EP1521885B1 - Weeding procedure for a railway vehicle - Google Patents

Weeding procedure for a railway vehicle Download PDF

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Publication number
EP1521885B1
EP1521885B1 EP02777582A EP02777582A EP1521885B1 EP 1521885 B1 EP1521885 B1 EP 1521885B1 EP 02777582 A EP02777582 A EP 02777582A EP 02777582 A EP02777582 A EP 02777582A EP 1521885 B1 EP1521885 B1 EP 1521885B1
Authority
EP
European Patent Office
Prior art keywords
control
spraying
recognising
unit
weed
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Lifetime
Application number
EP02777582A
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German (de)
English (en)
French (fr)
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EP1521885A1 (en
Inventor
Jozsef Gaal
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
G And G Novenyvedelmi Es Kereskedelmi
Original Assignee
G And G Novenyvedelmi Es Kereskedelmi
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by G And G Novenyvedelmi Es Kereskedelmi filed Critical G And G Novenyvedelmi Es Kereskedelmi
Publication of EP1521885A1 publication Critical patent/EP1521885A1/en
Application granted granted Critical
Publication of EP1521885B1 publication Critical patent/EP1521885B1/en
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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Classifications

    • E—FIXED CONSTRUCTIONS
    • E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01H—STREET CLEANING; CLEANING OF PERMANENT WAYS; CLEANING BEACHES; DISPERSING OR PREVENTING FOG IN GENERAL CLEANING STREET OR RAILWAY FURNITURE OR TUNNEL WALLS
    • E01H11/00—Control of undesirable vegetation on roads or similar surfaces or permanent ways of railways, e.g. devices for scorching weeds or for applying herbicides; Applying liquids, e.g. water, weed-killer bitumen, to permanent ways

