Automatic botanical pesticide dispensing and spraying device for green prevention and control of grape gray mold

Abstract

The invention relates to the technical field of agricultural equipment, in particular to an automatic botanical pesticide dispensing and spraying device for green prevention and control of grape gray mold, which comprises a machine body, a dispensing part and a spraying part are arranged in the machine body, the dispensing part is communicated with the spraying part, and a control system for collecting environmental information and adjusting spraying in real time is further arranged in the machine body. The dispensing part comprises a first dispensing barrel, the first dispensing barrel is rotationally connected with a driving assembly, the driving assembly is fixedly connected with a rotating shaft, the outer side wall of the rotating shaft is fixedly connected with a spiral blade, the top of the first dispensing barrel communicates with a fungicide feeding pipe and a mother liquor feeding pipe, the spraying part comprises a spraying rod, the spraying rod is hinged to a connecting rod, and the connecting rod is fixedly connected with a spraying head. Traditional stirring is replaced by conical cavity turbulence shearing, three-stage treatment of ultrasonic gel breaking and screening and filtering is matched, the precipitation rate of pesticide mixing is reduced, it is ensured that pesticide liquid penetrates through canopies through an environment sensing and intelligent adjusting system, and the prevention and control effect of pesticide spraying is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of agricultural equipment, and particularly to an automatic medicine dispensing and spraying device for plant-derived pesticides for the green prevention and control of grape gray mold Background Art

[0002] Grape gray mold is a global disease caused by the fungus Botrytis cinerea, which poses a serious threat to grape yield and quality. Traditional grape gray mold control technologies highly rely on the use of chemical fungicides. However, long-term use of chemical fungicides can lead to problems such as increased pathogen resistance, environmental pollution, and excessive pesticide residues in fruits. With the development of green agriculture, plant-derived pesticides have gradually become the research focus due to their environmental friendliness and low resistance risk. For example, biogenic agents such as matrine and Lvdikang No. 3 have been proven to have significant control effects on gray mold. Among them, especially the lesion area treated with matrine can be reduced to 1.73 cm 2 , which is superior to other plant-derived agents.

[0003] In the prior art, the patent document with the invention publication number CN114794062A provides an automatic medicine dispensing device and method for a pesticide spraying machine, including a medicine dispensing unit and an acquisition unit. The medicine dispensing unit includes a medicine dispensing tank, a tank cover is arranged on the medicine dispensing tank, a first driving motor is arranged on the tank cover, the output end of the first driving motor is cooperatively connected with a rotating shaft, the rotating shaft penetrates through the tank cover and extends into the medicine dispensing tank, a plurality of groups of stirring blades are arranged along the length direction of the rotating shaft, the lengths of the plurality of groups of stirring blades increase sequentially from top to bottom, and a plurality of cylinders are arranged in an array in the radial direction on the upper and lower sides of each group of stirring blades. A plurality of through holes are arranged along the length direction of the plurality of cylinders, and the through holes are in an S shape. Through the design that the lengths of multiple groups of stirring blades increase sequentially from top to bottom, the stirring range of pesticide preparation is increased, so that multiple groups of stirring blades respectively rub and collide with pesticides at different heights, and different directions of extrusion are applied to the pesticides, thereby accelerating the flow rate of pesticides in the medicine dispensing tank and improving the mixing efficiency of pesticides.

[0004] However, in actual application scenarios, the single stirring form of this device gradually exposes the technical bottleneck of insufficient mixing uniformity when dealing with the complex physical and chemical properties of plant-derived pesticides. For example, there is a density difference between the mixed stock solution and the adjuvant, and the laminar flow effect formed by traditional stirring causes the medicine to form a concentration gradient at the bottom of the medicine dispensing tank, resulting in phenomena such as liquid stratification and local precipitation in the mixture. Therefore, it is necessary to propose an automatic medicine dispensing and spraying device for plant-derived pesticides for the green prevention and control of grape gray mold to achieve automatic, efficient and uniform medicine dispensing and spraying to solve the problems existing in the prior art. Summary of the Invention

[0005] To solve the above problems, the present invention provides an automated pesticide dispensing and spraying device for the green prevention and control of grape gray mold. Through the replacement of traditional stirring by conical cavity turbulent shear, combined with three-level treatments of ultrasonic gel breaking and screening filtration, the precipitation rate of pesticide mixing is reduced, and an environmental perception and intelligent regulation system is used to ensure that the liquid medicine penetrates the canopy, improving the control effect of pesticide spraying.

[0006] To achieve the above object, the technical solution of the present invention is as follows: An automated pesticide dispensing and spraying device for the green prevention and control of grape gray mold, including a machine body. Inside the machine body, there is a dispensing part and a spraying part. The dispensing part is communicated with the spraying part. The machine body is also configured with a control system. The dispensing part includes a first dispensing cylinder fixedly connected to the inner side wall of the machine body. The inner side wall of the first dispensing cylinder is rotationally connected with a driving component. The driving component is coaxially and fixedly connected with a rotating shaft. A spiral blade is welded to the outer side wall of the rotating shaft. The outer side of the spiral blade is fitted to the inner wall of the first dispensing cylinder. The top of the first dispensing cylinder is communicated with a microbial agent feeding pipe and a mother liquor feeding pipe. When the driving component drives the rotating shaft to rotate, it stirs the solution in the first dispensing cylinder to mix and provides a pumping and propelling force for the solution. One end of the first dispensing cylinder away from the driving component is communicated with an ultrasonic gel breaking component for using the ultrasonic cavitation effect to break the colloid aggregation phenomenon in the mixed liquid;

[0007] The spraying part includes a spraying component. An adjusting component is integrated in the spraying component. The spraying component is communicated with the ultrasonic gel breaking component. The control system collects the canopy morphology and spraying environment information of the area to be sprayed, and drives the adjusting component to adjust the spraying angle of the spraying component and the spraying condition of the droplets.

[0008] The technical principle of the above solution is as follows: The preparation of the botanical pesticide is divided into the input of microbial agents and the input of high-concentration stock solution, which enter the first dispensing cylinder through the microbial agent feeding pipe and the mother liquor feeding pipe respectively. The driving component drives the rotating shaft and the spiral blade to rotate, realizing the uniform mixing of the solution. Also, through the pumping action of the spiral blade, the mixed liquid is pushed towards the ultrasonic gel breaking component; The ultrasonic gel breaking component uses the ultrasonic cavitation effect to break the colloid aggregation phenomenon in the mixed liquid, improving the uniformity and spraying effect of the solution and reducing the precipitation of the mixed solution; The control system collects the canopy morphology and spraying environment information of the area to be sprayed, and intelligently drives the adjusting component to ensure that the pesticide can be sprayed evenly and accurately onto the target area.

[0009] Adopting the above solution has the following beneficial effects:

[0010] 1. In this solution, the design of the spiral blade is adopted. Through the disturbance of the liquid inside the spiral blade during rotation, the mixing of each solution is realized, and the propelling force of the spiral blade is used to replace the traditional liquid pump transportation method, reducing energy consumption; At the same time, based on the dynamic change of the viscosity of the liquid medicine, the mixing intensity is adjusted to ensure that botanical pesticides with different physical and chemical properties can achieve high-efficiency homogenization, avoiding the component damage caused by excessive stirring and protecting the effective components of the pesticide.

