Weeding device

Abstract

To provide a technology to inhibit weed recognition accuracy from being deteriorated by smoke generated from weeds by the irradiation of laser beams.SOLUTION: A weeder includes an imaging device, a laser irradiation device, a shield wall, and a blower. The imaging device is configured so as to image plants present in an imaging range. The laser irradiation device is configured so as to radiate laser beams onto the plants. The shield wall is a cylindrical member arranged so as to surround a laser beam irradiation space. The blower generates an air flow in the irradiation space, and moves smoke generated by the laser beam irradiation and staying in the irradiation space outside the imaging range.SELECTED DRAWING: Figure 1

Description

Technical Field

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

Background Art

[0002] Patent Documents 1-3 disclose a weeding device for removing unwanted plants, i.e., weeds, in farmland. This weeding device is configured to be movable on the farmland, detects weeds from a captured image of plants generated by a three-dimensional imager, and irradiates laser light by a laser device to damage the weeds and remove them.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Patent Document 2

Patent Document 3

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, in the above-described weeding device, when weeds are removed by irradiation with laser light, smoke is generated. When the smoke generated from the weeds by such irradiation with laser light remains in the imaging range of the three-dimensional imager and is reflected in the captured image of the plants, there is a problem that the recognition accuracy of the weeds may decrease.

[0005] One aspect of the present disclosure aims to provide a technique for suppressing a decrease in the recognition accuracy of weeds due to smoke generated from the weeds by irradiation with laser light.

Means for Solving the Problems

[0006] One aspect of the present disclosure is a weeding device including an imaging device, a laser irradiator, a shielding wall, and a blower. The imaging device is configured to image plants present in the imaging range. The laser irradiator is configured to irradiate plants with laser light. The shielding wall is cylindrical and arranged to surround the irradiation space of the laser light. The blower generates an air flow in the irradiation space and moves the smoke remaining in the irradiation space generated by the irradiation of the laser light outside the imaging range.

[0007] In such a configuration, the smoke remaining in the irradiation space generated by the irradiation of the laser light is diffused by the air flow generated by the blower and moves outside the imaging range. Therefore, it is difficult for the smoke to remain in the imaging range of the imaging device, and it is difficult for the smoke to be reflected in the captured image of the plant. Accordingly, it is possible to suppress a decrease in the recognition accuracy of weeds due to the smoke generated from the weeds by the irradiation of the laser light.

[0008] In one aspect of the present disclosure, the blower may introduce outside air, which is air outside the irradiation space, into the irradiation space and move the smoke outside the shielding wall. According to such a configuration, by introducing the outside air into the irradiation space, the air pressure in the irradiation space increases, and the smoke is easily discharged outside the irradiation space, that is, outside the shielding wall, together with the air in the irradiation space. As a result, it is possible to suppress the irradiation space from being filled with smoke.

[0009] In one aspect of the present disclosure, the blower may introduce the outside air so that the outside air is directed downward in the vertical direction. According to such a configuration, it is easy to generate an air flow that radially spreads in the lower part of the shielding wall due to the outside air introduced into the irradiation space so as to be directed downward in the vertical direction. Therefore, the smoke is easily discharged outside the shielding wall along the air flow.

[0010] In one aspect of the present disclosure, the blower may introduce the outside air so that the outside air is directed horizontally. According to such a configuration, it is easy to generate an air flow from one side surface of the shielding wall toward the side surface facing the one side surface due to the outside air introduced into the irradiation space so as to be directed horizontally. Therefore, the smoke is easily discharged outside the shielding wall along the air flow.

[0011] In one aspect of the present disclosure, the shielding wall may be arranged such that a vertical gap is provided between the shielding wall and the ground where the plants grow, at least when the laser light is irradiated. According to such a configuration, since a vertical gap is provided between the shielding wall and the ground, the smoke that has moved outside the imaging range along the air flow generated by the blower is easily discharged from the gap to the outside of the shielding wall. As a result, it is possible to further suppress the decrease in the recognition accuracy of weeds due to the smoke generated from the weeds by the irradiation of the laser light.

Brief Description of the Drawings

[0012]

Figure 1

Figure 2

Figure 3

Figure 4

Modes for Carrying Out the Invention

[0013] Hereinafter, exemplary embodiments of the present disclosure will be described with reference to the drawings. [1. First Embodiment] [1-1. Configuration] The weeding device 1 shown in FIG. 1 is a device for removing weeds 32, which are unwanted plants other than the crop 31, that have grown around the crop 31 in farmland, particularly in the cultivated land 3 where the crop 31 is cultivated. The weeding device 1 detects the weeds 32 and performs a weeding operation by irradiating the detected weeds 32 with laser light L. The weeding device 1 is self-propelled and travels on the cultivated land 3 to perform the weeding operation. The weeding device 1 travels, for example, along the ridge 30 formed in the cultivated land 3. In the ridge 30, a plurality of crops 31 are cultivated at positions set at a constant interval, for example, an interval of 60 cm.

