EP3406801B1 - High-speed system for combating undesired plant growth - Google Patents

Description

Technical field

The invention relates to a modular weed control system for a rail vehicle, and in particular to a weed control system in track beds that can still be used at high speeds, a spray train and a method for controlling weeds in a track bed.

State of the art

A known task that operators of rail systems are constantly facing is keeping the track bodies free of unwanted growth, in particular weeds. As is known, a distinction is made between preventive measures for weed control and measures which are initiated when the weed has already grown. Rail-based systems are known which use a technology based on a camera system in order to specifically combat weeds; however, the rail vehicles currently in use, which are equipped with appropriate weed control devices, are clearly limited in the speed at which weed control can be carried out. The use of these known rail vehicles for weed control therefore generally requires slow operations, since weed detection requires a correspondingly long computing time or is inflexible with regard to the weeds.

Documents that deal with previously known technologies in this environment include the following: The document WO 2004/005625 A1 describes a connection between a weed killer, which is mounted on a rail vehicle, which is equipped with a weed-detecting camera and a PC connected to it, and a weather unit, which is also connected to the PC. The document NL 8 800 868 A describes an apparatus for distributing and spraying weed killers. The document DE 4132637 A1 describes a method and a device for delivering herbicides in weed control in Dependence on the optically recorded and computer-assisted weed control rate.

The present invention is therefore based on the object of presenting a concept for a weed control system - or a spray train - which is flexible with regard to the control unit used, the camera and the train speeds and can be used at comparatively high travel speeds.

Brief description of the invention

The above object is achieved by the subject matter of the independent claims. Advantageous embodiments of the invention result from the dependent claims, the following description and the figures.

According to a first aspect of the present invention, a modular weed control system for a rail vehicle is presented. The modular system has a control unit, a herbicide and mixing module, a nozzle assembly and a camera module.

The control unit is designed to generate a first set of control signals for controlling valves and mixers in a separate herbicide and mixing module for mixing a weed-specific herbicide mixture and for generating a second set of control signals for controlling valves of a nozzle assembly.

The herbicide and mixing module has containers for holding different herbicides, which are selectively in a fluid connection with the valves and mixers, and connection elements, via which electrical signal connections to connection elements of the control unit can be established, so that the first control signals generated in the control unit the valves and mixers of the herbicide and mixing module are conductive.

The nozzle assembly, which is spatially independent of both the control unit and the herbicide and mixing module, has a first set of nozzles for spraying herbicides and a fluid connection to selected valves and mixers of the herbicide and mixing module.

The control unit can be part of a control and monitoring module which, together with the herbicide and mixing module and the nozzle assembly, can each be individually reversibly fixed to a carrier element - in particular a carrier car.

The camera module generates a weed signal in response to detection of a weed. The generation of the first set of control signals and the generation of the second set of control signals can be controlled by the weed signal of the camera module by means of the control unit. The camera module itself is located at a predefined distance from the nozzle assembly, is spatially separated from the control and monitoring module, the herbicide and mixing module and the nozzle assembly and is arranged in front of them in a common direction of movement.

According to a second aspect of the present invention, a spray train for weed control on railways is presented. The spray train has the modular weed control system mentioned above on one or more carrier wagons and a second wagon for reversibly accommodating the camera module. The second car is arranged in one direction of travel in front of the one or more carrier cars.

According to a third aspect of the present invention, a method for controlling weeds in a track bed is presented. The method has in particular the following: a reversible fixing of a control unit in a control and monitoring module on a carrier, a reversible fixing of a herbicide and mixing module on the carrier, a reversible fixing of a nozzle assembly on the carrier, the nozzle assembly being spatially independent in each case from the control and monitoring module and the herbicide and mixing module.

The method further comprises establishing a fluid connection between the herbicide and mixing module and the nozzle assembly and generating a weed signal by means of a camera module which is arranged at a distance in front of the carrier car in a direction of travel of the carrier car.

The control unit of the control and monitoring module influences a first set of control signals for controlling valves and mixers in the herbicide and mixing module for mixing a weed-specific herbicide mixture. The influence is dependent on the weed signal from the camera module.

The method further comprises influencing a second set of control signals for controlling valves of a nozzle assembly by means of the control unit of the control and monitoring module depending on the weed signal from the camera module, and selectively spraying the weed-specific herbicide mixture via nozzles of the nozzle assembly on railroad tracks.

The herbicide and mixing module has a plurality of containers for receiving different herbicides, which are selectively in a fluid connection with the valves and mixers, and connection elements, via which electrical signal connections to connection elements of the control unit are established. As a result, the first control signals generated in the control and monitoring module can be routed to the valves and mixers of the herbicide and mixing module.

As a further element, the method has a sparing of the rail heads when selectively spraying the weed-specific herbicide mixture on the rail path.

