An adaptive control system and method for air curtain air volume of an air curtain boom sprayer

Abstract

The present invention discloses an adaptive control system and method for the wind curtain air volume of an air curtain type boom sprayer, which solves the problem of low accuracy in wind curtain air volume control of boom sprayers in the prior art, and has the beneficial effects of ensuring the accuracy of wind curtain air volume control and reducing pesticide waste. The specific scheme is as follows: An adaptive control system for the wind curtain air volume of an air curtain type boom sprayer, comprising a control unit; a target crop information detection unit; a wind speed and direction measurement unit: a working parameter measurement unit: used to measure the driving speed of the boom sprayer and the actual wind curtain air volume, and send them 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 speed and direction of the natural wind, the driving 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.

Description

Technical Field

[0001] The present invention relates to the technical field of boom sprayers, in particular to an air curtain air volume 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 air curtain boom sprayer adopts air curtain airflow assisted spraying technology on the boom sprayer, that is, an air bag is added to the boom of the boom sprayer, and the fan supplies air into the air bag. There are multiple air outlets at the bottom of the air bag. During operation, the wind curtain formed by the air bag outlet 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 increasing the utilization rate of pesticides.

[0004] However, the effectiveness of wind curtain boom sprayers in terms of droplet deposition on leaf surfaces and drift reduction is affected by a variety of factors, such as the canopy of the target crop, the speed and direction of the natural wind, and so on. The wind curtain air volume needs to be adjusted according to the specific situation to achieve a better spraying effect. At present, the air volume supply of conventional wind curtain boom sprayers lacks a basis, and the air volume supply is constant. This does not take into account the spatial differences in crop information and meteorological conditions of the target crops, making it difficult to ensure a good spraying effect. If the air supply is too large, the droplets will penetrate the target crops directly to the ground or even further, increasing the ground deposition and airborne loss of droplets. Conversely, if the air supply is too small, the droplets will not be able to penetrate the crops and effectively flip the leaves, resulting in poor droplet deposition in the lower middle part 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. The control system collects information from wind speed sensors, vehicle speed sensors, and other information, and controls a proportional valve through a controller to adjust the wind speed. However, the control system does not take into account the structural and biological information of the crop itself, as well as the influence of wind direction. Therefore, the mathematical model established by the control system has a low accuracy in regulating the air volume of the wind curtain. Summary of the Invention

[0006] In view of the shortcomings of the existing technology, the purpose of the present invention is to provide an adaptive control system for the wind curtain air volume of an air curtain 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 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 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 based on the received crop information of the target crop, the speed and direction of the natural wind, the travel speed of the sprayer boom 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 adaptive control system for the wind curtain air volume of an air curtain type boom sprayer as described above, the control unit stores a mathematical model of the optimal wind curtain air volume, which is obtained based on crop information measured through multiple experiments, the speed and direction of natural wind, and the representative values ​​of the travel speed of the boom sprayer.

[0016] In the adaptive control system for the wind curtain air volume of an air curtain boom sprayer 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 the information into a mathematical model of the optimal wind curtain air volume to obtain a theoretical value of the optimal wind curtain air volume.

[0017] In the above-mentioned adaptive wind curtain air volume control system for an air curtain boom sprayer, 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 on the vehicle cab and faces the installation direction of the spray boom sprayer.

[0018] In the wind curtain volume adaptive control system for an air curtain boom sprayer 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 above-mentioned adaptive air curtain volume control system for an air curtain boom sprayer, the working parameter measurement unit includes a speed sensor and an air curtain volume sensor. The speed sensor is installed on the wheel of the vehicle to obtain the wheel rotation speed, and the air curtain volume sensor is installed at the outlet of the blower.

[0020] The air curtain volume adaptive control system for an air curtain boom sprayer as described above comprises an air curtain volume execution unit including a controller and a fan, the controller being connected to the air curtain volume sensor; the fan being connected to a hydraulic motor, the hydraulic motor being connected to a proportional flow valve, the proportional flow valve being connected to the controller, and the speed of the hydraulic motor being controlled by the proportional flow valve, thereby regulating the speed of the fan to achieve adjustment of the air curtain volume.

