Autonomous laser weed eradication

Abstract

To provide methods, devices, modules, and systems which may be employed for automated weed identification, control, and eradication.SOLUTION: Disclosed herein are methods, devices, modules, and systems which may be employed for automated weed identification, control, and eradication. These methods, devices, modules, and systems provide an alternative to hand cultivation or chemical herbicides. Devices disclosed herein may be configured to locate, identify, and autonomously target the position of a weed with a beam, such as a laser beam, which may burn or irradiate the weed. The methods, devices, modules, and systems may be used for agricultural crop management or for at-home weed control.SELECTED DRAWING: Figure 1A

Description

Technical Field

[0001] (Cross - Reference to Related Applications) This application claims the benefit of U.S. Provisional Application No. 62 / 901,641, filed on September 17, 2019, which is incorporated herein by reference in its entirety.

Background Art

[0002] Agricultural production is worth trillions of dollars annually worldwide. Agriculture is an essential component of food production, including the raising and cultivation of both livestock and plants. Decreases in crop yields due to population growth and changing climate threaten global food security. Methods for increasing agricultural production by improving crop yields and enhancing labor efficiency can help alleviate food shortages.

Summary of the Invention

Means for Solving the Problems

[0003] The present disclosure provides various methods, devices, modules, and systems that can be employed for the automatic identification, maintenance, control, or targeting of plants. For example, the methods, devices, modules, and systems disclosed herein can be used to autonomously identify and eradicate weeds located within a crop field. The methods, devices, modules, and systems can be used as an alternative to manual cultivation or chemical herbicides. For example, the methods, devices, modules, and systems can be used for agricultural crop management or for home weed control.

[0004] In various aspects, the present disclosure provides an optical control system comprising an emitter configured to emit a beam along an optical path towards a target location on a surface, where the target location is determined by autonomously identifying the position of a target on the surface, a first reflective element intersecting the optical path and positioned to deflect the beam, a first targeting actuator connected to the first reflective element and configured to rotate the first reflective element to deflect the beam towards the target location, and a combining element positioned within the optical path between the emitter and the first reflective element and configured to differently deflect the beam and scattered light from the target location traveling along the optical path in a direction opposite to the beam.

[0005] In some aspects, the optical control system further comprises a targeting camera optically connected to the combining element, configured to receive scattered light reflected from the first reflective element and image a targeting field of view including the target location. In some aspects, the optical control system is configured to direct the beam towards the target location while the optical control system is moving relative to the surface. In some aspects, the optical control system further comprises a targeting system computer configured to detect pixel movement of the targeting field of view relative to the target location and convert the pixel movement of the targeting field of view into rotation of the first reflective element.

[0006] In some aspects, the conversion of pixel movement into rotation of the first reflective element includes referencing a calibration function. In some aspects, the calibration function is obtained by correlating the locations of reference markers on a calibration surface with camera pixel movement.

[0007] In some aspects, the optical control system further comprises an inertial measurement unit coupled to the optical control system, the inertial measurement unit being configured to measure the acceleration of the optical control system, the rotation of the optical control system relative to the surface, or a combination thereof. In some aspects, the targeting system computer is configured to adjust the target location based on the amount of time since imaging, the acceleration of the optical control system, the rotation of the optical control system relative to the surface, or a combination thereof.

[0008] In some aspects, the optical control system is enclosed within an enclosure, the enclosure being capable of transmitting emitted and visible light and comprising an escape window positioned within the optical path between the first reflecting element and the surface. In some aspects, the optical control system is completely enclosed within the enclosure. In some aspects, the optical control system further comprises an air source configured to direct an air flow. In some aspects, the enclosure further comprises a wall on the opposite side of the aperture, the wall being configured to control the direction of the air flow and reduce turbulence without interfering with the beam.

[0009] In some aspects, the first reflective element is a mirror. In some aspects, the combining 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 infrared lasers, ultraviolet lasers, and visible lasers. In some aspects, the optical control system is further provided with a second targeting actuator connected to the first reflective element and configured to rotate the first reflective element and deflect the beam towards the target location. In some aspects, the optical control system includes a second reflective element positioned to intersect the optical path and deflect the beam deflected by the first reflective element, and a second targeting actuator connected to the second reflective element and configured to rotate the second reflective element and deflect the beam towards the target location. In some aspects, the first targeting actuator deflects the beam along a first axis, the second targeting actuator deflects the beam along a second axis, and the first axis and the second axis are orthogonal. In some aspects, relative to the direction of the beam, the combining element is positioned after the emitter, the first reflective element is positioned after the combining element, and the second reflective element is positioned after the first reflective element. In some aspects, weeds are positioned at the target location.

[0010] In various aspects, the present disclosure provides a weed eradication method including capturing an image of a prediction field of view using a prediction camera, identifying the position of a target within the prediction field of view, assigning the target to one of a plurality of targeting modules having a targeting field of view that overlaps the location of the target, capturing an image of the targeting field of view using the targeting camera, identifying the position of the target within the targeting field of view, and beam steering towards the location of the target.

[0011] In some aspects, identifying the position of a target within the prediction field further includes identifying the position of the target within the prediction field. In some aspects, the weed eradication method further includes identifying an area containing the target, the area being defined by a polygon. In some aspects, the weed eradication method includes converting to a surface location where the position is predicted. In some aspects, the weed eradication method further includes determining a desired movement within the targeting field. In some aspects, the weed eradication method further includes converting the desired movement into an actuator position change. In some aspects, identifying the position of the target includes identifying the target using a trained neural net. In some aspects, the trained neural net can provide a bounding box, a polygonal mask, or a combination thereof around the target. In some aspects, the trained neural net is trained using images of the field.

[0012] In some aspects, identifying the position of the target within the targeting field further includes referring to a calibration function obtained by correlating the location of a reference marker on the calibration surface with camera pixel coordinates and correcting the location of the target. In some aspects, assigning the target to one of a plurality of targeting modules includes providing the location of the target to one of a plurality of targeting modules. In some aspects, directing a beam towards the location of the target further includes referring to a calibration function obtained by correlating the pixel movement of a reference marker on the calibration surface with an actuator tilt value and correcting the actuator tilt value. In some aspects, the weed eradication method further includes deactivating the beam when the target is damaged or killed.

[0013] In some aspects, capturing an image of the targeting field using a targeting camera, identifying the position of the target within the targeting field, and directing a beam towards the location of the target are performed with high accuracy. In some aspects, the target is a weed.

[0014] In some aspects, the weed eradication method further includes damaging or killing the weeds. In some aspects, damaging or killing the weeds includes irradiating the weeds. In some aspects, damaging or killing the weeds includes burning the weeds. In some aspects, identifying the target location includes distinguishing the weeds from the desired plants.

[0015] In various aspects, the present disclosure provides a targeting system comprising a prediction module, a targeting module, and an optical control module. The prediction module includes a prediction camera configured to image a prediction field of view on a surface and identify the location of a target within the prediction field of view, and a prediction module controller configured to convert the location of the target within the prediction field of view to a predicted location on the surface and assign the target to the targeting module. The targeting module includes a targeting module controller configured to convert the predicted location to the location of a targeting actuator. The optical control module includes an emitter configured to emit a beam along an optical path towards the target, and a targeting actuator configured to receive position information from the targeting module controller and deflect the beam towards the target.