[0014] The weeding device 1 includes a control unit 10, a power source 11, a laser oscillator 12, a laser head 13, an optical system 14, a camera 15, a lighting 16, a traveling unit 17, a housing 18, a shielding wall 19, and a blower 20.

[0015] On the ground directly below the weeding device 1 in the arable land 3, a rectangular work area 1A is formed. In other words, the work area 1A is formed on the ground directly below the housing 18. Then, with the traveling stopped, the weeding device 1 detects the weeds 32 in the work area 1A and irradiates the weeds 32 with the laser light L. Note that the shape of the work area 1A is not particularly limited.

[0016] The control unit 10 is a part that comprehensively controls the weeding device 1 and includes a CPU and a memory. The CPU executes the programs stored in the memory, whereby various functions of the weeding device 1 are realized. Specifically, in the control unit 10, image recognition is performed based on the captured image obtained from the camera 15 described later, and image processing for detecting the crops 31 and the weeds 32 existing in the work area 1A is executed. Further, in the control unit 10, laser control processing for controlling a laser irradiator described later so that the laser light L is irradiated to the weeds 32 detected by the image processing is executed. Further, in the control unit 10, control processing for controlling the on and off of the lighting 16 described later and the on and off of the blower 20 described later is executed. Further, in the control unit 10, for example, traveling control processing for traveling the weeding device 1 in accordance with the path information stored in the memory so as to travel along the ridge 30 is executed. Note that the various functions realized by the control unit 10 are not limited to being realized by the execution of programs, and a part or all of them may be realized using one or a plurality of hardware.

[0017] The power source 11 includes a rechargeable battery and supplies power to each part in the weeding device 1. The laser oscillator 12, the laser head 13, and the optical system 14 constitute a laser irradiator for outputting laser light L for removing weeds 32. Specifically, the laser light L is generated by laser oscillation in the laser oscillator 12, and the optical path of the laser light L is adjusted by the laser head 13 and the optical system 14. The laser light L is irradiated onto the weeds 32 from above the weeds 32. When the laser light L is irradiated onto the weeds 32, the weeds 32 are damaged, specifically, burned to death by burning.

[0018] The housing 18 houses the control unit 10, the power supply 11, the laser oscillator 12, the laser head 13, and the optical system 14. The camera 15 is an imaging device that images plants such as crops 31 and weeds 32 existing in the imaging range. The camera 15 is provided at the lower part of the housing 18 and images the working area 1A below the housing 18. That is, the camera 15 acquires an imaging image of the working area 1A from above.

[0019] The illumination 16 is provided at the lower part of the housing 18 and illuminates the working area 1A. The shielding wall 19 is a cylindrical member arranged to surround the irradiation space of the laser light L. Specifically, the shielding wall 19 is provided so as to protrude downward from the lower surface of the housing 18 and surrounds the working area 1A from the side. Thereby, the brightness of the working area 1A illuminated by the illumination 16 is maintained. The shielding wall 19 is made of a light-shielding material such as a steel plate or resin, for example. Note that the shielding wall may be made of a material that does not have light-shielding properties. The shielding wall 19 is arranged so that a vertical gap S is provided between the ground in the working area 1A when the laser light L is irradiated. Specifically, the lower end of the shielding wall 19 is arranged away from the ground so as to be located above the crop 31.

[0020] The traveling unit 17 is provided below the shielding wall 19 and includes tires and a motor as a moving mechanism for traveling the weeding device 1. The blower 20 is a known device that generates wind by rotating a plurality of blades by a motor. The blower 20 introduces outside air, which is the air outside the irradiation space of the laser beam L, into the irradiation space as indicated by the arrow Y1 in FIG. 1, and generates an air flow. In the present embodiment, the blower 20 is housed in the housing 18, and introduces the outside air so that the outside air is directed vertically downward as indicated by the arrow Y2 in FIG. 1. By introducing the outside air into the irradiation space in this way, the air pressure in the irradiation space increases, and air easily flows out of the irradiation space from the gap S below the shielding wall 19, that is, outside the shielding wall 19, as indicated by the arrow Y3 in FIGS. 1 and 2. Specifically, an air flow that spreads radially occurs in the air flowing from above to below in the irradiation space at the lower part of the shielding wall 19. Therefore, the smoke K remaining in the irradiation space generated by the irradiation of the laser beam L rides on the air flow that diffuses in various 360° directions as described above, and is discharged outside the shielding wall 19. That is, the smoke K remaining in the irradiation space generated by the irradiation of the laser beam L moves outside the imaging range by the blower 20 that generates the air flow as described above.

