Weeding device

Abstract

To provide a weeding device capable of enhancing the identification accuracy of an unnecessary plant by image recognition.SOLUTION: A weeding device that specifies a position of a plant from an image obtained by imaging a predetermined range with a camera and performs laser irradiation on the plant includes a shielding unit and an adjustment unit. The shielding portion surrounds a space in which laser irradiation is performed, thereby preventing light from entering the space from the outside of the space. The adjustment unit can adjust the brightness in the predetermined range.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present disclosure relates to a weeding device. [Background technology]

[0002] Weeding devices that use laser irradiation to remove unwanted plants (i.e., weeds) in farmland are known (see Patent Documents 1 to 3). These weeding devices irradiate unwanted plants with laser light from above, damaging and killing the plants. The laser light is directed toward the position of the unwanted plants identified by image recognition processing. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2015-53941 [Patent Document 2] Japanese Patent Application Laid-Open No. 2015-53942 [Patent Document 3] Japanese Patent Application Laid-Open No. 2015-62412 Summary of the Invention [Problem to be solved by the invention]

[0004] However, the brightness of the environment varies depending on the season, weather, time of day, etc. Therefore, under certain conditions, it is difficult to identify unwanted plants from images, and the accuracy of identifying unwanted plants may decrease.

[0005] One aspect of the present disclosure provides a weeding device that can improve the accuracy of identifying unwanted plants through image recognition. [Means for solving the problem]

[0006] One aspect of the present disclosure is a weeding device that identifies the location of a plant from an image captured by a camera of a predetermined range and irradiates the plant with a laser, the weeding device comprising a shielding unit and an adjustment unit. The shielding unit encloses a space in which laser irradiation is performed, thereby suppressing the incidence of light from outside the space into the space. The adjustment unit is capable of adjusting brightness within a predetermined range. This configuration reduces the effect of brightness outside the space on the image. Therefore, the accuracy of identifying the location of a plant through image recognition can be improved.

[0007] In one aspect of the present disclosure, the adjustment unit may include at least one lighting device. With this configuration, it is possible to illuminate plants even when the external environment is dark, for example, at night. This allows images of plants to be captured even at night, enabling weeding work to be performed regardless of the time of day.

[0008] In one aspect of the present disclosure, at least one of the at least one lighting device may be configured to be movable within the space. With this configuration, the lighting device can be moved to a position where shadows are less likely to be cast around the plants. Therefore, images can be acquired in a situation where shadows are less likely to be cast around the plants, and the position of the plants can be identified by image recognition. This can improve the accuracy of identification by image recognition.

[0009] In one aspect of the present disclosure, a camera may be disposed between the laser irradiation surface and at least one of the at least one lighting device. This configuration can prevent the lighting device from appearing in an image captured by the camera. Therefore, it is possible to prevent objects other than plants from appearing in the image, thereby improving the accuracy of identifying the location of plants through image recognition.

[0010] In one aspect of the present disclosure, the adjustment unit may have a louver window provided in the shielding unit, the opening degree of which can be changed, and the brightness can be adjusted within a predetermined range by changing the opening degree of the louver window. With this configuration, the brightness of the space can be adjusted by the opening degree of the louver window. Therefore, the brightness can be adjusted to a level appropriate for image recognition, and the accuracy of identification by image recognition can be improved.

[0011] In one aspect of the present disclosure, the shielding portion may be configured to be able to adjust the distance between the shielding portion and the ground. With this configuration, it is possible to adjust the amount of light entering the space between the shielding portion and the ground. Therefore, it is possible to adjust the brightness to an appropriate level for image recognition, thereby improving the accuracy of identification by image recognition. [Brief explanation of the drawings]

