Autonomous laser weed eradication

Abstract

Disclosed herein are methods, devices, modules, and systems that can be used for automated weed identification, control, and eradication. These methods, devices, modules, and systems provide an alternative to manual cultivation or chemical herbicides. The devices disclosed herein can be configured to locate, identify weeds, and autonomously target weeds using a beam, such as a laser beam, that can burn or irradiate the weeds. The methods, devices, modules, and systems can be used for crop management or for home weed control.

Description

[0001] Cross-references to related applications

[0002] This application claims the benefit of U.S. Provisional Application No. 62 / 901,641, filed September 17, 2019, which is incorporated herein by reference in its entirety. Background Technology

[0003] Global agricultural output is worth trillions of dollars annually. Agriculture is a vital component of food production and encompasses the cultivation of both livestock and plants. Population growth and declining crop yields due to climate change threaten global food security. Methods to increase agricultural production by improving crop yields and labor efficiency may help alleviate food shortages. Summary of the Invention

[0004] This disclosure provides various methods, apparatuses, modules, and systems that can be adopted for the automated identification, maintenance, control, or targeting of plants. For example, the methods, apparatuses, modules, and systems disclosed herein can be used to autonomously identify and eradicate weeds located in crop fields. These methods, apparatuses, modules, and systems can be used as alternatives to manual cultivation or chemical herbicides. For example, these methods, apparatuses, modules, and systems can be used for crop management or for home weed control.

[0005] In various aspects, this disclosure provides an optical control system comprising: a transmitter configured to emit a beam along an optical path toward a target location on a surface, wherein the target location is determined by autonomously positioning a target on the surface; a first reflective element positioned to intersect the optical path and deflect the beam; a first aiming actuator connected to the first reflective element and configured to rotate the first reflective element and deflect the beam toward the target location; and a combining element positioned in the optical path between the transmitter and the first reflective element and configured to differentially deflect the beam and scattered light from the target location traveling along the optical path in a direction opposite to the beam.

[0006] In some aspects, the optical control system further includes a targeting camera optically connected to the combined elements and configured to receive scattered light reflected off the first reflective element and image a targeting field of view including the target position. In some aspects, the optical control system is configured to guide a beam toward the target position while the optical control system moves relative to a surface. In some aspects, the optical control system further includes a targeting system computer configured to detect pixel movement in the targeting field of view relative to the target position and convert the pixel movement of the targeting field of view into rotation of the first reflective element.

[0007] In some aspects, the conversion from pixel movement to rotation of the first reflective element includes a reference calibration function. In some aspects, the calibration function is obtained by correlating the position of a fiducial mark on the calibration surface with camera pixel movement.

[0008] In some aspects, the optical control system further includes an inertial measurement unit coupled to the optical control system, wherein the inertial measurement unit is configured to measure an acceleration of the optical control system, a rotation of the optical control system relative to the surface, or a combination thereof. In some aspects, the aiming system computer is configured to adjust the target position based on an amount of time since the imaging, the acceleration of the optical control system, the rotation of the optical control system relative to the surface, or a combination thereof.

[0009] In some aspects, the optical control system is enclosed in an enclosure that includes an escape window capable of transmitting emitted and visible light and positioned in the optical path between the first reflective element and the surface. In some aspects, the optical control system is completely enclosed in the enclosure. In some aspects, the optical control system further includes an air source configured to direct an air flow from the air source. In some aspects, the enclosure further includes a wall opposite the aperture, the wall configured to control a direction of the air flow and reduce turbulence without obstructing the beam.

[0010] In some aspects, the first reflective element is a mirror (or mirror). In some aspects, the combination element transmits the beam and reflects visible light. In some aspects, the emitter is a laser emitter. In some aspects, the laser emitter is selected from the group consisting of an infrared laser, an ultraviolet laser, and a visible light laser. In some aspects, the optical control system further includes a second aiming actuator connected to the first reflective element and configured to rotate the first reflective element and deflect the beam toward the target position. In some aspects, the optical control system further includes: a second reflective element positioned to intersect the optical path and deflect the beam deflected by the first reflective element; and a second aiming actuator connected to the second reflective element and configured to rotate the second reflective element and deflect the beam toward the target position. In some aspects, the first aiming actuator deflects the beam along a first axis, and the second aiming actuator deflects the beam along a second axis, wherein the first axis and the second axis are orthogonal. In some aspects, the combination element is positioned after the emitter, the first reflective element is positioned after the combination element, and the second reflective element is positioned after the first reflective element with respect to a direction of the beam. In some aspects, the weed is positioned at the target position.

[0011] In various aspects, the present disclosure provides a weed eradication method, the method comprising: capturing, with a prediction camera, an image of a prediction field of view; locating a target in the prediction field of view; assigning the target to one of a plurality of targeting modules, the plurality of targeting modules comprising a targeting camera having a targeting field of view overlapping a location of the target; capturing, with the targeting camera, an image of the targeting field of view; locating the target in the targeting field of view; and directing a beam toward the location of the target.

[0012] In some aspects, locating the target in the prediction field of view further comprises identifying an orientation of the target in the prediction field of view. In some aspects, the weed eradication method further comprises identifying a region containing the target, wherein the region is defined by a polygon. In some aspects, the weed eradication method further comprises converting the orientation to a predicted surface location. In some aspects, the weed eradication method further comprises determining an expected movement in the targeting field of view. In some aspects, the weed eradication method further comprises converting the expected movement to an actuator orientation change. In some aspects, locating the target comprises identifying the target using a trained neural network. In some aspects, the trained neural network is capable of providing a bounding box, a polygon mask, or a combination thereof around the target. In some aspects, the trained neural network is trained using images of a field.

[0013] In some aspects, locating the target in the targeting field of view further comprises referencing a calibration function obtained by correlating locations of fiducial markers on a calibration surface to camera pixel coordinates and correcting the location of the target. In some aspects, assigning the target to one of the plurality of targeting modules comprises providing the location of the target to one of the plurality of targeting modules. In some aspects, directing the beam toward the location of the target further comprises referencing a calibration function obtained by correlating pixel movements of fiducial markers on a calibration surface to actuator tilt values and correcting the actuator tilt values. In some aspects, the weed eradication method further comprises deactivating the beam once the target has been damaged or killed.

[0014] In some aspects, capturing, with the targeting camera, an image of the targeting field of view, locating the target in the targeting field of view, and directing the beam toward the location of the target are performed with high precision. In some aspects, the target is a weed.

