Wheat field hoeing and spraying type weeding equipment and weeding method

Abstract

The invention relates to the technical field of agricultural machinery, in particular to wheat field hoeing and spraying type weeding equipment and a weeding method, and mainly solves the technical problems of high crop damage rate and large pesticide application amount of an accurate weeding technology. The equipment comprises a driving chassis vehicle, a visual assembly, a connecting frame, a mechanical weeding device, a pesticide spraying type weeder and a controller, a first cross beam and a second cross beam are arranged at the rear end of the connecting frame, the mechanical weeding device is installed on the first cross beam, and the pesticide spraying type weeder is installed on the second cross beam; and the controller is used for controlling the mechanical weeding device to act when the visual assembly detects the inter-row weeds and controlling the pesticide spraying type weeder to act when the visual assembly detects the inter-plant weeds. The equipment has the advantages of improving the weeding effect, reducing the environmental influence, improving the operation efficiency, saving the cost and the like, can promote the modernization and intelligent development of agricultural production, and improves the competitiveness and sustainable development capability of agricultural production.

Description

Technical Field

[0001] This invention relates to the field of agricultural machinery technology, and in particular to a weeding device and method for weeding wheat fields using a hoe-spraying technique. Background Technology

[0002] Weed control in wheat fields is a crucial agronomic step in ensuring high and stable wheat yields. Currently, weed management in farmland generally adopts an extensive, all-area spraying approach. This method does not differentiate between weed distribution areas and involves direct, large-scale pesticide application, resulting in low pesticide utilization and significant pesticide waste. Furthermore, excessive pesticides are easily washed away by irrigation water or rainwater, causing soil and water pollution and damaging the farmland ecosystem. To address these issues, precision weeding technology has emerged. Supported by information technology, it accurately identifies weed distribution and density, enabling targeted weed management through mechanical weeding or targeted spraying. This effectively reduces or eliminates pesticide use, lowers environmental risks, and represents an important development direction for farmland weed control.

[0003] However, existing precision weeding technologies still have significant shortcomings, making it difficult to meet the actual needs of efficient and low-damage weeding in farmland. On the one hand, when using mechanical weeding to treat weeds between wheat plants, the weeding actuator needs to be as close to the crop plants as possible to expand the weeding coverage area. However, due to limitations in positioning accuracy and the stability of the control and guidance system, it is very easy to cause damage to crop leaves, leading to reduced wheat yield. On the other hand, when using targeted spraying to treat wheat weeds, pesticides need to be sprayed between wheat plants and rows, resulting in pesticide application rates remaining at a relatively high level, and the pesticide-saving potential of precision weeding is not fully realized.

[0004] Therefore, developing a precision weeding technology and equipment that takes into account both row-to-row and plant-to-plant weeding needs, enables multi-mode coordinated weeding, and minimizes crop damage is of great significance for promoting the green and precise development of farmland weed management. Summary of the Invention

[0005] To overcome the technical shortcomings of existing precision weeding technologies, such as high crop damage rates and large pesticide application rates, this invention provides a hoe-spray weeding device and method for wheat fields.

[0006] The wheat field weeding device provided by this invention includes:

[0007] Drive chassis vehicle;

[0008] A vision component, which is mounted at the front end of the drive chassis and is used to identify weeds between rows and between plants in the wheat field;

[0009] A connecting frame, the front end of which is connected to the rear end of the drive chassis and is driven to rotate around the left-right axis, the rear end of which is provided with a first crossbeam and a second crossbeam, both of which extend in the left-right direction, and the first crossbeam is located behind the second crossbeam.

[0010] A mechanical weeder is provided, and all of them are installed on the first crossbeam. The mechanical weeders are spaced apart to correspond to multiple wheat field rows. The mechanical weeders are used to achieve the function of weeding between rows by rotating at high speed in the wheat field soil.

[0011] The spraying weeder has multiple units, all of which are mounted on the second crossbeam. The multiple spraying weeders are spaced apart to correspond to multiple wheat field rows. Each spraying weeder has a side-tilted nozzle, and all nozzles are tilted to the same side to achieve the function of weeding between plants.

