EP3615738B1 - High-speed system for combating undesired plant growth - Google Patents

Description

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

A well-known task that operators of rail systems are constantly faced with is keeping track bodies free from unwanted vegetation, especially weeds. It is known that a distinction is made between preventive weed control measures and measures that are initiated when the weeds have already grown. Rail-bound systems are known which use a technology based on a camera system in order to control weeds in a targeted manner; However, the known rail vehicles, which are equipped with appropriate devices for weed control, are clearly limited in the speed with which the weed control can be carried out. Use of these known rail vehicles for weed control generally requires slow deployment trips, since weed detection requires correspondingly long computing times or is inflexible with regard to the weeds.

The document EP 2728068 A1 discloses a rail sprayer comprising a motor vehicle, at least one spray container, at least one spray nozzle and at least one vegetation sensor, the at least one vegetation sensor being connected to a control unit. The control unit is in turn connected to the at least one spray nozzle. Preferably there are two spray nozzles attached to the two ends of the motor vehicle.

The document WO 2004/005625 A1 describes a connection between a weed-killing machine, which is mounted on a rail vehicle, which is equipped with a weed-detecting camera and a computer connected to it, and a weather unit, which is also connected to the computer.

The present invention is therefore based on the object of presenting a concept for a system for weed control 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.

The above-mentioned object is achieved by the subjects of the independent claims. Advantageous embodiments of the invention emerge from the dependent claims, the following description and the figures.

• ein Steuer- und Kontroll-Modul,
• ein Herbizid- und Misch-Modul,
• einen Düsenstock, und
• ein Kameramodul;

wobei das Steuer- und Kontroll-Modul, das Herbizid- und Misch-Modul und der Düsenstock jeweils einzeln reversibel an einem Trägerelement fixierbar sind;
wobei das Steuer- und Kontroll-Modul eine Steuereinheit umfasst,
wobei die Steuereinheit

• zur Erzeugung eines ersten Satzes von Steuersignalen zum Steuern von Ventilen und Mischern in dem Herbizid- und Misch-Modul zur Mischung einer Herbizidmischung, und
• zur Erzeugung eines zweiten Satzes von Steuersignalen zum Steuern von Ventilen des Düsenstockes

eingerichtet ist;
wobei das Herbizid- und Misch-Modul umfasst:

• Ventile und Mischer,
• Behälter zur Aufnahme von unterschiedlichen Herbiziden, die selektiv mit den Ventilen und Mischern in einer selektiven Fluidverbindung stehen,
• Anschlusselemente über welche elektrische Signalverbindungen zu Anschlusselementen der Steuereinheit herstellbar sind, so dass die in der Steuereinheit erzeugten ersten Steuersignale zu den Ventilen und Mischern des Herbizid- und Misch-Moduls leitbar sind; wobei das Kameramodul
• einen vordefinierten Abstand zum Düsenstock aufweist,
• einen vordefinierten Abstand zur Steuereinheit aufweist,
• von der Steuereinheit, dem Herbizid- und Misch-Modul und dem Düsenstockes jeweils räumlich getrennt ist,
• in einer gemeinsamen Bewegungsrichtung vor der Steuereinheit, dem Herbizid- und Misch-Modul und dem Düsenstock angeordnet ist, und
• zur Erzeugung eines Unkrautsignals in Reaktion auf eine Erkennung eines Unkrautes eingerichtet ist;

und
wobei die Erzeugung des ersten Satzes von Steuersignalen und die Erzeugung des zweiten Satzes von Steuersignalen durch das Unkrautsignal des Kameramoduls mittels der Steuereinheit steuerbar ist
Erfindungsgemäß ist das Kameramodul (110) bei einem das modulare System umfassenden Sprühzug an einem der Steuereinheit (104) vorausfahrenden Wagen reversibel befestigt ist, oder das Kameramodul (110) an einem unbemannten Flugobjekt befestigt ist.A first aspect is thus a modular system for a rail vehicle for weed control, comprising

• a control and monitoring module,
• a herbicide and mixing module,
• a nozzle holder, and
• a camera module;

wherein the control and monitoring module, the herbicide and mixing module and the nozzle assembly can each be individually reversibly fixed to a carrier element;
wherein the control and monitoring module comprises a control unit,
the control unit

