EP1521885B1 - Procédé de désherbage pour véhicule ferroviaire - Google Patents

Procédé de désherbage pour véhicule ferroviaire 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
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Prior art keywords
control
spraying
recognising
unit
weed
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EP02777582A
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German (de)
English (en)
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EP1521885A1 (fr
Inventor
Jozsef Gaal
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G And G Novenyvedelmi Es Kereskedelmi
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G And G Novenyvedelmi Es Kereskedelmi
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    • 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)

Claims (8)

  1. Appareil de désherbage pour un véhicule de chemin de fer, qui comprend une caméra de reconnaissance de mauvaises herbes (1) connectée à un PC de reconnaissance de mauvaises herbes (4), et un PC de commande (8) connecté au PC de reconnaissance de mauvaises herbes (4) et à un panneau de commutateurs de commande (11), ledit panneau de commutateurs de commande (11) étant connecté à un moyen de pulvérisation, caractérisé en ce que le PC de commande (8) est également connecté à un transducteur de vitesse (9), à une unité météorologique (7), à une caméra de reconnaissance d'espèces (2) par l'intermédiaire d'un PC de reconnaissance d'espèces (5), et à une caméra laser de suivi du relief (3) par l'intermédiaire d'un PC de suivi du relief (6), ladite caméra laser de suivi du relief (3) étant également connectée avec un transducteur de signaux laser (32), dans lequel le PC de commande (8) et le transducteur de vitesse (9) sont également connectés au panneau de commutateurs de commande (11) et à un panneau de commutateurs de commande auxiliaire (10), et dans lequel le moyen de pulvérisation comprend une unité de pulvérisation (« B ») et une unité de pré-pulvérisation (« A »), chacune comprenant un réservoir d'eau (17), une pompe à eau (18), un débitmètre d'eau (19), une soupape de commande d'eau (20), une soupape de sectionnement d'eau (21), une soupape d'injecteur (22) connectée à une unité de dosage électronique (14), et un châssis de pulvérisation (23) qui est doté d'un axe (24) et de buses (25) couplées ensemble, l'axe (24) étant couplé avec un détecteur de position (16) et avec un moteur d'inclinaison (15), qui sont tous les deux également connectés à une unité de commande d'inclinaison électronique (13), dans lequel la soupape d'injecteur (22) est connectée à un ou plusieurs réservoirs d'agents chimiques (26) par l'intermédiaire d'un débitmètre d'agents chimiques (28) et d'une pompe d'agents chimiques (27), le panneau de commutateurs de commande (11) et le panneau de commutateurs de commande auxiliaire (10) étant connectés à l'unité de pré-pulvérisation (« A ») et à l'unité de pulvérisation (« B ») par l'intermédiaire des soupapes de sectionnement (21) respectives et des unités de dosage électroniques (14) respectives, et le PC de commande (8) étant connecté aux unités de commande d'inclinaison électroniques (13) et aux unités de dosage électroniques (14) des deux unités de pulvérisation (« A », « B »).
  2. Appareil de désherbage selon la revendication 1, caractérisé en ce que l'unité de pré-pulvérisation (« A ») est configurée de telle sorte que sa soupape de commande (20) est couplée à sa soupape d'injecteur (22) et sa soupape d'injecteur (22) est couplée à sa soupape de sectionnement (21).
  3. Appareil de désherbage selon la revendication 1, caractérisé en ce que l'unité de pulvérisation (« B ») est configurée de telle sorte que sa soupape de commande (20) est couplée à sa soupape de sectionnement (21) et sa soupape de sectionnement (21) est couplée à sa soupape d'injecteur (22).
  4. Appareil de désherbage selon la revendication 1, caractérisé en ce que la caméra de reconnaissance de mauvaises herbes (1) est une caméra couleur.
  5. Appareil de désherbage selon la revendication 1, caractérisé en ce que la caméra de reconnaissance d'espèces (2) est une caméra couleur dotée d'un filtre spécial.
  6. Procédé de désherbage pour une voie de chemin de fer exécuté avec l'appareil selon la revendication 1, dans lequel le PC de commande (8), prenant en compte les données de l'unité météorologique (7), commande les unités de commande électroniques (12) et les unités de dosage électroniques (14) à la fois de l'unité de pré-pulvérisation (« A ») et de l'unité de pulvérisation (« B ») par l'intermédiaire du panneau de commutateurs de commande (11), lesquelles unités de commande et de dosage (12, 14) commandent la quantité d'herbicide délivrée par l'intermédiaire des buses (25) des châssis de pulvérisation (23) desdites unités de pré-pulvérisation et de pulvérisation (« A », « B »),
    dans lequel le profil de la voie de chemin de fer (30) est divisé en sections et une soupape de sectionnement (21), qui dépose l'herbicide sur une section définie ou ferme le passage de l'herbicide, est attribuée à chaque section, les positions des soupapes de sectionnement (21) étant commandées par la série de commutateurs manuels ou automatiques sur le panneau de commutateurs de commande (11), respectivement sur le panneau de commutateurs de commande auxiliaire (10),