[0015] In some aspects, the weed eradication method further comprises damaging or killing the weed. In some aspects, damaging or killing the weed comprises irradiating the weed. In some aspects, damaging or killing the weed comprises burning the weed. In some aspects, locating the target comprises distinguishing between the weed and an intended plant.

[0016] In various aspects, the disclosure provides a targeting system comprising a prediction module, a targeting module, and an optical control module; the prediction module comprising: a prediction camera configured to image a prediction field of view on a surface and locate a target in the prediction field of view; and a prediction module controller configured to convert a location of the target in the prediction field of view to a predicted location on the surface and assign the target to the targeting module; the targeting module comprising: a targeting module controller configured to convert the predicted location to an orientation of a targeting actuator; and the optical control module comprising: an emitter configured to emit a beam along an optical path toward the target; and the targeting actuator configured to receive orientation information from the targeting module controller and deflect the beam toward the target.

[0017] In some aspects, the targeting system further comprises a targeting camera configured to image a targeting field of view on the surface and locate the target in the targeting field of view. In some aspects, the optical control module further comprises: a first reflective element controlled by the targeting actuator and positioned to intersect the optical path and deflect the beam; and a combining element positioned in the optical path between the emitter and the first reflective element and configured to differentially deflect the beam and scattered light from the targeting field of view traveling along the optical path in an opposite direction from the beam.

[0018] In some aspects, the optical control module is configured to direct the beam toward the target while the targeting system moves relative to the surface. In some aspects, the targeting module is configured to detect pixel movement of the targeting field of view relative to the target and convert the pixel movement of the targeting field of view to movement of the targeting actuator.

[0019] In some aspects, the targeting system further comprises an inertial measurement unit configured to measure acceleration of the targeting system and rotation of the targeting system relative to the surface. In some aspects, the targeting module is configured to adjust the predicted location based on an amount of time since imaging, the acceleration of the targeting system, the rotation of the targeting system relative to the surface, or a combination thereof. In some aspects, the targeting system further comprises a second targeting module comprising: a second targeting camera configured to image a second targeting field of view on the surface and locate the target in the second targeting field of view; and the targeting module controller configured to convert a location of the target in the second targeting field of view to an orientation of a second targeting actuator. In some aspects, the prediction field of view comprises the targeting field of view.

[0020] In some aspects, the targeting system further comprises a vehicle to transport the prediction camera and the optical control module. In some aspects, the vehicle is an autonomous vehicle. In some aspects, the vehicle comprises a plurality of wheels.

[0021] In some aspects, the optical control module is enclosed in a housing that includes an escape window that is capable of transmitting emitted and visible light and is positioned in the optical path between the first reflective element and the surface. In some aspects, the optical control module is fully enclosed in the housing. In some aspects, the aiming system further includes an air source configured to direct a flow of air from an aperture in an outer surface of the housing toward an outer surface of the escape window. In some aspects, the housing further includes a wall opposite the aperture that is configured to control the direction of the flow of air and reduce turbulence without obstructing the beam.

[0022] In some aspects, the first reflective element is a mirror. In some aspects, the combination element transmits the beam and reflects visible light. In some aspects, the emitter is a laser emitter. In some aspects, the laser emitter is selected from the group consisting of an infrared laser, an ultraviolet laser, and a visible light laser. In some aspects, the optical control module further includes a second aiming actuator connected to the first reflective element and configured to rotate the first reflective element and deflect the beam toward the target. In some aspects, the optical control module further includes: a second reflective element positioned to intersect the optical path and deflect the beam deflected by the first reflective element; and a second aiming actuator connected to the second reflective element and configured to rotate the second reflective element and deflect the beam toward the target. In some aspects, the first aiming actuator deflects the beam along a first axis and the second aiming actuator deflects the beam along a second axis, wherein the first axis and the second axis are orthogonal. In some aspects, the combination element is positioned after the emitter, the first reflective element is positioned after the combination element, and the second reflective element is positioned after the first reflective element with respect to the direction of the beam.

[0023] Additional aspects and advantages of the present disclosure will become readily apparent to those skilled in the art from the following detailed description, wherein only illustrative embodiments of the present disclosure are shown and described, as will be recognized by those skilled in the art. As will be realized, the present disclosure is capable of other and different embodiments, and its several details are capable of modifications in various apparent respects, all without departing from the disclosure. Accordingly, the drawings and description are to be regarded as illustrative in nature and not as restrictive.

[0024] All publications, patents, and patent applications mentioned in this specification are herein incorporated by reference to the same extent as if each individual publication, patent, or patent application was specifically and individually indicated to be incorporated by reference. BRIEF DESCRIPTION OF DRAWINGS

[0025] A better understanding of the features and advantages of the present disclosure will be obtained by reference to the following detailed description and the accompanying drawings, which set forth illustrative embodiments in which the principles of the disclosure are utilized and which are intended to illustrate, not limit, the disclosure:

[0026] Figure 1AFigure illustrating an isometric view of a laser targeting system according to one or more embodiments herein;

[0027] Figure 1B Figure illustrating an isometric view of a laser targeting system with indicated laser path and visible light path according to one or more embodiments herein;

[0028] Figure 2 Figure illustrating a top view of a laser targeting system with indicated laser path and visible light path according to one or more embodiments herein;

[0029] Figure 3A Figure illustrating a side view of a laser targeting system according to one or more embodiments herein;

[0030] Figure 3B Figure illustrating a side view cross-sectional view of a laser targeting system with indicated clean air path according to one or more embodiments herein;

[0031] Figure 4 illustrates a targeting laser and a targeting laser’s targeting footprint according to one or more embodiments herein;

[0032] Figure 4A Figure illustrating a side view of a targeting laser and a targeting laser’s targeting footprint according to one or more embodiments herein;

[0033] Figure 4B Figure illustrating a front view of a targeting laser and a targeting laser’s targeting footprint according to one or more embodiments herein;

[0034] Figure 5 Figure illustrating an isometric view of a prediction camera, multiple targeting lasers, a prediction camera’s prediction view, and a targeting laser’s targeting footprint according to one or more embodiments herein;

[0035] Figure 6 Figure illustrating a front view of an autonomous laser weed eradication robot, a prediction camera, and a footprint of multiple targeting lasers according to one or more embodiments herein;

[0036] Figure 7 Figure illustrating an isometric view of an autonomous laser weed eradication robot, a prediction camera, and a footprint of multiple targeting lasers according to one or more embodiments herein;

[0037] Figure 8 Depicting a method of identifying, assigning, and targeting a target according to one or more embodiments herein;

[0038] Figure 9 Depicting a method of identifying, assigning, targeting, and eradicating weeds in a field according to one or more embodiments herein. DETAILED DESCRIPTION

[0039] Cultivation of crops is of great importance to food and textile production. An important component of crop management is the control or elimination of unwanted plant species, often referred to as weeds. Weeds can decrease crop yield by depriving the intended plants of resources, including water, nutrients, sunlight, and space. Weeds can further interfere with crop growth by harboring pests or parasites that damage the intended plants. Traditional methods of weed control and eradication include manual cultivation or chemical herbicides. Manual cultivation is labor-intensive, resulting in increased costs of crop production and higher prices for food and textiles. The use of chemical herbicides can have negative environmental impacts, including groundwater pollution, acute toxicity, or long-term health effects such as cancer.

