Mobile removal device

Abstract

To excellently control an irradiation position of a laser beam.SOLUTION: A mobile removal device configured to irradiate an inhibitor that may inhibit the growth of a plant with a laser beam includes a camera, a laser oscillator, a control unit, and a guide unit. The laser oscillator is configured to output a laser beam. The control unit is configured to detect an inhibitor on the ground based on an image captured by the camera and to irradiate the inhibitor with a laser beam. The guide unit is configured to guide a laser beam output from the laser oscillator. The guide unit includes a half mirror. The camera is configured to photograph the ground over the half mirror.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 means that when controlling the irradiation position of the laser light, correction processing for the position identified based on the image captured by the camera may be required, and the accuracy of controlling the irradiation position may decrease.

[0005] In one aspect of the present disclosure, it is desirable to precisely control 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 obstruction that may hinder plant growth, the mobile removal device comprising a camera, a laser oscillator, a control unit, and a guidance unit. The camera is configured to photograph the ground. The laser oscillator is configured to output the laser beam. The control unit is configured to detect an obstruction on the ground based on an image captured by the camera, and to irradiate the laser beam toward the obstruction. The guidance unit is configured to guide the laser beam output from the laser oscillator. The guidance unit also has a half mirror. The camera is configured to photograph the ground through the half mirror.

[0007] According to the above configuration, obstructions can be detected effectively based on the image of the ground captured by the camera through the half mirror. Furthermore, the position where the laser light is reflected by the half mirror can be positioned within or near the camera's imaging range, thereby reducing the amount of processing required to control the irradiation position of the laser light. Therefore, the irradiation position of the laser light can be controlled effectively.

[0008] One aspect of the present disclosure may further include an illumination unit configured to illuminate the imaging range of the camera. According to the above configuration, obstructions can be detected more effectively based on the captured image.

[0009] In one aspect of the present disclosure, the half mirror may be configured to finally reflect the laser light output from the laser oscillator. The camera may be provided with a wide-angle lens. According to the above configuration, the ground can be photographed over a wider range by the camera.

[0010] In one aspect of the present disclosure, the position at which the laser light is reflected by the half mirror may be on or near the optical axis of the camera. According to the above configuration, it is possible to reduce the processing required to control the irradiation position of the laser light.

[0011] In one aspect of the present disclosure, the laser light may be visible light. According to the above configuration, the irradiation position of the laser light can be controlled well. [Brief explanation of the drawings]

[0012] [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. 2 is an explanatory diagram of a route traveled by the mobile removal device when performing weeding work. DETAILED DESCRIPTION OF THE INVENTION

[0013] Hereinafter, exemplary embodiments of the present disclosure will be described with reference to the drawings. [1. Overview] The mobile removal device 1 is configured to remove unwanted plants P (e.g., weeds) that have grown around crops 71 in farmland 7 and that may hinder the growth of the crops 71 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, 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.

[0014] [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.

[0015] 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 for moving the mobile removal device 1 are provided at the lower ends of the multiple legs 21, respectively. 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, the main body 2 may be provided with, for example, one or more electric crawlers instead of the multiple wheels 22.

[0016] 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. [3. Camera] The camera 5 is provided on the lower part 20 of the main body 2 and has a wide-angle lens 50 (see FIG. 1A). The camera 5 is configured to use the wide-angle lens 50 to capture an image of the area on the ground facing the lower part 20, in other words, the area directly below the main body 2 (see FIG. 1B). Of course, this is not a limitation, and the area near the area directly below the main body 2 may also be captured by the camera 5.

[0017] Although details will be described later, the mobile removal device 1 detects unwanted plants P in an image recognition area R included in the shooting range of the camera 5 on the ground, and irradiates the unwanted plants P with laser light L.

[0018] [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.

[0019] Moreover, the laser light L is, for example, visible light. More specifically, the frequency of the laser light L is, for example, 400 nm or more and 550 nm or less, and a blue laser is used as the laser light L. The blue laser has a wavelength range in which energy is not easily absorbed by water, so even if water components such as rain adhere to the plant, they can be efficiently removed. 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.

[0020] [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 two galvanometer mirrors 40 and a half mirror 41.

[0021] The two 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. The two galvanometer mirrors 40 correspond to the x-axis direction and the y-axis direction, respectively. 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. Of course, the number of galvanometer mirrors can be determined as appropriate; for example, three galvanometer mirrors may be provided.

[0022] [6. Half Mirror] The half mirror 41 is configured to reflect the laser light L reflected by the two galvanometer mirrors 40 toward an area on the ground below the main body 2 (see FIG. 1A). That is, the laser light L output from the laser oscillator 3 is finally reflected by the half mirror 41 before being irradiated from the lower part 20 of the main body 2 toward the ground.

