阅读说明：本技术 用于杂草控制的装置 (Device for weed control ) 是由 P.戴 T.阿里安斯 V.吉鲁 J.哈德洛 H.巴斯费尔德 于 2018-07-02 设计创作，主要内容包括：本发明涉及用于杂草控制的装置。描述了给处理单元提供(210)环境的至少一张图像。所述处理单元分析(220)所述至少一张图像以从植被控制技术的多个操作模式中确定要用于所述环境的至少第一部分的杂草控制的所述植被控制技术的至少一个操作模式。输出单元输出(230)可用于以所述至少一个操作模式激活所述植被控制技术的信息。(The present invention relates to a device for weed control. Providing (210) at least one image of an environment to a processing unit is described. The processing unit analyzes (220) the at least one image to determine at least one mode of operation of a vegetation control technique to be used for weed control of at least a first portion of the environment from a plurality of modes of operation of the vegetation control technique. An output unit outputs (230) information usable to activate the vegetation control technique in the at least one mode of operation.)

1. A device (10) for weed control comprising:

-an input unit (20);

-a processing unit (30); and

-an output unit (40);

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 determine, from a plurality of operational modes of a vegetation control technique, at least one operational mode of the vegetation control technique to be used for weed control of at least a first portion of the environment; and wherein the output unit is configured to output information usable to activate the vegetation control technique in the at least one mode of operation.

2. The apparatus of claim 1, wherein analyzing the at least one image to determine the at least one mode of operation of the vegetation control technique comprises determining at least one location of vegetation in the at least first portion of the environment, and wherein the processing unit is configured to determine the at least one mode of operation of the vegetation control technique to be used at the at least one location.

3. The apparatus according to any of claims 1-2, wherein the at least one image is obtained by at least one camera, and wherein the input unit is configured to provide the processing unit with at least one location associated with the at least one camera at the time the at least one image was obtained.

4. The apparatus of any one of claims 1-3, wherein analyzing the at least one image to determine the at least one mode of operation of the vegetation control technique comprises determining at least one type of weed.

5. The apparatus of claim 4, wherein the processing unit is configured to determine at least one location of the at least one type of weed.

6. The apparatus of any of claims 1-5, wherein analyzing the at least one image to determine the at least one mode of operation of the vegetation control technique comprises determining a first type of weed in the at least a first portion of the environment and determining a second type of weed in at least a second portion of the environment.

7. The apparatus of claim 6, wherein the processing unit is configured to analyze the at least one image to determine a first mode of operation of the vegetation control technique to be used for weed control of the first type of weed in the at least first portion of the environment; and wherein the processing unit is configured to analyze the at least one image to determine a second mode of operation of the vegetation control technique to be used for weed control of the second type of weed in at least a second portion of the environment.

8. The apparatus of any of claims 1-7, wherein the processing unit is configured to analyze the at least one image to determine a first mode of operation of the vegetation control technique to be used for weed control of at least the first portion of the environment; and wherein the processing unit is configured to analyze the at least one image to determine a second mode of operation of the vegetation control technique to be used for weed control of at least a second portion of the environment.

9. A system (100) for weed control, comprising:

-at least one camera (110);

-a device (10) for weed control according to any of claims 1-9; and

-vegetation control techniques (120);

wherein the at least one camera is configured to obtain the at least one image of the environment; wherein the vegetation control technology is installed on a vehicle (130); wherein the vegetation control technique is configured to operate in a plurality of operating modes; and wherein the apparatus is configured to activate the vegetation control technique for the at least a first portion of the environment in the at least one mode of operation.

10. The system of claim 9, wherein the device is mounted on the vehicle; and wherein the at least one camera is mounted on the vehicle.

11. The system of claims 9-10, wherein the vegetation control technique comprises a plurality of cells, and wherein the plurality of cells are configured to operate in a plurality of operating modes.

12. A method (200) for weed control, comprising:

(a) providing (210) at least one image of the environment to the processing unit;

(c) analyzing (220), by the processing unit, the at least one image to determine, from a plurality of operational modes of a vegetation control technique, at least one operational mode of the vegetation control technique to be used for weed control of at least a first portion of the environment; and

(e) outputting (230), by an output unit, information usable to activate the vegetation control technique in the at least one mode of operation.

13. The method of claim 12, wherein step (c) includes the step of determining (240) at least one location of vegetation in the at least first portion of the environment; and wherein the method comprises the step (d) of determining (250), by the processing unit, the at least one mode of operation of the vegetation control technique to be used at the at least one site.

14. The method according to any one of claims 12-13, wherein in step (a) the at least one image is obtained by at least one camera; and wherein the method comprises the step (b) of providing (260) the processing unit with at least one location associated with the at least one camera when obtaining the at least one image.

15. A computer program element for controlling an apparatus according to any one of claims 1 to 8 and/or a system according to any one of claims 9 to 11, which, when being executed by a processor, is configured to carry out the method according to any one of claims 12 to 14.

Technical Field

The present invention relates to an arrangement for weed control, a system for weed control, a method for weed control, as well as a computer program element and a computer readable medium.

Background

The general background of the invention is weed control. Certain industrial areas and areas around railroad tracks require control of vegetation. For railways, this control improves visibility from the point of view of the people on the train (e.g. the driver), and also from the point of view of the people working on the track. Such control can lead to improved safety. Moreover, vegetation can interfere with or damage the track and associated signal and communication lines. Control of vegetation is required to mitigate this phenomenon. Vegetation control, also known as weed control, can be very good, time consuming and resource consuming, especially if performed manually. The weed spray train carries a herbicide contained in a chemical tank on the vehicle that can be sprayed onto the track and surrounding area to control vegetation. However, such weed control is expensive and there is an increasing desire among the general public to see a reduction in environmental impact.

Disclosure of Invention

It would be advantageous to have an improved means for weed control.

The object of the invention is achieved by the subject matter of the independent claims, wherein further embodiments are comprised in the dependent claims. It should be noted that the aspects and examples of the invention described below also apply to the apparatus for weed control, to the system for weed control, to the method for weed control, and to the computer program element and the computer readable medium.

According to a first aspect, there is provided an apparatus for weed control comprising:

-an input unit;

-a processing unit; and

-an output unit.

The input unit is configured to provide at least one image of the environment to the processing unit. The processing unit is configured to analyze the at least one image to determine at least one mode of operation of a vegetation control technique from a plurality of modes of operation of the vegetation control technique for weed control of at least a first portion of the environment. An output unit is configured to output information usable to activate the vegetation control technique in the at least one mode of operation.

In other words, one or more images of the environment have been obtained. There is a vegetation control technology that can be used for weed control. The vegetation control technique can operate in a number of different modes of operation. The facility then analyzes the one or more images to determine that one or more of the available multiple modes of operation of the vegetation control technique should be used to control weeds at one or more specific locations of the environment.