[0016] In some aspects, the targeting system further includes a targeting camera configured to image a targeting field of view on a surface and identify the location of a target within the targeting field of view. In some aspects, the optical control module includes a first reflective element controlled by the targeting actuator, positioned to intersect the optical path and deflect the beam, and a combining element positioned within 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 a direction opposite to the beam.

[0017] In some aspects, the optical control module is configured to direct a beam towards a target while the targeting system is moving relative to the surface. In some aspects, the targeting module is configured to detect pixel movement of the targeting field relative to the target and convert the pixel movement of the targeting field into movement of the targeting actuator.

[0018] In some aspects, the targeting system further comprises an inertial measurement unit configured to measure the targeting system, the acceleration of the targeting system, and the rotation of the targeting system relative to the surface. In some aspects, the targeting module is configured to adjust a predicted location based on the 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 on the surface and identify the position of a target within the second targeting field, and a targeting module controller configured to convert the location of the target within the second targeting field into the position of a second targeting actuator. In some aspects, the predicted field comprises the targeting field.

[0019] In some aspects, the targeting system further comprises a vehicle carrying 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.

[0020] In some aspects, the optical control module is enclosed within an enclosure that is capable of transmitting emitted and visible light and includes an escape window positioned within the optical path between the first reflective element and the surface. In some aspects, the optical control module is fully enclosed within the enclosure. In some aspects, the targeting system further includes an air source configured to direct an airflow from an opening within the outer surface of the enclosure toward the outer surface of the escape window. In some aspects, the enclosure further includes a wall opposite the opening configured to control the direction of the airflow and reduce turbulence without obstructing the beam.

[0021] In some aspects, the first reflective element is a mirror. In some aspects, the composite 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 laser. In some aspects, the optical control module further includes a second targeting 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 targeting 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 targeting actuator deflects the beam along a first axis, the second targeting actuator deflects the beam along a second axis, and the first axis and the second axis are orthogonal. In some aspects, with respect to the direction of the beam, the composite element is positioned after the emitter, the first reflective element is positioned after the composite element, and the second reflective element is positioned after the first reflective element.