Detailed description of the invention

The following terms, expressions and definitions are used in this document:
The term "modular system" describes in the context of the spray train presented that various modules are available from which weed control for track beds can be composed. The individual modules can be independent of one another, particularly in the case of transport. They can be put together at a target location - that is, at the location for weed control - to form a functional overall system for weed control on railways.

The term "weed control" describes the process of applying herbicides in order to specifically control existing weeds. In addition, weed control in the context of this description should also be understood to mean proactive measures; i.e. measures that prevent weeds from occurring from the outset.

The term “rail vehicle” can here describe a wagon and / or a carrier wagon for rail traffic. A rail vehicle usually has at least two Axles with two wheels each, which can be placed on two parallel rails. As a rule, the two axes can be connected to a chassis, on which corresponding structures (for example for receiving goods or people to be transported) can be placed.

The term "control unit" here denotes a unit which can process input signals and generates output signals depending on the input signals. The input signals can have different sources, such as the speed of movement of the control unit with respect to the earth or output signals of the camera module. If the camera module generates, for example, image data which are assigned to certain weeds by the control unit, the control unit can also generate output signals in order to generate or mix weed-specific herbicide mixtures by means of the valves and mixers, which can be individually controlled via the output signals of the control unit , Weed-specific herbicide mixtures can be sprayed in the track bed and the associated embankment via a further set of output signals that are sent from the control unit to the nozzles - potentially also mixers and valves - of the nozzle block. The control unit itself can be part of the control and monitoring module, which can be reversibly attached to the carrier.

Furthermore, nozzles of the nozzle assembly can also be provided for spraying a path running laterally to the slope.

The term “control and monitoring module” can be an independent module, which can be understood as the central control device of the modular weed control system presented for a rail vehicle. In the control and monitoring module, essentially all control signals can be generated or processed by the control unit in order to ensure the overall function of the modular weed control system for a rail vehicle. In addition, the control unit also enables manual interventions in herbicide delivery via the nozzle assembly by means of a control center, which can be a functional part of the control unit.

The term "spatially independent" here means that a module or component is fundamentally not physically attached to another component. Rather, it can be positioned autonomously by the other component in an overall system. For example, the Nozzle block independent of the control and control module, and also independent of the herbicide and mixing module, to be independently attached to the carrier car. Another example relates to the camera module. It can be positioned independently of the other components or modules. For example, it can be mounted on the tank wagon in front or it can hang on a drone. Nevertheless, a predefined distance to one of the other modules - eg the nozzle assembly - can be known at any time.

The term "control signal" describes an electrical signal which can be generated by a control and which controls an activator - for example in the form of a valve or a nozzle - in its mode of operation. In addition, it can also be a signal on a data line from the camera module to the control unit, which signals the control unit that the weed or a very specific weed has been recognized.

The term "herbicide and mixing module" describes another module of the modular weed control system for a rail vehicle. The herbicide and mixing module can have a plurality of containers which can hold different herbicides. In addition, a large number of valves can be provided, so that different herbicide mixtures, preferably weed-specific herbicide mixtures, can be produced on site. The herbicide and mixing module can furthermore have different connections: a water connection and a plurality of electrical lines for controlling and monitoring the function of the herbicide and mixing module. Additional lines may also be provided to refill one or more of the containers with appropriate herbicides. There may also be a connection for a feed line to a nozzle assembly.

The term "nozzle assembly" describes a support frame on which a plurality of nozzles for applying the herbicide mixtures can be present. The nozzle assembly can be another module of the modular weed control system for a rail vehicle. The nozzle assembly can also have a plurality of electrical connections via which the function of the individual nozzles can be controlled. In addition, the nozzle assembly can have one or more connections for feed lines of the herbicide mixtures and / or water and / or compressed air. The nozzle assembly can be reversibly fixed on the carrier element or on the carrier car.

The term "selective fluid connection" describes a connection between a source and a sink for a gas or a liquid. The selectivity of the fluid connection indicates that the intensity of the connection - i.e. the cross-section of the connection or the flow rate and thus the amount of substance transported through the fluid connection, can be selectively influenced. Typically, this controlling influence can take place via one or more valves.

The term "support element" describes a common basis for the modules of the modular weed control system for a rail vehicle. Not all modules need to be mounted on - i.e. above - the support element. They can also be reversibly connectable to the side of the carrier element on or below it.

The term "in container construction" is directly related to the modular construction of the modular system presented here. All or some of the modules of the modular system can each be stored in a standard container - e.g. Standard 20-foot container - be integrated. Standard containers are preferably understood to be those containers which are described in ISO standard 668: 2013-08. Of course, other container sizes are also possible. The term "container badges" is also intended to cover modules that can be integrated into a standard container, for example to transport the module integrated into such a standard container using common means (for example, trucks, airplanes or ships that are designed for the transport of standard containers) can. For example, it is conceivable that one or more modules have a platform (base plate) that have the same dimensions as the platform of a standard container and that side walls and a roof wall can be attached to the platform or the side walls, so that the module can be enclosed leaves and the housed module represents a standard container. The advantage of the container construction is, among other things, that different "innards" can be accommodated in a respective container. This applies, for example, to the control and monitoring module, the herbicide and mixing module or also a stay or storage module.