Definitions

  • the subject matter of the invention is a weeding apparatus for a railway vehicle and a procedure for weeding with this apparatus.
  • the weeds grow between and along the rails and on the slopes on the sides of the tracks.
  • the published patent application DE 4 132 637 describes a procedure and an apparatus for a directed elimination of weeds. According to this procedure, optical sensors scan the soil covered with weeds and a map of weeds is drawn up. If the grade of covering with weeds surpasses a defined threshold, a herbicide is applied to the surface covered with weeds.
  • a video camera and optical sensors are used to sense the green colour of the vegetation and compose the weed map. Green pixels represent vegetation.
  • the camera and the optical sensors on the moving vehicle are connected to a computer, which opens valves and nozzles for spraying a herbicide according to the sensed weed information.
  • the disadvantage of the described procedure is that it is not able to regulate the pressure, concentration and directed distribution of the herbicide applied on the surface.
  • Another disadvantage of the solution is that the species of weeds are not distinguished. Indeed the procedure does not enable to treat the different species of weeds with different herbicides.
  • the relief of the track is furthermore not taken into account according to this procedure.
  • the published patent application WO99/17606 discloses a procedure and an apparatus for the treatment of plant growth along railway sections.
  • the vegetation along the railway is determined by means of a camera and a computation unit. Filters are used to make it possible to distinguish between plant types and to treat them differently.
  • the individual nozzles of the spray bar can be controlled selectively and the treatment strategy for a given treatment area depends on the information which has been detected in the field of vision of the camera.
  • the aim of the present invention is to develop a weeding apparatus and procedure, which eliminate the above mentioned disadvantages.
  • the weeding apparatus and procedure according to the invention enable to perform extirpation of weeds by delivering herbicides specific to the detected weeds, the herbicides having different concentrations in different sections of tracks and being sprayed according to the shapes of the tracks.
  • This aim is achieved by an apparatus according to appended claim 1 and a procedure according to appended claim 6.
  • the weeding apparatus for a railway vehicle is provided with a weed recognising camera, a PC connected to it for recognition of weeds, a meteorological unit, said units being connected to a control PC.
  • the control PC is connected to a control switch panel which, in turn, is connected to a spraying means through an electronic control unit and a dosing unit.
  • the control PC is also connected to a species recognising camera through a species recognising PC, to a relief following laser camera with a laser signal transducer through a relief following PC and to a speed measuring transducer.
  • the control PC and the speed transducer are connected to the control switch panel and an auxiliary control switch panel.
  • the spraying means comprises a spraying unit and a pre-spraying unit.
  • the control PC is furthermore connected to the electronic dosing unit and to the electronic tilting control unit of both the spraying unit and the pre-spraying unit.
  • the spraying unit and the pre-spraying unit each comprise a water tank, a water pump, a water flow meter, a water control valve, a water sectioning valve, an injector valve, a spraying frame provided with an axle and nozzles connected together, wherein the automatic electronic dosing unit is connected to the injector valve.
  • the injector valve of each spraying unit is connected to chemical agent tanks through a flow meter of chemical agents and a chemical agent pump.
  • the axles of the spraying unit and of the pre-spraying unit are each connected to a position sensor and coupled with a tilting motor which, in turn, is connected to the electronic tilting control unit.
  • the control switch panel and the auxiliary control switch panel are connected to the pre-spraying unit and to the spraying one through the electronic dosing units.
  • the pre-spraying unit is preferably configured so that the control valve is coupled to the injector valve and the latter is coupled to the sectioning valve.
  • the spraying unit is preferably configured so that the control valve is coupled to the sectioning valve and the latter is coupled to the injector valve.
  • the weed recognising camera of the weeding apparatus is a colour camera and the species recognising camera is a colour camera provided with a special filter.
  • weeding procedure In the weeding procedure according to the invention and performed by the above mentioned apparatus, data are collected by a weed recognising camera and processed by a weed recognising PC, the output signals thereof being transmitted to a control PC.
  • the control PC processes them taking into account also the signals of a meteorological unit and it controls the electronic control units and the dosing units of the pre-spraying unit respectively of the spraying unit through the control switch panel. It controls in this way the herbicide quantity dosed through the nozzles on the spraying frames of the spraying units.
  • the profile of the railway track is divided into sections and a sectioning valve is assigned to each section.
  • This valve either lets the herbicide to the actual section or closes the way of the herbicide.
  • the positions of the sectioning valves are controlled by a series of switches on the control switch panel respectively by another series on the auxiliary control switch panel. The switches are operated either automatically or by hand.
