Movable cleaning device

Abstract

A mobile cleaning device includes a camera, a laser oscillator, a control unit, and a guide unit. The guide portion has at least one reflection portion configured to reflect the laser beam. At least one of the reflection parts is a specific reflection part having a function of reflecting a laser beam and a function of transmitting light capable of imaging by the camera. The camera is configured in a manner that the optical axis of the camera passes through the specific reflection part in an area where the laser beam does not pass.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to a mobile removal device for removing an obstacle that can inhibit the growth of a plant. BACKGROUND

[0002] As described in, for example, Japanese Patent Application Publication No. 2023-116312, a mobile weeding device configured to remove a noxious plant by irradiating a laser beam to the noxious plant growing on a farmland is known. The mobile weeding device is provided with a camera for capturing an image of the ground below the device, and the mobile weeding device grasps the position of the noxious plant from the captured image captured by the camera, and irradiates a laser beam to the noxious plant from a laser irradiation device provided at the lower portion of the main body of the mobile weeding device. SUMMARY

[0003] However, in the above-described mobile weeding device, the position of the laser irradiation device provided at the lower portion of the main body of the mobile weeding device and the position of the camera are separated from each other. Therefore, when the irradiation position of the laser beam is controlled, the correction process performed on the position determined from the captured image of the camera is more cumbersome.

[0004] In one aspect of the present disclosure, it is desirable to simplify the correction process related to the irradiation position of the laser beam.

[0005] One aspect of the present disclosure is a mobile removal device configured to irradiate a laser beam to an obstacle that can inhibit the growth of a plant. The mobile removal device is provided with a camera, a laser oscillator, a control section, a guide section, and a mobile mechanism.

[0006] The camera is configured to capture an image of the obstacle. The laser oscillator is configured to output a laser beam. The control section is configured to detect the obstacle from the captured image captured by the camera, and control the laser oscillator. The guide section is configured to guide the laser beam output from the laser oscillator. The mobile mechanism is configured to move the mobile removal device.

[0007] The guide section has at least one reflection section configured to reflect the laser beam. At least one of the reflection sections is a specific reflection section having a function of reflecting the laser beam and a function of allowing the camera to capture an image. The camera is disposed so that an optical axis of the camera passes through the specific reflection section in a region where the laser beam does not pass.

[0008] According to the above-described configuration, the camera is disposed so that the optical axis of the camera passes through the specific reflection section. Thereby, compared to a case where the optical axis of the camera does not pass through the specific reflection section, the optical axis (irradiation axis) of the laser beam reflected at the specific reflection section and the optical axis of the camera can be brought close to each other. Therefore, the operation related to the correction of the irradiation position of the laser beam can be simplified, and thereby the correction process at that time can be simplified.

[0009] In one aspect of this disclosure, the control unit can control the irradiation position of the laser beam by changing the direction of the laser beam reflected by the reflector. Based on the above configuration, the irradiation position of the laser beam can be controlled using the reflector.

[0010] In one embodiment of this disclosure, at least one of the reflective elements can be configured as a galvanometer mirror. Based on this configuration, the galvanometer mirror can be used to control the irradiation position of the laser beam.

[0011] In one aspect of this disclosure, the control unit can identify the illumination position of the laser beam based on the captured image from the camera and correct the illumination position of the laser beam. According to this configuration, since feedback control can be performed using the captured image, the illumination position of the laser beam can be corrected with high precision.

[0012] In one embodiment of this disclosure, the specific reflective element can be configured as a dichroic mirror. Based on this configuration, the dichroic mirror can be used to both reflect laser beams and allow light to pass through, enabling the camera to capture images.

[0013] In one embodiment of this disclosure, the control unit can cause the laser oscillator to output a laser beam while the mobile cleaning device is moved via a moving mechanism. Based on this configuration, cleaning operations can be performed while the mobile cleaning device is being moved.

[0014] In one embodiment of this disclosure, the laser oscillator can output a blue laser beam. Based on the above configuration, since the blue laser used is a wavelength of light with relatively high energy density in the visible spectrum, it can effectively remove weeds. Furthermore, the blue laser is in a wavelength region where energy is not easily absorbed by water, so even if rainwater or other moisture adheres to the obstacle, the blue laser can effectively remove it. Attached Figure Description

[0015] Figure 1A This is a schematic diagram showing the mobile cleaning device viewed from the front. Figure 1B This is a schematic diagram of the mobile cleaning device and the image recognition area.

