Irradiation device and irradiation method

Abstract

To provide an irradiation device capable of properly applying a beam to an irradiation object while making an irradiation range wide.SOLUTION: An irradiation device (100) comprises: a light source unit (33) having a plurality of light sources (LE); an identification part (22) that identifies a position of an irradiation object; a drive motor (32) that mechanically drives the light source unit in accordance with the position of the irradiation object; and a drive circuit (31) that selects the at least one light source corresponding to the irradiation object from among the plurality of light sources so as to make it emit a beam.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to an irradiation device and an irradiation method for irradiating an object with a light beam. [Background technology]

[0002] In recent years, crop losses due to pests have become a social problem. However, spraying pesticides is a method to prevent the release of residual pesticides. There are problems such as environmental pollution and the development of drug resistance in pests. However, there are problems with bait control, such as it being effective only in localized areas and being unsustainable. Therefore, instead of using pesticides to exterminate or attract pests, light (e.g. laser) is being used. There is a demand for technology to control pests using physical means such as light.

[0003] Conventionally, galvanometer mirrors or MEMS (Micro-Electro-Mechanical Systems) mirrors, etc. A technique is known in which a rotating mirror is controlled to aim a light beam at an object to be irradiated. For example, In Patent Document 1, a laser beam deparallelized by a lens system is irradiated by a rotating mirror. An apparatus for pest control, weeding and sterilization that focuses light on a target object is disclosed. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2001-275541 A Summary of the Invention [Problem to be solved by the invention]

[0005] Typically, the object to be irradiated, such as a pest, is not always stationary. In order to focus the light beam on the object to be irradiated, the moving position of the object to be irradiated must be predicted and the light beam must be focused on the object to be irradiated. It is necessary to mechanically drive the rotating mirror so that the optical path of the However, since the mechanical movement of the rotating mirror takes time, the predicted movement position of the irradiation target is The actual movement position of the target may differ from the target position, and the accuracy of hitting the target may be affected. There is a problem of decline.

[0006] In addition, in order to focus the light beam on a distant object, a device with a large rotating mirror is required. Therefore, the mechanical drive of the rotating mirror requires additional time. .

[0007] On the other hand, the direction of the light beam emitted from the irradiation device is fixed, and the rotating mirror is mechanically driven. In a configuration where this is not required, there is a problem that the irradiation range is limited.

[0008] One aspect of the present invention has been made in consideration of the above problems, and its object is to provide an illumination range To provide an irradiation device capable of appropriately irradiating an object with light while covering a wide range. is located. [Means for solving the problem]

[0009] In order to solve the above problems, the irradiation device according to the first aspect of the present invention has a plurality of light sources. a light source unit; a determining unit for determining a position of an object to be irradiated; and a determining unit for determining a position of the object to be irradiated according to the position of the object to be irradiated. a mechanical drive unit that mechanically drives the light source unit; and and an electrical driving unit for selecting at least one light source corresponding to the object and emitting a light beam. can.

[0010] In the illumination device according to the second aspect of the present invention, in the first aspect, the plurality of light sources are two-dimensional. The electrical driving unit selects light sources from the plurality of light sources in a line. Good too.

[0011] In the irradiation device according to the third aspect of the present invention, in the above-mentioned second aspect, the electrical driving unit is The light beam is emitted from the light source selected in a line in accordance with the object to be irradiated, with a time lag. Good too.

[0012] In the irradiation device according to the fourth aspect of the present invention, in the above-mentioned second aspect, the electrical driving unit is The first light source group arranged in a square shape is selected to emit light, and then the second light source group arranged in a line is selected to emit light. a light source group is selected to emit a light beam, and the second light source group is not included in at least the first light source group; The configuration may include a light source.

[0013] In the irradiation device according to a fifth aspect of the present invention, in the second aspect, the specifying unit is The electrical driving unit determines the orientation of the object from the plurality of light sources. Alternatively, a line of light sources may be selected depending on the

[0014] In the irradiation device according to the sixth aspect of the present invention, in the first to fifth aspects, the electrical driving unit is At least one light source corresponding to a specific portion of the object to be irradiated is selected from the plurality of light sources. You may choose.

[0015] In the irradiation device according to a seventh aspect of the present invention, in the first to sixth aspects, the specifying unit is a light beam The position of the irradiation object at the time when the light is emitted may be predicted.