[0012] The controller is communicatively connected to the vision unit, the mechanical weeder, and the spray weeder. The controller is used to control the mechanical weeder when the vision unit detects weeds between rows and to control the spray weeder when it detects weeds between plants.

[0013] Furthermore, the first crossbeam is provided with a slide rail pair and a locking rod. The guide rail of the slide rail pair is fixed on the first crossbeam and extends in the left and right direction. The slide rail pair has multiple sliders, which are connected to the mechanical weeder one by one. The locking rod has multiple locking holes distributed in the left and right direction. The mechanical weeder is fixed by being connected to the locking holes with fasteners.

[0014] Furthermore, the mechanical weeder is provided with a strip-shaped hole extending vertically, and the fastener passes through the strip-shaped hole and the locking hole.

[0015] Furthermore, the mechanical weeder includes:

[0016] The mounting bracket is connected to the first crossbeam;

[0017] A servo motor, the housing of which is fixed on the mounting bracket, and the output shaft of the servo motor extends in the left-right direction;

[0018] A hobbing cutter assembly, comprising a rotating shaft connected to the mounting bracket and a plurality of hobbing cutters fixed to the rotating shaft;

[0019] A chain assembly that connects the output shaft of the servo motor to the rotating shaft.

[0020] Furthermore, a baffle is fixed on the mounting bracket, and the baffle is connected to the front of the hobbing cutter assembly.

[0021] Furthermore, the spraying weeder is connected to the second crossbeam via a mounting base, the position of which on the second crossbeam is adjustable, and the spraying weeder can rotate relative to the mounting base around a front-to-back axis to adjust the spraying angle.

[0022] Furthermore, the spraying weed killer also includes a flow meter, a proportional valve, and a solenoid valve arranged sequentially away from the nozzle. The solenoid valve is used to control the opening and closing of the spraying weed killer. The flow meter and the proportional valve are both connected to the controller, and the controller adjusts the opening degree of the proportional valve according to the flow signal of the flow meter.

[0023] Furthermore, it also includes a drug supply assembly, which includes a drug tank fixed on a drive chassis vehicle. The outlet of the drug tank is sequentially connected to a filter and a diaphragm pump. The outlet of the diaphragm pump is connected to all spray-type weeders, and the diaphragm pump is equipped with a pressure sensor. Both the pressure sensor and the diaphragm pump are connected to the controller, and the controller adjusts the output pressure of the diaphragm pump according to the pressure signal from the pressure sensor.

[0024] Furthermore, the flow rate calculation formula for the flow meter is as follows:

[0025] ;

[0026] in, This indicates the actual flow rate of the spraying branch. This indicates the number of pulse signals generated by the flow meter per unit time. Indicates the flow meter constant. Indicates the flow meter detection time interval;

[0027] The pressure calculation formula for a pressure sensor is:

[0028] ;

[0029] in, Indicates the actual pressure in the pipeline. Indicates the upper limit of the pressure sensor's measurement range. This indicates the lower limit of pressure sensor measurement. This represents the sampled value of the pressure analog quantity.

[0030] The present invention provides a method for weeding wheat fields by hoeing and spraying, which uses mechanical hoeing to clear weeds between rows of wheat fields and spraying herbicides to clear weeds between individual plants of wheat fields.

[0031] The technical solution provided by this invention has the following advantages compared with the prior art:

[0032] 1) The integrated application of mechanical weeders and spray weeders can give full play to the advantages of the two weeding methods and achieve comprehensive weeding in both row and plant areas; the mechanical weeder is responsible for weeding between rows, while the spray weeder is responsible for weeding between plants. The two complement each other and improve the weeding effect.

[0033] 2) Mechanical weeders remove weeds physically, causing no pollution to the environment or human health; while spray weeders use chemical agents, the integrated system can precisely control the amount and range of pesticide spraying, and can only target weeds between plants, thus reducing the amount of chemical agents used and reducing environmental pollution.

