected by the sensing and detection assembly 3, so as to realize the active anti-drift control of spraying of each nozzle 223 under the change of the environmental wind field.

[0073] As can be seen from the above, the whole set of devices of the present invention can adapt to the changes of the environmental wind field and crop information, and actively adjust the wind baffle and diversion unit 12 and the spraying unit 22, so as to achieve good liquid medicine spraying and anti-drift and reduction effects.

[0074] In some embodiments, such as Figure 1 and Figure 2 shown, the spraying unit 22 of this embodiment includes a support rod 221, a servo motor 222 and a nozzle 223.

[0075] The support rod 221 is connected to the boom 21, and at least part of the support rod 221 is arranged on the upper side of the wind baffle and diversion unit 12; the servo motor 222 is arranged on the support rod 221, and the nozzle 223 is connected to the output end of the servo motor 222.

[0076] It can be understood that one end of the support rod 221 is connected to the boom 21, the other end of the support rod 221 is provided with a servo motor 222, the output end of the servo motor 222 is connected to the nozzle 223, and the servo motor 222 can rotate between a certain angle, so that under the drive of the servo motor 222, the angle θ of the nozzle 223 relative to the support rod 221 2 changes.

[0077] In some examples, a flange is provided on the nozzle 223, and a reverse flange is provided on the output end of the servo motor 222, and the connection between the nozzle 223 and the servo motor 222 is realized through the connection of the flange and the reverse flange.

[0078] By setting the spraying unit 22 in this embodiment, the angle adjustment of the nozzle 223 can be automatically controlled by the servo motor 222, and the spraying angle of the pesticide can be actively adjusted to achieve the effect of preventing the liquid medicine from drifting.

[0079] In some embodiments, such as Figure 2 shown, the drive assembly 121 of this embodiment includes a first telescopic drive member 1211 and a four-bar linkage drive mechanism 1212.

[0080] The boom 21 is connected through the first telescopic drive member 1211 and the four-bar linkage drive mechanism 1212, and the first telescopic drive member 1211 is used to drive the four-bar linkage drive mechanism 1212 to move up and down in the vertical direction.

[0081] The wind deflector moving plate 122 is arranged at the bottom end of the four-bar linkage driving mechanism 1212, and the four-bar linkage driving mechanism 1212 is used to change the pushing and deflecting angle of the wind deflector moving plate 122.

[0082] It can be understood that the first telescopic driving member 1211 of this embodiment is arranged vertically. One end of the first telescopic driving member 1211 is connected to the four-bar linkage driving mechanism 1212, and the other end of the first telescopic driving member 1211 is connected to the spray rod 21. The wind deflector moving plate 122 is arranged at the bottom end of the four-bar linkage driving mechanism 1212. By changing the telescopic stroke, the first telescopic driving member 1211 drives the four-bar linkage driving mechanism 1212 to move up and down in the vertical direction, and the wind deflector moving plate 122 also moves up and down in the vertical direction at the same time.

[0083] Among them, the first telescopic driving member 1211 can be any one of an electric push rod, a linear motor, and a cylinder.

[0084] In this embodiment, by setting the first telescopic driving member 1211, the first telescopic driving member 1211 can drive the four-bar linkage driving mechanism 1212 to move up and down in the vertical direction. At the same time, the four-bar linkage driving mechanism 1212 drives the wind deflector moving plate 122 to move up and down in the vertical direction, so as to change the overall position of the wind deflector moving plate 122 to realize the adjustment of the pushing depth of the wind deflector moving plate 122 on the crop canopy.

[0085] At the same time, since the four-bar linkage driving mechanism 1212 can deform in the vertical plane and drive the wind deflector moving plate 122 arranged at the bottom end of the four-bar linkage driving mechanism 1212 to move, changing the inclination angle of the wind deflector moving plate 122 relative to the horizontal plane, so that the pushing angle of the wind deflector moving plate 122 on the crop canopy is changed.

[0086] In some embodiments, as Figure 2 shown, the four-bar linkage driving mechanism 1212 of this embodiment includes a first link 12121, a second link 12122, a third link 12123, a fourth link 12124, and a second telescopic driving member 12125.

[0087] The first link 12121, the second link 12122, the third link 12123, and the fourth link 12124 are sequentially hinged end to end; the first link 12121 and the third link 12123 are arranged in parallel in the vertical direction, and the second link 12122 and the fourth link 12124 are arranged in parallel.

[0088] One end of the first telescopic driving member 1211 is connected to the spray bar 21, and the other end is connected to the first link 12121; one end of the second telescopic driving member 12125 is hinged to the first link 12121, and the other end is hinged to the second link 12122; the wind deflector moving plate 122 is disposed below the fourth link 12124.

