A precision on-target spraying device and method of on-target spraying

Abstract

The application discloses a precision target spraying device and a target spraying method thereof. The device comprises a spraying frame, a reciprocating mechanism, a pesticide spraying assembly and a target assembly. The reciprocating mechanism is arranged on the spraying frame. The end of the telescopic end is connected with the atomizing nozzle of the pesticide spraying assembly through the target assembly. The target assembly comprises an ultrasonic range finder and a self-adaptive adjusting assembly capable of keeping the atomizing nozzle in a vertical direction. The upper end of the self-adaptive adjusting assembly is rotatably connected below the telescopic end of the reciprocating mechanism. The atomizing nozzle and the ultrasonic range finder are arranged on the lower end of the self-adaptive adjusting assembly. The ultrasonic range finder measures the deviation between the atomizing nozzle and the target plant in real time, and the signal is transmitted and displayed in the cab in the form of an image. The control system drives the reciprocating mechanism to move, so that the horizontal position of the atomizing nozzle is adjusted to realize target spraying. The application has the advantages of simple structure, convenient disassembly and assembly, accurate spraying position, improved crop protection efficiency, reduced pesticide use amount, environmental protection and the like.

Description

Technical Field

[0001] This invention relates to the field of agricultural mechanization, specifically to a precision target spraying device and its target spraying method in plant protection machinery pesticide spraying technology. Background Technology

[0002] With the advancement of agricultural modernization, the automation and precision of plant protection operations have become key means to improve crop yield and quality. Traditional spraying devices often suffer from problems during pesticide application, such as inaccurate spraying position, unsatisfactory spraying angle, and excessive spray amplitude, leading to pesticide waste, environmental pollution, and damage to non-target plants. This not only increases agricultural production costs but may also adversely affect the ecological environment and food safety. Furthermore, most existing spraying devices use fixed nozzles or simple mechanical adjustments, failing to allow for real-time adjustments based on the morphology, location, and growth stage of different crops. This makes it difficult for the spraying components to precisely target the area, resulting in poor spraying effectiveness. Therefore, developing a precision-targeted spraying device is of great significance for improving crop protection efficiency, reducing pesticide use, and protecting the environment. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to overcome the shortcomings of the existing technology and provide a precision target spraying device and its target spraying method that is simple in structure, easy to assemble and disassemble, can improve crop protection efficiency, reduce pesticide use, and protect the environment.

[0004] To solve the above-mentioned technical problems, the present invention discloses the following technical solutions:

[0005] A precision target spraying device includes a spray frame, a reciprocating mechanism, a spraying assembly, and a target alignment assembly. The spraying assembly includes an atomizing nozzle. The reciprocating mechanism is mounted on the spray frame, and its telescopic end is connected to the atomizing nozzle via the target alignment assembly. The target alignment assembly includes an ultrasonic rangefinder and an adaptive adjustment assembly that keeps the atomizing nozzle vertical. The upper end of the adaptive adjustment assembly is rotatably hinged below the telescopic end of the reciprocating mechanism. Both the atomizing nozzle and the ultrasonic rangefinder are mounted on the lower end of the adaptive adjustment assembly. The ultrasonic rangefinder scans and measures the deviation between the atomizing nozzle and the target plant in real time, transmits the signal, and displays it as an image in the cab of the plant protection machine. The control system moves the reciprocating mechanism to adjust the horizontal position of the atomizing nozzle to achieve target spraying.

[0006] As a further improvement to the above technical solution:

[0007] The adaptive adjustment component includes a square mounting plate, an L-shaped connecting plate, and two plumb bobs of equal mass. The horizontal side of the L-shaped connecting plate is mounted on the mounting plate, and the vertical side is rotatably hinged to the lower end of the telescopic end of the reciprocating mechanism via a hinge assembly. The ultrasonic rangefinder and the atomizing nozzle are both vertically mounted on the mounting plate and located on both sides of the telescopic end. The two plumb bobs are mounted below the mounting plate and symmetrically arranged on both sides of the L-shaped connecting plate, so that the vertical side of the L-shaped connecting plate can adaptively rotate around its hinge point to maintain the vertical direction.