[0016] In the irradiation device according to an eighth aspect of the present invention, in the first to seventh aspects, the light source unit is a plurality of focusing elements for focusing the light beams emitted from the plurality of light sources, The plurality of light-collecting elements may be capable of changing focal positions.

[0017] In the irradiation device according to a ninth aspect of the present invention, in the first to seventh aspects, the light source unit is a plurality of focusing elements for focusing the light beams emitted from the plurality of light sources, The electrical driving unit receives light from a plurality of light sources corresponding to a plurality of light collecting elements having different focal positions in the depth direction. Then, at least one light source corresponding to the depth position of the object to be illuminated may be selected.

[0018] In order to solve the above problems, the irradiation method according to the tenth aspect of the present invention is a method for irradiating a light having a plurality of light sources. The present invention relates to an illumination method using an illumination device having a light source unit, the method including: identifying a position of an object to be illuminated; A determining step and a function of mechanically driving the light source unit according to the position of the irradiation object. A mechanical driving step, and at least one light source corresponding to the irradiation object is selected from the plurality of light sources. and electrically driving the light source to select it and cause it to emit a light beam. Effect of the Invention

[0019] According to one aspect of the present invention, the irradiation range is wide, and the light beam is appropriately applied to the irradiation object. can be irradiated. [Brief description of the drawings]

[0020] [Figure 1] 1 is a block diagram showing a configuration of an irradiation device according to an embodiment of the present invention. [Diagram 2] 2 is a schematic diagram showing a schematic configuration of a light source unit included in the irradiation device. FIG. [Diagram 3]FIG. 4 is a perspective view showing an example of a configuration of a light-emitting device included in the light source unit. [Figure 4] 5A to 5C are schematic diagrams showing an example of a driving flow of the light source unit. [Diagram 5] 10 is a flowchart showing an example of a flow of a process executed by a control unit. [Figure 6] 1 is a schematic diagram showing an example of selecting at least one light source corresponding to an object to be irradiated from a plurality of light sources. FIG. [Figure 7] 11 is a schematic diagram showing another example of selecting at least one light source corresponding to an object to be irradiated from a plurality of light sources. FIG. [Figure 8] 13 is a schematic diagram showing yet another example in which at least one light source corresponding to an object to be irradiated is selected from a plurality of light sources. FIG. [Figure 9] 11 is a schematic diagram showing an example of selecting a light source group arranged in a line with a time lag from a plurality of light sources; FIG. [Figure 10] FIG. 13 is a schematic diagram showing a configuration of an irradiation device according to another embodiment of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0021] [Embodiment 1] (Schematic configuration of irradiation device) FIG. 1 is a block diagram showing the configuration of an irradiation device 100 according to the first embodiment. Thus, the irradiation device 100 includes an image capturing unit 1, a control unit 2, and an irradiation unit 3. 00 is a device that detects an object to be irradiated and irradiates the object with a light beam. For example, the total length of the common cutworm, the tobacco budworm, the desert locust, or the locust is about 20 cm. They are large pests measuring up to 60mm in size. Pests are insects that cause harm to human production or daily life. Refers to the insects that are given to the animals, and the same insect may be either a pest or a beneficial insect depending on the circumstances. Therefore, in addition to the above insects that are harmful to agricultural production, hornets, long-horned beetles, etc. Insects that cause harm in daily life such as these are also irradiated. The object to be irradiated may be a pest such as a wild boar. The object to be irradiated may also be a plant such as a weed. The device 100 may be provided on a mobile robot such as a drone or a mobile robot. Alternatively, the irradiation device 100 may be fixed so that it can target an object to be irradiated within a predetermined range. It may also be provided in such a manner.

[0022] The imaging unit 1 captures image data of a predetermined range. The image capturing unit 1 captures image data that can identify objects. device) or CMOS (Complementary Metal Oxide Semiconductor) as the light receiving element. The imaging unit 1 may be a two-dimensional camera, a stereo camera, or the like. The camera may be a three-dimensional camera having multiple cameras such as the one shown in FIG.

[0023] The control unit 2 includes a detection unit 21, a determination unit 22, a drive circuit control unit 23, and a drive motor control unit. The control unit 2 controls each part of the irradiation device 100 in an integrated manner.