In this way, the most suitable mode of operation of the vegetation control technique can be used in different areas of the environment. Also, in different areas of the environment, different operating modes of the vegetation control technique may be used, with each operating mode of the vegetation control technique being most appropriate for each different area.

In this way, the vegetation control technology mode of operation may take into account the circumstances, e.g. whether it is wet, swamp, dry, sandy, and the most suitable mode of operation selected.

Moreover, there may be several different available weed control technologies, such as one or more chemicals; chemical spraying; a chemical liquid; a chemical solid; high-pressure water; high-temperature water; high-temperature high-pressure water; steam; electrical energy; electric induction; current flow; high voltage energy; electromagnetic radiation; x-ray radiation; ultraviolet radiation; visible radiation; microwave radiation; pulsed laser radiation; a flame system. Each of these can be operated in several different ways, for example using more than one chemical or operating at more than one energy level or activating over more than one length of time duration. Then, for one particular weed control technique, the mode of operation is determined based on image analysis.

For an apparatus with one of these weed control techniques, such as a high voltage based system, where current is passed through the plants and ground and kills the plants, the different modes of operation may include different levels of operating energy and/or different durations of energy application that may be applied to kill different plants. Thus, different energy levels of a high electrical energy system may be applied as required at different locations in the environment. The different operating modes may also include different durations at specific levels of the high voltage level to be applied. Thus, different durations of the high voltage system may be applied as required at different points in the environment. Different energy levels and durations of microwave energy, laser radiation energy and durations, and wavelength variations can, for example, constitute different modes of operation for a particular weed control technology.

For example, where the weed control technology is a chemical spray-based weed control technology, the different modes of operation may then include different intensity sprays of one particular herbicide and/or different types of sprays having different intensities of herbicides.

Thus, chemicals of different strengths may be applied as required at different points in the environment. The different modes of operation may also include different spray durations of the chemical to be applied. Thus, at different points in the environment, different spray durations of a particular chemical may be applied as desired. In this way, the environmental impact of the herbicide can be reduced, since only the herbicide that needs to be applied is applied and the duration is the duration that needs to be used.

In an example, analyzing the at least one image to determine the at least one mode of operation of the vegetation control technique includes determining at least one location of vegetation in at least a first portion of the environment. The processing unit is configured to then determine at least one mode of operation of the vegetation control technique to be used at that at least one location.

In other words, image processing may be used to determine the vegetation region in the obtained image from which the most appropriate mode of operation of the technique to be used for weed control of that vegetation region may be selected. Also, the vegetation control technique may be applied only at the location of the vegetation, where the most suitable mode of operation of the vegetation control technique may be used for each vegetation location.

In this way, the most suitable mode of operation of the vegetation control technique can be selected for different vegetation areas, where, for example, small vegetation areas can be controlled by a different mode of operation than large vegetation areas.

In an example, the at least one image is obtained by at least one camera. The input unit is configured to then provide the processing unit with at least one location associated with the at least one camera at a time when the at least one image was obtained.

The location may be a geographical location, an exact location relative to the ground, or a location on the ground that references the location of vegetation control technology. In other words, an absolute geographical location may be utilized or an above-ground location may not necessarily be known in an absolute sense, but rather a location referenced to the location of the weed control technique. Thus, by associating an image with the location at the time the image was obtained, vegetation control techniques can be accurately applied to that location.

In an example, analyzing the at least one image to determine the at least one mode of operation of the vegetation control technique includes determining at least one type of weed.

In other words, selection of a suitable mode of operation for the vegetation control technique may take into account one or more types of weeds to be controlled. Thus, for example, one type of weed may require only a short duration application of a weed control technique to kill that weed, but a different type of weed may require a longer duration application of the same weed control technique to kill that weed.

In an example, the processing unit is configured to determine at least one location of at least one type of weed. In other words, image processing can be used to determine the weed type and its location. The location may be a location in the image. The location may be a real geographic location. The location may be within the image and can be referenced to the location of the vegetation control technique. In this way, by determining the location of a particular type of weed, an optimal mode of operation of the vegetation control technique can be applied to that particular location, which also applies to different weeds at different locations requiring different modes of operation of the vegetation control technique to be applied.

In an example, analyzing the at least one image to determine the at least one mode of operation of the vegetation control technique includes determining a first type of weed in at least a first portion of the environment and determining a second type of weed in at least a second portion of the environment. The most suitable mode of operation for vegetation control technology can therefore be determined based on the different weed types in the environment.

In an example, the processing unit is configured to analyze the at least one image to determine a first mode of operation of a vegetation control technique to be used for weed control of a first type of weed in at least a first portion of the environment. The processing unit is further configured to analyze the at least one image to determine a second mode of operation of the vegetation control technique to be used for weed control of a second type of weed in at least a second portion of the environment.

In other words, the most appropriate mode of operation of the vegetation control technique can be selected according to the particular type of weeds that will be found in the portion of the environment, thereby enabling the particular mode of operation of the vegetation control technique to be applied only at locations where those particular weeds will be found.

In an example, the processing unit is configured to analyze the at least one image to determine a first mode of operation of a vegetation control technique to be used for weed control of at least a first portion of the environment. The processing unit is also configured to analyze the at least one image to determine a second mode of operation of a vegetation control technique to be used for weed control of at least a second portion of the environment.

In other words, a first mode of operation of the weed control technique may be selected for weed control at a first location of the environment based on the image analysis, and a different mode of operation of the vegetation control technique may be selected for weed control at a different location based on the image analysis. In this way, the most suitable mode of operation of the vegetation control technique can be selected for a particular part of the environment, e.g., one mode of operation of the vegetation control technique is used for some weeds and a different mode of operation of the vegetation control technique is used for different weeds, and/or one mode of operation of the vegetation control technique can be used for certain types of weeds in a first part of the environment while a different mode of operation of the vegetation control technique is used for the same weeds in a different part of the environment. For example, the selected vegetation control technique may take into account ground terrain, e.g., whether the terrain is dry, sandy, swamp, wet, or an area of particular environmental importance (a protected area) and may take into account the same type (or different types) of terrain when selecting the most appropriate mode of operation for the vegetation control technique. In addition, this means that chemically aggressive weed control means can be kept to a minimum, since if the weed control technology is based on chemical spraying, for example, the most chemically aggressive spray can be used only when absolutely necessary. Weeds that can be controlled by less chemically aggressive chemicals means that the environmental impact of chemicals can be kept to an absolute minimum for a weed killing system based on chemical spray technology.

According to a second aspect, there is provided a system for weed control comprising:

-at least one camera;

-a device for weed control according to the first aspect; and

-vegetation control techniques.