[0022] Additional aspects and advantages of the present disclosure will become readily apparent to those skilled in the art from the following detailed description, which illustrates only exemplary embodiments of the present disclosure. As will be recognized, the present disclosure is capable of other different embodiments, and some details thereof are capable of modification in various obvious respects without departing from the present disclosure. Accordingly, the drawings and description are to be regarded as illustrative in nature and not restrictive. The present invention provides, for example, the following. (Item 1) An optical control system, wherein the system comprises An emitter configured to emit a beam along an optical path towards a target location on a surface, wherein the target location is determined by autonomously identifying the position of a target on the surface, the emitter; A first reflective element that intersects the optical path and is positioned to deflect the beam; A first targeting actuator connected to the first reflective element, wherein the first targeting actuator is configured to rotate the first reflective element and deflect the beam towards the target location, the first targeting actuator; And a combining element positioned within the optical path between the emitter and the first reflective element Comprising The combining element is configured to deflect the beam and scattered light from the target location traveling along the optical path in a direction opposite to the beam differently, an optical control system. (Item 2) The optical control system according to item 1, further comprising a targeting camera optically connected to the combining element, the targeting camera being configured to receive the scattered light reflected from the first reflective element and image a targeting field of view including the target location. (Item 3) The optical control system according to item 1 or item 2, configured to direct the beam towards the target location while the optical control system is moving relative to the surface. (Item 4) The optical control system according to any one of items 1 - 3, further comprising a targeting system computer configured to detect pixel movement of the targeting field relative to the target location and convert the pixel movement of the targeting field into rotation of the first reflective element. (Item 5) The optical control system according to item 4, wherein the conversion from the pixel movement to the rotation of the first reflective element includes referring to a calibration function. (Item 6) The optical control system according to item 5, wherein the calibration function is obtained by correlating the locations of reference markers on a calibration surface with camera pixel movement. (Item 7) The optical control system according to any one of items 1 - 6, further comprising an inertial measurement unit coupled to the optical control system, the inertial measurement unit configured to measure the acceleration of the optical control system, the rotation of the optical control system relative to the surface, or a combination thereof. (Item 8) The optical control system according to item 7, wherein the targeting system computer is configured to adjust the target location based on the amount of time since imaging, the acceleration of the optical control system, the rotation of the optical control system relative to the surface, or a combination thereof. (Item 9) The optical control system according to any one of items 1 - 8, enclosed within an enclosure, the enclosure having an escape window capable of transmitting the emission and visible light, the escape window positioned within the optical path between the first reflective element and the surface. (Item 10) The optical control system according to item 9, which is completely enclosed within the enclosure. (Item 11) The optical control system according to item 9 or item 10, further comprising an air source configured to direct an air flow from an opening within the outer surface of the enclosure towards the outer surface of the escape window. (Item 12) The enclosure further comprises a wall on the opposite side of the opening, and the wall is configured to control the direction of the air flow and reduce turbulence without obstructing the beam. The optical control system according to any one of items 9-11. The optical control system according to any one of items 9-11, wherein the first reflecting element is a mirror. (Item 13) The optical control system according to any one of items 1-12, wherein the first reflecting element is a mirror. (Item 14) The optical control system according to any one of items 1-13, wherein the combining element transmits the beam and reflects the visible light. (Item 15) The optical control system according to any one of items 1-14, wherein the emitter is a laser emitter. (Item 16) The optical control system according to item 15, wherein the laser emitter is selected from the group consisting of an infrared laser, an ultraviolet laser, and a visible laser. (Item 17) The optical control system according to any one of items 1-16, further comprising a second targeting actuator connected to the first reflecting element, and the second targeting actuator is configured to rotate the first reflecting element and deflect the beam towards the target location. (Item 18) A second reflecting element positioned to intersect the optical path and deflect the beam deflected by the first reflecting element, and a second targeting actuator connected to the second reflecting element, the second targeting actuator being configured to rotate the second reflecting element and deflect the beam toward the target location, the optical control system according to any one of items 1-16. (Item 19) The first targeting actuator deflects the beam along a first axis, the second targeting actuator deflects the beam along a second axis, and the first axis and the second axis are orthogonal, the optical control system according to item 17 or item 18. (Item 20) With respect to the direction of the beam, the combining element is positioned after the emitter, the first reflecting element is positioned after the combining element, and the second reflecting element is positioned after the first reflecting element, the optical control system according to any one of items 1-19. (Item 21) Weeds are positioned at the target location, the optical control system according to any one of items 1-20. (Item 22) A weed eradication method, the weed eradication method comprising: Capturing an image of a predicted field of view using a prediction camera; Identifying the position of a target within the predicted field of view; Assigning the target to one of a plurality of targeting modules, the one comprising a targeting camera having a targeting field of view that overlaps the location of the target; Capturing an image of the targeting field of view using the targeting camera; Identifying the position of the target within the targeting field of view; Directing the beam direction toward the location of the target And including, a weed eradication method. (Item 23) The method for weed eradication according to item 22, wherein identifying the position of the target within the predicted field of view further includes identifying the position of the target within the predicted field of view. (Item 24) The method for weed eradication according to item 22 or item 23, further including identifying the region containing the target, wherein the region is defined by a polygon. (Item 25) The method for weed eradication according to any one of items 22-24, further including converting the position to a predicted surface location. (Item 26) The method for weed eradication according to any one of items 22-25, further including determining a desired movement within the targeted field of view. (Item 27) The method for weed eradication according to item 26, further including converting the desired movement into an actuator position change. (Item 28) The method for weed eradication according to any one of items 22-27, wherein identifying the position of the target includes identifying the target using a trained neural network. (Item 29) The method for weed eradication according to item 28, wherein the trained neural network can provide a bounding box, a polygonal mask, or a combination thereof around the target. (Item 30) The method for weed eradication according to item 28 or item 29, wherein the trained neural network is trained using images of the field. (Item 31) The method for weed eradication according to any one of items 22-30, wherein identifying the position of the target within the targeted field of view further includes referring to a calibration function, and the calibration function relates the location of a reference marker on a calibration surface to camera pixel coordinates and is obtained by correcting the location of the target. (Item 32) Assigning the target to one of the plurality of targeting modules includes providing the location of the target to one of the plurality of targeting modules, the weed eradication method according to any one of items 22-31. (Item 33) Directing the beam towards the location of the target further includes referring to a calibration function, the calibration function relating the pixel movement of a reference marker on a calibration surface to an actuator tilt value and obtained by correcting the actuator tilt value, the weed eradication method according to any one of items 22-32. (Item 34) When the target is damaged or killed, further includes deactivating the beam, the weed eradication method according to any one of items 22-33. (Item 35) Capturing an image of the targeting field using the targeting camera, identifying the position of the target within the targeting field, and directing the beam towards the location of the target are performed with high accuracy, the weed eradication method according to any one of items 22-34. (Item 36) The target is a weed, the weed eradication method according to any one of items 22-35. (Item 37) Further includes damaging or killing the weed, the weed eradication method according to item 36. (Item 38) Damaging or killing the weed includes irradiating the weed, the weed eradication method according to item 37. (Item 39) Damaging or killing the weed includes burning the weed, the weed eradication method according to item 36. (Item 40) Identifying the position of the target includes distinguishing the weed from a desired plant, the weed eradication method according to any one of items 36-39. (Item 41) A targeting system, the system comprising a prediction module, a targeting module, and an optical control module, The prediction module A prediction camera configured to image a predicted field of view on a surface and identify the position of a target within the predicted field of view, A prediction module controller configured to convert the location of the target within the predicted field of view to a predicted location on the surface and assign the target to the targeting module and comprising The targeting module comprises a targeting module controller configured to convert the predicted location to the position of a targeting actuator, The optical control module An emitter configured to emit a beam along an optical path towards the target, A targeting actuator configured to receive position information from the targeting module controller and deflect the beam towards the target and being provided with a targeting system. (Item 42) The targeting system according to item 41, further comprising a targeting camera configured to image a targeting field of view on the surface and identify the position of the target within the targeting field of view. (Item 43) The optical control module A first reflective element controlled by the targeting actuator, positioned to intersect the optical path and deflect the beam, A combining element positioned within the optical path between the emitter and the first reflective element and further comprising The combining element is configured to deflect the beam and scattered light from the targeting field of view traveling along the optical path in a direction opposite to the beam differently, and the targeting system according to item 41 or item 42. (Item 44) The targeting system according to any one of items 41-43, wherein the optical control module is configured to direct the beam towards the target while the targeting system is moving relative to the surface. (Item 45) The targeting system according to any one of items 41-44, wherein the targeting module is configured to detect pixel movement of the targeting field of view with respect to the target and convert the pixel movement of the targeting field of view into movement of the targeting actuator. (Item 46) The targeting system according to any one of items 41-45, further comprising an inertial measurement unit configured to measure the acceleration of the targeting system and the rotation of the targeting system with respect to the surface. (Item 47) The targeting system according to any one of items 41-46, wherein the targeting module is configured to adjust the predicted location based on the amount of time since imaging, the acceleration of the targeting system, the rotation of the targeting system with respect to the surface, or a combination thereof. (Item 48) Further comprising a second targeting module, the second targeting module A second targeting camera configured to image a second targeting field of view on the surface and identify the position of the target within the second targeting field of view, and A targeting module controller configured to convert the location of the target within the second targeting field of view into the position of a second targeting actuator The targeting system according to any one of items 41-47, comprising. (Item 49) The targeting system according to any one of items 41-48, wherein the prediction field of view includes the targeting field of view. (Item 50) The targeting system according to any one of items 41-49, further comprising a vehicle that carries the prediction camera and the optical control module. (Item 51) The target system according to item 50, wherein the vehicle is an autonomous vehicle. (Item 52) The target system according to item 50 or item 51, wherein the vehicle includes a plurality of wheels. (Item 53) The target system according to item 52, wherein the optical control module is enclosed in an enclosure, the enclosure includes an escape window capable of transmitting the emission and visible light, and the escape window is positioned within the optical path between the first reflection element and the surface. (Item 54) The target system according to item 53, wherein the optical control module is completely enclosed within the enclosure. (Item 55) The target system according to item 53 or item 54, further comprising an air source configured to direct an air flow from an opening in the outer surface of the enclosure toward an outer surface of the escape window. (Item 56) The target system according to any one of items 53 - 55, wherein the enclosure further includes a wall on the opposite side of the opening, the wall is configured to control the direction of the air flow and reduce turbulence without obstructing the beam. (Item 57) The target system according to any one of items 43 - 56, wherein the first reflection element is a mirror. (Item 58) The target system according to any one of items 43 - 57, wherein the composite element transmits the beam and reflects the visible light. (Item 59) The target system according to any one of items 41 - 58, wherein the emitter is a laser emitter. (Item 60) The target system according to item 59, wherein the laser emitter is selected from the group consisting of an infrared laser, an ultraviolet laser, and a visible laser. (Item 61) The optical control module further includes a second targeting actuator connected to the first reflecting element, and the second targeting actuator is configured to rotate the first reflecting element and deflect the beam toward the target, according to any one of items 43-60. The targeting system described. (Item 62) The optical control module further includes a second reflecting element positioned to intersect the optical path and deflect the beam deflected by the first reflecting element, and a second targeting actuator connected to the second reflecting element. The second targeting actuator is configured to rotate the second reflecting element and deflect the beam toward the target, according to any one of items 43-61. The targeting system described. (Item 63) The first targeting actuator deflects the beam along a first axis, the second targeting actuator deflects the beam along a second axis, and the first axis and the second axis are orthogonal, according to item 61 or item 62. The targeting system described. (Item 64) With respect to the direction of the beam, the combining element is positioned after the emitter, the first reflecting element is positioned after the combining element, and the second reflecting element is positioned after the first reflecting element, according to item 62 or item 63. The targeting system described. (Incorporation by reference)

[0023] All published documents, patents, and patent applications described in this specification are incorporated herein by reference to the same extent as if each individual published document, patent, or patent application were specifically and individually indicated to be incorporated by reference.

Brief Description of the Drawings

[0024] The novel features of the present disclosure are described in detail in the appended claims. A deeper understanding of the features and advantages of the present disclosure will be obtained by reference to the following detailed description which describes illustrative embodiments in which the principles of the present disclosure are utilized, and the accompanying drawings.