• for generating a first set of control signals for controlling valves and mixers in the herbicide and mixing module to mix a herbicide mixture, and
• for generating a second set of control signals for controlling valves of the nozzle assembly

is set up;
wherein the herbicide and mixing module comprises:

• Valves and mixers,
• Containers for holding various herbicides which are selectively in fluid communication with the valves and mixers,
• 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 can be routed to the valves and mixers of the herbicide and mixing module; being the camera module
• has a predefined distance to the nozzle assembly,
• has a predefined distance to the control unit,
• is spatially separated from the control unit, the herbicide and mixing module and the nozzle assembly,
• is arranged in a common direction of movement in front of the control unit, the herbicide and mixing module and the nozzle assembly, and
• is arranged to generate a weed signal in response to a detection of a weed;

and
wherein the generation of the first set of control signals and the generation of the second set of control signals by the weed signal of the camera module can be controlled by means of the control unit
According to the invention, in a spray train comprising the modular system, the camera module (110) is reversibly attached to a car traveling in front of the control unit (104), or the camera module (110) is attached to an unmanned flying object.

In the present invention, the spray train for weed control on railways has the modular system according to the invention, as well as one or more carrying wagons, and a second carriage for reversible mounting of the camera module, the second carriage being arranged in one direction of travel in front of the one or more carrying wagons.

• reversibles Fixieren eines Steuer- und Kontrollmoduls umfassend eine Steuereinheit an einem Tragwagen,
• reversibles Fixieren eines Herbizid- und Misch-Moduls an dem Tragwagen,
• reversibles Fixieren eines Düsenstockes an dem Tragwagen, wobei der Düsenstock jeweils räumlich unabhängig sowohl von dem Steuer- und Kontrollmodul und dem Herbizid- und Misch-Modul ist,
• Herstellen einer Fluidverbindung zwischen dem Herbizid- und Misch-Modul und dem Düsenstock,
• Erzeugen eines Unkrautsignals mittels eines Kameramoduls, das beabstandet vor dem Tragwagen in einer Fahrrichtung des Tragwagens angeordnet ist,
• Beeinflussen eines ersten Satzes von Steuersignalen zum Steuern von Ventilen und Mischern in dem Herbizid- und Misch-Modul zur Mischung einer Herbizidmischung mittels der Steuereinheit abhängig von dem Unkrautsignal des Kameramoduls,
• Beeinflussen eines zweiten Satzes von Steuersignalen zum Steuern von Ventilen eines Düsenstockes mittels der Steuereinheit abhängig von dem Unkrautsignal des Kameramoduls, und
• selektives Versprühen der Herbizidmischung über Düsen des Düsenstockes auf Schienenwegen,

dadurch gekennzeichnet, dass das Kameramodul (110) an einem der Steuereinheit (104) vorausfahrenden Wagen reversibel befestigt ist, oder das Kameramodul (110) an einem unbemannten Flugobjekt befestigt ist.Another object of the present invention is a method for controlling weeds in a track bed, comprising the steps:

• reversible fixing of a control and monitoring module comprising a control unit on a carriage,
• reversible fixation of a herbicide and mixing module on the wagon,
• reversible fixing of a nozzle assembly on the carrying carriage, the nozzle assembly being spatially independent of both the control and monitoring module and the herbicide and mixing module,
• Establishing a fluid connection between the herbicide and mixing module and the nozzle assembly,
• Generating a weed signal by means of a camera module which is arranged at a distance in front of the carrying wagon in one direction of travel of the carrying wagon,
• Influencing a first set of control signals for controlling valves and mixers in the herbicide and mixing module for mixing a herbicide mixture by means of the control unit depending on the weed signal of the camera module,
• Influencing a second set of control signals for controlling valves of a nozzle assembly by means of the control unit as a function of the weed signal from the camera module, and
• selective spraying of the herbicide mixture via nozzles of the nozzle assembly on railways,

characterized in that the camera module (110) is reversibly attached to a vehicle traveling ahead of the control unit (104), or the camera module (110) is attached to an unmanned flying object.