[0089] It can be understood that the first link 12121, the second link 12122, the third link 12123 and the fourth link 12124 form a parallelogram structure, and this parallelogram structure can deform in the vertical plane, resulting in the angle θ of the fourth link 12124 relative to the first link 12121 1 changing. The output end of the second telescopic driving member 12125 is connected to the second link 12122. Under the action of the second telescopic driving member 12125, the second link 12122 is pushed or pulled back, causing the parallelogram structure to deform, so that the fourth link 12124 drives the angle of the wind deflector moving plate 122 disposed below the fourth link 12124 to change, so as to adjust the pushing and deflecting angle of the wind deflector moving plate 122 on the crop canopy.

[0090] At the same time, when the first telescopic driving member 1211 of this embodiment acts, it drives the first link 12121 to move up and down in the vertical direction, so that the entire four-link driving mechanism 1212 moves up and down in the vertical direction, and further enables the fourth link 12124 to drive the wind deflector moving plate 122 disposed below the fourth link 12124 to move up and down in the vertical direction, so as to adjust the pushing and deflecting depth of the wind deflector moving plate 122 on the crop canopy.

[0091] Among them, as Figure 2 shown, the structural parameters of the wind deflector unit 12 include: L 1 is the length of the wind deflector moving plate 122; L 2 is the width of the wind deflector moving plate 122; L 3 is the length of the third link 12123; L 4 is the length of the second link 12122; L 5 is the stroke of the second telescopic driving member 12125; L 6 is the stroke of the first telescopic driving member 1211; L 7 is the height of the wind deflector fixing plate 11; θ 1 is the included angle between the first link 12121 and the fourth link 12124; θ 2 is the inclination angle of the nozzle 223, that is, the included angle between the axis of the nozzle 223 and the extension direction of the support rod 221.

[0092] Specifically, the second telescopic driving member 12125 can be any one of an electric push rod, a linear motor and a cylinder.

[0093] In this embodiment, by setting the four-bar linkage drive mechanism 1212, the second telescopic drive member 12125 therein can cooperate with the first link 12121, the second link 12122, the third link 12123, and the fourth link 12124 to realize the adjustment of the angle of the windshield deflector moving plate 122. When the first telescopic drive member 1211 acts, the position of the windshield deflector moving plate 122 can be adjusted. The adjustment of the pose of the windshield deflector moving plate 122 by the drive assembly 121 can adapt to the change of the environmental wind field, achieving the purpose of the best spraying quality and preventing and reducing the drift of liquid medicine.

[0094] In some embodiments, as Figure 2 shown, a chute 211 is provided on one side of the spray boom 21 of this embodiment facing the windshield deflector unit 12; the first link 12121 is movably inserted in the chute 211 in the vertical direction.

[0095] Correspondingly, in the case where the first telescopic drive member 1211 acts, the first telescopic drive member 1211 drives the first link 12121 to lift in the vertical direction. Based on the cooperation between the chute 211 and the first link 12121, the windshield deflector moving plate 122 can be lifted in the vertical direction, causing the overall height of the windshield deflector moving plate 122 to change.

[0096] In this embodiment, by setting the chute 211, when the first link 12121 moves in the vertical direction, the chute 211 can guide the first link 12121 to move in a set direction, prevent the first link 12121 from falling off the spray boom 21, and ensure the stability of the movement of the first link 12121.

[0097] In some embodiments, as Figure 2 shown, the windshield deflector device 1 of this embodiment further includes an elastic connecting plate 13; the windshield deflector moving plates 122 between two adjacent spraying units 22 are connected by the elastic connecting plate 13.

[0098] It can be understood that the shape of the elastic connecting plate 13 is similar to that of the windshield deflector moving plate 122, including a curved plate, a first strip plate, and a second strip plate structure. The first strip plate and the second strip plate are respectively arranged on opposite sides of the curved plate.

[0099] Further, the elastic connection plate 13 is designed with an elastic material, which can be rubber, silicone, or latex. The elastic connection plate 13 can undergo elastic deformation and has the functions of stretching and shortening. The adjacent windshield and diversion moving plates 122 are connected by the elastic connection plate 13. When the adjacent windshield and diversion moving plates 122 change their poses, the elastic connection plate 13 in the middle can correspondingly deform to adapt to the different forces exerted on the elastic connection plate 13 by the different pose changes of the windshield and diversion moving plates 122 on both sides, enabling relative movement between the windshield and diversion moving plates 122 to reach the optimal position for preventing and reducing liquid medicine drift.