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DETAILED DESCRIPTION OF THE INVENTION

[0036] Crop cultivation is essential for food and fiber production. One important component of crop management is the control or elimination of unwanted plant species, commonly referred to as weeds. Weeds can reduce crop yields by depriving desired plants of resources including water, nutrients, sunlight, and space. Weeds can further impede crop growth by sheltering pests or parasites that damage desired plants. Conventional weed control and eradication methods include manual cultivation or chemical herbicides. Manual cultivation is labor-intensive and leads to increased costs in crop production and higher prices for food and fiber products. The use of chemical herbicides can have adverse environmental effects including groundwater contamination, acute toxicity, or long-term health effects such as cancer.

[0037] The development of environmentally considerate, low-cost weed control and eradication methods 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 harmful environmental side effects of crop production, including toxic effluents and groundwater contamination. Reducing the need for manual labor can substantially lower agricultural costs and improve labor standards.

[0038] The present disclosure provides various methods, devices, modules, and systems that can be employed for the automatic identification, maintenance, control, or targeting of plants. In some embodiments, the methods, devices, modules, and systems disclosed herein can be used to autonomously identify and eradicate weeds located within a crop field. For example, specific methods are disclosed herein for autonomously identifying the location of an object, such as a weed, using a beam of electromagnetic radiation, and for identifying and targeting it. Devices configured to identify, identify, and autonomously target the location of an object using a beam are also disclosed herein. The device can be used, for example, to control or eliminate weeds. For example, the device can be used to burn or irradiate weeds. The modules disclosed herein implement the methods disclosed herein and can be used, for example, for the autonomous control of the devices and systems disclosed herein for identifying the location of a weed, identifying it, targeting it, and controlling or eliminating it. The systems disclosed herein can include devices, modules, and methods configured to autonomously control or eliminate an object, such as a weed, by identifying the location of the object using emissions, identifying it, and targeting it. Sometimes, the methods, devices, modules, and systems can be used for agricultural crop management or for household weed control. The methods, devices, modules, and systems can be used as alternatives to manual cultivation or chemical herbicides. (Optical control system)

[0039] An optical control system for directing a beam (e.g., an optical beam) towards a target location on a surface is described herein. FIG. 1A illustrates an isometric view of an embodiment of an optical control system 100 as disclosed herein. An emitter 101 is configured to direct 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 can be coherent. In a preferred embodiment, the emitter is a laser, such as an infrared laser. In some embodiments, the emitter emits a beam having a wavelength 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 emitter emits a beam having a wavelength in the range of about 1 m to about 100 mm, about 100 mm to about 10 mm, about 10 mm to about 1 mm, about 1 mm to about 100 μm, about 100 μm to about 10 μm, about 10 μm to about 1.5 μm, about 1.5 μm to about 1 μm, about 1 μm to about 900 nm, about 900 nm to about 800 nm, about 800 nm to about 700 nm, about 700 nm to about 600 nm, about 600 nm to about 500 nm, about 500 nm to about 400 nm, about 400 nm to about 300 nm, about 300 nm to about 100 nm, about 100 nm to about 10 nm, or about 10 nm to about 1 nm. In some embodiments, the emitter can emit electromagnetic radiation up to a maximum of 10 mW, 100 mW, 1 W, 10 W, 100 W, 1 kW, or 10 kW. In some embodiments, the emitter can emit electromagnetic radiation in the range of 10 mW to 100 mW, 100 mW to 1 W, 1 W to 10 W, 10 W to 100 W, 100 W to 1 kW, or 1 kW to 10 kW.

[0040] FIG. 1B shows an isometric view of an embodiment of the optical control device 100 shown in FIG. 1A, and further illustrates the position and direction of the beam path 102. The reference numerals are consistent between FIG. 1A and FIG. 1B. One or more optical elements may be positioned within the path of the beam. The optical element may comprise one or more of the beam combiner 103, the first reflective element 105, and the second reflective element 106. The elements may be configured in the order in which the beam combiner 103, the first reflective element 105, and then the second reflective element 106 follow in the direction of the beam path. In another example, one or both of the first reflective element or the second reflective element may be configured in front of the beam combiner in the order in the direction of the beam path. In another example, the optical element may be configured in the order in which the beam combiner 103, the first reflective element 105 follow in the order in the direction of the beam path. In another example, one or both of the first reflective element or the second reflective element may be configured in front of the beam combiner in the direction of the beam path. Any number of additional reflective elements may be positioned within the beam path.

[0041] The beam combining device may also be referred to as a beam combining element. In some embodiments, the beam combining device 103 can be a zinc selenide (ZnSe), zinc sulfide (ZnS), or germanium (Ge) beam combining device. For example, the beam combining device can be configured to transmit infrared light and reflect visible light. In some embodiments, the beam combining device 103 can be dichroic. In some embodiments, the beam combining device can be configured to pass electromagnetic radiation having a wavelength longer than the cut-off wavelength and reflect electromagnetic radiation having a wavelength shorter than the cut-off wavelength. In some embodiments, the beam combining device can be configured to pass electromagnetic radiation having a wavelength shorter than the cut-off wavelength and reflect electromagnetic radiation having a wavelength longer than the cut-off wavelength. In some embodiments, the cut-off wavelength can be 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 cut-off 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 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 other embodiments, the beam combining device can be a polarizing beam splitter, a long pass filter, a short pass filter, or a band pass filter.

[0042] The position and orientation of one or both of the first reflecting element 105 and the second reflecting element 106 can be controlled by an actuator. In some embodiments, the actuator can be a motor, solenoid, galvanometer, or servo. For example, the position of the first reflecting element can be controlled by a first actuator, and the position and orientation of the second reflecting element can be controlled by a second actuator. In some embodiments, a single reflecting element can be controlled by multiple actuators. For example, the first reflecting 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 reflecting element along multiple axes. The actuator can change the position of the reflecting element by rotating the reflecting element, thereby changing the angle of incidence of the beam that encounters the reflecting element. Changing the angle of incidence can cause a translation of the position where the beam encounters the surface. In some embodiments, the angle of incidence can be adjusted so that the position where the beam encounters the surface is maintained while the optical system moves relative to the surface. In some embodiments, the first actuator rotates the first reflecting element about a first axis of rotation, thereby translating the position where the beam encounters the surface along a first translation axis, and the second actuator rotates the second reflecting element about a second axis of rotation, thereby translating the position where the beam encounters the surface along a second translation axis. In some embodiments, the first actuator and the second actuator rotate the first reflecting element about the first axis of rotation and the second axis of rotation, thereby translating the position where the beam encounters the surface of the first reflecting element along the first translation axis and the second translation axis. For example, a single reflecting element is controlled by a first actuator and a second actuator, and in a state where a single reflecting element is controlled by two actuators, a translation of the position where the beam encounters the surface can be provided along the first translation axis and the second translation axis. The first translation axis and the second translation axis can be orthogonal.The coverage area 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 servo-controlled, piezoelectrically actuated, piezoelectrically inertial actuated, stepper motor controlled, galvanometer driven, linearly actuator controlled, or any combination thereof. One or both of the first reflecting element and the second reflecting element can be a mirror, e.g., a dichroic mirror, or a dielectric mirror, a prism, a beam splitter, or any combination thereof. In some embodiments, one or both of the first reflecting element and the second reflecting element can be any element capable of deflecting a beam.