[0023] 1A, the half mirror 41 is disposed below the camera 5, and its position is fixed. The half mirror 41 is located between the camera 5 and the ground, and the position of the half mirror 41 is within the shooting range below the camera 5. However, since light that has passed through the half mirror 41 enters the camera 5, the camera 5 shoots the ground through the half mirror 41. In other words, even if the half mirror 41 overlaps the ground, the camera 5 can shoot the part of the ground that overlaps with the half mirror 41.

[0024] The half mirror 41 may be located at a position corresponding to an image recognition area R (details will be described later) in the image captured by the camera 5. As an example, a reflection position 41A of the laser light L on the half mirror 41 is located on or near the optical axis 50A of the wide-angle lens 50 of the camera 5. Of course, the reflection position 41A is not limited to this, and may be located at a position corresponding to any position within the image recognition area R in the image captured by the camera 5.

[0025] [7. Control Unit] The control unit 6 is a part that controls the mobile removal device 1, and includes a CPU and memory (see FIG. 1A). The CPU executes programs stored in the memory, 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.

[0026] In addition, the control unit 6 is configured to detect the position (hereinafter, the 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.

[0027] [8. Weeding work] The mobile removal device 1 travels through the farmland 7 and performs weeding work according to the route information stored in the memory of the control unit 6. As shown in FIG. 2, the route information indicates, as an example, a route 72 along which the mobile removal device 1 travels through the farmland 7 and a stopping position on the route 72 where the mobile removal device 1 stops to perform weeding work.

[0028] As an example, crops 71 are grown at regular intervals (for example, 60 cm) on each ridge 70 of farmland 7. In the route information of FIG. 2, as an example, a route 72 is set along each ridge 70, and the mobile removal device 1 travels along the route 72 with the ridge 70 positioned between the wheels 22.

[0029] In addition, in the route information, the position of each crop 71 is set as a stop position, and when the mobile removal device 1 stops at a stop position, the crop 71 at that stop position is located in the image recognition area R of the mobile removal device 1 (see FIG. 1B). The mobile removal device 1 travels along the route 72, stopping at each stop position and performing weeding work around the crop 71.

[0030] Specifically, when the mobile removal device 1 stops at a stop position, the control unit 6 causes the camera 5 to capture an image of the area below the main body 2 on the ground through the half mirror 41, and generates image data. At this time, the control unit 6 causes the lighting unit 23 to illuminate the capture range of the camera 5. Of course, this is not a limitation, and the camera 5 may capture an image without illuminating the capture range of the camera 5.

[0031] Then, for example, a portion of the image of the ground shown by the image data, excluding the periphery of the edges, becomes the image recognition area R. Of course, this is not limited to this, and the portion of the image of the ground shown by the image data that becomes the image recognition area R can be determined as appropriate. The control unit 6 performs image recognition of the image recognition area R based on the image data, detects unwanted plants P in the image recognition area R, and determines the x and y coordinates that indicate a predetermined position in the detected unwanted plants P as the target position of the laser light L.

[0032] Next, the control unit 6 sets the irradiation position of the laser light L based on the determined target position. Specifically, the control unit 6 may use the x and y coordinates indicating the target position as the irradiation position as they are, or may use the x and y coordinates obtained by performing a correction process on the x and y coordinates indicating the target position as the irradiation position. Then, the control unit 6 controls the galvanometer mirror 40 to adjust the irradiation direction of the laser light L and irradiate the laser light L toward the irradiation position. This causes the unwanted plants P to wither and die.

[0033] [9. Effects] (1) According to the above embodiment, although the half mirror 41 is disposed within the shooting range of the camera 5, the camera 5 can capture an image of the ground through the half mirror 41, and therefore the detection of unwanted plants P based on the image captured by the camera 5 is not hindered. Therefore, unwanted plants P can be detected well based on the captured image.

[0034] Furthermore, the reflection position 41A of the laser light L on the half mirror 41 can be located within or near the shooting range of the camera 5. This allows the origin of the x and y coordinates for determining the position of the unwanted plant P in the image recognition region R of the captured image to coincide with or be close to the origin of the x and y coordinates for determining the irradiation position of the laser light L. As a result, the x and y coordinates indicating a predetermined position (in other words, the target position) of the unwanted plant P can be used as they are as the x and y coordinates indicating the irradiation position of the laser light L. Alternatively, the x and y coordinates of the target position can be subjected to a simple correction process and used as the x and y coordinates of the irradiation position of the laser light L. This reduces the amount of processing required to control the irradiation position of the laser light L.

[0035] Therefore, the irradiation position of the laser light L can be controlled well. (2) When the ground is photographed by the camera 5, the photographing range of the camera 5 is illuminated by the lighting unit 23. This allows the camera 5 to photograph the ground clearly through the half mirror 41, and as a result, plants can be detected more clearly based on the image photographed by the camera 5.