The term "camera module" can include an electronic camera and additional evaluation electronics. The camera module generally has much smaller dimensions than the container-sized modules of the modular weed control system already described. The camera module can be connected to the control unit of the control and monitoring module via electrical connections for data exchange purposes. The camera module can either transmit raw image data directly to the control unit or preprocessing of the image data recorded by the camera can take place within the camera. In both cases, the camera of the camera module is aimed at the track bed of the rail track lying in front of it. In order to ensure the processing of the data of the camera module and to make the necessary herbicides ready for use at the nozzles of the nozzle assembly - for example to transport them there through the fluid connections - the camera module can be provided clearly in front of the nozzle assembly.

In addition, the camera system can have a plurality of individual cameras, which for example are either assigned to track bed segments and / or generate weed-specific data and signals. In addition, the image data of the cameras can be correlated with one another in order to identify weeds more generally or specifically.

The term "weed signal" can describe one or more electrical signals which, by their nature, indicate the presence of weeds / weeds. Based on one of these weed signals, herbicides or herbicide mixtures can be provided for weed control. The weed signal can in particular also be a weed-specific signal which signals the detection of certain weeds.

The term "weed-specific signal" can describe one or more electrical signals which, by their nature, indicate the presence of a specific weed species. Based on one of these weed-specific signals, weed-specific herbicides or herbicide mixtures can be provided for targeted control of the corresponding weed species.

The term "energy module" describes another module of the modular weed control system. The energy module can also be constructed as a container. Alternatively, a housing, for example a generator for generating electricity, can protect against external influences. This housing can be mounted on a platform in addition to other elements, which in turn represents a base platform of a standard container.

In the context of the concept presented here, the term “carrier wagon” describes a freight wagon in the form of a flat wagon which has a carrier frame but no other fixed structures. The axles are typically suspended on bogies.

The term "stay module" describes another optional module of the modular weed control system. This module can also be designed as a container. It can provide facilities that are suitable for a stay of people - for example for recreation or work purposes.

In the context of this document, the term “intermediate rail nozzle” can refer to a nozzle which is located in an area above between the rails on the nozzle assembly. Such a nozzle can essentially spray the track bed between the individual rail tracks. In contrast, the term "embankment nozzle" describes a nozzle which is located above or next to the embankment of the track bed on the nozzle block and is designed to spray the embankment of the track bed in use.

A distinction is made between "half-jet nozzles" and "full jet nozzles". A full jet nozzle generates a spray jet that spreads symmetrically with respect to an axis oriented vertically to the nozzle direction. In contrast to this, the spray jet of a half-jet nozzle is asymmetrical to the axis oriented vertically to the nozzle direction, so that, for example, a spray jet is generated only on one side of the vertically oriented axis. This can be achieved by a special shape of the nozzle or by shielding plates. Regardless of this, the nozzles are designed as spoon nozzles. A spoon-shaped shield shields the spray jet when it emerges from the nozzle, for example, from the wind of the spray train.

The concept of the modular weed control system for a rail vehicle presented here has a number of advantages and technical effects that also apply to the spray train or the corresponding process in a comparable way:

On the one hand, the modular design of the system presented gives rise to flexible application options in terms of time and place. The individual modules can be detached from the carrier at any time in order to then be transported to another location, for example by air freight. Arrived at the destination, the system presented can be mounted on a new carrier wagon to carry out weed control at this destination.

On the other hand, the modular system is designed to control weeds at high train speeds. In known systems, the camera is always provided in the immediate vicinity - or at least on the same carriage - of the control unit. The Computing time required - either in the camera module or in the control unit - for the detection of any or certain (specific) weeds is relatively high, so that at comparatively high train speeds the nozzle stick for the delivery of the herbicides has already passed the recognized weeds and thus herbicide release would happen late. By positioning the camera or the camera module far in front of the control unit or the nozzle block, the decisive time contribution for determining the weeds or the is according to the equation "time available for calculation equals distance between the nozzle block and the camera module divided by train speed" Provision of the herbicide mixture provided at the nozzles. The further the camera module is positioned in front of the herbicide-dispensing nozzle assembly, the faster the train can travel.

As a result, a section of track to be prepared with herbicides is released for general train traffic much more quickly. This has both technical (timetable) and economic advantages for the track body operator.