[0012] [Figure 1] FIG. 1A is a schematic diagram of a front view of the weeding device, and FIG. 1B is a schematic diagram of a top view of the weeding device. [Figure 2] FIG. 2 is a schematic diagram of a side view of the weeding device. [Figure 3] FIG. 3 is a block diagram showing the configuration of a control device in the weeding device. [Figure 4] FIG. 4 is a schematic front view of a modified weeding device. [Figure 5] FIG. 5 is a perspective view of a modified illumination device. [Figure 6] 6A to 6D are diagrams illustrating the arrangement of lighting devices when a weeding device is equipped with one lighting device. [Figure 7] 7A to 7C are diagrams illustrating the arrangement of lighting devices when the weeding device is equipped with two lighting devices. [Figure 8] 8A and 8B are diagrams illustrating the arrangement of lighting devices when the weeding device is equipped with three lighting devices. [Figure 9] 9A to 9C are diagrams illustrating the arrangement of lighting devices when the weeding device is equipped with four lighting devices. [Figure 10]10A and 10B are diagrams illustrating the arrangement of lighting devices when the weeding device is equipped with five lighting devices. [Figure 11] FIG. 11 is a schematic diagram of a side view of a weeding device equipped with a louver window. [Figure 12] FIG. 12 is a schematic diagram of a side view of a weeding device with a downwardly extendable plate. DETAILED DESCRIPTION OF THE INVENTION

[0013] Hereinafter, exemplary embodiments of the present disclosure will be described with reference to the drawings. [1. Embodiment] [1-1.Configuration] 1A, 1B, and 2 is a system for removing unwanted plants P2 that grow around crops P1 in, for example, farmland by irradiating them with a laser. Unwanted plants P2 are plants that are the target of laser irradiation, such as weeds. Weeding system 1 includes a device main body 2, a laser irradiator 3, a camera 4, and a control device 7.

[0014] <Device body> The device main body 2 is a housing that holds the laser irradiator 3, the camera 4, the shielding unit 5, the adjustment unit 6, and the control device 7. The device main body 2 also has a movement mechanism.

[0015] The moving mechanism of this embodiment is composed of a plurality of wheels 21. The device body 2 is configured to travel on farmland using the plurality of wheels 21. The moving mechanism may have a drive device. For example, it may have an electric drive device that rotates the wheels 21 using a motor. It may also be a manual type in which the worker moves the device body 2 by pushing or pulling it. good.

[0016] Hereinafter, the traveling direction of the device body 2 will be referred to as the forward direction, and the direction opposite to the traveling direction of the device body 2 will be referred to as the backward direction. The traveling direction of the device body 2 is the direction in which the multiple wheels 21 rotate and move forward, and is the direction indicated by arrow Y1 in FIG. 2. The width direction of the device body 2 will be referred to as the left-right direction, and the height direction of the device body 2 will be referred to as the up-down direction. These directions are used merely for convenience of explanation and do not limit the embodiments of the present disclosure in any way.

[0017] <Laser irradiator> The laser irradiator 3 is configured to irradiate the unwanted plant P2 identified by the control device 7 with laser light L from above the unwanted plant P2.

[0018] The laser irradiator 3 damages (specifically burns) the unwanted plants P2 with the laser light L, thereby causing the unwanted plants P2 to wither and die. A known laser irradiation device including a battery, an oscillator, and a focusing unit can be used as the laser irradiator 3. The frequency of the laser light L from the laser irradiator 3 is, for example, not less than 450 nm and not more than 650 nm.

[0019] The laser irradiator 3 may irradiate the laser while the device main body 2 is moving, or may irradiate the laser while the device main body 2 is stationary. The laser irradiator 3 sequentially irradiates the laser onto the plurality of unwanted plants P2 identified by the control device 7.

[0020] <Camera> Camera 4 is configured to capture an image of a predetermined area of ​​farmland containing a mixture of multiple crops P1 and at least one unwanted plant P2 from above. As an example, camera 4 is installed on the bottom surface of the housing of device main body 2.

[0021] The images captured by camera 4 include multiple crops P1, at least one unwanted plant P2, and other objects (for example, structures such as fences, obstacles such as stones, etc.). The imaging range of camera 4 changes as device body 2 moves.