The at least one camera is configured to obtain at least one image of the environment. Vegetation control technology is installed on the transport. Vegetation control techniques are configured to operate in multiple modes of operation. The device for weed control is configured to activate vegetation control technology for at least a first portion of the environment in at least one mode of operation. In this way, the vehicle may move around an environment and control weeds within that environment using different modes of vegetation control technology, where a particular mode of vegetation control technology is determined based on an image of that environment. In this way, images are obtained by a platform, such as one or more drones flying over the environment. This information is sent to a device, which may be located in an office. The apparatus determines where in the environment and what mode of vegetation control technology should be used. This information can be provided within a weed control map, which is provided to a vehicle that moves around the environment and activates the mode of vegetation control technology required at a particular part of the environment.

In an example, the device for weed control is mounted on a vehicle, and the at least one camera is mounted on the vehicle. In this manner, the system operates in real-time or near real-time by obtaining images, analyzing the images to determine where to use what pattern of vegetation control techniques, and then activating the vegetation control techniques in the required pattern at the specific location required.

In an example, a vegetation control technique includes a plurality of cells, and wherein the plurality of cells are configured to operate in a plurality of operating modes. According to a third aspect, there is provided a method for weed control comprising:

(a) providing at least one image of the environment to a processing unit;

(c) analyzing, by the processing unit, the at least one image to determine, from a plurality of operational modes of the vegetation control technique, at least one operational mode of the vegetation control technique to be used for weed control of at least a first portion of the environment; and

(e) information is output by the output unit, which information can be used to activate vegetation control techniques in at least one mode of operation.

In an example, step (c) includes the step of determining at least one vegetation location in at least a first portion of the environment; and wherein the method includes the step (d) of determining, by the processing unit, at least one mode of operation of the vegetation control technique to be used at that at least one location.

In an example, the at least one image in step (a) is obtained by at least one camera; and wherein the method comprises the step (b) of providing the processing unit with at least one location associated with said at least one camera at the time said at least one image was obtained. According to a further aspect, a computer program element for controlling an apparatus according to the first aspect and/or a system according to the second aspect is provided, which program element, when being executed by a processor, is configured to carry out the method of the third aspect. Advantageously, the benefits provided by any of the above aspects apply equally to all other aspects, and vice versa.

The above aspects and examples can be understood and appreciated with reference to the embodiments described below.

Drawings

Exemplary embodiments will now be described with reference to the following drawings:

figure 1 shows a schematic arrangement of an example of an arrangement for weed control;

FIG. 2 shows a schematic arrangement of an example of a system for weed control;

FIG. 3 illustrates a method for weed control;

FIG. 4 shows a schematic arrangement of an example of a system for weed control;

FIG. 5 shows a schematic arrangement of an example of a system for weed control;

FIG. 6 shows a schematic arrangement of an example of a part of a system for weed control;

FIG. 7 shows a schematic arrangement of an example of a part of a system for weed control;

FIG. 8 shows a schematic arrangement of an example of a part of a system for weed control;

FIG. 9 shows a schematic arrangement of a portion of the system for weed control shown in FIG. 7 in more detail;

FIG. 10 shows a schematic depiction of a railroad track and surrounding area; and

fig. 11 shows a schematic arrangement of an example of a part of a system for weed control.

Detailed Description

Fig. 1 shows an example of an apparatus 10 for weed control. The apparatus 10 comprises an input unit 20, a processing unit 30, and an output unit 40. The input unit 20 is configured to provide the processing unit 30 with at least one image of the environment. This may be through wired or wireless communication. The processing unit 30 is configured to analyze the at least one image to determine, from a plurality of operational modes of the vegetation control technique, at least one operational mode of the vegetation control technique to be used for weed control of at least a first portion of the environment. The output unit 40 is configured to output information usable to activate vegetation control techniques in the at least one mode of operation.

In an example, the apparatus is operated in real time, wherein images are obtained and immediately processed, and the determined mode of operation of the vegetation control technique is immediately used to control weeds. Thus, for example, a vehicle may obtain an image of its environment and process the image to determine which mode of operation of vegetation control technology carried by the vehicle should be used for a particular portion of its environment.

In an example, the apparatus is operated in near real-time, where an image of the environment is obtained and the image is immediately processed to determine which mode of operation of the vegetation control technique should be used to control weeds at a particular area of that environment. This information can then be used by one or more suitable systems traveling in the environment and apply the appropriate mode of operation of the vegetation control technique to a particular portion of the environment. Thus, for example, a first vehicle equipped with one or more cameras, such as a car, train, truck, or Unmanned Aerial Vehicle (UAV) or drone, may travel within the environment and obtain images. This image can be immediately processed to determine a "weed map" detailing where in the environment the particular mode of operation of the vegetation control technique should be used. Thereafter, a transport vehicle equipped with vegetation control technology capable of operating in several different modes of operation can travel through the environment and apply specific determined modes of operation of the weed control technology to different specific areas of the environment. In another example, several different vehicles are each equipped with vegetation control technology operating in a single mode of operation, but the modes of operation differ in those vehicles that travel through the environment and use their specific vegetation control technology mode of operation only for those specific areas of the environment for which it has been determined that vegetation control technology should be used.

In an example, the apparatus operates in an offline mode. Thus, the image that has been obtained before is supplied to the apparatus later. The setup then determines where in an area the particular mode of operation of the vegetation control technique should be used and, in effect, generates a weed map. The weed map is then later used by one or more vehicles that then travel through the area and apply a particular mode of operation of the vegetation control technique to a particular portion of the environment.

In an example, the output unit outputs a signal that can be directly used to activate an operational mode of the vegetation control technique. According to an example, analyzing the at least one image to determine at least one mode of operation of the vegetation control technique includes determining at least one location of vegetation in at least a first portion of the environment, and wherein the processing unit is configured to determine at least one mode of operation of the vegetation control technique to be used at that at least one location. According to an example, the at least one image is obtained by at least one camera, and wherein the input unit is configured to provide the processing unit with at least one location associated with the at least one camera at the time the at least one image was obtained.

In an example, the place is an absolute geographic place.

In an example, the location is a location determined with reference to a location of a vegetation control technique. In other words, it may be determined that the image relates to a particular place on the ground without knowing its exact geographical location, but by knowing the position of the vegetation control technique relative to that place at the time the image was obtained, it may then be possible to apply the required mode of operation of the vegetation control technique at that place at a later time by moving the vegetation control technique to that place.

In an example, a GPS unit is used to determine the location of at least one camera at the time a particular image is obtained, and/or is used in determining the location. In an example, an inertial navigation unit is used alone, or in combination with a GPS unit, to determine the location of at least one camera at the time a particular image is obtained. Thus, for example, an inertial navigation unit comprising, for example, one or more laser gyroscopes, is calibrated or nulled at a known location, and as it moves with at least one camera, movement in x, y, z coordinates away from that known location can be determined, from which movement the location of the at least one camera at the time the image was obtained can be determined.