[0040] Developing environmentally friendly and low-cost methods of weed control and eradication is important for higher crop yields, lower food prices, and long-term environmental stability. Reducing or eliminating the need for herbicides can reduce many of the negative environmental side effects of crop production, including toxic runoff and groundwater pollution. Reducing the need for manual labor can significantly reduce agricultural costs and improve labor standards.

[0041] The present disclosure provides various methods, devices, modules, and systems that can be used for the autonomous identification, maintenance, control, or targeting of plants. In some embodiments, the methods, devices, modules, and systems disclosed herein can autonomously identify and eradicate weeds located within a field of crops. For example, particular methods for autonomously locating, identifying, and targeting objects, such as weeds, using beams of electromagnetic radiation are disclosed herein. Devices configured to locate, identify, and autonomously target objects using beams are also disclosed herein. The devices can be used, for example, to control or eliminate weeds. For example, the devices can be used to burn or irradiate weeds. Modules disclosed herein can be used for autonomous control of the devices and systems disclosed herein to implement the methods disclosed herein, for example, to locate, identify, target, and control or eliminate weeds. Systems disclosed herein can include devices, modules, and methods configured to autonomously control or eliminate objects, such as weeds, by locating, identifying, and targeting the objects using emissions. At times, the methods, devices, modules, and systems can be used for crop management or for home weed control. The methods, devices, modules, and systems can be used as an alternative to manual cultivation or chemical herbicides.

[0042] Optical control system

[0043] An optical control system for directing a beam (e.g., a light beam) toward a target location on a surface is described herein. Figure 1AAn isometric view of an embodiment of the optical control system 100 disclosed herein is illustrated. A transmitter 101 is configured to guide a beam along an optical path 102. In some embodiments, the beam comprises electromagnetic radiation, such as light, radio waves, microwaves, or X-rays. In some embodiments, the light is visible light, infrared light, or ultraviolet light. The beam may be coherent. In a preferred embodiment, the transmitter is a laser, such as an infrared laser. In some embodiments, the transmitter emits a beam having wavelengths of about 1 m, about 100 mm, about 10 mm, about 1 mm, about 100 μm, about 10 μm, about 1.5 μm, about 1 μm, about 900 nm, about 800 nm, about 700 nm, about 600 nm, about 500 nm, about 400 nm, about 300 nm, about 100 nm, about 10 nm, or about 1 nm. In some embodiments, the transmitter emits a beam having a wavelength ranging from about 1 m to about 100 mm, from about 100 mm to about 10 mm, from about 10 mm to about 1 mm, from about 1 mm to about 100 μm, from about 100 μm to about 10 μm, from about 10 μm to about 1.5 μm, from about 1.5 μm to about 1 μm, from about 1 μm to about 900 nm, from about 900 nm to about 800 nm, from about 800 nm to about 700 nm, from about 700 nm to about 600 nm, from about 600 nm to about 500 nm, from about 500 nm to about 400 nm, from about 400 nm to about 300 nm, from about 300 nm to about 100 nm, from about 100 nm to about 10 nm, or from about 10 nm to about 1 nm. In some embodiments, the transmitter may be capable of emitting electromagnetic radiation up to 10mW, up to 100mW, up to 1W, up to 10W, up to 100W, up to 1kW, or up to 10kW. In some embodiments, the transmitter may be capable of emitting electromagnetic radiation from 10mW to 100mW, from 100mW to 1W, from 1W to 10W, from 10W to 100W, from 100W to 1kW, or from 1kW to 10kW.

[0044] Figure 1B It shows Figure 1A An isometric view of an embodiment of the optical control device 100 is shown, further illustrating the orientation and direction of the beam path 102. Reference numerals are in... Figure 1A and Figure 1Bbetween the first and second reflective elements. One or more optical elements can be positioned in the path of the beam. The optical elements can include one or more of the beam combiner 103, the first reflective element 105, and the second reflective element 106. These elements can be configured in the direction of the beam path in the order of the beam combiner 103, then the first reflective element 105, then the second reflective element 106. In another example, one or both of the first reflective element or the second reflective element can be configured in the direction of the beam path in the order before the beam combiner. In another example, the optical elements can be configured in the direction of the beam path in the order of the beam combiner 103, then the first reflective element 105. In another example, one or both of the first reflective element or the second reflective element can be configured in the direction of the beam path before the beam combiner. Any number of additional reflective elements can be positioned in the beam path.

[0045] The beam combiner can also be referred to as a beam combining element. In some embodiments, the beam combiner 103 can be a zinc selenide (ZnSe), zinc sulfide (ZnS), or germanium (Ge) beam combiner. For example, the beam combiner can be configured to transmit infrared light and reflect visible light. In some embodiments, the beam combiner 103 can be dichroic. In some embodiments, the beam combiner can be configured to pass electromagnetic radiation having a wavelength longer than a cutoff wavelength and reflect electromagnetic radiation having a wavelength shorter than the cutoff wavelength. In some embodiments, the beam combiner can be configured to pass electromagnetic radiation having a wavelength shorter than a cutoff wavelength and reflect electromagnetic radiation having a wavelength longer than the cutoff wavelength. In some embodiments, the cutoff wavelength can be about 1 m, about 100 mm, about 10 mm, about 1 mm, about 100 pm, about 10 pm, about 1.5 pm, about 1 pm, about 900 nm, about 800 nm, about 700 nm, about 600 nm, about 500 nm, about 400 nm, about 300 nm, about 100 nm, about 10 nm, or about 1 nm. In some embodiments, the cutoff wavelength can be from about 1 m to about 100 mm, from about 100 mm to about 10 mm, from about 10 mm to about 1 mm, from about 1 mm to about 100 pm, from about 100 pm to about 10 pm, from about 10 pm to about 1.5 pm, from about 1.5 pm to about 1 pm, from about 1 pm to about 900 nm, from about 900 nm to about 800 nm, from about 800 nm to about 700 nm, from about 700 nm to about 600 nm, from about 600 nm to about 500 nm, from about 500 nm to about 400 nm, from about 400 nm to about 300 nm, from about 300 nm to about 100 nm, from about 100 nm to about 10 nm, or from about 10 nm to about 1 nm. In other embodiments, the beam combiner can be a polarizing beam splitter, a long pass filter, a short pass filter, or a band pass filter.