[0021] In the above-described adaptive air curtain volume control system for an air curtain boom sprayer, the optimal air curtain volume control parameters include the opening size of the proportional flow valve; the control unit stores a corresponding function between the air curtain volume and the hydraulic motor speed; after the theoretical value of the optimal air curtain volume is determined, the speed of the hydraulic motor is determined according to the corresponding function; and the control unit generates the optimal air curtain volume control parameters based on the theoretical value of the optimal air curtain 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 air volume of an air curtain boom sprayer, comprising 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 based on the received crop information of the target crop, the speed and direction of the natural wind, the travel speed of the sprayer boom 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 air curtain air volume of an air curtain boom sprayer as described above, wherein the process of obtaining the theoretical value of the optimal air curtain air volume includes the following steps:

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

[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 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 the information 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 for the air curtain air volume of an air curtain boom sprayer as described above, 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 air curtain air volume execution unit adjusts the air curtain air volume according to the optimal control parameter of the air 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 sent 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, natural wind speed and direction, the travel speed of the sprayer and the actual wind curtain air volume. Taking into account the needs of crops and fully considering all factors affecting the wind curtain air volume, the wind curtain air volume is adaptively controlled according to the actual environment, ensuring the control accuracy of the wind curtain air volume, improving the deposition rate of droplets on crops, reducing droplet drift and ground deposition, and reducing pesticide waste and environmental pollution.

[0033] 2) A mathematical model is set in the control unit of the present invention. 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 based on 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 ensured based on the type of crop and the acquisition of density information.

[0035] 4) The present invention has a simple overall structure and requires no manual operation, making it easy to promote and apply. It can intelligently adjust the wind curtain 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. This overcomes the problem of the difficulty in ensuring the spraying effect caused by the constant supply of wind curtain volume of conventional wind curtain boom sprayers, increases the effective deposition of droplets on the target crops, reduces the ground deposition and air loss of droplets, and improves the utilization rate of pesticides. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] The accompanying drawings, 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 The present invention is a schematic diagram of an air curtain air volume adaptive control system for an air curtain 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 boom sprayer according to one or more embodiments of the present invention.

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

[0040] Figure 4 The present invention is a flowchart of a method for adaptively controlling the air volume of an air curtain 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 description is illustrative and is 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 meaning as 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 clearly indicated 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 "comprising" are used in this specification, they indicate the presence of features, steps, operations, devices, components and / or their combinations;

[0044] As introduced in the background technology, the existing technology has the problem of low accuracy in controlling the air volume of the air 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] Example 1

[0046] In a typical embodiment of the present invention, referring to Figure 1 As shown, an air curtain air volume adaptive control system for an air curtain 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 curtain air volume;

[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 speed and direction of the natural wind, the driving speed of the spray 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 via a hydraulic output device. The hydraulic output device is connected to the input of a proportional flow valve via a hydraulic oil pipe. The output of the proportional flow valve is connected to a hydraulic motor via a hydraulic oil pipe. The hydraulic motor is connected to an axial flow fan via a coupling. The axial flow fan provides the required air volume for the boom sprayer's air curtain. Of course, in other examples, the fan can be connected to a rotary motor, and the fan speed can be adjusted by controlling the rotary motor's 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 through multiple tests, the speed and direction of natural wind, and the characteristic values ​​of the boom sprayer's travel speed.

[0054] It should be noted 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, 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, β1, β2, β3, and β4 are the fitting indices to be determined, v1 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). The representation values ​​of the natural wind speed and direction are selected as the wind speed v2 in the vertical direction of the wind curtain that directly affects the effect of wind curtain spraying, in m / s, and the travel speed v3 of the sprayer in m / s;

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

[0058] For example:

[0059] α=0.5(constant term)

[0060] β1=0.3 (Relationship with crop volume)

[0061] β2=0.4 (Relationship with leaf area index)

[0062] β3=0.2 (Relationship with natural wind speed)

[0063] β4=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 meter. 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. Specifically, a three-dimensional laser scanner is used. The three-dimensional laser scanning sensor is installed on the center line of the front end 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 the natural wind in a field operation 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 sprayer. The control unit can determine the angle of the vertical wind curtain direction based on the received wind speed and direction information according to the wind direction, and then convert it into the wind speed of the natural wind in the direction vertical to the wind curtain.

[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 wheel rotation speed. The air curtain air volume sensor is installed at the outlet of the fan. The wheel rotation speed can be the front wheel rotation speed or the rear wheel rotation speed of the vehicle. 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 sprayer.

[0069] It should be explained that the air curtain air volume execution unit includes a controller and a fan. The controller is connected to the control unit to receive the optimal control parameters of the air curtain air volume and the optimal theoretical value of the air curtain air volume. The air curtain air volume sensor is connected to the controller so that the controller receives the actual air curtain air volume. The controller can compare the optimal theoretical value of the air curtain air volume with the actual air curtain air volume. The controller and the control unit can use the existing STM32F103VET6 microcontroller.