It is not even necessary for the camera system to be mounted directly on another train wagon. Rather, the camera module can also be mounted on a train traveling in front that travels at a constant distance in front of the train with the nozzle assembly. In this case, the data from the camera module can be transmitted wirelessly to the control unit. An essential feature is that real-time processing of the camera data can also be carried out in this case in order to calculate the correct times for the release of the herbicides through the nozzle assembly. It is therefore not necessary that a more complex map (weed map) with the locations of the weeds is generated from the camera data.

It is also possible to use a drone that carries the camera module and flies at a constant distance in front of the train or the nozzle assembly. In this case too, the camera data would be transmitted wirelessly to the control unit; and in this case too, real-time processing of the camera data takes place without the need for a weed map.

The proposed concept thus allows a considerably higher flexibility with regard to the computing speed of the control unit that can be used, which can be lower and thus also cheaper, and the speed at which the spraying train can travel.

In the following, further exemplary embodiments of the modular system are presented, which can also be used for the spray train as well as for the method presented.

First of all, it should be noted that the control and monitoring module can accommodate other components in addition to the control unit. This can include workplaces for operating personnel as well as monitors and other monitoring devices or receivers of weather data or data from geographic information systems.

According to a further exemplary embodiment of the modular system, the carrier element can be a carrier car for a rail application. A carrier wagon can be a quasi-standardized wagon of a train for carrying loads - such as container-like modules.

According to a further advantageous exemplary embodiment of the modular system, the camera module can be reversibly attached to a carriage in front of the control unit. The car, which is coupled in the direction of travel in front of the car that carries the nozzle assembly, can be, for example, a tank car that is suitable for holding mixed water, which can be made available to the herbicide and mixing module via a hose line. The preceding vehicle can also designate the locomotive that pulls the carrier wagon, on which the control and monitoring module with the control unit is reversibly fixed. The distance between the camera module and the control unit is fixed or known at any time.

According to a further optional embodiment of the modular system, the camera module can be attached to a - potentially autonomously operating - drone or a multicopter (eg quadrocopter). This can fly at a fixed or time-known distance to the control unit / nozzle assembly before the spray train. The platform of the energy module can be used as a takeoff and landing site. In order not to have to stop the spray train when the drone's fuel threatens to run out, a second drone with a second camera module can be used, which takes over the function of the drone to be refueled in a "flying change". The drone can be operated electrically or can also have a gasoline engine. The distance from the drone to the control unit or the nozzle assembly can be made possible via GPS navigation. Appropriate methods are known. This variant also does not require the production of a weed map. Rather, the data from the camera module can be converted directly into herbicide delivery via the nozzle assembly.

According to a further optional exemplary embodiment of the modular system, the camera module can be fastened to a train which leads ahead of a train which carries the control unit and the nozzle assembly. The preceding train preferably maintains a constant distance from the spray train. This means that the time available for calculating whether weeds can be controlled by herbicides is constant. Alternatively, the train ahead can have a time-variable distance from the spray train. Such differences in speed and thus variable distances can be taken into account in the time calculation for the delivery of the herbicides via the nozzle assembly by the control unit.

According to a supplementary embodiment of the modular system, the camera module can be adapted to generate a weed-specific signal. The control unit can be adapted to receive the weed-specific signal from the camera module. The control unit can also be adapted to generate the first set of control signals for controlling the valves and mixers of the herbicide and mixing module.

According to an additional advantageous exemplary embodiment of the modular system, the nozzle assembly can have a group of intermediate rail nozzles and two groups of embankment nozzles. Each of these groups should have at least one nozzle. Within the groups, it is also possible to individually address each of the nozzles, which are essentially mounted on a line that runs perpendicular to the course of the rails, so that the weed-specific herbicide can only be released via the respectively addressed nozzle , In this way, the corresponding herbicide can be sprayed very precisely in the track bed. This leads to a corresponding reduction in the total herbicide released and thus to a lower environmental impact and cost savings through saved herbicides.

In a further advantageous exemplary embodiment of the modular system, those intermediate rail nozzles from the group of intermediate rail nozzles that are closest to the rail tracks lying diagonally below them can be half-jet nozzles and the other intermediate rail nozzles can be full-jet nozzles. The half-jet nozzles can in particular be aligned so that the rails are not sprayed. In this way, the use of herbicides can be further reduced in an environmentally friendly manner and no lubricating films are formed on the rails, so that the emergency braking properties for the spray train are not negatively affected.

A similar arrangement can, according to a further exemplary embodiment, also be half-jet nozzles for the two groups of embankment nozzles that are closest to the rail tracks lying diagonally below them, and full jet nozzles for the other embankment nozzles. The same applies to the advantages of this arrangement as to the intermediate rail nozzles.

An additional advantageous exemplary embodiment of the modular system can provide that the nozzles of the nozzle assembly are spoon nozzles. In this case, the outlet of the spray jet can be shaped by a compressed air outlet lying circularly around an outlet opening for the herbicide mixture. In this way, a deformation of the spray jet at higher speeds of the spray train is counteracted, so that even higher train speeds are possible without having an excessively negative effect on the effectiveness of the spray jet of the nozzle assembly.

