Mobile removal device

Abstract

To simplify correction processing related to an irradiation position of a laser beam in a mobile removal device.SOLUTION: A mobile removal device includes a camera, a laser oscillator, a controller, a guide part, and a moving mechanism. The controller is configured to detect an obstacle and control the laser oscillator based on an image captured by the camera. The guide part includes reflection parts, and at least one of the reflection parts is a specific reflection part having a function of reflecting the laser beam and a function of transmitting light that can be captured by the camera. The camera is disposed such that an optical axis of the camera passes through the specific reflection part in the region through which the laser beam does not pass.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present disclosure relates to a mobile removal device that removes obstructions that may hinder plant growth. [Background technology]

[0002] As described in Patent Document 1, a mobile weeding device is known that is configured to remove unwanted plants that have grown on farmland by irradiating them with laser light. The mobile weeding device in Patent Document 1 is equipped with a camera that photographs the ground below the device, determines the location of the unwanted plants based on the image captured by the camera, and irradiates the unwanted plants with laser light from a laser irradiation device provided at the bottom of the mobile weeding device's main body. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2023-116312 Summary of the Invention [Problem to be solved by the invention]

[0004] However, in the mobile weeding device of Patent Document 1, the position of the laser irradiation device at the bottom of the main body of the mobile weeding device is far from the position of the camera, which poses a problem that when controlling the irradiation position of the laser light, the correction process for the position identified based on the image captured by the camera becomes complicated.

[0005] In one aspect of the present disclosure, it is desirable to be able to simplify the correction process related to the irradiation position of the laser light. [Means for solving the problem]

[0006] One aspect of the present disclosure is a mobile removal device configured to irradiate a laser beam onto an obstacle that may hinder plant growth, the mobile removal device including a camera, a laser oscillator, a control unit, a guide unit, and a movement mechanism.

[0007] The camera is configured to capture an image of the obstruction. The laser oscillator is configured to output a laser beam. The control unit is configured to detect the obstruction based on the image captured by the camera and to control the laser oscillator. The guidance unit is configured to guide the laser beam output from the laser oscillator. The movement mechanism is configured to move the mobile removal device.

[0008] The guide unit has at least one reflecting unit configured to reflect the laser light. At least one of the reflecting units is a specific reflecting unit that has a function of reflecting the laser light and a function of transmitting light that can be captured by the camera. The camera is positioned in an area where the laser light does not pass through so that the optical axis of the camera passes through the specific reflecting unit.

[0009] According to this configuration, the camera is positioned so that its optical axis passes through the specific reflecting portion. Therefore, the optical axis of the laser light reflected by the specific reflecting portion can be brought closer to the optical axis of the camera than when the optical axis does not pass through the specific reflecting portion. Therefore, the calculation for correcting the irradiation position of the laser light can be simplified, and the correction process can be simplified.

[0010] In one aspect of the present disclosure, the control unit may control the irradiation position of the laser light by changing the direction in which the reflector reflects the laser light. With this configuration, the irradiation position of the laser light can be controlled using the reflector.

[0011] In one aspect of the present disclosure, at least one of the reflecting portions may be configured as a galvanometer mirror. With this configuration, the irradiating position of the laser light can be controlled using the galvanometer mirror.

[0012] In one aspect of the present disclosure, the control unit may recognize the irradiation position of the laser light based on an image captured by a camera and correct the irradiation position of the laser light. With this configuration, feedback control can be performed using the captured image, so that the irradiation position of the laser light can be corrected with high accuracy.

[0013] In one aspect of the present disclosure, the specific reflecting portion may be configured as a dichroic mirror. With such a configuration, the dichroic mirror can be used to realize a function of reflecting laser light and a function of transmitting light that can be captured by a camera.

[0014] In one aspect of the present disclosure, the control unit may cause the laser oscillator to output laser light while the mobile removal device is being moved by the movement mechanism. With this configuration, the mobile removal device can perform weeding work while moving.