  • a weed species map is drawn up simultaneously by the species recognising camera provided with a special filter, mounted onto front pail of the railway vehicle viewing into direction of movement and by the species recognising PC, so that a species recognising program selects the sections according to weed species.
  • a herbicide combination prescribed for the detected weed species is chosen for each section.
  • the control PC controls the automatic dosing units of the pre-spraying unit and the spraying unit, taking into account the speed transducer signals.
  • the pictures of the weed recognising camera mounted on the front part of the railway vehicle and viewing in the direction of movement which are sent to the weed recognising PC are used to select those surfaces according to the previously defined sections where the area covered by plants surpasses a defined limit by means of a recognising program.
  • An opening command is then sent to the sectioning valves and to the control valves assigned to these sections and a closing command is sent to all other valves through the control PC taking also into account the signals of the speed transducer.
  • the relief is followed by a laser signal transducer and a relief following laser camera mounted on the front part of railway vehicle.
  • the signals of the relief following laser camera are sent to the relief following PC, and the initially set division into sections are broadened or narrowed using its program through the control PC.
  • the electronic tilting units simultaneously receive commands to set the axles of the spraying frames holding the nozzles into adequate angle according to the position sensor on the axle.
  • the required quantities of water and chemical agent to be mixed together are calculated on the basis of the defined widths of the sections, the signals of the speed transducer and the prescribed doses of herbicides by means of the electronic dosing units connected to the control switch panel and to the auxiliary control switch panel.
  • the injector valves which serve to mix water and the herbicides together, pertaining to the defined sections are opened or closed according to the calculated values.
  • An electronic automatic dosing unit is assigned to each section and is connected with several chemical agent tanks containing different herbicides.
  • the flow rates by minutes of required herbicides are calculated by the control PC according to the division into sections set by hand on the control switch panel and/or on the auxiliary control switch panel and taking into account the signals of the speed transducer.
  • the control PC compares these values to the currently measured flow rates and the control valves and the sectioning valves are opened or closed according to the results.
  • a herbicide mixture having specific quality, concentration and flow rate is delivered to the defined sections of the railway track through the pre-spraying unit and through the spraying unit.
  • the weed map made by the weed recognising PC and the weed species map made by the weed species recognising PC are preferably drawn up simultaneously with the spraying stage.
  • the spraying nozzles are positioned in such a way by the tilting motor of the spraying axle that the spraying is performed according to the slope of railway track.
  • the pre-spraying unit serves advantageously for spraying before sprouting of weeds and the spraying unit serves advantageously for spraying the already sprouted weeds.
  • the treatment before sprouting and the one after sprouting of weeds can be performed either at different times or at the same time.
  • the weeding is selective according to the weed species.
  • the spraying is performed in an angle adequate to the relief of the railway track.
  • the different sections of the railway track can be treated with herbicides of different compositions and different concentrations.
  • the treatment before and/or after the sprouting of weeds can be performed either at different times or at the same time.
  • the herbicide solution is prepared in the injector valve, the environment contamination can be avoided in the case of breakdown of the apparatus. Since the different sections of the railway track can be selectively treated with regards to the doses and concentrations of the herbicides, the load of the environment with chemical agents can be reduced.
  • the spraying procedure can be highly automated, such that the apparatus does not require human intervention or it requires a very small amount thereof after the start.
  • Figure 1 shows the basic diagram of the weeding apparatus according to invention.
  • Figure 2 shows the spraying frame and the structural components coupled with it in front view.
  • the weeding apparatus according to the invention is shown in Figure 1 .
  • the control PC 8 connected with a meteorological unit 7.
  • the control PC 8 is also connected to:
  • control PC 8 and the speed signal transducer 9 connected with it are connected with a control switch panel 11 and with an auxiliary control switch panel 10.
  • the control PC 8 is furthermore connected to the electronic tilting control units 13 and the electronic dosing units 14 of both the pre-spraying unit "A” and the spraying unit “B".
  • the spraying unit "B”, as well as the pre-spraying unit "A”, comprises a water tank 17, a water pump 18, a water flow rate meter 19, a water control valve 20, a water sectioning valve 21, an injector valve 22, a spraying frame 23 provided with an axle 24 and nozzles 25 coupled together.
  • the electronic dosing unit 14 is connected to the injector valves 22.
  • the injector valve 22 is connected to chemical agent tanks 26 through a chemical agent flow meter 28 and a chemical agent pump 27.
  • axles 24 of the spraying frames 23 of both the pre-spraying unit "A” and the spraying unit "B” are provided with position sensors 16, which are also connected to the electronic tilting control units 13.
  • the axle 24 is coupled with a tilting motor 15, which is also connected to the electronic tilting control unit 13.
