Air curtain type self-adaptive precise pesticide application equipment and control method thereof

Abstract

This invention belongs to the field of agricultural machinery technology, and specifically relates to an air curtain-type adaptive precision pesticide application equipment and its control method, comprising: a pesticide application machine; an environmental sensing module for acquiring parameters such as crop height, density, and environmental wind conditions; a control system for receiving the sensing data and determining the optimal operating state based on a built-in decision model; and a proportional drive module for precisely driving mechanical components. The control system, based on real-time environmental parameters, can continuously and proportionally adjust the spraying angle of the spray frame, the opening and closing states of different air outlets on the air outlet blocks, and the extension depth of the branch and leaf agitation components through the proportional drive module. This invention achieves real-time adaptive adjustment of the pesticide application mode through sensing, decision-making, and closed-loop control, significantly improving pesticide coverage and utilization, reducing pesticide drift, and is mainly used for intelligent and precise plant protection operations in field crops.

Description

Technical Field

[0001] This invention belongs to the field of agricultural machinery technology, and specifically relates to an air curtain type adaptive precision spraying equipment and its control method. Background Technology

[0002] In modern agricultural production, the scientific and efficient application of pesticides is a key factor in ensuring crop yield and quality. Traditional boom sprayers face two major challenges during pesticide application: first, pesticide drift, where pesticide droplets deviate from the target crop due to environmental factors such as wind, resulting in significant pesticide waste, increased production costs, and serious threats to the surrounding environment, non-target organisms, and the safety of operators; second, low target coverage, especially in the later stages of crop growth when the canopy is dense, making it difficult for traditional top-down vertical spraying to penetrate the canopy and effectively adhere to the lower leaves, stems, and undersides of leaves—areas prone to pests and diseases—leading to poor control effects and even inducing pesticide resistance in pests.

[0003] To address these challenges, existing technologies have undergone some improvements, such as air curtain spraying technology. This technology uses auxiliary airflow generated by a fan to effectively enhance the penetration of pesticide droplets, delivering them to dense areas of the crop canopy and the underside of leaves. At the same time, it can suppress droplet drift to a certain extent. This is one of the advanced spraying technologies that is currently widely used.

[0004] However, existing air-curtain spraying equipment still has significant limitations in design and use. Currently, most products on the market typically use a fixed spraying pattern, meaning the spraying angle, air curtain shape, and intensity remain constant throughout a single application. This design cannot adapt to the diversity of crops in the field and the dynamic changes in their growth process. For example, the spraying method required when crops are short and sparse in the seedling stage is drastically different from that required when they are tall and dense during their vigorous growth stage.

[0005] Furthermore, the mode switching of existing equipment largely relies on manual, mechanical adjustments by operators, a process that is cumbersome, slow to respond, and highly dependent on the operator's experience and sense of responsibility. The system lacks real-time perception and autonomous decision-making capabilities regarding the operating environment, making it unable to make timely and precise adjustments based on crop growth and real-time wind conditions, thus hindering the achievement of truly refined and intelligent pesticide application. Summary of the Invention

[0006] Purpose of the invention: The purpose of this invention is to address the shortcomings of existing technologies by providing an air curtain-type adaptive precision spraying equipment and its control method. This equipment enables real-time perception and autonomous decision-making of the working environment, and can coordinate and control multiple working components to achieve intelligent spraying equipment that is adaptive and precise throughout the entire process.

[0007] Technical solution: The air curtain type adaptive precision pesticide application equipment of the present invention includes: a pesticide applicator, support components disposed on both sides of the pesticide applicator, a guide cover and a fan fixed on the support components, a spray frame rotatably connected to the support components, and an air outlet block fixed on the support components and located above the spray frame; it also includes:

[0008] The mode switching component controls the spray angle of the spray frame and / or the opening and closing state of the air outlet block to switch between at least two preset operating modes.

[0009] The environmental sensing module is used to acquire at least one environmental parameter that characterizes the working environment and / or crop status in real time;

[0010] A control system, electrically connected to the environmental sensing module, is configured to: receive the environmental parameters acquired by the environmental sensing module; determine a target operating state based on the environmental parameters and generate corresponding control commands, wherein the target operating state includes the target spraying angle and / or the target air outlet state;

[0011] A proportional drive module is electrically connected to the control system and mechanically connected to the mode switching component. The proportional drive module is configured to: receive control commands generated by the control system; and drive the mode switching component so that the actual spraying angle of the spray frame and the actual opening and closing state of the air outlet reach the target operating state.