[0016] Figure 2 This is a block diagram showing the configuration of a mobile cleaning device.

[0017] Figure 3 This is a flowchart illustrating an example of weeding operations performed by a mobile weeding device. Detailed Implementation

[0018] Exemplary embodiments of this disclosure will now be described with reference to the accompanying drawings.

[0019] [1-1. Correspondence between the structure of this disclosure and the structure of the embodiments]

[0020] The galvanometer 40 and dichroic mirror 41 in this embodiment correspond to an example of a reflecting part in this disclosure, and the dichroic mirror 41 in this embodiment corresponds to an example of a specific reflecting part in this disclosure. The rotating wheel 22 and the motor (not shown) for driving the rotating wheel 22 in this embodiment correspond to an example of a moving mechanism in this disclosure.

[0021] [1-2. Composition]

[0022] [(1) Summary]

[0023] One embodiment of this invention, namely the mobile removal device 1, is configured to remove useless plants P (e.g., weeds) that may inhibit plant growth and appear around the crops in the farmland 7 by irradiating them with a laser beam L. Figure 1A The mobile removal device 1 is mobile, moving across the farmland 7 while detecting unwanted plants P and irradiating the detected unwanted plants P with a laser beam L. The mobile removal device 1 includes a main body 2, a laser oscillator 3, a guide unit 4, a camera 5, and a control unit 6.

[0024] [(2) Main body]

[0025] The main body 2 is a housing that holds the laser oscillator 3, guide 4, camera 5, control unit 6, and battery (not shown) and other components (see reference). Figure 1A In addition, the main body 2 is provided with multiple support legs 21, multiple rotating wheels 22, and a lighting unit 23.

[0026] Multiple support legs 21 are located on the edge of the lower part 20 of the main body 2, facing the ground, and extend downwards. At the lower end of each support leg 21 are wheels 22 for moving the mobile cleaning device 1. As an example, these wheels 22 can be driven by a motor (not shown). However, this is not a limitation; the mobile cleaning device 1 can be configured to be moved by an operator pushing or pulling the main body 2. Furthermore, instead of multiple wheels 22, the main body 2 can be equipped with, for example, one or more electric track devices, or a mechanism capable of flight movement such as a flying drone.

[0027] The lighting unit 23 is provided at the lower part 20 of the main body 2 and is used to illuminate the area on the ground located below the main body 2.

[0028] [(3) Camera]

[0029] The camera 5 is positioned in the lower part 20 of the main body 2 in an area where the laser beam does not pass through, and has a wide-angle lens 50 (see reference). Figure 1A For example, camera 5 is configured to photograph the ground and / or plants through dichroic mirror 41, wherein dichroic mirror 41 functions as a specific reflective element, which will be explained below. Camera 5 is configured to use wide-angle lens 50 to photograph the area above the ground facing the lower part 20, in other words, to photograph the area directly below the main body 2 (see reference). Figure 1B Of course, it is not limited to this; camera 5 can also capture images of the area directly below the main body 2.

[0030] In the mobile removal device 1, useless plants P on the ground are detected in the image recognition area R, which is within the shooting range of the camera 5, and laser beam L is irradiated onto the useless plants P.

[0031] [(4) Laser oscillator]

[0032] Laser oscillator 3 is configured to output laser beam L (refer to...) Figure 1A Additionally, as an example of laser oscillator 3, a semiconductor laser can be used, but it is not limited to this; an oscillator that outputs the laser beam L in various ways can also be used.

[0033] Furthermore, in the first embodiment, as an example, the laser beam L is visible light. More specifically, as an example, the wavelength of the laser beam L is above 400 nm and below 550 nm, and a blue laser is used as the laser beam L. Of course, this is not a limitation; for example, a laser beam L other than a blue laser, or a laser beam L other than visible light, can be used. Moreover, blue laser is in a wavelength region where energy is not easily absorbed by water, so even if rainwater or other moisture adheres to the useless plant P, the blue laser can effectively remove it.

