Mobile weeding device

Abstract

To suppress reduction in detection accuracy of a plant to be removed.SOLUTION: A mobile weeder includes a camera, an illumination unit, a detection unit, and a laser unit. The illumination unit is configured to emit light. The detection unit is configured to detect a predetermined plant in an image processing region on the basis of an image generated by the camera. The laser unit is configured to emit a beam to the plant detected by the detection unit. Position and orientation of the illumination unit are adjusted such that a light source of the illumination unit is not projected on the image generated by imaging by the camera when it is assumed that the mobile weeder is arranged in a virtual plane in which regular reflection occurs.SELECTED DRAWING: Figure 3

Description

[Technical Field]

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

[0002] A self-propelled system is known that travels through farmland, detects weeds based on images of the ground generated by a three-dimensional imager, and removes the weeds by irradiating the detected weeds with a beam (for example, Patent Documents 1 to 3). [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] The above-mentioned system is provided with lighting that illuminates the ground imaged by the 3D imager. Therefore, for example, if the plants are wet or if there is water on the ground, light reflected by the water may appear in the image formed by the 3D imager, which may result in a decrease in the accuracy of detecting plants that should be removed.

[0005] In one aspect of the present disclosure, it is desirable to suppress a decrease in the accuracy of detecting plants to be removed. [Means for solving the problem]

[0006] One aspect of the present disclosure is a mobile weeding device comprising a camera, an illumination unit, a detection unit, and a laser unit. The camera is configured to capture an image of a capture area below the mobile weeding device and generate an image. The illumination unit is configured to irradiate light to improve brightness of the capture area. The detection unit is configured to detect predetermined plants in an image processing area included in the capture area based on the image. The laser unit is configured to irradiate a beam onto the plants detected by the detection unit. Assuming that the mobile weeding device is placed on a virtual plane where specular reflection occurs, the position or orientation of the illumination unit is adjusted so that a light source of the illumination unit does not appear in an image generated by capturing the image with the camera.

[0007] With this configuration, it is possible to prevent light from the light source of the illumination unit from being reflected by the shooting area and entering the camera, and appearing in the camera's image, thereby preventing a decrease in the accuracy of the camera's detection of plants to be removed.

[0008] In one aspect of the present disclosure, the orientation of the camera and the orientation in which the lighting unit emits light may be substantially the same. According to the above configuration, it is possible to further prevent light from the lighting unit reflected in the shooting area from appearing in the image captured by the camera.

[0009] In one embodiment of the present disclosure, the wavelength of the beam may be 400 nm or more and 550 nm or less. According to the above configuration, it is possible to prevent the beam from being absorbed by water present in the imaging area, thereby more effectively removing vegetation.

[0010] An aspect of the present disclosure may further include a discharge portion configured to discharge water. With this configuration, even if a fire breaks out due to the irradiation of the beam, the fire can be extinguished by releasing water. Furthermore, even if the release of water makes it easier for light to be reflected in the photographed area, the deterioration of the accuracy of the camera in detecting plants to be removed can be suppressed. [Brief explanation of the drawings]

[0011] [Figure 1] FIG. 2 is a block diagram of the mobile weeding device as viewed from the front. [Figure 2] FIG. 2 is an explanatory diagram of paths, ridges, and crops in cultivated land indicated by path information. [Figure 3] FIG. 2 is a block diagram of the mobile weeding device as viewed from the side. [Figure 4] FIG. 2 is a block diagram of the mobile weeding device as viewed from above. [Figure 5] FIG. 10 is a block diagram of a modified mobile weeding device as viewed from the side. [Figure 6] FIG. 10 is a block diagram of a modified mobile weeding device viewed from the front. DETAILED DESCRIPTION OF THE INVENTION

[0012] Hereinafter, embodiments of the present disclosure will be described with reference to the accompanying drawings. Note that the embodiments of the present disclosure are not limited to the following embodiments, and various forms may be adopted as long as they fall within the technical scope of the present disclosure.

