Air curtain air volume self-adaptive regulation and control system and method for air curtain type boom sprayer

Abstract

The invention discloses a self-adaptive regulation and control system and method for the air volume of an air curtain of an air curtain type boom sprayer, solves the problem of low regulation and control accuracy of the air volume of the air curtain of the boom sprayer in the prior art, and has the beneficial effects of ensuring the regulation and control accuracy of the air volume of the air curtain and reducing pesticide waste. According to the specific scheme, the air curtain air volume self-adaptive regulation and control system of the air curtain type boom sprayer comprises a control unit; a target crop information detection unit; the working parameter measuring unit is used for measuring the running speed of the boom sprayer and the actual air volume of an air curtain and sending the running speed and the actual air volume to the control unit; the control unit obtains the theoretical value of the optimal air volume of the air curtain according to the received crop information of the target crop, the wind speed and the wind direction of the natural wind, the running speed of the boom sprayer and the actual air volume of the air curtain, and generates the optimal control parameters of the air volume of the air curtain. And the theoretical value of the optimal air curtain air volume and the optimal control parameters of the air curtain air volume are transmitted to an air curtain air volume execution unit.

Description

Technical Field

[0001] The invention relates to the technical field of boom sprayers, in particular to an air curtain air volume self-adaptive control system and method for an air curtain type boom sprayer. Background Art

[0002] The statements in this section merely provide background information related to the present invention and do not necessarily constitute prior art.

[0003] The wind curtain boom sprayer adopts the wind curtain airflow assisted spraying technology on the boom sprayer, that is, a wind bag is added to the boom of the boom sprayer, and the fan supplies air into the wind bag. There are multiple air outlets at the bottom of the wind bag. During operation, the wind curtain formed at the outlet of the wind bag forces the droplets to deposit on the crop canopy. At the same time, the wind curtain causes the crop leaves to flip, improving the deposition of droplets on the back of the crop leaves and the middle and lower parts of the crops. In addition, the wind force of the wind curtain can cause the droplets to be secondary atomized, further improving the atomization effect and effectively improving the utilization rate of pesticides.

[0004] However, the effect of wind curtain boom sprayers in terms of droplet leaf surface deposition and drift reduction is affected by many factors, such as the canopy of the target crop, the speed and direction of the natural wind, etc., and the wind volume of the wind curtain needs to be adjusted according to the specific situation to achieve a better application effect. At present, the air volume supply of conventional wind curtain boom sprayers lacks a basis, and the air volume supply is constant. The crop information of the target crop and the spatial differences in meteorological conditions are not considered, and it is difficult to ensure a good application effect. If the air supply is too large, the droplets will penetrate the target crop directly to the ground or farther, increasing the ground deposition of droplets and air loss. Conversely, if the air supply is too small, the droplets cannot penetrate the crop and effectively flip the leaves, resulting in poor droplet deposition in the middle and lower parts of the crop and on the back of the leaves.

[0005] Chinese patent application CN201210099520.3 discloses an active control system for a boom sprayer with working environment perception, which collects information from wind speed sensors, vehicle speed sensors, etc., and controls the proportional valve through a controller to adjust the wind speed. However, the problem is that it does not take into account the structural information and biological information of the crop itself, as well as the influence of wind direction. Therefore, the accuracy of the air volume control of the wind curtain through the established mathematical model is low. Summary of the invention

[0006] In view of the deficiencies in the prior art, the purpose of the present invention is to provide a wind curtain air volume adaptive control system for a wind curtain type spray boom sprayer, which can realize adaptive control of the wind curtain air volume based on target crop information and the average wind speed and direction of natural wind, thereby improving the deposition rate of droplets on crops, reducing droplet drift and ground deposition, and reducing pesticide waste and environmental pollution.