[0022] <Shielding part> As shown in FIG. 1B, the shielding unit 5 is a wall that surrounds the irradiation space 100, which is a space where laser irradiation is performed. In FIG. 1B, components other than the shielding unit 5 and wheels 21 are omitted in order to explain the irradiation space 100. The shielding unit 5 suppresses light from entering the irradiation space 100 from outside the irradiation space 100. The shielding unit 5 includes a front wall 5a, a right wall 5b, a rear wall 5c, and a left wall 5d. As an example, the shielding unit 5 is a metal plate, such as an iron plate. Note that the material of the shielding unit 5 is not limited thereto. For example, the shielding unit 5 may be a curtain made of cloth or a plate made of resin. Note that in FIG. 1A, for convenience, the adjustment unit 6 and the like are visible through the shielding unit 5, but in reality, the adjustment unit 6 and the like are not visible from outside the irradiation space 100. Also, in Figure 2, the adjustment unit 6 and the like are visible through the housing of the device main body 2, but in reality, the adjustment unit 6 and the like are configured to be invisible from the outside due to the housing of the device main body 2 and the shielding unit 5.

[0023] <Adjustment part> The adjustment unit 6 is a device that can adjust the brightness with which the unwanted plants P2 are illuminated. As an example, the adjustment unit 6 has two lighting devices 6a. The two lighting devices 6a are arranged on the bottom surface of the housing of the device main body 2, one on each side. The two lighting devices 6a emit white light.

[0024] <Control device> As shown in Fig. 3, the control device 7 is mainly configured with a well-known microcomputer having a CPU, ROM, RAM, flash memory, etc. The CPU executes a program stored in the ROM, which is a non-transitory tangible recording medium. Execution of the program results in the execution of a method corresponding to the program. The control device 7 may include one microcomputer or multiple microcomputers.

[0025] The method for realizing the functions of each unit included in the control device 7 is not limited to software, and some or all of the functions may be realized using one or more pieces of hardware. For example, when the functions are realized by electronic circuits that are hardware, the electronic circuits may be realized by digital circuits, analog circuits, or a combination of these.

[0026] The control device 7 is configured to identify unwanted plants P2 from the images captured by the camera 4. The control device 7 identifies unwanted plants P2 using AI (artificial intelligence) constructed using a known statistical method.

[0027] Statistical methods include, for example, supervised machine learning, multivariate analysis, etc. In supervised machine learning, a decision formula (i.e., a classifier) ​​is constructed by analyzing a large number of labeled plant images (i.e., training data) using a machine learning circuit.

[0028] The control device 7 instructs the laser irradiator 3 to irradiate the coordinates of the identified unwanted plants P2 with laser light. The control device 7 inputs to the laser irradiator 3 irradiation coordinates, irradiation time, irradiation intensity, and the like.

[0029] [1-2.Effects] According to the embodiment described above in detail, the following effects can be obtained. (1a) The shielding portion 5 suppresses the incidence of light from outside the illumination space 100 into the illumination space 100. With this configuration, it is possible to reduce the influence of the brightness outside the illumination space 100 on the image captured by the camera 4. Therefore, it is possible to improve the accuracy of identifying the unwanted plants P2 by image recognition.

[0030] (1b) The adjustment unit 6 has a lighting device 6a. With this configuration, the unwanted plants P2 can be illuminated even when the external environment is dark, for example, at night. Therefore, images of the unwanted plants P2 can be captured even at night, allowing weeding work to be performed regardless of the time of day.

[0031] Furthermore, the two lighting devices 6a are arranged one on each side. With this configuration, the unwanted plants P2 can be illuminated from both the left and right sides. This allows the unwanted plants P2 to be identified by image recognition in a situation where shadows are unlikely to form around the unwanted plants P2. This improves the accuracy of identifying the unwanted plants P2 by image recognition.

[0032] [1-3. Correspondence] In the above embodiment, the shielding unit 5 and the adjusting unit 6 correspond to the weeding device. 2. Other Embodiments Although the embodiments of the present disclosure have been described above, it goes without saying that the present disclosure is not limited to the above-described embodiments and can take on various forms.

