Spraying weeding device for rail transit and weeding method thereof

Abstract

The invention belongs to the technical field of rail transit cleaning, and relates to a spraying weeding device for rail transit and a weeding method thereof.The spraying weeding device comprises a pesticide storage box, a fixed spraying mechanism, a movable spraying mechanism, a collecting mechanism and a controller; the pesticide storage box is fixed on the vehicle body; the fixed spraying mechanism and the movable spraying mechanism are both communicated with the pesticide storage box; the collecting mechanism is connected with the vehicle body and the movable spraying mechanism; the controller is connected with the movable spraying mechanism and the collecting mechanism; the height and angle of the movable spraying mechanism are automatically adjusted through the controller, so that the coverage range of the weeding agent sprayed by the movable spraying mechanism is dynamically adjusted, and it is ensured that the weeding agent effectively covers weeds all the time; the fixed spraying mechanism sprays a weeding agent to weeds close to the track, the movable spraying mechanism sprays a weeding agent to weeds away from the track, the two mechanisms cooperate with each other, it is ensured that the weeding agent covers the weeds without dead corners, and the weeding effect is improved.

Description

Technical Field

[0001] The invention relates to the technical field of rail transit cleaning, and in particular to a spray weeding device for rail transit and a weeding method thereof. Background Art

[0002] In rail transit systems, the growth of weeds not only affects the appearance, but also poses a potential threat to track safety, such as interfering with the signal system and affecting the smoothness of train operation. Therefore, it is particularly important to regularly clean up the weeds around rail transit.

[0003] There is some research on rail transit weeding devices in the prior art. Refer to the patent document with application number 202110560772.0, which discloses a track timing cleaning device for rail transit and a cleaning method thereof, wherein the cleaning device includes a cleaning vehicle, and a weeding mechanism is fixedly connected to the top of the cleaning vehicle. The weeding mechanism includes a mixing component and two spraying components. The bottom of the mixing component is fixedly connected to the top of the cleaning vehicle, and the side of the spraying component close to the mixing component is fixedly connected to the mixing component. In the specific process of the weeding operation, the mixing component will first fully mix the required drugs; then, under the action of the spray pump, the mixed drugs will be pumped into the inner cavity of the drug suction tube; after being transported by the drug suction tube, the drugs will further enter the inner cavity of the spray tube, and finally be evenly sprayed out in the form of atomization through the spray nozzle.

[0004] It can be seen that the precise delivery of drugs can be achieved through the mixing component and the spraying component, which improves the efficiency and effect of weeding operations. However, the two spraying components are fixedly connected to the mixing component. During the spraying process, the angle of the spraying nozzle cannot be adjusted, resulting in a fixed spraying range of drugs. In the actual weeding process, the growth of weeds on both sides of the track is often uneven, and the fixed-angle spraying nozzle cannot ensure that the sprayed drugs always cover most weeds; especially when encountering weeds with large height differences, the drugs cannot effectively cover the weeds, which seriously affects the weeding effect. Summary of the invention

[0005] In order to solve the technical problem in the background technology that the angle of the spray nozzle cannot be adjusted, resulting in a fixed spray range of the medicine, making it difficult to ensure that the sprayed medicine always covers most weeds, thereby seriously affecting the weeding effect, the present invention provides a spray weeding device for rail transit and a weeding method thereof.

[0006] The rail transit spray weed control device of the present invention automatically adjusts the height and angle of the movable spray mechanism through a controller, thereby dynamically adjusting the coverage range of the herbicide sprayed by the movable spray mechanism according to the actual growth conditions of the weeds, ensuring that the herbicide sprayed by the movable spray mechanism always effectively covers the weeds away from the track, thereby improving the weed control effect; at the same time, the fixed spray mechanism sprays the herbicide on the weeds close to the track, and the movable spray mechanism sprays the herbicide on the weeds away from the track, and the two cooperate with each other to ensure that the herbicide covers the weeds comprehensively and without dead angles, avoiding the occurrence of spraying blind spots, thereby further improving the weed control effect.

