BR112020000119B1 - APPARATUS, SYSTEM AND METHOD FOR WEED CONTROL AND COMPUTER READABLE NON-TRANSIENT MEDIA - Google Patents

Abstract

The present invention relates to a weed control apparatus (10) for a vehicle. It is described to provide (210) to a processing unit at least one image of an environment. The processing unit analyzes (220) the at least one image to activate at least one chemical spray unit. A liquid weed control chemical is atomized and carried (230) by at least one chemical spray unit. The at least one chemical spray unit has at least one portion configured to be maintained at a high voltage relative to zero volt potential. The at least one high voltage power supply and the at least one chemical spray unit are configured to maintain at least a portion of the at least one chemical spray unit at one or a series of high voltages relative to zero potential. volts, so that the atomized liquid weed control chemical is electrically charged.

Description

FIELD OF INVENTION

[0001] The present invention relates to a weed control apparatus, a weed control system, a weed control method, as well as a computer program element and a computer-readable medium. computer.

BACKGROUND OF THE INVENTION

[0002] The general background of this invention relates to weed control. Certain industrial areas and certain areas around railroad tracks need to have vegetation controlled. For railroads, such control improves visibility from the perspective of people on the train, such as the conductor, and improves visibility from the perspective of people working on the tracks. Such control can lead to improved security. Additionally, vegetation can break through and damage trails and associated communication and signaling lines. Therefore, vegetation control is required to mitigate this. Vegetation control, also called weed control, can require a lot of time and resources, especially if carried out manually. A weed spray train with an herbicide contained in chemical tanks on the train can be sprayed on the track and surrounding area to control vegetation. However, such weed control can be expensive and the general public increasingly wants to see a reduction in environmental impact.

SUMMARY OF THE INVENTION

[0003] It would be advantageous to have an improved weed control apparatus.

[0004] The objective of the present invention is resolved with the subject matter of independent claims, in which additional embodiments are incorporated into the dependent claims. It should be noted that the following described aspects and examples of the invention also apply to the weed control apparatus, the weed control system, the weed control method, and the computer program element and the readable medium by computer.

[0005] According to a first aspect, a weed control apparatus for a vehicle is provided, comprising: - an input unit; - a processing unit; - at least one chemical sprinkler unit; and - at least one high voltage power supply.

[0006] The input unit is configured to provide the processing unit with at least one image of an environment. The processing unit is configured to analyze the at least one image to activate the at least one chemical spray unit. The at least one chemical spray unit is configured to atomize a liquid weed control chemical. The at least one chemical spray unit has at least one portion configured to be maintained at a high voltage relative to zero volt potential. The at least one high voltage power supply and the at least one chemical spray unit are configured to maintain at least a portion of the at least one chemical spray unit at at least a high voltage relative to zero volt potential, so that the atomized liquid weed control chemical is electrically charged.

[0007] In other words, a chemical liquid weed control system for a vehicle uses a sprinkler unit, or several sprinkler units, generates an atomized liquid spray that has a significant electrical charge relative to the potential of zero volts or Earth. Thus, as the vehicle moves around an environment, the image collection of that environment is analyzed and used to activate the sprinkler unit (or units) to exterminate weeds. Weeds growing in the soil will have an earth potential, substantially zero volt potential, and an atomized liquid weed control “spray” will be drawn to the weeds. This means that, firstly, by activating the sprinkler units, based on the image collection, only the areas where there are weeds need to be sprayed, leading to the use of less chemical. And, more of the chemical that is sprayed ends up on the weeds due to the spray being attracted to the weeds. Because the weeds are growing in the soil, and will be slightly closer to the sprinkler unit nozzles than the soil itself, the electric field strength (volts per meter) between the sprinkler unit and the weed is greater than that between the weed. sprinkler unit and the soil itself (soil), leading to liquid spray that is preferentially deposited on the weeds rather than the soil itself. Additionally, liquid spray passing in front of, for example, a weed leaf can be attracted and deposited on the back of the leaf due to the “enveloping” effect, leading to more weeds being coated with chemical and an increase in in spray effectiveness and/or enabling less chemical to be used or less less aggressive chemical to be used, with resulting positive associated environmental effects. Thus, electrically charged liquid control droplets or particles from the atomized liquid can change direction and be deposited on the top, sides and bottom of the weed even when just sprayed from the top.

[0008] As the sprinkler unit is operating in a vehicle, where the sprinkler will be to a moving platform, there is no problem with vegetation which does not require a very good driver, due to there being no excessive charge build-up on the weed. This is because, as the sprinkler unit is moving, each weed only receives a certain amount of spray before the sprinkler unit moves laterally and is available to spray an adjacent weed if image analysis indicates that there is a weed for which the sprinkler unit needs to be activated. This way, the weed doesn't become overly loaded. However, vegetation contains water and as such is conductive to some extent and the electrostatic spraying technique is effective in spraying weeds when carried out in the manner described.

[0009] In other words, the creation of an electrostatic field pulls the atomized liquid spray particles toward the weeds that are sprayed, leading to increased coverage of weeds with the weed control chemical. Wind effects are mitigated, as spray drift from the area that is sprayed, and the effect of a sprinkler system that is mounted on a moving vehicle is mitigated, which could lead to expulsion of significant amounts of sprinkler from direction of the weeds. These negative effects are mitigated because the atomized liquid spray is attracted to the weeds due to electrostatic forces. Additionally, the liquid weed control chemical, in droplet form, is less likely to bounce off the weed, which can happen if the weed has, for example, a waxed surface, due to the droplets being electrostatically attracted to the weed.

[0010] In this way, the transfer efficiency of liquid weed control chemical to weeds is increased.

[0011] In one example, the at least one chemical spray unit is configured so that the atomized liquid weed control chemical is loaded after the weed is atomized.

[0012] In this way, a reservoir of liquid weed control chemical can be electrically isolated from the high voltage portion of the sprinkler unit (or units), and can be maintained at ground potential, leading to a simple and efficient system. safe. Additionally, liquids can be used that do not need to be electrically conductive and, in fact, non-conductive liquid weed control chemicals can be atomized and then charged.

[0013] In one example, the at least one part comprises an electrode configured to be positioned within the atomized liquid weed control chemical.

[0014] In other words, an ionization needle is used in a Corona charging system, in which an electrode that can be sharply pointed or bent is raised to a high electrical potential, and the intense electric field in the electrode breaks down the surrounding air to create ions, when they then attach them to the atomized liquid weed control chemical to charge the same. Thus, the at least one chemical spray unit may comprise a plurality of spray guns with atomizing nozzles, and a charging electrode is located at or near the tip of each atomizing nozzle. An electric field is also created between the at least one part (charging electrode) and the weeds growing in the ground (soil) which are at zero volts and the atomized liquid weed control chemical, which is now electrostatically charged. , is attracted to weeds.

[0015] In one example, the processing unit is configured to analyze the at least one image to determine at least one location for activation of the at least one chemical spray unit.

[0016] In one example, analyzing the at least one image to determine the at least one location for activation of the at least one chemical sprinkler unit comprises a determination of at least one location of vegetation in the environment.

[0017] In other words, image processing can be used in order to determine vegetation areas in the acquired image collection, and chemical spray units can be activated in these locations.

[0018] In one example, analyzing the at least one image to determine the at least one location for activation of the at least one chemical sprinkler unit comprises a determination of at least one type of weed.

[0019] In other words, the at least one chemical sprinkler unit can be activated in a manner that considers the type or types of weeds to be controlled. So, for example, one type of weed may only require a short duration of liquid weed control spray, but a different type of weed may require a longer duration of liquid weed control spray application to exterminate the weed. Furthermore, chemical weed control units may be connected to more than one reservoir or weed control chemical, for example, a very strong weed control chemical may be in a tank and used to exterminate difficult-to-control weeds, and a second tank may house a stronger chemical. Thus, the strong chemical can be used sparingly, only when it is necessary in relation to a detection that makes weed control difficult. Then, the weaker chemical can be used to control other weeds, thereby providing environmental and cost benefits. Furthermore, different chemicals that are sprayed may require different electrostatic fields to optimize electrostatically enhanced transfer to the weeds, due to the liquids may have different surface tension and/or viscosities that lead to the formation of different atomized droplet sizes. Thus, when more than one chemical is being sprayed, this could occur through a spray gun (or spray unit) that sprays a first chemical and then sprays a second chemical or two spray guns that spray different chemicals at the same time, to spray two different weeds, each spray gun could be connected to a different power source and be operating at a different voltage relative to the ground potential for the other spray gun (sprinkler unit ).