[0007] In order to achieve the above object, the present invention is implemented through the following technical solutions:

[0008] An air curtain air volume adaptive control system for an air curtain type boom sprayer, comprising:

[0009] Control unit;

[0010] Target crop information detection unit: used to obtain crop information of target crops and send it to the control unit;

[0011] Wind speed and direction measuring unit: used to measure the wind speed and direction of natural wind and send them to the control unit;

[0012] Working parameter measurement unit: used to measure the travel speed of the boom sprayer and the actual air volume of the air curtain, and send them to the control unit;

[0013] Air curtain air volume execution unit;

[0014] The control unit obtains the theoretical value of the optimal wind curtain air volume according to the received crop information of the target crop, the speed and direction of the natural wind, the travel speed of the boom sprayer and the actual wind curtain air volume, generates the optimal control parameters of the wind curtain air volume, and transmits the theoretical value of the optimal wind curtain air volume and the optimal control parameters of the wind curtain air volume to the wind curtain air volume execution unit, which operates to realize the regulation of the wind curtain air volume.

[0015] In the wind curtain type boom sprayer wind curtain air volume adaptive control system as described above, the control unit stores a mathematical model of the optimal wind curtain air volume, and the mathematical model of the optimal wind curtain air volume is obtained based on crop information measured by multiple tests, the speed and direction of natural wind, and the characterization value of the travel speed of the boom sprayer.

[0016] In the wind curtain type boom sprayer wind curtain air volume adaptive control system as described above, the control unit converts the received crop information of the target crop into the crop volume and the crop leaf area index, converts the wind speed and wind direction of the natural wind into the wind speed of the natural wind in the direction perpendicular to the wind curtain, converts the travel speed of the boom sprayer into the travel speed of the boom sprayer, and inputs them into the mathematical model of the optimal wind curtain air volume to obtain the theoretical value of the optimal wind curtain air volume.

[0017] In the wind curtain type boom sprayer wind curtain air volume adaptive control system as described above, the target crop information detection unit includes a laser scanning sensor and a height detection sensor, the height detection sensor obtains the height information of the crop, and the laser scanner obtains the crop leaf area index. The laser scanning sensor is installed on the boom, and the height detection sensor is installed on the vehicle cab and faces the installation direction of the boom sprayer.

[0018] In the wind curtain type boom sprayer wind curtain air volume adaptive control system as described above, the wind speed and direction measuring unit includes a wind speed sensor and a wind direction sensor, which are installed in the vehicle cab and face the installation direction of the boom sprayer.

[0019] In the wind curtain type boom sprayer wind curtain air volume adaptive control system as described above, the working parameter measurement unit includes a speed sensor and a wind curtain air volume sensor, the speed sensor is installed on the wheel of the vehicle to obtain the wheel rotation speed, and the wind curtain air volume sensor is installed at the outlet of the fan.

[0020] In the above-mentioned adaptive air curtain air volume control system for an air curtain type spray boom sprayer, the air curtain air volume execution unit includes a controller and a fan, the controller is connected to the air curtain air volume sensor; the fan is connected to a hydraulic motor, the hydraulic motor is connected to a proportional flow valve, the proportional flow valve is connected to the controller, the speed of the hydraulic motor is controlled by the proportional flow valve, and then the speed of the fan is regulated to achieve the adjustment of the air curtain air volume.

[0021] In the adaptive control system for the air curtain air volume of an air curtain type spray boom sprayer as described above, the optimal control parameters of the air curtain air volume include the opening size of the proportional flow valve; the control unit stores a corresponding function between the air curtain air volume and the speed of the hydraulic motor, and after the theoretical value of the optimal air curtain air volume is determined, the speed of the hydraulic motor is determined according to the corresponding function. The control unit generates the optimal control parameters of the air curtain air volume according to the theoretical value of the optimal air curtain air volume and the relationship between the speed of the hydraulic motor and the opening size of the proportional flow valve.

[0022] In a second aspect, the present invention discloses a method for adaptively controlling the wind volume of a wind curtain type boom sprayer, including the following contents:

[0023] Obtain crop information of target crops;

[0024] Get the speed and direction of natural wind;

[0025] Get the travel speed of the boom sprayer and the actual air curtain volume;

[0026] The control unit obtains the theoretical value of the optimal wind curtain air volume according to the received crop information of the target crop, the speed and direction of the natural wind, the travel speed of the boom sprayer and the actual wind curtain air volume, generates the optimal control parameters of the wind curtain air volume, and transmits the theoretical value of the optimal wind curtain air volume and the optimal control parameters of the wind curtain air volume to the wind curtain air volume execution unit, which operates to realize the regulation of the wind curtain air volume.