[0034] [(5) Guiding Section]

[0035] The guide section 4 is equipped with multiple optical elements, configured to guide the laser beam L output from the laser oscillator 3 and direct the laser beam L from the lower part 20 of the main body 2 toward the useless plant P located below the main body 2 from above (see reference). Figure 1A Specifically, the guide section 4 has three galvanometer mirrors 40 and one dichroic mirror 41.

[0036] Three galvanometers 40 are arranged in a row, and the laser beam L output from the laser oscillator 3 is reflected sequentially by these three galvanometers 40. The three galvanometers 40 are configured to be displaceable along the x-axis and y-axis, respectively. Furthermore, as an example, the y-axis can extend parallel to the travel direction of the movable cleaning device 1, and the x-axis can extend orthogonally to this travel direction. Moreover, each galvanometer 40 changes its direction via a galvanometer scanner in response to a signal from the control unit 6, thereby altering the optical path of the laser beam L. This causes a displacement of the irradiation position of the laser beam L in the corresponding direction.

[0037] [(6) Dichroic mirror]

[0038] A dichroic mirror 41 is an optical mirror that uses the interference of a thin film to transmit light in a specific wavelength range while reflecting light in other wavelength ranges. The dichroic mirror 41 has the function of reflecting a laser beam L and allowing light to pass through so that the camera 5 can capture images. Specifically, the reflective surface of the dichroic mirror 41 is surface-processed to reflect light with the wavelength of the laser beam L and transmit light of other wavelengths besides the wavelength of the laser beam L.

[0039] As described above, the dichroic mirror 41 is configured as a reflecting part, which reflects the laser beam L reflected at the three galvanometers 40 toward the area on the ground located below the main body 2 (see reference). Figure 1A In other words, the laser beam L output from the laser oscillator 3 will eventually be reflected at the dichroic mirror 41 before it shines on the ground from the lower part 20 of the main body 2.

[0040] The dichroic mirror 41 is positioned below the camera 5 and between the camera 5 and the farmland 7 (e.g., a field ridge 70). In other words, the dichroic mirror 41 is positioned in the area through which the optical axis of the camera 5 passes.

[0041] In particular, the dichroic mirror 41 and the camera 5 can be configured such that the illumination axis of the laser beam L and the optical axis of the camera 5 are coaxial. Here, the illumination axis of the laser beam L represents the origin of the coordinate system during laser illumination. Furthermore, the optical axis of the camera 5 represents the origin of the coordinate system for capturing the image. In this embodiment, the aforementioned origin is... Figure 1B The center of the image recognition area R shown is on the x and y axes, that is, directly below the center of camera 5.

[0042] If configured as described above, when the illumination position of the laser beam L is detected to deviate from the target position during weeding, the process of correcting the illumination position based on the position in the image recognition area R of the captured image can be simplified. The weeding process will be explained below. That is, when correcting the illumination position of the laser beam L, the origin of the image recognition area R needs to correspond to the origin of the laser beam L's illumination position, and then the coordinates of the laser beam L's illumination position are calculated based on the coordinates in the image recognition area R. However, if the origin of the image recognition area R is consistent with or approximately consistent with the origin of the laser beam L's illumination position, the process of corresponding the origins can be omitted or simplified, thus simplifying the correction process.

[0043] Furthermore, the above configuration can suppress the coordinate deviation between the coordinates in the image recognition area R and the coordinates of the laser beam L's irradiation position caused by the height of the useless plant P. Additionally, the irradiation axis of the laser beam L and the optical axis of the camera 5 do not need to be perfectly coaxial; they only need to be close enough to simplify the correction process.

[0044] [(7) Control Department]

[0045] Control unit 6 is the part that integrates the control of the mobile cleaning device 1, such as... Figure 2 As shown, it includes a CPU (Central Processing Unit) 61, a memory 62, and a database 68. Information about useless plants P is stored in the database 68. The CPU 61 executes the program stored in the memory 62, thereby implementing various functions of the mobile clearing device 1. Furthermore, the various functions implemented by the control unit 6 are not limited to being implemented by executing a program; some or all of their functions can also be implemented by one or more pieces of hardware. In addition, information about desired plants (i.e., crops) can be recorded in the database 68, and plants other than desired plants can be identified as useless plants P.