[0020] In one example, the at least one image was acquired by at least one camera, and the input unit is configured to provide the processing unit with at least one location associated with the at least one camera when the at least one image was acquired. acquired.

[0021] The location may be a geographic location, relative to the precise location on the ground, or it may be a location on the ground that is referenced to a position of the at least one chemical sprinkler unit. In other words, an absolute geographic location may be used or a location on the ground that does not need to be known in absolute terms, but which is referenced to a location of at least one chemical sprinkler unit. Thus, by correlating an image to the location where it was acquired, at least one chemical spray unit can be activated precisely at that location.

[0022] In one example, the apparatus comprises at least one electrode configured to be maintained at or near zero volt potential. The apparatus is configured so that the at least one electrode can be positioned on a ground plane remote from the at least one chemical spray unit so that activation of the at least one chemical spray unit results in the liquid control chemical product. weed being sprayed at a location corresponding to the position in the ground plane of the at least one electrode.

[0023] In other words, the apparatus has a sprinkler unit (or units) that has high voltage parts and atomizes and carries a liquid weed control chemical that is sprayed and attracted to growing weeds in the soil that are at ground potential (zero volts). Sprinkler units are mounted on a vehicle that is moving as it sprays the weeds, and therefore there is no significant charge build-up on the weeds which may not be conductive. Such charge accumulation can lead to the weeds becoming charged and leading to a reduction in the effectiveness of the electrostatic effect that attracts the charged liquid particles to the weeds. However, the device now has grounded electrodes that can be positioned in the soil adjacent to the weeds to be sprayed. For example, the apparatus when fitted to a vehicle may have several long, thin metal strips or chains spaced laterally from one another, which may be pulled along the ground to form a series of grounded lines that are positioned on the ground. This “ground plane” ensures that there is a defined ground plane at zero volts, and mitigates the effect of charge accumulation both by enhancing charge discharge from the weeds to that ground plane and also ensuring that liquid particles of cargo generally continue to be attracted towards the weeds. In this way, the transfer of liquid chemical to the weeds is further enhanced, as any space charge effect caused by the weeds becoming charged, however small, is mitigated.

[0024] According to a second aspect, a weed control system is provided, comprising: - at least one camera; - a weed control apparatus according to the first aspect and any described example, wherein the weed control apparatus is mounted on a vehicle; and - at least one reservoir configured to hold the at least one liquid weed control chemical, wherein the at least one reservoir is mounted on the vehicle.

[0025] The at least one camera is configured to acquire the at least one image. The at least one chemical spray unit and the at least one reservoir are configured to be in fluid connection with each other. The weed control apparatus is configured to atomize, charge and spray the at least one liquid weed control chemical.

[0026] In this way, a vehicle can move around an environment and control weeds in that environment with the use of chemical spraying with increased transfer efficiency based on the image collection of that environment used to determine the exact location where to spray. In this way, the collection of images can be acquired by a platform, for example, one or more drones that fly over an environment. This information is sent to a device that is mounted in a vehicle. The device then activates the sprinkler units in the correct locations in the room.

[0027] In one example, the at least one camera is mounted on the vehicle.

[0028] In this way, the system can operate in real time or in near real time, by acquiring a collection of images, and analyzing this collection of images to determine when and where to activate the chemical spray units.

[0029] According to a third aspect, a method of weed control for a vehicle is provided, comprising: a) providing a processing unit with at least one image of an environment; c) analyzing by the processing unit the at least one image to activate at least one chemical spray unit; f) atomize and charge a liquid weed control chemical through at least one chemical spray unit; wherein the at least one chemical spray unit has at least one portion configured to be maintained at high voltage relative to zero volt potential; and wherein the at least one high voltage power supply and the at least one chemical spray unit are configured to maintain the at least a portion of the at least one chemical spray unit at the at least one high voltage relative to the operating potential. zero volts, so atomized liquid weed control chemical is electrically charged.

[0030] In one example, step f) comprises atomizing the liquid weed control chemical prior to loading.

[0031] In one example, in step a), at least one image was acquired by at least one camera; and wherein the method comprises step b) of providing the processing unit with at least one location associated with the at least one camera when the at least one image has been acquired.

[0032] In one example, the method comprises step d) of maintaining at least one electrode at or near zero volt potential, and comprises step e) of positioning the at least one electrode in a ground plane opposite to at least one electrode. at least one chemical spray unit, and comprises the step g) of spraying by the at least one chemical spray unit the liquid weed control chemical at a location corresponding to the position in the ground plane of the at least one electrode.

[0033] According to another aspect, a computer program element is provided for controlling an apparatus according to the apparatus of the first aspect and/or the system according to the second aspect, which when executed by a processor, is configured to perform the third aspect method.

[0034] Advantageously, the benefits provided by any of the above aspects apply equally to all other aspects and vice versa.

[0035] The above aspects and examples will become evident from and will be elucidated with reference to the modalities described hereinafter.

BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Exemplary embodiments will be described below with reference to the following drawings:

[0037] Fig. 1 shows a schematic configuration of an example of a weed control apparatus;

[0038] Fig. 2 shows a schematic configuration of an example of a weed control system;

[0039] Fig. 3 shows a weed control method;

[0040] Fig. 4 shows a schematic configuration of an example of parts of a weed control system;

[0041] Fig. 5 shows a schematic configuration of an example of parts of a weed control system;

[0042] Fig. 6 shows a schematic configuration of an example of a weed control system;

[0043] Fig. 7 shows a schematic configuration of an example of a weed control system;

[0044] Fig. 8 shows a schematic configuration of an example of a part of a weed control system;

[0045] Fig. 9 shows a schematic representation of a railroad track and a surrounding area;

[0046] Fig. 10 shows a schematic configuration of an example of a part of a weed control system;

[0047] Fig. 11 shows a schematic configuration of an example of a part of a weed control system; It is

[0048] Fig. 12 shows a schematic configuration of an example of a part of a weed control system.

DETAILED DESCRIPTION OF MODALITIES

[0049] Fig. 1 shows an example of a weed control apparatus 10 for a vehicle. The apparatus 10 comprises an input unit 20, a processing unit 30, at least one chemical spray unit 40 and at least one high voltage power supply 50. The input unit 20 is configured to supply the processing unit 30 at least one image of an environment. The processing unit 30 is configured to analyze the at least one image to activate the at least one chemical spray unit 40. The at least one chemical spray unit 40 is configured to analyze the at least one image to activate the at least one chemical spray unit 40. chemical spray 40 is configured to atomize a liquid weed control chemical. The at least one chemical spray unit 40 has at least one portion 42 configured to be maintained at high voltage relative to zero volt potential. The at least one high voltage power supply 50 and the at least one chemical spray unit 40 are configured to maintain at least a portion 42 of the at least one chemical spray unit 40 at at least one high voltage relative to the potential of zero volts so that the atomized liquid weed control chemical is electrically charged. Thus, the at least one high voltage power supply 50 and the at least one chemical spray unit 40 are capable of maintaining a chemical spray unit or several chemical spray units at a different high voltage or at several different high voltages. Thus, the voltage of a chemical spray unit may be changed, and different chemical spray units may have different voltages at the same time, and one or more of these individual voltages for specific chemical spray units may be varied over time. Such variation includes operation from an off state to an on state, and operation from an on state to an off state. Thus, a sprinkler unit can go from zero volts to -100 kV, for example, when it is atomizing and charging and spraying a liquid weed control chemical, and then returns to zero volts after a weed is sprayed. . However, spray guns can be maintained continuously at a high voltage, although a spray gun can change over time as discussed above.

[0050] “High” in relation to “High Voltage” is used in the normal sense and means a magnitude that can be positive or negative in relation to ground potential (zero volts).

[0051] In one example, each unit of the at least one chemical spray unit has at least one part configured to be maintained at high voltage relative to the zero volt potential.

[0052] In one example, each unit of the chemical spray unit comprises a chemical spray gun or nozzle and a conduit configured to lead to a chemical reservoir. In one example, the at least one chemical sprinkler unit comprises at least one reservoir of liquid weed control chemical.