[0046] The orientation and orientation of one or both of the first reflective element 105 and the second reflective element 106 can be controlled by an actuator. In some embodiments, the actuator can be a motor, a solenoid, a galvanometer, or a servomechanism. For example, the orientation of the first reflective element can be controlled by a first actuator, and the orientation and orientation of the second reflective element can be controlled by a second actuator. In some embodiments, a single reflective element can be controlled by multiple actuators. For example, the first reflective element can be controlled by a first actuator along a first axis and a second actuator along a second axis. In some embodiments, a single actuator can control a reflective element along multiple axes. The actuator can change the orientation of the reflective element by rotating the reflective element, thereby changing the angle of incidence of the beam encountering the reflective element. Changing the angle of incidence can cause a translation of the location on the surface where the beam encounters the surface. In some embodiments, the angle of incidence can be adjusted so that the location on the surface where the beam encounters the surface is maintained as the optical system moves relative to the surface. In some embodiments, a first actuator rotates the first reflective element about a first rotation axis, thereby translating the location on the surface where the beam encounters the surface along a first translation axis, and a second actuator rotates the second reflective element about a second rotation axis, thereby translating the location on the surface where the beam encounters the surface along a second translation axis. In some embodiments, a first actuator and a second actuator rotate the first reflective element about a first rotation axis and a second rotation axis, thereby translating the location on the surface where the beam encounters the first reflective element surface along a first translation axis and a second translation axis. For example, a single reflective element can be controlled by a first actuator and a second actuator, providing translation of the location on the surface where the beam encounters the surface along a first translation axis and a second translation axis, where the single reflective element is controlled by the two actuators. The first translation axis and the second translation axis can be orthogonal. The footprint on the surface can be defined by the maximum translation along the first translation axis and the maximum translation along the second translation axis. One or both of the first actuator and the second actuator can be servocntrrolled, piezoelectrically actuated, piezoelectrically inertially actuated, step motor controlled, galvanometer driven, linear actuator controlled, or any combination thereof. One or both of the first reflective element and the second reflective element can be a mirror; for example, a dichroic mirror or a dielectric mirror; a prism; a beamsplitter; or any combination thereof. In some embodiments, one or both of the first reflective element and the second reflective element can be any element capable of deflecting a beam.

[0047] Figure 2 An embodiment of the optical control system 100 as shown in Figure 1A and Figure 1B is shown in a top view. Figure 1A 、 Figure 1B and Figure 2The reference numerals are consistent throughout. The aiming camera 104 is positioned to capture light 152, such as visible light, traveling along an optical path in the opposite direction to the beam combiner 151. The light may be scattered by a surface, such as the surface including the target. In some embodiments, the aiming camera is positioned such that it captures light reflected away from the beam combiner 103. In other embodiments, the aiming camera is positioned such that it captures light transmitted through the beam combiner. The aiming camera may be configured to image the target field of view on the surface. The aiming camera may be coupled to the beam combiner, or the aiming camera may be coupled to a support structure supporting the beam combiner. In a preferred embodiment, the aiming camera does not move relative to the beam combiner.

[0048] Figure 3A and Figure 3B A side view of an embodiment of the optical control device disclosed herein is shown. Reference numerals are consistent between Figures 1 to 3. Figure 3B The illustration depicts a mechanism for preventing dust and debris from accumulating on the optical elements of the optical control device shown in Figures 1 through 3. In some embodiments, the optical element may include a hard stop 351 on a reflector to prevent the beam from striking areas of the optical control device outside a predetermined boundary on the surface. The optical element (e.g., a beam combining element and one or both reflective elements) may be protected by a housing. The optical element may be enclosed by a housing. In some embodiments, the housing is sealed to prevent dust, debris, water, or any combination thereof from contacting the optical element. Figure 3B As shown, the housing may include a laser escape window 107. In some embodiments, the laser escape window is positioned to intersect the beam following the second reflecting element in the beam path, or the laser escape window is positioned to intersect the beam following the first reflecting element in the beam path. In some embodiments, the laser escape window is the last element in the beam path. The laser escape window prevents dust, debris, water, or any combination thereof from reaching the optical element. In some embodiments, the laser escape window comprises a material that is substantially transparent to electromagnetic radiation (such as light). For example, the laser escape window may comprise glass, quartz, fused silica, zinc selenide, a transparent polymer, or a combination thereof.

[0049] The housing may also include a self-cleaning device configured to prevent dust or debris from accumulating on the surface of the laser exit window or to remove dust or debris already accumulated on the surface of the laser exit window. In some embodiments, the self-cleaning device includes an orifice 352 in the outer surface of the housing configured to discharge clean air 353. The clean air prevents debris from damaging the laser exit window. In some embodiments, the clean air may be filtered. The orifice may be configured to direct airflow toward the outer surface of the exit window. The orifice may be configured such that clean air is directed across the surface of the laser exit window. In some embodiments, the housing is configured to direct clean air without obstructing the beam 102. For example, the housing may include an opening 354 in the beam path after the laser exit window, the opening 354 having a gap that allows the beam to pass through unobstructed. In some embodiments, the opening includes a wall opposite the orifice. The wall may be configured to control the direction of the airflow and reduce turbulence without obstructing the beam. The opening may encompass both the laser exit window and the beam path, and is configured such that the opening is narrower near the laser exit window and wider away from the laser exit window in the direction of the beam path. In some embodiments, the opening has a smooth corner 355 to allow clean air to pass through while preventing turbulence.