    dans lequel une carte des espèces de mauvaises herbes est établie simultanément par le PC de reconnaissance d'espèces (5) et la caméra de reconnaissance d'espèces (2) dotée d'un filtre spécial et montée sur la partie avant du véhicule de chemin de fer orientée dans la direction du mouvement de telle sorte que les sections couvertes par des végétaux sont sélectionnées selon les espèces de mauvaises herbes, la combinaison d'herbicides prescrite pour les espèces de mauvaises herbes définies étant choisie pour chaque section, et ensuite les unités de dosage électroniques (14) à la fois de l'unité de pré-pulvérisation (« A ») et de l'unité de pulvérisation (« B ») étant commandées par le PC de commande (8) prenant également en compte les signaux du transducteur de vitesse (9),
    dans lequel les images de la caméra de reconnaissance de mauvaises herbes (1) orientée dans la direction du mouvement et montée sur la partie avant du véhicule de chemin de fer sont transmises au PC de reconnaissance de mauvaises herbes (4) et utilisées pour sélectionner les zones avec une couverture de végétaux excédant une limite définie par un programme de reconnaissance de mauvaises herbes en fonction des sections, des commandes d'ouverture relatives à ces sections étant envoyées aux soupapes de sectionnement (21) et aux soupapes de commande (20) par l'intermédiaire du PC de commande (8) prenant également en compte les signaux du transducteur de vitesse (9), tandis que le PC de commande (8) envoie des commandes de fermeture relatives aux sections restantes,
    et dans lequel le relief de la voie est suivi par le transducteur de signaux laser (32) et la caméra laser de suivi du relief (3) sur la partie avant du véhicule de chemin de fer, qui mesurent les différences de hauteur de plusieurs points de la voie de chemin de fer, les signaux de sortie de la caméra laser de suivi du relief (3) étant envoyés au PC de suivi du relief (6) et la division initialement établie en sections étant agrandie ou diminuée au moyen de son programme par l'intermédiaire du PC de commande (8), dans lequel en même temps une commande est envoyée aux unités de commande d'inclinaison électroniques (13) de l'unité de pré-pulvérisation (« A ») et/ou de l'unité de pulvérisation (« B ») pour incliner les axes (24) des châssis de pulvérisation maintenant les buses (25) à un angle approprié, la commande étant envoyée sur la base des signaux des capteurs de position (16) sur les axes (24),
    dans lequel les quantités d'eau et d'agents chimiques requises pour faire l'herbicide sont ensuite calculées avec l'aide de l'unité de dosage électronique (14) connectée au panneau de commutateurs de commande (11) et au panneau de commutateurs de commande auxiliaire (10) en prenant en compte les dimensions des sections, les signaux de sortie du transducteur de vitesse (9) et les doses préalablement établies des agents chimiques, et les soupapes d'injecteurs (22) attribuées aux sections définies, qui mélangent l'eau avec l'agent chimique, étant ouvertes ou fermées conformément aux résultats desdits calculs,
    une unité de dosage électronique (14) connectée à plusieurs réservoirs d'agents chimiques (26) étant attribuée à chaque section, et le débit par minute requis étant calculé au moyen du PC de commande (8) conformément à la division en sections établie à la main sur le panneau de commutateurs de commande (11) et/ou sur le panneau de commutateurs de commande auxiliaire (10) et en prenant en compte les signaux du transducteur de vitesse (9), ce débit étant comparé aux débits par minute actuels mesurés par le débitmètre d'eau (19) et par le débitmètre d'agents chimiques (28) pour ouvrir ou fermer les soupapes de commande d'eau (20) et les soupapes de sectionnement d'eau (21) sur la base des résultats de la comparaison,
    ensuite à l'étape de pulvérisation l'herbicide de la qualité, de la concentration et du débit par minute choisis ainsi qu'il est décrit ci-dessus est délivré par l'intermédiaire de l'unité de pré-pulvérisation (« A ») et/ou par l'intermédiaire de l'unité de pulvérisation (« B ») sur les sections définies de la voie de chemin de fer (30) divisée en sections.
  7. Procédé selon la revendication 6, caractérisé en ce que la carte des mauvaises herbes établie par le PC de reconnaissance de mauvaises herbes (4) et la carte des espèces de mauvaises herbes établie par le PC de reconnaissance d'espèces (5) sont dessinées simultanément à l'étape de pulvérisation.
  8. Procédé selon la revendication 6, caractérisé en ce que les buses (25) sont positionnées au moyen des moteurs d'inclinaison (15) de sorte que la pulvérisation est effectuée sous un angle approprié par rapport à la pente de la voie de chemin de fer.
EP02777582A 2002-07-05 2002-10-30 Procédé de désherbage pour véhicule ferroviaire Expired - Lifetime EP1521885B1 (fr)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
HU0202205A HU224536B1 (hu) 2002-07-05 2002-07-05 Vasúti kocsira szerelt gyomirtó berendezés kapcsolási elrendezése, és eljárás a berendezéssel történõ gyomirtásra
HU0202205 2002-07-05
PCT/HU2002/000110 WO2004005625A1 (fr) 2002-07-05 2002-10-30 Procede de desherbage pour vehicule ferroviaire