[0034] 3) The integrated system can adjust the working parameters of the mechanical weeder and the sprayer according to the actual conditions of the wheat field to ensure the quality and effectiveness of weeding operations; at the same time, the integrated system does not require equipment replacement when weeding between rows and between plants, and can flexibly adjust the operation mode, thus improving the efficiency of operation.

[0035] 4) The integrated application of mechanical weeders and sprayers can reduce equipment costs. A single unit can perform both weeding actions. Secondly, the integrated system can accurately control the amount of pesticide used, avoid waste, and reduce pesticide costs.

[0036] 5) Equipping the integrated system with a controller enables more precise weeding operations and higher operational efficiency; this helps promote the modernization and intelligent development of agricultural production, and enhances the competitiveness and sustainable development capabilities of agricultural production. Attached Figure Description

[0037] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

[0038] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0039] Figure 1 This is a schematic diagram of the structure of the weeding device in an embodiment of the present invention;

[0040] Figure 2 This is a schematic diagram of the mechanical weeder in an embodiment of the present invention;

[0041] Figure 3 This is a schematic diagram of the structure of the spraying weeder in an embodiment of the present invention;

[0042] Figure 4This is a schematic diagram illustrating the control flow of the weeding equipment in an embodiment of the present invention;

[0043] Figure 5 This is a schematic diagram illustrating the workflow of the weeding device in an embodiment of the present invention.

[0044] In the picture:

[0045] 1. Drive chassis; 2. Vision assembly; 21. Vision bracket; 22. Vision camera; 3. Connecting frame; 31. First crossbeam; 311. Slide rail pair; 312. Locking rod; 313. Locking hole; 32. Second crossbeam; 4. Mechanical weeder; 41. Mounting bracket; 411. Strip hole; 412. Baffle; 42. Servo motor; 43. Roller assembly; 44. Chain assembly; 5. Sprayer weeder; 51. Mounting base. Detailed Implementation

[0046] To better understand the above-mentioned objectives, features, and advantages of the present invention, the solutions of the present invention will be further described below. It should be noted that, unless otherwise specified, the embodiments of the present invention and the features thereof can be combined with each other.

[0047] Many specific details are set forth in the following description in order to provide a full understanding of the invention, but the invention may also be practiced in other ways different from those described herein; obviously, the embodiments in the specification are only some embodiments of the invention, and not all embodiments.

[0048] The specific embodiments of the present invention will now be described in detail with reference to the accompanying drawings.

[0049] Example 1

[0050] Reference Figure 1 This embodiment provides a weeding device for wheat fields, including a drive chassis 1, a vision component 2, a connecting frame 3, a mechanical weeder 4, a spraying weeder 5, and a controller.

[0051] Among them, the driving chassis vehicle 1 is the power source for the equipment to move.

[0052] It should be noted that the drive chassis vehicle 1 should have a driver's seat, a medicine box installation space, etc.

[0053] Specifically, refer to Figure 1In this embodiment, the drive chassis vehicle 1 adopts the Datong 2ZG-6B chassis. The front and rear wheel tracks of the chassis are both 1200mm. When working in wheat fields, the wheels on both sides can be in the row area, effectively avoiding the phenomenon of crushing seedlings. The power system of the chassis adopts a continuously variable transmission, which is faster when switching between different working speeds and has a compact structure, which helps to improve vehicle energy efficiency. The chassis adopts four-wheel drive steering, which can reduce the center of gravity sideslip angle when the chassis turns, has strong tracking ability, and can improve the turning flexibility in narrow working areas.

[0054] It is easy to understand that the drive chassis vehicle 1 needs to be equipped with a sensor to detect and provide feedback on the vehicle speed. In this embodiment, a Hall speed sensor is selected. The Hall speed sensor is a magnetoelectric sensor based on the Hall effect, with a speed measurement range of 0-1500 r / min. The Hall speed sensor is fixed above the wheel and receives the pulse signal generated by the magnet in the wheel drive axle. The pulse signal is then transmitted to the controller, and the vehicle speed is fed back by counting the number of pulse signals.

[0055] The vision component 2 is installed at the front of the drive chassis vehicle 1 and is used to identify weeds between rows and between plants in the wheat field.