[0036] (3) Furthermore, the camera 5 captures images of the ground surface using the wide-angle lens 50. This allows a single camera 5 to capture images of the ground surface over a wider range. This allows the number of cameras 5 to be reduced, and the configuration of the mobile removal device 1 to be simplified.

[0037] (4) Furthermore, the reflection position 41A of the laser light L on the half mirror 41 is on or near the optical axis 50A of the wide-angle lens 50 of the camera 5. This makes it possible to make the origin of the xy coordinate system for determining the position of the unwanted plants P from the captured image coincide with or closer to the origin of the xy coordinate system for determining the irradiation position of the laser light L. This reduces the amount of processing required to control the irradiation position of the laser light L.

[0038] (5) Furthermore, the laser light L is visible light, so the irradiation position of the laser light L can be controlled well. 10. Other Embodiments (1) In the first and second embodiments, 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 71, and one example of an obstruction may be a pest.

[0039] (2) In the first and second embodiments, 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.

[0040] (3) In the above embodiment, the camera 5 is provided with the wide-angle lens 50. However, the camera 5 may be provided with a normal lens other than the wide-angle lens 50. In this case, the laser light L may be finally reflected by a reflecting portion provided separately from the half mirror 41, rather than being finally reflected by the half mirror 41, before being irradiated from the lower portion 20 of the main body 2. In other words, the guidance unit 4 may have a reflecting portion, separate from the half mirror 41, that is the last to reflect the laser light L before being irradiated.

[0041] (4) In the mobile removal device 1 of the above embodiment, the main body 2 may further be provided with a wall portion (not shown). The wall portion is a wall-like portion that protrudes from the edge of the lower portion 20 of the main body 2 and surrounds the area on the ground below the main body 2. The camera 5 may be configured to capture an image of the area on the ground surrounded by the wall portion.

[0042] (5) In the above embodiment, the mobile removal device 1 is configured to perform weeding work while stopped at a stopping position provided on the path 72 of the farmland 7. However, this is not limiting, and the mobile removal device 1 may be configured to perform weeding work in the same manner while traveling along the path 72 without stopping at a stopping position.

[0043] (6) Multiple functions of one component in the above embodiments may be realized by multiple components, or one function of one component may be realized by multiple components. Also, multiple functions of 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.

[0044] [11. Technical Ideas Disclosed in the Present 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 ground; a laser oscillator configured to output the laser light; a control unit configured to detect the obstacle on the ground based on the image captured by the camera and to irradiate the laser light toward the obstacle; a guide unit configured to guide the laser light output from the laser oscillator, the guiding unit has a half mirror, The camera is configured to capture an image of the ground through the half mirror. Mobile removal equipment.

[0045] [Item 2] The mobile removal device according to item 1, Further, the camera includes an illumination unit configured to illuminate a photographing range of the camera. Mobile removal equipment.

[0046] [Item 3] The mobile removal device according to item 1 or 2, the half mirror is configured to finally reflect the laser light output from the laser oscillator, The camera is provided with a wide-angle lens. Mobile removal equipment.

[0047] [Item 4] A mobile removal device according to any one of items 1 to 3, The position where the laser light is reflected by the half mirror is on or near the optical axis of the camera. Mobile removal equipment.

[0048] [Item 5] A mobile removal device according to any one of items 1 to 4, The laser light is visible light. Mobile removal equipment. [Explanation of symbols]

[0049] 1...mobile removal device, 2...main body, 20...lower part, 23...illumination part, 3...laser oscillator, 4...guidance part, 40...galvanometer mirror, 41...half mirror, 41A...reflection position, 5...camera, 50...wide-angle lens, 50A...optical axis, 6...control part, 7...farmland, 72...route, P...unwanted plants, L...laser light, 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 ground; a laser oscillator configured to output the laser light; a control unit configured to detect the obstacle on the ground based on the image captured by the camera and to irradiate the laser light toward the obstacle; a guide unit configured to guide the laser light output from the laser oscillator, the guiding unit has a half mirror, The camera is configured to capture an image of the ground through the half mirror. Mobile removal equipment.

2. 10. The mobile removal device of claim 1, Further, the camera includes an illumination unit configured to illuminate a photographing range of the camera. Mobile removal equipment.

3. 3. A mobile removal device according to claim 1 or claim 2, the half mirror is configured to finally reflect the laser light output from the laser oscillator, The camera is provided with a wide-angle lens. Mobile removal equipment.

4. 3. A mobile removal device according to claim 1 or claim 2, The position where the laser light is reflected by the half mirror is on or near the optical axis of the camera. Mobile removal equipment.

5. 3. A mobile removal device according to claim 1 or claim 2, comprising: The laser light is visible light. Mobile removal equipment.

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