Automatic grape spraying device

Abstract

The application discloses a kind of automatic pesticide spraying equipment of grape, it is related to agricultural machinery technical field, including grape trellis, laser reflector, profiling chassis and scanner, laser reflector is oppositely arranged on the column of grape trellis, and profiling chassis is fixedly installed with control box at two ends respectively;Scanner is all oppositely installed on the outer side of control box, and the working surface of scanner is parallel with the reflecting surface of laser reflector;Scanner is electrically connected with control box;Profiling chassis upper surface left and right sides are placed with storage device;Profiling chassis upper surface middle position is sequentially installed with leaf blade pesticide spraying device and grape bead pesticide spraying device, and leaf blade pesticide spraying device is communicated with grape bead pesticide spraying device.The automatic pesticide spraying equipment of grape of the application can adapt to the terrain under grape trellis, automatically patrol and spray pesticide to prevent and treat the disease and insect pests occurred on grape seedling and grape bead, reduce the cost of artificial use, increase grape bead yield.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of agricultural machinery, in particular to an automatic pesticide spraying device for grape. BACKGROUND

[0002] A large amount of pesticides need to be used to eliminate pests and diseases to improve grape yield from grape vine planting to grape fruit harvesting.

[0003] The pests and diseases of grape mainly include downy mildew, gray mold, powdery mildew, black pustule disease, white rot disease, anthracnose disease, ulcer disease, acid rot disease, gold turtle, ten-star bottle leaf beetle, mottled wax moth, green plant bug, scale insect, etc. A large amount of manual work is required to patrol the grape and identify the pests and diseases of the grape in time, and to spray pesticides, which is a huge workload and high cost, and is not conducive to the timely prevention and control of grape pests and diseases.

[0004] The existing intelligent pesticide spraying device uses an AGV trolley to move, which requires high flatness of the site, and also needs to meet the requirements of anti-static, anti-slip, wear-resistant, pressure-resistant and impact-resistant, and is not suitable for the environment under the grape trellis. At the same time, it uses indiscriminate pesticide spraying, which can easily cause waste of pesticides, and further, can easily cause the skin of grape beads to contain a large amount of medicine, affecting the health of consumers.

[0005] How to develop an automatic pesticide spraying device for grape, which can adapt to the terrain under the grape trellis, automatically patrol and spray pesticides to prevent and control the pests and diseases of grape vine and grape beads, reduce the use cost of manual work, and increase the yield of grape beads, has become a technical problem to be solved by the technical personnel in the field. SUMMARY

[0006] The purpose of the present application is to provide an automatic pesticide spraying device for grape, which solves the problems listed in the background art.

[0007] To solve the above technical problems, the technical scheme is as follows:

[0008] The automatic pesticide spraying device for grape comprises a grape trellis, a laser reflector, a profiling chassis and a scanner. The laser reflector is oppositely arranged on the upright column of the grape trellis. The profiling chassis is provided with a control box fixedly installed on the upper surface of the profiling chassis at the front and rear ends along the direction of travel.

[0009] The scanner is oppositely installed on the outer side of the control box, and the working surface of the scanner is parallel to the reflecting surface of the laser reflector. The scanner is electrically connected with the control box.

[0010] The profiling chassis is provided with a pesticide storage device placed on the left and right sides along the direction of travel.

[0011] The middle position of the upper surface of the profiling chassis is sequentially provided with a blade pesticide spraying device and a grape bead pesticide spraying device, and the outer side vertical surface of the blade pesticide spraying device is in abutment with the control box.

[0012] Preferably, the profiling chassis comprises a vehicle body, a double-cylinder shock absorber, a double-wishbone independent suspension, a wheel, a transmission shaft, a motor, a mounting bracket and a battery, the lower surface of the vehicle body is movably connected with the wheel through the double-wishbone independent suspension at four corners respectively, and the upper end of the double-cylinder shock absorber is hingedly connected with the lower surface of the vehicle body, and the lower end of the double-cylinder shock absorber is hingedly connected with the double-wishbone independent suspension.

[0013] The mounting bracket is fixedly installed on the lower surface of the vehicle body along the front and rear ends in the direction of travel, the motor is fixedly installed on the mounting bracket, the output end of the motor is connected with one end of the transmission shaft through a universal joint, and the other end of the transmission shaft is drivingly connected with the wheel through a universal joint.