[0007] In order to solve the above technical problems, the present invention provides the following technical solutions:

[0008] A spray weed control device for rail transit comprises: a medicine storage box, a fixed spray mechanism, a movable spray mechanism, a collection mechanism and a controller; the medicine storage box is fixed on a vehicle body moving along a rail line, and is used to store and provide herbicides; the fixed spray mechanism is connected to the medicine storage box, and is used to spray the herbicides on weeds close to the rail; the movable spray mechanism is connected to the medicine storage box, and is used to spray the herbicides on weeds away from the rail, and the height and angle of the movable spray mechanism are adjustable, so as to adjust the coverage range of the herbicides sprayed by the movable spray mechanism; the collection mechanism is connected to both the vehicle body and the movable spray mechanism, and is used to collect height data of multiple weeds within a preset range of the rail and flow rate data of the herbicide in the movable spray mechanism, and output both the height data and the flow rate data; the controller is connected to both the movable spray mechanism and the collection mechanism, and the controller receives the height data and the flow rate data, calculates the average height of the multiple weeds, determines the height and angle of the movable spray mechanism according to the average height and flow rate data, and adjusts the coverage range of the herbicide sprayed by the movable spray mechanism based on the height and angle of the movable spray mechanism.

[0009] In a specific possible implementation manner, the coverage range of the herbicide sprayed by the fixed spray mechanism is 0m to 1m outward from the track, and the coverage range of the herbicide sprayed by the movable spray mechanism is 0.8m to 4m outward from the track.

[0010] In a specific possible implementation scheme, the movable spray mechanism includes a first nozzle, a first branch pipe, a horizontal counterweight adjustment assembly and a vertical adjustment assembly; one end of the first branch pipe is connected to the medicine storage box, the other end of the first branch pipe is connected to the first nozzle, and the first nozzle is directed toward the weeds away from the track; the vertical adjustment assembly is installed on the vehicle body, and the output end of the vertical adjustment assembly is hinged to the first branch pipe so that a fulcrum is formed at the hinged position, and the vertical adjustment assembly is used to adjust the height of the first branch pipe, thereby adjusting the coverage range of the herbicide sprayed by the first nozzle; the horizontal adjustment assembly is connected to the first branch pipe, and through the lever principle, the angle between the first branch pipe and the horizontal plane is adjusted, thereby adjusting the coverage range of the herbicide sprayed by the first nozzle.

[0011] In a specific feasible implementation scheme, the horizontal adjustment component includes a counterweight slider, a first driving member and a slide rail; the slide rail is installed on the outer wall of the first branch pipe away from the end of the first nozzle, and the slide rail extends along the axial direction of the first branch pipe; the counterweight slider is located in the slide rail, and the counterweight slider can slide along the extension direction of the slide rail; the first driving member is installed on the vertical adjustment component, and the output end of the first driving member is connected to the counterweight slider, and by adjusting the position of the counterweight slider on the first branch pipe, the first branch pipe is adjusted to rotate around the fulcrum, thereby adjusting the angle of the first branch pipe.

[0012] In a specific feasible implementation scheme, the vertical adjustment component is a second driving member; the input end of the second driving member is fixedly connected to the vehicle body, and the output end of the second driving member is hinged to the first branch pipe, and the vertical height of the first branch pipe is adjusted by adjusting the telescopic distance of the output end.

[0013] In a specific possible implementation scheme, the collection mechanism includes a distance sensor and a flow rate sensor; the distance sensor is installed on the vehicle body, and the distance sensor is connected to the controller, and is used to collect height data of multiple weeds within a preset range of the track, and transmit the height data to the controller; the flow rate sensor is installed on the first branch pipe, and the flow rate sensor is connected to the controller, and is used to measure the flow rate data of the herbicide in the first branch pipe, and transmit the flow rate data to the controller.

