Abstract： XAG R150 unmanned ground vehicle has concise modular design, core module with IP67 protection degree, four-wheel independent drive, fully independent multi-terrain operation, stable transport platform, powerful expansion function, and various working modes, which can be equipped with jetsprayer ? Airflow Sprayer and XAG XIoT ? Agricultural IOT system and other smart agricultural equipment, and provide accurate autonomous variable uniform spraying in 360° direction, plant protection, smart field patrol, agricultural material transportation and other agricultural services. Design Objective： XAG R150 unmanned ground vehicle with jet sprayer ? The air sprayer can provide a cheaper, better and more efficient plant protection solution for hirada and fruit forest, and create maximum benefits for farmers. Design background： The comprehensive mechanization rate of agriculture has been increasing year by year, but the mechanization level of management is still stagnant. Farmers are lack of effective plant protection machinery. Most of them rely on manual manipulation. Common surface plant protection machinery includes sprayer sprayer and orchard mist sprayer. There are many problems such as re-injection, leakage spray, pesticide damage, easy to tram, high energy consumption, high seedling pressure rate and single function of one machine. The design of agricultural unmanned aerial vehicle is born for this purpose. The cooperation between agricultural unmanned aerial vehicle and agricultural unmanned aerial vehicle make the agricultural production realize the unmanned management of plant protection.