[0046] The control unit 6 includes an image processing unit 66 and a laser processing unit 67, which function as a CPU 61 to perform processing. The image processing unit 66 is configured to identify useless plants P from images captured by the camera 5. The image processing unit 66 is capable of using AI (i.e., artificial intelligence) constructed using known statistical methods to identify useless plants P.

[0047] Furthermore, the image processing unit 66 can identify the coordinates of the useless plant P and the irradiation position of the laser beam L from the images captured by the camera 5. Additionally, since the camera 5 acquires images via the dichroic mirror 41, the image processing unit 66 cannot directly identify the laser beam L, but it can identify images showing changes in the irradiated area and areas where the target area remains unchanged. Therefore, the image processing unit 66 can indirectly identify the irradiation position of the laser beam L.

[0048] The laser processing unit 67 instructs the laser oscillator 3 and the galvanometer 40 to direct the laser beam L onto the coordinates of the useless plant P identified by the image processing unit 66. In other words, the laser processing unit 67 controls the irradiation position of the laser beam L by changing the direction of the laser beam L reflected by the galvanometer 40. At this time, the laser processing unit 67 identifies the irradiation position of the laser beam L based on the image captured by the camera 5 and corrects the irradiation position of the laser beam L. Furthermore, the laser processing unit 67 also adjusts the irradiation amount and trajectory of the laser beam L based on the characteristics of the useless plant P determined by the image processing unit 66.

[0049] In addition, the control unit 6 is configured to detect the position of the mobile cleaning device 1 (hereinafter referred to as the current position). Specifically, the control unit 6 can detect the current position, for example, by GPS, or by sensors to detect the speed and direction of travel of the mobile cleaning device 1, and detect the current position based on the detection results.

[0050] [1-3. Processing]

[0051] Next, use Figure 3 The flowchart illustrates an example of the weeding process performed by the CPU 61 of the control unit 6. The weeding process is performed while the mobile weeding device 1 is moved using the moving mechanism.

[0052] In this process, CPU 61 first acquires the image captured by camera 5 in S110. Next, in S120, CPU 61 corrects the illumination position of laser beam L based on the captured image. At this time, CPU 61 focuses on changes in the captured image, such as changes in the shape of useless plant P or changes in the color of field ridge 70, to identify the position being illuminated by laser beam L. Then, CPU 61 calculates the coordinate difference between the target position and the actual illumination position of laser beam L and drives galvanometer 40 to make the coordinate difference zero. In addition, the processing in S120 is performed only when laser beam L is being illuminated.

[0053] Next, in S130, CPU61 determines whether the determination of features for all useless plants P included in the captured image has been completed. The features of useless plants P are described below. If the determination of features for all useless plants P has been completed, the process proceeds to S160; if the features of at least one useless plant P have not yet been determined, the process proceeds to S140.

[0054] In S140, CPU 61 determines the characteristics of the unresolved useless plant P. The characteristics of useless plant P include its size and species. Database 68 stores information such as the shape and color of useless plant P determined by its species, as well as the corresponding laser beam L irradiation information. The laser beam L irradiation information includes the laser beam L's output and irradiation time. CPU 61 determines the characteristics of useless plant P through pattern matching; for example, it identifies useless plant P by comparing the shape and color of useless plant P in the captured image with the shape and color information of useless plant P in database 68.

[0055] Next, CPU 61 adjusts the irradiation level in S150. That is, CPU 61 refers to database 68 and sets the irradiation level of the laser beam L suitable for the characteristics of the useless plant P. CPU 61 controls the laser oscillator 3 to output the laser beam L to achieve the set irradiation level. As a result, the useless plant P withers and dies.

[0056] Next, in S160, CPU61 determines whether the irradiation of the laser beam L has been completed. If the irradiation of the laser beam L has not been completed, the processing from S110 onwards is executed repeatedly. This achieves feedback control, in which the irradiation position of the laser beam L is corrected using the captured image.