[0100] In a second aspect, in some embodiments, as Figure 4 shown, this embodiment provides an active anti-drift method for the active anti-drift device of the boom sprayer as described above, including the following steps:

[0101] Step 411, obtain the liquid medicine drift influence parameters, which include the density of the crop canopy, the height of the boom relative to the crop canopy, and the wind speed and direction at the position where the boom is located.

[0102] Step 412, input the liquid medicine drift influence parameters into the active anti-drift control model to obtain the drift prevention and reduction output parameters output by the active anti-drift control model. The drift prevention and reduction output parameters include the spraying pressure of the nozzle, the spraying angle of the nozzle, and the pose parameters of the windshield and diversion moving plates.

[0103] Step 413, control the spraying unit and the windshield and diversion unit according to the set spraying parameters and the drift prevention and reduction output parameters.

[0104] Among them, the active anti-drift control model is constructed based on the damage degree of the crop and the drift amount of the liquid medicine during the liquid medicine spraying process of the boom sprayer as the measurement criteria.

[0105] It can be understood that the spraying parameters include the spraying amount of the nozzle, the type of the nozzle, the optimal spraying height, and the drift risk threshold.

[0106] The present invention sets the spraying amount, the type of the nozzle, the optimal spraying height, and the drift risk threshold, collects the density of the crop canopy, the height of the boom relative to the crop canopy, and the wind speed and direction at the position where the boom is located, and controls the spraying pressure of the nozzle, the spraying angle of the nozzle, and the pose parameters of the windshield and diversion moving plates based on the active anti-drift control model to achieve the purpose of the best spraying quality and preventing and reducing the drift of the liquid medicine without causing crop damage.

[0107] In some embodiments, the active anti-drift control model of the present embodiment is trained using a neural network model with the liquid drift impact parameters as samples and the drift prevention and reduction output parameters corresponding to the liquid drift impact parameters as labels.

[0108] Specifically, according to the corresponding relationship between droplet deposition and drift, the corresponding relationship between the liquid drift impact parameters (the density of the crop canopy, the height of the spray boom relative to the crop canopy, and the wind speed and direction at the position of the spray boom) and the drift prevention and reduction output parameters (the spraying pressure of the nozzle, the spraying angle of the nozzle, and the pose parameters of the wind deflector and flow guide moving plate) is obtained through research. This corresponding relationship serves as the data source for the training set of the neural network model. Furthermore, the density of the crop canopy, the height of the spray boom relative to the crop canopy, and the wind speed and direction at the position of the spray boom are used as the input data of the neural network, and the spraying pressure of the nozzle, the spraying angle of the nozzle, and the pose parameters of the wind deflector and flow guide moving plate are used as the output parameters to construct a neural network control model.

[0109] In this embodiment, by establishing an active anti-drift control model, which takes the liquid drift impact parameters as samples, the drift prevention and reduction output parameters corresponding to the liquid drift impact parameters as labels, and after training, a corresponding relationship between the liquid drift impact parameters and the drift prevention and reduction output parameters is established. Thus, based on the active anti-drift control model, active anti-drift control can be carried out during the spraying process of the spray boom sprayer. When actually controlling the liquid spraying, by inputting the liquid drift impact parameters into the model, the drift prevention and reduction output parameters can be output, realizing the active anti-drift control of the spraying process of the spray boom sprayer in a quantitative manner, ensuring the reliability and accuracy of the control results.

[0110] In some embodiments, as Figure 5 、 Figure 6 and Figure 7 shown, before constructing the active anti-drift control model in this embodiment, the following steps are further included:

[0111] Step 511, establish a near-canopy wind and fog field model based on the spray boom sprayer to determine the drift amount of the spray of the nozzles at different positions on the spray boom.

[0112] Step 512, establish a regression equation of wind speed, wind direction, pushing and dialing depth, and pushing and dialing angle with respect to the drift amount. According to the drift amount of the spray of the nozzles at different positions on the spray boom and the regression equation, obtain the structural parameters of the wind deflector and flow guide unit when the drift amount is at the minimum value.

[0113] Step 513, based on the structural parameters of the wind deflector and flow guide unit, establish a first correlation function of the density of the crop canopy, the height of the spray boom relative to the crop canopy, the pushing and dialing depth, and the pushing and dialing angle with respect to the damage degree of the crop, and establish a second correlation function of wind speed, wind direction, and the spraying angle of the nozzle with respect to the drift amount.

[0114] Step 514: Based on the first correlation function and the second correlation function, determine the liquid drift influence parameter and the drift prevention and reduction output parameter of the active anti-drift control model.