[0027] The method for adaptively controlling the wind curtain air volume of a wind curtain type boom sprayer as described above, wherein the process of obtaining the theoretical value of the optimal wind curtain air volume comprises the following contents:

[0028] The control unit stores a mathematical model of the optimal wind curtain air volume, which is obtained based on crop information measured by multiple tests, the wind speed and wind direction of the natural wind, and the representative values ​​of the travel speed of the boom sprayer.

[0029] The control unit converts the received crop information of the target crop into crop volume and crop leaf area index, converts the wind speed and wind direction of the natural wind into the wind speed of the natural wind in the direction perpendicular to the wind curtain, converts the travel speed of the boom sprayer into the travel speed of the boom sprayer, and inputs them into the mathematical model of the optimal wind curtain air volume to obtain the theoretical value of the optimal wind curtain air volume.

[0030] In the adaptive control method of the wind curtain air volume of a wind curtain type boom sprayer as described above, the wind curtain air volume execution unit compares the theoretical value of the optimal wind curtain air volume with the actual wind curtain air volume. If the two are different, the wind curtain air volume execution unit adjusts according to the optimal control parameter of the wind curtain air volume; if the two are the same, it is confirmed whether the spraying operation is completed. If so, the operation is terminated. If the spraying operation is not completed, a feedback signal is given to the control unit.

[0031] The beneficial effects of the present invention are as follows:

[0032] 1) The present invention obtains the theoretical value of the optimal wind curtain air volume through crop information, the speed and direction of natural wind, the travel speed of the boom sprayer and the actual wind curtain air volume, takes into account the needs of crops, and fully considers all factors affecting the wind curtain air volume, so as to realize adaptive control of the wind curtain air volume according to the actual environment, ensure the control accuracy of the wind curtain air volume, improve the deposition rate of droplets on crops, reduce droplet drift and ground deposition, and reduce pesticide waste and environmental pollution.

[0033] 2) A mathematical model is set in the control unit of the present invention, so that after each unit sends the acquired relevant information to the control unit, the control unit can quickly obtain the theoretical value of the optimal air curtain air volume according to the mathematical model, and compare it with the actually measured air curtain air volume to make timely adjustments.

[0034] 3) The target crop information detection unit of the present invention includes a laser scanning sensor and a height detection sensor, which can obtain crop height information and crop density information. In this way, the accuracy of the theoretical value of the optimal wind curtain air volume can be guaranteed based on the type and density of the crop.

[0035] 4) The present invention has a simple overall structure, no manual operation, and is easy to promote and apply. It can intelligently adjust the wind curtain air volume of the boom sprayer in real time according to the structural information and biomass information of the target crops being sprayed during the operation of the plant protection machine and the dynamic changes in the wind speed and direction of the natural wind, thereby overcoming the problem that the spraying effect is difficult to ensure due to the constant supply of wind curtain air volume of the conventional wind curtain boom sprayer, increasing the effective deposition of droplets on the target crops, reducing the ground deposition and air loss of droplets, and improving the utilization rate of pesticides. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] The accompanying drawings in the specification, which constitute a part of the present invention, are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0037] Figure 1 It is a schematic diagram of an air curtain air volume adaptive control system for an air curtain type boom sprayer according to one or more embodiments of the present invention.

[0038] Figure 2 The present invention is a schematic flow chart of fan control in an air curtain air volume adaptive control system for an air curtain type boom sprayer according to one or more embodiments of the present invention.

[0039] Figure 3 It is a schematic diagram of an air curtain air volume adaptive control system for an air curtain type boom sprayer according to one or more embodiments of the present invention.

[0040] Figure 4 It is a flow chart of the implementation process of a method for adaptively controlling the air volume of an air curtain type boom sprayer according to one or more embodiments of the present invention.

[0041] In the figure: the distances or sizes between parts are exaggerated to show the positions of various parts, and the schematic diagram is for reference only. DETAILED DESCRIPTION

[0042] It should be noted that the following detailed descriptions are illustrative and intended to provide further explanation of the present invention. Unless otherwise specified, all technical and scientific terms used in the present invention have the same meanings as those commonly understood by those skilled in the art to which the present invention belongs.