[0012] To further improve the above technical solution, the environmental sensing module includes: a lidar, ultrasonic sensor, or industrial camera for acquiring the crop height and / or density, wherein the environmental parameters include crop height and / or density.

[0013] Furthermore, the environmental sensing module also includes an anemometer installed on the sprayer, and the environmental parameters include wind speed and / or wind direction; the control system is also configured to adjust the fan speed based on the wind speed and / or wind direction.

[0014] Furthermore, the air outlet block has two types of air vents: several air vents arranged linearly along the direction of the spray bar, and air vents symmetrically opened on both sides of the air vents.

[0015] Furthermore, the mode switching component includes: a drive rod mechanically linked to the spray frame and the air outlet block; an angle adjustment mechanism for converting the linear motion of the drive rod into the rotational motion of the spray frame; and an air curtain switching mechanism for selectively blocking or opening different air outlets on the guide cover when the drive rod moves.

[0016] Furthermore, the proportional drive module includes a drive cylinder connected to the drive rod, an electronically controlled proportional valve for controlling the stroke of the drive cylinder, and a displacement sensor for providing feedback on the actual stroke of the drive cylinder.

[0017] Furthermore, the mode switching component also includes a branch and leaf agitation component, which includes: a drive bar fixed on the drive rod; a driven gear meshing with the drive bar; and a linkage mechanism that is linked with the driven gear and can extend to agitate the branches and leaves when the driven gear rotates.

[0018] The target operating state determined by the control system also includes the target plucking depth; the control system, through the proportional drive module, coordinates the spraying angle of the spray frame, the opening and closing state of the air outlet, and the extension depth of the branch and leaf plucking component to match the target operating state.

[0019] The method for controlling the adaptive fine application of pesticides based on the above-mentioned air curtain adaptive precision application equipment is characterized by the following steps:

[0020] S1: The environmental sensing module acquires at least one environmental parameter in real time that characterizes the working environment or crop status. The environmental parameter includes at least: crop height and / or density acquired by lidar, ultrasonic sensor or mechanical contact sensor, and wind speed and / or wind direction acquired by an anemometer.

[0021] S2: Determine a target operating state based on the acquired environmental parameters, the target operating state including the target spraying angle and / or the target air outlet state, and the fan speed;

[0022] S3: Generate corresponding control commands based on the target operation status and the preset control strategy;

[0023] S4: The control command is executed by the proportional drive module to drive the mode switching component so that the actual spraying angle of the spray frame and the actual opening and closing state of the air outlet reach the target working state; and the fan speed is adjusted based on the wind speed and / or wind direction.

[0024] Furthermore, the mode switching component also includes a branch and leaf stirring component; in step S2, the determined target operating state also includes a target picking depth; in step S4, the extension depth of the branch and leaf stirring component is made close to the target picking depth by the proportional drive module.

[0025] Furthermore, the following sub-steps are included between steps S2 and S3:

[0026] Query model: Input the environmental parameters into a pre-established lookup table or function model;

[0027] Obtain control variables: Based on the position of the environmental parameters in the lookup table or function model, determine the control parameter values ​​corresponding to the target operation state through query or interpolation calculation;

[0028] In step S3, the control command is generated based on the control parameter value.

[0029] Beneficial effects: Compared with the prior art, the advantages of the present invention are as follows:

[0030] This invention can steplessly, continuously, and collaboratively adjust multiple operational parameters such as spraying angle, wind curtain shape, and seed lifting depth based on real-time sensing variables such as crop height, density, and wind force through a closed-loop control framework of "environmental perception-intelligent decision-proportional drive." This enables the equipment to perfectly adapt to all growth stages from seedling to harvest and to various weather conditions, greatly enhancing its operational adaptability.

[0031] The tilting of the spray angle, the synergistic effect of the leaf-dispersing component and the side wind curtain in time and space, create a chain-like synergistic effect of "dispersing-spraying-protecting," which is far more effective against stubborn and hidden pests and diseases than when each function is used independently. Through precise, on-demand application, it ensures that the pesticide solution acts optimally on the target areas (such as the front and back of leaves, and the base of the stem) under various conditions. This not only achieves comprehensive pest and disease control but also significantly reduces pesticide drift and waste caused by mode mismatch, achieving reduced pesticide use and increased efficiency.