  • control switch panel 11 and the auxiliary control switch panel 10 of the weeding apparatus are connected to the pre-spraying unit "A" and to the spraying unit "B" through the sectioning valves 21 and the electronic dosing control units 14.
  • the pre-spraying unit "A" is configured so that the control valve 20 is coupled to the injector valve 22 and the latter is coupled to the sectioning valve 21.
  • the spraying unit “B” is configured so that the control valve 20 is coupled to the sectioning valve 21 and the latter is coupled to the injector valve 22.
  • the weed recognising camera 1 is advantageously a colour camera and the relief following laser camera 3 is a colour camera provided with a special filter.
  • the spraying frame 23 provided with the tiltable axle 24 and nozzles 25 is shown in Figure 2 .
  • the tilting around the axle 24 enables to change the angle of the spray jet 31 outgoing from the nozzles 25 to the surface of soil as required.
  • the choice of the adequate angle provides that both the environment of the rails 29 and that of the railway track 30 are efficaciously treated with the herbicide spray.
  • the subject matter of the present invention concerns furthermore a weeding procedure performed by the above mentioned weeding apparatus.
  • the procedure data collected by the weed recognising camera 1 are processed by the weed recognising PC 4 and the output signals thereof are sent to the control PC 8.
  • the output signals of the control PC 8 taking into account the data of a meteorological unit 7 control the electronic control units 12 and the electronic dosing units 14 of both the pre-spraying unit "A” and the spraying unit “B” through a control switch panel 11, which signals control the quantity of herbicide delivered through the nozzles 25 of the spraying frame 23 provided with the axle 24.
  • the profile of the railway track 30 is divided into sections and a sectioning valve 21 is assigned to each section, which lets the herbicide onto defined section or closes the way of herbicide.
  • the positions of the sectioning valves 21 can be controlled by series of switches on the control switch panel 11 respectively on the auxiliary control switch panel 10. The switches can be operated either automatically or by hand.
  • a weed species map is drawn up by the species recognising PC 5 on the basis of pictures taken by the species recognising camera 2 mounted on the front part of the railway vehicle and viewing to the direction of movement.
  • the sections covered by plants are separated according to weed species by a species recognising program.
  • the species recognising camera 2 is provided with a special filter.
  • the combination of herbicides prescribed for the defined weed species is chosen for each section and the electronic dosing units 14 of both the pre-spraying unit "A" and the spraying unit “B” are controlled by the control PC 8 taking also into account the signals of the speed transducer 9.
  • the weed recognising camera 1 viewing to the direction of movement is mounted on the front part of the railway vehicle. Its pictures are transmitted to the weed recognising PC 4, wherein the areas with covering of plants surpassing a defined limit are selected by the weed recognising program in the different sections.
  • Opening or closing commands relating to these sections are sent to the sectioning valves 21 and to the control valves 20 through the control PC 8 taking also into account the signals of the speed transducer 9.
  • the laser signal transducer 32 and the relief following laser camera 3 on the front part of the railway vehicle follow the relief and measure the differences of heights of several points of the railway track.
  • the output signals of the relief following laser camera 3 are sent to the relief following PC 6 and the initially established division into sections is broadened or narrowed by means of a program in the relief following PC 6 through the control PC 8.
  • a command is sent thereafter to the electronic tilting control unit 13 to tilt the axle 24 of the spraying frame holding the nozzles 25 into an appropriate angle on the base of the signals of the position sensor 16 on the axle 24 and the required water and herbicide quantities are calculated with the assistance of the electronic dosing unit 14 connected to the control switch panel 11 and to the auxiliary control switch panel 10 taking into account the widths of the sections, the output signals of the speed transducer 9 and the previously established doses of herbicides.
  • the injector valves 22 assigned to the defined sections, which mix water with the chemical agent, are opened or closed in accordance with the results of calculation.
  • the required flow rate per minute is calculated by means of the control PC 8 according to the division into sections set by hand on the control switch panel 11 and/or on the auxiliary control switch panel 10 and taking into account also the signals of the speed transducer 9.
  • the control PC 8 compares this flow rate with the current flow rate per minute measured by the chemical agent flow meter 28 and the control valves 20 and the sectioning valves 21 are opened or closed on the basis of the results of the comparison.
  • the herbicide having its quality, concentration and flow rate per minute chosen as described above is delivered through the pre-spraying unit "A” and/or through the spraying unit "B” onto the defined sections of the railway track 30 so that the herbicide spray jet 31 reaches the area to be treated under an optimal angle.
  • Herbicides containing active agents Diuron or Linuron are advantageously used for weeding treatment before sprouting of weeds, and herbicides with active agents Glifosat or Triklopil are advantageously used for weeding treatment after the sprouting of weeds.
  • the pictures taken by the weed recognising camera 1 and those of the 15 species recognising camera 2 are advantageously recorded in video-cassettes.