[0011] 2. In this solution, an environmental perception and intelligent feedback mechanism is introduced, which can be matched in real time according to the canopy morphology and environmental conditions, and automatically optimize the spraying angle and droplet parameters. In addition, a gas-liquid mixing cooling technology is combined to protect the activity of heat-sensitive components from damage, enabling us to achieve precise pesticide application and improve the efficacy of the liquid medicine.

[0012] Furthermore, the space inside the first medicine dispensing cylinder is successively divided into a mixing chamber and a transportation chamber along the direction away from the driving component. The mixing chamber is a frustum-shaped structure with a larger cross-sectional radius on the side closer to the driving component than on the side away from the motor. The transportation chamber is connected to the mixing chamber and has a fixed cross-sectional radius.

[0013] Beneficial effects: In this design, since the cross-sectional radius of the mixing chamber gradually decreases, the solution will be subjected to an increasingly strong squeezing force during the flow process. The change in pressure helps to promote the more uniform dispersion of the microbial inoculant and the high-concentration stock solution in the solution, improving the mixing efficiency. At the same time, the mixed solution enters the transportation chamber with a fixed cross-sectional radius, ensuring a stable flow rate of the solution, facilitating subsequent treatment by the ultrasonic gel-breaking component, guaranteeing the continuity and stability of the entire medicine dispensing process, and improving the preparation efficiency and spraying effect of pesticides.

[0014] Furthermore, the pitch of the spiral blade on the side closer to the driving component is greater than the pitch on the side away from the rotating motor.

[0015] Beneficial effects: The design of the variable-pitch spiral blade can make the flow velocity of the solution in the mixing chamber gradually increase, enhance the turbulence degree of the solution, and promote the mixing uniformity of the microbial inoculant and the high-concentration stock solution. At the same time, the change in pitch also makes the solution receive a more uniform shear force during the mixing process, helping to break the aggregates in the solution and improve the dispersion effect of the solution.

[0016] Furthermore, the ultrasonic gel-breaking component includes a second medicine dispensing cylinder connected to the first medicine dispensing cylinder. A plurality of ultrasonic transducers are fixedly connected to the outer side wall of the second medicine dispensing cylinder by bolts, and a spiral groove is formed on the inner side wall of the second medicine dispensing cylinder.

[0017] Beneficial effects: The operation of the ultrasonic transducers generates strong ultrasonic vibrations, which act on the solution, helping to break the colloidal structure in the solution, improve the solubility and dispersion of pesticides. At the same time, the design of the spiral groove on the inner side wall of the second medicine dispensing cylinder can guide the solution to form a spiral flow in the cylinder, enhance the turbulence degree of the solution, promote the propagation and effect of ultrasonic vibrations in the solution, not only improve the preparation quality of pesticides, but also ensure the uniformity and stability of pesticides during the spraying process, and improve the prevention and control effect of grape gray mold.

[0018] Furthermore, a filter sheet integrally formed with the second medicine dispensing cylinder is provided at the bottom inside the second medicine dispensing cylinder.

[0019] Beneficial effects: The design of the filter sheet can effectively block large particle impurities in the solution, prevent the un-mixed part from entering the spraying system, ensure the purity and fineness of the pesticide solution, reduce the probability of clogging of the spray head, and also ensure uniform coverage of the pesticide on the grape leaves, improving its control effect.

[0020] Furthermore, the spraying assembly includes a spraying rod hinged to the side wall of the machine body. One end of the spraying rod away from the machine body is hinged with a connecting rod, and one end of the connecting rod away from the spraying rod is fixedly connected with a spray head;

[0021] The adjusting assembly includes an angle adjusting member, a droplet adjusting member, and a transport pipe for connecting the second medicine dispensing cylinder and the spray head. The angle adjusting member includes an electric control telescopic rod fixedly connected to the bottom of the outer wall of the spraying rod. The output shaft of the electric control telescopic rod is fixedly connected with a slider slidably connected to the outer side wall of the spraying rod. One side wall of the slider is hinged with a first connecting rod, and one end of the first connecting rod away from the slider is hinged with the side wall of the machine body. One side wall of the slider away from the electric control telescopic rod is hinged with a second connecting rod, and one end of the second connecting rod away from the slider is hinged with the side wall of the connecting rod;

[0022] The droplet adjusting member includes an electric control valve fixedly connected to the connection part of the spray head and the transport pipe.

[0023] Beneficial effects: Through the telescopic movement of the electric control telescopic rod, the angle of the spraying rod can be adjusted by the limitation and transmission of each connecting rod to adapt to different operation requirements and environmental conditions, which not only improves the flexibility and adaptability of the device, but also ensures that the pesticide can be accurately sprayed onto the target area, reducing pesticide waste and environmental pollution; through the precise control of the electric control valve, the flow rate of the pesticide solution entering the spray head is adjusted, so as to adjust the size and density of the droplets, enabling the device to flexibly adjust the spraying effect according to the characteristics of the grape leaves and the control requirements; the uniformity and fineness of the droplets can not only improve the adhesion rate and absorption efficiency of the pesticide, but also reduce the loss and waste of the pesticide, reducing the negative impact on the environment.

[0024] Furthermore, the microbial agent put into the microbial agent delivery pipe includes the following components by solvent percentage: 70% Bacillus subtilis, 20% Trichoderma harzianum, and 10% carrier;

[0025] The mixed mother liquor put into the mother liquor delivery pipe includes the following components by solvent percentage: 25% eugenol, 15% osthole, 10% allicin, 5% co-solvent, and 45% water-based solvent.

[0026] Beneficial effects: In this solution, among the microbial agents, 70% of Bacillus subtilis directly inhibits the mycelial growth and spore germination of Botrytis cinerea by secreting antibacterial lipopeptides (such as surfactin and iturin), while 20% of Trichoderma harzianum further weakens the activity of pathogenic bacteria through competitive nutrient space and parasitism, and the two cooperate to form a dual biological barrier; 10% of the carrier (such as diatomaceous earth or carboxymethyl cellulose) significantly improves the storage stability of the microbial agent and ensures the survival rate of live bacteria before spraying. In the mother liquor, 25% of eugenol achieves rapid sterilization by destroying the cell membrane integrity of Botrytis cinerea, 15% of osthole interferes with the mitochondrial energy metabolism of pathogenic bacteria, and 10% of allicin (sulfur-containing compound) inhibits the activity of fungal enzymes. The multi-target effects of the three significantly reduce the resistance risk of pathogenic bacteria; 5% of the co-solvent (such as polyoxyethylene castor oil) enhances the dispersion of lipophilic components, and 45% of the water-based solvent (a compound of deionized water and glycerol) reduces environmental toxicity while ensuring the fluidity of the liquid medicine. In addition, this formulation is highly compatible with the spiral blade shearing mixing, ultrasonic gel breaking, and gas-liquid cooling technologies of the device, avoiding damage to bacterial cells or degradation of heat-sensitive components caused by traditional stirring, ensuring the uniformity and stability of the mixed liquid medicine, and ultimately achieving the improvement of the prevention and control efficiency of Botrytis cinerea, and meeting the core requirements of green agriculture for low residue and low resistance.