[0015] In one aspect of the present disclosure, the laser oscillator may output blue laser light. This configuration uses blue laser light, which is light with a wavelength that has a relatively high energy density among visible light, thereby enabling effective weed control. Furthermore, because the energy of blue laser light is in a wavelength range that is not easily absorbed by water, weeds can be efficiently removed even if water components such as rain are attached to the obstructions. [Brief explanation of the drawings]

[0016] [Figure 1] FIG. 1A is an explanatory diagram of the mobile removal device as viewed from the front, and FIG. 1B is an explanatory diagram of the mobile removal device and an image recognition area. [Figure 2] FIG. 1 is a block diagram showing the configuration of a mobile removal device. [Figure 3] 10 is a flowchart showing an example of a weeding process executed by the control device. DETAILED DESCRIPTION OF THE INVENTION

[0017] Hereinafter, exemplary embodiments of the present disclosure will be described with reference to the drawings. [1-1. Correspondence between the configuration of the present disclosure and the configuration of the embodiment] The galvanometer mirror 40 and the dichroic mirror 41 in this embodiment correspond to an example of a reflecting section in the present disclosure, and the dichroic mirror 41 in this embodiment corresponds to an example of a specific reflecting section in the present disclosure. The wheels 22 in this embodiment, a motor (not shown) for driving the wheels 22, and the like correspond to an example of a moving mechanism in the present disclosure.

[0018] [1-2.Configuration] [(1) Overview] A mobile removal device 1 according to one aspect of this embodiment is configured to remove unwanted plants P (e.g., weeds) that have appeared around crops in farmland 7 and that may inhibit the growth of other plants by irradiating them with laser light L (see FIG. 1A). The mobile removal device 1 is movable, detects unwanted plants P while moving through the farmland 7, and irradiates the detected unwanted plants P with laser light L. The mobile removal device 1 includes a main body 2, a laser oscillator 3, a guidance unit 4, a camera 5, and a control unit 6.

[0019] [(2) Main body] The main body 2 is a housing that holds a laser oscillator 3, a guidance unit 4, a camera 5, a control unit 6, a battery (not shown), etc. (See FIG. 1A.) The main body 2 also has a plurality of legs 21, a plurality of wheels 22, and an illumination unit 23.

[0020] The multiple legs 21 are provided on the edge of the lower part 20, which is the part of the main body 2 that faces the ground, and are parts that protrude downward. Wheels 22 are provided on the lower ends of the multiple legs 21, respectively, for propelling the mobile removal device 1. As an example, these wheels 22 may be driven by a motor (not shown). Of course, this is not a limitation, and the mobile removal device 1 may be configured to move when an operator pushes or pulls the main body 2. Furthermore, instead of the multiple wheels 22, the main body 2 may be provided with, for example, one or more electric crawlers, or may have a mechanism that allows it to move by flight, like a drone, etc. The lighting unit 23 is provided on the lower part 20 of the main body 2 and illuminates the area below the main body 2 on the ground.

[0021] [(3) Camera] The camera 5 is provided in an area of ​​the lower part 20 of the main body 2 where the laser light L does not pass, and includes a wide-angle lens 50 (see FIG. 1A). For example, the camera 5 is positioned so as to capture an image of the ground and / or plants through a dichroic mirror 41 that functions as a specific reflector, which will be described later. The camera 5 is configured to use the wide-angle lens 50 to capture an image of an area on the ground facing the lower part 20, in other words, an area directly below the main body 2 (see FIG. 1B). Of course, this is not a limitation, and the vicinity of the area directly below the main body 2 may also be captured by the camera 5. In the mobile removal device 1, unwanted plants P in an image recognition area R included in the photographing range of a camera 5 on the ground are detected, and laser light L is irradiated onto the unwanted plants P.