[0115] It can be understood that the near-canopy wind and fog field of the boom sprayer is the key area for the deposition and diffusion of the liquid medicine sprayed by the boom sprayer. In this embodiment, first, a near-canopy wind and fog field model of the boom sprayer is established to determine the drift amount of the spray from the nozzles at different positions on the boom.

[0116] Secondly, in order to study the optimal structural parameters of the wind deflector and flow guide unit, a quadratic regression general rotational composite experimental design is carried out for the four factors of wind speed, wind direction, pushing and deflecting angle, and pushing and deflecting depth. When performing simulation analysis through the near-canopy wind and fog field model, the drift amounts of the spray from the nozzles at different positions on the boom under the influence of the four factors are obtained. Through regression coefficient calculation, regression equation fitting, regression variance analysis and goodness-of-fit test, and universality verification, the regression equation is finally determined as:

[0117] Drift (i,j,k) =a+a 1 WindSpeed+a 2 WindDirection+a 3 Rotate+a 4 Depth

[0118] a 5 WindSpeed·WindDirection+a 6 WindSpeed·Rotate

[0119] +a 7 WindSpeed·Depth+a 8 WindDirection·Rotate

[0120] +a 9 WindDirection·Depth+a 10 Rotate·Depth

[0121] +a 11 WindSpeed 2 +a 12 WindDirection 2 +a 13 Rotate 2 +a 14 Depth 2 (1)

[0122] In formula (1), Drift (i,j,k)is the drift amount, WindSpeed is the wind speed, WindDirection is the wind direction, with due north being 0°, rotating clockwise, varying in the range of 0 to 360°, Rotate is the pushing and dialing angle, Depth is the pushing and dialing depth, a i is the equation coefficient, i = 1…14.

[0123] When determining the structural parameters of the windshield and deflector unit, based on the drift amounts of the nozzles at different positions on the spray boom and the above regression equation, by obtaining the wind speed and wind direction online, the relationship between the drift amount and the pushing and dialing angle and the pushing and dialing depth is obtained, a drift amount regression function is established, and through optimization analysis, the optimal structural parameters of the windshield and deflector unit with the minimum drift amount are obtained using the drift amount regression function.

[0124] Furthermore, based on the optimal structural parameters of the windshield and deflector unit, a first correlation function is established, and the first correlation function is the degree of damage to the crop canopy relative to the height of the spray boom, the density of the crop canopy, the pushing and dialing angle, and the pushing and dialing depth.

[0125] Among them, in order to avoid damage to the crop during the spraying process, it is necessary to further study the relationship between the height of the spray boom relative to the crop canopy, the density of the crop canopy, the pushing and dialing angle, the pushing and dialing depth and the crop damage, and study the degree of crop damage under the influence of various factors through experiments. Among them, the degree of crop damage is measured by the crop damage rate index, and the crop damage rate is the ratio of the number of damaged crop plants to the total number of plants.

[0126] At the same time, a second correlation function is established, and the second correlation function is the relationship between the wind speed, wind direction and the spraying angle of the nozzle relative to the drift amount.

[0127] Weights are set for the first correlation function and the second correlation function, so that the weight of the first correlation function is higher than the weight of the second correlation function, to ensure that the active anti-drift control model can achieve the purpose of preventing and reducing the drift of liquid medicine without causing damage to the crop.

[0128] Based on the first correlation function and the second correlation function, using crop damage and drift amount as the measurement criteria, data preparation is done for the subsequent establishment of a dynamic control model between the liquid medicine drift influence parameters (spray boom wind speed, wind direction, spray boom height and density) and the drift prevention and reduction output parameters (windshield and deflector structure parameters, nozzle tilt angle), that is, the active anti-drift control model.

[0129] In step 511, before constructing the near-canopy wind and fog field model of the spray boom sprayer, first use the near-canopy wind and fog field test device of the spray boom sprayer for the layout of the modeling scenario. The near-canopy wind and fog field test device of the spray boom sprayer includes: a sprayer device, a wind delivery component, a simulated crop, a sensor measurement component, a three-dimensional moving component and a control component.

[0130] The sprayer device includes a height adjustment component, a spray boom, and nozzles; the height adjustment component is connected to the spray boom; the spray boom is arranged on the upper side of the simulated crops; there are multiple nozzles, and the multiple nozzles are arranged along the extension direction of the spray boom.

[0131] The air-blast component is used to provide an ambient wind field with adjustable wind speed and wind direction. Under the air-blast action of the ambient wind field on the liquid medicine sprayed by the nozzles, a near-canopy wind-mist field is formed in the area where the simulated crops are located.