[0056] Specifically, refer to Figure 1 The vision component 2 in this embodiment includes a vision bracket 21 and a vision camera 22. The vision bracket 21 is fixed to the front end of the drive chassis vehicle 1, and the vision camera 22 is mounted on the vision bracket 21. The vision camera 22 is an RGB camera, which can capture weeds between rows and weeds between plants in wheat fields. The weed images are processed by software such as preprocessing and feature extraction, which can accurately identify the location of the weeds.

[0057] The front end of the connecting frame 3 is connected to the rear end of the driving chassis vehicle 1 and is driven to rotate around the left and right axis. The rear end of the connecting frame 3 is provided with a first crossbeam 31 and a second crossbeam 32. Both the first crossbeam 31 and the second crossbeam 32 extend in the left and right direction, and the first crossbeam 31 is located behind the second crossbeam 32.

[0058] Specifically, the drive of the connecting frame 3 can be achieved by using a rotating drive component such as a motor in conjunction with a transmission component such as a gear pair.

[0059] Specifically, refer to Figure 1 and Figure 2In this embodiment, the first crossbeam 31 is provided with a slide rail pair 311 and a locking rod 312. The guide rail of the slide rail pair 311 is fixed on the first crossbeam 31 and extends in the left-right direction. The slide rail pair 311 has multiple sliders, each corresponding to a mechanical weeder 4. The locking rod 312 has multiple locking holes 313 distributed in the left-right direction. The mechanical weeder 4 is fixed by fasteners connected to the locking holes 313. Through the cooperation of the slide rail pair 311 and the locking rod 312, the left-right position of the mechanical weeder 4 on the first crossbeam 31 can be adjusted, thereby adapting to wheat fields with different row spacings.

[0060] Specifically, refer to Figure 1 and Figure 3 In this embodiment, a mounting base 51 is provided on the second crossbeam 32. The spraying weeder 5 is connected to the second crossbeam 32 via the mounting base 51. The position of the mounting base 51 on the second crossbeam 32 is adjustable, and the spraying weeder 5 can rotate relative to the mounting base 51 around a front-to-back axis to adjust the spraying angle. The left-right position adjustment of the mounting base 51 relative to the second crossbeam 32 is achieved by a sliding pair and a locking component; the rotation of the spraying weeder 5 relative to the mounting base 51 is achieved by a bearing and fasteners or other commonly used structures. The left-right movement of the mounting base 51 can adjust the left-right position of the spraying weeder 5, thereby matching wheat fields with different row spacings; the rotation of the spraying weeder 5 relative to the mounting base 51 can adjust the spraying angle, thereby achieving more precise weeding between plants.

[0061] Among them, there are multiple mechanical weeders 4, all of which are installed on the first crossbeam 31. The multiple mechanical weeders 4 are distributed at intervals to correspond to multiple wheat field rows. The mechanical weeders 4 are used to achieve the row weeding function by rotating at high speed in the wheat field soil.

[0062] Specifically, refer to Figure 2 In this embodiment, the mechanical weeder 4 is provided with a vertically extending strip hole 411, and a fastener passes through the strip hole 411 and the locking hole 313. The height of the mechanical weeder 4 can be adjusted through the strip hole 411, so as to coordinate with the rotation of the connecting frame 3 to adjust the soil penetration depth of the mechanical weeder 4, thereby adapting to different weed growth conditions.

[0063] Specifically, refer to Figure 2The mechanical weeder 4 in this embodiment includes a mounting frame 41, a servo motor 42, a roller blade assembly 43, and a chain assembly 44. The mounting frame 41 is connected to a first crossbeam 31. The housing of the servo motor 42 is fixed to the mounting frame 41, and the output shaft of the servo motor 42 extends in the left-right direction. The roller blade assembly 43 includes a rotating shaft connected to the mounting frame 41 and multiple roller blades fixed to the rotating shaft. The chain assembly 44 connects the output shaft of the servo motor 42 and the rotating shaft. During operation, the output shaft of the servo motor 42 rotates and transmits torque to the rotating shaft through the chain assembly 44, causing the rotating shaft to rotate passively, thereby rotating the roller blade assembly 43 and completing the weeding function.