[0013] [1. Overview] The mobile weeding device 1 of this embodiment removes weeds 22, which are plants other than the crops 21, in cultivated land 2 where the crops 21 are cultivated (see FIG. 1). The mobile weeding device 1 is self-propelled, and performs weeding work by detecting the weeds 22 while traveling through the cultivated land 2 and irradiating the detected weeds 22 with a beam.

[0014] The mobile weeding device 1 includes a control unit 10, a power supply 11, a laser unit 12, a camera 13, a plurality of lighting units 14, an injection unit 15, a tank 16, a traveling unit 17, a housing 18, and a cover 19. The control unit 10 is provided inside the housing 18 and is a part that performs overall control of the mobile weeding device 1, and is equipped with a CPU and memory. The CPU executes programs stored in the memory, thereby realizing various functions of the mobile weeding device 1. Note that the various functions realized by the control unit 10 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.

[0015] In addition, the control unit 10 is configured to detect the position (hereinafter, the current location) of the mobile weeding device 1. Specifically, the control unit 10 may detect the current location using a GPS, for example, or may detect the speed and direction of travel of the mobile weeding device 1 using a sensor, and then detect the current location based on these detection results.

[0016] The power source 11 includes a rechargeable battery arranged inside the housing 18 and supplies power to each part of the mobile weeding device 1. The laser unit 12 includes a laser oscillator, a laser head, an optical system, and the like, and emits a beam to remove weeds 22. The wavelength of the emitted beam is, for example, between 400 nm and 550 nm. The laser unit 12 is provided inside the housing 18, and is configured to emit a beam from the bottom of the housing 18 to a predetermined position in the image processing area 1C, which will be described later.

[0017] The camera 13 is provided at the bottom of the housing 18, and captures an image of the photographing area 1B (described later) from above, and generates an image of the photographing area 1B. A plurality of lighting units 14 are provided on the lower side of the housing 18 and illuminate the photographing area 1B.

[0018] The traveling part 17 is provided below the cover 19 and includes tires and a motor for moving the mobile weeding device 1. The cover 19 is a wall-like portion provided so as to protrude downward from each side of the rectangular lower surface of the housing 18, and surrounds the space below the housing 18 (hereinafter referred to as the internal space 1A) on all four sides. The above-mentioned photographing area 1B is located on the ground directly below the housing 18, and the internal space 1A is located above the photographing area 1B. The cover 19 maintains the brightness of the photographing area 1B illuminated by the multiple lighting units 14. The mobile weeding device 1 may be configured without the cover 19.

[0019] In addition, an image processing area 1C is set in at least a portion of the photographing area 1B, which is the subject of image processing for detecting weeds 22. As an example, the photographing area 1B and the image processing area 1C are rectangular. As an example, the rectangular portion of the photographing area 1B excluding the area near the outer edge is set as the image processing area 1C, and the outer edge of the image processing area 1C is spaced apart from the outer edge of the photographing area 1B. However, this is not a limitation, and the image processing area 1C can be set as appropriate within the photographing area 1B. Alternatively, the entire photographing area 1B may be the image processing area 1C.

[0020] [2. Weeding work] The mobile weeding device 1 travels through the cultivated land 2 and performs weeding work according to the route information stored in the memory of the control unit 10. As shown in Fig. 2, the route information indicates, as an example, the position of each ridge 20 and each crop 21 in the cultivated land 2, a route 23 along which the mobile weeding device 1 travels through the cultivated land 2, and a stopping position on the route 23 where the mobile weeding device 1 stops to perform weeding work.

[0021] As an example, the cultivated land 2 has four ridges 20, and six crops 21 are cultivated in each ridge 20 at set positions spaced apart by a fixed distance (for example, 60 cm). Furthermore, X (an integer from 1 to 4) is set as identification information for each ridge 20, and Y (an integer from 1 to 6) is set as identification information for each crop 21 in each ridge 20. The position of each crop 21 in the cultivated land 2 is then specified by the X and Y coordinates.