[0014] The battery is installed on the lower surface of the vehicle body, and the battery is located at the middle part of the two mounting brackets.

[0015] The battery is electrically connected with the motor.

[0016] Preferably, the scanner emits and receives laser, and the scanner is electrically connected with the battery.

[0017] Preferably, the pesticide storage device comprises a pesticide liquid barrel loading box, an electromagnetic valve and a liquid delivery pipeline, the liquid delivery pipeline is in communication with the pesticide liquid barrel loading box, the electromagnetic valve is arranged on the liquid delivery pipeline, and the electromagnetic valve is electrically connected with the battery.

[0018] The top of the outer side surface of the pesticide liquid barrel loading box is provided with an inclined opening, and the inclined opening is matched with a sealing cover.

[0019] Preferably, the blade pesticide spraying device comprises a pesticide liquid pump bin, a pesticide spraying pipe and an electric control nozzle, the pesticide liquid pump bin is in communication with the liquid delivery pipeline, the top of the pesticide liquid pump bin is in communication with two pesticide spraying pipes, the upper surface of the pesticide spraying pipe is in communication with a plurality of electric control nozzles at equal intervals, and the electric control nozzle is electrically connected with the battery.

[0020] Preferably, a pesticide adding metering pump is installed in the pesticide liquid pump bin, the medicine inlet end of the pesticide adding metering pump is in communication with the liquid delivery pipeline, the medicine outlet end of the pesticide adding metering pump is in communication with the pesticide spraying pipe, and the pesticide adding metering pump is electrically connected with the battery.

[0021] Preferably, the grape bead pesticide spraying device comprises a hydraulic cylinder, a horizontal rotating motor, a swing motor, a connecting rod, an identification positioning camera, a pesticide spraying claw and an atomizing nozzle, the non-working end of the hydraulic cylinder is fixedly installed on the upper surface of the vehicle body, the working end of the hydraulic cylinder is fixedly connected with the shell of the horizontal rotating motor, the output shaft of the horizontal rotating motor is fixedly connected with one end of the connecting rod, the shell of the swing motor is fixedly connected with one of the connecting rods, and the output end of the swing motor is fixedly connected with the other connecting rod.

[0022] The end surface of the connecting rod away from the hydraulic cylinder is fixedly installed with the identification positioning camera, and the outer peripheral surface of the identification positioning camera is fixedly installed with the pesticide spraying claw.

[0023] The hydraulic cylinder, the horizontal rotating motor, the swing motor and the identification positioning camera are electrically connected with the battery.

[0024] Preferably, the medicine adding metering pump is communicated with the pesticide spraying claw through a medicine conveying hose.

[0025] Preferably, the identification distinguishing camera and the pesticide spraying detection camera are sequentially installed on the upper surface of the pesticide liquid pump cabin, and the identification distinguishing camera and the pesticide spraying detection camera are electrically connected with the battery.

[0026] Preferably, the control box is electrically connected with the battery, and the motor, the electromagnetic valve, the identification distinguishing camera, the medicine adding metering pump, the electrically controlled nozzle, the pesticide spraying detection camera, the hydraulic cylinder, the horizontal rotating motor, the swing motor and the identification positioning camera are electrically connected with the control box.

[0027] Compared with the prior art, the grape automatic pesticide spraying equipment has the beneficial technical effects that:

[0028] The profiled chassis can increase the passing performance while ensuring stability, and realizes automatic cruising function through cooperation of the laser reflection plate and the scanner, so that the grape automatic pesticide spraying equipment has better environmental adaptability, and realizes different pesticide spraying operations through the leaf blade pesticide spraying device and the grape bead pesticide spraying device, so that the use amount of pesticide liquid and the pesticide liquid residue on the grape beads can be effectively reduced. BRIEF DESCRIPTION OF DRAWINGS

[0029] The present application will be further described below in combination with the drawings.

[0030] Figure 1 It is a schematic view of the grape automatic pesticide spraying equipment arrangement.