[0043] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present invention. As used herein, unless otherwise explicitly stated in the present invention, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "include" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof;

[0044] As introduced in the background technology, the prior art has the problem of low accuracy in controlling the air volume of the wind curtain of a boom sprayer. In order to solve the above technical problem, the present invention proposes an adaptive air volume control system for an air curtain type boom sprayer.

[0045] Embodiment 1

[0046] In a typical embodiment of the present invention, reference is made to Figure 1 As shown, an air curtain air volume adaptive control system for an air curtain type boom sprayer includes:

[0047] Target crop information detection unit: used to obtain crop information of target crops;

[0048] Wind speed and direction measuring unit: used to measure the speed and direction of natural wind;

[0049] Working parameter measurement unit: used to measure the travel speed of the boom sprayer and the actual air volume of the air curtain;

[0050] Air curtain air volume execution unit;

[0051] The control unit, the target crop information detection unit, the wind speed and direction measurement unit and the working parameter measurement unit are respectively connected to the control unit through the CAN bus, and send the collected information to the control unit. The control unit obtains the theoretical value of the optimal wind curtain air volume according to the received crop information of the target crop, the wind speed and direction of the natural wind, the travel speed of the boom sprayer and the actual wind curtain air volume, generates the optimal control parameters of the wind curtain air volume, and transmits the optimal control parameters of the wind curtain air volume to the wind curtain air volume execution unit through the CAN bus. The wind curtain air volume execution unit acts to realize the regulation of the wind curtain air volume.

[0052] It should be noted that the boom sprayer is connected to a vehicle, which may be a tractor. Figure 2 As shown, the tractor provides hydraulic power to the boom sprayer through a hydraulic output device, the hydraulic output device is connected to the input end of the proportional flow valve through a hydraulic oil pipe, the output end of the proportional flow valve is connected to the hydraulic motor through a hydraulic oil pipe, the hydraulic motor is connected to the axial flow fan through a coupling, and the axial flow fan provides the required air volume for the boom sprayer wind curtain. Of course, in other examples, the fan can be connected to a rotary motor, and the speed of the rotary motor can be controlled to adjust the fan speed, thereby adjusting the air volume.

[0053] The control unit stores a mathematical model of the optimal wind curtain air volume, which is obtained based on crop information measured by multiple tests, the speed and direction of natural wind, and the characterization value of the travel speed of the boom sprayer.

[0054] Among them, it should be noted that the control unit converts the received crop information of the target crop into the crop volume and the crop leaf area index, converts the wind speed and wind direction of the natural wind into the wind speed of the natural wind in the direction perpendicular to the wind curtain, and converts the travel speed of the boom sprayer into the travel speed of the boom sprayer, and inputs them into the mathematical model of the optimal wind curtain air volume to obtain the theoretical value of the optimal wind curtain air volume.

[0055] The above mathematical model is specifically

[0056] Among them, α is the fitting constant, β 1 ,β 2 ,β 3 , β 4 is the undetermined fitting index, v 1 is the theoretical value of the optimal wind curtain air volume, in m / s; the height information representation value of the target crop is the crop volume V, in m 3 , the laser scanner obtains the crop leaf area index LAI (the laser radar can obtain the optical characteristics of the crop canopy and then calculate the leaf area index through the existing algorithm), and the representation values ​​of the natural wind speed and wind direction are selected to directly affect the wind curtain spraying effect. The wind speed v in the vertical direction of the wind curtain 2 , unit m / s, travel speed v of the boom sprayer 3 , unit: m / s;

[0057] The above coefficients α, β1, β2, β3, β4 can be obtained by fitting experimental data.

