A spray vehicle

A spray vehicle, comprising:

• at least one boom;
• a plurality of spray units;
• at least one first actuator;
• at least one second actuator;
• a plurality of sensors;
• and
• a processing unit;
• wherein, the at least one boom is movably attached to the vehicle;
• wherein, the plurality of spray units are attached to the at least one boom;
• herein, the plurality of spray units are configured to spray pollen or a liquid chemical;
• wherein, the at least one first actuator is configured to move the at least one boom;
• wherein, the at least one second actuator is configured to control the plurality of spray units;
• wherein, at least one sensor of the plurality of sensors is configured to measure a speed of the vehicle relative to the ground;
• wherein, at least one first sensor of the plurality of sensors is configured to measure an air movement direction relative to the vehicle;
• wherein, at least one second sensor of the plurality of sensors is configured to measure an air movement speed relative to the vehicle;
• wherein, the processing unit is configured to determine an air movement direction relative to the ground and determine an air movement speed relative to the ground, the determination comprising utilization of the speed of the vehicle, the air movement direction relative to the vehicle and the air movement speed relative to the vehicle;
• and
• wherein, the processing unit is configured to control the at least one first actuator and/or the at least one second actuator;
• the control comprising utilization of the determined air movement direction relative to the ground and the determined air movement speed relative to the ground.