In an example, image processing of the obtained images is used alone, or in combination with a GPS unit and an inertial navigation unit, to determine the location of at least one camera at the time a particular image was obtained. Thus, the visual markers may be used alone or in combination with the information derived from the GPS and/or the information derived from inertial navigation to determine the location of the camera. According to an example, analyzing the at least one image to determine the at least one mode of operation of the vegetation control technique includes determining at least one type of weed. According to an example, the processing unit is configured to determine at least one location of the at least one type of weed.

According to an example, analyzing the at least one image to determine the at least one mode of operation of the vegetation control technique includes determining a first type of weed in at least a first portion of the environment and determining a second type of weed in at least a second portion of the environment. According to an example, the processing unit is configured to analyze the at least one image to determine a first mode of operation of a vegetation control technique to be used for weed control of a first type of weed in at least a first portion of the environment. The processing unit is configured to further analyze the at least one image to determine a second mode of operation of the vegetation control technique to be used for weed control of a second type of weed within at least a second portion of the environment.

According to an example, the processing unit is configured to analyze the at least one image to determine a first mode of operation of a vegetation control technique to be used for weed control of at least a first portion of the environment. The processing unit is configured to also analyze the at least one image to determine a second mode of operation of the vegetation control technique to be used for weed control of at least a second portion of the environment. In an example, the at least a second portion of the environment is different from the at least a first portion of the environment.

Thus, different weeds can be identified in different parts of the environment to enable the determination of the most suitable mode of operation of the vegetation control technique for those areas. In an example, the at least a second portion of the environment is at least partially bounded by the at least a first portion of the environment. In other words, one area of the environment is found to be located within another area of the environment. One mode of operation of the vegetation control technique may be used for a large area at this time, while another mode of operation of the vegetation control technique may be used for a smaller area that would be found in that area. In an example, the at least a second portion of the environment is at least a subset of the at least a first portion of the environment.

Thus, for example, a smaller area of a particular type of weed may be found within a larger area of the weed. For example, one or more dandelion may be located within a grass region. At this point, the first mode of vegetation control technology can be used across the entire grass field, including where the dandelion are located. This mode of vegetation control technology can be selected as the mode suitable for controlling grass, and is not necessarily the most aggressive vegetation control technology available. For example, a relatively low energy, high voltage technique may be used in this area, or a relatively weak chemical spray may be applied to the entire area. However, for that subset of the grass field, where more difficult to kill weeds such as dandelion are found, a more aggressive mode of vegetation control technology may be used, for example a more energetic mode of high voltage technology may be used or a more aggressive chemical sprayed to that particular site. In this way, the amount of capacity required can be minimized, environmental impact can be minimized, and when the vegetation control technique is a chemical spray-based technique, the amount of stimulating chemicals used can be minimized.

In an example, analyzing the at least one image includes utilizing a machine learning algorithm.

In an example, the machine learning algorithm comprises a decision tree algorithm.

In an example, the machine learning algorithm includes an artificial neural network.

In an example, a mechanical learning algorithm is taught on the basis of a plurality of images. In an example, a machine learning algorithm is taught based on a plurality of images including images of at least one type of weed. In an example, a machine learning algorithm is taught based on a plurality of images including images of a plurality of weeds.

In an example, available vegetation control techniques include the following: one or more chemicals; chemical spraying; a chemical liquid; a chemical solid; high-pressure water; high-temperature water; high-temperature high-pressure water; steam; electrical energy; electric induction; current flow; high voltage energy; electromagnetic radiation; x-ray radiation; ultraviolet radiation; visible radiation; microwave radiation; pulsed laser radiation; a flame system. In other words, the mode of operation of the vegetation control techniques relates to determining the mode of operation of one of these vegetation control techniques based on the analyzed environmental image.

Fig. 2 shows an example of a system 100 for weed control. The system 100 includes at least one camera 110, and a device 10 for weed control as described in any of the examples above in connection with fig. 1. The system 100 also includes vegetation control technology 120. The at least one camera 110 is configured to obtain at least one image of the environment. The vegetation control technology 120 is mounted on a vehicle 130. The vegetation control technique 120 is configured to operate in multiple modes of operation. The device 10 for weed control is configured to activate the vegetation control technique 120 in at least one mode of operation for at least a first portion of the environment.

In the example, the apparatus 10 is mounted on a vehicle 130. In an example, at least one camera 110 is mounted on the vehicle 130.

In an example, the transport vehicle is a train, or a rail wagon.

In an example, the vehicle is a truck or lorry or a uni mug.

In an example, 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 obtained. In an example, the place is a geographic place.

In an example, the apparatus is configured to activate the vegetation control technique in at least one mode of operation based on at least one geographic location associated with the at least one camera and a spatial relationship between the at least one camera and the vegetation control technique at the time the at least one image was obtained. In this way, by knowing where the image was obtained by the camera mounted on the vehicle and also knowing where the vegetation control technique is mounted on the vehicle relative to the camera, the forward speed of the vehicle is simply taken into account to activate the vegetation control technique at the same place where the image was obtained, and indeed within the imaging area.

In an example, the apparatus is configured to activate the first mode of vegetation control technology before activating the second mode of vegetation control technology or to activate the first mode of vegetation control technology after activating the second mode of vegetation control technology. According to an example, a vegetation control technique includes a plurality of cells, and wherein the plurality of cells are configured to operate in a plurality of operating modes.

In an example, each cell is configured to operate in a different mode of operation of the vegetation control technique. In an example, the plurality of units are mounted one in front of the other with respect to the direction of travel of the vehicle. In this way, the specific operation of a unit of vegetation control technology can be of variable duration by operating a unit for variable lengths of time. However, the maximum application duration of one unit depends on the size of the applicator, which may have sub-units that can be activated, as well as the speed of the vehicle. However, one unit may operate at a particular location on the ground for a maximum length of time depending on its size and the speed of the vehicle. This application time at that particular site may be increased by the unit located behind that unit applying vegetation control techniques also at that site as that unit moves forward with the vehicle. Thus, multiple modes of operation of the vegetation control technique may involve vegetation control techniques having different vegetation control technique application durations, and the processing unit determines the duration of the vegetation control technique to be applied at one location. This duration may vary within one cell itself and is further increased by several cells moving over a particular site and applying vegetation control techniques at that site. In addition, by having multiple units mounted in front of each other, each unit can be operated in different modes of operation, such as different energy levels using high voltage weed control technology. At this time, as the unit moves forward together with the conveyance, the required high voltage energy can be applied to a specific place. A unit itself may have variable high voltage energy capability, thereby saving space but requiring more sophisticated weed control techniques within the unit.

In an example, one cell configured to operate in the first mode of vegetation control technology is mounted in front of one cell configured to operate in the second mode of vegetation control technology relative to the direction of travel of the vehicle or one cell configured to operate in the first mode of vegetation control technology is mounted behind one cell configured to operate in the second mode of vegetation control technology relative to the direction of travel of the vehicle.