The invention is explained in more detail below, without distinguishing between the subjects of the invention spray draw, method). Rather, the following explanations are intended to apply analogously to all subjects of the invention, regardless of the context in which they take place (spray draw, method).

If steps are listed in a sequence in the description of the method according to the invention, this does not necessarily mean that the steps also have to be carried out in the specified sequence. Rather, the invention is to be understood in such a way that the steps listed in an order can be carried out in any order or also in parallel with one another, unless a step is based on another step, which should be clear from the description of the steps in each case. The order specifically listed in this document therefore only represents a preferred embodiment of the invention.

According to a first aspect of the present invention, a spray train comprising a modular system for weed control 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 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 receiving different herbicides, which are selectively in fluid communication with the valves and mixers, and connection elements via which electrical signal connections can be made to connection elements of the control unit, so that the first generated in the control unit Control signals can be routed to the valves and mixers of the herbicide and mixing module.

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

The camera module generates a weed signal in response to a detection of a weed. The generation of the first set of control signals and the generation of the second set of control signals by the weed signal of the camera module can be controlled by means of the control unit.

The camera module itself is 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.

The spray train has the aforementioned modular system for weed control on one or more carrying wagons and a second wagon for reversible mounting of the camera module. The second wagon is arranged in front of the one or more carrying wagons in one direction of travel.

According to a second 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 carriage, a reversible fixing of a herbicide and mixing module on the carrying carriage, a reversible fixing of a nozzle assembly on the carrying carriage, the nozzle assembly in each case spatially is independent of both the control and monitoring modules 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 carrying car in a direction of travel of the carrying 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 herbicide mixture. The influence depends 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 as a function of the weed signal from the camera module, and selective spraying of the herbicide mixture via nozzles of the nozzle assembly on railways.

The following terms, expressions and definitions are used in this document:

In the context of the spray train presented, the term "modular system" describes the fact that there are various modules from which weed control for track beds can be put together. The individual modules are independent of one another - especially in the case of transport. They can be put together at a target location - i.e., at the place of use for weed control - to form a fully functional system for weed control on railways.

The term "weed control" describes the process of applying herbicides in order to control existing weeds in a targeted manner. Furthermore, in the context of this description, weed control should also be understood as proactive measures; i.e. measures that prevent weeds from appearing in the first place.

The term “rail vehicle” here describes a wagon and / or a railcar for rail traffic. A rail vehicle generally has at least two axles, each with two wheels, which can be placed on two rails running parallel to one another. As a rule, the two axes can be connected to a chassis on which appropriate superstructures (e.g. to accommodate goods or people to be transported) can be placed.

The term “control unit” here denotes a unit which is set up to process input signals and to generate output signals as a function of the input signals. The input signals can have different sources, such as, for example, the speed of movement of the control unit with respect to the ground or output signals from the camera module. For example, if the camera module generates image data that are assigned to certain weeds by the control unit, the control unit can also generate output signals in order to provide weed-specific herbicide mixtures by means of the valves and mixers, which can be individually controlled via the output signals of the control unit. A further set of output signals, which are sent from the control unit to the nozzles - potentially also mixers and valves - of the nozzle assembly can be used to spray herbicide mixtures in the track bed and the associated embankment. The control unit is 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 embankment.

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

The term "spatially independent" means here that a module or component is basically not physically attached to another component. Rather, it can be positioned autonomously from the other component in an overall system. For example, the nozzle assembly can be attached to the carrier independently of the monitoring and control module and also independently of the herbicide and mixing module. 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 car in front or it can be attached to a drone. Nevertheless, it can have a predefined distance to one of the other modules - for example the nozzle assembly - at any point in time.
The term “control signal” describes an electrical signal which is generated by a controller and which controls the mode of operation of an activator - for example in the form of a valve or a nozzle. In addition, it can also be a signal on a data line from the camera module to the control unit, which signals to the control unit that a weed in general or a very specific (specific) weed has been recognized.