[0053] Thus, “at least one chemical spray unit” can mean at least one spray gun (or nozzle). Furthermore, “at least one chemical spray unit” may mean at least one spray gun (or nozzle) with associated liquid transfer conduits. Furthermore, “at least one chemical spray unit” may mean at least one spray gun (or nozzle) with associated liquid transfer conduits and at least one chemical reservoir.

[0054] In one example, the high voltage has a magnitude of 20 kV. In one example, the high voltage has a magnitude of 40 kV. In one example, the high voltage has a magnitude of 60kV. In one example, the high voltage has a magnitude of 80kV. In one example, the high voltage has a magnitude of 100 kV. In one example, the high voltage has a magnitude of 120kV. In one example, the high voltage has a magnitude of 140kV. In one example, the high voltage has a magnitude of 160kV. In one example, the high voltage has a magnitude of 180kV. In one example, the high voltage has a magnitude of 200kV. High voltages can be greater in magnitude than 200 kV. High voltages can be positive or negative which lead to positive or negative atomized charged liquid spray droplets, however, operation is normally at high negative voltage.

[0055] In one example, the high voltage at which at least a portion of the at least one chemical spray unit is maintained relative to the potential of zero volts.

[0056] In one example, the apparatus is configured so that the atomized liquid weed control chemical is negatively charged.

[0057] In one example, the apparatus comprises an output unit that is in communication with the processing unit, and wherein the output unit is configured to activate the at least one chemical spray unit. Thus, the output unit has relays and electrical control necessary to activate the sprinkler units under the control of the processing unit.

[0058] In one example, the apparatus is operating in real time, where images are acquired and processed immediately and the chemical spray unit (or units) are used immediately to activate these sprinkler units to control weeds. So, for example, a vehicle can acquire a collection of images of its environment and process this collection of images to activate the sprinkler units in real time.

[0059] In one example, the apparatus is operating in an offline mode, in which images are acquired (by the apparatus or another appropriate system) of an environment and further processed by the apparatus to activate the chemical spray unit. Thus, for example, a first vehicle, such as a car, train, truck or unmanned aerial vehicle (UAV) or drone equipped with one or more cameras can move within an environment and acquire a collection of images. Then, this collection of images can be further processed by the device that is moving around to activate the chemical spray units.

[0060] In one example, the at least one chemical spray unit comprises an atomizer 44 configured to atomize the liquid weed control chemical. In one example, the atomizer is configured to use compressed air to atomize the liquid weed control chemical. In one example, the atomizer comprises a rotating metal disk. Thus, the rotational bell system can be used to atomize the liquid weed control chemical, and the rotating disc can also be the part that is maintained at a high voltage, so that the metal disc also imparts the electrical charge to the atomized liquid.

[0061] It should be noted that “atomized” does not mean individual atoms, but refers to the standard use of that term in relation to sprinkler systems, meaning a fine mist of particles that can vary in size.

[0062] In one example, the at least one chemical spray unit is configured so that the liquid weed control chemical is loaded before it is atomized. In an example at least one part that is maintained at a high potential is in contact with the liquid contained in a spray gun, in this case each spray unit has a spray gun and each spray gun has a contacting part with liquid weed control chemical which is kept at high potential. In one example at least one part that is maintained at a high potential is in contact with liquid contained in a conduit leading to a spray gun, in which case each spray unit has a spray gun and each spray gun has a conduit within which is a part in contact with the liquid weed control chemical which is maintained at high potential. In one example at least one part that is maintained at a high potential is in contact with liquid contained in a spray gun, in this case each spray unit has a spray gun and each spray gun connects to a reservoir which holds a liquid weed control chemical with these forming at least one chemical sprinkler unit, and therefore there needs to be only one part that is inside the reservoir that is in contact with the liquid weed control chemical weed that is kept at high potential.

[0063] In other words, a Contact charging system is used, in which the liquid weed control chemical is charged directly before it is atomized.

[0064] In one example, the at least one chemical spray unit is configured so that the liquid weed control chemical is charged as it is atomized.

[0065] In other words, friction loading (or Tribo loading) is used to load the liquid weed control chemical. In this way, a simple sprinkler system can be constructed, in which the liquid is atomized and charged due to the geometry of the nozzle itself, as is known from sprinkler systems that use frictional charging, and an electric field between the sprinkler unit, at high voltage, and the weeds that are sprinkled, at earth potential. Thus, a portion of at least one sprinkler unit that is at high voltage need not be in contact with the liquid weed control chemical, which may be at ground potential providing enhanced safety.

[0066] In one example, the processing unit is configured to analyze the at least one image to determine at least one mode of operation of the at least one chemical sprinkler unit to be used for weed control for at least one first part. of the environment.

[0067] In other words, an image or images of an environment have been acquired. The chemical sprinkler unit (or units) may operate in several different modes of operation, such as spraying different chemicals, operating at different high voltages to vary the electric field between a sprinkler unit and a weed to be sprayed, varying a distance between the sprinkler unit and a weed to be sprayed. The apparatus then analyzes the image or images to determine which of the available operating modes of the at least one chemical sprinkler unit should be used to control weeds in a specific location or locations in the environment.

[0068] In this way, the most appropriate operating mode of sprinkler units can be used for different areas of the environment. Furthermore, in different areas of the environment, different modes of operation of sprinkler units can be used, with each mode of operation being most appropriate for each different area.

[0069] According to one example, the at least one chemical spray unit is configured so that the atomized liquid weed control chemical is loaded after the weed is atomized.

[0070] According to one example, at least one part 42 comprises an electrode 42a configured to be positioned within the atomized liquid weed control chemical.

[0071] According to one example, the processing unit is configured to analyze the at least one image to determine at least one location for activation of the at least one chemical spray unit.

[0072] According to one example, analyzing the at least one image to determine at least one location for activation of the at least one chemical sprinkler unit comprises a determination of at least one location of vegetation in the environment.

[0073] In one example, the processing unit is configured to determine the at least one mode of operation of the at least one chemical sprinkler unit to be used in that at least one location of vegetation in the environment.

[0074] According to one example, analyzing the at least one image to determine the at least one location for activation of the at least one chemical sprinkler unit comprises a determination of at least one type of weed.

[0075] In one example, the analysis of at least one image comprises the use of a machine learning algorithm.

[0076] In one example, the machine learning algorithm comprises a decision tree algorithm.

[0077] In one example, the machine learning algorithm comprises an artificial neural network.

[0078] In one example, the machine learning algorithm was taught based on a plurality of images. In one example, the machine learning algorithm was taught based on a plurality of images containing images of at least one type of weed. In one example, the machine learning algorithm was taught based on a plurality of images containing images of a plurality of weeds.

[0079] In one example, the processing unit is configured to determine the at least one mode of operation of the at least one chemical spray unit to be used based on the type of weed determined to be in that at least one location in the environment. .

[0080] In other words, the appropriate operating mode of chemical sprinkler units can be selected to consider the type or types of weeds to be controlled. So, for example, one type of weed may only require a short-duration spray of a particular type of chemical in order to kill that weed, but a different type of weed may require a long-duration spray of the same chemical. chemical to exterminate the weed. Or, a different chemical may be sprayed on different weeds, or high voltages used, where, for example, some weeds may only need one leaf surface to be sprayed in order to kill them, while control of another weed can be dramatically enhanced when both sides of a leaf and based on image processing that determines that type of weed is present, the device can vary voltages when spraying that weed to increase the effect envelope, so these electrostatic forces attract the atomized liquid to the underside of the sheet as well.

[0081] According to one example, at least one image was acquired by at least one camera. The input unit is configured to provide the processing unit with at least one location associated with the at least one camera when the at least one image has been acquired.

[0082] In one example, the location is an absolute geographic location.

[0083] In one example, the location is a location that is determined with reference to the position of the at least one chemical sprinkler unit. In other words, an image can be determined to be associated with a specific location on the ground, without knowing its exact geographic position, but by knowing the position of at least one chemical sprinkler unit relative to that location at the time the image is taken. has been acquired, then the at least one chemical sprinkler unit can be activated at a later time at that location by moving the at least one chemical sprinkler unit to that location.

[0084] In one example, a GPS unit is used to determine, and/or is used in determining, the location of the at least one camera when images were acquired.