[0008] The target assembly also includes an angle sensor, which is installed on the horizontal side of the L-shaped connecting plate. The angle sensor measures the change in the angle between the vertical side of the L-shaped connecting plate and the direction of movement of the reciprocating mechanism in real time, and transmits the data to the control system to adjust the telescopic movement of the reciprocating mechanism and correct the horizontal position of the atomizing nozzle.

[0009] The reciprocating mechanism includes a motor, a speed change mechanism, a crank, a fisheye connector assembly, a reciprocating shaft, a slider, and a long slotted guide rail. The motor and the speed change mechanism are both mounted on the spray frame. The output shaft of the motor is connected to the input end of the speed change mechanism. One end of the crank is hinged to the output end of the speed change mechanism, and the other end is hinged to one end of the reciprocating shaft through the fisheye connector assembly. The other end of the reciprocating shaft slides through the slider on the spray frame. One end of the long slotted guide rail has a groove and slides with an M4 half-thread hexagon socket bolt mounted on the slider. The other end of the long slotted guide rail is fixedly connected to the other end of the reciprocating shaft that passes through the slider. The top of the L-shaped connecting plate is hinged to the end of the long slotted guide rail. When the reciprocating shaft reciprocates, it drives the atomizing nozzle to move and change its horizontal position through the long slotted guide rail.

[0010] The fisheye connector assembly includes a fisheye connector shaft and a pair of fisheye connectors. The two ends of the fisheye connector shaft are respectively connected to a fisheye connector. One fisheye connector is hinged to the crank by a fixing pin, and the other fisheye connector is hinged to the reciprocating shaft by a fixing pin.

[0011] The spray frame includes an upper cover and a base plate. The upper cover is placed on the base plate to form a cuboid box-shaped structure for enclosing the reciprocating mechanism. The upper cover has a slot for the reciprocating mechanism to extend from one end near the atomizing nozzle. A bracket perpendicular to the base plate is provided in the upper center of the base plate. A U-shaped buckle for connecting to the plant protection machine is provided at the bottom of the base plate. The motor is mounted on the base plate. The speed change mechanism is connected to one end of the bracket through a copper column. The slider is mounted on the other end of the bracket. The long slot guide rail and the reciprocating shaft pass through the slot.

[0012] The hinge assembly includes an M6 semi-threaded hexagon socket head cap bolt, a single-sided flange bearing, a deep groove ball bearing, and a nut. The semi-threaded hexagon socket head cap bolt is horizontally inserted into a through hole in the L-shaped connecting plate and the long groove guide rail and is fastened by the nut. The single-sided flange bearing and the deep groove ball bearing are both sleeved on the semi-threaded hexagon socket head cap bolt. The single-sided flange bearing is located between the L-shaped connecting plate and the long groove guide rail, and the deep groove ball bearing is located between the L-shaped connecting plate and the nut.

[0013] The mounting plate is an aluminum plate, the ultrasonic rangefinder is clamped and fixed to the aluminum plate by a pair of hexagonal thin nuts, and the plumb bob is fixed to the aluminum plate by a screw plug.

[0014] The top of the atomizing nozzle is connected to the liquid delivery pipe.

[0015] Based on the same technical concept, the present invention also provides a target spraying method for the precision target spraying device as described above, comprising the following steps:

[0016] S1. When the plant protection machine is spraying pesticides, the driver cannot accurately observe the position of each vegetable because he is in the cab. At this time, the ultrasonic rangefinder starts to work, scanning and measuring the deviation between the atomizing nozzle and the vegetables in real time, and transmitting the signal to display the image in the cab, reminding the operator how to make corrections and ensure accurate spraying position.