[0022] 2, as an example, a path 23 is set along each ridge 20, and the mobile weeding device 1 travels along the path 23 with the ridge 20 positioned between the tires of the traveling unit 17. As an example, the path information also sets a start point 23A adjacent to the crop 21 located at coordinates (4, 1), and sets an end point 23B adjacent to the crop 21 located at coordinates (1, 1). Then, the path 23 is set along each ridge 20 from the start point 23A to the end point 23B.

[0023] In addition, in the route information, the position of each crop 21 is set as a stop position, and when the mobile weeding device 1 stops at a stop position, the crop 21 at that stop position is located in the image processing area 1C of the mobile weeding device 1 (see FIG. 1). The mobile weeding device 1 travels along the route 23, stops at each stop position, and performs weeding work around the crop 21 at the stop position.

[0024] Specifically, when the mobile weeding device 1 stops at a stopping position, the control unit 10 turns on the multiple lighting units 14 to illuminate the photographing area 1B, and also photographs the photographing area 1B with the camera 13 to generate image data. The control unit 10 also functions as a detection unit that performs image recognition of the image processing area 1C based on the image indicated by the image data and detects the crops 21 and weeds 22 present in the image processing area 1C. The control unit 10 then controls the laser unit 12 to irradiate the detected weeds 22 with a beam.

[0025] [3. Multiple lighting units and cameras] The mobile weeding device 1 is configured to prevent light sources 14A of the multiple lighting units 14 from being reflected by the camera 13, for example, due to reflection from water adhering to plants or water accumulated on the ground. In the following description, the traveling direction of the mobile weeding device 1 is referred to as the front side, and the opposite side is referred to as the rear side.

[0026] That is, it is assumed that the mobile weeding device 1 is placed on a virtual plane 3 where specular reflection occurs, and weeding work is performed on the virtual plane 3 (see FIGS. 3 to 6). In such a case, the position or orientation of each lighting unit 14 is adjusted so that the light source 14A of each lighting unit 14 is not reflected in the image captured by the camera 13.

[0027] As an example, the camera 13 is provided in the lower part of the housing 18, near the rear part of the cover 19, and faces the center of an area adjacent to the internal space 1A of the mobile weeding device 1 on the virtual plane 3. A part of the area separated by a certain distance from the outer edge is set as a photographing area 1B, and an image processing area 1C is set within the photographing area 1B.

[0028] Needless to say, an object located in the first space in front of the camera 13 is reflected in the camera 13. Furthermore, as described above, the image processing area 1C is formed on the virtual plane 3 where specular reflection occurs, and therefore, an object existing in the second space located in front of the first space is also reflected in the camera 13 due to specular reflection in the image processing area 1C.

[0029] That is, the first and second spaces become the photographed space 4 that is reflected in the camera 13, and each lighting unit 14 is located in a non-photographed space 5, which is an area in the internal space 1A other than the photographed space 4. Specifically, the mobile weeding device 1 has, as an example, two lighting units 14, which are provided below the housing 18 and at the rear part of the cover 19.

[0030] Furthermore, these lighting units 14 are provided so as to face in approximately the same direction as the camera 13. In other words, the direction of the optical axis passing through the center of the light irradiation area of ​​each lighting unit 14 is approximately the same as the direction of the camera 13.

[0031] Of course, the position of each lighting unit 14 is not limited to this and can be determined appropriately within the non-photography space 5. Specifically, for example, each lighting unit 14 may be disposed at the bottom of the front portion of the cover 19 (see FIG. 3). Also, the camera 13 may be provided near the rear portion, right portion, or left portion of the cover 19. The orientation of the camera 13 can also be adjusted appropriately.

[0032] Alternatively, for example, camera 13 may be positioned at the center in the front-to-back and left-to-right directions at the bottom of housing 18 and facing downward in the vertical direction (see FIGS. 5 and 6). In this case, a photographing area 1B is formed directly below camera 13, and the space located directly above image processing area 1C within photographing area 1B becomes photographing space 4. The area other than photographing space 4 in internal space 1A becomes non-photographing space 5.