[0043] FIG. 2 shows a top view of an embodiment of the optical control system 100 as shown in FIGS. 1A and 1B. The reference numbers are consistent among FIGS. 1A, 1B, and 2. The targeting camera 104 can be positioned to capture light 152, e.g., visible light traveling along an optical path in a direction opposite to the beam path 151, to capture light scattered by a surface such as a surface having a target. In some embodiments, the targeting camera is positioned to capture light reflected from the beam combining device 103. In other embodiments, the targeting camera is positioned to capture light transmitted through the beam combining device. The targeting camera can be configured to image a target field of view on a surface. The targeting camera can be coupled to the beam combining device or the targeting camera can be coupled to a support structure that supports the beam combining device. In a preferred embodiment, the targeting camera does not move relative to the beam combining device.

[0044] Figures 3A and 3B show side views of embodiments of the optical control device disclosed herein. The reference numeration is consistent among Figures 1-3. Figure 3B illustrates a mechanism for preventing dust and residue accumulation on the optical elements of the optical control device shown in Figures 1-3. In some embodiments, the optical element may comprise a hard stop 351 on the mirror to prevent the beam from hitting an area of the optical control device outside of a predetermined boundary on the surface. One or both of the optical elements, e.g., the beam combining element, and the reflective element, may be protected by an enclosure. The optical element may be surrounded by an enclosure. In some embodiments, the enclosure is sealed to prevent dust, residue, water, or any combination thereof from contacting the optical element. The enclosure may comprise a laser exit window 107 as shown in Figure 3B. In some embodiments, the laser exit window is positioned to intersect the beam after a second reflective element in the beam path or the laser exit window is positioned to intersect the beam after a first reflective element in the beam path. In some embodiments, the laser exit window is the last element in the beam path. The laser exit window may prevent dust, residue, water, or any combination thereof from reaching the optical element. In some embodiments, the laser exit window comprises a material that is substantially transmissive to electromagnetic radiation such as light. For example, the laser exit window may comprise glass, quartz, fused silica, zinc selenide, a transparent polymer, or a combination thereof.

[0045] The enclosure may further include a self-cleaning device configured to prevent accumulation of dust or residue on the surface of the laser exit window or to remove dust or residue accumulated on the surface of the laser exit window. In some embodiments, the self-cleaning device includes an opening 352 within the outer surface of the enclosure configured to discharge clean air 353. The clean air may prevent residue from damaging the laser exit window. In some embodiments, the clean air may be filtered. The opening may be configured to direct the air flow towards the outer surface of the exit window. The opening may be configured such that the clean air is directed across the surface of the laser exit window. In some embodiments, the enclosure is configured to direct the clean air without obstructing the beam 102. For example, the enclosure may include an opening 354 after the laser exit window in the beam path with a gap such that the beam can pass through unobstructed. In some embodiments, the opening includes a wall on the opposite side of the opening. The wall may be configured to control the direction of the air flow and reduce turbulence without obstructing the beam. The opening may encompass the laser exit window and the beam path and may be configured to be narrower near the laser exit window and wider further 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 passage of the clean air while preventing turbulence.

[0046] After exiting the optical control system, the beam 102 can be directed towards the surface, as shown in FIGS. 4A and 4B. In some embodiments, the surface comprises a target, e.g., weeds. The rotational movement of one or both of the reflective elements 105 and 106, as shown in FIG. 2, can generate a laser sweep along a first translation axis 401 and a laser sweep along a second translation axis 402, as shown in views 400 and 450 of FIGS. 4A and 4B, respectively. The rotational movement of one or both of the reflective elements can control where the beam meets the surface. For example, the rotational movement of one or both of the reflective elements can move the location where the beam meets the surface to the position of a target on the surface. In some embodiments, the beam is configured to damage the target. For example, the beam can comprise electromagnetic radiation and the beam can irradiate the target. In another example, the beam can comprise infrared light and the beam can burn the target. In some embodiments, one or both of the reflective elements can be rotated such that the beam surrounds the target and scans an area that includes it. (Composite system)

[0047] In some embodiments, multiple optical control systems can be combined to increase the coverage area on the surface. FIG. 5 illustrates a composite system 500 comprising 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 sweep defines a coverage area 503 that can be reached by at least one beam 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 coverage area 503.

[0048] A plurality of optical control systems can be configured on a vehicle 601, as shown in view 600 of FIG. 6 and view 700 of FIG. 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 is coupled to a second vehicle that is being driven by a human driver and can be towed behind or pushed by the second vehicle, for example. The vehicle can be controlled remotely by a human, for example, by remote control. In some embodiments, the vehicle can be controlled remotely via a long-wave signal, an optical signal, a satellite, or any other remote communication method. The plurality of optical control systems can be configured on the vehicle such that the coverage area overlaps with the surface under, behind, in front of, or surrounding the vehicle. The vehicle can be configured to navigate a surface having a plurality of targets, for example, a crop field having a plurality of weeds. The vehicle can include one or more of a plurality of wheels, a power source, a motor, a predictive camera 501, or any combination thereof. In some embodiments, the vehicle has sufficient clearance above the surface to drive over plants, such as crops, without damaging them. In some embodiments, the space between the inner edges of the left and right wheels is wide enough to pass over a row of plants without damaging them. In some embodiments, the distance between the outer edges of the left and right wheels is narrow enough to allow the vehicle to pass over two rows of plants, such as two rows of crops, without damaging them. In a preferred embodiment, a vehicle having a plurality of wheels, a plurality of optical control systems, and a predictive camera navigates a row of crops and emits a beam of one of a plurality of beams towards a target, such as a weed, thereby burning or irradiating the weed. (Prediction Module)

[0049] A prediction module configured to identify the position of a target on a surface is disclosed herein. FIG. 8 illustrates a prediction module 810 configured to identify, assign, and target a target. In some embodiments, a target prediction system 811 uses a prediction camera 501 to capture an image of a prediction field of view having a surface, identify a target within the image, and identify the position of the target within the prediction field of view. A camera 812 for controlling the translation system may be configured to translate the location of the target within the prediction field of view to a location on the surface. For example, a camera for controlling the translation system may construct a plurality of interpolation functions that provide a translation from a location within the prediction field of view to one or more actuator positions, e.g., the pan and tilt positions of one or more actuators that control one or more reflective elements 105 and 106 as shown in FIGS. 1-3.