[0032] By embedding a two-dimensional lookup table based on "crop height-wind speed" and a bilinear interpolation algorithm, the optimal combination of control objectives under the current operating conditions is accurately calculated (e.g., cylinder stroke of 178mm, fan frequency of 43.5Hz). This ensures that every adjustment is an optimal solution rather than an approximation, keeping the spraying strategy consistently within its high-efficiency range. This data-model-based quantitative decision-making capability reduces the equipment's reliance on operator experience and skills, alleviating labor intensity and aligning with the development direction of modern precision agriculture. Attached Figure Description

[0033] Figure 1 This is a schematic diagram of the air curtain type adaptive precision drug delivery equipment provided by the present invention in two different modes.

[0034] Figure 2 This is a three-dimensional schematic diagram of the provided air curtain-type adaptive precision pesticide application equipment.

[0035] Figure 3 This is a three-dimensional schematic diagram of the spray frame portion of the present invention;

[0036] Figure 4This is a schematic diagram of the air curtain-type adaptive precision drug delivery equipment provided by the present invention from another perspective.

[0037] Figure 5 for Figure 4 An enlarged schematic diagram of the structure at point A in the middle shows the internal structure of the drive component;

[0038] Figure 6 This is a schematic diagram of the distribution of air inlet one and air inlet two in this invention;

[0039] Figure 7 This is a schematic diagram of the air curtain block and the toggle assembly in one state in the present invention;

[0040] Figure 8 This is a schematic diagram of the air curtain block and the toggle assembly in another state in the present invention;

[0041] Figure 9 This is a schematic diagram showing two states of the positional relationship between the air curtain block and the air outlet in this invention;

[0042] Figure 10 This is a schematic diagram of the toggle component in the retracted state in this invention;

[0043] Figure 11 for Figure 10 Enlarged schematic diagram of the structure at point B;

[0044] Figure 12 This is a schematic diagram of the toggle component in the working state of the present invention.

[0045] Figure 13 This is a block diagram of the overall architecture of the intelligent control system in Embodiment 2 of the present invention.

[0046] Figure 14 This is a flowchart of the control method for air curtain-type adaptive fine pesticide application according to the present invention. Detailed Implementation

[0047] The technical solution of the present invention will be described in detail below with reference to the accompanying drawings, but the scope of protection of the present invention is not limited to the embodiments described.

[0048] Example 1: See Figures 1-12 The air curtain type adaptive precision pesticide application equipment provided in this embodiment includes a pesticide applicator 1 and support components symmetrically arranged on both sides of the pesticide applicator 1. The support components include brackets 2 and fixing frames 5. A guide shroud 3 is fixedly connected to each bracket 2, and a fan 23 is connected to the guide shroud 3. The fan 23, as a power source, generates airflow, which is collected and guided through the large-volume guide shroud 3, and finally directed out by an air outlet block 6 fixed at the lower part of the support components. A spray frame 4 is fixed to the lower end of the bracket 2. The spray frame 4 is equipped with several nozzles and is connected to the pesticide tank on the pesticide applicator 1 through pipelines, responsible for atomizing and spraying the pesticide solution. Figure 6 As shown, the air outlet block 6 has two types of air inlets: several air inlets 2 8 for forming a vertical downward air curtain, which are arranged linearly along the direction of the spray bar (i.e., the direction perpendicular to the forward direction of the sprayer); and air inlets 1 7 symmetrically opened on both sides of air inlets 2 8 for forming a lateral protective air curtain.

[0049] like Figure 5 , Figure 7 and Figure 11 As shown, the key to this embodiment lies in designing a mode switching component, which is a mechanical actuator that enables the switching of different operating modes. The mode switching component includes a drive rod 14 capable of linear reciprocating motion. This drive rod 14 is mechanically linked with multiple mechanisms: the linear displacement of the drive rod 14 is synchronously transmitted to the following three parallel mechanical actuators:

[0050] 1. Angle Adjustment Mechanism: This mechanism is used to convert the linear motion of the drive rod 14 into the rotational motion of the spray frame 4. Specifically, the drive rod 14 drives the drive block 12, which in turn actuates the rotating rod 11 through the drive groove 13. Through the meshing transmission of the drive wheel 10 and the drive wheel 9, the spray frame 4, which is coaxially fixed with the drive wheel 9, is finally rotated, thereby changing the spray angle.