[0022] [(4) Laser oscillator] The laser oscillator 3 is configured to output laser light L (see FIG. 1A). As an example, a semiconductor laser may be used as the laser oscillator 3, but the present invention is not limited to this, and oscillators that output laser light L in various ways may be used.

[0023] In the first embodiment, the laser light L is, for example, visible light. More specifically, the frequency of the laser light L is, for example, not less than 400 nm and less than 550 nm, and a blue laser is used as the laser light L. Of course, this is not a limitation, and for example, laser light L other than a blue laser or laser light L other than visible light may be used. Furthermore, blue laser light is in a wavelength range in which the energy is not easily absorbed by water, so even if water components such as rain are attached to the unwanted plants P, they can be efficiently removed.

[0024] [(5) Guidance part] The guiding unit 4 includes a plurality of optical elements and is configured to guide the laser light L output from the laser oscillator 3 and irradiate the laser light L from above from the lower portion 20 of the main body 2 toward the unwanted plants P located below the main body 2 (see FIG. 1A). Specifically, the guiding unit 4 includes three galvanometer mirrors 40 and a dichroic mirror 41.

[0025] The three galvanometer mirrors 40 are arranged side by side, and the laser light L output from the laser oscillator 3 is sequentially reflected by these galvanometer mirrors 40. Each of the three galvanometer mirrors 40 is adapted to be displaceable in the x-axis direction and the y-axis direction. As an example, the y-axis may extend parallel to the traveling direction of the mobile removal device 1, and the x-axis may extend perpendicular to the traveling direction. Each galvanometer mirror 40 changes its orientation using a galvanometer scanner in response to a signal from the control unit 6, thereby changing the path of the laser light L. This displaces the irradiation position of the laser light L in the corresponding direction.

[0026] [(6) Dichroic mirror] The dichroic mirror 41 is a mirror that transmits light in a specific wavelength range and reflects the remaining wavelength range by utilizing the interference of light caused by a thin film, and in this embodiment has the function of reflecting the laser light L and the function of transmitting light that can be captured by the camera 5. Specifically, the dichroic mirror 41 has a reflective surface that is surface-treated so as to reflect light of the wavelength of the laser light L and transmit light of wavelengths other than the wavelength of the laser light L.

[0027] In this way, the dichroic mirror 41 is configured as a reflector that reflects the laser light L reflected by the three galvanometer mirrors 40 toward an area on the ground below the main body 2 (see FIG. 1A). In other words, the laser light L output from the laser oscillator 3 is finally reflected by the dichroic mirror 41 before being irradiated from the lower part 20 of the main body 2 toward the ground.

[0028] The dichroic mirror 41 is disposed below the camera 5, and is disposed between the camera 5 and the farmland 7 (for example, the ridges 70). In other words, the dichroic mirror 41 is disposed in an area through which the optical axis of the camera 5 passes.

[0029] In particular, it is preferable that the dichroic mirror 41 and the camera 5 are arranged so that the irradiation axis of the laser light L and the optical axis of the camera 5 are coaxial. Here, the irradiation axis of the laser light L represents the origin of the coordinate system at the time of laser irradiation. Furthermore, the optical axis of the camera 5 represents the origin of the coordinate system of the captured image. In this embodiment, these origins are the centers of the x- and y-axes of the image recognition area R shown in FIG. 1B, i.e., the position directly below the center of the camera 5.

[0030] With this arrangement, when it is recognized in the weeding process described below that the irradiation position of the laser light L is deviated from the targeted position, the process of correcting this irradiation position based on the position within the image recognition region R of the captured image can be simplified. That is, when correcting the irradiation position of the laser light L, it is necessary to associate the origin within the image recognition region R with the origin of the irradiation position of the laser light L, and then to calculate the coordinates of the irradiation position of the laser light L according to the coordinates within the image recognition region R. In this case, if the origin within the image recognition region R and the origin of the irradiation position of the laser light L coincide or nearly coincide with each other, the process of associating these origins can be omitted or simplified, thereby simplifying the correction process.

