High-efficiency pesticide application machine for sunlight greenhouse grape planting

Abstract

The application relates to a high-efficiency pesticide application machine for sunlight greenhouse grape planting, which is applied to the field of pesticide application equipment, and the height and density of plants are monitored through an infrared sensor added on the basis of an existing robot to adaptively adjust the spraying amount and the spraying angle, and a discharge tube is matched to make pesticide mist carry static electricity to increase the adhesion capacity of the pesticide mist on leaf surfaces, so that the pesticide waste is effectively avoided, the pesticide uniformity is improved, an air flow loop is formed by using a blowing pipe and a suction pipe to form an air flow curtain wall below the plants, the pesticide mist is effectively prevented from depositing into soil, the pesticide mist is effectively recycled, the downward leaves are blown upward by using the bending effect of the blade blowing pipe electrification to make the pesticide mist sprayed on the back of the leaves, the pesticide application efficiency is effectively improved, in addition, a pesticide mist falling net is additionally arranged to recycle the pesticide mist floating to the rear, and the pesticide mist is further effectively prevented from depositing into soil.

Description

Technical Field

[0001] This invention relates to a high-efficiency sprayer for grape cultivation in solar greenhouses, and particularly to a high-efficiency sprayer for grape cultivation in solar greenhouses applied in the field of spraying equipment. Background Technology

[0002] The greenhouse environment for grape cultivation is characterized by its enclosed space, dense vines, and high temperature and humidity. Traditional pesticide application equipment suffers from the following problems: low application efficiency, serious waste of pesticides, poor adaptability, and environmental pollution risks.

[0003] To address the problems of traditional pesticide application equipment, a certain pesticide application equipment on the market adopts a pesticide application robot design and has a certain market share.

[0004] Chinese patent CN117099761A discloses a targeted pesticide application device for orchards. This device includes a storage shell with movable wheels at its bottom. The storage shell is filled with pesticide solution. A lifting seat is mounted on the top of the storage shell via a lifting drive component, and a rotating seat is movably mounted on one end of the lifting seat. During application, a ventilation mechanism is located downwind. The pesticide solution is sprayed onto trellis-type fruit trees through nozzles, while the ventilation mechanism simultaneously draws air from the side of the trellis-type fruit trees furthest from the spray shell, ensuring that the atomized pesticide solution effectively adheres to the trellis-type fruit trees. Excess atomized pesticide solution is sucked up and recovered, improving the targeting and safety of the application. As the storage shell moves and vibrates on uneven ground, it causes the spray shell to vibrate up and down under the elastic action of a spring, changing the spray position of the nozzle and ensuring uniform application.

[0005] Chinese patent CN109924190B discloses an airflow-encircling, liquid-recovery orchard wind-assisted sprayer. This sprayer includes a traction system, an airflow-encircling system, a spraying system, and a liquid-recovery system. The traction system drives the sprayer. The airflow-encircling system restricts the spraying space and, in conjunction with the liquid-recovery system, recovers any liquid not sprayed onto the target. The airflow-encircling system draws air upwards from the top of the tree canopy and exits from both sides of the canopy. After entering the canopy, the airflow is again drawn upwards by the suction from the top of the canopy, forming a closed-loop airflow circuit "from the outside in and then from the bottom up." The spraying system applies pesticide to the fruit trees, and the liquid-recovery system recovers any liquid not sprayed onto the target during application. This wind-assisted sprayer significantly increases pesticide deposition on the underside of leaves, improving pesticide application efficiency, enabling liquid recycling, and reducing pollution and waste.

[0006] Although existing spraying robots can recover pesticide spray, their spraying efficiency is low, as they can only spray one row of plants at a time. Furthermore, the equipment is too complex and bulky, making it susceptible to limitations imposed by the narrow spaces of greenhouses and the layout of grapevines. Moreover, it cannot adaptively adjust the spray volume and angle according to the height and density of the plants, resulting in uneven spraying. In addition, during the pesticide spray recovery process, the existing equipment is easily affected by the airflow direction, leading to uneven distribution of the pesticide spray on the leaf surface. Summary of the Invention

[0007] In view of the above-mentioned prior art, the technical problem to be solved by the present invention is how to spray the pesticide mist evenly on the leaf surface and prevent excessive pesticide mist from depositing into the soil.