[0031] Figure 2The figure is a schematic view of the automatic pesticide spraying device for grape; (perspective view)

[0032] Figure 3 The figure is a schematic view of the automatic pesticide spraying device for grape; (perspective view)

[0033] Figure 4 The figure is a schematic view of the automatic pesticide spraying device for grape; (perspective view)

[0034] Figure 5 The figure is a schematic view of the automatic pesticide spraying device for grape; (perspective view)

[0035] Figure 6 The figure is a schematic view of the automatic pesticide spraying device for grape; (perspective view)

[0036] Figure 7 The figure is a schematic view of the automatic pesticide spraying device for grape; (perspective view)

[0037] Figure 8 The figure is a schematic view of the automatic pesticide spraying device for grape; (perspective view)

[0038] Figure 9 The figure is a schematic view of the automatic pesticide spraying device for grape; (perspective view)

[0039] Figure 10 The figure is a schematic view of the automatic pesticide spraying device for grape; (perspective view)

[0040] Figure 11 The figure is a schematic view of the automatic pesticide spraying device for grape; (perspective view)

[0041] Figure 12 The figure is a schematic view of the automatic pesticide spraying device for grape; (perspective view)

[0042] Figure 13 The figure is a schematic view of the automatic pesticide spraying device for grape; (perspective view)

[0043] Explanation of the accompanying symbols: 1. Grape rack; 2. Laser reflector; 3. Contour chassis; 301. Vehicle body; 302. Double-tube shock absorber; 303. Double wishbone independent suspension; 304. Wheel; 305. Drive shaft; 306. Motor; 307. Mounting frame; 308. Battery; 4. Scanner; 5. Drug storage device; 501. Drug liquid barrel loading box; 502. Solenoid valve; 503. Infusion pipeline; 6. Identification and resolution camera; 7. Blade spraying device; 701. Drug liquid pump tank; 702. Spraying pipe; 703. Electronically controlled nozzle; 8. Spraying detection camera; 9. Grape bead spraying device; 901. Hydraulic cylinder; 902. Horizontal rotation motor; 903. Swing motor; 904. Connecting rod; 905. Identification and positioning camera; 906. Spraying claw; 907. Atomizing nozzle; 10. Control box. DETAILED DESCRIPTION

[0044] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0045] like Figures 1-13 As shown, an automatic grape spraying device includes a grape rack 1, a laser reflector 2, a contouring chassis 3, and four scanners 4. The laser reflectors 2 are disposed on the inner side surfaces of the uprights of the grape rack 1, so that the contouring chassis is provided with laser reflectors along its path, facilitating navigation. Control boxes 10 are fixedly mounted on the upper surface of the contouring chassis 3 at the front and rear ends along the direction of travel.

[0046] The four scanners 4 are relatively mounted on the outer surface of the control box 10, and the working surface of the scanner 4 is parallel to the reflection surface of the laser reflection plate 2; the scanner 4 is electrically connected to the control box 10;

[0047] Medicine storage devices 5 are placed on the left and right sides of the upper surface of the contoured chassis 3 along the travel direction;

[0048] A blade spraying device 7 and a grape bead spraying device 9 are sequentially installed at the middle position of the upper surface of the contoured chassis 3, and the outer facade of the blade spraying device 7 is in contact with the control box 10, and the blade spraying device 7 is connected to the grape bead spraying device 9.

[0049] like Figures 4-5As shown, the profiling chassis 3 comprises a vehicle body 301, a double cylinder shock absorber 302, a double wishbone independent suspension 303, a wheel 304, a transmission shaft 305, a motor 306, a mounting frame 307 and a battery 308, the lower surface of the vehicle body 301 is movably connected with the wheel 304 through the double wishbone independent suspension 303 at four corners respectively, and the upper end of the double cylinder shock absorber 302 is hinged with the lower surface of the vehicle body 301, and the lower end of the double cylinder shock absorber 302 is hinged with the double wishbone independent suspension 303;

[0050] The mounting frame 307 is fixedly installed on the lower surface of the vehicle body 301 along the front and rear ends in the direction of travel, the motor 306 is fixedly installed on the mounting frame 307, the output end of the motor 306 is connected with one end of the transmission shaft 305 through a universal joint, the other end of the transmission shaft 305 is drivingly connected with the wheel 304 through a universal joint, when the motors on both sides of the profiling chassis drive the wheels to rotate in opposite directions, the profiling chassis can realize in-place turning, the turning radius is small, and the turning or moving of the profiling chassis is not limited by the space below the grape trellis;

[0051] The battery 308 is installed on the lower surface of the vehicle body 301, and the battery 308 is located in the middle of the two mounting frames 307;

[0052] The battery 308 is electrically connected with the motor 306; the profiling chassis adopts a double wishbone four-wheel independent suspension mode, has small roll, multiple adjustable parameters, large tire ground contact area and excellent grip performance, can improve the stability of the profiling chassis when traveling, can automatically change the camber angle to reduce tire wear, and can adapt to the ground, effectively ensure that the scanner can stably receive the laser beam reflected by the laser reflector, and is beneficial to the navigation operation of the profiling chassis and the passability of the profiling chassis.