[0057] Furthermore, this process ends when the laser beam L has finished irradiating the area.

[0058] [1-4. Effects]

[0059] The following effects can be obtained by implementing the methods described in detail above.

[0060] (1a) This embodiment is a mobile removal device 1, which is configured to irradiate a laser beam L onto a useless plant P that may inhibit plant growth. The mobile removal device 1 includes a camera 5, a laser oscillator 3, a control unit 6, a guide unit 4, and a moving mechanism (e.g., a rotating wheel 22).

[0061] Camera 5 is configured to capture images of the ground. Laser oscillator 3 is configured to output a laser beam L. Control unit 6 is configured to detect unwanted plants P on the ground based on the images captured by camera 5 and control laser oscillator 3. Guiding unit 4 is configured to guide the laser beam L output from laser oscillator 3. Moving mechanism is configured to move the mobile removal device 1 along the ground.

[0062] The guide portion 4 has at least one reflective portion configured to reflect the laser beam L. At least one of the reflective portions is a dichroic mirror 41, which has the function of reflecting the laser beam L and allowing light to pass through so that the camera 5 can capture images. The camera 5 is configured such that its optical axis passes through the dichroic mirror 41 in areas where the laser beam L does not pass through.

[0063] Based on the above configuration, the camera 5 is configured such that its optical axis passes through the dichroic mirror 41. Therefore, compared to the case where the optical axis of the camera 5 does not pass through the dichroic mirror 41, the illumination axis of the laser beam L reflected by the dichroic mirror 41 and the optical axis of the camera 5 can be brought closer to each other. Thus, calculations related to the correction of the illumination position of the laser beam L can be simplified, thereby simplifying the correction process at this time.

[0064] (1b) In this embodiment, the control unit 6 controls the irradiation position of the laser beam L by changing the direction of the laser beam L reflected by the reflector. According to the above configuration, the irradiation position of the laser beam L can be controlled using the reflector.

[0065] (1c) In this embodiment, at least one of the reflective parts is configured as a galvanometer 40. According to the above configuration, the irradiation position of the laser beam L can be controlled using the galvanometer 40.

[0066] (1d) In this embodiment, the control unit 6 identifies the illumination position of the laser beam L based on the captured image from the camera 5, and corrects the illumination position of the laser beam L. According to this configuration, since feedback control can be performed using the captured image, the illumination position of the laser beam L can be corrected with high precision.

[0067] (1e) In this embodiment, a dichroic mirror 41 is included. According to the above configuration, the dichroic mirror 41 can be used to realize the functions of reflecting the laser beam L and allowing light to pass through so that the camera 5 can capture images.

[0068] (1f) In this embodiment, the control unit 6 causes the laser oscillator 3 to output a laser beam L while the mobile weeding device 1 is moved by the moving mechanism. According to the above configuration, weeding operations can be performed while the mobile weeding device 1 is being moved.

[0069] (1g) In this embodiment, the laser oscillator 3 outputs a blue laser beam L. According to the above configuration, since the blue laser L used is light with a relatively high energy density in the visible light spectrum, it can effectively remove weeds.

[0070] [2. Other Implementation Methods]

[0071] The embodiments of this disclosure have been described above. However, this disclosure is not limited to the above embodiments and can be implemented in various modifications.

[0072] (2a) In the above embodiment, a dichroic mirror 41 is used, which has the function of reflecting the laser beam L and allowing light to pass through so that the camera 5 can capture images, but is not limited to this. For example, a beam splitter can be used instead of the dichroic mirror 41. In addition, a combination of a beam splitter such as a prism and a reflector can also be used to achieve the function of reflecting the laser beam L and allowing light to pass through so that the camera 5 can capture images.

[0073] (2b) In the above embodiment, the dichroic mirror 41 is configured to reflect the laser beam L last, but it can also be configured to reflect the laser beam L by other mirrors after the dichroic mirror 41. In this case, the other mirrors can be configured to reflect the light that the camera 5 can capture.

[0074] (2c) In the above embodiment, the mobile removal device 1 is configured to remove the useless plant P by irradiating it with a laser beam L. However, it is not limited to this; the mobile removal device 1 may also be configured to remove obstacles other than plants by irradiating them with a laser beam L in the same manner. Furthermore, an obstacle refers to an object that may inhibit the growth of crops; as an example, pests correspond to obstacles.