[0008] To address the aforementioned problems, this invention provides a high-efficiency spraying machine for grape cultivation in a solar greenhouse, comprising a spraying robot body. The spraying robot includes a mobile base, and four independently driven wheels equipped with high-torque motors are mounted on the bottom of the mobile base. A blower is mounted on the end of the mobile base near the forward direction, and a mounting base is mounted on the back of the blower. Two sets of equally spaced opening slots are formed on both side walls of the mounting base, and each set of four opening slots contains a nozzle matched to the blower. An electric push rod is installed inside each opening slot, and the output end of the electric push rod is connected to the nozzle. An electrostatic generator is installed inside the mounting base, and the spray nozzle of each nozzle... Each part is fixedly connected with a discharge tube that matches the electrostatic generator. The mobile base is located on the back of the mounting base and has a medicine tank with a liquid level sensor that is connected to multiple nozzles. Two symmetrically distributed infrared sensors are fixedly connected to the top of the blower, and a navigation radar is installed in the middle of the two infrared sensors. The main body of the spraying robot also includes a path preset module that is electrically connected to the working wheels, a navigation module that is electrically connected to the navigation radar, an angle adjustment module that is electrically connected to the electric push rod, and a spray volume adjustment module that is electrically connected to the nozzle. The main body of the spraying robot is equipped with a main control chip, and the infrared sensors are electrically connected to the angle adjustment module and the spray volume adjustment module through the main control chip. The mobile base has storage slots on both sides, and the two ends of the storage slots are rotatably connected to air blowing pipes and air suction pipes distributed vertically via rotating seats. The mobile base is equipped with servo motors connected to the air blowing pipes and air suction pipes. The mobile base is also equipped with a negative pressure fan, and the negative pressure fan is connected to a medicine recovery pump connected to the medicine tank. The air outlet of the negative pressure fan is connected to the air blowing pipe, and the air inlet of the negative pressure fan is connected to the air suction pipe. When the two air suction pipes are in the unfolded state, a medicine mist fall-off net is connected between them.

[0009] In the aforementioned high-efficiency sprayer for grape cultivation in solar greenhouses, the spray volume and spray angle are adjusted adaptively by monitoring the height and density of the plants in real time, which effectively improves the uniformity of spraying. By making the spray mist statically charged, the adhesion of the spray mist to the leaf surface is effectively improved, and the amount of spray mist overflow is effectively reduced. Furthermore, by setting an airflow curtain at the bottom, the spray mist is effectively prevented from depositing into the soil.

[0010] As a further improvement of this application, the air blowing pipe includes a shaping tube. The end of the shaping tube away from the servo motor is fixedly connected to a closed connecting tube that communicates with it. A blade blowing pipe is inserted inside the closed connecting tube. The end of the blade blowing pipe located inside the closed connecting tube is fixedly connected to a slip ring that is slidably and sealingly connected to the inner wall of the closed connecting tube. Multiple sets of symmetrically distributed electrostrictive rods are fixedly connected between the side wall of the slip ring and the inner wall of the closed connecting tube. The shaping tube is connected to the air outlet of the negative pressure fan. Therefore, after the airflow comes out from the air outlet on the shaping tube, it will form an airflow curtain, which effectively prevents the pesticide mist from sinking into the soil. When the infrared sensor detects that the plant height is low and the plant density is high, the main control chip immediately controls the circuit to energize the electrostrictive rod. After the electrostrictive rod is energized, it shortens, thereby allowing the blade blowing pipe to extend outward. The main control chip also energizes the blade blowing pipe, thereby causing the blade blowing pipe to bend and blow air towards the plant. This blows the leaves upward, thereby effectively spraying the pesticide mist onto the back of the leaves.