[0050] The prediction module 810 shown in FIG. 8 may further include an attitude and motion correction system 813. The attitude and motion correction system may include a positioning system, such as an inertial measurement unit (IMU), a global positioning system (GPS), or an internal navigation system (INS). The attitude and motion correction system may utilize an inertial measurement unit (IMU) that may be directly or indirectly coupled to the prediction camera. For example, the prediction camera and the IMU may be mounted on a vehicle. The IMU may collect motion readings of the IMU and anything directly or indirectly coupled to the IMU, such as the prediction camera. For example, the IMU may collect readings that include three-dimensional acceleration and three-dimensional rotation information, which may be used to determine the magnitude and direction of motion over time. The attitude and motion correction system may include a global positioning system (GPS). The GPS may be directly or indirectly coupled to the targeting camera. For example, the GPS may communicate with a satellite-based wireless navigation system and measure a first position of the targeting camera at a first time and a second position of the targeting camera at a second time. The attitude and motion correction system may include an internal navigation system (INS). The INS may be directly or indirectly coupled to the targeting camera. For example, the INS may include a motion sensor, such as an accelerometer, and a rotation sensor, such as a gyroscope, and may measure the position, orientation, and velocity of the targeting camera. The attitude and motion correction system may or may not use an external reference to determine a change in the position of the targeting camera. The attitude and motion correction system may determine a change in the position of the targeting camera from a first position and a second position. In some embodiments, after the target prediction system identifies the position of a target in an image, the attitude and motion correction system determines the amount of time that has elapsed since the image was captured and the magnitude and direction of the motion of the prediction camera that occurred during the elapsed time. The attitude and motion correction system may integrate the target location, the elapsed time, and the magnitude and direction of the motion to determine the corrected location of the target on the surface.

[0051] The prediction module may further include an image detection module. The image detection module may be configured to identify the position of a target within an image and identify it. For example, the image detection module may be configured to distinguish between two plants such as crops and weeds. In some embodiments, the image detection module includes using a convolutional neural network. The neural network may be trained using many images of surfaces such as images from a prediction camera or a targeted camera with or without a target. For example, the neural network may be trained using images of fields with or without weeds. Once trained, the neural network may be configured to identify regions within an image that have a target. The regions may 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.

[0052] Based on the location of the target, the target assignment system 814 may assign the target to a targeting module 820 among a plurality of targeting modules. The location of the target may be corrected based on the scale and direction of movement over time, or the location may be within a region defined by a polygon, or both. A future target location may be determined based on the predicted scale and direction of movement during a future period. The target assignment module may assign the target to a targeting module that has a coverage area that overlaps the target location, the corrected target location, or the future target location.

[0053] The prediction module may include a system computer having a system controller, for example, a storage device, a random access memory (RAM), a central processing unit (CPU), and a graphics processing unit (GPU). The system computer may include a tensor processing unit (TPU). The system computer should have sufficient RAM, storage space, CPU capabilities, and GPU capabilities to perform operations for detecting and identifying a target. The prediction camera should provide an image with sufficient resolution to perform operations for detecting and identifying a target. (Targeting module)

[0054] Disclosed herein is a targeting module configured to direct a beam towards a target location on a surface. FIG. 8 illustrates a targeting module 820 configured to predict a target location, move one or more optical elements, and direct a beam towards the target location. A plurality of targeting modules may communicate with a prediction module 810. The targeting module comprises an optical control system as described herein. For example, as shown in FIGS. 1-3, the targeting module may comprise an emitter 101 that emits a beam 102 along an optical path, a beam combining element 103, optionally a targeting camera 104, a first reflecting element 105 configured to deflect the beam controlled by a first actuator, and optionally a second reflecting element 106 configured to deflect the beam controlled by a second actuator positioned within the optical path. One or both of the actuators may rotate one or both of the reflecting elements about a first axis of rotation, optionally a second axis of rotation, thereby changing the deflection of the beam path and configured to translate the position where the beam meets the surface along a first translation axis, optionally along a second translation axis. In some embodiments, the first actuator and the second actuator may rotate a single reflecting element about the first axis of rotation and the second axis of rotation and provide translation of the position of the point where the beam meets the surface along the first translation axis and the second translation axis. The prediction camera should have a field of view wide enough to image the coverage area of the beam path.

[0055] As shown in FIG. 8, the target prediction system 821 captures an image of an area on the surface. The area 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 within the image. A camera for controlling the translation system 822 can convert the pixel location of the target image to the position of a first reflecting element and optionally the position of a second reflecting element. The position of the reflecting element can be controlled by an actuator as described herein. For example, a camera for controlling the translation system can convert the pixel location of the target to the pan or tilt value of one or both actuators (corresponding to the mirror position where the beam is predicted to be deflected to the target location).

[0056] In some embodiments, the target prediction system further comprises an image detection module. The image detection module can be configured to identify and determine the position of the target within the image. For example, the image detection module can be configured to distinguish between two plants such as crops and weeds. In some embodiments, the image detection module includes using a convolutional neural network. The neural network can be trained using many images of the surface, such as images from a predictive camera or a targeting camera with or without a target. For example, the neural network can be trained using images of a field with or without weeds. Once trained, the neural network can be configured to identify regions within an image that include a target. The regions 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.

[0057] The target location can be further corrected using the pose and motion correction system 823. The pose and motion correction system can use a positioning system, such as an IMU, GPS, or INS, to determine the scale and direction of the 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 scale and direction of the motion. For example, the prediction camera and IMU can be mounted on a vehicle. The IMU can collect motion readings of the IMU and of anything directly or indirectly coupled to the IMU, such as the targeting camera. For example, the IMU can collect readings with three-dimensional acceleration and three-dimensional rotation information, which can be used to determine the scale and direction of the motion over time. In some embodiments, the pose and motion correction system can use GPS to determine the scale and direction of the motion of the targeting camera. For example, GPS can be mounted on a vehicle. GPS can communicate with a satellite-based wireless navigation system and measure the first position of the targeting camera at a first time and the second position of the targeting camera at a second time. In some embodiments, the pose and motion correction system can use INS to determine the scale and direction of the motion of the targeting camera. For example, INS can measure the position, orientation, and velocity of the targeting camera. In some embodiments, after the target prediction system 821 identifies the position of 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 scale and direction of the motion of the targeting camera that occurred during the elapsed time. The pose and motion correction system can integrate the target location, the elapsed time, and the scale and direction of the motion to determine the corrected location 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 location can be determined based on the predicted scale and direction of the motion during a future period.In some embodiments, the positioning system used by the targeting module's pose and motion correction system and the positioning system used by the prediction module's pose and motion correction system are different.

[0058] The actuator control system 824 comprises a software-driven electrical component capable of providing signals to the first actuator, optionally the second actuator, and of controlling the first reflecting element, optionally the second reflecting element. For example, the actuator control system transmits a signal with actuator pan tilt values to the first actuator and the second actuator. The actuators adopt the signaled pan tilt positions and move the first reflecting element and the second reflecting element about the first axis of rotation and the second axis of rotation to positions such that the beam is deflected to the target location, the corrected target location, or a future target location.

[0059] The laser control system 825 comprises a software-driven electrical component capable of controlling the activation and deactivation of the emitter. The activation or deactivation may depend on the presence or absence of a target as detected by the targeting camera 104. The activation or deactivation may depend on the position of the beam path directed towards the surface at the target location. In some embodiments, the laser control system may activate the emitter when the target is identified by the target prediction system. In some embodiments, the laser control system may activate the emitter when the beam path is positioned to overlap the target location. In some embodiments, the laser control system may fire the emitter when the beam path is within the area of the surface having a target defined by a polygon, such as a bounding box, or a polygonal mask covering an identified area. The laser control system may deactivate the emitter when the target is excluded, when the area having the target is scanned by the beam, when the target is no longer identified by the target prediction module, when a specified period of time has elapsed, or any combination thereof. For example, the laser control system may deactivate the emitter when the area on the surface having weeds is scanned by the beam, or when the weeds are irradiated or burned.