[0014] In a specific embodiment, the height and angle calculation formula of the active spray mechanism is determined by the average height and flow rate data:

[0015]

[0016] L X2 =2(L X1 -cosαL X3 );

[0017] ΔH2=cosα(ΔH1-H3)-H2;

[0018] Where H1 is the distance between the output end starting point of the second drive member and the ground, unit: m; ΔH1 is the distance between the output end point and the output start point of the second drive member, unit: m; H2 is the distance between the input end starting point and the output start point of the first drive member, unit: m; ΔH2 is the distance between the output end point and the output start point of the first drive member, unit: m; H3 is the distance between the input start point of the first drive member and the output start point of the second drive member, unit: m; L X1 The width of the grass height data collection area in the preset range, the width direction is perpendicular to the track extension direction, unit: m; L X2 is the spraying range of the first nozzle, unit: m; h1 is L X1 Average grass height within the range, unit: m; L X3 is the distance between the fulcrum and the first nozzle; h2 is the distance between point B and point C, unit: m; α is the angle between the first branch pipe and the horizontal plane, unit: °; v is the flow rate of the herbicide in the first branch pipe, unit: m / s; g is the acceleration due to gravity, unit: m / s 2 .

[0019] In a specific implementation scheme, the fixed spray mechanism includes a second nozzle and a second branch pipe; one end of the second branch pipe is connected to a medicine storage tank, and the other end of the second branch pipe is connected to the second nozzle, and the second nozzle is directed toward weeds close to the track.

[0020] In a specific possible implementation manner, a plurality of the second nozzles are provided, the plurality of the second nozzles are distributed along the traveling direction of the vehicle body, and each of the second nozzles corresponds to a second branch pipe.

[0021] A spray weeding method for rail transit, comprising the following steps:

[0022] S1. Install the above-mentioned rail transit spray weed control device;

[0023] S2, starting device:

[0024] The medicine storage box delivers herbicide to the fixed spray mechanism and the movable spray mechanism. The herbicide sprayed by the fixed spray mechanism covers the weeds close to the track, and the herbicide sprayed by the movable spray mechanism covers the weeds far from the track. At the same time, the vehicle body starts to move along the track line.

[0025] During the movement of the vehicle, the collecting mechanism collects the height data of multiple weeds within a preset range and the flow rate data of the herbicide in the active spray mechanism in real time, and outputs the height data and the flow rate data to the controller;

[0026] S3. Adjust the coverage of herbicides:

[0027] The controller receives the height data and the flow rate data, calculates the average height of the plurality of weeds, determines the height and angle of the active spray mechanism through the average height and flow rate data, and adjusts the coverage of the herbicide sprayed by the active spray mechanism based on the height and angle of the active spray mechanism, so that for weeds with different growth conditions encountered during the movement of the vehicle body, the herbicide sprayed by the active spray mechanism always covers the weeds away from the track.

[0028] In summary, the present invention has the following beneficial technical effects:

[0029] 1. The spray weed control device for rail transit of the present invention automatically adjusts the height and angle of the movable spray mechanism through a controller, thereby dynamically adjusting the coverage range of the herbicide sprayed by the movable spray mechanism according to the actual growth conditions of the weeds, ensuring that the herbicide sprayed by the movable spray mechanism always effectively covers the weeds away from the track, thereby improving the weed control effect; at the same time, the fixed spray mechanism sprays the herbicide on the weeds close to the track, and the movable spray mechanism sprays the herbicide on the weeds away from the track, and the two cooperate with each other to ensure that the herbicide covers the weeds comprehensively and without dead ends, avoiding the occurrence of spraying blind spots, thereby further improving the weed control effect.

[0030] 2. The rail transit spray weed control device of the present invention is provided with a horizontal adjustment component and a vertical adjustment component, which cooperate with each other to facilitate flexible adjustment of the height and angle of the movable spray mechanism, thereby adjusting the coverage range of the herbicide sprayed by the movable spray mechanism to adapt to the weed control needs of different terrains and weed growth conditions.