[0027] Furthermore, the spray head includes a nozzle body and a nozzle. The nozzle body and the nozzle are integrally formed. The nozzle body is provided with a spray channel along its axis. One end of the spray channel is communicated with the transport pipe, and the other end of the spray channel penetrates through the nozzle body and the nozzle. A plurality of air channels are circumferentially arranged along the axis of the spray channel in the nozzle body. The air channels are all spiral structures. One end of each air channel is communicated with the outside of the nozzle body, and the other end of each air channel is communicated with the spray channel. An electric control valve covers the spray channel and the plurality of air channels. During the spraying process, the driving opening of the electric control valve is proportional to the number of communicated air channels. The spiral air channels are used to inhale gas to form a rotating air flow, and the gas expansion and heat absorption are utilized to adjust the temperature of the sprayed liquid.

[0028] Beneficial effects: Through the mixing of the rotating air flow and the sprayed liquid, the fog droplets are further refined, the uniformity and penetration of the fog droplets are improved, ensuring that the pesticide can penetrate more deeply into the back and hidden parts of grape leaves, enhancing the control effect; at the same time, the process of gas expansion and heat absorption helps to reduce the temperature of the sprayed liquid, avoiding the damage of high temperature to the active ingredients of the pesticide, and ensuring the stability and effectiveness of the pesticide; in addition, this design can also reduce the evaporation of the liquid medicine during the spraying process to a certain extent, further reducing the loss and waste of the pesticide, improving the resource utilization efficiency, and reducing the potential risk to the ecological environment.

[0029] Furthermore, the surface of the spiral blade is coated with a hydrophobic-lipophilic nano-layer.

[0030] Beneficial effects: The hydrophobic-lipophilic nanolayer reduces the retention of hydrophilic components such as plant polysaccharides on the surface of the spiral blade by repelling water-based carrier adsorption, while enhancing the interfacial wettability of lipophilic active ingredients (such as matrine microcapsules), making the liquid components in the mixing process more easily dispersed, effectively avoiding local agglomeration. In addition, the lipophilic surface selectively binds to organic active ingredients, forming molecular-level directional adsorption, reducing the direct contact between heat-sensitive substances and metal blades, reducing the risk of oxidation and degradation, and ensuring the stability of drug efficacy.

[0031] Furthermore, the control system includes a viscosity detection module, an environment detection module, a dispensing ratio control module, and a spraying dose control module;

[0032] The viscosity detection module includes a torque sensor, a viscosity acquisition unit, and a viscosity adjustment unit. The torque sensor is used to monitor the torque change during the rotation of the spiral blade in real time, and the torque sensor is located on the surface of the rotating shaft;

[0033] The viscosity acquisition unit is used to receive and process the signals of the torque sensor, output the torque data of the rotating shaft, and calculate the apparent viscosity of the mixed liquid in the first dispensing cylinder in combination with the rotation speed of the rotating shaft;

[0034] The viscosity adjustment unit is used to receive the viscosity data, and calculate, convert, and transmit a drive signal related to the drive power to the drive assembly according to the viscosity data to adjust the mixing intensity in the first dispensing cylinder;

[0035] The environment detection module includes a lidar, a temperature and humidity acquisition device, a wind speed acquisition device, an environmental factor acquisition unit, a spraying adjustment unit, and a droplet adjustment unit;

[0036] The lidar is used to scan the grape canopy to be sprayed to generate three-dimensional point cloud data. The temperature and humidity acquisition device is used to monitor the environmental temperature, the liquid medicine temperature, and the environmental humidity. The wind speed acquisition device is used to detect the wind speed in real time and predict the risk of liquid medicine drift in combination with the wind direction data;

[0037] The environmental factor acquisition unit is used to integrate the three-dimensional point cloud data, the temperature and humidity data, and the wind speed data, calculate and generate an environmental risk index, evaluate the optimal spraying window, and then send dynamic parameters to the spraying adjustment unit and the droplet adjustment unit. The dynamic parameters include the flow rate, the droplet temperature adjustment trend, and the spraying angle;

[0038] The spraying adjustment unit is used to extract the spraying angle data according to the environmental data and the environmental risk index, calculate, convert, and transmit a drive signal for spraying angle adjustment to the electric control telescopic rod according to the spraying angle data, and drive the electric control telescopic rod to adjust the elevation angle of the connecting rod to match the canopy height;

[0039] A droplet adjustment unit, which is used to extract the flow rate and the droplet temperature adjustment trend according to the environmental data and the environmental risk index, transmit the driving signal for droplet adjustment to the electric control valve, link the opening and closing quantity of the spiral air ducts, and adjust the gas-liquid volume ratio of the sprayed liquid;

[0040] A dispensing ratio control module, which includes a dispensing control unit and a number of electromagnetic liquid valves, and the electromagnetic liquid valves are respectively installed in the bacterial agent delivery pipe and the mother liquor delivery pipe;

[0041] The dispensing control unit is used to receive the environmental parameters and the concentration ratio in the bacterial agent delivery pipe and the mother liquor delivery pipe, input the environmental parameters and the liquid medicine concentration ratio into the ratio calculation model, output the optimal bacterial agent-mother liquor mixing ratio, and respectively control the opening degrees of the electromagnetic liquid valves of the bacterial agent delivery pipe and the mother liquor delivery pipe according to the mixing ratio;

[0042] A spraying dose control module, which includes a spraying control unit;

[0043] The spraying control unit is used to collect the disease distribution data through a hyperspectral camera or a drone image, mark the infection level of Botrytis cinerea on the grape canopy, combine the wind speed, canopy density and leaf inclination angle, construct a time series dataset of spraying dose - control effect, and then output a zoned spraying strategy, generate a dynamic path planning and dose instruction, and send a driving signal to control the flow rate of the sprayed liquid by adjusting the opening degree of the electric control valve.

[0044] Advantageous effects: The combination of the viscosity detection module and the viscosity adjustment unit adjusts the mixing intensity according to the real-time viscosity data, ensures the uniform mixing of pesticides, improves the spraying effect, and avoids the problem of uneven spraying caused by too high or too low viscosity. The lidar, temperature and humidity acquisition device and wind speed acquisition device monitor the environmental parameters in real time, and the environmental factor acquisition unit integrates various data to evaluate the best pesticide application window. The spraying adjustment unit and the droplet adjustment unit accurately adjust the spraying angle, flow rate and droplet temperature according to the dynamic parameters, realizing the green and efficient prevention and control of grape Botrytis cinerea, not only improving the pesticide utilization rate, but also reducing environmental pollution.