[0024] The detection unit 21 detects an object to be irradiated. Specifically, the detection unit 21 detects an object to be irradiated from the imaging unit 1. The detection unit 21 obtains an image of the detected object or a flight trajectory of the detected object. Based on the flight trajectory or the distance, it is determined whether the detected object is an object to be irradiated. If the object is an object to be irradiated (i.e., if the detection unit 21 detects an object to be irradiated), the detection unit 21 Image data including the target is transmitted to the identification unit 22.

[0025] The identification unit 22 identifies the position of the irradiation target. The identification unit 22 acquires image data including the irradiation object from the image data. Calculate the position coordinates of the irradiation object. The position coordinates of the irradiation object can be absolute coordinates or The coordinates are preferably relative to the light source unit 33 that rotates (XYZ coordinates). It is also possible.

[0026] The identification unit 22 may also acquire an image of the irradiation object from the detection unit 21. is a part of the object that can be irradiated with light from the image of the object. The specifying unit 22 may specify the irradiation target among the areas to which the light beam can be irradiated. The specific portion may be determined by, for example, determining the area where the light beam is irradiated depending on the object to be irradiated. By irradiating the target, damage can be caused (i.e., the extermination of the target) In addition, the specific area is a part where the object is irradiated with light and ... Even if the area can be evacuated from the area (i.e., the object to be irradiated can be removed), In addition, the specifying unit 22 can obtain a ray of light (X parallel to the exit surface 331a described later) from the image of the irradiation object. The orientation of the illuminated object (in the Y plane) may be specified.

[0027] The identification unit 22 also acquires image data including the irradiation object from the imaging unit 1 at a predetermined period. The determination unit 22 may determine, from the series of image data, the irradiation target at the time when the light beam is emitted. For example, if the target is flying, the flight of the target may be predicted. The position coordinates of the future irradiation object are predicted taking into account the projection pattern. specifies the position of the object at the time the light beam is emitted.

[0028] When the drive circuit control unit 23 acquires the position coordinates of the irradiation object from the identification unit 22, the drive circuit control unit The drive voltage of the drive circuit 31 is controlled based on the position coordinates.

[0029] When the drive motor control unit 24 acquires the position coordinates of the irradiation object from the identification unit 22, the drive motor control unit A drive motor 32 that rotates the light source unit 33 around a predetermined axis is controlled based on the position coordinates. do.

[0030] The irradiation unit 3 includes a drive circuit 31 (electrical drive unit), a drive motor 32 (mechanical drive unit), The light source unit 33 is a light source unit for irradiating an object to be irradiated, the light source unit 33 being a light source unit for irradiating an object to be irradiated. The light source unit ... Based on the target, a light beam is projected toward the target object.

[0031] The driving circuit 31 is controlled by the driving circuit control unit 23 to electrically drive the light source unit 33. Specifically, the drive circuit 31 supplies a drive current to at least one of the plurality of light sources LE. The driving circuit 31 applies a driving voltage to the light-collecting elements FE to emit light. A driving voltage is applied to the focusing element FE corresponding to the light source LE to which the current is applied, and the focal position F of the light beam is Adjust.

[0032] The drive motor 32 is controlled by the drive motor control unit 24 to mechanically drive the light source unit 33. The driving motor 32 changes the orientation of the light source unit 33. The motor 32 is arranged to adjust the direction of the light emitted from the light source LE to which the driving current is applied so that the light is directed toward the object to be irradiated. Then, the light source unit 33 is rotated around a predetermined axis.

[0033] The light source unit 33 has a plurality of light sources LE and is rotated integrally by a drive motor 32. The detailed configuration of the light source unit 33 will be described later with reference to FIGS.

[0034] (Light source unit configuration) FIG. 2 is a schematic diagram showing a schematic configuration of the light source unit 33. As shown in FIG. The unit 33 includes a light emitting device 331, a collimator lens group 332, and a light collecting element group 333. Prepare.

[0035] The light emitting device 331 includes a plurality of light sources LE. The light source LE has a circuit configuration for selectively applying a driving voltage to one of the light sources LE. , which is a light source that generates and emits light when a driving voltage is applied by a driving circuit 31. The light sources LE emit light beams with intensities corresponding to the driving voltages applied by the driving circuit 31. The light sources LE emit, for example, blue light that is effectively absorbed by the object to be irradiated. The light sources LE are blue LDs. For example, the light sources LE are arranged on one side surface (light exit surface 331) of the light emitting device 331. The light sources LE are arranged, for example, in a two-dimensional array (see FIG. 3). reference).