[0031] 3. The spray weed control device for rail transit of the present invention can accurately control the distance between the output end point and the output starting point of the second driving member through the controller, thereby accurately adjusting the angle between the first branch pipe and the horizontal plane. The distance between the output end point and the output starting point of the first driving member can be accurately controlled by the controller, so as to accurately control the height of the first branch pipe. By accurately controlling the height of the first branch pipe and the angle between the first branch pipe and the horizontal plane, the coverage range of the herbicide sprayed by the first branch pipe can be accurately adjusted to ensure that the herbicide sprayed by the first branch pipe covers the weeds far away from the track. At the same time, the utilization rate of the herbicide is improved to avoid the waste of the herbicide. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 It is a schematic diagram of the overall structure of the spray weeding device for rail transit of the present invention.

[0033] Figure 2 yes Figure 1 Enlarged view of part A in .

[0034] Figure 3 It is a schematic diagram of the adjustment of the movable spray mechanism of the spray weeding device for rail transit of the present invention.

[0035] Figure 4 yes Figure 3 Enlarged view of part D in the middle.

[0036] Explanation of the reference numerals: 1. vehicle body; 2. medicine storage box; 3. fixed spray mechanism; 31. second nozzle; 32. second branch pipe; 4. movable spray mechanism; 41. first nozzle; 42. first branch pipe. DETAILED DESCRIPTION

[0037] The technical solution of the present invention is further explained below in conjunction with the accompanying drawings and embodiments, but the present invention is not limited to the implementation modes described below.

[0038] In the actual weeding process, the growth of weeds on both sides of the track is often uneven. The existing fixed-angle spray nozzle has a fixed spray range, which makes it difficult to ensure that the sprayed medicine covers most weeds; especially when encountering weeds with large height differences, the medicine cannot effectively cover the weeds, which seriously affects the weeding effect. The present invention aims to provide a spray weeding device for rail transit, which automatically adjusts the height and angle of the active spray mechanism 4 through a controller, so as to dynamically adjust the coverage range of the herbicide sprayed by the active spray mechanism 4 according to the actual growth of the weeds, ensuring that the herbicide sprayed by the active spray mechanism 4 always effectively covers the weeds away from the track, thereby improving the weeding effect; at the same time, the fixed spray mechanism 3 sprays the herbicide on the weeds close to the track, and the active spray mechanism 4 sprays the herbicide on the weeds away from the track, and the two cooperate with each other to ensure that the herbicide covers the weeds comprehensively and without dead angles, avoiding the occurrence of spraying blind spots, and further improving the weeding effect.

[0039] Embodiment 1:

[0040] Reference Figure 1 and Figure 2A spray weed control device for rail transit includes: a medicine storage box 2, a fixed spray mechanism 3, a movable spray mechanism 4, a collection mechanism and a controller. The medicine storage box 2 is fixed on the vehicle body 1 moving along the track line, and is used to store and provide herbicides, and a medicine adding port is provided on the top of the medicine storage box 2; the fixed spray mechanism 3 is connected to the medicine storage box 2, and is used to spray the herbicide on the weeds close to the track; the movable spray mechanism 4 is connected to the medicine storage box 2, and is used to spray the herbicide on the weeds away from the track, and the height and angle of the movable spray mechanism 4 are adjustable, so as to adjust the coverage range of the herbicide sprayed by the movable spray mechanism 4; the collection mechanism is connected to both the vehicle body 1 and the movable spray mechanism 4, and is used to collect the height data of multiple weeds within a preset range of the track and the flow rate data of the herbicide in the movable spray mechanism 4, and output both the height data and the flow rate data; the controller is connected to both the movable spray mechanism 4 and the collection mechanism, and the controller receives the height data and the flow rate data, calculates the average height of the multiple weeds, determines the height and angle of the movable spray mechanism 4 according to the average height and flow rate data, and adjusts the coverage range of the herbicide sprayed by the movable spray mechanism 4 based on the height and angle of the movable spray mechanism 4.