The term "herbicide and mixing module" describes a further module of the modular system for weed control for a rail vehicle. The herbicide and mixing module has a plurality of containers which can hold different herbicides. In addition, there is a plurality of valves and mixers so that different herbicide mixtures, preferably weed-specific herbicide mixtures, can be produced on site. The herbicide and mixing module can furthermore have various connections: a water connection and a plurality of electrical lines for controlling and monitoring the function of the herbicide and mixing module. In addition, additional lines can be provided in order to refill one or more of the containers with appropriate herbicides. Furthermore, there can be a connection for a feed line to a nozzle assembly.

The term “nozzle assembly” describes a support frame on which there are a plurality of nozzles for applying the herbicide mixtures. The nozzle assembly is a the nozzle assembly has a plurality of preferably electrical and / or pneumatic 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 for the herbicide mixtures and / or water and / or compressed air. The nozzle assembly can be reversibly fixed on the carrier element or on the carrying carriage.

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 "carrier element" describes a common basis for the modules of the modular system for weed control for a rail vehicle. Not all modules have to be mounted on - ie, above - the carrier element. They can also be reversibly connectable to the carrier element laterally on or below the carrier element.
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 integrated in a standard container - for example a standard 20-foot container. Standard containers are preferably understood to mean those containers that are described in ISO standard 668: 2013-08. Of course, other container sizes are also possible. The term "container cards" is also intended to include modules that can be integrated into a standard container, for example to transport the module integrated into such a standard container using common means (e.g. trucks, aircraft or ships, which are designed for the transport of standard containers) can. It is conceivable, for example, 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 side walls so that the module can be housed and the enclosed module represents a standard container. The advantage of the container design is, among other things, that different modules can be accommodated in a respective container. This applies, for example, to the control and monitoring module, the herbicide and mixing module or even a stay or storage module.

A “camera module” has at least one electronic camera and evaluation electronics. The camera module usually has significantly smaller dimensions than the container-sized modules of the modular system for weed control already described. The 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 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 from the cameras can be correlated with one another in order to identify weeds in general or specifically even more precisely.

The term “weed signal” can describe one or more electrical signals which, by their nature, indicate the presence of 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 weed signal which signals the detection of certain weeds.

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

The term “weed-specific herbicide” or “weed-specific herbicide mixtures” describes an agent with which specific weeds are controlled.

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

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

The term "residence module" describes a further optional module of the modular system for weed control. This module can also be designed as a container. Facilities can be provided in it which are suitable for people to stay - for example for recreation or work purposes.

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

A distinction is made between "half jet nozzles" and "full jet nozzles". A full jet nozzle generates a spray jet that spreads symmetrically in relation 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 created 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 system for weed control for a rail vehicle presented here has a number of advantages and technical effects that also apply in a comparable way to the spray train or the corresponding process:
On the one hand, the modular design of the system presented results in flexible application options in terms of location and time. The individual modules can be detached from the wagon at any time in order to then be transported to another location, for example by air freight. Upon arrival at the destination, the system presented can be mounted on a new flat wagon in order to carry out weed control at this destination.

On the other hand, the modular system is designed for combating weeds at high speeds. In known systems, a camera module is always provided in the immediate vicinity - or at least on the same car - 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 the nozzle assembly for the delivery of the herbicides already occurs at comparatively high pulling speeds the recognized weed has passed and the herbicide application would therefore be too late. By positioning the camera or the camera module far in front of the control unit or the nozzle assembly, according to the equation "the time available for calculation is the same as the distance between the nozzle assembly and the camera module divided by the speed", the decisive time contribution for determining the weeds or the weeds. the provision of the herbicide mixture at the nozzles. The further the camera module is positioned in front of the herbicide-releasing nozzle assembly, the faster the train can travel.

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

It is not even necessary for the camera module to be mounted directly on another car on the train. Rather, the camera module can also be mounted on a train traveling ahead, which preferably travels with the nozzle assembly at a constant distance in front of the train. In this case, the data from the camera module can be transmitted wirelessly to the control unit. An essential feature is that in this case too, the camera data can be processed in real time to calculate the correct times for dispensing the herbicides through the nozzle assembly. It is therefore not necessary that a 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 preferably 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, the camera data is processed in real time without the need for a weed map.