Fig. 3 shows the basic steps of a method 200 for weed control. The method 200 comprises the following steps:

in a providing step 210, also referred to as step (a), at least one image of the environment is provided to the processing unit 30; in an analyzing step 220, also referred to as step (c), the at least one image is analyzed by the processing unit to determine at least one mode of operation of the vegetation control technique to be used for weed control of at least a first portion of the environment from a plurality of modes of operation of the vegetation control technique; and in an output step 230, also referred to as step (e), information is output by the output unit 40 that can be used to activate vegetation control techniques in the at least one mode of operation.

In an example, at least one image of the environment is provided from the input unit 20 to the processing unit. According to an example, step (c) includes the step of determining 240 at least one location of vegetation in at least a first portion of the environment. The method then includes the step (d) of determining 250, by the processing unit, the at least one pattern of vegetation control techniques to be used at the at least one site.

According to an example, in step (a) at least one image is obtained by at least one camera, and the method comprises a step (b) of providing 260 to the processing unit at least one location associated with the at least one camera when the at least one image was obtained.

In an example, step (c) includes determining 270 at least one type of weed.

In an example, step (c) includes determining 280 at least one location of the at least one type of weed.

In an example, step (c) includes determining 290 a first type of weed in at least a first portion of the environment and determining 300 a second type of weed in at least a second portion of the environment.

In an example, step (c) includes determining 310 a first pattern of vegetation control techniques to be used for weed control of a first type of weed in at least a first portion of the environment, and determining 320 a second pattern of vegetation control techniques to be used for weed control of a second type of weed in at least a second portion of the environment. In an example, step (c) includes determining 330 a first mode of vegetation control technology to be used for weed control of at least a first portion of the environment; and determining 340 a vegetation control technology second mode of operation to be used for weed control of at least a second portion of the environment.

In an example, the at least a second portion of the environment is different from the at least a first portion of the environment. In an example, the at least a second portion of the environment is at least partially bounded by the at least a first portion of the environment. In an example, the at least a second portion of the environment is at least a subset of the at least a first portion of the environment. In an example, step (c) includes utilizing 350 a machine learning algorithm. In an example, a method includes using a vehicle, and wherein the method includes obtaining at least one image of an environment by at least one camera; and activating vegetation control technology installed on the vehicle in at least one mode of operation for at least a first portion of the environment.

In an example, a method includes mounting a processing unit, an output unit, and at least one camera on a vehicle.

In an example, the method includes activating the first mode of vegetation control technology before activating the second mode of vegetation control technology or activating the first mode of vegetation control technology after activating the second mode of vegetation control technology.

Referring now to fig. 4-11, an apparatus, system and method for weed control involving weed control in a railway track environment, vegetation control technology (also known as weed control technology) is installed on one or more portions of a train will be described in more detail. As mentioned above, the weed control technology can be one of any number of different weed control technologies that can operate in more than one mode of operation.

Fig. 4 shows an example of a system 100 for weed control. Several drones have cameras 110. These drones fly along the railway track. The cameras obtain images of the environment of the railroad track, which are the ground between the tracks and the ground on both sides of the tracks. The environment being imaged is the environment required for weed control. There need not be several drones, but one drone with one camera 110 can obtain the necessary images. In practice, the images may be obtained by one or more cameras 110 held by a person accessing the railroad track environment, by aircraft, satellites, or by one or more cameras 110 held by, for example, a train traveling along the railroad track. The resolution of the image obtained by the camera 110 enables the vegetation to be identified as vegetation and indeed may be at a resolution that can distinguish one type of weed from another. The obtained image may be a color image but need not be. The images obtained by the drone are transmitted to the device 10. The image may be transmitted to the device 10 as it is acquired by the camera 110, or may be transmitted after it is acquired, for example, after the drone lands. The drone may have a Global Positioning System (GPS) and this enables the location of the acquired image to be determined. For example, the orientation of the camera 110 and the position of the drone at the time the image was obtained may be used to determine the geographic footprint of the image on the ground plane. The drone may also have an inertial navigation system, for example based on a laser gyroscope. In addition to being used to determine the orientation of the drone and thus the orientation of the camera, thereby facilitating the determination of when an image is obtained on the ground, the inertial navigation system may work alone without a GPS system to determine the location of the drone by determining motion away from one or more known locations.

The input unit 20 of the device 10 passes the obtained image to the processing unit 30. Image analysis software operates on the processor 30. The image analysis software may use feature extraction, such as edge detection, and object detection analysis, such as identifiable structures (such as railroad tracks, sleepers, trees, level crossings, station platforms). Thus, based on the known locations of objects, e.g., the locations of buildings within the environment, and based on known structural information, e.g., the distance between crossties and the distance between railroad tracks, the processing unit may patch the acquired images to actually create a composite depiction of the environment, which may in fact be superimposed on a geographic map of the environment. Thus, the geographic location of each image may be determined and no information related to the acquired images based on relevant GPS and/or inertial navigation is necessary. However, if there is GPS and/or inertial navigation information available, such an image analysis that can place a particular image at a particular geographic location based solely on the image is not required. However, if GPS and/or inertial navigation based information is available, such image analysis may be used to augment the geographic location associated with the image. Thus, for example, if, on the basis of GPS and/or inertial navigation based information, the center of the acquired image is deemed to be located 22cm from the side edge and 67cm from the end of a particular railroad tie for a section of railroad, whereas from the actual acquired image, the center of the image is determined to be located 25cm from the edge and 64cm from the end of the tie using the aforementioned image analysis, then the location derived based on GPS and/or inertial navigation may be increased by being required to move the location 3cm in one direction and 3cm in the other.

The processor 30 runs further image processing software. This software analyzes the image to determine the areas in the image where vegetation will be found. Vegetation may be detected based on the shape of features within the acquired image, where, for example, boundary detection software is used to delineate the outer boundaries of the object and the outer boundaries of features within the outer boundaries of the object itself. A vegetation image database can be used to help determine whether features in the image are relevant to vegetation, for example using a trained machine learning algorithm, such as an artificial neural network or decision tree analysis. The camera may obtain a multispectral image that has information related to the colors in the image, and this may be used alone or in combination with feature detection to determine where vegetation will be found in the image. As described above, because the geographic location of the image can be determined, one or more locations in the image where vegetation will be found can be mapped to the precise location of the vegetation on the ground, based on knowledge of the size of the image on the ground.