[0041] Reference Figure 1 and Figure 2 The coverage range of the herbicide sprayed by the fixed spray mechanism 3 is 0m to 1m outward from the track, and the coverage range of the herbicide sprayed by the movable spray mechanism 4 is 0.8m to 4m outward from the track.

[0042] Specifically, 0m to 0.8m outward from the track is the spraying blind zone of the movable spray mechanism 4. The fixed spray mechanism 3 sprays herbicides within the range of 0m to 1m outward from the track. The sprayed herbicides can cover the spraying blind zone of the movable spray mechanism 4. The two cooperate with each other to ensure that the herbicide covers the weeds within the preset range of the track comprehensively and without dead ends, thereby improving the weed control effect.

[0043] Reference Figure 1 and Figure 2 The movable spray mechanism 4 includes a first nozzle 41, a first branch pipe 42, a horizontal counterweight adjustment component and a vertical adjustment component. One end of the first branch pipe 42 is connected to the medicine storage box 2, and the other end of the first branch pipe 42 is connected to the first nozzle 41, and the first nozzle 41 is directed toward the weeds away from the track; the vertical adjustment component is installed on the vehicle body 1, and the output end of the vertical adjustment component is hinged to the first branch pipe 42, so that a fulcrum is formed at the hinged position, and the vertical adjustment component is used to adjust the height of the first branch pipe 42, thereby adjusting the coverage of the herbicide sprayed by the first nozzle 41; the horizontal adjustment component is connected to the first branch pipe 42, and through the lever principle, the angle between the first branch pipe 42 and the horizontal plane is adjusted, thereby adjusting the coverage of the herbicide sprayed by the first nozzle 41.

[0044] Reference Figure 1 and Figure 2 The horizontal adjustment assembly includes a counterweight slider, a first driving member, and a slide rail. The slide rail is installed on the outer wall of the first branch pipe 42 away from the first nozzle 41, and the slide rail extends along the axial direction of the first branch pipe 42; the counterweight slider is located in the slide rail, and the counterweight slider can slide along the extension direction of the slide rail; the first driving member is installed on the vertical adjustment assembly, and the output end of the first driving member is connected to the counterweight slider. By adjusting the position of the counterweight slider on the first branch pipe 42, the first branch pipe 42 is adjusted to rotate around the fulcrum, thereby adjusting the angle of the first branch pipe 42.

[0045] Specifically, the first driving member can be an electric push rod, a hydraulic cylinder, a pneumatic cylinder, etc., and the first driving member is used to adjust the position of the counterweight slider on the first branch pipe 42, and adjust the rotation of the first branch pipe 42 around the fulcrum, thereby adjusting the angle of the first branch pipe 42. Such settings are all acceptable. Preferably, the first driving member is an electric push rod, which has a fast response speed and high control accuracy.

[0046] Reference Figure 1 and Figure 2 The vertical adjustment component is the second driving member. The input end of the second driving member is fixedly connected to the vehicle body 1, and the output end of the second driving member is hinged to the first branch pipe 42. By adjusting the telescopic distance of the output end, the vertical height of the first branch pipe 42 is adjusted.

[0047] Specifically, the second driving member can be an electric push rod, a hydraulic cylinder, a pneumatic cylinder, etc., and the second driving member can be used to adjust the vertical height of the first branch pipe 42. Preferably, the second driving member is an electric push rod, which has a fast response speed and high control accuracy.

[0048] Reference Figure 1 to Figure 4 The collection mechanism includes a distance sensor and a flow rate sensor. The distance sensor is installed on the vehicle body 1 and connected to the controller, and is used to collect the height data of multiple weeds within the preset range of the track, and transmit the height data to the controller; the flow rate sensor is installed on the first branch pipe 42 and connected to the controller, and is used to measure the flow rate data of the herbicide in the first branch pipe 42, and transmit the flow rate data to the controller.