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  • Engineering & Computer Science (AREA)
  • Architecture (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Catching Or Destruction (AREA)
  • Soil Working Implements (AREA)
  • Agricultural Chemicals And Associated Chemicals (AREA)
  • Guiding Agricultural Machines (AREA)
EP02777582A 2002-07-05 2002-10-30 Weeding procedure for a railway vehicle Expired - Lifetime EP1521885B1 (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
HU0202205 2002-07-05
HU0202205A HU224536B1 (hu) 2002-07-05 2002-07-05 Vasúti kocsira szerelt gyomirtó berendezés kapcsolási elrendezése, és eljárás a berendezéssel történõ gyomirtásra
PCT/HU2002/000110 WO2004005625A1 (en) 2002-07-05 2002-10-30 Weeding procedure for a railway vehicle

Publications (2)

Publication Number Publication Date
EP1521885A1 EP1521885A1 (en) 2005-04-13
EP1521885B1 true EP1521885B1 (en) 2009-05-06

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Family Applications (1)

Application Number Title Priority Date Filing Date
EP02777582A Expired - Lifetime EP1521885B1 (en) 2002-07-05 2002-10-30 Weeding procedure for a railway vehicle

Country Status (9)

Country Link
EP (1) EP1521885B1 (hu)
CN (1) CN1298218C (hu)
AT (1) ATE430841T1 (hu)
AU (1) AU2002339205A1 (hu)
DE (1) DE60232277D1 (hu)
DK (1) DK1521885T3 (hu)
ES (1) ES2327823T3 (hu)
HU (1) HU224536B1 (hu)
WO (1) WO2004005625A1 (hu)

Cited By (3)

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EP3358525A1 (en) 2017-02-06 2018-08-08 Bilberry Sas Weeding systems and methods, railway weeding vehicles
EP3403899A1 (de) 2017-05-17 2018-11-21 Bayer Aktiengesellschaft Unkrautbekämpfung bei hoher geschwindigkeit
EP4245636A1 (de) * 2022-03-16 2023-09-20 Windhoff Bahn- und Anlagentechnik GmbH Verfahren für das vegetationsmanagement, sowie schienenfahrzeug und zug hierfür

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ES2239904B1 (es) * 2004-03-25 2006-11-16 Servicios Industriales Y Transportes, S.A. Sintra Sistema de control para tratamiento herbicida en vias de ferrocarril.
HU3056U (en) 2005-04-29 2006-03-28 G & G Noevenyvedelmi Es Keresk Construction for making weed map
CN100495270C (zh) * 2006-08-30 2009-06-03 中国科学院沈阳自动化研究所 除雪车用融雪剂智能撒布控制系统
CZ305287B6 (cs) * 2012-11-02 2015-07-15 Jaro Česká Skalice, S.R.O. Postřikové zařízení
CN103266577B (zh) * 2013-05-30 2015-04-29 中联重科股份有限公司 清洁车及其喷水架的作业高度的调整方法、系统
CN103636590B (zh) * 2013-08-19 2015-07-22 农业部南京农业机械化研究所 一种水稻插秧机施药器及施药控制方法
CN105469019B (zh) * 2014-09-05 2019-04-23 中国农业机械化科学研究院 一种逆向杂草定位方法及定位装置
CN105469020B (zh) * 2014-09-05 2019-04-23 中国农业机械化科学研究院 一种杂草定位喷除系统及其定位喷除方法
DE102015209879A1 (de) * 2015-05-29 2016-12-01 Robert Bosch Gmbh Unkrautregulierungsvorrichtung
CN108431715B (zh) 2016-07-21 2021-08-10 苏州宝时得电动工具有限公司 自动识别前方物体的自移动设备及其识别方法
CN107643750B (zh) * 2016-07-21 2020-05-22 苏州宝时得电动工具有限公司 智能行走设备斜坡的识别方法及其智能行走设备
CN107643751B (zh) * 2016-07-21 2020-04-14 苏州宝时得电动工具有限公司 智能行走设备斜坡识别方法和系统
US10163015B2 (en) * 2016-11-16 2018-12-25 Ford Global Technologies, Llc Detecting foliage using range data
ES2922250T3 (es) * 2017-02-06 2022-09-12 Bilberry Sas Pulverizador agrícola
FR3063206B1 (fr) * 2017-02-24 2021-08-13 Bilberry Sas Systeme de controle pour epandage agricole
IT201700039405A1 (it) 2017-04-19 2018-10-19 Geosintesi S P A Metodo per il rilevamento automatico e successiva elaborazione ed archiviazione di uno o piu’ parametri ambientali georeferenziati relativi ad una tratta ferroviaria di riferimento
KR102603661B1 (ko) * 2017-04-28 2023-11-20 디스커버리 퍼체이서 코퍼레이션 잡초 방제용 모듈형 시스템
PL3406801T3 (pl) * 2017-05-23 2020-06-29 Bayer Aktiengesellschaft System dużej prędkości do zwalczania chwastów
CN110809401B (zh) 2017-07-06 2022-11-15 拜耳股份公司 杂草控制装置
NL1042461B1 (en) * 2017-07-12 2019-01-28 Regnerus Wilko A method for combined mechanical haulm puiling and root undercutting combined with sensor controlled precision chemical spot treatment application system for potato haulm killing
CN109197275B (zh) * 2018-10-18 2021-05-07 东莞极飞无人机科技有限公司 杂草种类的识别方法及装置、施药信息的确定方法
CN109409275B (zh) * 2018-10-18 2021-06-15 广州极飞科技股份有限公司 目标对象的识别方法及装置、施药信息的确定方法
EP3666622A1 (en) * 2018-12-14 2020-06-17 Bilberry SAS System and method for railway weeding
CN113944137A (zh) * 2021-10-11 2022-01-18 马鞍山缔盟新思智能科技有限公司 一种用于轨道交通的轨道杂草清理装置及其使用方法