[0053] Specifically, the scanner 4 emits and receives laser, the scanner emits a laser beam, collects the laser beam reflected by the laser reflector, determines the current position and direction of the profiling chassis, and realizes the navigation of the profiling chassis through continuous triangular geometric operation, realizes the operation route control and automation, and the scanner 4 is electrically connected with the battery 308.

[0054] As shown in the figure, Figures 6-7 The medicine storage device 5 comprises a medicine liquid barrel loading box 501, an electromagnetic valve 502 and an infusion pipeline 503, the infusion pipeline 503 communicates with the medicine liquid barrel loading box 501, the electromagnetic valve 502 is arranged on the infusion pipeline 503, and the electromagnetic valve 502 is electrically connected with the battery 308; further, the medicine liquid barrel loading box has a plurality of medicine liquid barrel loading boxes, which are convenient for planting personnel to load a plurality of different medicines, and at the same time, the electromagnetic valve can be opened in a targeted manner to realize the selection of the medicine liquid;

[0055] The outer side of the medicine liquid barrel loading box 501 is provided with an inclined opening at the top, which is matched with a sealing cover; during operation, the medicine liquid barrel is placed in the medicine liquid barrel loading box, and a hose is extended from the medicine liquid barrel to communicate with the infusion pipeline 503; after the placement of the medicine liquid barrel is completed, the sealing cover is placed at the inclined opening for sealing; the inclined arrangement of the medicine liquid barrel loading box has good drainage performance and is self-draining, thereby reducing the cost of preventing water from falling, and facilitating the diversion of sprayed medicine liquid to prevent a large amount of medicine liquid from adhering to the medicine liquid barrel loading box, thereby avoiding the influence of residual medicine liquid outside the medicine liquid barrel loading box on the operator's body when the operator supplements the medicine liquid.

[0056] As shown in Figures 6-7 The blade pesticide spraying device 7 includes a medicine liquid pump bin 701, a pesticide spraying pipe 702, and an electric control nozzle 703; the medicine liquid pump bin 701 is in communication with the infusion pipeline 503; two pesticide spraying pipes 702 are in communication with the top of the medicine liquid pump bin 701; a plurality of electric control nozzles 703 are equidistantly arranged on the upper surface of the pesticide spraying pipe 702; the electric control nozzle 703 is electrically connected with the battery 308; further, the pesticide spraying pipe is arranged in an arc shape, which can better adapt to the door type grape trellis, and facilitate the pesticide spraying operation on the grape seedlings and leaves on the grape trellis; meanwhile, the electric control nozzle can selectively open one or more, so that the electric control nozzle can directly spray medicine liquid to the disease site, which can effectively save the use amount of medicine liquid compared with the full coverage spraying mode of simultaneously opening a plurality of spray heads, and can also reduce the residual medicine liquid on the grape beads.

[0057] Specifically, a medicine adding metering pump is installed in the medicine liquid pump bin 701; the medicine adding metering pump is in communication with the infusion pipeline 503 at the medicine inlet end; the medicine adding metering pump is in communication with the pesticide spraying pipe 702 at the medicine outlet end; the medicine adding metering pump is electrically connected with the battery 308; the medicine adding metering pump changes the stretching distance of the diaphragm to change the flow rate; and the electromagnetic valve is opened and closed to realize the accurate selection of medicine liquid.

[0058] As shown in Figures 8-13 The grape bead pesticide spraying device 9 includes a hydraulic cylinder 901, a horizontal rotary motor 902, a swing motor 903, a connecting rod 904, an identification positioning camera 905, a pesticide spraying claw 906, and an atomizing spray head 907; the non-working end of the hydraulic cylinder 901 is fixedly installed on the upper surface of the vehicle body 301; the working end of the hydraulic cylinder 901 is fixedly connected with the shell of the horizontal rotary motor 902; the output shaft of the horizontal rotary motor 902 is fixedly connected with one end of the connecting rod 904; the shell of the swing motor 903 is fixedly connected with one of the connecting rods 904; the output end of the swing motor 903 is fixedly connected with the other connecting rod 904.