[0049] Specifically, ignoring the moving speed of the vehicle body 1 and the influence of wind resistance during the movement of the vehicle body 1, the height and angle of the active spray mechanism 4 are determined; the height and angle calculation formula of the active spray mechanism 4 is determined by the average height and flow rate data:

[0050]

[0051]

[0052] L X2 =2(LX1 -cosαL X3 );

[0053] ΔH2=cosα(ΔH1-H3)-H2;

[0054] Where H1 is the distance between the output end starting point of the second drive member and the ground, unit: m; ΔH1 is the distance between the output end point and the output start point of the second drive member, unit: m; H2 is the distance between the input end starting point and the output start point of the first drive member, unit: m; ΔH2 is the distance between the output end point and the output start point of the first drive member, unit: m; H3 is the distance between the input start point of the first drive member and the output start point of the second drive member, unit: m; L X1 The width of the grass height data collection area in the preset range, the width direction is perpendicular to the track extension direction, unit: m; L X2 is the spraying range of the first nozzle 41, unit: m; h1 is L X1 Average grass height within the range, unit: m; L X3 is the distance between the fulcrum and the first nozzle 41; h2 is the distance between point B and point C, unit: m; α is the angle between the first branch pipe 42 and the horizontal plane, unit: °; v is the flow rate of the herbicide in the first branch pipe 42, unit: m / s; g is the acceleration due to gravity, unit: m / s 2 .

[0055] More specifically, H1, H2, and H3 are fixed installation values, and the operator can set them according to actual needs and the specifications of the first driving member and the second driving member; L X1 It is a fixed value, and the operator can set it according to the actual weeding range required; L X3 is a fixed value. The position of the fulcrum on the first branch pipe 42 can be set by utilizing the lever principle. h2 is a fixed value. In order to ensure that the herbicide sprayed by the first nozzle 41 accurately covers the weeds in the target area, the height h2 is maintained between the first nozzle 41 and the highest point of the weeds. The operator can set it according to the specifications of the first nozzle 41.

[0056] Reference Figure 1 and Figure 2 The fixed spray mechanism 3 includes a second nozzle 31 and a second branch pipe 32; one end of the second branch pipe 32 is connected to the medicine storage box 2, and the other end of the second branch pipe 32 is connected to the second nozzle 31, and the second nozzle 31 is directed toward the weeds close to the track.

[0057] Embodiment 2:

[0058] Reference Figure 1 and Figure 2In the rail transit spray weed control device of this embodiment, based on the first embodiment, a plurality of second nozzles 31 are provided, and the plurality of second nozzles 31 are distributed along the traveling direction of the vehicle body 1 , and each second nozzle 31 corresponds to a second branch pipe 32 .

[0059] Specifically, the second nozzle 31 can be set to one, two, or three. According to the growth of weeds, the appropriate number of second nozzles 31 is selected so that the herbicide sprayed by the second nozzles 31 can achieve the cleaning of weeds along the track. Such a setting mode is acceptable. Preferably, the second nozzle 31 is set to two, and the two second nozzles 31 are distributed along the travel direction of the vehicle body 1.

[0060] A spray weeding method for rail transit, comprising the following steps:

[0061] S1. Install the above-mentioned rail transit spray weed control device;

[0062] S2, starting device:

[0063] The medicine storage box 2 delivers herbicide to the fixed spray mechanism 3 and the movable spray mechanism 4. The herbicide sprayed by the fixed spray mechanism 3 covers the weeds close to the track, and the herbicide sprayed by the movable spray mechanism 4 covers the weeds far from the track. At the same time, the vehicle body 1 starts to move along the track line.