[0051] 2. Air curtain switching mechanism: such as Figure 7 , Figure 8 , Figure 9 As shown, the mechanism is fixedly connected to the drive rod 14 and includes two air curtain blocks 16 and a baffle plate 17. With the movement of the drive rod 14, the air curtain blocks 16 and the baffle plate 17 selectively block or open the air vents 7 and 8 on the air outlet block 6, thereby switching the air curtain configuration (downward air curtain or side air curtain). In the initial position (e.g.) Figure 7 When the air curtain block 16 blocks the air vent 7, the baffle 17 does not block the air vent 8, which is the vertical air curtain mode. When the drive rod 14 moves to the end position, the air curtain block 16 moves below the air vent 7 and connects with it to form a lateral air curtain channel. At the same time, the baffle 17 moves directly above the air vent 8 and completely blocks it.

[0052] 3. Branch and leaf manipulation component: such as Figure 7 , Figure 10 , Figure 11As shown, a rack-shaped drive bar 18 is also fixedly connected to the drive rod 14. The drive bar 18 meshes with a driven gear 19. The rotation of the driven gear 19 drives a three-bar linkage consisting of a first connecting rod 20, a second connecting rod 21, and a third connecting rod 22. The upper end of the third connecting rod 22 is rotatably connected to the air outlet block 6. When the drive rod 14 moves, the drive bar 18 drives the driven gear 19 to rotate, thereby driving the entire three-bar linkage to unfold or retract, realizing the function of stirring or not stirring the plant branches and leaves. Its extension depth is the stirring depth, which characterizes the degree to which the stirring mechanism penetrates the crop canopy and is related to the displacement of the drive rod 14.

[0053] The mechanical system of this equipment, through ingenious integrated design, transforms the linear drive generated by the drive cylinder 15 into three different composite movements—angle rotation of the spray frame, switching of the air curtain shape, and extension / retraction of the branch and leaf agitator—synchronously and proportionally through the three sets of parallel mechanical linkage mechanisms. This "one-motor-multiple-linkage" design greatly simplifies the control logic, enabling the system to achieve smooth and continuous transitions between different operating modes simply by precisely controlling the stroke of the drive rod 14.

[0054] Example 2: This example provides an intelligent control system for an air curtain-type adaptive precision pesticide application equipment. This system integrates advanced sensors, controllers, and actuators, combined with optimized control algorithms, to achieve automation, intelligence, and precision in the pesticide application process.

[0055] I. System Overall Architecture

[0056] like Figure 13 As shown, this control system is designed according to the principles of high reliability and stability for industrial applications, and its overall architecture can be divided into three core parts:

[0057] Environmental perception module: responsible for acquiring key parameters of the working environment and crop canopy in real time and with high accuracy.

[0058] The core of intelligent decision-making and control: As the brain of the system, it is responsible for processing perceived data, making intelligent decisions based on the built-in expert model, and generating control commands.

[0059] Proportional drive and execution system: responsible for receiving and accurately executing instructions from the control core, and coordinating the adjustment of multiple working components through closed-loop control and mechanical linkage.

[0060] II. System Hardware Configuration

[0061] 2.1 Core of Intelligent Decision-Making and Control

[0062] The PLC controller 26 uses the SIMATIC S7-1200 series CPU 1214CDC / DC / DC from Siemens, Germany. This PLC integrates a high-performance processor, multiple high-speed digital I / O channels, two analog inputs (AI), and one analog output (AQ). Its built-in PROFINET industrial Ethernet interface enables efficient and stable data exchange with LiDAR and HMI, fully meeting the real-time requirements of this system for multi-channel sensor data processing, complex algorithm calculations, and PID closed-loop control.

[0063] The human-machine interface 27 uses a Siemens SIMATIC HMI KTP1200 Basic series 12-inch touch screen. It connects to the PLC via PROFINET, providing the operator with an intuitive graphical interface to switch modes (fully automatic, manual, engineering calibration), set parameters (preset crop type or manually adjust target value), and monitor status (real-time display of crop height, wind speed, piston stroke, system status, and fault alarms, etc.).