[0132] The sensor measurement component includes a spray boom height detection sensor, an ultrasonic radar, and a three-dimensional anemometer. The spray boom height detection sensor is used to detect the height of the spray boom relative to the simulated crops; the ultrasonic radar is used to detect the canopy density of the simulated crops; the three-dimensional anemometer is used to detect the wind speed and wind direction of the ambient wind field.

[0133] The three-dimensional movement component is respectively connected to the ultrasonic radar and the three-dimensional anemometer. The three-dimensional movement component is used to adjust the positions of the ultrasonic radar and the three-dimensional anemometer in the near-canopy wind-mist field.

[0134] The sensor measurement component and the control component are electrically connected. The control component is respectively electrically connected to the sprayer device, the air-blast component, and the three-dimensional movement component.

[0135] The near-canopy wind-mist field forms a rectangular space surrounding the simulated crops.

[0136] Among them, the height direction of the near-canopy wind-mist field is along the vertical direction, the width direction of the near-canopy wind-mist field is along the extension direction of the spray boom, and the length direction of the near-canopy wind-mist field is along the length direction of the fuselage of the spray boom sprayer.

[0137] The air-blast component includes a mobile vehicle and multiple axial fans.

[0138] The traveling direction of the mobile vehicle relative to the traveling direction of the spray boom sprayer is adjustable, and the axial fans can be adjusted in air volume under the control of the control component.

[0139] The multiple axial fans are arranged on the mobile vehicle, and the multiple axial fans are arranged in an array on the vertical plane.

[0140] The three-dimensional movement component includes a lifting mechanism, a first movement mechanism, and a second movement mechanism.

[0141] The first movement mechanism is arranged on the lifting mechanism, and the second movement mechanism is arranged on the first movement mechanism; the ultrasonic radar and the three-dimensional anemometer are arranged on the second movement mechanism.

[0142] Among them, the first movement mechanism is used to drive the second movement mechanism to move along the length direction of the fuselage of the spray boom sprayer, and the second movement mechanism is used to drive the ultrasonic radar and the three-dimensional anemometer to move along the extension direction of the spray boom.

[0143] The sensor measurement component further includes a drift detector.

[0144] The three-dimensional movement component is connected to the drift detector, and the three-dimensional movement component is used to adjust the position of the drift detector in the near-canopy wind and fog field.

[0145] Among them, the drift detector is used to detect the liquid medicine deposition amount at the position where the drift detector is located.

[0146] The simulated crop includes multiple single plants, and the number of plants per unit volume of the single plants is used to characterize the canopy density of the simulated crop.

[0147] Among them, the single plant includes multiple plant types, and each plant type includes seedlings, growing plants, and mature plants.

[0148] In step 511, the modeling method of the near-canopy wind and fog field model of the boom sprayer includes:

[0149] Step 611, according to the test simulation requirements, adjust the wind speed and direction of the environmental wind field formed by the air-assisted component, the height of the boom, the type and density of the crop.

[0150] Step 612, according to the position information of the distribution of each nozzle, set multiple wind field collection points in the rectangular three-dimensional space, and obtain the wind force information of each wind field collection point.

[0151] Step 613, according to the position information and wind force information of each wind field collection point, obtain the wind field distribution model of the nozzle spray within the range of the rectangular three-dimensional space.

[0152] Step 614, fuse the wind field distribution model and the discrete phase model of each nozzle to establish the near-canopy wind and fog field model of the boom sprayer.

[0153] Among them, the height direction of the rectangular three-dimensional space is along the vertical direction, the width direction is along the extension direction of the boom, and the length direction is along the length direction of the fuselage of the boom sprayer.

[0154] First of all, in this embodiment, according to the experimental simulation requirements, the influencing parameters are adjusted, including wind speed and direction, the height of the boom, the type and density of the crop.

[0155] Among them, by changing the rotation speed of the axial flow fan of the air-assisted component and the angle of the air-assisted component, the wind speed and direction are adjusted. The wind speed is selected according to the highest wind speed grade 3 of the spraying operation, and 3 typical wind speed values are selected; the wind direction is measured by rotating at intervals of 30° based on 360°. The maximum height of the boom does not exceed 0.8 m, and it is adjusted at intervals of 0.1 m. The height and density of the simulated crop are selected according to the typical pest control period of wheat spraying operation and the field planting guidance, with 3-4 crop heights and 3-4 densities.

[0156] Secondly, in step 612, as Figure 6 and Figure 7 shown, according to the position information of the distribution of each nozzle, multiple wind field collection points are set in the rectangular three-dimensional space to obtain the wind force information of each wind field collection point, which further includes:

[0157] Step 711, according to the position information of the distribution of each nozzle, the ambient wind field is divided into multiple cuboid wind field areas.