Another exemplary embodiment of the modular system can provide that the control and monitoring module and the herbicide and mixing module are designed in a container design. The intended containers can thus be elegantly mounted on the respective carrier wagon in a standardized manner.

A supplementary exemplary embodiment of the modular system can provide that an energy module is additionally present on a platform in modular construction and / or container construction. The energy module can be electrically connected to the control and monitoring module and the herbicide mixing module. In addition, the energy module can also be reversibly attached to the carrier element - i.e. Carriage - be fixable.

The energy module can be positioned between the control and monitoring module and the herbicide and mixing module, and can also serve as a walk-on platform. This is always useful if the actual module for energy generation does not take up the entire width of the wagon. This platform can also be used as a collection, rescue and security platform and / or as a take-off and landing site for the drone already mentioned.

In addition, according to one embodiment of the modular system, the carrier can be a standard 80-foot carrier. This can either have double axes at the end or single end axes and a central axis. The advantage of the double axles lies in the smoother driving behavior of the wagon.

Alternatively and in accordance with a further exemplary embodiment of the modular system, the carrier car can consist of a plurality of carrier cars coupled to one another — for example 2, 3 or 4 — which are each shorter than a standard 80-foot carrier car. This gives you even greater flexibility when it comes to loading the modules onto rail vehicles.

Another advantageous exemplary embodiment of the modular system can provide that the nozzle assembly is attached to the carrier element below the control and monitoring module. The function of the nozzle assembly can thus be observed directly from the control module. Alternatively or additionally, cameras and monitors can be used to monitor the function of the nozzle assembly.

It is pointed out that embodiments of the invention have been described with reference to different subject matter of the invention. In particular, some embodiments of the invention can be described with device claims and other embodiments of the invention with method claims. However, one skilled in the art will immediately understand upon reading the present description that, unless explicitly stated otherwise, in addition to a combination of features that belong to a type of an object of the invention, any combination of features that belong to different categories is also possible belong to objects of the invention.

Further advantages and features of the present invention result from the following exemplary description of currently preferred embodiments. The individual figures in the drawings of this application are merely to be regarded as schematic, exemplary and not to scale.

Brief description of the figures

• Fig. 1 zeigt das modulare System zur Unkrautbekämpfung für ein Schienenfahrzeug.
• Fig. 2 zeigt eine schematische Darstellung eines Düsenstockes.
• Fig. 3 stellt ein Ausführungsbeispiel des Herbizid-und Mischmoduls in einer Draufsicht mit abgenommenem Dach dar.
• Fig. 4 stellt ein Ausführungsbeispiel einer Draufsicht auf das Energiemodul dar.
• Fig. 5 stellt die einzelnen Module im Zusammenhang dar.
• Fig. 6 zeigt ein Beispiel einer perspektivischen Ansicht der einzelnen Module im Kontext.
• Fig. 7 zeigt ein Beispiel einer perspektivischen Ansicht eines Zuges mit dem modularen System zur Unkrautbekämpfung.
• Fig. 8 stellt das Verfahren zur Bekämpfung von Unkraut in einem Gleisbett mittels des modularen Systems dar.

Preferred exemplary embodiments of the invention are described below on the basis of examples and with reference to the following figures:

• Fig. 1 shows the modular weed control system for a rail vehicle.
• Fig. 2 shows a schematic representation of a nozzle assembly.
• Fig. 3 represents an embodiment of the herbicide and mixing module in a plan view with the roof removed.
• Fig. 4 represents an embodiment of a plan view of the energy module.
• Fig. 5 shows the individual modules in context.
• Fig. 6 shows an example of a perspective view of the individual modules in context.
• Fig. 7 shows an example of a perspective view of a train with the modular weed control system.
• Fig. 8 represents the method of weed control in a track bed using the modular system.

Description of exemplary embodiments

It is pointed out that features or components of different embodiments which are identical or at least functionally the same with the corresponding features or components of the embodiment are provided with the same reference symbols or with a different reference symbol which is only in its first digit differs from the reference symbol of a (functionally) corresponding feature or a (functionally) corresponding component. In order to avoid unnecessary repetitions, features or components that have already been explained on the basis of a previously described embodiment are no longer explained in detail later.

It is also pointed out that the embodiments described below represent only a limited selection of possible embodiment variants of the invention. In particular, it is possible to change the characteristics of individual To combine embodiments in a suitable manner with one another, so that a multitude of different embodiments can be regarded as obvious for the person skilled in the art with the embodiment variants explicitly shown here.

Fig. 1 shows the modular weed control system 100 for a rail vehicle in a schematic representation.