The processor 30 then runs additional image processing software which may be part of the image processing (if used) to determine the vegetation location based on feature extraction. This software includes a machine learning analyzer. Images of specific weeds were obtained, along with information also relating to the size of the weeds being used. Information relating to the geographic location in the world where such weeds are found, and information relating to the time of year when such weeds are found, including when they bloom, etc., may be tagged with the image. The name of the weed can also be labeled with an image of the weed. A machine learning analyzer, which may be based on an artificial neural network or a decision tree analyzer, may now be trained on this image where ground truth has been obtained. In this way, when a new image of vegetation is provided to the analyzer, where this image may have an associated time stamp (e.g., time of year) and geographic location (such as germany or south africa) affixed to it, the analyzer determines the particular type of weeds in the image by comparing the image of the weeds found in the new image to the images of the different weeds for which it was trained, where the size of the weeds, and where and when they were growing, are also taken into account. The specific location of that weed type on the ground within the environment, as well as its size, can thus be determined.

The processor 30 has access to a database containing different weed types and the optimal mode of weed control technique to be used in controlling that weed type, the database being compiled from empirically determined data. For example, a specific type of chemical to be sprayed onto the weeds, a high voltage (or laser radiation, or microwave radiation, or water jet, or steam jet, or flame jet) duration to be applied at a specific location of a specific type of weeds, and/or an energy level of the high voltage (or laser radiation, or microwave radiation, etc.) of several available chemicals. The size of the weeds or weed clumps on the ground is also considered in determining which mode of weed control technology (also called vegetation control technology) is to be used. For example, the particular type of chemical to be used in the chemical spray may be an optimal weed control technique for a particular type of weed. The processor can then determine that for a single weed or a small clump of such weed chemical spray weed control technology at a particular location in the environment, the weed should be activated at that particular location to control weeds with a particular chemical. However, if it has been determined that there is a large clump of this particular type of weed in the environment, the processor may determine that a different mode of the weed control technique should be used, such as a weaker chemical to be sprayed onto the area, in order to mitigate the effect of the chemical on the environment. The same applies to different modes of flame-based weed control, or high voltage-based weed control, or steam or high pressure water-based weed control techniques, or microwave-based weed control techniques, wherein the mode of operation of these specific weed control techniques can be matched to a specific site where, for example, different types of weeds or different soil types can be found. The processor ensures that all weeds that need to be controlled are assigned at least one mode of weed control technology to be used on them. It may be that for optimal control of a particular type of weed, two different modes of weed control technology, such as increased duration of microwave radiation in combination with increased energy levels of microwave radiation. The same applies to high voltages, laser radiation, etc. The processor then builds up an appropriate weed control map specifying where one or more of the patterns of weed control technology should be used.

Thus, the drone's camera 110 obtains an image of the environment, which is passed to the processor 30, which determines which particular geographical location in the environment should apply what mode of weed control technology. Thus, in practice a weed map or weed control technology mode map may be generated which indicates where a particular mode of weed control technology should be used in the environment.

With continued reference to fig. 4, the weed control train 130 is advanced along the railroad track. A weed control train has several freight cars, each accommodating weed control technology that can operate in different modes. In one particular example, the first boxcar has a chemical spray-based weed control technology 120a that sprays chemical "a". The second boxcar has a chemical spray-based weed control technology 120b that sprays chemical "b" and boxcars 120c, 120d, and 120e spray chemicals "c", "d", and "e", respectively. Different trains or the same train with different freight cars attached thereto may accommodate different weed control technologies, such as high voltage based, laser based, microwave based, steam based, and other weed control technologies are also available, such as flame based, solid (foam) chemical deposition, and even mechanical based weed control technologies. Taking the high voltage based weed control technology as an example, each boxcar may now have a high voltage system operating at a different energy level, and some boxcars may operate at the same energy level. Thus, the boxcar having units 120a, 120b, and 120c may operate at the high voltage energy level of "AA". The freight car with unit 120d may operate at a high voltage energy level of "10 xAA" and the freight car with unit 120e may operate at a high voltage energy level of "100 xAA". There may be more than one freight car operating at an energy level of "10 AA" and more than one freight car operating at an energy level of "100 AA". The weed control train has a processor (not shown) that uses the weed map or weed control map described above. The weed control train has means to determine its geographical location, which may be based on one or more of GPS, inertial navigation, image analysis to locate the location of the weed control train and the specific location of the units of weed control technology. This means that different units of the weed control technology can be activated at specific sites of weeds as the weed control train passes through the environment, where the specific mode of weed control technology activated at the site of weeds has been determined to be optimal for that task. As discussed above, the weed control train may have a camera and obtain images. The acquired images can be processed by a processor on the weed control train to determine the location of the train itself by determining the location of the features in the crossties and the surrounding environment. In addition, when the weed control train has a GPS and/or inertial system, the GPS and/or inertial navigation system can be used to determine the location of the train so that the correct mode of weed control technology can be activated at the location of a particular weed. However, if the train also has a camera that obtains an image of the surroundings, feature extraction such as the position of the crossties can be used to augment the position determined by GPS and/or inertial navigation to correct the position so that weed control techniques can be activated at the precise location of the weeds to take into account the position obtained from the GPS system, for example. Thus, the image processing required to determine the position of the crosstie can be run quickly while location updates are applied quickly because the image processing complexity in locating features such as railroad crossties is relatively small. Taking the high voltage weed control technique as an example, the duration of the high voltage to be applied at this time and the database of at what energy level to kill the weeds are used by the processor to determine the specific mode of the high voltage system to be applied at a specific location in the environment. Similar databases are used for chemicals that can be sprayed, and for the level and duration of microwave energy required to kill specific weeds, etc.

Fig. 5 shows another example of a system 100 for weed control. The system for weed control of fig. 5 is similar to the one shown in fig. 4. However, in FIG. 5 the weed control train 130 has the camera 110 and device 10 previously discussed. The camera 110 on the weed control train 130 now obtains the image previously obtained by the drone. The processor 30 of the plant on the weed control train 130 processes the acquired images to determine the location and type of weeds. It is not required at this time to determine the precise geographical location of the weeds. Rather, based on the relative spacing between the camera 110 and the units housed in the boxcar of a train having weed control technologies 120a-e that can operate in different modes, the acquired image can be located at a particular point on the ground where the weed located and identified in the image is thus also located on the ground, and the desired mode of the weed control technologies 120a-e will be activated at the determined weed location. Then, from the knowledge of the forward movement of the weed control train (its speed) and the time at which the image is obtained, it can be determined when the required mode of the weed control technique should be activated such that it is activated at the location of the weeds. In this way, the weed control train does not need to have GPS and/or inertial navigation systems or image-based absolute geographical location determination means. Rather, to account for the processing required to determine the type of weed and its precise location in the image and its precise location on the ground-within the train coordinate system-the camera 110 must be spaced from the weed control technique 120 by a distance at least equal to the processing time multiplied by the maximum speed of the weed control train during weed control. Thus, for example, if 0.2s, 0.4s or 0.8s is required for train handling traveling at 25m/s, then the camera 110 must be spaced 5m, 10m or 20m in front of the weed control technology 120e for this train speed with reference to FIG. 5. The reduction in train speed makes it possible to reduce the spacing. Also, the camera 110 that obtains the image may have a very short exposure time, thereby minimizing image shift due to train movement during the exposure time. This can be by a variety of different means including, for example, using a camera with short exposure times or short pulse illumination, for example by a laser or LED, in conjunction with a filter. However, the device may use a GPS system and/or an inertial navigation system and/or image analysis to determine the precise geographical location of the weeds. This means that it is possible to determine what weeds have been controlled by what mode of weed control technology and what weed control technology was used, and a record of where those weeds are located.