[0050] After leaving the optical control system, the beam 102 can be guided toward the surface, such as... Figure 4A and Figure 4B As shown in the illustration. In some embodiments, the surface includes a target, such as weeds. Figure 2 As shown, the rotational motion of one or both of the reflecting elements 105 and 106 can generate laser sweeping along the first translation axis 401 and laser sweeping along the second translation axis 402, respectively as follows: Figure 4A and Figure 4B As shown in views 400 and 450. Rotational movement of one or both of the reflecting elements controls the position where the beam encounters the surface. For example, rotational movement of one or both of the reflecting elements can move the position where the beam encounters the surface to the orientation of the target on the surface. In some embodiments, the beam is configured to damage the target. For example, the beam may include electromagnetic radiation and may irradiate the target. In another example, the beam may include infrared light and may burn the target. In some embodiments, one or both of the reflecting elements are rotatable such that the beam scans the area surrounding and including the target.

[0051] Composite System

[0052] In some embodiments, multiple optical control systems may be combined to increase the coverage area on the surface. Figure 5A composite system 500 is illustrated that includes multiple optical control systems 100. The multiple optical control systems are configured such that the laser sweep along the translation axis 402 of each optical control system overlaps with the laser sweep along the translation axis of an adjacent optical control system. The combined laser sweeps define a footprint 503 that is reachable by at least one of the multiple beams from the multiple optical control systems. A prediction camera 501 can be positioned such that the prediction camera field of view 502 completely encompasses the footprint 503.

[0053] The multiple optical control systems can be constructed on a vehicle 601 as shown in the view 600 of Figure 6 and the view 700 of Figure 7 For example, the vehicle can be an autonomous vehicle. The autonomous vehicle can be a robot. In some embodiments, the vehicle can be controlled by a human. For example, the vehicle can be driven by a human driver. In some embodiments, the vehicle can be coupled to a second vehicle driven by a human driver, such as being towed behind or pushed by the second vehicle. The vehicle can be remotely controlled by a human, such as through a remote controller. In some embodiments, the vehicle can be remotely controlled via long wave signals, light signals, satellite, or any other remote communication method. The multiple optical control systems can be constructed on the vehicle such that the footprint overlaps a surface underneath, behind, in front of, or around the vehicle. The vehicle can be constructed to navigate over a surface that includes multiple targets, such as a crop field that includes multiple weeds. The vehicle can include one or more of multiple wheels, a power source, a motor, a prediction camera 501, or any combination thereof. In some embodiments, the vehicle has enough clearance above the surface to drive over plants (e.g., crops) without damaging the plants. In some embodiments, the space between the inner edge of the left wheel and the inner edge of the right wheel is wide enough to pass over a row of plants without damaging the plants. In some embodiments, the distance between the outer edge of the left wheel and the outer edge of the right wheel is narrow enough to allow the vehicle to pass between two rows of plants (e.g., two rows of crops) without damaging the plants. In preferred embodiments, a vehicle that includes multiple wheels, multiple optical control systems, and a prediction camera can navigate over rows of crops and emit one of the multiple beams toward a target (e.g., a weed), thereby burning or irradiating the weed.

[0054] The prediction module

[0055] A prediction module configured to locate a target on a surface is disclosed herein. Figure 8A prediction module 810 configured to identify, assign, and aim targets is illustrated. In some embodiments, a target prediction system 811 is configured to use a prediction camera 501 to capture an image of a prediction field of view that includes a surface, identify a target in the image, and locate the target in the prediction field of view. A camera-to-control translation system 812 can be configured to translate the location of the target in the prediction field of view to a position on the surface. For example, the camera-to-control translation system can establish a plurality of interpolation functions that provide a translation from a location in the prediction field of view to one or more actuator positions (e.g., pan and tilt positions) of one or more actuators that control one or more reflective elements 105 and 106, as illustrated in FIGS. 1-3.

[0056] Figure 8 The prediction module 810 illustrated in FIG. 3 can also include a pose and motion correction system 813. The pose and motion correction system can include a positioning system, such as an inertial measurement unit (IMU), a global positioning system (GPS), or an inertial navigation system (INS). The pose and motion correction system can utilize an inertial measurement unit (IMU) that can be directly or indirectly coupled to the prediction camera. For example, the prediction camera and the IMU can be mounted to a vehicle. The IMU can collect motion readings of the IMU and anything directly or indirectly coupled to the IMU, such as the prediction camera. For example, the IMU can collect readings including three-dimensional acceleration and three-dimensional rotation information that can be used to determine the magnitude and direction of motion over elapsed time. The pose and motion correction system can include a global positioning system (GPS). The GPS can be directly or indirectly coupled to the aiming camera. For example, the GPS can communicate with a satellite-based radio navigation system to measure a first position of the aiming camera at a first time and a second position of the aiming camera at a second time. The pose and motion correction system can include an inertial navigation system (INS). The INS can be directly or indirectly coupled to the aiming camera. For example, the INS can include motion sensors (e.g., accelerometers) and rotation sensors (e.g., gyroscopes) to measure the position, orientation, and velocity of the aiming camera. The pose and motion correction system can or can not use an external reference to determine changes in the position of the aiming camera. The pose and motion correction system can determine changes in the position of the aiming camera from the first position and the second position. In some embodiments, after the target prediction system locates a target in the image, the pose and motion correction system determines the amount of time that has elapsed since the image was captured and the magnitude and direction of motion of the prediction camera that has occurred during the elapsed time. The pose and motion correction system can integrate the target position, the elapsed time, and the magnitude and direction of motion to determine a corrected position of the target on the surface.

[0057] The prediction module can also include an image detection module. The imaging detection module can be configured to locate and identify targets in an image. For example, the imaging detection module can be configured to distinguish between two plants, such as between a crop and a weed. In some embodiments, the imaging detection module includes the use of a convolutional neural network. The neural network can be trained with many images of a surface with or without a target, such as images from a prediction camera or a targeting camera. For example, the neural network can be trained with images of a field with or without weeds. Once trained, the neural network can be configured to identify a region of the image that includes a target. The region can be defined by a polygon, e.g., a rectangle. In some embodiments, the region is a bounding box. In some embodiments, the region is a polygonal mask that covers the identified region.

[0058] Based on the location of the target, the target assignment system 814 can assign the target to a targeting module 820 of the plurality of targeting modules. The location of the target can be corrected based on the magnitude and direction of motion during the elapsed time, or the location can be within the region defined by the polygon, or both. The future target location can be determined based on the predicted magnitude and direction of motion during the future time period. The target assignment module can assign the target to a targeting module that has an area of coverage that overlaps the target location, the corrected target location, or the future target location.