[0017] S2. When the plant protection machine is moving, the uneven ground causes the vehicle body and the liquid delivery pipe to tilt, and the liquid delivery pipe cannot keep horizontal. The adaptive adjustment component uses its internal plumb bob to keep the atomizing nozzle always vertically downward and parallel to the surface of the vegetables, thereby ensuring the stability of the spraying effect.

[0018] S3. Due to the inclination of the pesticide delivery pipe and the vertical downward orientation of the atomizing nozzle, a relative displacement occurs between the atomizing nozzle and the target plant in the horizontal direction. At this time, the angle sensor measures the change in the angle between the L-shaped connecting plate and the long groove guide rail, and transmits the data to the control system. This system then adjusts the extension and retraction of the reciprocating mechanism, correcting the horizontal position of the atomizing nozzle by extending and retracting the reciprocating shaft to ensure it remains directly above the target vegetable. This adjustment process significantly improves the spraying effect.

[0019] Compared with the prior art, the advantages of the present invention are as follows:

[0020] This invention uses an ultrasonic rangefinder to scan and measure the deviation between the atomizing nozzle and the vegetables in real time, and feeds the data back to the operator's cab in the form of images, promptly reminding the operator to make corrections. This function overcomes the limitations of traditional spraying devices that rely on manual observation, ensuring the accuracy of the spraying process and effectively avoiding errors caused by manual operation. The spraying device of this invention, through adaptive adjustment components and a reciprocating mechanism, can effectively compensate for the tilting of the spray pipe caused by uneven ground, keeping the nozzle perpendicular to the crop surface. This ensures that the spraying components maintain a stable spraying effect under different terrain conditions, avoiding excessive use of pesticides and spraying non-target areas, significantly reducing pesticide waste, and lowering the risk of environmental pollution, meeting the current agricultural demand for environmentally friendly spraying technology. The simple structure and few electronic components make assembly and disassembly very easy, resulting in low production and maintenance costs. Especially in high-humidity environments, it can reduce equipment failure rates and ensure efficient agricultural production. Attached Figure Description

[0021] The accompanying drawings, which constitute a part of this application, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an improper limitation of the invention. In the drawings:

[0022] Figure 1 This is a first three-dimensional structural schematic diagram of the precision target spraying device of the present invention.

[0023] Figure 2 This is a schematic diagram of the second three-dimensional structure of the precision target spray device of the present invention after the top cover is removed.

[0024] Figure 3 This is a schematic diagram of the adaptive adjustment component in this invention.

[0025] Legend:

[0026] 1. Spray frame; 2. Ultrasonic rangefinder; 3. Mounting plate; 4. Plumb bob; 5. Angle sensor; 6. Atomizing nozzle; 7. Liquid delivery pipe; 8. U-shaped buckle; 9. Motor; 10. Copper column; 11. Speed ​​change mechanism; 12. Crank; 13. Fixing pin; 14. Fisheye connector assembly; 15. Fisheye connector shaft; 16. Reciprocating shaft; 17. Bracket; 18. Slider; 19. M4 half-thread hexagon socket head cap bolt; 20. Long groove guide rail; 21. Hexagonal thin nut; 22. Plug; 23. L-shaped connecting plate; 24. M6 half-thread hexagon socket head cap bolt; 25. Single-sided flange bearing; 26. Deep groove ball bearing; 27. Nut. Detailed Implementation

[0027] To facilitate understanding of the present invention, the present invention will be described more fully and in detail below with reference to the accompanying drawings and preferred embodiments, but the scope of protection of the present invention is not limited to the following specific embodiments.