[0036] The collimator lens group 332 is a group of collimator lenses CL that are two-dimensionally arranged and integrated. Each of the multiple collimator lenses CL collimates the light emitted from each light source LE. Parallelize the lines.

[0037] The light-collecting element group 333 is an integrated unit in which a plurality of light-collecting elements FE are two-dimensionally arranged. Each of the multiple light-collecting elements FE receives light emitted from each light source LE and is collimated by each collimator lens CL. The light beams collimated by the collimation are focused at a predetermined position (focal position F) corresponding to each light source LE. The light-collecting elements FE are, for example, diffractive optical elements or light-collecting elements that are driven by a driving circuit 31. The electro-optical element can change the focal position by applying pressure. The electro-optical element may be a liquid crystal lens or a film. This allows the focal position of the light beam to be changed according to the depth position of the object being irradiated (the Z coordinate described below). do.

[0038] The light emission time of the multiple light sources LE is, for example, 1 ms or more. The spot diameter is, for example, 1 mm or more. The light density of the light beam focused on the object to be irradiated is, for example, For example, 0.1 to 5 W / mm 2 The wavelength of the light is, for example, 350 nm to 900 nm. .

[0039] The collimator lens group 332 may be omitted. That is, the light-collecting element group 333 is The light beams emitted from the multiple light sources LE may be directly condensed at a predetermined position. The element group 333 may be omitted. In this case, a lens group (instead of the collimator lens group 332) The focal points of the light beams emitted from the multiple light sources LE are fixed. will be done.

[0040] FIG. 3 is a perspective view showing an example of the configuration of a light emitting device 331. As shown in FIG. The light emitting surface 331a of the light source 331 is a flat surface, and the light sources LE are arranged in a two-dimensional space on the light emitting surface 331a. In the example shown in FIG. 3, the light sources LE may be arranged in an array of 4 rows and 6 columns. Hereinafter, the row direction of the array is called the X direction, the column direction of the array is called the Y direction, and the XY axis is called the Y axis. The direction perpendicular to the surface is defined as the Z direction. In other words, the XYZ coordinate system in the light source unit 33 is Set it up.

[0041] The light emitting device 331 supplies a driving current in the Y direction to each of six pairs of light sources LE arranged in the X direction. The six first selection wirings that flow, and the four light sources LE arranged along the Y direction each have an X-direction drive The light emitting device 331 may include four second selection wirings through which a current flows. By passing a drive current through a combination of the first selection wiring and the second selection wiring corresponding to the selected wiring, It has a known circuit configuration that allows selective application of a drive voltage to the light source LE.

[0042] When multiple light sources LE form a two-dimensional array as shown in FIG. 3, multiple collimating lenses are used. The lens CL and the plurality of light-collecting elements FE also form a two-dimensional array corresponding to the plurality of light sources LE. The multiple collimator lenses CL collimate the light beams emitted from the multiple light sources LE along the Z direction. Parallelize it as follows.

[0043] (Example of irradiation device operation) FIG. 4 shows a light source LE in a two-dimensional array as shown in FIG. 4 is a schematic diagram showing an example of a driving flow of the light source unit 33. The reference numeral 4002 in FIG. 4 denotes the electrical drive of the light source unit 33. Indicates drive.

[0044] FIG. 5 shows a control diagram for the case where a plurality of light sources LE form a two-dimensional array as shown in FIG. 4 and 5 are flowcharts showing an example of a flow of a process executed by the control unit 2. An example of the operation of the control unit 2 when the irradiation device 100 aims at an object to be irradiated and irradiates the object will be described below. Reveal.

[0045] First, as shown by reference numeral 4001 in FIG. 4, an object to be irradiated is placed within a predetermined range to be imaged by the image capturing unit 1. When the light enters the detector 21, the detector 21 detects the object to be irradiated (S1 in FIG. 5). 21 is a device for detecting whether the object to be detected is an object to be irradiated from an image of the object to be detected acquired from the imaging unit 1 or a flight trajectory of the object to be detected. If the object to be detected is an object to be irradiated, the detection unit 21 Image data including the object is transmitted to the identification unit 22 .