[0045] The additional aspects and advantages of the present invention will be partially given in the following description, partially become obvious from the following description, or be understood through the practice of the present invention. Description of the Drawings

[0046] Figure 1 It is an axonometric schematic diagram of the overall structure of the device in the embodiment of the automatic pesticide dispensing and spraying device for green prevention and control of grape Botrytis cinerea of the present invention;

[0047] Figure 2 It is an axonometric sectional view of the machine body and its internal structure in the embodiment of the automatic pesticide dispensing and spraying device for green prevention and control of grape Botrytis cinerea of the present invention;

[0048] Figure 3 The semi-sectional axonometric view of the first medicine dispensing cylinder in the embodiment of the automatic medicine dispensing and spraying device for plant-derived pesticides for the green prevention and control of Botrytis cinerea of the present invention;

[0049] Figure 4 The axonometric sectional view of the second medicine dispensing cylinder in the embodiment of the automatic medicine dispensing and spraying device for plant-derived pesticides for the green prevention and control of Botrytis cinerea of the present invention;

[0050] Figure 5 The axonometric schematic diagram of the spraying part in the embodiment of the automatic medicine dispensing and spraying device for plant-derived pesticides for the green prevention and control of Botrytis cinerea of the present invention;

[0051] Figure 6 The axonometric perspective view of the spray head in the embodiment of the automatic medicine dispensing and spraying device for plant-derived pesticides for the green prevention and control of Botrytis cinerea of the present invention;

[0052] Figure 7 The operating schematic diagram of the control system in the embodiment of the automatic medicine dispensing and spraying device for plant-derived pesticides for the green prevention and control of Botrytis cinerea of the present invention.

[0053] The reference numerals in the accompanying drawings of the specification include: 1, body; 2, first medicine dispensing cylinder; 201, mixing chamber; 202, transportation chamber; 3, rotating shaft; 4, support cylinder; 5, rotating motor; 6, spiral blade; 7, fungicide feeding pipe; 8, mother liquor feeding pipe; 9, second medicine dispensing cylinder; 10, filter sheet; 11, ultrasonic transducer; 12, spiral groove; 13, spraying rod; 14, connecting rod; 15, spray head; 1501, spray head body; 1502, nozzle; 1503, spraying channel; 1504, air channel; 16, transportation pipe; 17, electric control valve; 18, electric control telescopic rod; 19, slider; 20, first connecting rod; 21, second connecting rod. Detailed implementation manners

[0054] Next, the technical solutions of the present invention will be clearly and completely described in conjunction with the accompanying drawings. Obviously, the described embodiments are some, rather than all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0055] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention. In addition, the terms "first", "second", "third" are only used for descriptive purposes and should not be construed as indicating or implying relative importance.

[0056] In the description of the present invention, it should be noted that unless otherwise clearly specified and defined, the terms "installed", "connected", "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0057] The following is a further detailed description through specific embodiments:

[0058] Embodiment 1:

[0059] As shown in Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 and Figure 6 : The automatic dispensing and spraying device of plant-derived pesticides for the green prevention and control of grape gray mold includes a machine body 1. The machine body 1 can be configured with walking components or designed as a backpack type, which is determined by the actual spraying conditions. A dispensing part and a spraying part are provided inside the machine body 1, and the dispensing part is communicated with the spraying part. A control system is configured inside the machine body 1, and the control system is used to collect the three-dimensional shape of the canopy to be sprayed and the canopy environmental factors to adjust the spraying angle and spraying droplets.

[0060] The medicine dispensing section includes a first medicine dispensing cylinder 2 fixedly connected to the inner wall of the body 1. The inner wall of the first medicine dispensing cylinder 2 is fixedly connected with a rotating motor 5 by bolts. A support cylinder 4 is sleeved outside the rotating motor 5. One end of the support cylinder 4 is rotatably connected to the inner wall of the first medicine dispensing cylinder 2 through a bearing. The other end of the support cylinder 4 is welded with a rotating shaft 3. The output shaft of the rotating motor 5 is coaxially and fixedly connected to the rotating shaft 3 through a coupling. A spiral blade 6 is welded on the outer wall of the rotating shaft 3. The outer side of the spiral blade 6 is in contact with the inner wall of the first medicine dispensing cylinder 2. A feeding hole communicating with the first medicine dispensing cylinder 2 is opened at the top of the body 1. A microbial agent injection tube 7 is arranged in the feeding hole. After the microbial agent injection tube 7 injects the microbial agent, the rotating motor 5 is started, so that the rotating shaft 3 drives the spiral blade 6 to rotate, forming a strong shear layer. When the microbial agent and the high-concentration stock solution flow in the first medicine dispensing cylinder 2, the mixed solution of the high-concentration stock solution and the microbial agent can generate a composite movement of axial propulsion and radial diffusion, overcoming the agglomeration tendency of the plant-derived active ingredients (such as alkaloid micelles), thereby achieving the mixing effect, replacing the stirring mixing in the traditional technology, and improving the mixing efficiency and mixing uniformity. In addition, by using the rotation of the spiral blade 6 in the medicine dispensing box to push the liquid medicine to flow and increase the flow velocity, it replaces the driving force of the liquid pump in the traditional technology, reducing the energy consumption and cost of the overall medicine dispensing and spraying.

[0061] Specifically, as Figure 3 shown, the space in the first medicine dispensing cylinder 2 is sequentially divided into a mixing chamber 201 and a transportation chamber 202 along the direction away from the rotating motor 5. The mixing chamber 201 is a frustum-shaped structure with a larger cross-sectional radius on the side close to the rotating motor 5 than on the side far from the motor. The transportation chamber 202 is communicated with the mixing chamber 201 and the cross-sectional radius of the transportation chamber 202 is fixed. Correspondingly, the pitch of the spiral blade 6 on the side close to the rotating motor 5 is larger than the pitch on the side far from the rotating motor 5. The design of the mixing chamber 201 and the transportation chamber 202 in the first medicine dispensing cylinder 2 results in a tapered design of the inner wall of the first medicine dispensing cylinder 2, causing the raw material fluid to have an axial velocity gradient and generating an axial acceleration effect. Combining with the variable pitch design of the spiral blade 6, it generates the turbulent kinetic energy induced by the velocity difference, further strengthening the axial pushing force, forcing the raw materials to generate radial diffusion during the acceleration process, forming a shear rate difference between fluid layers, inducing vortices, improving the mixing efficiency and shortening the mixing time, and making the dispersion coefficient of the sprayed liquid medicine stable to adapt to the physicochemical property requirements of the plant-derived pesticide.

[0062] In addition, based on the design of the shape of the mixing chamber 201 and by utilizing the flow velocity gradient existing in the process, a mother liquor delivery pipe 8 located on the side wall of the mixing chamber 201 is connected to the side wall of the first medicine dispensing cylinder 2. The mother liquor delivery pipe 8 is used to deliver the high-concentration stock solution. Based on the conical accelerating flow channel of the mixing chamber 201, the dynamic pressure near the axis in the mixing chamber 201 increases while the static pressure decreases significantly, forming a pressure difference with the orifice of the mother liquor delivery pipe 8 on its side wall. Thus, the auxiliary raw materials in the mother liquor delivery pipe 8 are automatically sucked into the main liquid flow through the Venturi effect, achieving pump-free precise feeding. The negative pressure suction avoids shear heating during mechanical pumping, prevents the inactivation of heat-sensitive components in the plant extract, and at the same time, the high-speed flow flushes the pipe wall, reducing the fouling rate of the delivery pipe and the probability of transportation blockage. In addition, when the power of the rotating motor 5 is increased (corresponding to an increase in the rotation speed of the spiral blade 6), the flow velocity in the mixing chamber 201 increases synchronously, and the negative pressure suction also increases accordingly, achieving a feeding intensity that is dynamically synchronized with the mixing intensity and improving the automation and precision of medicine dispensing.

