农林仿形对靶喷雾及其控制技术研究进展

仿形对靶喷雾是实现农林精确施药的一种重要技术方式，近年来在理论发展和技术应用中取得重要进展。文中从仿形喷雾目标探测技术、常用仿形机构、仿形对靶控制及算法、仿形变量喷雾测试技术和典型农林仿形喷雾机方面评述现有仿形对靶喷雾技术，归纳包括红外线、超声波、图像和LIDAR等仿形喷雾目标探测方法与技术；分析常用仿形机构的仿形原理和各自设计的优缺点，强调轻量化是仿形机构设计的趋势；综述仿形对靶喷雾控制系统硬件和软件方面的发展，强调智能算法的应用能有效提高仿形喷雾控制系统的鲁棒性；分析评述仿形变量喷雾测试装置、喷雾系统数学模型和PWM变量喷雾技术的进展；介绍几种典型的农林仿形喷雾机，并提出农林仿形对靶喷雾的研究建议。

Research Progress on Profiling Target Spray and Its Control Technology in Agriculture and Forestry

Profiling target spray is an important technique to achieve a precision pesticide application in agriculture and forestry. In recent years, it has made important progress in the theoretical development and technical application. This paper reviewed the current profiling target spray technology in terms of profiling spray target detection technology, common profiling mechanism, profiling target control and algorithm, profiling variable-rate spray test technology and typical agricultural and forestry profiling sprayers, and concluded the methods and techniques of profiling spray target detecting including infrared, ultrasonic, image and LIDAR. The profiling principles of common profiling mechanisms and their advantages and disadvantages in design were analyzed to emphasize that the lightweight would be the trend of profiling mechanism design. The development of the hardware and software in the target-based spray control system was overviewed for the highlight that the application of intelligent algorithm could improve the robustness of the control system. The progress of profiling variable-rate spray test devices, mathematical models of spray system and variable-rate PWM spray technology was also reviewed. At the end, the paper introduced several typical agricultural and forestry profiling sprayers, and came up with the research proposals for the profiling target spray in agriculture and forestry.