[0011] As a further improvement to this application, both the shaping tube and the blade blowpipe have multiple equally spaced air outlets on their side walls. The air outlets on the shaping tube face the intake pipe, and the air outlets on the blade blowpipe face directly upwards. The air outlet of the negative pressure fan blows air from the shaping tube towards the intake pipe, and then the air is drawn back to the air inlet by the negative pressure fan, thus forming an airflow loop. During this airflow circulation, firstly, an airflow curtain can be formed below the plant to effectively prevent the pesticide mist from depositing in the soil; secondly, the driving force of the airflow can collect the pesticide mist, avoiding waste of pesticide. The air outlets on the blade blowpipe, after being energized and bent, face the plant leaves and blow from the bottom upwards, pre-moving the drooping leaves before spraying, so that the pesticide mist can be effectively sprayed on the back of the leaves during spraying, achieving uniform spraying.

[0012] As a further improvement of this application, the leaf blowpipe includes an upper half and a lower half distributed vertically. The inner wall of the lower half is fixedly inlaid with multiple equally spaced electro-deformation strips. When the electro-deformation strips are energized, they bend downwards, causing the entire leaf blowpipe to bend downwards toward the plant. This allows the leaves to be blown upwards from the bottom, exposing the back of the leaves and allowing the pesticide spray to be applied to the back of the leaves, thereby effectively improving the uniformity of pesticide application.

[0013] As a further improvement to this application, both the upper and lower tubes are made of elastic material, and the lower tube is more flexible than the upper tube. In order to allow the entire blade to bend smoothly when the electro-deformation strip is energized and to return to its original shape after the power is cut off, both the upper and lower tubes are made of elastic material, and the lower tube is more flexible than the upper tube.

[0014] As a further improvement of this application, multiple equally spaced air inlets are provided on the front and rear sides and the top sidewall of the suction pipe, and a magnetic strip is fixedly embedded in the bottom sidewall of the suction pipe. The airflow enters from the air inlet and is drawn back into the liquid recovery pump by the negative pressure fan, thereby realizing the recovery of the deposited liquid mist. The magnetic strip is for the convenience of installing the liquid mist return net.

[0015] As another improvement of this application, the pesticide mist return net includes two magnetic seats, which are magnetically attracted to the magnetic strip on the suction pipe. A flexible impermeable layer is fixedly connected between the two magnetic seats, and an absorbent sponge is laid on top of the flexible impermeable layer. A flexible mesh cover is laid on top of the absorbent sponge. Since the pesticide application robot is constantly moving forward during the application process, the pesticide mist sprayed to a high place does not have time to sink and drifts to the rear of the robot. Therefore, a pesticide mist return net is added behind the pesticide application robot to capture the pesticide mist that has not been recovered, further effectively preventing the pesticide mist from settling into the soil. The absorbent sponge is used to absorb the pesticide mist, and the flexible impermeable layer prevents the pesticide mist from dripping. Every once in a while, the pesticide mist return net is removed from the suction pipe with hands wearing protective gloves, and then the pesticide mist return net is twisted in the opposite direction with both hands to squeeze out the liquid. After filtering the liquid with a filter screen, it is poured back into the pesticide tank, thereby realizing the recovery of pesticide mist.

[0016] As another improvement of this application, the angular rotation range of the blowing pipe and the suction pipe is 0-160°. A distance detector is also installed on the mobile base, and the distance detector is electrically connected to the servo motor through the main control chip. Based on the measured distance between the spraying robot and the plant, the distance detector can control the servo motor to adjust the rotation angle of the blowing pipe and the suction pipe. This can adjust the area of ​​the airflow curtain, thereby increasing the area of ​​pesticide mist recovery, and also adjust the distance between the blowing pipe and the suction pipe and the plant to prevent the robot from being hindered by the small spacing between the plant rows. It also adjusts the distance between the leaf blowing pipe and the plant to facilitate better blowing of the leaves.