The modular system has a control unit 102, which is contained in a control and monitoring module 104, a herbicide and mixing module 106, a nozzle assembly 108 and a camera module 110. The control unit is configured to generate a first set of control signals for controlling valves and mixers 112 in the separate herbicide and mixing module 106 for mixing a weed-specific herbicide mixture, and for generating a second set of control signals for controlling valves of a nozzle assembly 108.

The herbicide and mixing module 106 has containers 114 for holding different herbicides, which are selectively in a fluid connection with the valves and mixers 112, and connecting elements - for example plugs on an outer wall - via which electrical signal connections to connecting elements - for example plugs on an outer wall - The control unit 102 can be produced so that the first control signals generated by the control unit 102 in the control and control module 104 can be conducted to the valves and mixers 112 of the herbicide and mixing module 106.

The nozzle assembly 108, which is spatially independent of both the control and control module 104 and the herbicide and mixing module 106, has a first set of nozzles for spraying herbicides and at least one fluid connection to selected ones of the valves and mixers 112 of the herbicide and Mixing module 106.

The camera module 110, which generates a weed signal in response to detection of a weed, can be mounted on a preceding vehicle 116 in relation to a vehicle 118 (carrier vehicle) which contains the control unit 102 in the control and control module 104, the herbicide and mixing module 106 and carries the nozzle assembly 108. The camera module can have a plurality of individual cameras which are directed in the direction of travel 120 onto the track bed (not shown) lying in front of them.

The generation of the first set of control signals and the generation of the second set of control signals can be controlled by the weed signal by means of the control unit. The camera module 110 is at a predefined distance from the nozzle assembly 108. The camera module 110 is also spatially separated from the control and control module and the herbicide and mixing module in a common direction of movement of the control and control module, the herbicide and mixing module and the nozzle assembly. This means that it is not mounted on the carrier carriage 118, which carries the control unit 102 and the nozzle assembly 108. Rather, it is reversibly fixed at one position in the direction of travel 120, so that sufficient time is available for the image evaluation of the camera module 110 and the provision of the corresponding herbicide mixtures on the nozzle assembly 108, even at higher speeds.

The preceding vehicle 116 can be, for example, a tank car from which mixed water can be made available to the herbicide and mixing module 106 via a hose connection. However, one or more other carriages or a locomotive can also be arranged between the nozzle assembly 108 and the camera module 110. Alternatively, the camera module 110 can also be fixed to a train traveling ahead with a known distance or a drone flying ahead.

Fig. 2 shows an arrangement 200 with a nozzle assembly 202 with a plurality of exemplary nozzles 204 above a track bed 206 and side slopes 208. In addition, in FIG Fig. 2 the rail tracks 210, 212 shown on the track bed 206. Using the example of the nozzle 216, it is shown by dotted lines how, for example, the spray jet 214 of a full jet nozzle can spray a herbicide mixture onto the track bed 206. The function of a half-jet nozzle is illustrated using the example of the right outer nozzle 218. The right area of the nozzle jet is limited here, so that the rail 212 cannot be sprayed.

Those nozzles that are located outside of the respective rails 210, 212 - shown by way of example using the nozzles 220 - can be used for spraying the respective embankment (like the right embankment 208) and also for a path which runs parallel to the embankment 208. The nozzle of the nozzles 220 that is closest to the rail 212 is again designed as a half-jet nozzle, so that the rail 212 is not sprayed. The same applies to the left side of the nozzle assembly 202.

Fig. 3 illustrates an embodiment of the herbicide and control module 108 in a top view 300 with the roof 108 removed. The majority of Containers 114 for holding different (or also the same) herbicides, four of which are shown here, for example. A catwalk 302 connects a left input side to a right input side of the herbicide and mixing module 108. A variety of conduits 304, valves 304, mixers 304, pumps 306 (as an example) and other other control devices (not shown in detail) enable mixing of various herbicide mixtures, for example weed-specific herbicide mixtures. The herbicide and control module 108 is typically in a housing in the form of a 20-foot standard container according to ISO 668: 2013-08.

Fig. 4 illustrates an exemplary embodiment of a top view of the energy module 400. The energy module 400 consists of an actual energy generation block 404, in which an internal combustion engine can generate electricity using a generator. The energy generation block 404 can be controlled from the outside via an operating terminal 406. A tank for the fuel can be filled from above.

The energy generation block 404 is mounted on a platform which can take up the footprint of a 20-foot standard container, for example. This module 400 also shows attachment points 402 for attachment to a carrier. A side grille 414 protects the operating personnel from falling from the platform 408. The platform 408 can be reached via a respective ladder 410. This can be locked by respective pivoting doors 412. No grating has to be provided on the respective left and right side of the energy module 400. Rather, the other modules - the control and monitoring module and the herbicide and mixing module - can be reached via these ends of the energy module 400.

Fig. 5 shows several modules in connection. On the far left is the herbicide and mixing module 106, followed by the energy module 400, the control and monitoring module 104 with the control unit 102 (not shown) and an additional residence module 502. The buffers 504 show that all modules are shown side by side on a carrier car.