[0058] For example:

[0059] α=0.5(constant term)

[0060] β 1 =0.3 (Relationship with crop volume)

[0061] β 2 =0.4 (Relationship with leaf area index)

[0062] β 3 =0.2 (Relationship with natural wind speed)

[0063] β 4 =0.1 (Relationship with sprayer speed)

[0064] The final formula

[0065]

[0066] It is easy to understand that the target crop information detection unit includes a laser scanning sensor and a height detection sensor. The height detection sensor obtains the height information of the crop. The height detection sensor specifically selects a crop height measuring instrument. The laser scanner obtains the crop leaf area index. The laser scanning sensor is installed at the spray boom. The height detection sensor is installed on the outside of the vehicle cab and faces the installation direction of the spray boom sprayer. A three-dimensional laser scanner is specifically used. The three-dimensional laser scanning sensor is installed on the front-end center line of the top of the sprayer cab to ensure that the laser beam is not blocked during the scanning process. The control unit determines the crop volume based on the crop height information, the length of the spray boom and the width of the spray coverage, and obtains the crop leaf area index through the laser scanner.

[0067] In this embodiment, the wind speed and direction measuring unit includes a wind speed sensor and a wind direction sensor, which are used to measure the instantaneous and average wind speed and direction of natural wind in a field working environment. The wind speed sensor and the wind direction sensor are installed on the top of the vehicle cab and face the installation direction of the boom sprayer. The control unit can determine the angle of the vertical wind curtain direction according to the received wind speed and wind direction information and the wind direction, and then convert it into the wind speed of the natural wind in the vertical wind curtain direction.

[0068] Specifically, the working parameter measurement unit includes a speed sensor and an air curtain air volume sensor. The speed sensor is installed on the wheel of the vehicle to obtain the rotation speed of the wheel. The air curtain air volume sensor is installed at the outlet of the fan. The rotation speed of the wheel can be the front wheel speed of the vehicle or the rear wheel speed. According to the diameter of the front wheel or the rear wheel and the rotation speed of the corresponding wheel, it can be converted into the driving speed of the boom sprayer.

[0069] It needs to be explained that the wind curtain air volume execution unit includes a controller and a fan, the controller is connected to the control unit to receive the wind curtain air volume optimal control parameter and the optimal wind curtain air volume theoretical value, the wind curtain air volume sensor is connected to the controller so that the controller receives the actual wind curtain air volume, the controller can compare the optimal wind curtain air volume theoretical value with the actual wind curtain air volume, and the control unit controller can select the existing STM32F103VET6 single chip microcomputer;

[0070] In some examples, the fan is an axial flow fan, the hydraulic motor is connected to the axial flow fan via a coupling, and the hydraulic motor is connected to a proportional flow valve, see Figure 3 As shown, the controller is connected to the proportional flow valve through an existing digital-to-analog converter. Based on the execution signal of the control unit, the opening of the proportional flow valve is adjusted to control the speed of the hydraulic motor, thereby controlling the speed of the axial flow fan, and finally achieving the control of the air curtain air volume. In this example, the optimal control parameter of the air curtain air volume is the optimal opening of the proportional flow valve.

[0071] It is easy to understand that the control unit uses an existing single-chip microcomputer, such as an STM32 single-chip microcomputer, and interacts with a capacitive serial touch screen through an RS232 interface. The touch screen is provided with a "spray" button, and after pressing it, the plant protection operation starts;

[0072] Among them, it should be noted that the theoretical value of the optimal air curtain air volume is proportional to the rotational speed of the hydraulic motor. The control unit stores a corresponding function of the air curtain air volume and the rotational speed of the hydraulic motor. After the theoretical value of the optimal air curtain air volume is determined, the rotational speed of the hydraulic motor is determined according to the corresponding function. The control unit generates the optimal control parameters of the air curtain air volume according to the theoretical value of the optimal air curtain air volume and the relationship between the rotational speed of the hydraulic motor and the opening size of the proportional flow valve. The optimal control parameters of the air curtain air volume include the opening size of the proportional flow valve.

[0073]

[0074] q=q max * Proportional valve opening;

[0075] Where n is the speed of the hydraulic motor, q is the flow rate of the hydraulic motor, η V is the volumetric efficiency of the hydraulic motor, V t is the displacement of the hydraulic motor, q max is the maximum flow of the hydraulic motor;

[0076] In the control system provided in this embodiment, during the operation of the boom sprayer, the target crop information detection unit, the wind speed and direction measurement unit and the working parameter measurement unit obtain target crop information, natural wind speed and direction, sprayer travel speed and wind curtain air volume and other information in real time. The control unit calculates the optimal wind curtain air volume theoretical value in real time and compares it with the actual wind curtain air volume. The wind curtain air volume of the boom sprayer is adjusted in real time through the wind curtain air volume execution unit, thereby overcoming the problem that the spraying effect is difficult to ensure due to the constant supply of wind curtain air volume of conventional wind curtain type boom sprayers, ensuring the accuracy of wind curtain air volume control, increasing the effective deposition of droplets on the target crops, reducing the ground deposition and air loss of droplets, and improving the utilization rate of pesticides.