[0017] In summary, by adding infrared sensors to the existing robot to monitor plant height and density, the spray volume and angle can be adaptively adjusted. Furthermore, a discharge tube is used to electrostatically charge the pesticide mist, increasing its adhesion to the leaf surface. This effectively avoids pesticide waste and improves spray uniformity. An airflow circuit is formed using the blowpipe and suction pipe, creating an airflow curtain below the plant, effectively preventing pesticide mist from depositing in the soil and allowing for effective mist recovery. Additionally, the electric bending action of the leaf blowpipe blows upwards onto the drooping leaves, ensuring the mist is sprayed onto the underside of the leaves, significantly improving application efficiency. Finally, a mist return net is added to collect any mist drifting backward, further preventing mist deposition in the soil. Attached Figure Description

[0018] Figure 1 This is a perspective view of the first embodiment of this application; Figure 2 This is a front perspective view of the air blowing tube and air inhalation tube of the first embodiment of this application when they are deployed; Figure 3 This is a rear perspective view of the air blowing tube and air suction tube in the first embodiment of this application when they are deployed. Figure 4 This is a perspective view of the blade blowpipe according to the second embodiment of this application during operation; Figure 5 This is a top view of the spraying robot according to the first embodiment of this application during spraying; Figure 6 This is a perspective view of the air blowing pipe according to the second embodiment of this application; Figure 7 This is a front cross-sectional view of the blade blowpipe of the second embodiment of this application before it extends; Figure 8 This is a front cross-sectional view of the blade blowpipe of the second embodiment of this application after it has been extended; Figure 9 This is a side cross-sectional view of the blade blowpipe according to the second embodiment of this application; Figure 10 This is a front cross-sectional view of the spray net according to the first embodiment of this application.

[0019] Explanation of the labels in the diagram: 1. Mobile base, 101. Storage slot, 2. Wheels, 3. Blower, 4. Mounting base, 5. Nozzle, 6. Discharge tube, 7. Medicine tank, 8. Infrared sensor, 9. Navigation radar, 10. Air blowing pipe, 1001. Shaping tube, 1002. Sealing pipe, 1003. Blade blowing pipe, 11. Suction pipe, 12. Medicine mist fallback net, 1201. Magnetic base, 1202. Flexible anti-permeability layer, 1203. Liquid-absorbing sponge, 1204. Flexible mesh cover, 13. Slip ring, 14. Electrostrictive rod, 15. Upper tube, 16. Lower tube, 17. Electrostrictive deformation strip. Detailed Implementation

[0020] The two embodiments of this application will be described in detail below with reference to the accompanying drawings.