[0063] Since conventional stirring can only improve the mixing uniformity by increasing the mixing efficiency without combining detection steps, it is necessary to screen or filter the mixed liquid after mixing to improve the uniformity of the sprayed liquid medicine. For example, Figure 4 As shown, a second medicine dispensing cylinder 9 is connected to the end of the first medicine dispensing cylinder 2 far from the rotating motor 5. A filter sheet 10 integrally formed with the second medicine dispensing cylinder 9 is provided at the bottom inside the second medicine dispensing cylinder 9. The filter sheet 10 is preferably an expanded polytetrafluoroethylene (ePTFE) microporous ceramic composite membrane, and the membrane layer forms a spider-web-like microporous structure by a stretching process, having both air permeability and molecular-level filtering ability. Its pore size is smaller than the particle size of the solid impurities in the plant-derived pesticide raw materials, so that only the uniformly mixed pesticide liquid can pass through, and the undissolved solid impurities and aggregates are intercepted in the second medicine dispensing cylinder 9, avoiding clogging of the spraying components and ensuring that the sprayed liquid medicine is uniform and delicate, improving the control effect of the liquid medicine. In addition, a plurality of ultrasonic transducers 11 are fixedly connected to the outer side wall of the second medicine dispensing cylinder 9 by bolts. A spiral groove 12 is formed on the inner side wall of the second medicine dispensing cylinder 9. The design of the ultrasonic transducers 11, when activated, generates ultrasonic waves that act in the second medicine dispensing cylinder 9 through the cavitation effect. Combining the opening of the spiral groove 12 to extend the flow time of the mixed liquid effectively breaks the aggregation phenomenon of the colloid in the raw materials, further enhancing the mixing uniformity of the liquid medicine and reducing the formation of precipitation.

[0064] For the realization of the spraying function, such as Figure 5As shown in the figure, the spraying part includes a spraying rod 13 hinged to the side wall of the machine body 1. The inside of the spraying rod 13 is hollow. One end of the spraying rod 13 away from the machine body 1 is hinged with a hollow connecting rod 14. One end of the connecting rod 14 away from the spraying rod 13 is fixedly connected with a spraying head 15 by bolts. A conveying pipe 16 is arranged inside the spraying rod 13. One end of the conveying pipe 16 penetrates through the side wall of the machine body 1 and is communicated with the bottom of the second medicine mixing cylinder 9. The other end of the conveying pipe 16 passes through the hollow part of the connecting rod 14 and is communicated with the spraying head 15. An electric control valve 17 is arranged at the communicating part between the spraying head 15 and the conveying pipe 16. The electric control valve 17 is fixedly connected to the inner side wall of the connecting rod 14 by screws. The design of the electric control valve 17 can dynamically adjust the opening degree according to signals and directly control the liquid medicine flow rate, that is, the larger the opening degree, the stronger the flow rate, and vice versa. Combining the real-time wind speed and humidity data, the spraying intensity is automatically optimized. For example, when the wind is strong, the flow rate is reduced to reduce dispersion, and when the humidity is high, the spraying rhythm is adjusted to prevent the loss of liquid medicine.

[0065] Specifically, as Figure 6 shown in the figure, the spraying head 15 includes a nozzle body 1501 and a nozzle 1502. The nozzle body 1501 and the nozzle 1502 are integrally formed. The nozzle body 1501 is provided with a spraying channel 1503 along its axis. One end of the spraying channel 1503 is communicated with the conveying pipe 16, and the other end of the spraying channel 1503 penetrates through the nozzle body 1501 and the nozzle 1502. A plurality of air channels 1504 are circumferentially arranged along the axis of the spraying channel 1503 inside the nozzle body 1501. The air channels 1504 are all spiral structures. One end of each air channel 1504 is communicated with the outside of the nozzle body 1501, and the other end of each air channel 1504 is communicated with the spraying channel 1503. The electric control valve 17 covers the spraying channel 1503 and the plurality of air channels 1504. During the process of increasing the opening degree of the electric control valve 17, the liquid medicine flow rate increases, and at the same time, more spiral air channels 1504 are gradually opened; the liquid medicine flows through the spraying channel 1503 at a high speed to generate suction, and automatically inhales external gas from the air channels 1504 to form a gas-liquid mixed flow. At this time, the spiral air channels 1504 make the inhaled gas form a swirling airflow, prolong the contact time with the liquid medicine, and the gas expands and absorbs heat, thereby reducing the temperature of the liquid medicine; in addition, the mixed airflow is atomized into fine droplets at the nozzle 1502 due to the sudden change in pressure, and at the same time, the active ingredients of the plant-derived pesticide are prevented from being damaged by high temperature.

[0066] In addition, as Figure 5As shown in the figure, an electric control telescopic rod 18 is fixedly connected to the bottom of the outer wall of the spraying rod 13 through bolts. The output shaft of the electric control telescopic rod 18 is fixedly connected to a slider 19 through a coupling. A chute corresponding to the slider 19 is provided on the surface of the spraying rod 13. The slider 19 is slidably connected in the chute. One side wall of the slider 19 is hinged to a first connecting rod 20. One end of the first connecting rod 20 away from the slider 19 is hinged to the side wall of the machine body 1. One side wall of the slider 19 away from the electric control telescopic rod 18 is hinged to a second connecting rod 21. One end of the second connecting rod 21 away from the slider 19 is hinged to the side wall of the connecting rod 14; in this design, when the electric control telescopic rod 18 extends, it pushes the slider 19 to move upward along the chute, driving the first connecting rod 20 and the second connecting rod 21 to move synchronously; when the electric control telescopic rod 18 contracts, the slider 19 moves downward and the connecting rods act in the reverse direction; the linear displacement of the slider 19 is transmitted through the first connecting rod 20 to the hinge point of the machine body 1 to form a fulcrum constraint; the second connecting rod 21 converts the movement of the slider 19 into a rotational torque of the connecting rod 14 around the hinge axis at the end of the spraying rod 13, forcing the connecting rod 14 to lift or press down to adapt to the prevention and control requirements of gray mold at different canopy heights.

[0067] Example 2:

[0068] The difference from Example 1 is that the surface of the spiral blade 6 is coated with a hydrophobic-lipophilic nanolayer. The hydrophobic-lipophilic nanolayer is adsorbed by repelling water-based carriers, reducing the retention of hydrophilic components such as plant polysaccharides on the surface of the spiral blade 6. At the same time, it enhances the interfacial wettability of lipophilic active ingredients (such as matrine microcapsules), making the liquid components in the mixing process more easily dispersed, effectively avoiding local agglomeration. In addition, the lipophilic surface selectively binds to organic active ingredients, forming molecular-level directional adsorption, reducing the direct contact between heat-sensitive substances and metal blades, reducing the risk of oxidation and degradation, and ensuring the stability of drug efficacy.