[0158] Step 712, multiple wind field collection points are set along each edge of each cuboid wind field area.

[0159] Step 713, multiple cross-sections are taken in sequence along the length direction of the cuboid wind field area to obtain the three-dimensional wind speed equation of different height areas in each cross-section with respect to the vertical height.

[0160] It can be understood that the three-dimensional wind speed measurement layout points are as Figure 6 shown. Among them, the x direction is along the extension direction of the spray boom, the y direction is along the length direction of the fuselage of the spray boom sprayer, and the z direction is along the vertical direction. The upper limit of the wind field collection area is the height B of the spray boom; the width A is half of the direct spraying area of the spray boom sprayer; the length C is the length of the spray boom sprayer but not less than 5m. The wind field collection area arranges wind field collection points with a side length of 0.1m.

[0161] Among them, one of the multiple cuboid wind field areas is taken and named area A1. Multiple cross-sections are set at certain intervals along the length direction of area A1. The multiple cross-sections are parallel to each other and perpendicular to the long side direction of area A1. Here, only 6 cross-sections are taken as an example. The multiple cross-sections are sequentially named S1 to S6 in the extension direction along the length direction of the fuselage of the spray boom sprayer perpendicular to the y direction.

[0162] Taking a wind field area A1 as an example to illustrate the construction of the wind field model, as Figure 7 shown, the average value of the three-dimensional wind speeds at both ends in the height direction is taken as the wind speed at that height.

[0163] When constructing the wind field model, in area A1, for this cross-section S1, the three-dimensional wind speed corresponding to the height k is as shown in formula (2):

[0164]

[0165] In formula (2), represents the component of the three-dimensional wind speed in the x direction at the position where the height is k, represents the component of the three-dimensional wind speed in the y direction at the position where the height is k, It represents the z - direction component of the three - dimensional wind speed at the position with height k.

[0166] Perform regression fitting analysis on the wind speed and height data within the cross - section S1 using methods such as polynomials, select the optimal fitting method, and finally construct the three - dimensional wind speed f k (x, y, z) and the optimal equation of height, as shown in formula (3):

[0167]

[0168] In formula (3), f k (x) represents the x - direction component of the three - dimensional wind speed of the current cross - section, f k (y) represents the y - direction component of the three - dimensional wind speed of the current cross - section, f k (z) is the z - direction component of the three - dimensional wind speed of the current cross - section, k is the height, a i is the equation coefficient, i = 1…14.

[0169] Convert the coordinates of the inlet wind field cross - section S1 through Cartesian coordinates to obtain the inlet equation of the near - canopy wind field. Sequentially construct the three - dimensional wind speed equations of different cross - sections S1 to S6 within the region A1, and construct the near - canopy wind field model of the boom sprayer in this region. Through the combination of regions, optimize the near - canopy wind field turbulence model, obtain the mathematical equation of the wind vector at the near - canopy spatial points, and establish the near - canopy partitioned wind field model of the boom sprayer.

[0170] In step 613, according to the position information and wind force information of each wind field collection point, obtain the wind field distribution model of the nozzle spray within the rectangular three - dimensional space range, further including:

[0171] Step 811, select the cross - section close to the boom as the basis for the inlet of the simulation wind field. According to the position information of the wind field collection points, fit the three - dimensional wind speed equations corresponding to each cross - section within the same cuboid wind field region to obtain the wind field distribution model of the same cuboid wind field region.

[0172] Step 812, combine the wind field distribution models corresponding to each cuboid wind field region, and optimize them using the turbulence model to obtain the wind field distribution model of the nozzle spray within the rectangular three - dimensional space range.

[0173] Then, in step 614, the modeling method of the near - canopy wind - fog field further includes:

[0174] Step 911, based on the spraying parameters set by the boom sprayer, obtain the droplet deposition distribution information of the simulated crop at different height positions in a windless environment.

[0175] Step 912, establish the droplet deposition model of the simulated crop at different height positions according to the droplet deposition distribution information.

[0176] Step 913: Determine the droplet drift amount between two cross-sections of the rectangular three-dimensional space according to the droplet deposition model, and verify the near-canopy wind and fog field model based on the droplet drift amount.

[0177] Among them, the spraying parameters include the height of the spray boom, the spraying pressure, the working spacing of the nozzles, and the spraying angle of the nozzles.