[0033] Each lighting unit 14 may be provided, for example, in the non-photographing space 5 near the front or rear part of the cover 19 (see Figure 5), or in the non-photographing space 5 near the right or left part of the cover 19 (see Figure 6).

[0034] Furthermore, while each lighting unit 14 is disposed in the shooting space 4, the orientation of each lighting unit 14 may be adjusted so that the light source 14A of each lighting unit 14 is not reflected in the camera 13. Specifically, for example, if the camera 13 faces downward in the vertical direction as shown in Figures 5 and 6, each lighting unit 14 may be disposed in the shooting space 4 facing upward in the vertical direction.

[0035] Furthermore, the number of illumination units 14 is not limited to two, and may be one, or three or more. Furthermore, when a plurality of illumination units 14 are provided, the positions or orientations of some of the illumination units 14 may be adjusted so that the light sources 14A are not reflected in the image captured by the camera 13, or such adjustments may be made for all of the illumination units 14.

[0036] [4. Injection part] The jetting unit 15 is provided inside the housing 18 and jets water stored in the tank 16 from the bottom of the housing 18 toward a predetermined position on the ground.

[0037] More specifically, the beam irradiated toward the weeds 22 may also be irradiated onto dead grass, mulch sheets, etc., which may cause fires. This may have an adverse effect on the cultivation of the crops 21 or may cause a malfunction in the mobile weeding device 1 (for example, the laser unit 12).

[0038] In response to this, the control unit 10 is configured to detect the fire via a temperature sensor, a smoke sensor, etc. (not shown). Then, the control unit 10 identifies the location of the fire based on the image captured by the camera 13, and extinguishes the fire by spraying water toward the identified location using the spray unit 15. This allows water to be sprayed somewhere in the photographed area 1B.

[0039] However, the mobile weeding device 1 may be provided with a mechanism for spraying water from the tank 16 over the entire area on the ground located below the mobile weeding device 1, instead of the spraying unit 15. When ignition is detected, water may be sprayed over the entire area.

[0040] [5. Effects] (1) According to the above embodiment, it is possible to prevent light from light source 14B of illumination unit 14 from being reflected by water on plants located in shooting area 1B or water accumulated on the ground and entering camera 13, resulting in the light being captured in the image of camera 13. This makes it possible to prevent false detections from occurring when detecting weeds 22 through image recognition based on images captured by camera 13. This makes it possible to prevent a decrease in the accuracy of detection of weeds 22 by camera 13. Furthermore, even when a low-performance camera 13 is used, weeds 22 can be detected accurately, and the cost of camera 13 can be reduced.

[0041] (2) The orientation of camera 13 is substantially the same as the orientation of the light emitted by illumination unit 14. This further reduces the likelihood that light from illumination unit 14 reflected by imaging area 1B will appear in the image captured by camera 13.

[0042] (3) The wavelength of the beam emitted from the laser unit 12 is 400 nm or more and 550 nm or less. This prevents the beam from being absorbed by water present in the imaging area 1B. This allows for more efficient removal of vegetation. Furthermore, the output of the beam from the laser unit 12 can be reduced, and the irradiation time of the beam for weeding can be shortened. As a result, the laser unit 12 can be made smaller, and the battery capacity of the power source 11 can be reduced.

[0043] (4) The mobile weeding device 1 also includes a spraying unit 15 that sprays water onto the ground to extinguish a fire caused by irradiation with the beam. This prevents a decrease in the accuracy of the camera 13 in detecting plants to be removed, even if the spraying of water makes it easier for light to be reflected in the photographing area 1B.

[0044] 6. Other Embodiments (1) The mobile weeding device 1 of the above embodiment may be used to remove weeds 22 in places other than cultivated land 2 where predetermined plants are cultivated or grow naturally (for example, parks, gardens, etc.). The mobile weeding device 1 may also be used to remove weeds 22 in places where there are no plants to be protected. In other words, all plants present in a specific place may be considered to be weeds 22, and the mobile weeding device 1 may be used to remove such weeds 22.