[0064] It is easy to understand that the mechanical weeder 4 needs to be equipped with a sensor to detect and feedback the rotational speed of the shaft in order to control the weeding action of the mechanical weeder 4. In this embodiment, a Hall speed sensor is selected. The Hall speed sensor is a magnetoelectric sensor based on the Hall effect, with a speed measurement range of 0-1500 r / min. The Hall speed sensor is fixed above the servo motor 42. It receives the pulse signal generated by the magnet in the output shaft of the servo motor 42 and transmits the pulse signal to the controller. The rotational speed of the motor output shaft is fed back by counting the number of pulse signals, thereby feeding back the rotational speed of the shaft based on the transmission ratio.

[0065] Reference Figure 2 In this embodiment, a baffle 412 is also fixed on the mounting bracket 41, and the baffle 412 is connected to the front of the roller cutter assembly 43. Since the roller cutter assembly 43 will scatter soil when it rotates, the baffle 412 is added in this embodiment to prevent soil from splashing onto the front component.

[0066] Among them, there are multiple spray-type weeders 5, all of which are installed on the second crossbeam 32. The multiple spray-type weeders 5 are distributed at intervals to correspond to multiple wheat field rows. Each spray-type weeder 5 is equipped with a side-tilted nozzle, and all nozzles are tilted to the same side to achieve the inter-plant weeding function.

[0067] Specifically, refer to Figure 4 The spraying weeder 5 in this embodiment includes a flow meter, a proportional valve and a solenoid valve arranged in sequence away from the nozzle. The solenoid valve is used to control the opening and closing of the spraying weeder 5. The flow meter and the proportional valve are both connected to the controller. The controller adjusts the opening degree of the proportional valve according to the flow signal of the flow meter.

[0068] It should be noted that a flow meter, or flow sensor, is used to detect the flow rate of the liquid in each branch and transmits the flow signal to the controller in the form of different electrical signal intensities, facilitating subsequent control decisions by the controller. During detection, the flow meter calculates the flow rate per unit time by receiving the number of pulse signals; the calculation formula is as follows:

[0069] ;

[0070] in, This indicates the actual flow rate of the spraying branch. This indicates the number of pulse signals generated by the flow meter per unit time. Indicates the flow meter constant. This indicates the flow meter detection time interval.

[0071] It should be noted that the proportional valve is a flow control component used to regulate the real-time flow rate of fluid in each branch. When the vision unit detects weeds of different areas, the controller sends an electrical signal of 4 to 20 mA to the proportional valve to control the valve's opening degree, thereby controlling the spraying flow rate in each branch.

[0072] It should be noted that when no weeds are detected between plants, the solenoid valve remains closed; when weeds are detected, the valve body of the solenoid valve is opened by the electromagnet, and the medicine flows into the branch line and is sprayed out.

[0073] It is easy to understand that the spray-type weed killer 5 needs to be equipped with a pesticide supply component, as shown in the reference. Figure 4 The drug supply assembly includes a drug tank, which is fixed on the drive chassis. The outlet of the drug tank is connected in sequence to a filter and a diaphragm pump. The outlet of the diaphragm pump is connected to all spray weeders. The diaphragm pump is equipped with a pressure sensor. Both the pressure sensor and the diaphragm pump are connected to a controller. The controller adjusts the output pressure of the diaphragm pump according to the pressure signal from the pressure sensor.

[0074] Specifically, this embodiment uses a piezoresistive pressure sensor. Its detection principle is that the pressure-sensitive resistor changes shape when subjected to pressure variations. The piezoelectric conversion module converts the generated voltage signal into a digital signal and transmits it to the controller, thereby achieving dynamic monitoring of the spraying pressure of the spraying weed killer. The pressure calculation formula for the pressure sensor is:

[0075] ;

[0076] in, Indicates the actual pressure in the pipeline. Indicates the upper limit of the pressure sensor's measurement range. This indicates the lower limit of pressure sensor measurement. This represents the sampled value of the pressure analog quantity.