[0046] Next, the identification unit 22 identifies the position of the irradiation object (identification step S2 in FIG. 5). Specifically, the identification unit 22 determines whether the detection unit 21 is irradiating the target object based on image data acquired from the detection unit 21. The position coordinates (referred to as first position coordinates) of the irradiation object when the object is detected are calculated.

[0047] Next, the drive motor control unit 24 adjusts the orientation of the light source unit 33 according to the position of the object to be irradiated. Specifically, the drive motor control unit 24 adjusts the first Based on the position coordinates, the object to be irradiated is determined to be within the irradiation range of the light source unit 33 (illuminated by a plurality of light sources LE). The driving motor 32 is controlled so that the spot of the irradiated light beam falls within the range that can be covered. This completes the rough alignment of the irradiation position of the light beam with respect to the irradiation object.

[0048] As shown by reference numeral 4002 in FIG. 4, the orientation of the light source unit 33 is adjusted (mechanically driven). Typically, it takes about 125 to 250 ms for the object to be illuminated to pass through the light beam. There is a possibility that the spot diameter may move to a non-negligible extent. The identification unit 22 updates the position of the irradiation object (S4 in FIG. 5). Immediately after the orientation of the power source unit 33 is adjusted, image data captured by the image capture unit 1 is acquired. The determining unit 22 determines the irradiation amount immediately after the orientation of the light source unit 33 is adjusted based on the image data. The position coordinates of the object (referred to as second position coordinates) are calculated.

[0049] Next, the drive circuit control unit 23 selects at least one light source LE corresponding to the object to be irradiated from the plurality of light sources LE. One light source LE is selected (S5 in FIG. 5). Specifically, the drive circuit control unit 23 selects the second light source LE. Based on the position coordinates, the light source L of the light emitted from the plurality of light sources LE passes through the irradiation object. Select E.

[0050] Next, the drive circuit control unit 23 causes the selected light source LE to emit a light beam (see the electrical Specifically, the drive circuit control unit 23 applies a drive voltage to the selected light source LE. The driving circuit 31 is controlled so as to apply the voltage Vcc.

[0051] According to the above configuration, the irradiation device 100 is configured such that the irradiation object is within the irradiation range of the light source unit 33. The light source unit 33 is mechanically driven so that the light source unit 33 enters the range of the light source 33 to ... The irradiation device 100 can scan the irradiation object over a wide range. A light source LE is selected so that the optical path of the light emitted from the light source passes through the irradiation object, and the light source LE is driven to the selected light source LE. The light source unit 33 is electrically driven so as to apply a driving voltage. By simply selecting the appropriate light source LE from the LE, the light beam can be irradiated onto the target object. In the past, the light path of the light was adjusted by adjusting the reflecting mirror to irradiate the light beam onto the object. Compared with the conventional IR IR meter, the optical path of the light beam can be adjusted in a short time after imaging the object to be irradiated. The irradiation device 100 can appropriately irradiate the irradiation object with light while widening the irradiation range. do.

[0052] In addition, the irradiation device 100 selectively supplies at least one light source LE corresponding to the irradiation object. A driving voltage is applied. This allows the light beam with less energy to reach the target object. It can deal damage.

[0053] (Modification) In S5 of FIG. 5, the drive circuit control unit 23 selects light sources LE in a line. For example, the drive circuit control unit 23 may select the position of the irradiation object from a plurality of light sources LE. In this way, six light sources LE arranged in parallel in the X direction may be selected, which corresponds to the X direction It is possible to effectively cause damage to an object irradiated with light that faces in a specific direction.

[0054] In addition, in steps S5 to S6 of FIG. 5, the drive circuit control unit 23 performs the following in response to the irradiation object: The light beams may be emitted from the light sources LE selected in a line with a time lag. The motor control circuit 23 controls six motors arranged in the X direction in accordance with the object to be irradiated moving in the X direction. For example, the determination unit 22 may emit light beams in the order of the movement of the irradiation object. The speed is specified, and the drive circuit control unit 23 controls the driving circuit 24 to move in accordance with the traveling speed of the irradiation object specified by the specifying unit 22. In addition, the time when the light beams are emitted from the light sources LE selected in a line may be controlled. This allows the light spot to track the target object moving in the X direction (moving in a specified direction). This allows the object to be irradiated with multiple light beams efficiently over a long period of time. It can deal more damage to the target more efficiently. The accuracy of the light beam hitting a small target can also be improved.