[0031] Furthermore, this configuration can suppress deviations between the coordinates in the image recognition area R and the coordinates of the irradiation position of the laser light L, which are caused by the height of the unwanted plants P. The irradiation axis of the laser light L and the optical axis of the camera 5 do not need to be completely coaxial, but may be close enough to simplify the correction process.

[0032] [(7) Control Unit] The control unit 6 is a part that performs overall control of the mobile removal device 1, and as shown in FIG. 2, includes a CPU 61, a memory 62, and a database 68. Information about unwanted plants P is stored in the database 68. The CPU 61 executes programs stored in the memory 62, thereby realizing various functions of the mobile removal device 1. Note that the various functions realized by the control unit 6 are not limited to being realized by executing programs, and some or all of them may be realized using one or more pieces of hardware. Furthermore, information about necessary plants (i.e., crops) is recorded in the database 68, and plants other than necessary plants may be determined to be unwanted plants P.

[0033] The control unit 6 has an image processing unit 66 and a laser processing unit 67 as processing functions executed by the CPU 61. The image processing unit 66 is configured to identify unwanted plants P from images captured by the camera 5. The image processing unit 66 can identify unwanted plants P using AI (i.e., artificial intelligence) constructed using a known statistical method.

[0034] Furthermore, the image processing unit 66 can recognize the coordinates of the unwanted plants P and the irradiation position of the laser light L from the image captured by the camera 5. Note that since the camera 5 obtains the captured image via the dichroic mirror 41, it cannot directly recognize the laser light L, but it can recognize the captured image that includes changes in the area hit by the laser light L and the absence of changes in the targeted area. As a result, the image processing unit 66 can indirectly recognize the irradiation position of the laser light L.

[0035] The laser processing unit 67 instructs the laser oscillator 3 and the galvanometer mirror 40 to irradiate the laser light L onto the coordinates of the unwanted plants P identified by the image processing unit 66. In other words, the laser processing unit 67 controls the irradiation position of the laser light L by changing the direction in which the galvanometer mirror 40 reflects the laser light L. At this time, the laser processing unit 67 recognizes the irradiation position of the laser light L based on the image captured by the camera 5 and corrects the irradiation position of the laser light L. In addition, the laser processing unit 67 adjusts the irradiation amount and irradiation trajectory of the laser light L based on the characteristics of the unwanted plants P determined by the image processing unit 66.

[0036] In addition, the control unit 6 is configured to detect the position (hereinafter, current location) of the mobile removal device 1. Specifically, the control unit 6 may detect the current location using, for example, a GPS, or may detect the speed and direction of travel of the mobile removal device 1 using a sensor, and detect the current location based on these detection results.

[0037] [1-3. Processing] Next, an example of the weeding process executed by the CPU 61 of the control unit 6 will be described with reference to the flowchart of Fig. 3. The weeding process is carried out while the mobile removal device 1 is moving using the movement mechanism.

[0038] In this process, first, in S110, the CPU 61 acquires an image captured by the camera 5. Next, in S120, the CPU 61 corrects the irradiation position of the laser light L based on the captured image. At this time, the CPU 61 recognizes the position where the laser light L is irradiated by paying attention to changes in the captured image, such as changes in the shape of the unwanted plants P and changes in color in the ridges 70. Then, the CPU 61 calculates the coordinate difference between the aimed position of the laser light L and the actual irradiated position, and drives the galvanometer mirror 40 so that this coordinate difference becomes zero. Note that the process of S120 is performed only when the laser light L is being irradiated.

[0039] Next, in S130, the CPU 61 determines whether or not the characteristics of all unwanted plants P included in the captured image have been determined. The characteristics of unwanted plants P will be described later. If the characteristics of all unwanted plants P have been determined, the process proceeds to S160, and if the characteristics of at least one unwanted plant P have not been determined, the process proceeds to S140.