[0021] First implementation method: Figure 1 The diagram shows a drug delivery robot body, including a mobile base 1. Four independently driven wheels 2 equipped with high-torque motors are mounted on the bottom of the mobile base 1. A blower 3 is mounted on the end of the mobile base 1 near the forward direction, and a mounting base 4 is mounted on the back of the blower 3. Two sets of equally spaced openings are provided on both side walls of the mounting base 4, and each set of four openings contains a nozzle 5 matched to the blower 3. An electric push rod is installed inside each opening, and the output end of the electric push rod is connected to the nozzle 5. An electrostatic generator (existing technology; its specific structure and working principle are not described in detail here) is installed inside the mounting base 4, and a discharge tube 6 matched to the electrostatic generator is fixedly connected to the spray nozzle of each nozzle 5. A medicine tank 7 with a liquid level sensor, connected to multiple nozzles 5, is mounted on the back of the mounting base 1 at the mobile base 1. Two symmetrically distributed infrared sensors 8 are fixedly connected to the top of the blower 3, and a navigation radar 9 is installed between the two infrared sensors 8. The spraying robot also includes a path preset module electrically connected to the wheels 2, a navigation module electrically connected to the navigation radar 9, an angle adjustment module electrically connected to the electric push rod, and a spray volume adjustment module electrically connected to the nozzle 5. The spraying robot is equipped with a main control chip, and the infrared sensor 8 is electrically connected to the angle adjustment module and the spray volume adjustment module through the main control chip (this part of the module is a known module of the existing spraying robot, and its specific connection structure and working principle are well known to those skilled in the art, and will not be described in detail here). Figure 2 , 3 As shown, the movable base 1 has storage slots 101 on both sides of its sidewalls. The two ends of the storage slots 101 are rotatably connected to the upper and lower distributed air blowing pipes 10 and air suction pipes 11 via rotating seats. The movable base 1 is equipped with a servo motor connected to the air blowing pipes 10 and air suction pipes 11. The movable base 1 is also equipped with a negative pressure fan. The negative pressure fan is connected to a medicine recovery pump that is connected to the medicine tank 7. The air outlet of the negative pressure fan is connected to the air blowing pipe 10, and the air inlet of the negative pressure fan is connected to the air suction pipe 11. The front, rear, and upper sides of the air suction pipe 11 are provided with multiple equally spaced air inlets. A magnetic strip is fixedly embedded in the lower sidewall of the air suction pipe 11. The airflow enters from the air inlet and is sucked back into the medicine recovery pump by the negative pressure fan, thereby realizing the recovery of the deposited medicine mist. The magnetic strip is for the convenience of installing the medicine mist return net 12. Figure 5 , 10 As shown, when the two suction pipes 11 are in the deployed state, a drug mist return net 12 is connected between them. The drug mist return net 12 includes two magnetic bases 1201, and the magnetic bases 1201 are magnetically attracted to the magnetic strips on the suction pipes 11. A flexible impermeable layer 1202 is fixedly connected between the two magnetic bases 1201, and an absorbent sponge 1203 is laid on top of the flexible impermeable layer 1202. A flexible mesh cover 1204 is laid on top of the absorbent sponge 1203. Since the drug application robot is constantly moving forward during the application process, the drug mist sprayed to higher ground can also... Before it could sink, it floated to the back of the robot. Therefore, a spray mist return net 12 was added behind the spraying robot to capture the uncollected spray mist, further preventing the spray mist from settling into the soil. An absorbent sponge 1203 was used to absorb the spray mist, and a flexible impermeable layer 1202 prevented the spray mist from dripping. Every once in a while, the spray mist return net 12 was removed from the suction pipe 11 with both hands wearing protective gloves. Then, the spray mist return net 12 was twisted in the opposite direction with both hands to squeeze out the liquid. The liquid was filtered with a filter screen and then poured back into the medicine tank 7, thus realizing the recovery of the spray mist. Figure 6 , 7 and Figure 8 As shown, the air blowing pipe 10 includes a shaping tube 1001. A closed connecting pipe 1002, communicating with the end of the shaping tube 1001 furthest from the servo motor, is fixedly connected to the end of the shaping tube 1001. A blade blowing pipe 1003 is inserted inside the closed connecting pipe 1002. A slip ring 13, which is slidably and sealingly connected to the inner wall of the closed connecting pipe 1002, is fixedly connected to the side wall of the slip ring 13 and the inner wall of the closed connecting pipe 1002. Multiple sets of symmetrically distributed electrostrictive rods 14 (made of electrostrictive material; the specific composition of the material is selected according to actual needs and will not be described in detail here) are fixedly connected between the side wall of the slip ring 13 and the inner wall of the closed connecting pipe 1002. The shaping tube 1001 is connected to the air outlet of the negative pressure fan. Therefore, the airflow will form an airflow curtain after coming out of the air outlet on the shaping tube 1001, which effectively prevents the pesticide mist from sinking into the soil. When the infrared sensor 8 detects that the plant height is low and the plant density is high, the main control chip immediately controls the circuit to energize the electrostrictive rod 14. After the electrostrictive rod 14 is energized, it shortens, thereby allowing the leaf blowpipe 1003 to extend outward. The main control chip also energizes the leaf blowpipe 1003, thereby causing the leaf blowpipe 1003 to bend and blow air towards the plant. This can blow the leaves upward, thereby effectively spraying the pesticide mist onto the back of the leaves. Figure 5As shown, the angular rotation range of the blowing pipe 10 and the suction pipe 11 is 0-160°. A distance detector is also installed on the moving base 1, and the distance detector is electrically connected to the servo motor through the main control chip. Based on the measured distance between the spraying robot and the plant, the distance detector can control the servo motor to adjust the rotation angle of the blowing pipe 10 and the suction pipe 11. This can adjust the area of ​​the airflow curtain, thereby increasing the area of ​​pesticide mist recovery. It can also adjust the distance between the blowing pipe 10 and the suction pipe 11 and the plant to prevent the robot from being hindered by the small row spacing of the plants. It also adjusts the distance between the leaf blowing pipe 1003 and the plant to facilitate better blowing of the leaves.