[0055] In addition, in S2 of FIG. 5, the determination unit 22 may determine the orientation of the irradiation object. In step S5 of FIG. 5, the drive circuit control unit 23 controls the light sources LE to direct light toward the object to be irradiated. A line of light sources may be selected depending on the situation.

[0056] 6 to 8 show a case where at least one light source LE corresponding to an object to be irradiated is selected from a plurality of light sources LE. 6 to 8 are schematic diagrams showing some examples of the selection depending on the direction of the irradiation object. Next, some examples of selecting light sources in a line according to the light source configuration will be described.

[0057] As shown in FIG. 6, when the direction of the irradiation object is the X direction, the drive circuit control unit 23 From the number of light sources LE, four light sources LE (surrounded by the symbol A) arranged in parallel in the X direction are selected. The drive circuit control unit 23 controls the four light sources LE to emit light in a time-shifted manner in response to the object to be irradiated. For example, the drive circuit control unit 23 may emit a light beam in a direction parallel to the moving direction of the irradiation object. The four light sources LE may emit light rays in sequence in accordance with the above. The drive circuit control unit 23 controls these four light sources. The light beams may be emitted from the LE simultaneously.

[0058] Similarly, as shown in FIG. 7, when the direction of the irradiation object is the Y direction, the drive circuit control unit 2 3 is a light source that is arranged in parallel in the Y direction from among a plurality of light sources LE (encircled by the symbol B). Also, as shown in FIG. 8, when the direction of the object to be irradiated is oblique, the driving circuit The control unit 23 outputs four light sources (encircled by the symbol C) arranged diagonally from the multiple light sources LE. Select the light source LE.

[0059] According to the above configuration, it is possible to select a line of light sources according to the direction of the object to be irradiated. Therefore, it is possible to effectively damage the object to be irradiated.

[0060] FIG. 9 shows a method for selecting a group of light sources arranged in a line with a time lag from a plurality of light sources LE. FIG. 1 is a schematic diagram showing an example of the direction (longitudinal direction) of the irradiation object and the movement of the irradiation object. The determination unit 22 determines the position of the irradiation object, the orientation of the irradiation object (X The direction of travel of the irradiated object (Y direction), and the travel speed of the irradiated object may be specified. The drive circuit control unit 23 controls the first light sources arranged in a line according to the position and orientation of the irradiation object. The light source group D1 is selected to emit light rays. Then, the moving direction and moving speed of the object to be irradiated are The second light source group D2 and the third light source group D3 arranged in a line are sequentially selected according to the degree of illumination. The first light source group D1, the second light source group D2, and the third light source group D3 are For example, the second light source group D2 may include at least the first light source group D1. The first light source group D1 includes at least light sources not included in the second light source group D2. The first light source group D1 and the second light source group D2 may include a common light source in part. The second light source group D2 does not need to include the light sources included in the first light source group D1. The light source group D2 and the third light source group D3 are arranged in the direction in which the first light source group D1 is arranged. The object to be irradiated is located in a different direction (Y direction) than the direction (X direction). It can still effectively deal damage even if it is moving in a different direction than the one you are in. In addition, the second light source group D2 and the third light source group D3 are compared with the first light source group D1. may be located in the direction in which the electrodes are arranged (X direction).

[0061] In addition, in S2 of FIG. 5, the identification unit 22 may determine a specific portion of the irradiation object. Then, in S5 of FIG. 5, the drive circuit control unit 23 selects light beams from the plurality of light sources LE as the illumination target. At least one light source LE may be selected that corresponds to a particular part of the object. The control circuit 23 controls the light sources LE based on the second position coordinates of the specific portion of the object to be irradiated. From this, a light source LE is selected in which the optical path of the emitted light beam passes through a specific part of the object to be irradiated. This allows the beam spot diameter to be smaller than when not targeting a specific part of the object. Therefore, the amount of energy irradiated onto the object to be irradiated can be reduced.