[0040] In S140, the CPU 61 determines the characteristics of the undetermined unwanted plants P. The characteristics of the unwanted plants P include the size and type of the unwanted plants P. The database 68 stores information on the shape, color, etc. of the unwanted plants P according to the type of unwanted plants P, and information on the amount of irradiation of the laser light L corresponding to this information. The information on the amount of irradiation of the laser light L includes the output power and irradiation time of the laser light L. The CPU 61 determines the characteristics of the unwanted plants P, for example, by pattern matching, which compares the shape and color of the unwanted plants P in the captured image with the information on the shape, color, etc. of the unwanted plants P in the database 68 to identify the unwanted plants P.

[0041] Next, in S150, the CPU 61 adjusts the irradiation amount. That is, the CPU 61 sets the irradiation amount of the laser light L suitable for the characteristics of the unwanted plants P by referring to the database 68. The CPU 61 controls the laser oscillator 3 to output the laser light L so that the irradiation amount becomes the set amount. This causes the unwanted plants P to wither and die.

[0042] Next, in S160, the CPU 61 determines whether or not the irradiation of the laser light L has ended. If the irradiation of the laser light L has not ended, the processes from S110 onwards are repeated. As a result, feedback control is realized to correct the irradiation position of the laser light L using the captured image. If the irradiation of the laser light L has finished, this process ends.

[0043] [1-4.Effects] According to the embodiment described above in detail, the following effects are achieved.

[0044] (1a) The embodiment is configured as a mobile removal device 1 configured to irradiate unwanted plants P that may inhibit plant growth with laser light L. The mobile removal device 1 includes a camera 5, a laser oscillator 3, a control unit 6, a guidance unit 4, and a movement mechanism (e.g., wheels 22).

[0045] The camera 5 is configured to capture an image of the ground. The laser oscillator 3 is configured to output laser light L. The control unit 6 is configured to detect unwanted plants P on the ground based on the image captured by the camera 5, and to control the laser oscillator 3. The guiding unit 4 is configured to guide the laser light L output from the laser oscillator 3. The moving mechanism is configured to move the mobile removal device 1 along the ground.

[0046] The guidance unit 4 has at least one reflecting unit configured to reflect the laser light L. At least one of the reflecting units is a dichroic mirror 41 that has a function of reflecting the laser light L and a function of transmitting light that can be captured by the camera 5. The camera 5 is disposed such that the optical axis of the camera 5 passes through the dichroic mirror 41 in a region where the laser light L does not pass through.

[0047] According to this configuration, the camera 5 is disposed so that the optical axis thereof passes through the dichroic mirror 41. Therefore, the optical axis of the laser light L reflected by the dichroic mirror 41 can be brought closer to the optical axis of the camera 5 than when the optical axis does not pass through the dichroic mirror 41. Therefore, the calculation related to the correction of the irradiation position of the laser light L can be simplified, and the correction process at this time can also be simplified.

[0048] (1b) In the configuration of the embodiment, the control unit 6 controls the irradiation position of the laser light L by changing the direction in which the reflecting unit reflects the laser light L. With such a configuration, the irradiation position of the laser light L can be controlled using the reflecting unit.

[0049] (1c) In the configuration of the embodiment, at least one of the reflecting parts is configured as a galvanometer mirror 40. With such a configuration, the irradiation position of the laser light L can be controlled using the galvanometer mirror 40.

[0050] (1d) In the configuration of the embodiment, the control unit 6 recognizes the irradiation position of the laser light L based on the image captured by the camera 5, and corrects the irradiation position of the laser light L. With such a configuration, feedback control can be performed using the captured image, so that the irradiation position of the laser light L can be corrected with high accuracy.

[0051] (1e) The configuration of the embodiment includes a dichroic mirror 41. With such a configuration, the dichroic mirror can be used to realize a function of reflecting the laser light L and a function of transmitting light that can be captured by the camera 5.