[0069] Example 3:

[0070] The difference from Example 2 is that the bacterial agent put into the bacterial agent delivery pipe 7 includes the following components by solvent percentage: 70% Bacillus subtilis, 20% Trichoderma harzianum, and 10% carrier;

[0071] The mixed mother liquor put into the mother liquor delivery pipe 8 includes the following components by solvent percentage: 25% eugenol, 15% osthole, 10% allicin, 5% co-solvent, and 45% water-based solvent.

[0072] Experiment 1: Verification of Synergistic Bacteriostatic Effect (Indoor Plate Method)

[0073] Experiment Purpose: To verify the synergistic bacteriostatic effect of plant-derived concentrated mother liquor and microbial bacterial agents, and compare the bacteriostatic efficiency of single components and mixed formulations.

[0074] Experiment Steps:

[0075] 1. Strain preparation: Select 3 strains of Botrytis cinerea (H3, H7, H22) and prepare a spore suspension (1×10 6 spores / mL).

[0076] 2. Chemical treatment:

[0077] Group A: The microbial agent (Bacillus subtilis + Trichoderma harzianum) was diluted to 1×10 6 CFU / mL.

[0078] Group B: The concentrated stock solution (eugenol + osthole + allicin) was diluted to 100 μg / mL.

[0079] Group C: The mixed formulation (Group A + Group B mixed in a 1:1 volume ratio).

[0080] Control group: Sterile water.

[0081] 3. Oxford cup method: The spore suspension was evenly spread on a PDA plate, Oxford cups were placed, 200 μL of each treatment solution was added, and the diameter of the inhibition zone (mm) was measured after culturing at 25°C for 48 hours.

[0082] Experimental data:

[0083] Treatment group Inhibitory zone diameter of H3 (mm) Inhibitory zone diameter of H7 (mm) Inhibitory zone diameter of H22 (mm) Group A 15.2±1.3 14.8±1.1 16.5±1.4 Group B 12.8±1.1 13.5±0.9 11.9±1.2 Group C 20.5±1.6 21.3±1.4 19.8±1.5 Control group 0 0 0

[0084] Experimental results: The diameter of the inhibition zone of the mixed group (Group C) was significantly larger than that of the single-component groups (Group A / B) (P<0.01), indicating a synergistic effect between the microbial agent and the stock solution.

[0085] Experiment 2: Evaluation of the field persistence period

[0086] Experimental purpose: To evaluate the continuous prevention and control effect of the mixed formulation on grape gray mold in the field environment.

[0087] Experimental steps:

[0088] 1. Experimental design: Set up 4 groups in the vineyard (3 replicates per group):

[0089] T1: The microbial agent (sprayed after diluting 500 times).

[0090] T2: The stock solution (sprayed after diluting 1000 times).

[0091] T3: The mixed formulation (microbial agent + stock solution mixed in a 1:1 ratio).

[0092] CK: The chemical agent azoxystrobin (conventional dose).

[0093] Spray once every 7 days for 3 consecutive times.

[0094] 2. Data collection:

[0095] Randomly select 50 leaves from each treatment group and record the percentage of the lesion area (%).

[0096] Calculate the incidence rate (number of diseased leaves / total number of leaves × 100%).

[0097] Experimental data:

[0098] Treatment group Incidence rate at 7 days (%) Incidence rate at 14 days (%) Incidence rate at 21 days (%) T1 8.2±1.1 15.6±2.3 24.5±3.1 T2 10.5±1.4 18.3±2.7 28.7±3.5 T3 4.7±0.8 9.1±1.2 13.8±1.9 CK 5.1±0.9 12.4±1.8 22.6±2.7

[0099] Experimental results: The incidence rate of the mixed group (T3) was only 13.8% at 21 days, significantly lower than that of the chemical control group (CK group 22.6%), and the effective duration was extended by 50%.

[0100] Example 4:

[0101] As shown in the appendix Figure 7 The difference from Example 3 is that the control system includes a viscosity detection module, an environment detection module, a dispensing ratio control module, and a spraying dose control module.

[0102] The viscosity detection module includes a torque sensor, a viscosity acquisition unit, and a viscosity adjustment unit. The torque sensor is used to monitor the torque change in real time when the spiral blade 6 rotates. The torque sensor is located on the surface of the rotating shaft 3. Since the higher the viscosity of the liquid medicine, the greater the resistance on the spiral blade 6 and the higher the torque value. By dynamically collecting the torque signal and combining with the rotation speed of the rotating shaft 3, the apparent viscosity of the liquid medicine can be accurately calculated. This design can provide real-time feedback of viscosity data to ensure that the mixing intensity is dynamically adapted to the characteristics of the liquid medicine, and avoid uneven mixing or energy consumption waste caused by viscosity fluctuations.

[0103] The viscosity acquisition unit receives the signal from the torque sensor, eliminates noise interference through analog-to-digital conversion and filtering algorithms, combines with the rotation speed record of the rotating motor 5, and calculates the apparent viscosity of the mixed liquid in the first dispensing cylinder 2 using a non-Newtonian fluid model (such as the power-law equation), and outputs an accurate viscosity curve, providing a reliable basis for subsequent adjustment.

[0104] The viscosity adjustment unit is used to receive viscosity data, and according to the viscosity data, calculate, convert, and transmit a drive signal related to the drive power to the drive assembly to adjust the mixing intensity in the first dispensing cylinder 2. When it is detected that the viscosity of the liquid medicine in the first dispensing cylinder 2 is low (<50 mPa·s), the rotation speed of the rotating motor 5 is reduced to reduce energy consumption. When it is detected that the viscosity of the liquid medicine in the first dispensing cylinder 2 is high (>150 mPa·s), the rotation speed of the rotating motor 5 is increased to enhance the shear force of the mixing. This design can improve the mixing efficiency and reduce energy consumption, and adapt to the complex rheological characteristics of plant-derived pesticides.

[0105] The environmental detection module includes a lidar, a temperature and humidity acquisition device, a wind speed acquisition device, an environmental factor acquisition unit, a spraying adjustment unit, and a droplet adjustment unit;

[0106] The lidar is used to scan the grape canopy to be sprayed to generate three-dimensional point cloud data, identify the leaf canopy density and porosity, and calculate the optimal spraying angle through algorithms to ensure that the liquid medicine penetrates to the high-incidence area of gray mold on the back of the leaves, improve the coverage rate of the back of the leaves, and reduce the waste of pesticides; The temperature and humidity acquisition device is used to monitor the environmental temperature, the liquid medicine temperature, and the environmental humidity to prevent the high-temperature degradation of heat-sensitive components; The wind speed acquisition device is used to detect the wind speed in real time and predict the risk of liquid medicine drift in combination with the wind direction data;

[0107] The environmental factor acquisition unit is used to integrate the three-dimensional point cloud data, the temperature and humidity data, and the wind speed data, calculate and generate an environmental risk index, evaluate the best spraying window, and then send dynamic parameters to the spraying adjustment unit and the droplet adjustment unit. The dynamic parameters include the flow rate, the droplet temperature adjustment trend, and the spraying angle;