Fig. 6 shows an example of a perspective view 600 of the several modules: the herbicide and mixing module 106, the energy module 400, the control and monitoring module 104 and the accommodation module 502. All modules are shown on a carrier wagon 602 with two double-axis turnstiles 604. The order shown for each Module has proven to be practical. The stay module 502 is located furthest away from the herbicide and mixing module 106, so that even if the herbicide and mixing module 106 malfunctions (for example uncontrolled herbicide leakage), the personnel on board are protected solely by the distance. In addition, the nozzle assembly 108 can be seen schematically below the control and monitoring module 104 on the carrier car.

The energy module 400 is located between the herbicide and mixing module 106 and the control and monitoring module 104 and can supply both modules well with energy. The platform of the energy module 400 is easily accessible both from the herbicide and mixing module 106 and from the control and monitoring module 104.

Fig. 7 shows an example of a perspective view of a train 700 consisting of a storage car 702, the carrying car 704 with the complete modular system for weed control in the middle and a tank car 706 with which water can be transported, which is available to the herbicide and mixing module 106 via hoses can be made. In this illustration, the camera module 110 is shown in the front area of the tank car 706. The energy module 400 is recognizable with its platform.

Storage cart 702 can be used to store and transport various supplies for the train; in particular, various herbicides can be stored directly and in large quantities in this way. Thus, the supply of herbicides is not limited to the capacity of the containers in the herbicide and mixing module 106. A locomotive can be provided at the beginning or end of train 700. The orientation - i.e. the exit of the herbicides from the nozzle assembly - is to be adjusted according to the direction of travel 120 of the train. It is not necessary to rearrange the modules of the modular weed control system for a different direction of travel.

FIG. 8th 800 represents the method for controlling weeds in a track bed. The method 800 comprises a reversible fixing 802 of a control unit in a control and monitoring module to a carrier, a reversible fixing 804 of a herbicide and mixing module (HMM) to the carrier, and reversible fixation 806 of a nozzle assembly on the carrier. The nozzle assembly is spatially independent of both the control and monitoring module and the herbicide and mixing module.

The method 800 also includes establishing 808 a fluid connection between the herbicide and mixing module and the nozzle assembly and generating 810 a weed signal using a camera module. The camera module is arranged in front of the carrier in a direction of travel of the carrier.

In addition, method 800 includes influencing 812 a first set of control signals for controlling valves and mixers in the herbicide and mixing module for mixing a weed-specific herbicide mixture by means of the control unit depending on the weed signal of the camera module, and influencing 814 a second set of control signals for controlling valves of a nozzle assembly by means of the control unit depending on the weed signal from the camera module.

Based on this, the method 800 has a selective spraying 816 of the weed-specific herbicide mixture via nozzles of the nozzle stick onto the rail tracks.

The herbicide and mixing module has a plurality of containers for holding different herbicides, which are selectively in a fluid connection with the valves and mixers and connection elements via which electrical signal connections to connection elements of the control unit are established, so that the first control signals generated in the control unit to the valves and mixers of the herbicide and mixing module.

In addition, the method 800 has a parallel recess 818 of the rail heads during the selective spraying 816 of the weed-specific herbicide mixture on the rail path.

The description of the various embodiments of the present invention has been used for purposes of illustration. They are not intended to limit the scope of the inventive idea. Further modifications and variations will be apparent to those skilled in the art without departing from the essence of the present invention.

Claims (17)

1. A modular system (100) for weed control for a railway vehicle, wherein the modular system (100) comprises

   - a control unit (102) adapted

   - for generating a first set of control signals for controlling of vents and mixers in a separate herbicide and mix module for mixing a weed-specific herbicide mixture, and

   - for generating a second set of control signals for controlling of vents of a spraying unit, and

   - the herbicide and mix module (106) comprising

   - vents, mixers (112) and containers (114) for retaining different herbicides that are selectively linked to the vents and mixers (112) via a selective fluidic connection,

   - connection elements via which electric signal connections are establishable to connection elements of the control unit (102) such that the first control signals generated in the control unit (102) are directable to the vents and mixers (112) of the herbicide and mix module (106),

   - a spraying unit (108), which is spatially independent from both, the control unit (102) and the herbicide and mix module (106), the spraying unit (108) comprising

   - a first set of sprayers for spraying of herbicides, and

   - a fluidic connection to selective ones of the vents and mixers of the herbicide and mixing module,