Moreover, by generating precise geographical locations of weeds, the pattern of weed control technologies 120a-120e can have associated location determination means, such as a GPS system and/or inertial navigation system and/or image-based system, that can be used to provide precise locations of particular weed control technologies. Thus, the front cars of the train may have an image acquisition and analysis unit that enables the construction of a weed control map. The last few freight cars of the train may now have the weed control technology contained within them, which may be operated in different modes. These rear wagons can be spaced from the front wagons by tens or hundreds of meters through the load-carrying wagons. The absolute spacing of the front cars to the rear cars may vary as the train goes up and down hills, but because the boxcars with weed control technology know their precise location, when they move forward to the location of weeds or the area of a particular type of weed, the appropriate mode of weed control technology may be activated at that precise geographic location.

Fig. 5 shows two views of the weed control train 130, the upper being a side view and the lower being a plan view. This shows the image-capturing cameras 110 extending between and to either side of the rails. Each freight car of a weed control train has a related model of weed control technology that can be applied under the train and on both sides of the train.

Fig. 6 shows a boxcar of a weed control train 130 similar to that shown in fig. 4-5, with chemical spray based weed control techniques 120 a-e. Fig. 6 shows a rear view of one of the boxcars of the train, which is a view along the railroad track. The different modes of spray-based weed control technologies 120a, 120b, 120c, 120d, and 120e all involve different chemicals that can be sprayed. Thus, different strengths of a particular chemical may be used, or different chemicals may be used for specific types of vegetation types. Several independent spray nozzles of the weed control technology 120a extend laterally under the train and to both sides of the train. The spray nozzle also extends in a forward direction. The spray nozzle itself may have specific controls, other than on or off, may be directionally controlled to spray left and right or downward, and/or controlled such that the angular range of the spray is varied so that, for example, a narrow spray jet may be directed at a single weed. When one of the spray nozzles passes over a weed and the weed has been identified as being a weed that should be controlled by that particular chemical spray, the processor 30 activates the particular nozzle that sprays the chemical at the particular location of the weed where it is desired to control that weed by that chemical spray. In fig. 6, this weed has two specific locations, one found between the tracks and one on the left side of the track, and thus two spray nozzles are activated. Note that the weeds may pass under this boxcar, having had one of the other chemicals applied by the spray-based weed control techniques 120b-e applied to the weeds.

Fig. 7 shows a freight car of a weed control train 130 as shown in fig. 4-5 having high voltage based weed control technologies 120 a-e. Fig. 7 shows a rear view of this boxcar of the train, which is a view along the railway track. The different modes of high voltage based weed control technologies 120a, 120b, 120c, 120d, and 120e involve different energies of high voltage that can be applied, and/or several units, e.g., 120a-b, can operate at the same energy so that the energy can be applied over an extended duration. Simple experiments can be performed for different weeds to determine the different voltage and energy levels and duration of application required to kill different weed types, enabling a database to be constructed from which the operating mode of the high voltage technology can be selected. Similar databases can be constructed for different weed control technologies, from which the required mode of operation for a particular weed can be determined. Different energies of high voltage and/or different durations of high voltage may therefore be used for a particular type of vegetation type, since previous experimental work determined what mode of operation is optimal for different types of weed high voltage energy/duration. Pairs of independent electrode pairs of the weed control technique extend laterally under and to both sides of the train, these are shown in more detail in fig. 9. The electrodes may also extend in a forward direction. When one of the pairs of electrodes passes over a weed that has been identified as a weed that should be controlled by the high voltage-based weed control, the processor 30 activates that particular pair of electrode pairs at the particular location of the weed that requires control by the high voltage and energy. In fig. 7, there are two specific sites of such weeds, one is a large clump found between the tracks that also extends to the right hand side of the tracks, and one is a small clump found on the left side of the tracks, and thus one electrode pair has been activated on the left hand side and several electrode pairs underneath the train and extending to the right hand side are activated. Note that if the particular unit shown is 120b, weeds may have passed under this truck bed and one of the other modes of high voltage weed control technology 120c-e applied to them, and if it has been determined that weeds should be resolved by the high voltage mode of weed control technology of unit 120a, weeds may pass under the truck bed in an untreated state.

Fig. 8 shows a boxcar of a weed control train 130 as shown in fig. 4-5, having laser-based weed control techniques 120 a-e. Fig. 8 shows a rear view of this boxcar of the train, which is a view along the railway track. The different modes of laser-based weed control techniques 120a, 120b, 120c, 120d, and 120e involve different energies of the laser radiation that can be applied, and/or several units, e.g., 120a-b, can operate at the same energy so that the energy can be applied over an extended duration. Different energies of laser radiation and/or different durations of laser radiation may therefore be used for a particular type of vegetation type, since previous experimental work determined what mode of operation is optimal for different types of weed high voltage energy/duration. The different units may also operate with different wavelengths of laser radiation, and the particular wavelength that is optimal for weed control of a particular type of weed has been determined experimentally.

Several independent laser systems of the weed control technology 120c extend laterally under and to both sides of the train, and may extend in a forward direction. Each laser system may simply be operated in an on/off state to illuminate an area beneath the laser system or may also be directionally steered as required to illuminate only a specific spot of weed. When one of these laser systems passes over weeds that have been identified as weeds that should be controlled by this particular laser radiation-based weed control, the processor 30 activates the particular laser system at the particular location of the weed that requires control by the laser radiation. In fig. 8 there is only one specific spot of such a weed, which is located between the tracks in the vicinity of the left-hand side track, and thus under the train a laser system is activated, which is directed towards the specific spot of the weed. The laser system may be laser diode based, NG: YAG, excimer-based or any other laser system indicated as suitable for weed control. The particular boxcar shown has a unit 120c which operates in a particular mode of laser radiation. Note that the weeds passing under this truck bed may have one of the other modes of laser-based weed control techniques 120d-e applied to them, and if it has been determined that the weeds should be treated by the mode of laser-based weed control contained in one or more of the units 120a-b, the weeds may pass under the truck bed in an untreated state.

Figure 9 shows more details of the high voltage based weed control technique. Pairs of electrodes are provided which, when activated, cause an electrical current to flow from one electrode to the other electrode through the weeds and the ground including the roots of the weeds. One sub-unit shown may have one electrode pair or indeed several electrode pairs to enable greater resolution and smaller spatial extent of application of such high voltage based weed control. The high voltage may be applied for a period of time in a DC mode or for a period of time in an AC mode.