[0028] Device Example:

[0029] like Figures 1-3 As shown, an embodiment of the precision target spraying device of the present invention includes a spray frame 1, a reciprocating mechanism, a spraying assembly, and a target-aiming assembly. The spraying assembly includes a liquid delivery pipe 7 and an atomizing nozzle 6 whose top is connected to the liquid delivery pipe 7. The reciprocating mechanism is mounted on the spray frame 1, and its telescopic end is connected to the atomizing nozzle 6 through the target-aiming assembly. The target-aiming assembly includes an ultrasonic rangefinder 2 and an adaptive adjustment assembly that keeps the atomizing nozzle 6 vertical. The upper end of the adaptive adjustment assembly is rotatably hinged below the telescopic end of the reciprocating mechanism. The atomizing nozzle 6 and the ultrasonic rangefinder 2 are both mounted on the lower end of the adaptive adjustment assembly. The ultrasonic rangefinder 2 scans and measures the deviation between the atomizing nozzle 6 and the target plant in real time, and displays the deviation as an image in the cab through signal transmission, reminding the operator how to correct the horizontal position of the atomizing nozzle 6 to ensure targeted spraying. The present invention overcomes the limitations of traditional spraying devices that rely on manual observation, ensures the accuracy of the position during spraying, and effectively avoids errors caused by manual operation. Through adaptive adjustment components and reciprocating mechanisms, the tilt of the pesticide delivery pipe caused by uneven ground can be effectively compensated, keeping the nozzle perpendicular to the crop surface. This ensures that the spraying components can maintain a stable spraying effect under different terrain conditions, avoiding excessive use of pesticides and spraying of non-target areas, significantly reducing pesticide waste, and lowering the risk of environmental pollution.

[0030] In this embodiment, the adaptive adjustment component includes a square mounting plate 3, an L-shaped connecting plate 23, and two identical plumb bobs 4. The horizontal side of the L-shaped connecting plate 23 is mounted on the mounting plate 3, and the vertical side is rotatably hinged to the lower end of the telescopic end of the reciprocating mechanism via a hinge assembly. The ultrasonic rangefinder 2 and the atomizing nozzle 6 are both vertically mounted on the mounting plate 3 and located on both sides of the telescopic end. The two plumb bobs 4 are mounted below the mounting plate 3 and symmetrically arranged on both sides of the L-shaped connecting plate 23, allowing the vertical side of the L-shaped connecting plate 23 to adaptively rotate around its hinge point to maintain the vertical direction. In this embodiment, the mounting plate 3 is an aluminum plate, the ultrasonic rangefinder 2 is clamped and fixed to the aluminum plate by a pair of hexagonal thin nuts 21, and the plumb bobs 4 are fixed to the aluminum plate by screw plugs 22. This adaptive adjustment component ensures that the nozzle remains parallel to the vegetable surface in the vertical direction, thereby ensuring the stability and uniformity of the spraying effect.

[0031] In this embodiment, the target assembly also includes an angle sensor 5, which is installed on the horizontal side of the L-shaped connecting plate 23. The angle sensor 5 measures the change in the angle between the vertical side of the L-shaped connecting plate 23 and the direction of movement of the reciprocating mechanism in real time, and transmits the data to the control system to adjust the extension and retraction movement of the reciprocating mechanism and correct the horizontal position of the atomizing nozzle 6.

[0032] In this embodiment, the reciprocating mechanism includes a motor 9, a speed change mechanism 11, a crank 12, a fisheye connector assembly 14, a reciprocating shaft 16, a slider 18, and a long slot guide rail 20. The motor 9 and the speed change mechanism 11 are both mounted on the spray frame 1. The output shaft of the motor 9 is connected to the input end of the speed change mechanism 11. One end of the crank 12 is hinged to the output end of the speed change mechanism 11, and the other end is hinged to one end of the fisheye connector assembly 14 via a fixing pin 13. The other end of the fisheye connector assembly 14 is connected to one end of the reciprocating shaft 16. Hinged by a fixing pin 13, the other end of the reciprocating shaft 16 slides through the slider 18 mounted on the spray frame 1. One end of the long groove guide rail 20 has a groove and slides in engagement with the M4 half-thread hex bolt 19 mounted on the slider 18. The other end of the long groove guide rail 20 is fixedly connected to the other end of the reciprocating shaft 16. The top of the L-shaped connecting plate 23 is hinged to the end of the long groove guide rail 20. When the reciprocating shaft 16 reciprocates, it drives the atomizing nozzle 6 to move and change its horizontal position through the long groove guide rail 20. The mechanical structure is simple, which can improve the adaptability and durability of the device, reduce the failure rate, and reduce maintenance costs.