The proposed concept thus allows a significantly higher flexibility with regard to the usable computing speed of the control unit used, which can be lower and thus also cheaper, and at the speed at which the spray train can run.

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 presented method.

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.

The carrier element can be a carriage for use on rails. A carrying wagon can be a quasi-standardized wagon of a train for carrying loads - such as container-like modules.

The camera module can be reversibly attached to a car traveling in front of the control unit. The car, which is coupled in front of the car carrying the nozzle assembly in the direction of travel, can be, for example, a tank car that is suitable for receiving mixed water, which can be made available to the herbicide and mixing module via a hose line. The car ahead can also designate the locomotive that pulls the flat car 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 point in time.

Furthermore, the camera module can be attached to a drone or a multicopter - potentially operating autonomously. Such an unmanned flying object can fly at a fixed or known time distance from the control unit / nozzle assembly in front of the spray train. The platform of the energy module can be used as a take-off and landing area. In order not to have to stop the spray when the flight object threatens to run out of fuel, a second flight object with a second camera module can be used, which can take over the task of the flight object to be refueled, so to speak in a "flying change". The flying object can be operated electrically or also have a fuel engine. The distance between the flying object and the control unit or the nozzle assembly can be determined and set using GPS navigation. Corresponding processes are known. This variant also does not require the provision of a weed map. Rather, the data from the camera module can be converted directly into the release of herbicides via the nozzle assembly.

In addition, the camera module can be attached to a train which precedes the spray train which carries the control unit and the nozzle assembly. The train ahead preferably maintains a constant distance from the spray train. This means that the time available for calculating whether a weed needs to be controlled with herbicides is constant. Alternatively, the train ahead can have a time-variable distance from the spray train. Such speed differences and thus variable intervals can be taken into account by the control unit in the time calculation for the delivery of the herbicides via the nozzle assembly.

Furthermore, the camera module can be adapted to generate a weed-specific weed signal. The control unit can be adapted to receive the weed-specific weed signal from the camera module. In addition, the control unit can be adapted to generate the first set of control signals for controlling the valves and mixers of the herbicide and mixer module.

Furthermore, the nozzle assembly can have a group of intermediate rail nozzles and two groups of slope 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 mounted essentially on a line that runs perpendicular to the course of the rails, so that the preferably weed-specific herbicide can only be released via the respective 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 amount of herbicide released and thus to a lower environmental impact and cost savings due to the amount of herbicide saved.

In a further advantageous exemplary embodiment of the modular system, those intermediate rail nozzles from the group of intermediate rail nozzles which are closest to the rail sections 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 in such a way that the rails are not sprayed. In this way, the use of herbicides can be further reduced in an environmentally friendly way and no lubricating films form on the rails, so that the emergency braking properties for the spray train are not negatively affected.

In a similar arrangement - in accordance with a further exemplary embodiment - the two groups of slope nozzles that are closest to the rail tracks lying diagonally below them can be half-jet nozzles and the other slope nozzles can be full-jet nozzles. The same applies to the advantages of this arrangement as to the intermediate rail nozzles.

An additional advantageous embodiment of the modular system can provide that the nozzles of the nozzle assembly are spoon nozzles. 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 spray draw speeds is counteracted, so that even higher draw speeds are possible without influencing the effectiveness of the spray jet of the nozzle assembly too negatively.

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 carrying wagon in a standardized manner.

A supplementary exemplary embodiment of the modular system can provide that an energy module is also present on a platform in a modular design and / or in a container design. The energy module can each be electrically connected to the control and monitoring module and the herbicide mixing module be connected. In addition, the energy module can also be reversibly fixable on the carrier element - that is to say, the carrying carriage.

The energy module can be positioned between the monitoring and control module and the herbicide and mixing module, and can also serve as a platform that can be walked on. This is always useful when the actual module for generating energy does not take up the entire width of the carrying car. This platform can also be used as a collection, rescue and safety platform and / or also as a take-off and landing site for the above-mentioned flight objects. In addition, in accordance with one embodiment of the modular system, the carrier car can be a standard 80 foot carrier car. This can either - in each case at the end - have double axes 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 according to a further exemplary embodiment of the modular system, the carrier car can consist of several 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 even greater flexibility in terms of loading the modules onto rail vehicles.