[0108] The spraying adjustment unit is used to extract the spraying angle data according to the environmental data and the environmental risk index, calculate, transform, and transmit the drive signal for spraying angle adjustment to the electric control telescopic rod 18 according to the spraying angle data, and drive the electric control telescopic rod 18 to adjust the elevation angle of the connecting rod 14 to match the canopy height;

[0109] The droplet adjustment unit is used to extract the flow rate and the droplet temperature adjustment trend according to the environmental data and the environmental risk index, and transmit the drive signal for droplet adjustment to the electric control valve 17, and link the opening and closing quantity of the spiral air duct 1504 to adjust the gas-liquid volume ratio of the sprayed liquid;

[0110] The proportion control module includes a proportion control unit and a number of electromagnetic liquid valves, and the electromagnetic liquid valves are respectively installed in the bacterial agent delivery pipe 7 and the mother liquid delivery pipe 8; The implementation of the proportion control unit specifically includes:

[0111] Collect historical data: including environmental parameters (temperature and humidity, wind speed, three-dimensional canopy shape), physical and chemical properties of pesticide components (viscosity and density of bacterial agent and mother liquid), uniformity index after mixing (such as coefficient of dispersion), and control effect data.

[0112] Label data: Associate the actual spraying effect (such as antibacterial rate, reduction rate of lesion area) with the corresponding mixing ratio (volume ratio of bacterial agent to mother liquid) to construct a supervised learning data set.

[0113] Model design and training: Use a multi-modal deep learning model (combining LSTM and CNN), with the input being environmental data (temporal features) and real-time liquid medicine viscosity data (spatial features), and the output being the optimal mixing ratio of bacterial agent and mother liquid.

[0114] Training goal: minimize the balance between the precipitation rate of the mixed solution and the maximum antibacterial effect, and dynamically adjust the weights through reinforcement learning.

[0115] System integration and real-time control: Deploy the model to edge computing devices (such as embedded GPUs) and receive sensor data (lidar point clouds, viscosity torque values) in real time.

[0116] Output command: Dynamically adjust the opening of the electromagnetic valves of the bacterial agent delivery pipe (7) and the mother liquid delivery pipe (8) through the PID controller to achieve precise proportional control.

[0117] For example, when the model predicts that the activity of the microbial agent needs to be enhanced in a high humidity environment, the microbial agent ratio is automatically increased from 70% to 75%, and the mother liquid co-solvent ratio is simultaneously reduced, and the environmental parameters and the concentration ratio in the microbial agent delivery pipe 7 and the mother liquid delivery pipe 8 are received, and the environmental parameters and the liquid concentration ratio are input into the ratio calculation model, and the output is the optimal microbial agent-mother liquid mixing ratio, and the opening of the electromagnetic liquid valve of the microbial agent delivery pipe 7 and the mother liquid delivery pipe 8 is controlled according to the mixing ratio;

[0118] A spraying dosage control module, including a spraying control unit;

[0119] The specific implementation of the spray control unit includes:

[0120] Collect disease distribution data: Use hyperspectral cameras or drone images to mark the gray mold infection level of the grape canopy (such as healthy, mild, severe).

[0121] Associated environmental data: Combine wind speed, canopy density and leaf inclination angle to construct a time series dataset of spray dose-control effect.

[0122] Model design and training: A semantic segmentation model (U-Net) is used to process canopy images and identify diseased areas. A reinforcement learning framework is used to optimize the spraying dose based on real-time environmental risk indices (such as the probability of liquid drift).

[0123] The output is a zoning spraying strategy: the vineyard is divided into grids, and each grid is assigned a specific dose (e.g. 0.1-0.3L / m 2 ).

[0124] System integration and real-time control: The model is linked with the spraying robot arm through ROS (Robot Operating System) to generate dynamic path planning and dosage instructions.

[0125] Adjustment method: The flow rate is controlled by the opening of the electric control valve (17), and the gas-liquid ratio of the spiral airway (1504) is linked to achieve accurate matching of the droplet size and the coverage density.

[0126] Example: When the model detects that the lesions in a certain area are dense and the wind speed is low, automatically increase the spraying dose in this area to 0.25 L / m 2 , and reduce the droplet size (increase the gas-liquid ratio) to enhance the permeability.

[0127] Obviously, the above embodiments are merely examples for clear illustration and not limitations on the implementation manners. For those of ordinary skill in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to enumerate all the implementation manners here. And the obvious changes or modifications derived therefrom still fall within the protection scope of the present invention.

Claims

1. An automatic dispensing and spraying device for plant-derived pesticides used in the green prevention and control of grape gray mold, comprising a machine body (1). A dispensing section and a spraying section are provided inside the machine body (1), and the dispensing section is communicated with the spraying section. A control system is also configured inside the machine body (1). It is characterized in that: The dispensing section includes a first dispensing cylinder (2) fixedly connected to the inner side wall of the machine body (1). A driving component is rotatably connected to the inner side wall of the first dispensing cylinder (2). The driving component is coaxially and fixedly connected with a rotating shaft (3). A spiral blade (6) is welded to the outer side wall of the rotating shaft (3). The outer side of the spiral blade (6) is fitted to the inner wall of the first dispensing cylinder (2). The top of the first dispensing cylinder (2) is communicated with a fungicide feeding pipe (7) and a mother liquor feeding pipe (8). When the driving component drives the rotating shaft (3) to rotate, it stirs the solution inside the first dispensing cylinder (2) to mix and provides a pumping and propelling force for the solution. One end of the first dispensing cylinder (2) far from the driving component is communicated with an ultrasonic degumming component for using the ultrasonic cavitation effect to break the colloid aggregation phenomenon in the mixed liquid; The spraying section includes a spraying component. An adjusting component is integrated inside the spraying component. The spraying component is communicated with the ultrasonic degumming component. The control system collects the canopy morphology and spraying environment information of the area to be sprayed, and drives the adjusting component to adjust the spraying angle of the spraying component and the spraying condition of the droplets.

2. The automated dispensing and spraying device for plant-derived pesticides for the green prevention and control of Botrytis cinerea of grapes according to claim 1, characterized in that, The space inside the first dispensing cylinder (2) is sequentially divided into a mixing chamber (201) and a transportation chamber (202) along the direction away from the driving component. The mixing chamber (201) is a frustum-shaped structure with a larger cross-sectional radius on the side close to the driving component than on the side far from the motor. The transportation chamber (202) is communicated with the mixing chamber (201) and the cross-sectional radius of the transportation chamber (202) is fixed.

3. The automated dispensing and spraying device for plant-derived pesticides for the green prevention and control of Botrytis cinerea of grapes according to claim 2, characterized in that, The pitch of the spiral blade (6) on the side close to the driving component is greater than the pitch on the side far from the rotating motor (5).

4. The automated dispensing and spraying device for plant-derived pesticides for the green prevention and control of grape gray mold according to claim 1, characterized in that, The ultrasonic degumming component includes a second dispensing cylinder (9) communicated with the first dispensing cylinder (2). A plurality of ultrasonic transducers (11) are fixedly connected to the outer side wall of the second dispensing cylinder (9) by bolts. A spiral groove (12) is opened on the inner side wall of the second dispensing cylinder (9).