Publications (2)

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

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EP02777582A Expired - Lifetime EP1521885B1 (fr) 2002-07-05 2002-10-30 Procédé de désherbage pour véhicule ferroviaire

Country Status (9)

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

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3358525A1 (fr) 2017-02-06 2018-08-08 Bilberry Sas Systèmes et procédés de désherbage, véhicules de désherbage de chemin de fer
EP3403899A1 (fr) 2017-05-17 2018-11-21 Bayer Aktiengesellschaft Lutte contre les mauvaises herbes à haute vitesse
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EP3357332B1 (fr) * 2017-02-06 2022-04-13 Bilberry Sas Pulvérisateur agricole
FR3063206B1 (fr) * 2017-02-24 2021-08-13 Bilberry Sas Systeme de controle pour epandage agricole
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WO2018197388A1 (fr) 2017-04-28 2018-11-01 Bayer Aktiengesellschaft Système modulaire de lutte contre les mauvaises herbes
PL3406801T3 (pl) * 2017-05-23 2020-06-29 Bayer Aktiengesellschaft System dużej prędkości do zwalczania chwastów
JP7166300B2 (ja) * 2017-07-06 2022-11-07 バイエル、アクチエンゲゼルシャフト 雑草防除装置
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
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
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
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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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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 (fr) 2017-05-17 2018-11-21 Bayer Aktiengesellschaft Lutte contre les mauvaises herbes à haute vitesse
WO2018210702A1 (fr) 2017-05-17 2018-11-22 Bayer Aktiengesellschaft Désherbage à haute vitesse
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WO2004005625A1 (fr) 2004-01-15
CN1633536A (zh) 2005-06-29
HU224536B1 (hu) 2005-10-28
ATE430841T1 (de) 2009-05-15
DK1521885T3 (da) 2009-08-31
HUP0202205A2 (hu) 2004-08-30
EP1521885A1 (fr) 2005-04-13
HU0202205D0 (fr) 2002-09-28
ES2327823T3 (es) 2009-11-04
DE60232277D1 (de) 2009-06-18
CN1298218C (zh) 2007-02-07
AU2002339205A1 (en) 2004-01-23

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