The invention discloses a self-propelled spraying
machine with automatic targeting in an
orchard and a spraying method thereof. According to the self-propelled spraying
machine, the automatic targeting is realized, the influence by the environment is less, the
response time is fast, no leaked spraying or more spraying is caused and the waste of
pesticide is prevented. The spraying
machine comprises a rack, a traveling device, a spraying device with a plurality of spraying nozzles,
laser detecting devices and a central processor; the
laser detecting devices correspond to the spraying heads in a one-by-one manner; each
laser detecting device comprises a laser generator, a laser
receiver, a
signal processor and a controller; the spraying heads and the laser detecting devices are distributed on the rack at the same corresponding angle; the central processor is connected with all spraying-
nozzle control devices. The spraying method disclosed by the invention comprises the steps that the laser generator generates laser transmitting signals, the laser
receiver receives reflecting signals, and if the target distance is in the
set distance range, the target is the current target; if the former
signal does not detect the current target, the latter reflecting
signal detects the current target, and then the spraying is carried out; if the three continuous reflecting signals do not detect the target, the spraying is stopped; the other states are maintained to be the original states.