[0178] Specifically, the droplet deposition distribution of the boom sprayer at different heights of the crop in a windless laboratory environment is the basis for evaluating spray drift. By changing the key spray parameters that affect spray deposition, such as the boom height (H), the spraying pressure (P), the working spacing of the nozzles (D), and the spraying angle (Angle), the droplet deposition distribution law in the direct spraying area of the boom spray is studied. According to Figure 6 the regional division in [reference], the crops between two adjacent cross-sections are regarded as the same collection area. The crop height is divided into top (Top), upper-middle (Upper), middle (Middle), lower-middle (Lower), and bottom (Ground). The boom height, the spraying pressure, the working spacing of the nozzles, and the spraying angle are respectively selected with 3 - 5 variable values according to the actual application range. Measure the droplet deposition amount distribution at different crop heights within the measurement area, use the response surface analysis method to analyze the significance of the influence of the spray parameters on the boom spray deposition, and perform regression analysis to establish the mathematical relationship between the deposition amount Q (i,j,k) at different positions and the spraying parameters of the sprayer, as shown in formula (4).

[0179]

[0180] In formula (4), Q (i,j,k) represents the deposition amount at different positions of the simulated crop, Q Top represents the droplet deposition amount at the top of the simulated crop, Q Upper represents the droplet deposition amount in the upper-middle part of the simulated crop, Q Middle represents the droplet deposition amount in the middle part of the simulated crop, Q Lower represents the droplet deposition amount in the lower-middle part of the simulated crop, Q Ground represents the droplet deposition amount at the bottom of the simulated crop, H represents the boom height, P represents the spraying pressure, D represents the working spacing of the nozzles, and Angle represents the spraying angle of the nozzles.

[0181] The near-canopy wind and fog field simulation model is an effective method to explore the drift generation mechanism of the wind boom sprayer. First, through experimental research, determine the influence relationship between the nozzle switch of the sprayer on the three-dimensional wind speed of the near-canopy wind field and the droplet deposition amount distribution, and compare and analyze it with the droplet deposition amount distribution in the windless laboratory environment to obtain the droplet deposition reduction amount, which is the drift amount between the two cross-sections in this area. Then Figure 6In any of the regions, the drift amount Drift between two cross-sections is as shown in formula (5).

[0182] Drift (i,j,k) = Q ( ' i,j,k) - Q (i,j,k) (5)

[0183] In formula (5), Drift (i,j,k) represents the drift amount between two cross-sections in any region, Q' (i,j,k) represents the droplet deposition amount of any cross-section in a windless environment; Q (i,j,k) represents the droplet deposition amount of any cross-section in a windy environment.

[0184] Specifically, the simulated wind field is set and converted with the Cartesian coordinates through a user-defined function, the inlet wind field equations in different regions of the boom sprayer are imported, the optimal turbulence model is selected according to the distribution of three-dimensional wind speed spatial points in the near-canopy layer of this region, and the near-canopy wind field model of the boom sprayer is established. According to the structure of the sprayer nozzles, a nozzle simulation model is established. The nozzle positions are set according to the arrangement of the nozzles on the boom, the droplet film breakup discrete phase model of the nozzles is studied, the inlet and outlet surfaces of the simulation region are set, and finally the wind and fog field simulation model of the boom sprayer is established to determine the drift amounts of the sprays of the nozzles at different positions on the boom.

[0185] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An active anti-drift device for spraying pesticides on a boom sprayer, characterized in that, it includes: a spraying device, a windshield and diversion device, a sensing and detection component, and a control module; The spraying device includes a boom and spraying units. A plurality of the spraying units are sequentially arranged along the extension direction of the boom. The spraying unit has a nozzle with an adjustable spraying angle; The windshield and diversion device includes a windshield and diversion fixed plate and windshield and diversion units. The windshield and diversion fixed plate is arranged along the extension direction of the boom. A plurality of the windshield and diversion units and a plurality of the spraying units are correspondingly arranged on the same side of the windshield and diversion fixed plate; The windshield and diversion unit includes a driving component and a windshield and diversion moving plate; The driving component is connected to the windshield and diversion moving plate, and the driving component adjusts the pushing and dialing depth and pushing and dialing angle of the windshield and diversion moving plate on the crop canopy; The sensing and detection component includes a lidar, a height detection sensor, and an anemometer and wind vane; The lidar is used to detect the density of the crop canopy, the height detection sensor is used to detect the height of the boom relative to the crop canopy, and the anemometer and wind vane are used to detect the wind speed and wind direction at the position where the boom is located; The sensing and detection component is electrically connected to the control module, and the control module is electrically connected to each of the spraying units and each of the windshield and diversion units; The control module is used to adjust the spraying angle of the nozzles at different positions and the pose of the windshield and diversion moving plate according to the information collected by the sensing and detection component, so as to actively control the anti-drift of the pesticide spraying of each nozzle under the condition of changing environmental wind fields; The driving component includes a first telescopic driving member and a four-bar linkage driving mechanism; The boom is connected through the first telescopic driving member and the four-bar linkage driving mechanism. The first telescopic driving member is used to drive the four-bar linkage driving mechanism to lift and lower in the vertical direction; The windshield and diversion moving plate is arranged at the bottom end of the four-bar linkage driving mechanism. The four-bar linkage driving mechanism is used to change the pushing and dialing angle of the windshield and diversion moving plate; The four-bar linkage driving mechanism includes a first link, a second link, a third link, a fourth link, and a second telescopic driving member; The first link, the second link, the third link, and the fourth link are sequentially hinged end to end; The first link and the third link are arranged in parallel in the vertical direction, and the second link and the fourth link are arranged in parallel; One end of the first telescopic driving member is connected to the boom, and the other end is connected to the first link; One end of the second telescopic driving member is hinged to the first link, and the other end is hinged to the second link; The windshield and diversion moving plate is arranged below the fourth link.