[0052] (1f) In the configuration of the embodiment, the control unit 6 causes the laser oscillator 3 to output the laser light L while the mobile removal device 1 is being moved by the movement mechanism. With this configuration, the mobile removal device 1 can perform weeding work while moving.

[0053] (1g) In the configuration of the embodiment, the laser oscillator 3 outputs blue laser light L. With such a configuration, the blue laser light L, which is light of a wavelength with a relatively high energy density among visible light rays, is used, so that weeds can be effectively removed.

[0054] 2. Other Embodiments Although the embodiments of the present disclosure have been described above, the present disclosure is not limited to the above-described embodiments and can be implemented in various modified forms.

[0055] (2a) In the above embodiment, a dichroic mirror 41 is used that has the function of reflecting the laser light L and the function of transmitting light that can be captured by the camera 5, but this is not limited to this. Instead of the dichroic mirror 41, for example, a beam splitter can be used. Alternatively, a combination of a spectroscope such as a prism and a mirror may be used to achieve the function of reflecting the laser light L and the function of transmitting light that can be captured by the camera 5.

[0056] (2b) In the above embodiment, the dichroic mirror 41 is configured to reflect the laser light L last, but another mirror may be configured to reflect the laser light L after the dichroic mirror 41. In this case, the other mirror may be configured to reflect light that can be captured by the camera 5. (2c) In the above embodiment, the mobile removal device 1 is configured to remove unwanted plants P by irradiating the unwanted plants P with laser light L. However, the present invention is not limited to this, and the mobile removal device 1 may be configured to remove obstructions other than plants by irradiating them with laser light L in the same manner. Note that obstructions are objects that may obstruct the growth of crops, and one example of an obstruction may be pests. (2d) In the above embodiment, the mobile removal device 1 is configured to travel on the ground. However, the mobile removal device 1 may be configured, for example, as a drone, and configured to remove obstacles such as unwanted plants P while flying above the farmland 7 along a route similar to that in the first and second embodiments.

[0057] (2e) The control unit 6 and the method implemented by the control unit 6 described in the present disclosure may be implemented by a special-purpose computer configured by configuring a processor and memory programmed to execute one or more functions embodied in a computer program. Alternatively, the control unit 6 and the method implemented by the control unit 6 described in the present disclosure may be implemented by a special-purpose computer configured by configuring a processor with one or more dedicated hardware logic circuits. Alternatively, the control unit 6 and the method implemented by the control unit 6 described in the present disclosure may be implemented by one or more special-purpose computers configured by combining a processor and memory programmed to execute one or more functions with a processor configured with one or more hardware logic circuits. Furthermore, the computer program may be stored in a computer-readable non-transitory tangible recording medium as instructions to be executed by a computer. The method for implementing the functions of each unit included in the control unit 6 does not necessarily need to include software; all of the functions may be implemented using one or more hardware. If a flying mechanism such as a drone is used as the moving mechanism, it becomes possible to position the camera and specific reflector at a predetermined height, for example, a height from a reference position, which further simplifies the calculation. For example, by flying the drone so that the specific reflector is located 1 meter above sea level, even if the mobile removal device moves, the height value of the specific reflector remains constant, which simplifies the calculation.

[0058] (2f) Multiple functions possessed by one component in the above embodiments may be realized by multiple components, or one function possessed by one component may be realized by multiple components. Also, multiple functions possessed by multiple components may be realized by one component, or one function realized by multiple components may be realized by one component. Also, part of the configuration of the above embodiments may be omitted. Also, at least part of the configuration of the above embodiments may be added to or substituted for the configuration of another of the above embodiments.

[0059] (2g) In addition to the mobile removal device 1 described above, the present disclosure can also be realized in various forms, such as a system including the mobile removal device 1 as a component, a program for causing a computer to function as the mobile removal device 1, a non-transient physical recording medium such as a semiconductor memory on which this program is recorded, and a weed removal method.