5. The automatic dispensing and spraying device for plant-derived pesticides for the green prevention and control of Botrytis cinerea on grapes according to claim 4, characterized in that, A filter sheet (10) integrally formed with the second dispensing cylinder (9) is provided at the bottom inside the second dispensing cylinder (9).

6. The plant-derived pesticide automatic dispensing and spraying device for the green prevention and control of grape gray mold according to claim 1, characterized in that, The spraying component includes a spraying rod (13) hinged to the side wall of the machine body (1). One end of the spraying rod (13) far from the machine body (1) is hinged with a connecting rod (14). One end of the connecting rod (14) far from the spraying rod (13) is fixedly connected with a spray head (15); The adjusting component includes an angle adjusting member, a droplet adjusting member, and a transportation pipe (16) for communicating the second dispensing cylinder (9) with the spray head (15). The angle adjusting member includes an electric control telescopic rod (18) fixedly connected to the bottom of the outer wall of the spraying rod (13). The output shaft of the electric control telescopic rod (18) is fixedly connected with a slider (19) slidably connected to the outer side wall of the spraying rod (13). A first connecting rod (20) is hinged to the side wall of the slider (19). One end of the first connecting rod (20) far from the slider (19) is hinged to the side wall of the machine body (1). A second connecting rod (21) is hinged to the side wall of the slider (19) on the side far from the electric control telescopic rod (18). One end of the second connecting rod (21) far from the slider (19) is hinged to the side wall of the connecting rod (14); The droplet regulating member includes an electric control valve (17) fixedly connected to the connection part of the spray head (15) and the transport pipe (16).

7. The automated dispensing and spraying device for plant-derived pesticides for the green prevention and control of grape gray mold according to claim 1, characterized in that, The bacterial agent put into the bacterial agent delivery pipe (7) includes the following components by solvent percentage: 70% Bacillus subtilis, 20% Trichoderma harzianum, and 10% carrier; The mixed mother liquor put into the mother liquor delivery pipe (8) includes the following components by solvent percentage: 25% eugenol, 15% osthole, 10% allicin, 5% co-solvent, and 45% water-based solvent.

8. The plant-derived pesticide automatic dispensing and spraying device for the green prevention and control of Botrytis cinerea of grapes according to claim 7, characterized in that, The spray head (15) includes a nozzle body (1501) and a nozzle (1502). The nozzle body (1501) and the nozzle (1502) are integrally formed. The nozzle body (1501) is provided with a spray channel (1503) along its axis. One end of the spray channel (1503) is communicated with the transport pipe (16), and the other end of the spray channel (1503) penetrates through the nozzle body (1501) and the nozzle (1502). A plurality of air channels (1504) are circumferentially arranged along the axis of the spray channel (1503) in the nozzle body (1501). The air channels (1504) are all spiral structures. One end of each air channel (1504) is communicated with the outside of the nozzle body (1501), and the other end of each air channel (1504) is communicated with the spray channel (1503). The electric control valve (17) covers the spray channel (1503) and the plurality of air channels (1504). During the spraying process, the driving opening of the electric control valve (17) is proportional to the number of communicated air channels (1504). The spiral air channels (1504) are used to inhale gas to form a rotating air flow, so as to promote the gas to expand and absorb heat to adjust the temperature of the sprayed liquid.

9. The automatic dispensing and spraying device for plant-derived pesticides for the green prevention and control of Botrytis cinerea of grapes according to claim 1, characterized in that, The surface of the spiral blade (6) is coated with a hydrophobic-lipophilic nanolayer.

10. The automatic dispensing and spraying device for plant-derived pesticides for the green prevention and control of grape gray mold according to claim 1, characterized in that, The control system includes a viscosity detection module, an environment detection module, a dispensing ratio control module, and a spraying dose control module; The viscosity detection module includes a torque sensor, a viscosity acquisition unit, and a viscosity adjustment unit. The torque sensor is used to monitor the torque change in real time when the spiral blade (6) rotates. The torque sensor is located on the side wall surface of the rotating shaft (3); The viscosity acquisition unit is used to receive and process the signal of the torque sensor, output the torque data of the rotating shaft (3), and calculate the apparent viscosity of the mixed liquid in the first dispensing cylinder (2) in combination with the rotation speed of the rotating shaft (3); The viscosity adjustment unit is used to receive the viscosity data, and according to the viscosity data, calculate, convert and transmit a driving signal related to the driving power to the driving component to adjust the mixing intensity in the first dispensing cylinder (2); The environment detection module includes a lidar, a temperature and humidity acquisition device, a wind speed acquisition device, an environmental factor acquisition unit, a spraying adjustment unit, and a droplet adjustment unit; The lidar is used to scan the grape canopy to be sprayed to generate three-dimensional point cloud data. The temperature and humidity acquisition device is used to monitor the environmental temperature, the liquid medicine temperature, and the environmental humidity. The wind speed acquisition device is used to detect the wind speed in real time and predict the risk of liquid medicine drift in combination with the wind direction data; The environmental factor acquisition unit is used to integrate 3D point cloud data, temperature and humidity data, and wind speed data, calculate and generate environmental risk index, evaluate the best application window, and then send dynamic parameters to the spraying adjustment unit and droplet adjustment unit. The dynamic parameters include flow rate, droplet temperature adjustment trend, and spraying angle; A spraying adjustment unit is used to extract spraying angle data according to environmental data and environmental risk index, calculate, convert and transmit a driving signal for spraying angle adjustment to the electric-controlled telescopic rod (18) according to the spraying angle data, and drive the electric-controlled telescopic rod (18) to adjust the elevation angle of the connecting rod (14) to match the canopy height; The droplet regulating unit is used to extract the flow rate and the droplet temperature regulation trend according to the environmental data and the environmental risk index, transmit the drive signal for droplet regulation to the electric control valve (17), and link the opening and closing quantity of the spiral airway (1504) to adjust the volume ratio of the gas and liquid sprayed; A mixing ratio control module comprises a mixing control unit and a plurality of electromagnetic liquid valves, wherein the electromagnetic liquid valves are respectively installed in a bacterial agent delivery pipe (7) and a mother liquid delivery pipe (8); A mixing control unit is used to receive environmental parameters and the concentration ratios in the microbial agent delivery pipe (7) and the mother liquid delivery pipe (8), input the environmental parameters and the liquid concentration ratio into a ratio calculation model, output an optimal microbial agent-mother liquid mixing ratio, and control the openings of the electromagnetic liquid valves of the microbial agent delivery pipe (7) and the mother liquid delivery pipe (8) according to the mixing ratio; A spraying dosage control module, including a spraying control unit; The spraying control unit is used to collect disease distribution data through hyperspectral cameras or drone images, mark the gray mold infection level of the grape canopy, and construct a time series data set of spraying dosage-control effect in combination with wind speed, canopy density and leaf inclination angle, and then output it as a partition spraying strategy, generate dynamic path planning and dosage instructions, and send a drive signal to adjust the spraying flow rate through the opening control of the electric control valve (17).

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