2. The active anti-drift device for spraying pesticides on a boom sprayer according to claim 1, characterized in that, the spraying unit includes a support rod, a servo motor, and the nozzle; The support rod is connected to the boom, and at least part of the support rod is arranged above the windshield and diversion unit; The servo motor is arranged on the support rod, and the nozzle is connected to the output end of the servo motor.

3. The active anti-drift device for spraying pesticides on a boom sprayer according to claim 1, It is characterized in that a chute is provided on one side of the spray boom facing the windshield and flow guiding unit; the first connecting rod is movably inserted through the chute in the vertical direction.

4. The active anti-drift device for spraying pesticides of the spray boom sprayer according to claim 1 It is characterized in that the windshield and flow guiding device further includes an elastic connecting plate; the windshield and flow guiding moving plates of two adjacent spraying units are connected by the elastic connecting plate.

5. The active anti-drift device for spraying pesticides of the spray boom sprayer according to any one of claims 1 to 4 It is characterized in that the lidar is arranged at the central position of the front end of the vehicle body of the spray boom sprayer; the height detection sensor and the wind speed and direction sensor are respectively arranged on the spray boom.

6. An active anti-drift method based on the active anti-drift device for spraying pesticides of the spray boom sprayer according to any one of claims 1 to 5 It is characterized in that including acquiring the liquid medicine drift influence parameters, where the liquid medicine drift influence parameters include the density of the crop canopy, the height of the spray boom relative to the crop canopy, and the wind speed and direction at the position where the spray boom is located; inputting the liquid medicine drift influence parameters into the active anti-drift control model to obtain the drift prevention and reduction output parameters output by the active anti-drift control model, where the drift prevention and reduction output parameters include the spraying pressure of the nozzle, the spraying angle of the nozzle, and the pose parameters of the windshield and flow guiding moving plate; controlling the spraying unit and the windshield and flow guiding unit according to the set spraying parameters and the drift prevention and reduction output parameters; wherein, the active anti-drift control model is constructed based on the damage degree of the crop and the drift amount of the liquid medicine during the liquid medicine spraying process of the spray boom sprayer as the measurement criteria.

7. The active anti-drift method according to claim 6 It is characterized in that the active anti-drift control model is trained by using a neural network model with the liquid medicine drift influence parameters as samples and the drift prevention and reduction output parameters corresponding to the liquid medicine drift influence parameters as labels.

8. The active anti-drift method according to claim 6 It is characterized in that before constructing the active anti-drift control model, it further includes establishing a near-canopy wind and fog field model based on the spray boom sprayer to determine the drift amount of the spray of the nozzles at different positions on the spray boom; establishing a regression equation of wind speed, wind direction, pushing and dialing depth, and pushing and dialing angle with respect to the drift amount, and obtaining the structural parameters of the windshield and flow guiding unit when the drift amount is at the minimum value according to the drift amount of the spray of the nozzles at different positions on the spray boom and the regression equation; based on the structural parameters of the windshield and flow guiding unit, establishing a first correlation function of the density of the crop canopy, the height of the spray boom relative to the crop canopy, the pushing and dialing depth, and the pushing and dialing angle with respect to the damage degree of the crop, and establishing a second correlation function of wind speed, wind direction, and the spraying angle of the nozzle with respect to the drift amount; based on the first correlation function and the second correlation function, determining the liquid medicine drift influence parameters and the drift prevention and reduction output parameters of the active anti-drift control model.

Images