[0022] Second implementation method: Figure 7 , 8 As shown, both the shaping tube 1001 and the blade blower 1003 have multiple equally spaced air outlets on their side walls. The air outlets on the shaping tube 1001 face the suction tube 11, and the air outlets on the blade blower 1003 face directly upwards. The air outlet of the negative pressure fan blows air from the shaping tube 1001 to the suction tube 11, and then the air is drawn back to the air inlet by the negative pressure fan from the suction tube 11, thus forming an airflow loop. During this airflow circulation, firstly, an airflow curtain can be formed below the plant to effectively prevent the pesticide mist from depositing in the soil; secondly, the driving force of the airflow can collect the pesticide mist to avoid waste of pesticide. The air outlets on the blade blower 1003, after being energized and bent, face the plant leaves and blow from the bottom to the top. Before spraying, the drooping leaves are moved in advance, so that the pesticide mist can be effectively sprayed on the back of the leaves during spraying, achieving uniform spraying. Figure 9 As shown, the leaf blowpipe 1003 includes an upper half-pipe 15 and a lower half-pipe 16 distributed vertically. The inner wall of the lower half-pipe 16 at its lower end is fixedly inlaid with multiple equally spaced electrodeformable strips 17 (preferably made of nickel-titanium alloy, but other materials can be selected according to actual needs). When the electrodeformable strips 17 are energized, they bend downwards, causing the entire leaf blowpipe 1003 to bend downwards towards the plant. This allows the leaves to be blown upwards from the bottom, exposing the back of the leaves, so that the pesticide spray can be sprayed on the back of the leaves, thereby effectively improving the uniformity of pesticide spraying. Both the upper half-pipe 15 and the lower half-pipe 16 are made of elastic material, and the lower half-pipe 16 is more flexible than the upper half-pipe 15. In order for the entire leaf blowpipe 1003 to bend smoothly when the electrodeformable strips 17 are energized and to return to its original shape after the power is turned off, both the upper half-pipe 15 and the lower half-pipe 16 are made of elastic material, and the lower half-pipe 16 is more flexible than the upper half-pipe 15.

[0023] In light of current practical needs, the above-described embodiments adopted in this application are not limited to these. Any changes made within the scope of knowledge possessed by those skilled in the art without departing from the concept of this application still fall within the protection scope of this invention.