[0064] Due to the limited onboard analog input interfaces of the PLC, the system was additionally expanded with a Siemens SM1231 AI4x13bit analog input module, which is dedicated to acquiring the 4-20mA current signal of the anemometer 25 and the 0-10V voltage signal of the displacement sensor.

[0065] All core control hardware is integrated into an IP65-rated electrical control cabinet, installed in the driver's cab. External connections use high-quality shielded cables and are properly grounded to effectively suppress electromagnetic interference in the farmland operating environment.

[0066] 2.2 Environmental Perception Module

[0067] Two-dimensional lidar 24: Installed at a high position in front of the sprayer 1, it is used to scan the crop canopy within a range of 1-5 meters in front (covering the spray width) in real time to obtain continuous crop height and density point cloud data.

[0068] 2D Anemometer 25: Used to measure wind speed and direction in the working environment in real time, providing key environmental variables for control decisions.

[0069] 2.3 Proportional Drive and Execution System

[0070] Drive cylinder 15: As the core actuator, this cylinder has a built-in high-precision displacement sensor, and its drive source is controlled by an electronically controlled proportional valve. This proportional valve can receive a 4-20mA analog signal output from the PLC, thereby accurately controlling the extension stroke of the cylinder within the range of 0-200mm.

[0071] Fan system: The motor of fan 23 is driven by a Siemens V20 frequency converter. The PLC can directly control the output frequency of the frequency converter through communication protocols (such as USS, Modbus RTU) or analog signals, thereby adjusting the fan speed.

[0072] Mechanical linkage mechanism: The drive rod 14 is connected to the drive cylinder 15, and is also mechanically linked to the spray frame angle adjustment mechanism, the air curtain switching mechanism, and the branch and leaf agitation assembly. This allows the single linear displacement of the cylinder to coordinate and continuously change the spray angle, the opening and closing state of the air vents, and the seed-picking depth.

[0073] III. Control Software and Core Algorithm

[0074] The system control program was developed on the Siemens TIA Portal platform and mainly consists of the following functional modules:

[0075] 3.1 Data Acquisition and Preprocessing

[0076] LiDAR data processing: The PLC controller periodically reads raw point cloud data from the LiDAR 24, extracts the effective area of ​​the data, and then removes noise points through algorithms such as median filtering. Finally, it calculates the average height or the 95th percentile height of the points in the area, which is used as the feature value H_crop to characterize the height of the crop canopy.

[0077] Sensor signal conversion: The PLC controller reads the electrical signals from the anemometer and displacement sensor through the analog input module, and uses the SCALE instruction to linearly convert them into engineering unit values ​​with physical meaning.

[0078] 3.2 Intelligent Decision Engine: Based on Two-Dimensional Lookup Table and Interpolation Algorithm

[0079] The specific steps involved in constructing the two-dimensional lookup table include: designing orthogonal experiments to test the droplet coverage and penetration of various combinations of operational parameters (spraying angle, seeding depth, and wind curtain intensity) under different crop growth cycles and wind speed levels using water-sensitive test strips; collecting data and performing statistical analysis to identify the parameter combinations that achieve the optimal coverage effect under each working condition; inviting senior agronomic experts to verify and optimize the experimental results; and finally solidifying these optimal parameter combinations into data points in the lookup table.

[0080] The application is based on a constructed 2D look-up table: a data block (DB) is created in the TIA Portal as the look-up table, with row indices of crop height H_crop (e.g., 20cm to 150cm, in 10cm increments) and column indices of wind speed V_wind (e.g., 0m / s to 8m / s, in 1m / s increments). Each cell in the table stores a set of optimal control target values ​​for that operating condition: target travel P_target (mm) and target wind turbine frequency F_target (Hz).

[0081] Decision-making process and bilinear interpolation: After the PLC controller obtains the real-time H_crop and V_wind, in order to ensure smooth and continuous control output and avoid sudden changes in equipment attitude caused by crossing thresholds, the system uses a bilinear interpolation algorithm for lookup. For example, if the current H_crop = 85cm and V_wind = 3.5m / s, the PLC controller will locate four adjacent data points in the lookup table: (80cm, 3m / s), (90cm, 3m / s), (80cm, 4m / s), and (90cm, 4m / s). It will then perform a weighted average based on the relative position of the current operating point within the rectangle formed by these four points, thereby accurately calculating the current optimal P_target (e.g., 178mm) and F_target (e.g., 43.5Hz).