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

It should be noted that embodiments of the invention have been described with reference to different subjects 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, when reading the present description, it will immediately become clear to the person skilled in the art that, unless explicitly stated otherwise, in addition to a combination of features belonging to one type of subject matter of the invention, any combination of features belonging to different categories is also possible of subject matter of the invention.

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

• 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 Misch-Moduls in einer Aufsicht bei abgenommenem Dach dar.
• Fig. 4 stellt ein Ausführungsbeispiel einer Aufsicht 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 using 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 shows an embodiment of the herbicide and mixing module in a top 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 Figure 10 shows an example of a perspective view of a train with the modular weed control system.
• Fig. 8 shows the method for controlling weeds in a track bed using the modular system.

It should be noted that features or components of different embodiments that are identical or at least functionally identical to 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 sign of a (functionally) corresponding feature or a (functionally) corresponding component. In order to avoid unnecessary repetition, features or components that have already been explained on the basis of a previously described embodiment are no longer explained in detail at a later point.

It is also pointed out that the embodiments described below only represent a limited selection of possible embodiment variants of the invention. In particular, it is possible to combine the features of individual embodiments with one another in a suitable manner, so that for the person skilled in the art with the embodiment variants explicitly shown here, a large number of different embodiments are to be seen as obviously disclosed.

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

The modular system has a control unit 104, which is contained in a control and monitoring module 102, a herbicide and mixing module 106, a nozzle assembly 108 and a camera module 110. The control unit 104 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 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 receiving different herbicides, which are selectively fluidly connected to the valves and mixers 112, and connection elements - for example plugs on an outer wall - via which electrical signal connections to connection elements - for example plugs an outer wall - of the control unit 104, so that the first control signals generated by the control unit 104 in the control and monitoring module 102 can be routed 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 monitoring module 102 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 a detection of a weed, can be connected to a preceding carriage 116 with respect to a carrying carriage 118, which includes the control unit 104 in the control and monitoring module 102, the herbicide and mixing module 106 and the nozzle assembly 108 carries, be attached. The camera module 110 can have a plurality of individual cameras which are directed in the direction of travel 120 onto the track bed (not shown) in front of them.

The generation of the first set of control signals and the generation of the second set of control signals by the weed signal can be controlled by means of the control unit. The camera module 110 has a predefined distance from the nozzle assembly 108. The camera module 110 is also spatially separated from the control and monitoring module 102 and the herbicide and mixing module 106 in a common direction of movement of the control and monitoring module 102, the herbicide and mixing module 106 and the nozzle assembly 108. This means that it is not mounted on the carriage 118 that carries the control unit 104 and the nozzle assembly 108. Rather, it is reversibly fixed at a position in the direction of travel 120, so that for the image evaluation of the Camera module 110 and the provision of the corresponding herbicide mixtures at the nozzle assembly 108, even at higher speeds, sufficient time is available.

The car 116 traveling in front can be, for example, a tank car from which mixed water can be made available for the herbicide and mixing module 106 via a hose connection. However, one or more other cars 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 a nozzle assembly 202 with a plurality of nozzles 204 over a track bed 206 and side embankments 208. In addition, 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 broken lines how, for example, a full jet nozzle can spray a herbicide mixture onto the track bed 206. The function of a half-jet nozzle is shown 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 rail tracks 210, 212 - shown by way of example using the nozzles 220 - can be used for spraying the respective embankment (here embankment 208) and also a path that runs parallel to embankment 208. That 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 shows an embodiment of the herbicide and mixing module 106 in a plan view with the roof removed. The plurality of containers 114 for holding different (or even the same) herbicides, of which four are shown here, for example, can be clearly seen. A catwalk 302 connects a left input side with a right input side of the herbicide and mixing module 106. A multiplicity of lines, valves and mixers 304 as well as pumps 306 (as an example) and other other control devices (not shown in detail) enable a mixture of various herbicide mixtures, for example weed-specific herbicide mixtures. The herbicide and mixing module 106 is typically located in a housing in the form of a 20-foot standard container in accordance with ISO 668: 2013-08.