   - a camera module (110) that generates, in a reaction to a recognition of weed, a control signal,

   wherein the generation of the first set of control signals and the generation of the second set of control signals is controllable via the control signal via for the control unit (102),
   wherein the camera module (110) has a predefined distance to the spraying unit (108), is spatially separated from the control unit (104), the herbicide and mix module (106), and the spraying unit (108), and is positioned before the control unit (102), the herbicide and mix module (106) and the spraying unit (108) in a joint movement direction,
   wherein the control unit (102) is part of a regulation and control module (104) which is - together with the herbicide and mix module (106) and the spray unit (108) - individually reversibly fixable at a carrier element, respectively.
2. The modular system (100) according to claim 1, wherein the carrier element is a carrier wagon (118) for a railway use.
3. The modular system (100) according to any of the preceding claims, wherein the camera module (110) is affixed reversible to a wagon running ahead of the control unit (102.
4. The modular system (100) according to any of the preceding claims, wherein the camera module (110) is affixed to a drone.
5. The modular system (100) according to any of the preceding claims, wherein the camera module (110) is affixed to a train that is running ahead the train that carries the control unit (102), and the spraying unit (108).
6. The modular system (100) according to any of the preceding claims, wherein the camera module (110) is adapted to produce a weed-specific signal, and wherein the control unit (102) is adapted to receive the weed-specific signal of the camera module (110), and wherein the control unit (102) is adapted to generate, during the generation of the first set of control signals, weed-specific signals for controlling the vents and mixers (112).
7. The modular system (100) according to any of the preceding claims, wherein the spraying unit (108) comprises a group of in-between-rail sprayers (204, 216, 218) and two groups of embankment sprayers (220).
8. The modular system (100) according to claim 7, wherein those in-between-rail sprayers that are part of the group of in-between-rail sprayers that are closest to the rails (210, 212), lying under the in-between-rail sprayers, are half-jet sprayers, and wherein the other in-between rail sprayers are full-jet sprayers.
9. The modular system according to claim 7 or 8, wherein the embankment sprayers 220) of the two groups of embankment sprayers 220) that are closest to the rails (210, 212) are half-jet sprayers and the other embankment sprayers are full-jet sprayers.
10. The modular system (100) according to any of the preceding claims, wherein the sprayers of the spray a unit (108) are spoon sprayers, and wherein the discharge of the sprayer beam 214) is formed by a circular compressed air outlet which is formed circularly air around a discharge opening for the herbicide mixture.
11. The modular system (100) according to any of the preceding claims, wherein the regulation and control module (104) and the herbicide and mix module (106) is built in a container architecture.
12. The modular system (100) according to any of the preceding claims, additionally comprising

    - and energy module (400) on a platform in a modular and/or container architecture, wherein the energy module (400) is electrically connectable to the regulation and control module (104) and the herbicide and mix module (106), and wherein the energy module (400) is reversibly fixable at the carrier element.
13. The modular system according to any of the claims 2 to 12, wherein the carrier wagon (118) is a standard 80) feet carrier wagon.
14. The modular system (100) according to any of the claims 2 to 12, wherein the carrier wagon (118) comprises a plurality of carrier wagons (118) coupled to each other.
15. The modular system (100) according to any of the preceding claims, wherein the sprayer unit (108) is affixed to the carrier element (118) below the control and mix module (104).
16. A spray train (700) for weed control on railroads comprising

    - the modular system (100) for weed control according to any of the claims 1 to 15 on one or more carrier wagons,

    - and a second wagon (706) for a reversible reception of the camera module (108), wherein the second wagon is positioned in front of the one or more carrier wagons (118) in a movement direction.
17. A method (100) for weed control in a track bed, the method (800) comprising

    - reversibly fixing a control unit (102) in a regulation and control module (104) at a carrier wagon (118),

    - reversibly fixing a herbicide and mix module (106) at the carrier wagon (118

    - reversibly fix a sprayer unit (108) at the carrier wagon (118), wherein the sprayer unit (108) is spatially independent from both, the regulation and control module (104) and the herbicide and mix module (106),

    - establishing a fluid connection between the herbicide and mix module (106) and the spraying unit (108),

    - generating a weed signal using the camera module (110) which is positioned at a distance in front of the carrier wagon (118) in a movement direction of the carrier wagon (118);

    - influencing a first set of control signals for controlling vents and mixers (112) in the herbicide and mix module (106) for mixing a weed-specific herbicide mixture using the control unit (102) dependent on the weed signal of the camera module (110),

    - influencing a second set of control signals for controlling vents of a spraying unit (108) using the control unit (102) dependently on the weed signal of the camera module (110), and

    - selectively spraying of the weed-specific herbicide mixture via sprayers of the spraying unit (106) on a railway,
    wherein the herbicide and mixing module (106) comprises

    - a plurality of containers (114) for retaining of different herbicides that are selectively in a fluid connection with the vents and mixers (112),

    - connection elements via which electrical signal connections are establishable to connection elements of the control unit (102), such that the first control signals unit (102), generated by the control unit (102) are directed to the vents and mixers (112) of the herbicide and mix module (106), and

    - avoiding of rail head when selectively spraying the weed-specific herbicide mixtures on a railroad.

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