[0082] 3.3 Control Command Execution

[0083] Cylinder stroke closed-loop control: The PLC controller uses a built-in PID Compact function block to achieve precise control of the cylinder stroke.

[0084] Setpoint (SP): P_target calculated by the decision engine.

[0085] Process value (PV): The actual travel distance P_cyl, fed back in real time by the displacement sensor.

[0086] Output: The PID controller calculates the control input based on the deviation between SP and PV, and generates a 4-20mA current signal through the analog output channel of the PLC controller to drive the electronically controlled proportional valve. Carefully tuned PID parameters ensure rapid, stable, and overshoot-free cylinder operation.

[0087] Open-loop control of fan speed: The PLC sends the F_target value calculated by the decision engine directly to the V20 frequency converter via communication or analog signal to control the fan 23 to run at the target speed.

[0088] 3.4 System Status Management and Fault Diagnosis

[0089] This module handles the switching logic for each operating mode, packages all key data (sensor readings, decision results, actuator status, etc.) and sends them to the HMI for visualization, and receives manual control commands from the HMI. Furthermore, the built-in fault diagnosis logic monitors for abnormal sensor signals (such as being out of range or remaining unchanged for an extended period). If a problem is detected, the system automatically switches to a safe manual mode and displays detailed alarm information on the HMI to guide the operator in troubleshooting.

[0090] IV. Overall System Workflow

[0091] like Figure 14 As shown, the air curtain-type adaptive fine spraying control method of the present invention achieves continuous adaptive operation by cyclically executing the following steps:

[0092] Step S1: Real-time sensing. As the sprayer moves through the field, sensors such as lidar 24 and anemometer 25 continuously collect parameters such as crop height, density, and ambient wind speed, and send them to the PLC controller 26 in real time.

[0093] Step S2: Intelligent Decision Making. The PLC filters and transforms the received raw data, and then uses the processed H_crop and V_wind as inputs. By querying the built-in two-dimensional lookup table and applying the bilinear interpolation algorithm, it determines the optimal comprehensive operating state under the current conditions. This state includes the ideal spraying angle, seed lifting depth, air outlet mode, and air curtain intensity.

[0094] Step S3: Instruction Generation. Based on the decision results, the PLC controller generates two parallel control instructions: a target cylinder stroke value (e.g., 125mm) as a unified control variable, and an independent target fan frequency (e.g., 40Hz).

[0095] Step S4: Closed-loop execution and coordinated adjustment.

[0096] The PLC controller sends the target stroke command to the proportional drive module. Under PID closed-loop control, the drive cylinder 15 moves precisely to the target position. Due to the mechanical linkage, the precise positioning of the drive rod 14 will synchronously and proportionally adjust the angle of the spray frame 4, the opening and closing state of the air outlet, and the extension depth of the branch and leaf agitation assembly to the target state.

[0097] At the same time, the PLC controller sends the target frequency command to the fan inverter to adjust the fan speed 23 and generate an air curtain that matches the current operating mode and wind conditions.

[0098] Through the rapid cycle of the above process, when the sprayer moves to areas with different growth conditions or wind changes, the system can automatically and smoothly adjust all key operating parameters in real time, thereby achieving adaptive fine spraying throughout the entire process. By cyclically executing the above steps, when the sprayer moves to the next area and the crop height or wind force changes, the system will repeat steps S2-S4, and the operating mode will be adjusted continuously and in real time, thus achieving adaptive fine spraying throughout the entire process. This equipment enables automated, intelligent, and precise management of the entire spraying operation process.

[0099] As described above, although the invention has been shown and described with reference to specific preferred embodiments, it should not be construed as limiting the invention itself. Various changes in form and detail may be made without departing from the spirit and scope of the invention as defined in the appended claims.

