关键词: 枸杞（Lycium chinense Miller）, 智能喷药机, 变量喷雾, 超声波传感器, 对靶

Abstract: The pneumatic sprayer could not spray according to the Lycium chinense plant adaptively, resulting in pesticide residues and insufficient application. Aiming at this problem, an intelligent control system for Lycium chinense spraying was designed. The system measured the size and density of plants through two groups （10 in total） of ultrasonic sensors arranged on both sides of the sprayer, and corrected the traveling speed of the tractor measured by the speed sensor. The controller calculateed the plant model and adjusted each valve separately, so as to achieve real-time adjustment of the spraying amount according to the target of a single plant. The experimental results showed that the intelligent control system could reduce the use of pesticides and effectively reduce pesticide residues.

Key words: Lycium chinense Miller, intelligent spraying machine, variable spray, ultrasonic sensor, target