Abstract: To enhance plant protection efficiency in greenhouse crops, minimize pesticide resource waste, and reduce environmental pollution, a greenhouse intelligent spraying robot based on LiDAR was designed．ROS（robot operating system）control system and coaxial swing-type suspension chassis were used to realize autonomous movement．LiDAR was used to collect environmental features and crop row conditions within greenhouse, and collected data were promptly fed back to ROS system for information processing, generating instructions for adjusting height and width of spraying rod were made to ensure that spraying stops at optimal distance．An analysis was conducted on droplet deposition content and coverage rate on three rows of tomato plants．Results indicated that droplet deposition distribution variation coefficient in upper, middle, and lower layers of tomato plants were 7.2%, 11.6%, and 12.8%, respectively．Droplet deposition distribution variation coefficient in external, middle, and internal ridges ranged from 2.1% to 20.9%, and droplet deposition content and coverage rate were significantly improved．