Claims

1. A high-efficiency pesticide sprayer for grape cultivation in a solar greenhouse, characterized in that: The system includes a drug delivery robot body, which includes a mobile base (1). The mobile base (1) has storage slots (101) on both sides of its sidewalls. The two ends of the storage slots (101) are rotatably connected to an air blowing pipe (10) and an air suction pipe (11) distributed vertically through a rotating seat. The mobile base (1) is equipped with a servo motor connected to the air blowing pipe (10) and the air suction pipe (11). The mobile base (1) is also equipped with a negative pressure fan. The negative pressure fan is connected to a liquid medicine recovery pump connected to the medicine tank (7). The air outlet of the negative pressure fan is connected to the air blowing pipe (10), and the air inlet of the negative pressure fan is connected to the air suction pipe (11). When the two air suction pipes (11) are in the unfolded state, a drug mist fall-off net (12) is connected between them. A blower (3) is installed at one end of the mobile base (1) near the forward direction, and a mounting base (4) is installed on the back of the blower (3). Two sets of equally spaced opening slots are opened on both sides of the mounting base (4), and a nozzle (5) matching the blower (3) is installed in each of the four opening slots in each set. An electric push rod is installed inside each opening slot, and the output end of the electric push rod is connected to the nozzle (5). An electrostatic generator is installed inside the mounting base (4), and a discharge tube (6) matching the electrostatic generator is fixedly connected at the spray nozzle of each nozzle (5). A medicine tank (7) with a liquid level sensor is installed on the back of the mobile base (1) and communicates with multiple nozzles (5). Two symmetrically distributed infrared sensors (8) are fixedly connected to the top of the blower (3). The air blowing pipe (10) includes a shaping tube (1001). The end of the shaping tube (1001) away from the servo motor is fixedly connected to a closed tube (1002) communicating with it. A blade blowing pipe (1003) is inserted inside the closed tube (1002). The end of the blade blowing pipe (1003) located inside the closed tube (1002) is fixedly connected to a slip ring (13) that is slidably and sealingly connected to the inner wall of the closed tube (1002). The side wall of the slip ring (13) and the inner wall of the closed tube (1002) are fixedly connected. There are multiple sets of symmetrically distributed electrostrictive rods (14). The side walls of the shaping tube (1001) and the blade blowpipe (1003) are provided with multiple equally spaced air outlets. The air outlets on the shaping tube (1001) face the air intake tube (11), and the air outlets on the blade blowpipe (1003) face directly upward. The blade blowpipe (1003) includes an upper half tube (15) and a lower half tube (16) distributed vertically. The inner wall of the lower half tube (16) located at the lower end is fixedly inlaid with multiple equally spaced electrostrictive strips (17).

2. The high-efficiency pesticide sprayer for grape cultivation in a solar greenhouse according to claim 1, characterized in that: The bottom of the mobile base (1) is equipped with four independently driven wheels (2) and equipped with high torque motors, and a navigation radar (9) is installed in the middle of the two infrared sensors (8). The main body of the spraying robot also includes a path preset module electrically connected to the wheels (2), a navigation module electrically connected to the navigation radar (9), an angle adjustment module electrically connected to the electric push rod, and a spray volume adjustment module electrically connected to the nozzle (5). The main body of the spraying robot is equipped with a main control chip, and the infrared sensors (8) are electrically connected to the angle adjustment module and the spray volume adjustment module through the main control chip.

3. The high-efficiency pesticide sprayer for grape cultivation in a solar greenhouse according to claim 2, characterized in that: Both the upper tube (15) and the lower tube (16) are made of elastic material, and the flexibility of the lower tube (16) is greater than that of the upper tube (15).

4. The high-efficiency pesticide sprayer for grape cultivation in a solar greenhouse according to claim 1, characterized in that: The front and rear sides and the top sidewall of the suction pipe (11) are provided with multiple equally spaced air inlets, and a magnetic strip is fixedly embedded in the bottom sidewall of the suction pipe (11).

5. The high-efficiency pesticide sprayer for grape cultivation in a solar greenhouse according to claim 4, characterized in that: The drug mist fallback net (12) includes two magnetic bases (1201), and the magnetic bases (1201) are magnetically attracted to the magnetic strip on the suction pipe (11). A flexible anti-permeability layer (1202) is fixedly connected between the two magnetic bases (1201), and an absorbent sponge (1203) is laid on top of the flexible anti-permeability layer (1202). A flexible mesh cover (1204) is laid on top of the absorbent sponge (1203).

6. The high-efficiency pesticide sprayer for grape cultivation in a solar greenhouse according to claim 1, characterized in that: The angular rotation range of the blowing pipe (10) and the suction pipe (11) is 0-160°. A distance detector is also installed on the mobile base (1), and the distance detector is electrically connected to the servo motor through the main control chip.

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