[0033] In this embodiment, the fisheye connector assembly 14 includes a fisheye connector shaft 15 and a pair of fisheye connectors. The two ends of the fisheye connector shaft 15 are respectively connected to a fisheye connector. One fisheye connector is hinged to the crank 12 by a fixing pin 13, and the other fisheye connector is hinged to the reciprocating shaft 16 by a fixing pin 13.

[0034] In this embodiment, the spray frame 1 includes an upper cover and a base plate. The upper cover is placed on the base plate to form a cuboid box-shaped structure for enclosing the reciprocating mechanism. A slot for the reciprocating mechanism to extend is provided at one end of the upper cover near the atomizing nozzle 6. A bracket 17 perpendicular to the base plate is provided longitudinally at the upper center of the base plate. A U-shaped buckle 8 for connecting to the plant protection machine is provided at the bottom of the base plate. A motor 9 is mounted on the base plate. A speed-changing mechanism 11 is connected to one end of the bracket 17 via two copper pillars 10. A slider 18 is mounted at the other end of the bracket 17. A long slotted guide rail 20 and a reciprocating shaft 16 extend from the slot. This structure is very easy to assemble and disassemble, and it reduces the device's exposure to high humidity environments, lowers the equipment failure rate, and ensures efficient agricultural production.

[0035] In this embodiment, the hinge assembly includes an M6 semi-threaded hexagon socket head cap screw 24, a single-sided flange bearing 25, a deep groove ball bearing 26, and a nut 27. The M6 ​​semi-threaded hexagon socket head cap screw 24 is horizontally inserted into through holes in the L-shaped connecting plate 23 and the long groove guide rail 20 and is fastened by the nut 27. The single-sided flange bearing 25 and the deep groove ball bearing 26 are both sleeved on the M6 ​​semi-threaded hexagon socket head cap screw 24. The single-sided flange bearing 25 is located between the L-shaped connecting plate 23 and the long groove guide rail 20, and the deep groove ball bearing 26 is located between the L-shaped connecting plate 23 and the M8 nut 27. In this structure, the L-shaped connecting plate is separated from the long groove guide rail by the single-sided flange bearing and from the M8 nut by the deep groove ball bearing, which ensures smooth rotation.

[0036] Method Implementation Examples:

[0037] The target spraying method of the precision target spraying device described above in this embodiment includes the following steps:

[0038] S1. When the plant protection machine is spraying pesticides, the driver cannot accurately observe the position of each vegetable because he is in the cab. At this time, the ultrasonic rangefinder 2 starts to work, scanning and measuring the deviation between the atomizing nozzle 6 and the vegetables in real time, and displays it in the form of an image in the cab through signal transmission, reminding the operator how to make corrections and ensure accurate spraying position.

[0039] S2. When the plant protection machine is moving, the uneven ground causes the vehicle body and the liquid delivery pipe 7 to tilt, and the liquid delivery pipe 7 cannot maintain a horizontal state. The adaptive adjustment component uses the plumb bob 4 inside to keep the atomizing nozzle 6 always vertically downward and parallel to the surface of the vegetables, thereby ensuring the stability of the spraying effect.

[0040] S3. Due to the inclination of the liquid delivery pipe 7 and the vertical downward orientation of the atomizing nozzle 6, a relative displacement occurs between the atomizing nozzle 6 and the target plant in the horizontal direction. At this time, the angle sensor 5 measures the change in the angle between the L-shaped connecting plate 23 and the long groove guide rail 20, and transmits the data to the control system. This control system then adjusts the extension and retraction of the reciprocating mechanism, correcting the horizontal position of the atomizing nozzle 6 by extending and retracting the reciprocating shaft 16 to ensure it remains directly above the target vegetable. Through this adjustment process, the atomizing nozzle 6 remains directly above the vegetable, thereby maximizing the spraying effect.