[0060] The prediction module and the targeting module described herein may be used in combination to identify a target, to determine the position of the target using the beam, and to target the target. The targeting control module may comprise an optical control system as described herein. The prediction module and the targeting module may communicate, e.g., electrically or digitally. In some embodiments, the prediction module and the targeting module are directly or indirectly coupled. For example, the prediction module and the targeting module may be coupled to a support structure. In some embodiments, the prediction module and the targeting module are configured on a vehicle, such as vehicle 601 as shown in FIGS. 6 and 7.

[0061] The targeting module may comprise a system computer having a system controller, such as a storage device, a random access memory (RAM), a central processing unit (CPU), and a graphics processing unit (GPU). The system computer may comprise a tensor processing unit (TPU). The system computer should be equipped with sufficient RAM, storage space, CPU capabilities, and GPU capabilities to perform operations for detecting and identifying a target. The targeting camera should provide an image with sufficient resolution to perform operations for detecting and identifying a target. (Calibration method)

[0062] The prediction module disclosed herein may further include a calibration step. In some embodiments, a camera for controlling the translation 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 has known marks at known positions. The prediction camera may collect a plurality of images of the calibration surface at different positions relative to the calibration surface. The prediction module may then relate the pixel positions of the known marks to the known positions on the surface. An interpolation function may be constructed from the plurality of correlated pixel positions and the known surface positions. In some embodiments, the interpolation function is stored on a hard drive and may be loaded from the hard drive by the prediction module.

[0063] The targeting module disclosed herein may further include a calibration step. In some embodiments, a camera for controlling the translation 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 has known marks at known positions. The targeting module may collect a plurality of images of the calibration surface and a plurality of actuator positions such that the plurality of images have different fields of view. For example, the targeting module may collect a plurality of images at a plurality of randomly selected pan and tilt values of a first actuator and a second actuator. A calibration map may be constructed from a plurality of sample points. Each sample point may be collected by identifying the pixel location of a known mark in an image collected at a known actuator position and relating the known location to the actuator position and pixel location. In some embodiments, the map is adapted to a spline smoothing algorithm to construct a smooth curve and enable an accurate estimation of locations between sample points. In some embodiments, the spline smoothing algorithm is stored on a hard drive and may be loaded from the hard drive by the targeting module. (Weed eradication system)

[0064] FIG. 9 illustrates a process 900 for embodiments of the devices and methods disclosed herein. The following examples are illustrative and non-limiting of 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 that communicates with a plurality of targeting modules 820. The prediction module and the targeting module are controlled by a system controller, e.g., a computer having 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 the targeting module are coupled to a solid support. The solid support is positioned on a vehicle 601 as shown in FIGS. 6 and 7.

[0065] As shown in FIG. 9, operations 920, 930, 940, 950, and 960 are repeated 910 until the field of interest is fully scanned. First, the prediction module activates operation 920. The prediction camera collects an image of the field surface within the area surrounding or in front of the vehicle. The system controller processes the image and identifies weeds within the image. In step 921, the prediction model predicts the location of one or more weeds identified within the image. A camera for controlling the system converts the pixel coordinates of the weeds within the image to ground locations in step 922. The system controller commands the vehicle to adjust its position and velocity 923 based on the movement of the vehicle measured by the IMU in 922. Each of the one or more weeds is assigned to a targeting module 924 based on the ground location of the weed and the coverage area of the targeting module.

[0066] Operations 930, 940, 950, and 960 are repeated for each targeting module 925. Operations 940, 950, and 960 are repeated for each weed. The targeting module among the plurality of targeting modules activates operation 940. The targeting camera captures a target image of the field, and the system controller identifies weeds within the target image 941. The system controller converts the pixel location of the weeds within the target image to pan and tilt values for each actuator that controls each reflective element within the optical control system controlled by the targeting module 942. The system controller applies attitude and motion corrections to the actuator pan and tilt values based on the movement of the vehicle measured by the IMU in 943 and plans a route for the emission beam path controlled by the actuator pan and tilt positions 944. When the actuator reaches the determined position, the emitter is activated 945.

[0067] Operation 950 is repeated 946 while the planned route is being implemented. Weeds are identified within the images collected by the targeted camera, and the route plan is updated 952 based on the observed locations of the weeds. The system controller applies attitude and motion corrections to the actuator pan and tilt values 953 based on the motion of the vehicle measured by the IMU at 953. The actuator is moved to a fixed position 954 based on the updated route plan. When the planned route is completed, the emitter is deactivated 960.

[0068] Preferred embodiments of the present disclosure have been shown and described herein, but it will be apparent to those skilled in the art that such embodiments are provided by way of example only. Numerous variations, modifications, and substitutions will occur to those skilled in the art without departing from the present disclosure here. It should be understood that various alternatives to the embodiments of the present disclosure described herein may be employed in practicing the present disclosure. The following claims define the scope of the present disclosure, and it is intended that methods and structures within the scope of these claims and their equivalents be covered thereby.

Claims

A system for damaging or killing plants, said system comprising: a first camera configured to capture an image of plants in a field; a second camera configured to capture an image of plants in said field; a light source configured to emit a light beam; a control system comprising one or more actuators, said control system being configured to direct the optical path of said light beam; a computing system; and; said computing system is configured to: receive a first image of at least one plant in said field captured by said first camera at a first time; identify a plant in said first image, said identifying being performed using an algorithm configured to distinguish weeds from crops; predict the location of said plant based on said first image; cause said second camera to capture a second image of an area of said field including said predicted location; predict a target location of said plant in said second image at a second time after said first time, said predicting taking into account the movement of said second camera relative to the surface during the elapsed time between said first time and said second time; cause said control system to direct the optical path of said light beam towards said predicted target location; cause said light source to emit said light beam towards said predicted target location of said plant for a length of time sufficient to damage or kill said plant; A system configured to perform operations including the above. The system according to claim 1, wherein identifying a plant in said first image is performed using a neural network. The system according to claim 2, wherein said neural network is configured to distinguish weeds from crops. The system according to claim 2, wherein said neural network comprises a convolutional neural network trained with images of weeds and crops. The system according to claim 1, wherein said operations further include tracking the movement of said system over time.

6. The system according to claim 5, wherein the movement is tracked using one or more of an inertial measurement unit (IMU), a global positioning system (GPS), or an internal navigation system (INS).

7. The system according to claim 5, wherein the operation further comprises adjusting the predicted target location based on the tracked movement.

8. The system according to claim 1, further comprising a frame supporting the first camera, the second camera, the light source, the control system, and the computing system.

9. The system according to claim 8, wherein the frame is configured to move across the field.

10. The system according to claim 9, wherein the frame is configured to be moved autonomously or by an operator.

11. The system according to any one of claims 1 to 10, wherein the light beam is a laser beam.

12. The system according to any one of claims 1 to 11, wherein the light beam has a wavelength in the range of 300 nm to 100 μm.

13. The system according to any one of claims 1 to 12, wherein the light beam has a power in the range of 10 W to 10 kW.

14. The system according to any one of claims 1 to 13, wherein the control system comprises one or more mirrors for directing the optical path of the light beam.

15. The system according to any one of claims 1 to 14, further comprising a housing containing an optical control system, the housing comprising an escape portion configured for the light beam to pass through.