[0077] Embodiment 2

[0078] This embodiment discloses a method for adaptively controlling the wind curtain air volume of a wind curtain type boom sprayer, referring to Figure 4 As shown, including the following:

[0079] The control unit is initialized and the operating parameters are set, that is, the opening of the proportional flow valve or the speed of the rotary motor is set, and the boom sprayer starts working, and the hydraulic motor or the rotary motor starts working;

[0080] Obtain crop information of target crops;

[0081] Get the speed and direction of natural wind;

[0082] Get the travel speed of the boom sprayer and the actual air curtain volume;

[0083] The control unit obtains the theoretical value of the optimal wind curtain air volume according to the received crop information of the target crop, the wind speed and direction of the natural wind, the travel speed of the boom sprayer and the actual wind curtain air volume, generates the optimal control parameters of the wind curtain air volume, and transmits the theoretical value of the optimal wind curtain air volume and the optimal control parameters of the wind curtain air volume to the wind curtain air volume execution unit, and the wind curtain air volume execution unit operates to realize the regulation of the wind curtain air volume;

[0084] The controller of the air curtain air volume execution unit compares the theoretical value of the optimal air curtain air volume with the actual air curtain air volume. If the two are different, the proportional flow valve is controlled to adjust according to the optimal control parameters of the air curtain air volume, and the speed of the hydraulic motor is further controlled; if the two are the same, it is confirmed whether the spraying operation is completed. If so, the work is terminated. If the spraying operation is not completed, a feedback signal is given to the control unit, and the control unit continues to work.

[0085] The process of obtaining the theoretical value of the optimal air curtain air volume includes the following contents:

[0086] The control unit stores a mathematical model of the optimal wind curtain air volume, which is obtained based on crop information measured by multiple tests, the wind speed and wind direction of the natural wind, and the representative values ​​of the travel speed of the boom sprayer.

[0087] The control unit converts the received crop information of the target crop into crop volume and crop leaf area index, converts the wind speed and wind direction of the natural wind into the wind speed of the natural wind in the direction perpendicular to the wind curtain, converts the travel speed of the boom sprayer into the travel speed of the boom sprayer, and inputs them into the mathematical model of the optimal wind curtain air volume to obtain the theoretical value of the optimal wind curtain air volume.

[0088] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. An air curtain volume adaptive control system for an air curtain boom sprayer, characterized in that: include: Control unit; Target crop information detection unit: used to obtain crop information of target crops and send it to the control unit; Wind speed and direction measuring unit: used to measure the wind speed and direction of natural wind and send them to the control unit; Working parameter measurement unit: used to measure the travel speed of the boom sprayer and the actual air volume of the air curtain, and send them to the control unit; Air curtain air volume execution unit; The control unit obtains the theoretical value of the optimal wind curtain air volume according to the received crop information of the target crop, the speed and direction of the natural wind, the travel speed of the boom sprayer and the actual wind curtain air volume, generates the optimal control parameters of the wind curtain air volume, and transmits the theoretical value of the optimal wind curtain air volume and the optimal control parameters of the wind curtain air volume to the wind curtain air volume execution unit, which operates to realize the regulation of the wind curtain air volume.

2. The air curtain volume adaptive control system of an air curtain boom sprayer according to claim 1, characterized in that: The control unit stores a mathematical model of the optimal wind curtain air volume, which is obtained based on crop information measured by multiple tests, the speed and direction of natural wind, and the characterization value of the travel speed of the boom sprayer.

3. The air curtain volume adaptive control system of an air curtain boom sprayer according to claim 2, characterized in that: The control unit converts the received crop information of the target crop into crop volume and crop leaf area index, converts the wind speed and wind direction of the natural wind into the wind speed of the natural wind in the direction perpendicular to the wind curtain, converts the travel speed of the boom sprayer into the travel speed of the boom sprayer, and inputs them into a mathematical model of the optimal wind curtain air volume to obtain a theoretical value of the optimal wind curtain air volume.