Fig. 4 shows an exemplary embodiment of a plan 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 with the aid of a generator. Via an operating terminal 406, the energy generation block 404 can be controlled from the outside. A tank for the fuel can be filled from above.

The power generation block 404 is mounted on a platform that can take up the footprint of a standard 20 foot container, for example. On this energy module 400 one can also see fastening points 402 for fastening to a carrying car. A lateral grille 414 protects the operating personnel from falling down from the platform 408. The platform 408 can be reached via a respective ladder 410. This can be locked by respective pivoting doors 412. There is no need to provide a grid 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 context. On the far left is the herbicide and mixing module 106, followed by the energy module 400, the control and monitoring module 102 with the control unit 104 (not shown) and an additional residence module 502 Buffers 504 can be seen that all modules are shown next to each other on a carrier car.

Fig. 6 shows an example of a perspective view 600 of the multiple modules: the herbicide and mixing module 106, the energy module 400, the control and monitoring module 102 and the stay module 502. All modules are shown on a carriage 602 with two double-axle turnstiles 604 . The sequence shown for the individual modules has proven to be advantageous. The stay module 502 is located furthest away from the herbicide and mixing module 106, so that even in the event of a malfunction of the herbicide and mixing module 106 (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 plugging module 102 on the carrying car.

The energy module 400 is located between the herbicide and mixing module 106 and the control and monitoring module 102 and can easily supply both modules 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 wagon 702, the carrying wagon 704 with the complete modular system for weed control and a tank wagon 706 with which water can be transported, which is made available to the herbicide and mixing module 106 via hoses can be. In this illustration, the camera module 110 is shown in the front area of the tank car 706. The energy module 400 can be identified with its platform.

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

FIG. 8th shows the method 800 for combating weeds in a track bed. The method 800 comprises a reversible fixing 802 of a control unit in a control and monitoring module on a carrying wagon, a reversible fixing 804 of a herbicide and mixing module (HMM) on the carrying wagon , and a reversible fixing 806 of a nozzle assembly on the carriage. The nozzle assembly is spatially independent of both the control and monitoring module and the herbicide and mixing module.

Furthermore, the method 800 includes establishing 808 a fluid connection between the herbicide and mixing module and the nozzle assembly and generating 810 a weed signal by means of a camera module. The camera module is arranged at a distance in front of the carrier car in one direction of travel of the carrier car.

In addition, the method 800 comprises influencing 812 a first set of control signals for controlling valves and mixers in the herbicide and mixing module for mixing a herbicide mixture by means of the control unit as a function of the weed signal from 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 of the camera module.

Based on this, the method 800 comprises a selective spraying 816 of the herbicide mixture via nozzles of the nozzle assembly onto the railways.

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 occur to those skilled in the art without departing from the gist of the present invention.

Claims (12)

1. Spraying train for weed control on railway tracks, comprising at least two carrying wagons or at least one carrying wagon and an unmanned flying object, and also a modular system (100) for a rail vehicle for weed control, comprising

   - a control and monitoring module (102),

   - a herbicide and mixing module (106),

   - a nozzle rod (108), and

   - a camera module (110);

   wherein the control and monitoring module (102), the herbicide and mixing module (106) and the nozzle rod (108) can each be individually reversibly secured to a support element;
   wherein the control and monitoring module (102) comprises a control unit (104),
   the control unit being configured (104)

   - to generate a first set of control signals for controlling valves and mixers (112) in the herbicide and mixing module (106) for mixing a herbicide mixture, and

   - to generate a second set of control signals for controlling valves of the nozzle rod (108);

   wherein the herbicide and mixing module (106) comprises:

   - valves and mixers (112),

   - containers (114) for holding different herbicides, which are selectively fluidically connected to the valves and mixers (112) in a selective fluidic connection,

   - connection elements, via which electrical signal connections can be made to connection elements of the control unit (104), so that the first control signals generated in the control unit (104) can be directed to the valves and mixers (112) of the herbicide and mixing module (106);

   wherein the camera module (110)