[0021] [1-2. Effect] According to the first embodiment described in detail above, the following effects can be obtained. (1a) In the present embodiment, the smoke K remaining in the irradiation space generated from the weed 32 by the irradiation of the laser beam L is diffused by the air flow generated by the blower 20 and moves outside the imaging range. For this reason, it is difficult for the smoke K to remain in the imaging range of the camera 15, and it is difficult for the smoke K to be reflected in the captured images of plants such as the crop 31 and the weed 32. Therefore, it is possible to suppress a decrease in the recognition accuracy of the weed 32 due to the smoke K generated by the irradiation of the laser beam L.

[0022] (1b) In the present embodiment, a vertical gap S is provided between the shielding wall 19 and the ground. For this reason, the smoke K that has moved outside the imaging range by riding on the air flow generated by the blower 20 is easily discharged outside the shielding wall 19 from the gap S. As a result, it is possible to further suppress a decrease in the recognition accuracy of the weed 32 due to the smoke K generated by the irradiation of the laser beam L.

[0023] (1c) In this embodiment, the blower 20 introduces outside air into the irradiation space so that the outside air is directed downward in the vertical direction. By introducing the outside air into the irradiation space in this way, the air pressure in the irradiation space increases, and the smoke K is more likely to be discharged outside the irradiation space, that is, outside the shielding wall 19, together with the air in the irradiation space. Further, the outside air introduced into the irradiation space so as to be directed downward in the vertical direction makes it easier to generate an air flow that spreads radially at the lower part of the shielding wall 19. Therefore, the smoke K is more likely to be discharged outside the shielding wall 19 along with the air flow. As a result, it is possible to suppress the smoke K from filling the irradiation space.

[0024] [2. Second Embodiment] [2-1. Configuration] As shown in FIG. 3, in the second embodiment, the location where the blower 20a is arranged in the weeding device 1a and the configuration of the shielding wall 19a are different from those of the weeding device 1 of the first embodiment. Since the basic configuration of the weeding device 1a is the same as that of the first embodiment, the components common to the first embodiment will be described using the same reference numerals and the description thereof will be omitted, and the description will be centered on the components different from the first embodiment.

[0025] The basic configuration of the shielding wall 19a is the same as that of the first embodiment. Different from the shielding wall 19 of the first embodiment, the shielding wall 19a of this embodiment has a plurality of openings 191. The opening 191 is a slit that communicates the inside and the outside of the shielding wall 19a. The opening 191 is provided at least on the side surface of the shielding wall 19a facing the side surface where the blower 20a to be described later is attached.

[0026] The blower 20a introduces outside air, which is the air outside the irradiation space of the laser beam L, into the irradiation space as indicated by the arrow Y4 shown in FIGS. 3 and 4, and generates an air flow. In the present embodiment, the blower 20a is attached to the side surface of the shielding wall 19a, and introduces the outside air so that the outside air faces horizontally as indicated by the arrow Y5 shown in FIGS. 3 and 4. By introducing the outside air into the irradiation space in this way, the air pressure in the irradiation space increases, and air easily flows out of the irradiation space, that is, outside the shielding wall 19a, as indicated by the arrow Y6 shown in FIGS. 3 and 4, from the opening 191 provided in the side wall of the shielding wall 19a. Specifically, an air flow that flows horizontally in the irradiation space, that is, from one side surface of the shielding wall 19a toward the side surface facing the one side surface, is generated. Therefore, the smoke K remaining in the irradiation space generated by the irradiation of the laser beam L rides on the horizontally flowing air flow and is discharged outside the shielding wall 19a. That is, the blower 20a that generates the air flow as described above causes the smoke K remaining in the irradiation space generated by the irradiation of the laser beam L to move outside the imaging range.

[0027] [2-2. Effect] According to the second embodiment described in detail above, in addition to the effects of (1a) to (1b) of the first embodiment described above, the following effects can be obtained.

[0028] (2a) In the present embodiment, the blower 20a introduces outside air into the irradiation space so that the outside air faces horizontally. The outside air introduced into the irradiation space so as to face horizontally facilitates the generation of an air flow from the side surface of the shielding wall 19a to which the blower 20a is attached toward the side surface facing the one side surface. For this reason, the smoke K easily flows out of the shielding wall 19a through the opening 191 of the shielding wall 19a by riding on the air flow.