[0059] The prediction module can include a system controller, e.g., a system computer with a storage device, random access memory (RAM), a central processing unit (CPU), and a graphics processing unit (GPU). The system computer can include a tensor processing unit (TPU). The system computer should include sufficient RAM, storage space, CPU processing power, and GPU processing power to perform the operations of detecting and identifying targets. The prediction camera should provide images with sufficient resolution for the operations of detecting and identifying targets to be performed thereon.

[0060] Targeting module

[0061] Disclosed herein is a targeting module configured to direct a beam toward a target location on a surface. Figure 8An aiming module 820 is illustrated, which is configured to predict the location of a target and move one or more optical elements to direct a beam toward the target location. Multiple aiming modules can be in communication with the prediction module 810. The aiming module includes an optical control system as described herein. For example, as shown in FIGS. 1-3, the aiming module can include a transmitter 101 that emits a beam 102 along an optical path, and a beam combining element 103, optionally an aiming camera 104, a first reflective element 105 configured to deflect the beam controlled by a first actuator, and optionally a second reflective element 106 positioned in the optical path configured to deflect the beam controlled by a second actuator. One or both of the actuators can be configured to rotate one or both of the reflective elements about a first rotational axis and optionally a second rotational axis, thereby changing the deflection of the beam path and translating the location of the beam’s encounter with the surface along a first translational axis and optionally along a second translational axis. In some embodiments, the first and second actuators can rotate a single reflective element about the first and second rotational axes, thereby providing translation of the location of the beam’s encounter with the surface along the first and second translational axes. The prediction camera should have a large enough field of view to image the footprint of the beam path.

[0062] As shown in FIG. 4, a target prediction system 821 captures an image of a region on the surface. The region can be predicted to contain a target, as predicted by the prediction module 810. The target prediction system can identify the pixel location of the target in the image. A camera-to-control translation system 822 can translate the pixel location of the target image to the location of the first reflective element and optionally the second reflective element. The location of the reflective elements can be controlled by actuators, as described herein. For example, the camera-to-control translation system can translate the pixel location of the target to a translation or tilt value of one or both actuators that correspond to the predicted mirror location that deflects the beam to the target location. Figure 8

[0063] In some embodiments, the target prediction system further includes an image detection module. The image detection module can be configured to locate and identify a target in an image. For example, the image detection module can be configured to distinguish between two types of plants, such as between a crop and a weed. In some embodiments, the image detection module includes a convolutional neural network. The neural network can be trained with many images of the surface with or without a target, such as images from the prediction camera or the aiming camera. For example, the neural network can be trained with images of a field with or without weeds. Once trained, the neural network can be configured to identify a region in an image that includes a target. The region can be defined by a polygon, for example, a rectangle. In some embodiments, the region is a bounding box. In some embodiments, the region is a polygonal mask that covers the identified region.

[0064] ​The target position can be further corrected using a pose and motion correction system 823. The pose and motion correction system can use a positioning system (e.g., an IMU, a GPS, or an INS) to determine the magnitude and direction of motion of the targeting camera. In some embodiments, acceleration and rotation readings from an IMU directly or indirectly coupled to the targeting camera are used to determine the magnitude and direction of motion. For example, a prediction camera and an IMU can be mounted to a vehicle. The IMU can collect motion readings of the IMU and anything directly or indirectly coupled to the IMU, such as the targeting camera. For example, the IMU can collect readings including three-dimensional acceleration and three-dimensional rotation information that can be used to determine the magnitude and direction of motion over elapsed time. In some embodiments, the pose and motion correction system can use a GPS to determine the magnitude and direction of motion of the targeting camera. For example, a GPS can be mounted to a vehicle. The GPS can communicate with a satellite-based radio navigation system to measure a first bearing of the targeting camera at a first time and a second bearing of the targeting camera at a second time. In some embodiments, the pose and motion correction system can use an INS to determine the magnitude and direction of motion of the targeting camera. For example, the INS can measure the bearing, orientation, and velocity of the targeting camera. In some embodiments, after the target prediction system 821 locates the target in the image, the pose and motion correction system determines the amount of time that has elapsed since the image was captured and the magnitude and direction of motion of the targeting camera that has occurred during the elapsed time. The pose and motion correction system can integrate the target position, the elapsed time, and the magnitude and direction of motion to determine a corrected position of the target on the surface. In some embodiments, the positioning system used by the pose and motion correction system of the targeting module 823 and the positioning system used by the pose and motion correction system of the prediction module 813 are the same. A future target position can be determined based on a predicted magnitude and direction of motion during a future time period. In some embodiments, the positioning system used by the pose and motion correction system of the targeting module and the positioning system used by the pose and motion correction system of the prediction module are different.

[0065] The actuator control system 824 includes software-driven electrical components that are capable of providing signals to the first actuator and, optionally, the second actuator, thereby controlling the first reflective element and, optionally, the second reflective element. For example, the actuator control system sends a signal to the first actuator and the second actuator that includes a pantilt value for the actuator. The actuator adopts the pantilt bearing signaled by the signal and moves the first reflective element and, optionally, the second reflective element about the first and second rotational axes to a bearing such that the beam is deflected to the target position, the corrected target position, or the future target position.

[0066] The laser control system 825 includes software-driven electrical components that can control the activation and deactivation of the emitters. Activation or deactivation can depend on the presence or absence of a target detected by the targeting camera 104. Activation or deactivation can depend on the orientation of the beam path directed toward the surface relative to the position of the target. In some embodiments, the laser control system can activate the emitters when a target is identified by the prediction system. In some embodiments, the laser control system can activate the emitters when the beam path is positioned to overlap the position of the target. In some embodiments, the laser control system can activate the emitters when the beam path is within an area of the surface that includes a target defined by a polygon (e.g., a bounding box or a polygon mask covering the identified area). Once the target has been eliminated, the area including the target has been scanned by the beam, the target is no longer identified by the target prediction module, a specified period of time has elapsed, or any combination thereof, the laser control system can deactivate the emitters. For example, once an area on the surface including the weeds has been scanned by the beam, or once the weeds have been irradiated or burned, the laser control system can deactivate the emitters.