4. The air curtain volume adaptive control system of an air curtain boom sprayer according to claim 1, characterized in that: The target crop information detection unit includes a laser scanning sensor and a height detection sensor. The height detection sensor obtains crop height information, and the laser scanner obtains crop leaf area index. The laser scanning sensor is installed on the spray boom, and the height detection sensor is installed in the vehicle cab and faces the installation direction of the spray boom sprayer.

5. The air curtain air volume adaptive control system of an air curtain boom sprayer according to claim 1, characterized in that: The wind speed and wind direction measuring unit comprises a wind speed sensor and a wind direction sensor, which are installed in the vehicle cab and face the installation direction of the boom sprayer; The working parameter measuring unit comprises a speed sensor and an air curtain air volume sensor. The speed sensor is installed on the wheel of the vehicle to obtain the rotation speed of the wheel, and the air curtain air volume sensor is installed at the outlet of the fan.

6. The air curtain volume adaptive control system of an air curtain boom sprayer according to claim 5, characterized in that: The air curtain air volume execution unit includes a controller and a fan, the controller is connected to the air curtain air volume sensor; the fan is connected to a hydraulic motor, the hydraulic motor is connected to a proportional flow valve, the proportional flow valve is connected to the controller, the speed of the hydraulic motor is controlled by the proportional flow valve, and then the speed of the fan is regulated to achieve the adjustment of the air curtain air volume.

7. The air curtain volume adaptive control system of an air curtain boom sprayer according to claim 6, characterized in that: The optimal control parameters of the air curtain air volume include the opening size of the proportional flow valve; the control unit stores a corresponding function between the air curtain air volume and the speed of the hydraulic motor. After the theoretical value of the optimal air curtain air volume is determined, the speed of the hydraulic motor is determined according to the corresponding function. The control unit generates the optimal control parameters of the air curtain air volume according to the theoretical value of the optimal air curtain air volume and the relationship between the speed of the hydraulic motor and the opening size of the proportional flow valve.

8. A method for adaptively controlling the air volume of an air curtain boom sprayer, characterized in that: It includes the following: Obtain crop information of target crops; Get the speed and direction of natural wind; Get the travel speed of the boom sprayer and the actual air curtain volume; The control unit obtains the theoretical value of the optimal wind curtain air volume according to the received crop information of the target crop, the speed and direction of the natural wind, the travel speed of the boom sprayer and the actual wind curtain air volume, generates the optimal control parameters of the wind curtain air volume, and transmits the theoretical value of the optimal wind curtain air volume and the optimal control parameters of the wind curtain air volume to the wind curtain air volume execution unit, which operates to realize the regulation of the wind curtain air volume.

9. The method for adaptively controlling the wind curtain air volume of an air curtain boom sprayer according to claim 8, characterized in that: The process of obtaining the theoretical value of the optimal air curtain air volume includes the following contents: The control unit stores a mathematical model of the optimal wind curtain air volume, which is obtained based on crop information measured by multiple tests, the wind speed and wind direction of the natural wind, and the representative values ​​of the travel speed of the boom sprayer. The control unit converts the received crop information of the target crop into crop volume and crop leaf area index, converts the wind speed and wind direction of the natural wind into the wind speed of the natural wind in the direction perpendicular to the wind curtain, converts the travel speed of the boom sprayer into the travel speed of the boom sprayer, and inputs them into the mathematical model of the optimal wind curtain air volume to obtain the theoretical value of the optimal wind curtain air volume.

10. The method for adaptively controlling the wind curtain air volume of an air curtain boom sprayer according to claim 8, characterized in that: The wind curtain air volume execution unit compares the theoretical value of the optimal wind curtain air volume with the actual wind curtain air volume. If the two are different, the wind curtain air volume execution unit adjusts according to the optimal control parameters of the wind curtain air volume; if the two are the same, it confirms whether the spraying operation is completed. If so, the work is terminated. If the spraying operation is not completed, a feedback signal is given to the control unit.

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