[0029] [3. Other Embodiments] As described above, each embodiment of the present disclosure has been described. Needless to say, the present disclosure is not limited to the above-described embodiments and can take various forms.

[0030] (3a) In each of the above embodiments, outside air is introduced into the irradiation space by the blowers 20 and 20a. However, for example, in a configuration where outside air is not introduced by the blower, a configuration in which the air in the irradiation space is diffused by the blower to move the smoke K outside the imaging range may be employed.

[0031] (3b) In the first embodiment above, an example was given of a configuration in which the blower 20 is housed in the housing 18 and outside air is introduced downward in the vertical direction. Also, in the second embodiment above, an example was given of a configuration in which the blower 20a is attached to the side surface of the shielding wall 19a and outside air is introduced in the horizontal direction. However, the location where the blower is provided in the weeding device and the direction in which the outside air introduced by the blower flows are not limited to this. For example, the blower may be attached to the housing 18 or the shielding walls 19 and 19a so as to have an inclination, and outside air may be introduced so as to generate an air flow directed obliquely downward. Also, for example, the blower may be attached to both the housing 18 and the shielding walls 19 and 19a. That is, the weeding device may include a plurality of blowers arranged at different positions and generating air flows in different directions.

[0032] (3c) In each of the above embodiments, the shielding walls 19 and 19a were arranged away from the ground so that the gap S was provided. However, when the shielding walls 19 and 19a are configured to be movable, a configuration in which a gap S is provided between them and the ground at least during the irradiation of the laser light L may be employed.

[0033] (3d) In each of the above embodiments, an example was given of a configuration in which the weeding devices 1 and 1a perform weeding operations in the cultivated land 3. However, the location where the weeding devices 1 and 1a are used is not limited to this. For example, the weeding devices 1 and 1a may be used for removing unwanted plants such as weeds 32 in places other than the cultivated land 3 where the crops 31 are cultivated or where the crops 31 grow naturally, such as parks and gardens. Also, for example, the weeding devices 1 and 1a may be used for removing unwanted plants in places where the crops 31 do not exist. That is, all the plants existing in a specific location may be regarded as unwanted plants, and the weeding devices 1 and 1a may be used to remove all such unwanted plants.

[0034] (3e) The weeding devices 1 and 1a of the above-described embodiments are self-propelled and configured to automatically travel according to the path information stored in the memory of the control unit 10. However, the weeding devices 1 and 1a may move along the path according to an operation by the user, or may be moved by another device or manually, and the weeding operation may be performed in the same manner.

[0035] (3f) The moving form in which the weeding devices 1 and 1a of the above-described embodiments travel by the traveling unit 17 is illustrated, but the moving form of the weeding operation is not limited thereto. For example, the weeding device may move by flying. Further, for example, the weeding device may be configured not to include a moving mechanism such as a traveling unit.

[0036] (3g) The functions of one component in the above-described embodiments may be distributed as a plurality of components, or the functions of a plurality of components may be integrated into one component. Further, a part of the configuration of the above-described embodiment may be omitted. Further, at least a part of the configuration of the above-described embodiment may be added to, replaced with, etc. the configuration of another of the above-described embodiments. Note that all aspects included in the technical idea specified from the language described in the claims are embodiments of the present disclosure.

Explanation of Reference Numerals

[0037] 1, 1a... Weeding device, 1A... Working area, 3... Cultivated land, 10... Control unit, 11... Power source, 12... Laser oscillator, 13... Laser head, 14... Optical system, 15... Camera, 16... Lighting, 17... Traveling unit, 18... Housing, 19, 19a... Shielding wall, 20, 20a... Blower, 30... Ridge, 31... Crop, 32... Weed, 191... Opening, K... Smoke, L... Laser light, S... Gap.

Claims

1. A weeding device comprising: an imaging device configured to image plants present in an imaging range; a laser irradiator configured to irradiate the plants with laser light; a cylindrical shielding wall arranged to surround the irradiation space of the laser light; a blower configured to generate an air flow in the irradiation space and move the smoke remaining in the irradiation space generated by the irradiation of the laser light outside the imaging range; The weeding device.

2. The weeding device according to Claim 1, wherein the blower introduces outside air, which is air outside the irradiation space, into the irradiation space and moves the smoke outside the shielding wall.

3. The weeding device according to Claim 2, wherein the blower introduces the outside air so that the outside air is directed vertically downward.

4. The weeding device according to Claim 2 or Claim 3, wherein the blower introduces the outside air so that the outside air is directed horizontally.

5. The weeding device according to any one of Claims 1 to 4, wherein the shielding wall is arranged such that at least when the laser light is irradiated, a vertical gap is provided between the shielding wall and the ground on which the plants grow.

Images