[0064] During the movement of the vehicle body 1, the collecting mechanism collects the height data of multiple weeds within a preset range and the flow rate data of the herbicide in the active spray mechanism 4 in real time, and outputs the height data and flow rate data to the controller;

[0065] S3. Adjust the coverage of herbicides:

[0066] The controller receives the height data and the flow rate data, calculates the average height of the multiple weeds, determines the height and angle of the active spray mechanism 4 according to the average height and flow rate data, and adjusts the coverage of the herbicide sprayed by the active spray mechanism 4 based on the height and angle of the active spray mechanism 4, so that the herbicide sprayed by the active spray mechanism 4 always covers the weeds with different growth conditions that are away from the track during the movement of the vehicle body 1.

[0067] The specific method of the present invention is described in Example 1 and Example 2, which will not be described in detail here.

[0068] The preferred embodiments of the present invention are not intended to limit the protection scope of the present invention. Therefore, any equivalent changes made based on the structure, shape, and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A spray weeding device for rail transit, characterized in that: include: A medicine storage box (2), fixed on a vehicle body (1) moving along a track line, for storing and providing herbicides; a fixed spray mechanism (3), connected to the medicine storage box (2), for spraying herbicides on weeds near the track; A movable spray mechanism (4) is connected to the medicine storage box (2) and is used to spray the herbicide on the weeds away from the track, and the height and angle of the movable spray mechanism (4) are adjustable, so as to adjust the coverage range of the herbicide sprayed by the movable spray mechanism (4); A collection mechanism, connected to the vehicle body (1) and the movable spray mechanism (4), for collecting height data of a plurality of weeds within a preset range of the track and flow rate data of the herbicide in the movable spray mechanism (4), and outputting both the height data and the flow rate data; and a controller connected to the movable spray mechanism (4) and the collection mechanism, the controller receiving the height data and the flow rate data, calculating the average height of the plurality of weeds, determining the height and angle of the movable spray mechanism (4) based on the average height and flow rate data, and adjusting the coverage of the herbicide sprayed by the movable spray mechanism (4) based on the height and angle of the movable spray mechanism (4).

2. The rail transit spray weed control device according to claim 1, characterized in that: The coverage range of the herbicide sprayed by the fixed spray mechanism (3) is 0m to 1m outside the track, and the coverage range of the herbicide sprayed by the movable spray mechanism (4) is 0.8m to 4m outside the track.

3. The rail transit spray weed control device according to claim 1, characterized in that: The movable spray mechanism (4) comprises a first spray head (41), a first branch pipe (42), a horizontal adjustment component and a vertical adjustment component; One end of the first branch pipe (42) is connected to the medicine storage box (2), and the other end of the first branch pipe (42) is connected to the first nozzle (41), and the first nozzle (41) is directed toward weeds away from the track; The vertical adjustment assembly is mounted on the vehicle body (1), and the output end of the vertical adjustment assembly is hinged to the first branch pipe (42) so that a fulcrum is formed at the hinged position, and the vertical adjustment assembly is used to adjust the height of the first branch pipe (42), thereby adjusting the coverage of the herbicide sprayed by the first spray head (41); The horizontal adjustment component is connected to the first branch pipe (42) and is used to adjust the angle between the first branch pipe (42) and the horizontal plane through the lever principle, thereby adjusting the coverage of the herbicide sprayed by the first nozzle (41).

4. The rail transit spray weed control device according to claim 3, characterized in that: The horizontal adjustment assembly includes a counterweight slider, a first driving member and a slide rail; The slide rail is installed on the outer wall of the first branch pipe (42) at one end away from the first nozzle (41), and the slide rail extends along the axial direction of the first branch pipe (42); The counterweight slider is located in the slide rail, and the counterweight slider can slide along the extension direction of the slide rail; The first driving member is mounted on the vertical adjustment assembly, and the output end of the first driving member is connected to the counterweight slider. By adjusting the position of the counterweight slider on the first branch pipe (42), the first branch pipe (42) is adjusted to rotate around the fulcrum, thereby adjusting the angle of the first branch pipe (42).