[0075] (2d) In the above embodiment, the mobile clearing device 1 is configured to travel on the ground. However, the mobile clearing device 1 may be configured as a drone, for example, which flies over the farmland 7 along the same path as in the above embodiment while clearing obstacles such as useless plants P.

[0076] (2e) The control unit 6 and the methods implemented by the control unit 6 described in this disclosure can be implemented by a dedicated computer consisting of a programmed processor and memory to execute one or more functions embodied by a computer program. Alternatively, the control unit 6 and the methods implemented by the control unit 6 described in this disclosure can be implemented by a dedicated computer provided by a processor consisting of one or more dedicated hardware logic circuits. Or, the control unit 6 and the methods implemented by the control unit 6 described in this disclosure can be implemented by one or more dedicated computers, which are configured by combining a processor programmed to perform one or more functions, memory, and a processor consisting of one or more hardware logic circuits. Furthermore, the computer program can be stored in a computer-readable, non-transitory tangible recording medium as instructions executed by the computer. The methods for implementing the various functions included in the control unit 6 do not necessarily have to be implemented by software; all functions can be implemented by one or more hardware components.

[0077] If a drone or other flying device is used as the mobile mechanism, the camera and a specific reflector can be positioned at a predetermined height, such as the height calculated from a reference position, which further simplifies the calculation. For example, using sea level as a reference, the specific reflector can be positioned 1 meter above sea level during flight. Even if the mobile clearing device moves, the height of the specific reflector remains constant, thereby simplifying the calculation.

[0078] (2f) Multiple functions of one component in the above embodiments can be implemented by multiple components, or one function of one component can be implemented by multiple components. Furthermore, multiple functions of multiple components can be implemented by one component, or one function of multiple components can be implemented by one component. Furthermore, a portion of the configuration of the above embodiments can be omitted. Furthermore, at least a portion of the configuration of the above embodiments can be added to the configuration of other embodiments, or at least a portion of the configuration of the above embodiments can be substituted with the configuration of other embodiments, etc.

[0079] (2g) In addition to the mobile weeding device 1 described above, this disclosure can be implemented in various forms, such as a system with the mobile weeding device 1 as a component, a program for enabling a computer to function as the mobile weeding device 1, a non-transitory physical recording medium such as a semiconductor memory that records the program, and a weeding method.

Claims

1. A mobile clearing device configured to irradiate an obstacle that may inhibit plant growth with a laser beam, the mobile clearing device being characterized by comprising: A camera configured to capture images of the obstacle; A laser oscillator configured to output the laser beam; The control unit is configured to detect the obstacle based on the captured image from the camera and control the laser oscillator. A guiding section, configured to guide the laser beam output from the laser oscillator; and A moving mechanism, configured to move the movable cleaning device, and The guiding portion has at least one reflective portion configured to reflect the laser beam. At least one of the reflective parts is a specific reflective part, which has the function of reflecting the laser beam and allowing light to pass through so that the camera can capture images. The camera is configured such that its optical axis passes through the specific reflective portion in the area where the laser beam does not pass.

2. The mobile cleaning device according to claim 1, characterized in that, The control unit is configured to control the irradiation position of the laser beam by changing the direction of the laser beam reflected by the reflector.

3. The mobile cleaning device according to claim 2, characterized in that, At least one of the reflective parts is configured as a galvanometer.

4. The mobile cleaning device according to claim 2 or claim 3, characterized in that, The control unit is configured to identify the illumination position of the laser beam based on the image captured by the camera, and to correct the illumination position of the laser beam.

5. The mobile cleaning device according to any one of claims 1 to 4, characterized in that, The specific reflective part is configured as a dichroic mirror.

6. The mobile cleaning device according to any one of claims 1 to 5, characterized in that, The control unit is configured to cause the laser oscillator to output a laser beam during the movement of the mobile cleaning device via the moving mechanism.

7. The mobile cleaning device according to any one of claims 1 to 6, characterized in that, The laser oscillator is configured to output a blue laser beam.

Images