[0059] The end face of the connecting rod 904 away from the hydraulic cylinder 901 is fixedly installed with the identification positioning camera 905, and the outer peripheral surface of the identification positioning camera 905 is fixedly installed with the pesticide spraying claw 906, and the opposite surfaces of the pesticide spraying claw 906 are both communicated with the atomizing nozzle 907.

[0060] The hydraulic cylinder 901, the horizontal rotating motor 902, the swing motor 903 and the identification positioning camera 905 are electrically connected with the battery 308.

[0061] In operation, the grape berry pesticide spraying device 9 is stretched, and the lifting operation of the hydraulic cylinder, the rotation of the horizontal rotating motor, the swing of the connecting rod driven by the swing motor, and the positioning by the identification positioning camera are combined to make the pesticide spraying claw 906 cover the grape berry in an upside-down manner, so that the atomizing pesticide spraying operation is performed on the grape berry, and each grape berry can be uniformly coated with pesticide, which is beneficial to saving pesticide. In addition, the atomizing pesticide spraying operation can avoid the damage of the grape berry skin caused by the excessive pressure of the spraying head, and can also avoid the situation that the pesticide spraying head can only spray the pesticide on the surface of the grape berry but cannot penetrate into the interior of the grape berry. Furthermore, the atomizing pesticide spraying operation can also avoid the waste caused by the excessive pesticide spraying and the dropping of the pesticide from the grape berry skin.

[0062] Specifically, the pesticide metering pump is communicated with the pesticide spraying claw 906 through the pesticide conveying hose.

[0063] Specifically, the identification distinguishing camera 6 and the pesticide spraying detection camera 8 are both installed on the upper surface of the pesticide pump bin 701 in sequence, and the identification distinguishing camera 6 and the pesticide spraying detection camera 8 are both electrically connected with the battery 308. The identification distinguishing camera can identify the disease and pest on the grape seedling and feed back the signal to the control box, so that the pesticide can be sprayed on the grape seedling in a targeted manner. In addition, the pesticide spraying detection camera can detect the spraying state, so that the appropriate amount of pesticide can be sprayed on the disease and pest of the grape seedling.

[0064] Specifically, the outer side of the identification distinguishing camera 6, the pesticide spraying detection camera 8 and the identification positioning camera 905 is covered with a circular arc-shaped protective cover. The circular arc-shaped structure can prevent the pesticide from being continuously attached, so as to reduce the possibility that the pesticide affects the camera accuracy of the identification distinguishing camera 6, the pesticide spraying detection camera 8 and the identification positioning camera 905.

[0065] Specifically, the control box 10 is electrically connected with the battery 308, and the motor 306, the electromagnetic valve 502, the identification distinguishing camera 6, the pesticide metering pump, the electrically controlled spraying nozzle 703, the pesticide spraying detection camera 8, the hydraulic cylinder 901, the horizontal rotating motor 902, the swing motor 903 and the identification positioning camera 905 are all electrically connected with the control box 10.

[0066] Further, the control box is internally provided with a travel control module, a transmission module, a temperature and humidity detection module, a clock, an image processing module, a storage module, a swing angle adjustment module, an inclination angle adjustment module, a flow control module, a radar module and a pesticide spraying position control module;

[0067] The scanner 4 is electrically connected with the travel control module, so as to realize navigation operation of the profiling chassis, and enable the grape automatic pesticide spraying equipment to continuously cruise under the grape trellis, and timely prevent and record feedback of the pests and diseases under the grape trellis;

[0068] The transmission module is electrically connected with the handheld terminal of the grower, can mark the pests and diseases, and feed back the pesticide spraying amount and type to the grower, so that the grower can clearly know the growth conditions of the grape seedlings and grape berries under the grape trellis, and when the grape automatic pesticide spraying equipment does not carry the corresponding pesticide for the pests and diseases of the grape seedlings and grape berries, the grower can accurately know the position of the pests and diseases and manually spray the pesticide;