Claims

1. A wind curtain type self-adapting precise pesticide application equipment, comprising: The sprayer (1), support assemblies on both sides of the sprayer (1), guide covers (3) and fans (23) fixed on the support assemblies, a spray frame (4) rotatably connected to the support assemblies, and an air outlet block (6) fixed on the support assemblies and located above the spray frame (4); characterized in that it further includes: The mode switching component controls the spray angle of the spray frame (4) and / or the opening and closing state of the air outlet block (6) to achieve switching between at least two preset operating modes. The mode switching component includes: a drive rod (14) mechanically linked to the spray frame (4) and the air outlet block (6), and an angle adjustment mechanism (9-13) for converting the linear motion of the drive rod (14) into the rotational motion of the spray frame (4), for selectively blocking or opening when the drive rod (14) moves. The guide cover (3) has an air curtain switching mechanism (16, 17) for different air outlets (7, 8) and a branch-leaf agitation assembly (18-22); the branch-leaf agitation assembly (18-22) includes: a drive bar (18) fixed on the drive rod (14), a driven gear (19) meshing with the drive bar (18), and a linkage mechanism (20, 21, 22) that is linked with the driven gear (19) and can extend to agitate the branches and leaves when the driven gear (19) rotates. The environmental sensing module is used to acquire at least one environmental parameter that characterizes the working environment and / or crop status in real time; A control system is electrically connected to the environmental sensing module. The control system is configured to: receive the environmental parameters acquired by the environmental sensing module; determine a target operating state based on the environmental parameters and generate corresponding control commands. The target operating state includes the target spraying angle, the target air outlet state, and the target rice-picking depth. The proportional drive module is electrically connected to the control system and mechanically connected to the mode switching component. The proportional drive module is configured to: receive control commands generated by the control system; drive the mode switching component so that the actual spraying angle of the spray frame (4), the actual opening and closing state of the air outlet (7, 8), and the extension depth of the branch and leaf twirling component (18-22) are coordinated to match the target operation state.

2. The wind screen type self-adapting precise pesticide application equipment according to claim 1, characterized in that, The environmental sensing module includes: a lidar, ultrasonic sensor, or industrial camera for acquiring the crop height and / or density, wherein the environmental parameters include crop height and / or density.

3. The air curtain type adaptive precision pesticide application equipment according to claim 2, characterized in that, The environmental sensing module also includes a wind speed and direction sensor (25) installed on the sprayer (1), and the environmental parameters include wind speed and / or wind direction; the control system is also configured to adjust the rotation speed of the fan (23) based on the wind speed and / or wind direction.

4. The air curtain type adaptive precision pesticide application equipment according to claim 1, characterized in that, The air outlet block has two types of air outlets: several air outlets arranged linearly along the direction of the spray bar (8), and air outlets (7) symmetrically opened on both sides of air outlets (8).

5. The air curtain type adaptive precision pesticide application equipment according to claim 4, characterized in that, The proportional drive module includes a drive cylinder (15) connected to the drive rod (14), an electronically controlled proportional valve for controlling the stroke of the drive cylinder (15), and a displacement sensor for feeding back the actual stroke of the drive cylinder (15).

6. The method for controlling air curtain adaptive precision pesticide application using the air curtain type adaptive precision pesticide application equipment according to claim 1, characterized in that, The method includes the following steps: S1: At least one environmental parameter characterizing the working environment or crop status is acquired in real time through the environmental perception module. The environmental parameter includes at least the crop height and / or density acquired by lidar, ultrasonic sensor or mechanical contact sensor, and the wind speed and / or wind direction acquired by an anemometer (25). S2: Determine a target operating state based on the acquired environmental parameters, the target operating state including the target spraying angle, the target air outlet state, the target grain lifting depth, and the rotational speed of the fan (23); S3: Generate corresponding control commands based on the target operation status and the preset control strategy; S4: The control command is executed by the proportional drive module to drive the mode switching component so that the actual spraying angle of the spray frame (4) and the actual opening and closing state of the air outlet (7, 8) reach the target operation state, and the extension depth of the branch and leaf plucking component (18-22) is made close to the target plucking depth by the proportional drive module; and the rotation speed of the fan (23) is adjusted based on the wind speed and / or wind direction.

7. The control method according to claim 6, characterized in that, The mode switching component also includes a branch and leaf stirring component (18-22); in step S2, the determined target operating state also includes a target picking depth; in step S4, the extension depth of the branch and leaf stirring component (18-22) is made close to the target picking depth by the proportional drive module.

8. The control method according to claim 7, characterized in that, Between steps S2 and S3, the following sub-steps are also included: Query model: Input the environmental parameters into a pre-established lookup table or function model; Obtain control variables: Based on the position of the environmental parameters in the lookup table or function model, determine the control parameter values ​​corresponding to the target operation state through query or interpolation calculation; In step S3, the control command is generated based on the control parameter value.

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