5. The rail transit spray weed control device according to claim 4, characterized in that: The vertical adjustment assembly is a second drive member; The input end of the second driving member is fixedly connected to the vehicle body (1), and the output end of the second driving member is hinged to the first branch pipe (42). The vertical height of the first branch pipe (42) is adjusted by adjusting the telescopic distance of the output end.

6. The rail transit spray weed control device according to claim 3, characterized in that: The collection mechanism includes a distance sensor and a flow velocity sensor; The distance measuring sensor is installed on the vehicle body (1), and the distance measuring sensor is connected to the controller, and is used to collect height data of a plurality of weeds within a preset range of the track, and transmit the height data to the controller; The flow rate sensor is installed on the first branch pipe (42) and is connected to the controller for measuring the flow rate data of the herbicide in the first branch pipe (42) and transmitting the flow rate data to the controller.

7. The rail transit spray weed control device according to claim 6, characterized in that: The height and angle of the active spray mechanism (4) are determined by the average height and flow rate data as follows: L X2 =2(L X1 -cosαL X3 ); ΔH2=cosα(ΔH1-H3)-H2; Where H1 is the distance between the starting point of the output end of the second driving member and the ground, unit: m; ΔH1 is the distance between the output end point and the output start point of the second driving member, unit: m; H2 is the distance between the starting point of the input end and the starting point of the output end of the first driving member, unit: m; ΔH2 is the distance between the output end point and the output start point of the first driving member, unit: m; H3 is the distance between the starting point of the input end of the first driving member and the starting point of the output end of the second driving member, unit: m; L X1 is the width of the grass height data collection area within the preset range, the width direction is perpendicular to the track extension direction, unit: m; L X2 is the spraying range of the first nozzle 41, unit: m; h1 is L X1 Average grass height within the range, unit: m; L X3 is the distance between the fulcrum and the first nozzle (41); h2 is the distance between point B and point C, unit: m; α is the angle between the first branch pipe (42) and the horizontal plane, unit: °; v is the flow rate of the herbicide in the first branch pipe (42), unit: m / s; g is the acceleration due to gravity, unit: m / s 2 .

8. The rail transit spray weed control device according to claim 1, characterized in that: The fixed spray mechanism (3) comprises a second spray head (31) and a second branch pipe (32); One end of the second branch pipe (32) is connected to the medicine storage box (2), and the other end of the second branch pipe (32) is connected to the second nozzle (31), and the second nozzle (31) is directed toward the weeds close to the track.

9. The rail transit spray weed control device according to claim 8, characterized in that: A plurality of the second nozzles (31) are provided, the plurality of the second nozzles (31) are distributed along the traveling direction of the vehicle body (1), and each of the second nozzles (31) corresponds to a second branch pipe (32).

10. A spray weed control method for rail transit, characterized in that: The following steps are involved: S1. Installing the spray weed control device for rail transit according to claim 1; S2, starting device: The medicine storage box (2) delivers herbicide to the fixed spray mechanism (3) and the movable spray mechanism (4), the herbicide sprayed by the fixed spray mechanism (3) covers the weeds close to the track, and the herbicide sprayed by the movable spray mechanism (4) covers the weeds far from the track. At the same time, the vehicle body (1) starts to move along the track line; During the movement of the vehicle body (1), the collecting mechanism collects height data of a plurality of weeds within a preset range and flow rate data of the herbicide in the movable spray mechanism (4) in real time, and outputs the height data and flow rate data to the controller; S3. Adjust the coverage of herbicides: The controller receives the height data and the flow rate data, calculates the average height of the plurality of weeds, determines the height and angle of the movable spray mechanism (4) based on the average height and flow rate data, and adjusts the coverage of the herbicide sprayed by the movable spray mechanism (4) based on the height and angle of the movable spray mechanism (4), so that for weeds of different growth conditions encountered during the movement of the vehicle body (1), the herbicide sprayed by the movable spray mechanism (4) always covers the weeds away from the track.

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