[0077] The controller is connected to the vision component 2, the mechanical weeder 4, and the spray weeder 5. The controller controls the mechanical weeder 4 to operate when the vision component 2 detects weeds between rows and controls the spray weeder 5 to operate when it detects weeds between plants.

[0078] Specifically, refer to Figure 4The controller in this embodiment includes a vehicle-mounted host computer and a lower-level controller. The vehicle-mounted host computer is an industrial computer of model TPC101-w401 from TouchThink Electronics Technology Co., Ltd., with external dimensions of 350.5mm×296.4mm×62.7mm. It runs on Windows 7 and is equipped with an Intel Core i5-4460T processor. It can perform functions such as processing information on weeds in the field and configuring operation parameters. The screen uses a high-resolution touch screen, which is easy to operate, has stable performance, and is suitable for field operations. The lower-level controller is a Siemens S7-200 series PLC (Programmable Logic Controller), which is a digital arithmetic controller with a microprocessor. It is powered by DC 24V and can execute and store control instructions to realize the connection between agricultural machinery and network, meeting the design requirements of the hoeing and spraying operation system.

[0079] Reference Figure 5 The working process of the wheat field hoe-spray weeding equipment in this embodiment is as follows:

[0080] S1. The vehicle starts and enters the work area;

[0081] S2. The working device consisting of the connecting frame 3, the mechanical weeder 4, and the spraying weeder 5 is lowered, so that the roller blade assembly 43 of the mechanical weeder 4 extends into the wheat field soil. At this time, the servo motor 42 is turned off, but the roller blade assembly 43 can rotate freely, and the solenoid valve is closed.

[0082] S3. When vision component 2 detects weeds between rows, servo motor 42 starts and adjusts the vehicle speed to clear the weeds between rows; when vision component 2 detects weeds between plants, solenoid valve and proportional valve start to clear the weeds between plants.

[0083] S4. When the vehicle leaves the work area, the working device is raised.

[0084] It should be noted that the work area may contain only inter-row weeds, only inter-plant weeds, or both. However, once the vehicle enters the work area, the working device must be lowered. The mechanical weeder 4 and the sprayer 5 should be operated accordingly based on the distribution of the weeds. If only inter-plant weeds exist in the work area, although the rotary blade assembly 43 of the mechanical weeder 4 has penetrated the wheat field soil, the servo motor 42 is not activated. The rotary blade assembly 43 rotates freely as the vehicle moves forward, thus loosening the soil.

[0085] Example 2

[0086] The present invention provides a method for weeding wheat fields by hoeing and spraying, which uses mechanical hoeing to clear weeds between rows of wheat fields and spraying herbicides to clear weeds between individual plants of wheat fields.

[0087] Specifically, this embodiment uses the wheat field hoe-spray weeding equipment described in Embodiment 1 for operation.

[0088] The above description is merely a specific embodiment of the present invention, enabling those skilled in the art to understand or implement the present invention. Although detailed descriptions have been provided with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments, and they should all be covered within the protection scope of the claims.

Claims

1. A hoe-spray type weeding device for wheat fields, characterized in that, include: Drive chassis vehicle (1); A vision component (2) is installed at the front end of the drive chassis (1) and is used to identify weeds between rows and between plants in the wheat field; The connecting frame (3) is connected at its front end to the rear end of the drive chassis (1) and is driven to rotate around the left and right axis. The rear end of the connecting frame (3) is provided with a first crossbeam (31) and a second crossbeam (32). The first crossbeam (31) and the second crossbeam (32) both extend in the left and right direction, and the first crossbeam (31) is located behind the second crossbeam (32). A mechanical weeder (4) is provided, and all of them are installed on the first crossbeam (31). The mechanical weeders (4) are distributed at intervals to correspond to multiple wheat field rows. The mechanical weeders (4) are used to achieve the row weeding function by rotating at high speed in the wheat field soil. A spraying weeder (5) is provided, and all of them are installed on the second crossbeam (32). The multiple spraying weeders (5) are distributed at intervals to correspond to multiple wheat field rows. Each spraying weeder (5) is provided with a side-tilted nozzle and all nozzles are tilted to the same side to achieve the inter-plant weeding function. The controller is communicatively connected to the vision component (2), the mechanical weeder (4) and the spray weeder (5), and is used to control the mechanical weeder (4) to operate when the vision component (2) detects weeds between rows and to control the spray weeder (5) to operate when weeds between plants are detected.