[0041] While the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the invention. Any person skilled in the art can make many possible variations and modifications to the technical solutions of the present invention, or modify them into equivalent embodiments, without departing from the scope of the present invention. Therefore, any simple modifications, equivalent changes, and modifications made to the above embodiments based on the technical essence of the present invention, without departing from the scope of the present invention, should fall within the protection scope of the present invention.

Claims

1. A precision target spraying device, comprising a spray frame (1), a reciprocating mechanism, a spraying assembly, and a target-aiming assembly, wherein the spraying assembly includes an atomizing nozzle (6), the reciprocating mechanism is mounted on the spray frame (1), and the end of its telescopic end is connected to the atomizing nozzle (6) through the target-aiming assembly, characterized in that, The target assembly includes an ultrasonic rangefinder (2) and an adaptive adjustment assembly that keeps the atomizing nozzle (6) vertical. The upper end of the adaptive adjustment assembly is rotatably hinged to the lower end of the telescopic end of the reciprocating mechanism. The atomizing nozzle (6) and the ultrasonic rangefinder (2) are both installed at the lower end of the adaptive adjustment assembly. The ultrasonic rangefinder (2) scans and measures the deviation between the atomizing nozzle (6) and the target plant in real time. The deviation is transmitted through signals and displayed in the cab of the plant protection machine in the form of an image. The control system moves the reciprocating mechanism to adjust the horizontal position of the atomizing nozzle (6) to achieve target spraying. The adaptive adjustment component includes a square mounting plate (3), an L-shaped connecting plate (23), and two plumb bobs (4) of the same mass. The horizontal side of the L-shaped connecting plate (23) is mounted on the mounting plate (3), and the vertical side is rotatably hinged to the lower end of the telescopic end of the reciprocating mechanism through a hinge assembly. The ultrasonic rangefinder (2) and the atomizing nozzle (6) are both vertically mounted on the mounting plate (3) and respectively located on both sides of the telescopic end. The two plumb bobs (4) are mounted below the mounting plate (3) and symmetrically arranged on both sides of the L-shaped connecting plate (23), so that the vertical side of the L-shaped connecting plate (23) can adaptively rotate around its hinge point to maintain the vertical direction. The target assembly also includes an angle sensor (5), which is installed on the horizontal side of the L-shaped connecting plate (23). The angle sensor (5) measures the change in the angle between the vertical side of the L-shaped connecting plate (23) and the direction of movement of the reciprocating mechanism in real time, and transmits the data to the control system to adjust the extension and retraction movement of the reciprocating mechanism and correct the horizontal position of the atomizing nozzle (6).

2. The precision target spraying device according to claim 1, characterized in that, The reciprocating mechanism includes a motor (9), a speed change mechanism (11), a crank (12), a fisheye connector assembly (14), a reciprocating shaft (16), a slider (18), and a long slot guide rail (20). The motor (9) and the speed change mechanism (11) are both mounted on the spray frame (1). The output shaft of the motor (9) is connected to the input end of the speed change mechanism (11). One end of the crank (12) is hinged to the output end of the speed change mechanism (11), and the other end is hinged to one end of the reciprocating shaft (16) through the fisheye connector assembly (14). (16) The other end slides through the slider (18) on the spray frame (1). One end of the long groove guide rail (20) is provided with a groove and slides with the M4 half-thread internal hex bolt (19) installed on the slider (18). The other end of the long groove guide rail (20) is fixedly connected to the other end of the reciprocating shaft (16) passing through the slider (18). The top of the L-shaped connecting plate (23) is hinged to the end of the long groove guide rail (20). When the reciprocating shaft (16) moves back and forth, it drives the atomizing nozzle (6) to move through the long groove guide rail (20).