[0085] In one example, an inertial navigation unit is used alone or in combination with a GPS unit to determine the location of the at least one camera when specific images have been acquired. Thus, for example, the inertial navigation unit, which comprises, for example, one or more laser gyroscopes, is calibrated or zeroed at a known location, and as it moves with at least one camera, the movement opposite to that known location in x, y and coordinates can be determined, from which the location of the at least one camera when images were acquired can be determined.

[0086] In one example, image processing of acquired image collection is used separately or in combination with a GPS unit, or in combination with a GPS unit and an inertial navigation unit, to determine the location of the at least one camera when specific images are acquired.

[0087] In one example, the processing unit is configured to analyze the at least one image to activate the at least one high voltage power supply to maintain the at least a portion of the at least one chemical spray unit at a high voltage relative to the potential of zero volts.

[0088] In one example, at least one activation time for the at least one high voltage power supply comprises at least one activation time for the at least one chemical spray unit. In other words, the apparatus powers the spray unit in terms of raising the appropriate part to a high potential and maintaining it at that high potential, and then the spray unit activates to atomize and carry the atomized liquid. and then the liquid spraying stops, but the high voltage is still applied and the atomized liquid is attracted to the weeds due to the electrostatic field. This way, the system only supplies high voltage when required with energy savings as well as improved safety is provided.

[0089] According to one example, the apparatus comprises at least one electrode 60 configured to be maintained at or near zero volt potential. The apparatus is configured so that the at least one electrode can be positioned on a ground plane remote from the at least one chemical spray unit so that activation of the at least one chemical spray unit results in the liquid control chemical product. weed being sprayed at a location corresponding to the position in the ground plane of the at least one electrode.

[0090] In one example, instead of using grounded electrodes, the apparatus comprises at least one conductive liquid spray unit 70. The processing unit is configured to analyze the at least one image to activate the at least one liquid spray unit. conductive. An activation time of the at least one conductive liquid spray unit is earlier than an activation time of the at least one chemical spray unit.

[0091] In this way, to mitigate any charge build-up on the weeds that leads to a potential reduction in the increased transfer efficiency of weed control chemical to the weeds, a conductive spray can be sprayed onto the weeds before from spraying liquid weed control chemical. In this way, any potential charge accumulation on the weeds is mitigated, and liquid chemical transfer to the weeds is further enhanced, due to any space charge effect caused by the weeds becoming charged, however small. , is mitigated.

[0092] In one example, the conducting liquid is brine.

[0093] In one example, the processing unit is configured to analyze the at least one image to determine the at least one location for activation of the at least one conductive chemical spray unit.

[0094] In one example, analyzing the at least one image to determine at least one location for activation of the at least one conductive chemical spray unit comprises a determination of at least one location of vegetation in the environment.

[0095] In other words, image processing can be used in order to determine the areas of vegetation in the acquired image collection, and a conductive spray can be sprayed at these locations.

[0096] In one example, the location for activation of the at least one conductive liquid spray unit is the same as the location for activation of the at least one chemical spray unit.

[0097] In one example, the same spraying unit is used to spray both the conductive liquid and the liquid weed control chemical through the unit that is connected to two reservoirs. Then, the unit is connected to the conductive chemical reservoir and the chemical can be sprayed, which is charged and atomized again so that the liquid is transferred effectively to the weeds. Then, the unit is connected to the liquid weed control chemical reservoir, and the unit activates again. Such transfer between reservoirs can be performed extremely quickly which enables the same unit to aspirate a weed twice even when on a moving platform. In one example, different spray units are used because the conductive chemical does not need to be charged during spraying, but can be if necessary.

[0098] Fig. 2 shows an example of a weed control system 100. The system 100 comprises at least a camera 110, a weed control apparatus 10 as described in relation to Fig. 1 and any of the associated examples. The weed control apparatus 10 is mounted on a vehicle 120. The system also comprises at least one reservoir 130 configured to hold at least one liquid weed control chemical. The at least one reservoir is mounted on the vehicle 120. The at least one camera 110 is configured to acquire the at least one image. The at least one chemical spray unit 40 and the at least one reservoir 130 are configured to be in fluid connection with each other. This enables the liquid weed control chemical (or chemicals) to flow from the reservoir or reservoirs to spray guns or nozzles. The weed control apparatus is configured to atomize, charge and spray the at least one liquid weed control chemical.

[0099] In one example, the system comprises at least one distance sensor configured to determine a distance between the at least chemical sprinkler unit and the ground, and wherein the at least one distance sensor is configured to provide the at least one remote processing, and wherein the processing unit is configured to instruct the system to move the at least one reservoir to be a predefined distance from the ground. In one example, the default distance is 10 cm. In one example, the default distance is 20 cm. In one example, the default distance is 30 cm. In one example, the default distance is 40 cm. In one example, the default distance is 50 cm. In one example, the default distance is 60 cm. In one example, the default distance is 70 cm. In one example, the default distance is 80 cm. In one example, the default distance is 90 cm. In one example, the default distance is 100 cm. In one example, the default distance is 120 cm. In one example, the default distance is 140 cm. In this way, the required spacing of a ground sprinkler unit, for example a ground spray gun, can be maintained to ensure that not only are the spray characteristics optimized, but also the electric field strength (volts per meter) is optimized in order to optimize the transfer of the weed control chemical to the weeds. In an example, a distance sensor is a laser-based time-of-flight sensor or an LED-based time-of-flight sensor. In one example, a distance sensor is a radar sensor. In one example, a distance sensor is an ultrasonic sensor.

[0100] According to one example, the at least one camera is mounted on the vehicle.

[0101] In one example, the vehicle is a train.

[0102] In one example, the vehicle is a truck or wagon or Unimog.

[0103] In one example, the input unit is configured to provide the processing unit with at least one location associated with at least one camera when the at least one image has been acquired. In one example, location is a geographic location.

[0104] In one example, the apparatus is configured to activate the at least one chemical spray unit based on the at least one geographic location associated with the at least one camera when the at least one image was acquired and a spatial relationship between the at least one least one camera and at least one chemical spray unit. Therefore, by knowing where the image was acquired by a vehicle-mounted camera and by knowing where the chemical spray unit is mounted on the vehicle in relation to the camera, it is simple to consider the vehicle's forward speed in order to activate this technology. vegetation control in the same location where the image was acquired, and, in fact, in the imaged area.

[0105] Fig. 3 shows a weed control method 200 for a vehicle in its basic stages. Method 200 comprises:

[0106] In a supply step 210, also called step a), providing a processing unit with at least one image of an environment;

[0107] in an analysis step 220, also called step c), analyzing by the processing unit the at least one image to activate at least one chemical spray unit;

[0108] in an atomization and loading step 230, also called step f), atomize and load a liquid weed control chemical through the at least one chemical spray unit. The at least one chemical spray unit has at least one portion configured to be maintained at a high voltage relative to zero volt potential. The at least one high voltage power supply and the at least one chemical spray unit are configured to maintain at least a portion of the at least one chemical spray unit at at least a high voltage relative to zero volt potential, so that the atomized liquid weed control chemical is electrically charged.

[0109] According to an example, step f) comprises atomizing the liquid weed control chemical prior to loading.

[0110] In one example, the at least one part comprises an electrode configured to be positioned within the atomized liquid weed control chemical.

[0111] In one example, step c) comprises analyzing by the processing unit the at least one image to determine at least one location for activation of the at least one chemical spray unit.

[0112] In one example, step c) comprises a determination of at least one location of vegetation in the environment.

[0113] In one example, step c) comprises a determination of at least one type of weed.

[0114] According to an example, in step a), at least one image was acquired by at least one camera. Then, the method may comprise step b) of providing 240 to the processing unit at least one location associated with the at least one camera when the at least one image has been acquired.

[0115] According to an example, the method comprises step d) of maintaining 250 at least one electrode at or near zero volt potential, and comprises step e) of positioning 260 the at least one electrode in a plane of the soil opposite the at least one chemical sprinkler unit, and comprises step g) of spraying 270 by the at least one chemical sprinkler unit the liquid weed control chemical at a location corresponding to the position in the ground plane of the at least an electrode.