2. The wheat field hoe-spray weeding equipment according to claim 1, characterized in that, The first crossbeam (31) is provided with a slide rail pair (311) and a locking rod (312). The guide rail of the slide rail pair (311) is fixed on the first crossbeam (31) and extends in the left and right direction. The slide rail pair (311) has multiple sliders and is connected to the mechanical weeder (4) one by one. The locking rod (312) has multiple locking holes (313) distributed in the left and right direction. The mechanical weeder (4) is fixed by fasteners connected in the locking holes (313).

3. The wheat field hoe-spray weeding equipment according to claim 2, characterized in that, The mechanical weeder (4) is provided with a strip hole (411) extending in the vertical direction, and the fastener passes through the strip hole (411) and the locking hole (313).

4. The wheat field hoe-spray weeding device according to any one of claims 1 to 3, characterized in that, The mechanical weeder (4) includes: Mounting bracket (41) is connected to the first crossbeam (31); A servo motor (42) has its housing fixed on the mounting bracket (41), and the output shaft of the servo motor (42) extends in the left-right direction; The hobbing cutter assembly (43) includes a rotating shaft connected to the mounting bracket (41) and a plurality of hobbing cutters fixed to the rotating shaft; A chain assembly (44) is connected between the output shaft of the servo motor (42) and the rotating shaft.

5. The wheat field hoe-spray weeding device according to claim 4, characterized in that, A baffle (412) is also fixed on the mounting bracket (41), and the baffle (412) is connected to the front of the hobbing cutter assembly (43).

6. The wheat field hoe-spray weeding device according to claim 1, characterized in that, The spraying weeder (5) is connected to the second crossbeam (32) via a mounting base (51). The position of the mounting base (51) on the second crossbeam (32) is adjustable. The spraying weeder (5) can rotate relative to the mounting base (51) around a front-to-back axis to adjust the spraying angle.

7. The wheat field hoe-spray weeding equipment according to claim 1 or 6, characterized in that, The spraying weeder (5) also includes a flow meter, a proportional valve and a solenoid valve arranged in sequence in the direction away from the nozzle. The solenoid valve is used to control the opening and closing of the spraying weeder (5). The flow meter and the proportional valve are both connected to the controller. The controller adjusts the opening degree of the proportional valve according to the flow signal of the flow meter.

8. The wheat field hoe-spray weeding device according to claim 7, characterized in that, It also includes a drug supply assembly, which includes a drug tank fixed on a drive chassis (1). The outlet of the drug tank is connected in sequence to a filter and a diaphragm pump. The outlet of the diaphragm pump is connected to all spray weeders (5). The diaphragm pump is equipped with a pressure sensor. Both the pressure sensor and the diaphragm pump are connected to the controller. The controller adjusts the output pressure of the diaphragm pump according to the pressure signal of the pressure sensor.

9. The wheat field hoe-spray weeding device according to claim 8, characterized in that: The flow rate calculation formula for a flow meter is: ； in, This indicates the actual flow rate of the spraying branch. This indicates the number of pulse signals generated by the flow meter per unit time. Indicates the flow meter constant. Indicates the flow meter detection time interval; The pressure calculation formula for a pressure sensor is: ； in, Indicates the actual pressure in the pipeline. Indicates the upper limit of the pressure sensor's measurement range. This indicates the lower limit of pressure sensor measurement. This represents the sampled value of the pressure analog quantity.

10. A method for weeding wheat fields using a hoe-spraying technique, characterized in that: Mechanical weeding was used to clear weeds between rows of wheat fields, and herbicides were used to clear weeds between individual plants.

Images