[0069] The temperature and humidity detection module detects the temperature and humidity inside the grape trellis; the image processing modules are electrically connected with the identification and recognition camera 6 and the pesticide spraying detection camera 8, and the temperature and humidity detection module cooperates with the image processing module, so as to effectively improve the selection accuracy of the pesticide type, for example, the prevention and control of the powdery mildew and the white powdery mildew, the powdery mildew occurs in a high-temperature and rainy environment, the gray mold occurs in an environment with alternating dry and wet conditions and poor ventilation, the powdery mildew and the white powdery mildew will both cause the leaves to turn white, and the prevention and control period is in the winter and spring pruning period, and the temperature and humidity detection module cooperates with the image processing module to realize accurate pesticide spraying and accurate prevention and control;

[0070] The storage module can store the travel path, the pesticide spraying state and the pesticide type of the grape automatic pesticide spraying equipment, so as to facilitate the grower to trace the source;

[0071] The swing angle adjustment module can control the swing angle of the connecting rod, so that the swing motor can be expanded through the connecting rod for operation, and further, the pesticide spraying claw cover can be driven to cover around the grape berry;

[0072] The flow control module is electrically connected with the pesticide adding metering pump, can control the pesticide spraying amount, and realizes accurate and appropriate pesticide spraying;

[0073] The radar module can realize the obstacle avoidance function of the grape automatic pesticide spraying equipment;

[0074] The pesticide spraying position control module can control the electrically controlled spray head, and accurately control one or more spray heads to spray the position where the pests and diseases occur.

[0075] In addition, the control program is known and can be implemented by those skilled in the art, and thus is not described herein.

[0076] It should be noted that the relational terms herein such as first and second and the like are used solely to distinguish one from another entity or action without necessarily requiring or implying any actual relationship or order between such entities or actions. Moreover, the terms "comprises", "comprising", or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can also include other elements not expressly listed or inherent to such process, method, article, or apparatus.

[0077] The above-described embodiments are merely preferred ways of implementing the present application, and are not intended to limit the scope of the present application. Various modifications and improvements to the technical solutions of the present application made by those skilled in the art without departing from the design spirit of the present application shall fall within the scope of protection of the present application as defined by the claims.

Claims

1. A grape automatic spraying device, comprising a grape trellis (1), a laser reflector plate (2), a profiling chassis (3) and a scanner (4), characterized in that: The laser reflection plate (2) is arranged on the opposite column of the grape trellis (1), and the front and rear ends of the upper surface of the profiling chassis (3) in the running direction are respectively fixedly installed with control boxes (10); The scanners (4) are all arranged on the outer side of the control box (10), and the working surface of the scanner (4) is parallel to the reflecting surface of the laser reflection plate (2); the scanner (4) is electrically connected with the control box (10); The left and right sides of the upper surface of the profiling chassis (3) in the running direction are provided with medicine storage devices (5); The upper surface of the profiling chassis (3) is sequentially provided with a leaf blade pesticide spraying device (7) and a grape bead pesticide spraying device (9) at the middle position, and the outer side vertical surface of the leaf blade pesticide spraying device (7) abuts against the control box (10), and the leaf blade pesticide spraying device (7) is communicated with the grape bead pesticide spraying device (9); The grape bead pesticide spraying device (9) comprises a hydraulic cylinder (901), a horizontal rotary motor (902), an oscillating motor (903), a connecting rod (904), an identification positioning camera (905), a pesticide spraying claw (906) and an atomizing nozzle (907), the non-working end of the hydraulic cylinder (901) is fixedly installed on the upper surface of the vehicle body (301), the working end of the hydraulic cylinder (901) is fixedly connected with the shell of the horizontal rotary motor (902), the output shaft of the horizontal rotary motor (902) is fixedly connected with one end of the connecting rod (904), the shell of the oscillating motor (903) is fixedly connected with one connecting rod (904), and the output end of the oscillating motor (903) is fixedly connected with another connecting rod (904); The end face of the connecting rod (904) away from the hydraulic cylinder (901) is fixedly installed with the identification positioning camera (905), the outer peripheral surface of the identification positioning camera (905) is fixedly installed with the pesticide spraying claw (906), and the opposite faces of the pesticide spraying claw (906) are all communicated with the atomizing nozzle (907); The hydraulic cylinder (901), the horizontal rotary motor (902), the oscillating motor (903) and the identification positioning camera (905) are all electrically connected with the battery (308); The medicine adding metering pump is communicated with the pesticide spraying claw (906) through a medicine conveying hose; Further comprising an identification distinguishing camera (6) and a pesticide spraying detection camera (8), the identification distinguishing camera (6) and the pesticide spraying detection camera (8) are all sequentially installed on the upper surface of the medicine liquid pump bin (701), the identification distinguishing camera (6) and the pesticide spraying detection camera (8) are all electrically connected with the battery (308), the identification distinguishing camera (6) identifies the occurrence of pests and diseases on the grape seedlings and feeds back a signal to the control box (10), and the pesticide spraying detection camera (8) detects the spraying state and feeds back a signal to the control box (10). The control box (10) is internally provided with a travel control module, a transmission module, a temperature and humidity detection module, a clock, an image processing module, a storage module, a swing angle adjustment module, an inclination angle adjustment module, a flow control module, a radar module and a pesticide spraying position control module. The profiling chassis (3), the pesticide storage device (5), the identification and recognition camera (6), the blade pesticide spraying device (7), the pesticide spraying detection camera (8) and the grape berry pesticide spraying device (9) are electrically connected with the control box (10).