[0060] [Technical idea disclosed in this specification] [Item 1] A mobile removal device configured to irradiate a laser beam onto an obstruction that may obstruct plant growth, a camera configured to photograph the obstruction; a laser oscillator configured to output the laser light; a control unit configured to detect the obstruction based on the image captured by the camera and to control the laser oscillator; a guidance unit configured to guide the laser light output from the laser oscillator; a movement mechanism configured to move the mobile removal device; Equipped with the guide portion has at least one reflector configured to reflect the laser light; At least one of the reflecting portions is a specific reflecting portion having a function of reflecting laser light and a function of transmitting light that can be captured by the camera, The camera is disposed in a region where the laser light does not pass through so that the optical axis of the camera passes through the specific reflecting portion. Mobile removal equipment. [Item 2] The mobile removal device according to item 1, The control unit controls the irradiation position of the laser light by changing the direction in which the reflecting unit reflects the laser light. A mobile removal device configured as follows. [Item 3] The mobile removal device according to item 2, A mobile removal device in which at least one of the reflecting portions is configured as a galvanometer mirror. [Item 4] The mobile removal device according to item 2 or 3, The control unit recognizes the irradiation position of the laser light based on the image captured by the camera and corrects the irradiation position of the laser light. A mobile removal device configured as follows. [Item 5] A mobile removal device according to any one of items 1 to 4, The specific reflecting portion is a mobile removal device configured as a dichroic mirror. [Item 6] The mobile removal device according to any one of items 1 to 5, The control unit controls the laser oscillator to output laser light while the moving mechanism is moving the mobile removal device. A mobile removal device configured as follows. [Item 7] A mobile removal device according to any one of items 1 to 6, The laser oscillator outputs a blue laser beam. A mobile removal device configured as follows. [Explanation of symbols]

[0061] 1...mobile removal device, 2...main body, 3...laser oscillator, 4...guidance unit, 5...camera, 6...control unit, 7...farmland, 20...lower part, 21...legs, 22...wheels, 23...lighting unit, 40...galvanometer mirror, 41...dichroic mirror, 50...wide-angle lens, 61...CPU, 62...memory, 66...image processing unit, 67...laser processing unit, 68...database, 70...ridge, L...blue laser light, P...unwanted plants, R...image recognition area.

Claims

1. A mobile removal device configured to irradiate a laser beam onto an obstruction that may obstruct plant growth, a camera configured to photograph the obstruction; a laser oscillator configured to output the laser light; a control unit configured to detect the obstruction based on the image captured by the camera and to control the laser oscillator; a guidance unit configured to guide the laser light output from the laser oscillator; a movement mechanism configured to move the mobile removal device; Equipped with the guide portion has at least one reflector configured to reflect the laser light; At least one of the reflecting portions is a specific reflecting portion having a function of reflecting laser light and a function of transmitting light that can be captured by the camera, The camera is disposed in a region where the laser light does not pass through so that the optical axis of the camera passes through the specific reflecting portion. Mobile removal equipment.

2. 10. The mobile removal device of claim 1, The control unit controls the irradiation position of the laser light by changing the direction in which the reflecting unit reflects the laser light. A mobile removal device configured as follows.

3. 3. The mobile removal device of claim 2, A mobile removal device, wherein at least one of the reflecting portions is configured as a galvanometer mirror.

4. 4. A mobile removal device according to claim 2 or claim 3, The control unit recognizes the irradiation position of the laser light based on the image captured by the camera and corrects the irradiation position of the laser light. A mobile removal device configured as follows.

5. 3. A mobile removal device according to claim 1 or claim 2, The specific reflecting portion is a mobile removal device configured as a dichroic mirror.

6. 3. A mobile removal device according to claim 1 or claim 2, The control unit controls the laser oscillator to output laser light while the moving mechanism is moving the mobile removal device. A mobile removal device configured as follows.

7. 3. A mobile removal device according to claim 1 or claim 2, The laser oscillator outputs a blue laser beam. A mobile removal device configured as follows.

Images