16. The system according to any one of claims 1 to 15, wherein the optical control system is configured to direct the light beam towards the weeds while the system is moving relative to the field.

17. The targeting system according to any one of claims 1 to 16, wherein the light source is selected from the group consisting of an infrared laser, an ultraviolet laser, and a visible laser.

18. A targeting system, wherein the targeting system a first camera configured to image a surface; an emitter configured to emit a beam towards the surface; A computing system in communication with the first camera and the emitter and comprising the computing system is configured to receive, from the first camera, a target image of the surface at a first time, the target image comprising a target on the surface, identify a region within the target image that includes the target, determine, at a second time after the first time, a target location of the target on the surface based on the identified region within the target image, the determined target location taking into account the movement of the first camera relative to the target during the elapsed time between the first time and the second time, align an optical path of the beam based on the determined target location of the target, cause the emitter to emit the beam towards the target when at least a portion of the optical path is aligned with the determined target location of the target, and cause the emitter to deactivate the beam A targeting system configured to perform operations including these.

19. The system according to claim 18, wherein identifying a region within the target image that includes the target is performed using a neural network.

20. The system according to claim 19, wherein the neural network is configured to distinguish between weeds and crops.

21. The system according to claim 19, wherein the neural network comprises a convolutional neural network trained with images of weeds and crops.

22. The system according to claim 18, wherein the operations further include tracking the movement of the system over time.

23. The system according to claim 22, wherein the movement is tracked using one or more of an inertial measurement unit (IMU), a global positioning system (GPS), or an internal navigation system (INS).

24. The system according to claim 22, wherein the operations further include adjusting a predicted target location based on the tracked movement.

25. The system according to claim 18, further comprising a frame supporting the first camera, a second camera, a light source, a control system, and the computing system.

26. The system according to claim 25, wherein the frame is configured to move across the field.

27. The system according to claim 25, wherein the frame is configured to be moved autonomously or by an operator.

28. The system according to any one of claims 18 to 27, wherein the light beam is a laser beam.

29. The system according to any one of claims 18 to 28, wherein the light beam has a wavelength in the range of 300 nm to 100 μm.

30. The system according to any one of claims 18 to 29, wherein the light beam has a power in the range of 10 W to 10 kW.

31. The system according to any one of claims 18 to 30, wherein the control system comprises one or more mirrors for directing the optical path of the light beam.

32. The system according to any one of claims 18 to 31, further comprising a housing containing an optical control system, the housing comprising an escape portion configured for the light beam to pass through.

33. The system according to any one of claims 18 to 32, wherein the optical control system is configured to direct the light beam towards the weeds while the system is moving relative to the field.

34. The targeting system according to any one of claims 18 to 34, wherein the light source is selected from the group consisting of an infrared laser, an ultraviolet laser, and a visible laser.

35. A targeting system for autonomous plant eradication, the targeting system comprising: a first camera configured to image a surface; an emitter configured to emit a beam towards the surface; a computing system in communication with the first camera and the emitter; and wherein the computing system is configured to: receive, from the first camera, a target image of the surface at a first time, the target image comprising a plant on the surface; identify a region within the target image that includes the plant, wherein identifying the region within the target image is performed using an algorithm configured to distinguish between weeds and crops. Determining, at a second time after the first time, a target location of the plant on the surface based on the identified region in the target image, wherein the determined target location takes into account the movement of the first camera with respect to the plant during the elapsed time between the first time and the second time, Aligning an optical path of the beam based on the determined target location of the plant, Causing the emitter to emit the beam toward the plant when at least a portion of the optical path is aligned with the determined target location of the plant, A targeting system configured to perform operations including these.

36. The targeting system according to claim 35, further comprising a second camera communicating with the computing system.

37. The operations are Receiving a predicted image from the second camera, the predicted image comprising the surface, Identifying a region within the predicted image that includes the plant, Predicting a predicted location of the plant based on the predicted image and the identified region within the predicted image, Aligning the first camera with the predicted predicted location, The targeting system according to claim 36, further including these.

38. The targeting system according to claim 37, wherein the target image comprises the predicted predicted location.

39. The targeting system according to any one of claims 35 to 38, further comprising an actuator configured to align the optical path of the emitter with the determined target location, the actuator being further configured to align the first camera with the predicted predicted location, control a mirror within the optical path, or both.

40. The targeting system according to any one of claims 35 to 39, wherein the targeting system is positioned on a frame.

41. The targeting system according to claim 40, wherein the frame is configured to move across a field.

42. The targeting system according to claim 41, wherein the frame is configured to be moved autonomously or by an operator.

43. The targeting system according to any one of claims 35 to 41, wherein the emitter is a laser.

44. The targeting system according to claim 43, wherein the laser is selected from the group consisting of an infrared laser, an ultraviolet laser, and a visible laser.

45. A method for autonomously killing a plant, the method comprising: Receiving, from a first camera, a target image of a surface at a first time, the target image comprising the plant on the surface; Identifying a region within the target image that includes the plant, wherein identifying the region within the target image is performed using an algorithm configured to distinguish weeds from crops; Predicting, at a second time after the first time, a target location of the plant on the surface based on the identified region within the target image, the predicted target location taking into account movement of the first camera with respect to the weeds during an elapsed time between the first time and the second time; Aligning an optical path of a beam based on the target location of the plant; Causing the emitter to emit the beam toward the plant when at least a portion of the optical path is aligned with the target location of the plant, wherein emitting the beam toward the plant kills or damages the plant; A method comprising the above steps.

46. The method according to claim 45, further comprising: Receiving a predicted image of the surface; Identifying a region within the predicted image that includes the plant; Anticipating a predicted location of the plant based on the predicted image and the identified region within the predicted image. The target image includes the anticipated predicted location, according to claim 45.

47. The method according to claim 45 or 46, wherein the emitter is moving relative to the surface.

48. The method according to any one of claims 45 to 47, further comprising deactivating the beam after the plant has been damaged or killed.

49. The method according to any one of claims 45 to 48, wherein aligning the optical path with the anticipated target location includes referring to a calibration function.

50. A system for autonomous weed control, the system comprising: a processor, a memory and, wherein the memory has programming instructions stored thereon, and when the programming instructions are executed by the processor, the system receives a target image of a surface at a first time from a camera, the target image comprising a plant on the surface, identifies a region within the target image that includes the plant, and identifying the region within the target image is performed using an algorithm configured to distinguish weeds from crops, determines a target location of the plant on the surface at a second time after the first time based on the identified region within the target image, the determined target location taking into account the movement of the camera with respect to the plant during the elapsed time between the first time and the second time, provides instructions for aligning an optical path of a beam emitted from an emitter with the target location of the plant, provides instructions to the emitter to emit the beam towards the weeds when at least a portion of the optical path is aligned with the plant, the emitted beam killing or damaging the weeds, to perform operations including.

51. The operations are receiving a predicted image of the surface, identifying a region within the predicted image that includes the plant, and predicting a predicted location of the plant based on the predicted image and the identified region within the predicted image further comprising The system according to claim 50, wherein the target image comprises the predicted location.

52. The system according to claim 51, wherein the operations further comprise providing instructions to the emitter to deactivate the beam when the plant is damaged or killed.

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