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DE4132637C2 (de) 1991-10-01 1995-04-27 Walter Prof Dr Kuehbauch Verfahren zur gesteuerten Unkrautbekämpfung
CN2289717Y (zh) * 1996-05-13 1998-09-02 沈阳铁路局科学技术研究所 铁路公路两用除草装置
AU9337798A (en) * 1997-09-24 1999-04-27 Hardi International A/S A method and an apparatus for detecting, classifying and treatment of vegetation

Cited By (13)

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KR102482267B1 (ko) 2017-02-06 2022-12-28 빌베리 에스아에스 제초 시스템 및 방법, 철도 제초 차량
WO2018141995A1 (en) 2017-02-06 2018-08-09 Bilberry Sas Weeding systems and methods, railway weeding vehicles
KR20190126060A (ko) * 2017-02-06 2019-11-08 빌베리 에스아에스 제초 시스템 및 방법, 철도 제초 차량
CN110520896A (zh) * 2017-02-06 2019-11-29 比尔贝里有限公司 除草系统和方法，铁道除草车
US11085156B2 (en) 2017-02-06 2021-08-10 Bilberry Sas Weeding systems and methods, railway weeding vehicles
AU2018216246B2 (en) * 2017-02-06 2022-08-18 Bilberry Sas Weeding systems and methods, railway weeding vehicles
EP3358525A1 (en) 2017-02-06 2018-08-08 Bilberry Sas Weeding systems and methods, railway weeding vehicles
CN110520896B (zh) * 2017-02-06 2023-09-19 比尔贝里有限公司 除草系统和方法，铁道除草车
EP3403899A1 (de) 2017-05-17 2018-11-21 Bayer Aktiengesellschaft Unkrautbekämpfung bei hoher geschwindigkeit
WO2018210702A1 (de) 2017-05-17 2018-11-22 Bayer Aktiengesellschaft Unkrautbekämpfung bei hoher geschwindigkeit
US11492770B2 (en) 2017-05-17 2022-11-08 Bayer Aktiengesellschaft Weed control at high speed
US11885085B1 (en) 2017-05-17 2024-01-30 Discovery Purchaser Corporation Weed control at high speed
EP4245636A1 (de) * 2022-03-16 2023-09-20 Windhoff Bahn- und Anlagentechnik GmbH Verfahren für das vegetationsmanagement, sowie schienenfahrzeug und zug hierfür

Also Published As

Publication number Publication date
ATE430841T1 (de) 2009-05-15
DK1521885T3 (da) 2009-08-31
WO2004005625A1 (en) 2004-01-15
ES2327823T3 (es) 2009-11-04
DE60232277D1 (de) 2009-06-18
HUP0202205A2 (hu) 2004-08-30
HU224536B1 (hu) 2005-10-28
EP1521885A1 (en) 2005-04-13
CN1298218C (zh) 2007-02-07
CN1633536A (zh) 2005-06-29
HU0202205D0 (hu) 2002-09-28
AU2002339205A1 (en) 2004-01-23

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