[0033] (2a) In the above embodiment, the camera 4 is disposed on the bottom surface of the housing of the device main body 2. However, the position where the camera 4 is disposed is not limited to this. For example, as shown in FIG. 4, the camera 4 may be disposed between the laser irradiation surface and the lighting device 6a. Note that in FIG. 4, for convenience, the adjustment unit 6 and the like are shown as being transmitted through the shielding unit 5. Although the configuration is such that the adjustment unit 6 and the like are not actually visible from outside the illumination space 100, the camera 4 and the lighting device 6b may be configured as one unit, as shown in FIG. 5 . Specifically, the camera 4 may be embedded in the center of the light output surface 61 of the lighting device 6b. With this configuration, it is possible to prevent the shadow of the camera 4 from appearing in the image captured by the camera 4. It is also possible to prevent the lighting device 6a from appearing in the image captured by the camera 4. Therefore, it is possible to prevent objects other than the unwanted plants P2 from appearing in the image, thereby improving the accuracy of identifying the unwanted plants P2 by image recognition.

[0034] (2b) In the above embodiment, a configuration in which two lighting devices 6a are arranged, one on each side, is exemplified. However, the positions at which the two lighting devices 6a are arranged and the number of lighting devices 6a are not limited to this. The arrangement of the lighting devices 6a will be described with reference to FIGS. 6A to 10B. Note that FIGS. 6A to 10B are top views of the device body 2, and are schematic views when viewed through the device body 2.

[0035] For example, as shown in FIGS. 6A to 6D, one lighting device 6a may be used. More specifically, for example, as shown in FIG. 6A, one lighting device 6a may be arranged so as to overlap the camera 4 in the vertical direction. In this case, the camera 4 is arranged below the one lighting device 6a. For example, as shown in FIG. 6B, one lighting device 6a may be arranged adjacent to the camera 4. For example, as shown in FIG. 6C, one lighting device 6a may be arranged in front, spaced apart from the left and right walls. For example, as shown in FIG. 6D, one lighting device 6a may be arranged in the front left corner.

[0036] 7A, the two lighting devices 6a may be arranged one behind the other. Alternatively, as shown in FIG. 7B, the two lighting devices 6a may be arranged away from the center of the device body 2. Alternatively, as shown in FIG. 7C, the two lighting devices 6a may be arranged one behind the other, away from the left and right walls, toward the center of the device body 2.

[0037] 8A and 8B, three lighting devices 6a may be used. More specifically, for example, as shown in Fig. 8A, the three lighting devices 6a may be arranged at intervals so as to surround the camera 4. For example, as shown in Fig. 8B, the three lighting devices 6a may be arranged in a straight line. One of the three lighting devices 6a may be arranged so as to overlap the camera 4 in the vertical direction.

[0038] 9A to 9C, four lighting devices 6a may be used. More specifically, for example, as shown in FIG. 9A, the four lighting devices 6a may be arranged in four locations separated into front, back, left, and right. For example, as shown in FIG. 9B, the four lighting devices 6a may be arranged in a straight line. For example, as shown in FIG. 9C, the four lighting devices 6a may be arranged at positions spaced apart from the front and back walls.

[0039] 10A and 10B, five lighting devices 6a may be used as the adjustment unit 6. More specifically, for example, as shown in FIG. 10A, four of the five lighting devices 6a may be arranged at four locations separated into front and rear and left and right. The remaining one of the five lighting devices 6a may be arranged at a position overlapping the camera 4 in the vertical direction. For example, four of the five lighting devices 6a may be arranged at positions spaced apart from the front and rear walls. The remaining one of the five lighting devices 6a may be arranged at a position overlapping the camera 4 in the vertical direction. Good too.

[0040] (2c) The lighting device 6a may be movable. For example, the lighting device 6a may be configured to be slidable on rails provided on the bottom surface of the housing of the device main body 2. Furthermore, for example, the bottom surface of the housing of the device main body 2 may be provided with a plurality of locking portions for locking the lighting device 6a. The plurality of locking portions may be provided at separate positions on the front, back, left and right sides. The lighting device 6a may be locked to any of the plurality of locking portions. Furthermore, the lighting device 6a may be moved manually or may be configured to be movable automatically.