[0116] In one example, the apparatus according to any one of claims 1-8, wherein the apparatus comprises at least one conductive liquid spray unit 80. The processing unit is configured to analyze the at least one image to activate to at least one conductive liquid spray unit. An activation time of the at least one conductive liquid spray unit is earlier than an activation time of the at least one chemical spray unit.

[0117] The apparatus, system and method for weed control are now described in more detail in conjunction with Figs. 4-12, which relate to weed control in a railroad track environment. An apparatus as described above is mounted on a train with the capabilities of atomizing and spraying a liquid weed control chemical or various liquid weed control chemicals.

[0118] Fig. 4 shows parts of an example of a weed control system. Several chemical spray units with spray guns that can also be called atomizers or nozzles are mounted on a train. An atomizer is shown in operation. The atomizer is electrically connected via a high voltage cable to a high voltage power supply. This can operate in the range of (+/-) 20-200 kV. In the example shown, the atomizer is operating at minus (-)100 kV. The atomizer is also connected to a reservoir containing a liquid weed control chemical through a liquid conduit. A portion of the connection exiting the atomizer may be a combined high voltage/liquid conduit “cable” as shown in Fig. 4. However, completely separate cables/conduits may be used. The liquid in this case is required to be maintained at or near -100 kV when it is being atomized. This is achieved by connecting the high voltage supply to the atomizer housing, which is in contact with the liquid to be atomized. However, because the liquid is conductive, the high voltage supply could be connected to the reservoir directly, and the atomizer would still be maintained at or near -100 kV. In reality, the reservoir is also maintained at high potential, requiring an electrical insulator to be used as shown in Fig. 4. The atomizer atomizes the liquid weed control chemical with the use of pressurized air from a compressor. a similar way to the way used for paint spray guns. The liquid droplets are negatively charged and are attracted to the weed at ground potential (zero volts). However, different ways of atomizing the liquid are possible, and the means for atomizing the liquid are not shown in Fig. 4. Furthermore, the atomizer can operate at a high positive voltage and the liquid droplets can be positively charged, which are then attracted to the potential weed land.

[0119] Based on the acquired image collection, discussed in more detail below, the location and type of weed are determined. The processing unit, not shown, determines the specific liquid weed control chemical to be used, and the ideal spraying conditions for spraying the weed. A specific atomizer is determined to be required to spray the weed. Then, the height of the atomizer is adjusted to an ideal height relative to the required spraying conditions of voltage and field intensity, which considers the height of the weed above the ground. Voltage is applied to the atomizer, the atomizer atomizes the liquid and the fine spray is electrically charged and attracted to the weed to cover the weed as required, including the sides and undersides of the weed leaves. Instead of operating at different voltages, the atomizer can operate at a single voltage that does not need to be switched on and off, but could always be one, and instead of operating at different heights, the atomizer can operate at a set height above the ground .

[0120] Furthermore, several other atomizers are shown in Fig. 4. These can all be connected to the same high voltage supply. However, different atomizers can be connected to different power supplies, making it easier to operate different atomizers at the same time and at different voltages. The atomizers can all be connected to the same reservoir of liquid weed control chemical; however, different atomizers can be connected to different reservoirs, allowing different chemicals to be sprayed. Again, these other atomizers can have their height above the ground varied, as can the voltage applied to them in the same way as described above for the central atomizer in Fig. 4. However, again, the atomizers can operate at the same voltage and at the same height if necessary.

[0121] Fig. 5 shows parts of an example of a weed control system, which is similar to the system described in relation to Fig. 4, but with the added advantage that fewer parts of the system need to be maintained at high voltage . Now, high voltage is applied to an ionization needle. Again, the atomizer atomizes the liquid weed control chemical. However, the is not maintained at high potential due to the atomizer body being isolated from the ionization needle. However, the ionization needle is located in the atomized liquid flow. The air is ionized, and the ions are attracted to the liquid droplets that become charged. This way, the reservoir as well as the atomizer body do not need to be at high potential. In this system, the electrostatic charging efficiency of the liquid chemical may be lower than the direct charging mechanism shown in Fig. 4, but there are advantages in the safety provided. The other features, such as operating voltages and heights, are as described for Fig. 4.

[0122] Fig. 6 shows an example of a weed control system 100. Several drones have cameras 110. The drones fly along a railroad track. The cameras acquire a collection of images from the railway track environment, with this being the ground between the track and the soil on the sides of the track. The environment that is imaged is the environment in which weeds are required to be controlled. There is no need to have multiple drones, and a drone with a 110 camera can acquire the necessary collection of images. In fact, the collection of images could be acquired by a camera 110 or cameras 110 that was manipulated by staff visiting the railroad track environment, by an airplane, satellite or by a train that traveled along the railroad track. , for example. The image collection acquired by the cameras 110 is at a resolution that allows vegetation to be identified as vegetation and, in fact, may be at a resolution that allows one type of weed to be differentiated from another type of weed. The image collection acquired can be a color image collection, but it does not have to be. The image collection acquired by the drones is transmitted to a device 10. The image collection can be transmitted to the device 10 as soon as it has been acquired by the cameras 110, or it can be transmitted at a later time than when it was acquired, for example, when the drones landed. Drones can have Global Positioning Systems (GPS) and this allows the location of the acquired image collection to be determined. For example, the orientation of the cameras 110 and the position of the drone when the image collection was acquired can be used to determine the geographic area of the image on the ground plane. Drones can also have inertial navigation systems based, for example, on laser gyroscopes. In addition to being used to determine the orientation of the drone and, therefore, the camera, facilitating a determination of when on the ground the image collection was acquired, inertial navigation systems can work alone without a GPS system to determine position of the drone, by determining movement opposite to a known location or several known locations.

[0123] An input unit 20 of the apparatus 10 passes the acquired image collection to a processing unit 30. The image analysis software operates on the processing unit 30. The image analysis software may use feature extraction, such as edge detection, and object detection analysis which, for example, can identify structures such as railway tracks, sleepers, trees, level crossings, station platforms. Thus, based on known object locations, such as building locations within the environment, and based on known structural information, such as the distance between railroad ties and the distance between railroad tracks, the processing unit can correct the collection. of images acquired to create, in practice, a synthetic representation of the environment that can be superimposed on a geographic map of the environment. Thus, the geographic location of each image can be determined, and there is no need to have an associated GPS and/or information based on inertial navigation associated with the acquired image collection. However, if GPS and/or inertial navigation-based information is available then such image analysis, which can place specific images in specific geographic locations based solely on the image collection, is not required. Although, if GPS and/or inertial navigation based information is available, then such image analysis can be used to augment the geographic location associated with an image. Thus, for example, if, based on GPS and/or inertial navigation-based information, the center of an acquired image is considered to be located 22 cm from the side edge and 67 cm from the end of a particular railroad tie of a railroad section, while from the actual acquired image collection, through the use of image analysis described above, the center of the image is determined to be located 25 cm from the edge and 64 cm from the end of the sleeper, so , based on GPS/inertial navigation, the derived location can be increased by shifting the location by 3 cm in one direction and by 3 cm in another direction as required.

[0124] The processing unit 30 additionally performs software image processing. This software analyzes an image to determine the areas within the image where vegetation should be found. Vegetation can be detected based on the shape of features contained in acquired images, where, for example, edge detection software is used to delineate the outer perimeter of objects and the outer perimeter of features contained within the outer perimeter of the object itself . A vegetation image collection database can be used to help determine whether a feature in the image collection refers to vegetation or not, using, for example, a trained machine learning algorithm such as a network artificial neural or decision tree analysis. The camera can acquire multispectral image collections with collections of images that have color-related information contained in the images, and this can be used separately or in combination with feature detection to determine where in an image vegetation should be found. As discussed above, because an image's geographic location can be determined, from knowledge of the size of an image on the ground, the location or locations of vegetation to be found in an image can then be mapped to the exact position of this vegetation in the soil.

[0125] Then, the processing unit 30 executes additional image processing software that may be part of the image processing that determines the location of vegetation based on feature extraction, if the same is used. This software comprises a machine learning analyzer. Images of specific weeds are acquired, with information also relating to the size of weeds that are used. Information relating to a geographic location in the world where such a weed is expected to be found and information relating to a time of year when such a weed is expected to be found, including when in flower, etc. can be identified with the image collection. The names of the weeds can be identified with the collection of weed images. The machine learning analyzer, which can be based on an artificial neural network or a decision tree analyzer, is then trained on the ground based on the actual acquired image collection. In this way, when a new vegetation image is presented to the analyzer, where such an image may have an associated timestamp such as time of year and a geographic location, such as Germany or South Africa, the analyzer determines the type of vegetation. specific weed that is in the image through a comparison of image collection of a weed found in the new image with image collection of different weeds, the same was trained, on what size of weeds, and where and when the same grows can be considered as well. The specific location of this type of weed in the soil in the environment, and its size, can therefore be determined.