[0067] The prediction module and the targeting module described herein can be used in combination to locate, identify, and target a target with a beam. The targeting control module can include an optical control system as described herein. The prediction module and the targeting module can be in communication, for example, electrical or digital communication. In some embodiments, the prediction module and the targeting module are directly or indirectly coupled. For example, the prediction module and the targeting module can be coupled to a support structure. In some embodiments, the prediction module and the targeting module are configured on a vehicle (e.g., the vehicle 601) as shown in FIGS. 1-2. Figure 6 and Figure 7

[0068] The targeting module can include a system controller, for example, a system computer with a storage device, random access memory (RAM), a central processing unit (CPU), and a graphics processing unit (GPU). The system computer can include a tensor processing unit (TPU). The system computer should include sufficient RAM, storage space, CPU processing power, and GPU processing power to perform the operations of detecting and identifying a target. The targeting camera should provide images with sufficient resolution for the operations of detecting and identifying a target to be performed thereon.

[0069] Calibration method

[0070] ​The prediction module disclosed herein can also include a calibration step. In some embodiments, the camera-to-control transition system of the prediction module 812 is calibrated. In some embodiments, a calibration surface is positioned within the field of view of the prediction camera. The calibration surface includes known markers at known locations. The prediction camera can collect multiple images of the calibration surface at different locations relative to the calibration surface. The prediction module can then correlate the pixel locations of the known markers to the known locations on the surface. An interpolation function can be constructed from the multiple correlated pixel locations and known surface locations. In some embodiments, the interpolation function can be saved to a hard drive and loaded by the prediction module from the hard drive.

[0071] The targeting module disclosed herein can also include a calibration step. In some embodiments, the camera-to-control transition system of the targeting module 812 is calibrated. In some embodiments, a calibration surface is positioned within the field of view of the targeting camera. The calibration surface includes known markers at known locations. The targeting module can collect multiple images of the calibration surface and multiple actuator locations, such that the multiple images include different fields of view. For example, the targeting module can collect multiple images at multiple randomly selected translational tilt values of the first and second actuators. A calibration map can be constructed from multiple sample points. Each sample point can be collected by identifying the pixel location of a known marker in an image collected at a known actuator location and correlating the known location to the actuator location and pixel location. In some embodiments, the map is fit to a spline smoothing algorithm to construct a smooth curve, allowing for accurate estimation of locations between sample points. In some embodiments, the spline smoothing algorithm can be saved to a hard drive and loaded by the targeting module from the hard drive.

[0072] Weed eradication system

[0073] Figure 9 A process 900 is illustrated for embodiments of the devices and methods disclosed herein. The following example is illustrative and not limiting to the scope of the devices, systems, and methods described herein. The process includes identifying, assigning, targeting, and eradicating weeds in a field. In this example, the weed eradication system includes a prediction module 810 in communication with multiple targeting modules 820. The prediction module and targeting modules are controlled by a system controller (e.g., a computer including a storage device, RAM, CPU, and GPU). Each targeting module includes an optical control system 100, as shown in FIGS. 1-3. The prediction module and targeting modules are coupled to a solid support. As Figure 6 and Figure 7 The solid support is positioned on a vehicle 601, as shown in

[0074] As Figure 9The iterative operations 920, 930, 940, 950, and 960 are shown in FIG. 9. First, the prediction module operates 920. The prediction camera collects images of the field surface in the area around or in front of the vehicle. The system controller processes the images and identifies weeds in the images. At step 921, the prediction model predicts the location of the weed or weeds identified in the images. At step 922, the camera-to-control system translates the pixel coordinates of the weeds in the images to ground locations. At 922, the system controller instructs the vehicle to adjust heading and speed 923 based on the motion of the vehicle measured by the IMU. Each of the weed or weeds is assigned to a targeting module 924 based on the ground location of the weed and the footprint of the targeting module.

[0075] The operations 930, 940, 950, and 960 are iterated for each target module 925. The operations 940, 950, and 960 are iterated for each weed. A targeting module of the plurality of targeting modules operates 940. The targeting camera captures a target image of the field, and the system controller identifies weeds in the target image 941. The system controller translates the pixel locations of the weeds in the target image to pan and tilt values for each actuator controlling each reflective element in the optical control system controlled by the targeting module 942. The system controller applies pose and motion corrections to the actuator pan and tilt values based on the motion of the vehicle measured by the IMU at 943, and routes a path for the emitted beam controlled by the actuator pan and tilt heading 944. Once the actuator reaches the determined heading, the emitter is enabled 945.

[0076] The operation 950 is repeated while the planned route is implemented 946. Weeds are identified in images collected by the targeting camera, and the route plan is updated based on the observed heading of the weeds 952. At 953, the system controller applies pose and motion corrections to the actuator pan and tilt values based on the motion of the vehicle measured by the IMU. The actuator is moved into position based on the updated route plan 954. Once the planned route has been completed, the emitter is disabled 960.

[0077] While the preferred embodiments of the present disclosure have been shown and described herein, it is to be understood that the embodiments have been presented by way of example only. Numerous variations, changes, and substitutions will now occur to those skilled in the art without departing from the disclosure. It should be understood that in the implementation of the disclosure, various alternatives to the embodiments of the disclosure described herein can be employed.

Claims

1. A targeting system for targeting a target on a surface, the targeting system comprising a prediction module and a targeting module; the prediction module comprising: a prediction camera configured to image a prediction camera field of view on the surface and locate the target in the prediction camera field of view, and a prediction module controller configured to convert a location of the target in the prediction camera field of view to a predicted location of the target on the surface, assign the target to the targeting module and provide the predicted location to the targeting module; the targeting module comprising: a targeting module controller configured to receive the predicted location from the prediction module and convert the predicted location to a bearing of an actuator; an optical control system comprising the actuator, wherein the optical control system is configured to point a targeting camera toward the predicted location, a targeting camera configured to image a target field of view covering the predicted location, wherein the targeting module controller is further configured to determine a location of the target in the target field of view, and a transmitter configured to transmit a beam along an optical path toward the target, wherein the optical control system is further configured to receive bearing information from the targeting module controller and deflect the beam toward the target based on the location of the target in the target field of view.

2. The sighting system of claim 1, wherein, the optical control system further comprising: a first reflective element controlled by the actuator and positioned to intersect the optical path and deflect the beam, and a beam combiner positioned in the optical path between the transmitter and the first reflective element and configured to differentially deflect the beam and visible light from the target field of view traveling along the optical path in an opposite direction to the beam.

3. The sighting system of claim 2, wherein, the first reflective element is a mirror.

4. The sighting system of claim 2, wherein, the beam combiner transmits the beam and reflects the visible light.

5. The sighting system of any one of claims 2 to 4, wherein, the optical control system further comprises a second actuator connected to the first reflective element and configured to rotate the first reflective element and deflect the beam toward the target.