[0062] When the irradiation target is a pest, the specific part is, for example, the base of the legs for movement. The light is directed at the breasts, where the feeding mouth is located, and the buttocks, where the reproductive organs are located. This is the part that can damage the irradiated object by irradiating it with light. In some cases, irradiation of a specific part with the above-mentioned light may cause damage to the object being irradiated. By irradiating the object with light near the area where the damage can be prevented, the object is forced to move away from the area. In the case where the object to be irradiated is a pest, the specific part may be, for example, For example, the eye. If the object to be irradiated is a weed, the specific part is, for example, the growing point. Oh, certain parts of plants can also move due to wind, etc.

[0063] In addition, in S4 of FIG. 5, the determination unit 22 determines the irradiation target at the time when the light beam is emitted. Specifically, the determination unit 22 may predict the position of the irradiation target from the imaging unit 1 at a predetermined period. The identification unit 22 obtains image data including the object from the series of image data. The position of the object to be irradiated at the time of the irradiation is predicted. The time it takes to emit light (e.g., the exposure time of a camera) also takes into account the movement of the object being irradiated. Therefore, the irradiation device 100 can more precisely detect the irradiation target. The light can be emitted appropriately.

[0064] In addition, the plurality of light-collecting elements FE are adjusted to focus positions by a driving voltage applied by a driving circuit 31. In step S6 of FIG. 5, the driving circuit control The unit 23 controls the voltage applied to the light collecting element FE corresponding to the selected light source LE. For example, the focus position of the light beam emitted from the selected light source LE may be changed by changing the driving circuit. The path control unit 23 determines the focal position of the selected light collecting element FE based on the depth position of the irradiation object. In this way, the energy density of the light beam irradiated on the irradiation object can be changed. The radiation intensity can be set to a value equal to or greater than a predetermined value that can effectively damage an object. Based on the travel position, a light beam having a desired energy density can be irradiated onto the irradiation object. In addition, the drive circuit control unit 23 controls the light beam intensity in the light collecting element FE based on the XY coordinates of the irradiation object. The angle of refraction of the line may be varied, allowing finer control over the location of the light beam.

[0065] In addition, in S6 of FIG. 5, the drive circuit control unit 23 controls a plurality of focus positions F of different depths. A small number of light beams corresponding to the depth position of the object to be irradiated are emitted from a plurality of light sources LE corresponding to the light-collecting elements FE. At least one light source LE may be selected. This allows the electro-optic element with a variable focal position to be used. The focal position of the light beam can be changed according to the depth position of the object to be illuminated without using a microscope.

[0066] [Embodiment 2] Other embodiments of the present invention will be described below. For convenience of explanation, the above embodiment will be described. The same reference numerals are used for components having the same functions as those described in the above, and the description thereof will not be repeated. Don't repeat.

[0067] FIG. 10 is a schematic diagram showing the configuration of an irradiation device 100A according to the second embodiment. As shown in the figure, the irradiation device 100A includes an image capturing section 1, a control section 2, and a plurality of irradiation sections 3A to 3C. That is, the irradiation device 100A includes a plurality of irradiation units 3A to 3C instead of the irradiation unit 3. The configuration of each of the irradiation units 3A to 3C is different from that of the irradiation device 100 according to the first embodiment. It is the same as the irradiation unit 3 according to the first embodiment.

[0068] The control unit 2 selects an irradiation unit that irradiates light from among the multiple irradiation units 3A to 3C. For example, The control unit 2 selects one of the multiple irradiation units 3A to 3C having an irradiation range closest to the position of the irradiation object. Select the irradiation unit to be used.

[0069] The control unit 2 controls the selected irradiation unit so that the irradiation target is within the irradiation range of the selected irradiation unit. The control unit 2 controls the driving motor 32 of the selected irradiation unit. E, select at least one light source LE corresponding to the irradiation object. The driving circuit 31 of the selected irradiation unit is controlled so as to apply a driving voltage to the selected light source LE.

[0070] According to the above configuration, the irradiation device 100A collectively controls the multiple irradiation units 3A to 3C. This allows the irradiation range to be wider. Therefore, it is suitable for large areas such as farms. The light beam can be appropriately directed to the target object in the area.

[0071] According to these configurations, the number of pests and other objects to be irradiated is reduced by physical methods, and the quality of agricultural products is improved. This will increase production and promote improved agricultural productivity. This will reduce the use of chemical pesticides. Reduce the dosage and bioprocessing such as genetic modification, and achieve the Sustainable Development Goals (SDGs) We can contribute to achieving the SDGs. Specific items include improving agricultural productivity: Goal 2 (End hunger) , No use of pesticides: Goal 3 (Health), Pest control industry: Goal 9 (Innovation) Reduction of pest damage : Goal 12 (sustainable production), conservation of plant ecosystems: Goal 15 (land resources) can be done.