[0126] The processing unit 30 has access to a database containing different types of weed, and the ideal chemical spray to be used and the mode of operation of a spray gun for that chemical in terms of stress intensities. and field to be used to control this type of weed, which can be compiled from experimentally determined data. For example, the specific type of chemical to be sprayed on a weed from the various chemicals available, the duration of spraying to be applied in a specific location for a specific type of weed, and the high voltage to be applied to the atomizer and the field strength to be used, providing information on the height at which the atomizer should operate. So, for example, a specific type of chemical to be used in a chemical spray may be the most ideal type for a particular type of weed. Then, the processor may determine that for a single weed or a small group of that weed in a particular location in the environment, the chemical spray gun that applies that chemical must be activated at that specific location to control the weeds with that chemical. specific chemical. However, that weed could be surrounded by a large group of a different type of weed, for which a different type of liquid weed control chemical is ideal. So a different chemical can be sprinkled on the large clump around the first weed. For example, then, a harsh chemical can be sprayed on the specific location of a hard-to-kill weed, while fewer chemicals can be sprayed on weeds that are easier to control. Thus, in addition to the atomized spray being electrically charged leading to an increase in the chemical that is sprayed being deposited on the weed, the type of chemical can only be used when necessary. This leads to a reduction in chemicals used, a reduction in potency and less environmental impact from chemicals. The processing unit ensures that all weeds that need to be controlled are assigned at least one chemical to be sprayed in a particular manner through at least one spray gun. Then, the processing unit creates an appropriate weed control map, detailing where which spray gun operating modes should be applied.

[0127] Thus, the drones' cameras 110 acquire a collection of images from an environment that is passed to a processing unit 30 that determines which spray gun operating modes should be used in which specific geographic locations in the environment. Thus, in practice, a weed map or a weed spray map can be generated that indicates where within the environment specific modes of spray gun operation, in terms of chemical, voltage, field strength, height, must be used.

[0128] With continued references to Fig. 6, a weed control train 120 progresses along the railroad track. The weed control train has several cars, each housing relevant parts of a weed control apparatus 10 and a reservoir 130 of liquid weed control chemical. However, only one car needs to have the input unit 20, the processing unit 30 which could be housed in a front car or in the first car, for example. Therefore, each cart can spray a different liquid weed control chemical from several spray guns or spray units 40 that are located below and on the sides of the cart. Each car also has a separate high voltage power supply 50, and the sprinkler units for each car can be operated at the same voltage, or through the use of a power supply that can supply more than one voltage at the same time or through By using more than one power supply on each car, the sprinkler units for a car can be operated at different voltages. Each sprinkler unit can be moved vertically up and down to optimize spraying of a detected weed as discussed above. The weed control train has a processor (not shown) that uses the weed map or weed control map discussed above. The weed control train has a means of determining its geographic location, which may be based on GPS, inertial navigation, image analysis in order to locate the position of the weed control train and the specific locations of weed control units. sprinkler in each car at particular moments in time. This means that when the weed control train passes through the environment, different sprinkler units can be activated at specific weed locations, whereby the specific mode of operation of a sprinkler unit in terms of the chemical to be sprayed and at what voltage and height the sprinkler unit was determined to be ideal for that task.

[0129] As discussed above, the weed control train may have a camera and acquire image collections. The acquired image collection can be processed by the processing unit in the weed control train to determine the location of the train itself, by determining the location of ties and features in the surrounding area. Additionally, when the weed control train has a GPS and/or inertial system, the GPS and/or inertial navigation systems can be used to determine the location of the train so that the sprinkler units can be activated. in locating specific weeds with the correct chemical and at the determined voltage. However, if the train also has a camera that acquires a collection of images of the surroundings, the resource extraction that leads to information, such as the position of sleepers, etc. can be used to augment the position determined by GPS navigation and/or by inertia to make corrections to the position so that the sprinkler unit (or units) can be activated at the exact weed locations to consider, for example, a derived position of the GPS system. Thus, the image processing required to determine the positions of ties can perform quickly, with location updates being applied quickly, due to the complexity of image processing on location features, as railroad ties are not relatively large. A database of which chemicals should be used and at what voltage and/or field strength to control specific weeds is used by the processing unit to determine which sprinkler units need to be activated at specific locations in the environment. The train also determines the height of the weed above the ground through the use of imaging or acoustic or radar technology and this information is used to raise/lower the specific spray gun to the ideal height above the weed for spraying.

[0130] Fig. 7 shows another example of a weed control system 100. The system of FIG. 7 is similar to that illustrated in FIG. 6. However, in Fig. 7, the weed control train 120 has cameras 110 and an apparatus 10 as previously discussed. The cameras 110 on the weed control train 120 now acquire this collection of images that were previously acquired by the drones. The processing unit 30 of the apparatus in the weed control train 120 processes the acquired image collection to determine the location and type of weed. Therefore, the exact geographic location of the weed is not required to be determined. Instead, based on the relative spacing between cameras 110 and sprinkler units housed in train cars, an acquired image may be located at a specific point on the ground and weeds located and identified in that image and, consequently, in the soil, and then the required sprinkler units can be activated at the weed location that has been determined. Then, from knowledge of the forward movement of the weed control train (its speed) and the time at which an image was acquired, it can be determined when the required sprinkler unit should be activated so that it Activate in weed position. In this way, the weed control train does not need to have a GPS and/or inertial navigation system or means of determining absolute geographic location based on image. Instead, to account for the processing required to determine the type of weed and its exact location in an image and its exact location on the ground within a train coordinate system, the cameras 110 must be spaced from the sprinkler units 40 by a distance that is at least equal to the processing time multiplied by the maximum speed of the weed control train during weed control. Thus, for example, if processing takes 0.2 s, 0.4 s, or 0.8 s for a train traveling at 25 m/s, with reference to Fig. 7, the cameras 110 should be spaced toward to the first sprinkler units on the first car behind the car carrying the cameras for 5 m, 10 m or 20 m for this train speed for these different processing times. A reduction in train speed allows separation to be reduced. Additionally, the cameras 110 that are acquiring the image collection may have exposure times so that image blur due to the movement of the train during the exposure time is minimized. This can occur through various means, including the use of cameras with short exposure times or short pulsed lighting through, for example, lasers or LEDs in combination with filters, for example. However, the device may use a GPS system and/or inertial navigation system and/or image analysis to determine an exact geographic location of weeds. This means a record of which weeds were controlled by which mode of operation of a sprinkler unit in terms of chemical and operating voltage/height and, in practice, sprinkler duration at that location, and where those weeds were located can be determined, thereby providing audit information. Furthermore, when generating an exact geographic location of the weeds, when each train car has a means of determining location, such as a GPS system and/or inertial navigation system and/or image-based system, then this information can be used to ensure that sprinkler units on a cart activate in the exact position of the specific weed. Thus, a front car of a train may have the image acquisition and analysis units that enable a weed control map to be constructed. So, the last trucks of a train could have sprinkler units housed in them that can operate in different modes. These last cars could be spaced from the front car by many tens if not hundreds of meters by cars carrying the load. Therefore, the absolute separation of the front cart from the rear carts would vary as the train travels uphill and downhill, but because the cars with the spray units know their exact locations, the required spray unit that sprays the required chemical on the Voltage/field intensity can be activated at the precise determined geographic locations of weeds.

[0131] Figs. 6 and 7 show two views of the weed control train 120, the top being a side view and the bottom showing a plan view. For Fig. 7, the views show the cameras 110 that acquire the collection of images that extend between the tracks and to the sides of the tracks. Individual weed control train cars have associated sprinkler units 40 that can be applied below the train and to the side of the train.