FIG. 10 shows a depiction of a railway environment showing a railway track and the ground on both sides of the track. Several weed fields are shown, with a large clump of weeds of one type having a clump of different types of weeds within the clump. Shown in fig. 10 is a particular mode of weed control technology that has been determined to be activated for these particular weeds. As discussed above, units 120a, 120b, and 120c operate at an "AA" energy level, unit 120d operates at a "10 xAA" energy level, and unit 120e operates at a "100 xAA" energy level. These operation modes are merely representative examples, and different operation modes are also possible. Thus, it is determined that a weedy of a particular type of weed should have an energy level AA applied for an extended duration, and thus the units 120a, 120b and 120c will be activated at the site of the weedy. Another weed stand with different types of weeds may be controlled with the same energy level but the energy level does not have to be applied over such an extended duration and therefore only units 120a and 120b will be activated at the site of the weeds. A large clump of weeds that are easily controlled can be controlled by applying energy levels AA only, but image processing in that clump determines that there are also weeds that are difficult to kill and therefore requires an energy level of 100AA at the locus of the difficult to kill weeds. Thus, over the entire mat, which may or may not contain difficult to kill weeds, unit 120a activates and unit 120e activates at a specific spot of difficult to kill weeds. This determination as to what mode of operation of the weed control technique to apply, its duration, and/or energy, or chemicals or wavelengths, etc., can be considered as the weed control map discussed with reference to fig. 4, or a real-time determination as to what mode of weed control technique should be applied as discussed with reference to fig. 5.

Fig. 11 shows more details of the unit 120a of the high voltage weed control technique. The figure shows the individual subunits mounted on the freight cars of a train with the central unit located under the train freight cars and the other subunits located on either side of the freight cars, which are capable of controlling weeds outside the track. In this particular example there are 19 row electrode pairs and 12 column electrode pairs. There may be a different number of column electrode pairs and a different number of rows, and there may be only one row. Unit 120a operates at energy level AA. One electrode pair is referred to as a cell in the row x column coordinate system, then the cells activate as the train moves forward as cells 1x4, 1x5, 1x6, and 1x7 pass over the locus of the weed. With further movement, only the grids are in activation in one example until the grids have passed over the weeds. In this way energy AA may be applied over a minimum duration. However, the grid may be activated when the weeds are located at different positions under the subunits. Thus, when the weed first underlies the front edge of the subunit, panels 1x4-7, 2x4-7, and 3x4-7 are activated. As the train moves forward, 2x4-7, 3x4-7, and 4x4-7 are activated, and then 3x4-7, 4x4-7, and 5x4-7 are activated. In this way, weeds are advanced under subunits and appropriate electrode pairs are activated at all positions until 17x4-7, 18x4-7, and 19x4-7 are activated, then 18x4-7 and 19x4-7 and finally 19x4-7 are activated. The waves of the electrode pairs activated in this way are activated at a fixed position, the waves moving at the speed of the train. The energy AA can be applied for different durations by activating different numbers of electrode pairs, and if it is desired to apply this energy level for an increased duration, the latter subunit can activate the electrodes with energy AA as that unit passes over the weed. Other units operating with energies 10AA and 100AA may operate in a similar manner. However, in one extreme, there is only one row of electrodes, and these electrodes are activated at the required location as the unit passes over the weed, for example 1x 4-7. Other weed control techniques, such as chemical spraying, may similarly have several rows and columns of active spray nozzles, for example, under one unit. The same applies to microwave, flame based systems, etc.

The examples detailed above are discussed with reference to railways, in which different modes of weed control technology (vegetation control technology) are accommodated within different freight cars of a train. These may be housed within a single truck bed, and a control technique may have only two, three, or four weed patterns, such as only two different chemical sprays or two units operating at different high voltage energies or one high voltage unit operating at only one energy level but capable of operating for more than one duration for a particular forward speed. In addition, in addition to the weed control train, a truck or van or Unimog (Unimog) may have installed thereon/therein a weed control technology that can operate in more than one mode, and travel around an industrial area or even an area such as an airport based on a previously obtained and processed image or based on an image obtained and processed by itself and apply a specific mode of weed control technology to a specific weed type as described above.

In another exemplary embodiment, a computer program or a computer program element is provided, characterized by being configured to perform the method steps of the method according to one of the preceding embodiments on a suitable system. The computer program element may thus be stored on a computer unit, which may also be part of an embodiment. This computing unit may be configured to perform or cause to be performed the steps of the method described above. Moreover, it may be configured to operate the components of the devices and/or systems described above. The computing unit may be configured to operate automatically and/or to execute user commands. The computer program may be loaded into the working memory of a data processor. The data processor may thus be equipped to carry out a method according to one of the preceding embodiments.

This exemplary embodiment of the invention covers both a computer program that uses the invention from the beginning and a computer program that changes an existing program into a program that uses the invention by means of an update.

Further, the computer program element may be capable of providing all the necessary steps of a process to fulfill the exemplary embodiment of the method described above. According to another exemplary embodiment of the present invention, a computer-readable medium, such as a CD-ROM, a USB stick or the like, is provided, wherein the computer-readable medium has stored thereon a computer program element, the computer program element being as described in the previous section.

A computer program may be stored and/or distributed on a suitable medium, such as an optical storage medium or a solid-state medium supplied together with or as part of other hardware, but may also be distributed in other forms, such as via the internet or wired or wireless telecommunication systems.

However, the computer program may also be provided over a network, such as the world wide web, and may be downloaded into the working memory of a data processor from this network. According to another exemplary embodiment of the present invention, a medium is provided for making available for downloading a computer program element arranged to perform a method according to one of the above described embodiments of the present invention.

It has to be noted that embodiments of the invention are described with reference to different subject matters. In particular, some embodiments are described with reference to method type claims whereas other embodiments are described with reference to apparatus type claims. However, a person skilled in the art will gather from the above and the following description that, unless other notified, also any combination of features belonging to one type of subject matter is possible, apart from any combination between features relating to different subject matters, which combinations are considered to be disclosed with this application. However, all of the features may be combined to provide more synergistic effects than a simple addition of the features.

While the invention has been illustrated and described in detail in the drawings and foregoing description, such illustration and description are to 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 effected by those skilled in the art in practicing the claimed invention, from a study of the drawings, the disclosure, and the appended claims.

In the claims, the word "comprising" does not exclude other elements or steps, and the indefinite article "a" or "an" does not exclude a plurality. A single processor or other unit may fulfill the functions of several items recited in the claims. The mere fact that certain measures are recited in mutually different dependent claims does not indicate that a combination of these measures cannot be used to advantage. Any reference signs in the claims shall not be construed as limiting the scope.