[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. 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 ultimately 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 when pressed, 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 speed of the hydraulic motor. The control unit stores a corresponding function of 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 based on 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. 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 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 execution unit adjusts the wind curtain air volume of the boom sprayer in real time, thereby overcoming the problem of the conventional wind curtain boom sprayer having a constant wind curtain air volume supply and making it difficult to ensure the spraying effect. The accuracy of the wind curtain air volume control is ensured, the effective deposition of droplets on the target crop is increased, the ground deposition and air drift of droplets are reduced, and the utilization rate of pesticides is improved.

[0077] Example 2

[0078] This embodiment discloses a method for adaptively controlling the air volume of an air curtain boom sprayer. 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, the boom sprayer starts working, and the hydraulic motor or 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 volume based on 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 volume, generates the optimal control parameters of the wind curtain volume, and transmits the theoretical value of the optimal wind curtain volume and the optimal control parameters of the wind curtain volume to the wind curtain volume execution unit, which operates to realize the regulation of the wind curtain 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:

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

[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 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 the information 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 foregoing description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Those skilled in the art will readily appreciate that various modifications and variations of the present invention are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention are intended to be within the scope of protection of the present invention.

Claims

1. An air curtain boom sprayer air curtain air volume adaptive control system, 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 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 volume based on 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 volume, generates the optimal control parameters of the wind curtain volume, and transmits the theoretical value of the optimal wind curtain volume and the optimal control parameters of the wind curtain volume to the wind curtain volume execution unit, which operates to realize the regulation of the wind curtain volume. The control unit stores a mathematical model of the optimal wind curtain volume, which is obtained based on crop information, natural wind speed and direction, and boom sprayer travel speed measured through multiple tests. The control unit converts the received crop information of the target crop into crop volume and crop leaf area index, converts the natural wind speed and direction into the natural wind speed in the direction perpendicular to the wind curtain, and converts the boom sprayer travel speed into the boom sprayer travel speed, and inputs the inputs into the mathematical model of the optimal wind curtain volume to obtain a theoretical value of the optimal wind curtain volume. The mathematical model is specifically: Among them, α is the fitting constant, β1, β2, β3, β4 are the fitting indices to be determined, v1 is the theoretical value of the optimal wind curtain air volume, unit is m / s; the height information representation value of the target crop is the crop volume V, unit is 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). The characterization values ​​of the natural wind speed and direction are selected as the wind speed v2 in the direction perpendicular to the wind curtain that directly affects the effect of wind curtain spraying, in m / s, and the travel speed v3 of the sprayer in m / s.

2. The air curtain volume adaptive control system for 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.

3. The air curtain volume adaptive control system for an air curtain boom sprayer according to claim 1, characterized in that: 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; The working parameter measuring 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, and the air curtain air volume sensor is installed at the outlet of the fan.

4. The air curtain air volume adaptive control system of an air curtain boom sprayer according to claim 3, 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 the hydraulic motor, the hydraulic motor is connected to the proportional flow valve, and 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.

5. The air curtain volume adaptive control system for an air curtain boom sprayer according to claim 4, 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 hydraulic motor speed. 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 based on 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.

6. A method for adaptively controlling the air curtain air volume of an air curtain boom sprayer using the air curtain air volume adaptive control system of an air curtain boom sprayer according to any one of claims 1 to 5, characterized in that: 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 based on the received crop information of the target crop, the speed and direction of the natural wind, the travel speed of the sprayer boom 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.

7. The method for adaptively controlling the air volume of an air curtain boom sprayer according to claim 6, characterized in that: The process of obtaining the theoretical value of the optimal air curtain air volume includes the following: The control unit stores a mathematical model of the optimal air curtain air volume, which is obtained based on crop information measured through multiple tests, the speed and direction of natural wind, and the representative values ​​of the boom sprayer's travel speed. 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 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 the information into the mathematical model of the optimal wind curtain air volume to obtain the theoretical value of the optimal wind curtain air volume.

8. The method for adaptively controlling the air volume of an air curtain boom sprayer according to claim 6, characterized in that: 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 air curtain air volume execution unit adjusts according to the optimal control parameters of the air curtain air volume; if the two are the same, it confirms whether the spraying operation is completed. If so, the work is completed. If the spraying operation is not completed, a feedback signal is given to the control unit.

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