[0045] (2) The mobile weeding device 1 in the above embodiment is self-propelled and configured to travel automatically according to route information. However, the mobile weeding device 1 may move along a route according to a user's operation, or may be moved by another device or manually and perform weeding work in the same manner. The mobile weeding device 1 may also be configured to move by flight.

[0046] (3) 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.

[0047] [7. Correspondence of Wording] The injection part 15 and the tank 16 correspond to an example of a release part. [8. Technical Ideas Disclosed in This Specification]

[0048] [Item 1] A mobile weeding device, A camera configured to capture an image of an area below the mobile weeding device and generate an image; an illumination unit configured to irradiate light to improve brightness of the imaging area; a detection unit configured to detect a predetermined plant in an image processing area included in the photographing area based on the image; a laser unit configured to irradiate the plant detected by the detection unit with a beam; Equipped with The position or orientation of the lighting unit is adjusted so that the light source of the lighting unit does not appear in the image captured by the camera when the mobile weeding device is assumed to be placed on a virtual plane where specular reflection occurs. Mobile weeding equipment. [Item 2] The mobile weeding device according to item 1, The direction of the camera and the direction in which the lighting unit emits light are substantially the same. Mobile weeding equipment. [Item 3] The mobile weeding device according to item 1 or 2, The wavelength of the beam is 400 nm or more and 550 nm or less. Mobile weeding equipment. [Item 4] The mobile weeding device according to any one of items 1 to 3, Further comprising an outlet configured to release water. Mobile weeding equipment. [Explanation of symbols]

[0049] 1...mobile weeding device, 1A...internal space, 1B...photography area, 1C...image processing area, 10...control unit, 12...laser unit, 13...camera, 14...lighting unit, 14A...light source, 15...spray unit, 16...tank, 17...travel unit, 18...casing, 19...cover, 2...arable land, 21...crops, 22...weeds, 23...path, 3...virtual plane, 4...photography space, 5...non-photography space.

Claims

1. A mobile weeding device, a housing positioned above a photographing area on the ground; a cover that protrudes from a bottom surface of the housing and surrounds a space above the imaging area; a camera provided at a lower portion of the housing and inside the cover, the camera being configured to capture an image of the capture area and generate an image; an illumination unit provided inside the cover and configured to irradiate light to improve brightness of the photographing area; a detection unit configured to detect a predetermined plant in an image processing area included in the photographing area based on the image; a laser unit configured to irradiate the plant detected by the detection unit with a beam; Equipped with the position of the lighting unit is adjusted so that a light source of the lighting unit does not appear in the image generated by the camera when it is assumed that the mobile weeding device is placed on a virtual plane where specular reflection occurs; The lighting unit is provided near the cover. Mobile weeding equipment.

2. A mobile weeding device, a housing positioned above a photographing area on the ground; a cover that protrudes from a bottom surface of the housing and surrounds a space above the imaging area; a camera provided at a lower portion of the housing and inside the cover, the camera being configured to capture an image of the capture area and generate an image; an illumination unit provided inside the cover and configured to irradiate light to improve brightness of the photographing area; a detection unit configured to detect a predetermined plant in an image processing area included in the photographing area based on the image; a laser unit configured to irradiate the plant detected by the detection unit with a beam; Equipped with When it is assumed that the mobile weeding device is placed on a virtual plane where specular reflection occurs, the orientation of the lighting unit is adjusted so that a light source of the lighting unit does not appear in the image generated by photographing the camera, The lighting unit is disposed facing the opposite side to the camera. Mobile weeding equipment.

3. The mobile weeding device according to claim 1, The direction of the camera and the direction in which the lighting unit emits light are substantially the same. Mobile weeding equipment.

4. A mobile weeding device according to any one of claims 1 to 3, The wavelength of the beam is 400 nm or more and 550 nm or less. Mobile weeding equipment.

5. A mobile weeding device according to any one of claims 1 to 3, Further comprising an outlet configured to release water. Mobile weeding equipment.

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