2. The automatic pesticide spraying device for grape according to claim 1, characterized in that: The profiling chassis (3) comprises a vehicle body (301), a double-cylinder shock absorber (302), a double-wishbone independent suspension (303), a vehicle wheel (304), a transmission shaft (305), a motor (306), a mounting bracket (307) and a battery (308), the lower surface of the vehicle body (301) is movably connected with the vehicle wheel (304) through the double-wishbone independent suspension (303) at four corners, and the upper end of the double-cylinder shock absorber (302) is hingedly connected with the lower surface of the vehicle body (301), and the lower end of the double-cylinder shock absorber (302) is hingedly connected with the double-wishbone independent suspension (303). The mounting bracket (307) is fixedly installed on the front and rear ends of the lower surface of the vehicle body (301) along the travel direction, the motor (306) is fixedly installed on the mounting bracket (307), the output end of the motor (306) is connected with one end of the transmission shaft (305) through a universal joint, and the other end of the transmission shaft (305) is drivingly connected with the vehicle wheel (304) through a universal joint. The battery (308) is installed on the lower surface of the vehicle body (301), and the battery (308) is located in the middle part of the two mounting brackets (307). The battery (308) is electrically connected with the motor (306).

3. The automatic grape spraying device according to claim 2, characterized in that: The scanner (4) emits and receives laser, and the scanner (4) is electrically connected with the battery (308).

4. The automatic pesticide spraying device for grape according to claim 3, characterized in that: The pesticide storage device (5) comprises a pesticide liquid barrel loading box (501), an electromagnetic valve (502) and a liquid conveying pipeline (503), the liquid conveying pipeline (503) is in communication with the pesticide liquid barrel loading box (501), the electromagnetic valve (502) is arranged on the liquid conveying pipeline (503), and the electromagnetic valve (502) is electrically connected with the battery (308). The top of the outer side of the pesticide liquid barrel loading box (501) is provided with an inclined opening, and the inclined opening is matched with a sealing cover.

5. The automatic pesticide spraying device for grapevines according to claim 4, characterized in that: The blade pesticide spraying device (7) comprises a pesticide liquid pump bin (701), a pesticide spraying pipe (702) and an electric control nozzle (703), the pesticide liquid pump bin (701) is in communication with the liquid conveying pipeline (503), the top of the pesticide liquid pump bin (701) is in communication with two pesticide spraying pipes (702), the upper surfaces of the pesticide spraying pipes (702) are in communication with a plurality of electric control nozzles (703) at equal intervals, and the electric control nozzles (703) are electrically connected with the battery (308).

6. The automatic pesticide spraying device for grapevines according to claim 5, characterized in that: The medicine liquid pump bin (701) is internally provided with a medicine adding metering pump, the medicine adding metering pump is communicated with the infusion pipeline (503) at a medicine inlet end, the medicine adding metering pump is communicated with the medicine spraying pipeline (702) at a medicine outlet end, and the medicine adding metering pump is electrically connected with the battery (308).

7. The automatic pesticide spraying device for grapevines according to claim 6, characterized in that: The control box (10) is electrically connected with the battery (308), and the motor (306), the electromagnetic valve (502), the identification distinguishing camera (6), the medicine adding metering pump, the electrically controlled nozzle (703), the medicine spraying detection camera (8), the hydraulic cylinder (901), the horizontal rotation motor (902), the swing motor (903) and the identification positioning camera (905) are all electrically connected with the control box (10).

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