[0072] [Software implementation example] The function of the irradiation device 100, 100A (hereinafter referred to as "the device") is to A program for making a computer function, which controls each control block of the device (especially the control unit 2) by a program that makes a computer function as This can be done.

[0073] In this case, the device includes at least one At least one control device (e.g., a processor) and at least one storage device (e.g., a memory) The control device and the storage device are used to execute the above program. By performing the above, the functions described in the above embodiments are realized.

[0074] The program is non-transitory, computer-readable, and may include one or more The recording medium may be included in the device, or may be provided in a computer-readable medium. In the latter case, the program may be transmitted over any wired or wireless transmission medium. The device may be supplied with

[0075] In addition, some or all of the functions of the above control blocks may be realized by logic circuits. For example, an integrated circuit in which a logic circuit that functions as each of the control blocks is formed In addition, the above control blocks can be implemented using a quantum computer. It is also possible to realize the function of the lock.

[0076] In addition, each process described in each embodiment above may be implemented using AI (Artificial Intelligence). In this case, the AI ​​may be operated by the control device. and operates on other devices (such as edge computers or cloud servers). It is also possible.

[0077] The present invention is not limited to the above-described embodiments, and various modifications and variations are possible within the scope of the claims. Modifications are possible, and the technical means disclosed in each of the different embodiments may be appropriately combined. The resulting embodiments are also within the scope of the present invention. [Explanation of symbols]

[0078] 22 Specific section 31 Drive circuit (electrical drive unit) 32 Drive motor (mechanical drive unit) 33 Light source unit 100, 100A irradiation device LE Multiple Light Sources FE Multiple light-collecting elements

Claims

1. a light source unit having a plurality of light sources; An identification unit that identifies the position of an irradiation object; a mechanical drive unit that mechanically drives the light source unit in accordance with a position of the irradiation object; At least one light source corresponding to the object to be irradiated is selected from the plurality of light sources, and a light beam is emitted from the selected light source. and an electrical drive unit for emitting the light.

2. The plurality of light sources are arranged in a two-dimensional manner, The electrical driver selects a light source from the plurality of light sources in a line according to claim 1 . Irradiation device.

3. The electrical drive unit drives the light sources selected in a line in a time sequence in response to the object to be irradiated.

3. The irradiation device according to claim 2, wherein the light beams are emitted with a shift.

4. The electrical driver selects a first light source group arranged in a line and causes the first light source group to emit light beams, Selecting a second light source group arranged in a line and causing it to emit light rays; The second light source group includes at least a light source not included in the first light source group. Irradiation device installed.

5. The identification unit identifies a direction of the irradiation object, The electrical drive unit drives the light from the plurality of light sources in a line in accordance with a direction of the object to be irradiated. The illumination device of claim 2 , further comprising a light source selector.

6. The electrical drive unit selects a small number of light beams corresponding to a specific portion of the object to be irradiated from the plurality of light sources.

2. The illumination device of claim 1, further comprising: a first light source for receiving the first light;

7. The determining unit is configured to predict a position of the irradiation object at a time when the light beam is emitted.

2. The irradiation device according to claim 1 .

8. The light source unit includes a plurality of focusing elements for focusing light beams emitted from the plurality of light sources, respectively. Further comprising an optical element, The irradiation device according to claim 1 , wherein the plurality of light-collecting elements are capable of changing focal positions.

9. The light source unit includes a plurality of focusing elements for focusing light beams emitted from the plurality of light sources, respectively. Further comprising an optical element, The electrical driving unit is a plurality of light sources corresponding to a plurality of light collecting elements having different focal positions in the depth direction. at least one light source corresponding to a depth position of the object to be irradiated is selected from the above-mentioned 2. The irradiation device according to claim 1.

10. An irradiation method using an irradiation device including a light source unit having a plurality of light sources, A step of identifying a position of an irradiation object; a mechanical driving step for mechanically driving the light source unit in accordance with a position of the irradiation object; P and At least one light source corresponding to the object to be irradiated is selected from the plurality of light sources, and a light beam is emitted from the selected light source. and an electrically driving step of emitting the light.

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