   - has a predefined distance to the nozzle rod (108),

   - has a predefined distance to the control unit (104),

   - is spatially separated from each of the control unit (104), the herbicide and mixing module (106) and the nozzle rod (108),

   - is positioned in front of the control unit (104), the herbicide and mixing module (106) and the nozzle rod (108) in a common direction of motion, and

   - is configured to generate a weed signal in response to detection of a weed;

   and
   wherein the generation of the first set of control signals and the generation of the second set of control signals by the weed signal of the camera module (110) can be controlled by means of the control unit (104),
   characterized in that the camera module (110) is reversibly attached to a wagon travelling ahead of the control unit (104) of the at least two carrying wagons, or the camera module (110) is attached to the unmanned flying object.
2. Spraying train according to Claim 1, wherein the support element is a carrying wagon for rail deployment.
3. Spraying train according to one of the preceding claims, wherein the camera module (110) is adapted to generate a weed-specific weed signal, and wherein the control unit (104) is adapted to receive the weed-specific weed signal from the camera module (110) and the control unit (104) is adapted to generate weed-specific weed signals during the generation of the first set of control signals, to control the valves and mixers (112) in the herbicide and mixing module (106) for mixing a weed-specific herbicide mixture.
4. Spraying train according to one of the preceding claims, wherein the nozzle rod (108) has a group of closure rail nozzles and two groups of embankment nozzles.
5. Spraying train according to Claim 4, in which those closure rail nozzles from the group of closure rail nozzles which are closest to railway tracks located diagonally underneath them, are half-jet nozzles and the other closure rail nozzles are full-jet nozzles.
6. Spraying train according to Claim 4 or 5, in which those embankment nozzles from the two groups of embankment nozzles which are closest to the railway tracks located diagonally underneath them are half-jet nozzles and the other closure rail nozzles are full-jet nozzles.
7. Spraying train according to one of the preceding claims, in which nozzles of the nozzle rod (108) are spoon nozzles, and wherein the outlet of the spray jet is formed by a compressed air outlet positioned circularly around an outlet opening for the herbicide mixture.
8. Spraying train according to one of the preceding claims, wherein the nozzle rod (108) is attached to the support element below the control and monitoring module (102) .
9. Spraying train according to one of Claims 1-8, further comprising

   - a power module (400), said power module (400) being electrically connectable to the control and monitoring module (102) and the herbicide and mixing module (106), and wherein the power module (400) can be reversibly secured to the support element, and

   - a lounge module (502) having a through passage to the control and monitoring module (102), wherein the lounge module (502) can be reversibly secured to the support element.
10. Spraying train according to Claim 9, characterized in that the modules are arranged in the following order in one of the two possible directions of motion of the spraying train: herbicide and mixing module (106), power module (400), control and monitoring module (102), lounge module (502).
11. Method for controlling weeds in a trackbed comprising the steps of:

    - reversibly securing a control and monitoring module (102) comprising a control unit (104) to a carrying wagon,

    - reversibly securing a herbicide and mixing module (106) to the carrying wagon,

    - reversibly securing a nozzle rod (108) to the carrying wagon, the nozzle rod (108) being spatially independent of both the control and monitoring module (102) and the herbicide and mixing module (106),

    - producing a fluidic connection between the herbicide and mixing module (106) and the nozzle rod (108),

    - generating a weed signal using a camera module (110), which is spaced in front of the carrying wagon in a travel direction of the carrying wagon,

    - manipulating a first set of control signals for controlling valves and mixers (112) in the herbicide and mixing module (106) for mixing a herbicide mixture by means of the control unit (104) as a function of the weed signal of the camera module (110),

    - manipulating a second set of control signals for controlling valves of a nozzle rod (108) by means of the control unit (104) as a function of the weed signal of the camera module (110), and

    - selectively spraying the herbicide mixture onto rail tracks through nozzles in the nozzle rod (108), characterized in that the camera module (110) is reversibly attached to a wagon travelling ahead of the control unit (104), or the camera module (110) is fastened to an unmanned flying object.
12. Method according to Claim 11, further comprising the step:

    - omitting the rails in the selective spraying of the herbicide mixture on a railway track.

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