[0132] Fig. 8 shows a weed control train car 120 as shown in Figs 6-7, which has several sprinkler units 40. Fig. 8 shows a rear view of a train car with the view on the railroad track. The private truck is spraying a type of chemical, with individual spray units that are capable of being operated at different heights and at different voltages. Several separate sprinkler nozzles (spray guns) extend laterally below the train and up the sides of the train. The spray nozzles can also extend in a forward direction. A sprinkler nozzle may have specific control, in addition to being on or off at a voltage and height, and may be directionally controlled to spray left and right or downward, and/or be controlled so that the The angular extent of the spray can be varied so that, for example, a narrow spray jet can be directed at a single weed. Different angled spray arrangements may require operation at different voltages and heights in order to optimize chemical transfer to the weed being sprayed. When one of these spray nozzles passes over a weed that has been identified as one that is required to be controlled by that particular chemical spray, the processor 30 activates the specific nozzle that sprays chemical at the specific location of the weed that is required to be controlled by that particular chemical spray. this chemical spraying. In Fig. 8, there are two specific locations of such a weed, one that can be found between the track extending to the right and one to the left of the tracks, and consequently several sprinkler nozzles have been activated under the train and to the left of the train. right with a sprinkler nozzle being activated on the left. It should be noted that weeds may pass under a cart that has already had one of the other chemicals applied by a cart ahead, and an unsprawn weed may pass under that cart if it is determined that it should be sprayed by one or more more sprinkler units in a following truck to spray a chemical product, for example.

[0133] Fig. 9 shows a representation of a railroad environment that shows railroad tracks and the ground on the side of the tracks. Several weed areas are shown, with a large group of one type of weed having a group of a different type of weed contained within it. Shown in Fig. 9 are the specific sprinkler unit operating modes that were determined to be activated for these specific weeds. Thus, three chemicals “A”, “B” and “C” can be sprayed, and the sprinkler units can operate at three different heights “H1”, “H2” and “H3”, and operate at three voltage levels “VT',”V2” and “V3”. Thus, a particular type of weed was identified that is of a size that requires it to be sprayed with chemical A, at a voltage level V1 and at a height H1, which exists in two locations. A particular type of weed has been identified that is of a size that requires it to be sprayed with chemical A, at a voltage level V2 and at a height H2, which exists in two locations. It may be the same type of weed as the one discussed previously that was also sprayed with chemical A, but it is of a size that requires slightly different height and voltage settings to optimize the transfer of atomized liquid weed control chemical. for the weed, or it could be a different type of weed with different settings that are ideal for spray control of that weed. Similarly, another weed has been identified that needs to be sprayed with chemical B at voltage V1 and height H2. There is a large group of weed (which could be the same type as the previous weed or a different weed) that needs to be sprayed with chemical B at a voltage V2 and a height H3. However, within this weed group there is a different isolated weed type that needs to be sprayed with particularly strong chemical C at a height H1 and a voltage V3. In this way, weeds are controlled in an optimized manner with increased chemical transfer to the weed that allows less chemical to be used, and with a further reduction in the use of more appropriate chemicals, which are applied only where necessary. absolutely necessary. This determination of which mode of operation of different sprinkler units in terms of chemical, voltage and operating height can be considered to be the weed control map discussed above in relation to Fig. 6, or the real-time determination which operating mode of a sprinkler unit should be applied as discussed in relation to Fig. 7.

[0134] Fig. 10 shows a plan view of one of the train cars in relation to the sprinkler units 40. Several individual spray guns or nozzles of the sprinkler units are mounted below and to the sides of the train car as shown in Figs. 6 and 7. There are three sets of spray guns, one under the cart and one on the left and one on the right. Only the cart on the right is shown in detail. Regarding the set on the right, in this specific example, there are 19 rows of spray guns and 12 columns of spray guns. There may be multiple column numbers of spray guns and multiple row numbers, and there may be only one row. As discussed above, a spray gun may also be considered to be a sprinkler unit, or a part of a sprinkler unit. because the sprinkler unit may also include a reservoir of a chemical. In the document, chemical A is being sprayed with all spray guns operating at a voltage V1. In this example, the weed control train has 9 cars, three with chemical A, three with chemical B, and three with chemical C, and different cars operate at voltages V1, V2, and V3. However, as discussed above, it is possible for spray guns to have different voltages applied to them. Referring to a row x column coordinate system, then as the train moves forward, the 1x4, 1x5, 1x6, and 1x7 spray guns activate as the spray guns pass the weed location. With the additional movement, in one example, only these sprinkler guns are activated until these sprinkler guns pass through the weed. This way, a minimum duration of chemical A can be applied. However, spray guns can activate as the weed is located in different positions below the subunit and thus a spray duration can be varied. Thus, when the weed is first located under the front edge, the 1x4-7, 2x4-7, and 3x4-7 subunit spray guns are activated. As the train moves forward, 2x4-7, 3x4-7 and 4x4-7 are activated, then 3x4-7, 4x4-7 and 5x4-7 are activated. This way, the weed progresses under the subunit and in all positions, the appropriate spray guns are activated until 17x4-7, 18x4-7 and 19x4-7 are activated, then 18x4- -7 and 19x4-7 and , finally, 19x4-7 are activated. In this way, a wave of spray guns activates at a fixed position on the ground (the location of the weed), with the wave moving at the speed of the train in a backward direction relative to the front of the train that is moving in front of it. a direction of advancement. Different application durations of chemical A can be applied by activating different numbers of spray guns. Thus, even for a fixed train speed, different chemicals can be sprayed on weeds for different durations, again enabling hard-to-kill weeds to have a longer spray duration and thus more chemical sprayed on that weed. , while easy-to-control weeds may have a minimum spray duration applied. This means that the amount of chemical used can again be minimized, and spray guns can operate at fixed flow rates, making it possible for simple spray guns to be used.

[0135] Fig. 11 shows an example of part of a weed control system. For simplicity, only one spray gun (nozzle/atomizer) of a sprinkler unit is shown. The top image shows a plan view and the bottom image shows a side view. The spray gun is fixed to the bottom of the car of a train that is moving in a left-to-right movement. Typically, weeds that are sprayed do not become electrostatically charged due to the spray duration not being very long as the sprinkler is moving to new areas, and the vegetation itself contains a proportion of water and is conductive at a certain level. level. However, certain weeds may be sprayed for an extended period of time through several different spray guns that activate as they pass by that weed, and certain weeds may be less conductive than others. To mitigate this weed loading, which leads to a reduction in transfer efficiency, several grounded electrodes 60 (maintained at ground potential or zero volts) are fixed to the front of the cart spaced along the front edge of the cart and the track. along the ground. These touch the vegetation and help ensure that this vegetation does not become excessively loaded. Furthermore, a definitive ground plane is formed that helps draw the atomized liquid weed control downward, helping to mitigate the effects of chemical drift.

[0136] Fig. 12 shows another example by which the effects of weed loading can be mitigated. There are two nozzles shown, nozzle A which sprays a liquid weed control chemical, and nozzle B, also called spray unit 70, which sprays a conductive liquid such as brine (sea water). As discussed above, the location of a weed is determined. Nozzle B first passes through the weed as the train moves forward. The brine is sprinkled over the weed. The liquid that is sprayed does not have a harmful environmental effect and does not need to be charged. Then, the nozzle that sprays the liquid weed control chemical moves over the weed, and the liquid weed control chemical is atomized and carried over the weed as discussed above. The surface of the weed now has greater conductivity with the soil due to it being sprayed with seawater, and the weed does not become electrostatically charged. Instead of spraying seawater (brine), other conductive chemicals as known to those skilled in the art can be sprayed.

[0137] The examples detailed above were discussed in relation to a railway and a weed control train. However, instead of a weed control train, a wagon or truck or Unimog may have the sprinkler units and chemical reservoir (or chemical reservoirs) as discussed above, and based on previously acquired and processed image collection or with Based on the image collection, it acquires and processes, drives around an industrial area or even an area like an airport, and activates sprinkler units as discussed above to control weeds in specific locations.

[0138] In another exemplary embodiment, a computer program or computer program element is provided that is characterized in that it is configured to execute the method steps of the method according to one of the previous embodiments in an appropriate system.

[0139] Therefore, the computer program element may be stored in a computer unit, which may also be part of an embodiment. This computing unit may be configured to perform or induce performance of the steps of the method described above. Furthermore, it can be configured to operate the components of the device and/or system described above. The computing unit may be configured to operate automatically and/or to execute a user's orders. A computer program can be loaded into the working memory of a data processor. Thus, the data processor may be equipped to perform the method according to one of the above embodiments.