3. The precision target spraying device according to claim 2, characterized in that, The fisheye connector assembly (14) includes a fisheye connector shaft (15) and a pair of fisheye connectors. The two ends of the fisheye connector shaft (15) are respectively connected to a fisheye connector. One fisheye connector is hinged to the crank (12) by a fixing pin (13), and the other fisheye connector is hinged to the reciprocating shaft (16) by a fixing pin (13).

4. The precision target spraying device according to claim 3, characterized in that, The spray frame (1) includes an upper cover and a bottom plate. The upper cover is placed on the bottom plate to form a rectangular box structure for wrapping the reciprocating mechanism. The upper cover has a slot for the reciprocating mechanism to extend from one end near the atomizing nozzle (6). A bracket (17) perpendicular to the bottom plate is provided in the upper middle part of the bottom plate. A U-shaped buckle (8) for connecting with the plant protection machine is provided at the bottom of the bottom plate. The motor (9) is installed on the bottom plate. The speed change mechanism (11) is connected to one end of the bracket (17) through a copper column (10). The slider (18) is installed at the other end of the bracket (17). The long groove guide rail (20) and the reciprocating shaft (16) pass through the slot.

5. The precision target spraying device according to claim 4, characterized in that, The hinge assembly includes an M6 semi-threaded hexagon socket head cap screw (24), a single-sided flange bearing (25), a deep groove ball bearing (26), and a nut (27). The M6 ​​semi-threaded hexagon socket head cap screw (24) is horizontally inserted into the through holes opened on the L-shaped connecting plate (23) and the long groove guide rail (20) and is fastened by the nut (27). The single-sided flange bearing (25) and the deep groove ball bearing (26) are both sleeved on the M6 ​​semi-threaded hexagon socket head cap screw (24). The single-sided flange bearing (25) is located between the L-shaped connecting plate (23) and the long groove guide rail (20), and the deep groove ball bearing (26) is located between the L-shaped connecting plate (23) and the nut (27).

6. The precision target spraying device according to claim 5, characterized in that, The mounting plate (3) is an aluminum plate. The ultrasonic rangefinder (2) is clamped and fixed on the aluminum plate by a pair of hexagonal thin nuts (21). The plumb bob (4) is fixed on the aluminum plate by a screw plug (22).

7. A precision target spraying device according to claim 5, characterized in that, The top of the atomizing nozzle (6) is connected to the liquid delivery pipe (7).

8. A target spraying method for the precision target spraying device as described in claim 7, characterized in that, Includes the following steps: S1. When the plant protection machine is spraying pesticides, the driver cannot accurately observe the position of each vegetable because he is in the cab. At this time, the ultrasonic rangefinder (2) starts to work, scans and measures the deviation between the atomizing nozzle (6) and the vegetables in real time, and displays the image in the cab through signal transmission to remind the operator how to correct it and ensure that the spraying position is accurate. S2. When the plant protection machine is moving, the uneven ground causes the vehicle body and the liquid delivery pipe (7) to tilt, and the liquid delivery pipe (7) cannot maintain a horizontal state. The adaptive adjustment component uses the plumb bob (4) inside to keep the atomizing nozzle (6) always vertically downward and parallel to the surface of the vegetables in the vertical direction, thereby ensuring the stability of the spraying effect. S3. Due to the inclination of the liquid delivery pipe (7) and the vertical downward position of the atomizing nozzle (6), a relative displacement will occur between the atomizing nozzle (6) and the target plant in the horizontal direction. At this time, the angle sensor (5) measures the change in the angle between the L-shaped connecting plate (23) and the long groove guide rail (20) and transmits the data to the control system, thereby adjusting the extension and retraction of the reciprocating mechanism. The extension and retraction of the reciprocating shaft (16) corrects the horizontal position of the atomizing nozzle (6) so that it always stays directly above the target plant.

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