6. The sighting system of any one of claims 2 to 4, wherein, the optical control system further comprises a second reflective element positioned to intersect the optical path and deflect the beam deflected by the first reflective element, and a second actuator connected to the second reflective element and configured to rotate the second reflective element and deflect the beam toward the target.

7. The sighting system of claim 6, wherein, the actuator deflects the beam along a first translational axis and the second actuator deflects the beam along a second translational axis, wherein the first translational axis and the second translational axis are orthogonal.

8. The sighting system of claim 6, wherein, the beam combiner is positioned after the transmitter, the first reflective element is positioned after the beam combiner, and the second reflective element is positioned after the first reflective element with respect to a direction of the beam.

9. The sighting system of any one of claims 1 to 4, wherein, the optical control system is configured to direct the beam toward the target while the targeting system moves relative to the surface.

10. The sighting system of any one of claims 1 to 4, wherein, the targeting module is configured to detect pixel movement of the target field of view relative to the target and convert from pixel movement of the target field of view to movement of the actuator.

11. The targeting system of any one of claims 1 to 4, further comprising an inertial measurement unit configured to measure acceleration of the targeting system and rotation of the targeting system relative to the surface.

12. The sighting system of any one of claims 1 to 4, wherein, The targeting module is configured to adjust the predicted position based on an amount of time since the imaging, acceleration of the targeting system, rotation of the targeting system relative to the surface, or a combination thereof.

13. The targeting system of any one of claims 1 to 4, further comprising a second targeting module comprising: a second targeting camera configured to image a second target field of view on the surface and locate the target in the second target field of view, and a second targeting module controller configured to convert a position of the target in the second target field of view to an orientation of a second actuator.

14. The sighting system of any one of claims 1 to 4, wherein, The target field of view is contained within the predicted camera field of view.

15. The sighting system of any one of claims 1 to 4, wherein, The emitter is a laser.

16. The sighting system of claim 15, wherein, The laser is an infrared laser, an ultraviolet laser, or a visible light laser.

17. The sighting system of any one of claims 1 to 4, wherein, The optical control system is enclosed in a housing, the housing comprising a laser escape window that is transmissive to the beam and visible light, wherein the escape window is positioned in the optical path between the first reflective element and the surface.

18. The sighting system of claim 17, wherein, The optical control module is fully enclosed in the housing.

19. The targeting system of claim 17, further comprising an aperture in an outer surface of the housing, the aperture configured to direct air from the aperture toward an outer surface of the laser escape window.

20. The sighting system of claim 19, wherein, The housing further comprises a wall opposite the aperture, the wall configured to control a direction of the air and reduce turbulence without impeding the beam.

21. The targeting system of any one of claims 1 to 4, further comprising a vehicle that transports the predicted camera and the optical control module system.

22. The sighting system of claim 21, wherein, The vehicle is an autonomous vehicle.

23. The sighting system of claim 21, wherein, The vehicle comprises a plurality of wheels.

24. The sighting system of any one of claims 1 to 4, wherein, The surface is an agricultural surface, and wherein the target is a weed.

25. The sighting system of claim 24, wherein, The beam is further configured to eradicate the weed when the beam is deflected toward the weed.

26. The sighting system of any one of claims 1 to 4, wherein, The actuator is further configured to simultaneously control an optical path of the beam and a direction of the targeting camera.

27. A method of weed eradication, comprising: capturing an image of a predicted field of view with a predicted camera; locating a target in the predicted field of view; converting a position of the target in the predicted camera field of view to a predicted position of the target on a surface; assigning the target to one of a plurality of targeting modules, the plurality of targeting modules comprising a targeting camera having a targeting field of view, the targeting field of view comprising the target; capturing an image of the targeting field of view covering the predicted position with the targeting camera; locating the target in the targeting field of view to determine a position of the target; and directing a beam toward the position of the target based on the position of the target in the targeting field of view. Locating the target in the predicted field of view further comprises identifying an orientation of the target in the predicted field of view.

28. The method of weed eradication of claim 27, wherein, The area is defined by a polygon.

29. The method of weed eradication of claim 27, further comprising identifying a region containing the target, wherein, The area is defined by a polygon.

30. The weed eradication method of claim 28, further comprising converting a bearing of the target in the predicted field of view to a predicted surface location.

31. The weed eradication method of any one of claims 27-30, further comprising determining an expected movement in the aiming field of view.

32. The weed eradication method of claim 31, further comprising converting the expected movement to a bearing change of an actuator.

33. The method of weed eradication according to any one of claims 27 to 30, wherein, Locating the target comprises using a trained neural network to identify the target.

34. The method of weed eradication of claim 33, wherein, The trained neural network is capable of providing a bounding box, a polygon mask, or a combination thereof around the target.

35. The method of weed eradication of claim 33, wherein, The trained neural network is trained with images of a field.

36. The method of weed eradication according to any one of claims 27 to 30, wherein, Locating the target in the aiming field of view further comprises referencing a calibration function obtained by correlating positions of fiducial markers on a calibration surface to camera pixel coordinates and correcting a position of the target.

37. The method of weed eradication according to any one of claims 27 to 30, wherein, Assigning the target to one of the plurality of aiming modules comprises providing a position of the target to one of the plurality of aiming modules.

38. The weed-eradication method according to any one of claims 27 to 30, wherein, Directing a beam toward the position of the target further comprises referencing a calibration function obtained by correlating pixel movements of fiducial markers on a calibration surface to actuator tilt values and correcting an actuator tilt value.

39. The weed eradication method of any one of claims 27-30, further comprising deactivating the beam once the target has been damaged or killed.

40. The method of weed eradication according to any one of claims 27 to 30, wherein, Capturing an image of the aiming field of view with the aiming camera, locating the target in the aiming field of view, and directing a beam toward the position of the target are performed with high precision.

41. The method of weed eradication according to any one of claims 27 to 30, wherein, The target is a weed.

42. The weed eradication method of claim 41, further comprising damaging or killing the weed.

43. The method of weed eradication of claim 42, wherein, Damaging or killing the weed comprises irradiating the weed.

44. The method of weed eradication of claim 41, wherein, Damaging or killing the weed comprises burning the weed.

45. The method of weed eradication of claim 41, wherein, Locating the target comprises distinguishing between the weed and an intended plant.

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