[0140] This exemplary embodiment of the invention encompasses both a computer program that, from the outset, uses the invention and the computer program that, through an update, transforms an existing program into a program that uses the invention.

[0141] Additionally, the computer program element may have the ability to provide all steps necessary to comply with the procedure of an exemplary embodiment of the method as described above.

[0142] According to a further exemplary embodiment of the present invention, a computer-readable medium, such as a CD-ROM, USB stick or the like, is provided wherein the computer-readable medium has a computer program element stored therein, whose computer program element is described by the previous section.

[0143] A computer program may be stored and/or distributed on a suitable medium, such as an optical storage medium or a solid state medium provided in conjunction with or as part of other hardware, but may also be distributed in other ways , such as through the Internet or other wired or wireless telecommunications systems.

[0144] However, the computer program may also be present on a network such as the World Wide Web and may be downloaded into the working memory of a data processor on such a network. In accordance with a further exemplary embodiment of the present invention, a means for making a computer program element available for download is provided, which computer program element is arranged to perform a method in accordance with one of the previously described embodiments of the invention. invention.

[0145] It has been observed that embodiments of the invention are described with reference to different subjects. In particular, some embodiments are described with reference to method type claims while other embodiments are described with reference to device type claims. However, one skilled in the art will understand from the foregoing and the above description that, unless otherwise notified, in addition to any combination of resources belonging to one type of subject matter, any combination between resources related to different subjects such as being revealed with this application. However, all resources can be combined to provide synergistic effects that are more than a simple sum of resources.

[0146] Although the invention is illustrated and described in the drawings and in the aforementioned description, such illustration and description should be considered illustrative or exemplary and not restrictive. The invention is not limited to the disclosed embodiments. Other variations to the disclosed embodiments can be understood and carried out by those skilled in the art in the practice of a claimed invention, from a study of the drawings, the disclosure and the dependent claims.

[0147] In the claims, the word “comprising” does not exclude other elements or steps, and the indefinite article “one” or “an” does not exclude a plurality. A single processor or other unit may serve the functions of multiple items recited in the claims. The mere fact that certain measures are recited in the mutually different dependent claims does not indicate that a combination of these measures cannot be used to advantage. Any reference marks in the claims should not be construed as limiting the scope.

Claims (13)

1. Weed control apparatus (10) for a vehicle CHARACTERIZED by the fact that it comprises: - an input unit (20); - a processing unit (30); - at least one chemical sprinkler unit (40); and - at least one high voltage power supply (50); wherein the input unit is configured to provide the processing unit with at least one image of an environment; wherein the processing unit is configured to analyze the at least one image to activate the at least one chemical spray unit; wherein the processing unit is configured to analyze the at least one image to determine at least one location for activation of the at least one chemical spray unit, wherein analyzing the at least one image to determine at least one location for activation of the the at least one chemical sprinkler unit comprises a determination of at least one location of vegetation in the environment, and wherein the processing unit is configured to determine the at least one mode of operation of the at least one chemical sprinkler unit to be used in that at least one location of vegetation in the environment based on the type of weed determined to be in that at least one location in the environment, and wherein the at least one determined mode of operation of the at least one chemical spray unit to be used in the at least at least one vegetation location comprises several different modes of operation, such as spraying different chemicals, operating at different high voltages to vary the electric field between a sprinkler unit and a weed to be sprayed, varying a distance between the sprinkler unit and a weed to be sprinkled; wherein the at least one chemical spray unit is configured to atomize a liquid weed control chemical; wherein the at least one chemical spray unit has at least one part (42) configured to be maintained at high voltage relative to zero volt potential; and wherein the at least one high voltage power supply and the at least one chemical spray unit are configured to maintain the at least a portion of the at least one chemical spray unit at at least one high voltage relative to the operating potential. zero volts, so that the atomized liquid weed control chemical is electrically charged. 2. Apparatus according to claim 1, CHARACTERIZED by the fact that the at least one chemical spray unit is configured so that the atomized liquid weed control chemical is charged after it is atomized. 3. Apparatus according to claim 1, CHARACTERIZED by the fact that the at least one part (42) comprises an electrode (42a) configured to be positioned within the atomized liquid weed control chemical. 4. Apparatus according to claim 1, CHARACTERIZED by the fact that the analysis of the at least one image to determine the at least one location for activation of the at least one chemical sprinkler unit comprises a determination of at least one type of herb weed. 5. Apparatus according to any one of claims 1 to 4, CHARACTERIZED by the fact that the at least one image has been acquired by at least one camera, and wherein the input unit is configured to provide the processing unit with at least a location associated with at least one camera when the at least one image was acquired. 6. Apparatus according to any one of claims 1 to 5, CHARACTERIZED by the fact that the apparatus comprises at least one electrode (60) configured to be maintained at or close to zero volt potential, and in which the apparatus is configured so that the at least one electrode can be positioned on a ground plane remote from the at least one chemical sprinkler unit so that activation of the at least one chemical sprinkler unit results in the liquid weed control chemical being sprayed at a location corresponding to the position in the ground plane of the at least one electrode. 7. Weed control system (100) CHARACTERIZED by the fact that it comprises: - at least one camera (110); - a weed control apparatus (10), as defined in any one of claims 1 to 6, wherein the weed control apparatus is mounted on a vehicle (120); - at least one reservoir (130) configured to hold at least one liquid weed control chemical, wherein the at least one reservoir is mounted on the vehicle; wherein the at least one camera is configured to acquire the at least one image; wherein the at least one chemical spray unit and the at least one reservoir are configured to be in fluid connection with each other; and wherein the weed control apparatus is configured to atomize, charge and spray the at least one liquid weed control chemical. 8. System, according to claim 7, CHARACTERIZED by the fact that the at least one camera is mounted on the vehicle. 9. Weed control method (200) for a vehicle CHARACTERIZED by the fact that it comprises: a) supplying (210) to a processing unit (30) contained in a weed control apparatus (10), as defined in any one of claims 1 to 8, at least one image of an environment; c) analyzing (220) by the processing unit the at least one image for activating the at least one chemical spray unit, and analyzing by the processing unit the at least one image to determine at least one location for activating the at least one chemical spray unit. chemical spray comprising a determination of at least one location of vegetation in the environment, and determining by the processing unit at least one mode of operation of the at least one chemical spray unit to be used in that at least one location of vegetation in the environment based on the type of weed determined to be in that at least one location in the environment, and wherein the at least one determined mode of operation of the at least one chemical sprinkler unit to be used in the at least one location of vegetation comprises several different modes of operation , such as spraying different chemicals, operating at different high voltages to vary the electric field between a sprinkler unit and a weed to be sprayed, varying a distance between the sprinkler unit and a weed to be sprayed; f) atomizing and charging (230) a liquid weed control chemical through at least one chemical spray unit; wherein the at least one chemical spray unit has at least one portion configured to be maintained at high voltage relative to zero volt potential; and wherein the at least one high voltage power supply and the at least one chemical spray unit are configured to maintain the at least a portion of the at least one chemical spray unit at the at least one high voltage relative to the operating potential. zero volts, so that the atomized liquid weed control chemical is electrically charged. 10. Method, according to claim 9, CHARACTERIZED by the fact that step f) comprises atomizing the liquid weed control chemical before loading. 11. Method, according to claim 9 or 10, CHARACTERIZED by the fact that, in step a), at least one image was acquired by at least one camera; and wherein the method comprises step b) of providing (240) to the processing unit at least one location associated with the at least one camera when the at least one image has been acquired. 12. Method, according to any one of claims 9 to 11, CHARACTERIZED by the fact that it comprises step d) of maintaining (250) at least one electrode at or close to zero volt potential, and comprises step e) of positioning (260) the at least one electrode on a plane of the ground away from the at least one chemical spraying unit, and comprises the step g) of spraying (270) through the at least one chemical spraying unit the liquid control chemical product. weed at a location corresponding to the position in the ground plane of the at least one electrode. 13. Non-transitory computer-readable medium CHARACTERIZED by the fact that it contains a set of instructions, which when executed by a processor, is configured to carry out the method, as defined in any one of claims 9 to 12.