[0041] (2d) In the above embodiment, a configuration in which a lighting device 6a is used as the adjustment unit 6 is exemplified. However, the member that adjusts the brightness as the adjustment unit is not limited to this. For example, as shown in FIG. 11, the adjustment unit 106 may have a louver window that is provided in the shielding unit 5 and whose opening degree can be changed. The adjustment unit 106 can adjust the brightness by changing the opening degree of the louver window. The opening degree of the louver window refers to the degree of opening of the opening 51, which will be described later.

[0042] The adjustment unit 106 has an opening 51 and an inclined portion 52 that rotates around a rotation axis 53, both of which are provided in the shielding unit 5. The degree to which the opening 51 is opened is changed by the angle of the inclined portion 52, thereby making it possible to adjust the amount of light that enters the irradiation space 100 from outside the irradiation space 100. In the adjustment unit 106, the inclined portion 52 suppresses leakage of the laser light L irradiated from above from the opening 51. Therefore, it is possible to adjust the brightness that illuminates the unwanted plants P2 while promoting improved safety. Note that it is sufficient that the louver window is provided on at least one surface of the shielding unit 5. Furthermore, a plurality of openings 51 and inclined portions 52 may be provided.

[0043] (2e) The shielding unit 5 may be configured so that the distance between the shielding unit 5 and the ground is adjustable. Specifically, as shown in FIG. 12, the shielding unit 5 may include a plate 8 that can be extended downward. With such a configuration, the lower end of the shielding unit 5 is located at a distance from the ground so as not to interfere with the running of the vehicle. On the other hand, during imaging, the plate 8 can also block the space between the shielding unit 5 and the ground so that light from outside does not enter the irradiation space 100. Furthermore, for example, the shielding unit 5 may include a curtain below it. The ground refers to the reference surface on which the wheels 21 move.

[0044] (2f) In the above embodiment, the shielding unit 5 is configured to include the front wall 5a, the right wall 5b, the rear wall 5c, and the left wall 5d. However, if the device body 2 does not sufficiently block the light entering the irradiation space 100 from above the shielding unit 5, a ceiling may be provided to block the light.

[0045] (2g) In the above embodiment, a configuration including a moving mechanism capable of moving the device main body 2 was exemplified. However, the mode of movement of the device main body 2 is not limited to running. The device main body may be configured to be guided by rails installed on farmland, for example. The device main body may move by flying, for example. Furthermore, the device main body 2 may be configured without a moving mechanism.

[0046] (2h) The function of one component in the above embodiments may be distributed among multiple components, or the functions of multiple components may be integrated into one component. Also, part of the configuration of the above embodiments may be omitted. Furthermore, 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. [Explanation of symbols]

[0047] 1...weeding system, 2...device body, 3...laser irradiator, 4...camera, 5...shielding section, 5a ...front wall, 5b...right wall, 5c...rear wall, 5d...left wall, 6...adjustment section, 6a, 6b...lighting device, 7...control device, 8...board, 21...wheels, 51...opening, 52...slope, 61...output surface, 100...irradiation space, L...laser light, P1...crops, P2...unnecessary plants.

Claims

1. A weeding device that identifies the position of a plant from an image captured by a camera over a predetermined range and irradiates the plant with a laser, a shielding portion that surrounds a space where laser irradiation is performed, thereby suppressing incidence of light from outside the space into the space; an adjustment unit capable of adjusting the brightness within the predetermined range; A weeding device comprising:

2. The weeding device according to claim 1, A weeding device, wherein the adjustment unit has at least one lighting device.

3. The weeding device according to claim 2, A weeding device, wherein at least one of the at least one lighting device is configured to be movable within the space.

4. The weeding device according to claim 2 or 3, A weeding device, wherein the camera is disposed between an irradiation surface of the laser irradiation and at least one of the at least one lighting device.

5. A weeding device according to any one of claims 1 to 4, The adjustment unit has a louver window provided in the shielding unit, the opening degree of which can be changed, and the brightness within the predetermined range can be adjusted by changing the opening degree of the louver window.

6. A weeding device according to any one of claims 1 to 5, The weeding device, wherein the shielding portion is configured to be able to adjust the distance between the shielding portion and the ground.

Images