Mobile weeding device

Abstract

To suppress an influence of fire generated by laser light emitted for removing a plant.SOLUTION: A mobile weeder includes a laser emitting device and a detection unit. The laser emitting device is configured to emit laser light to a plant. The detection unit is configured to detect fire.SELECTED DRAWING: Figure 2

Description

[Technical Field]

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

[0002] A self-propelled unwanted plant removal system is known that travels through farmland, detects weeds based on images generated by a three-dimensional imager, and removes the weeds by irradiating the detected weeds with laser light (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] However, irradiation with laser light may cause dry weeds, mulching sheets made of vinyl or plastic, straw mulch, etc. to ignite. This may have a negative impact on crops or cause malfunctions in the laser irradiator, camera, or sensor installed in the unwanted plant removal system. Furthermore, if smoke produced by the ignition contaminates the lens, mirror, or protective glass of the laser irradiator, the performance of the laser irradiator may be reduced.

[0005] In one aspect of the present disclosure, it is desirable to mitigate the effects of fire caused by laser light applied to remove vegetation. [Means for solving the problem]

[0006] According to one aspect of the present disclosure, there is provided a mobile weeding device including a laser irradiator configured to irradiate a plant with laser light, and a detector configured to detect fire.

[0007] According to the above configuration, a fire caused by irradiation with laser light for removing vegetation can be detected early and dealt with, thereby suppressing the effects of such a fire. An aspect of the present disclosure may further include a fire extinguishing unit configured to extinguish a fire when a fire is detected by the detection unit.

[0008] According to the above configuration, even if a fire occurs due to the laser light emitted to remove vegetation, the fire can be extinguished quickly, thereby suppressing the effects of such a fire. In one aspect of the present disclosure, the detection unit may have a smoke sensor that detects smoke, and may be configured to detect a fire based on the result of the smoke detection by the smoke sensor.

[0009] According to the above configuration, fire can be suitably detected. In one aspect of the present disclosure, the detection unit may have a temperature sensor and be configured to detect fire based on the temperature detected via the temperature sensor.

[0010] According to the above configuration, fire can be suitably detected. In one aspect of the present disclosure, the fire suppression unit may be configured to extinguish a fire with water. According to the above configuration, fire can be extinguished suitably.

[0011] According to an aspect of the present disclosure, the fire extinguishing device may further include a camera configured to generate image data representing an image of the ground, and a position identifying unit configured to identify a fire location where a fire is occurring based on the image data.

[0012] According to the above configuration, it is possible to prevent fire extinguishing from occurring over an area wider than necessary, thereby reducing wear and tear due to fire extinguishing and preventing the configuration required for fire extinguishing from becoming too large.

[0013] In one aspect of the present disclosure, the fire extinguishing section may be configured to extinguish the fire by covering the fire site. According to the above configuration, fire can be extinguished without using consumables.

[0014] According to an aspect of the present disclosure, the laser irradiation device may further include a shielding wall that laterally surrounds the work area on the ground. The laser irradiation device may be configured to irradiate the laser light onto plants located in the work area.

[0015] According to the above configuration, it is possible to effectively detect a fire inside the shielding wall, which is difficult to detect from the outside. Therefore, it is possible to deal with a fire caused by irradiation of the laser light early and to suppress the effects of such a fire.

[0016] The present disclosure may further include a shielding wall that laterally surrounds the work area on the ground. The laser irradiator may be configured to irradiate the laser light onto plants located in the work area. The fire extinguishing unit may be configured to extinguish the fire by releasing a fire extinguishing gas inside the shielding wall.

[0017] According to the above configuration, fire can be extinguished suitably within the shielding wall. [Brief explanation of the drawings]

[0018] [Figure 1] FIG. 1 is an explanatory diagram of a mobile weeding device. [Figure 2] FIG. 2 is a block diagram of a control device. [Figure 3] FIG. 4 is an explanatory diagram of an arm portion and a pressing portion in the fire extinguishing unit. DETAILED DESCRIPTION OF THE INVENTION

[0019] 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.

[0020] [1. Overview] 1 removes unwanted plants P2 (i.e., weeds) that have grown around crops P1 in farmland by irradiating the plants with laser light L. Mobile weeding device 1 includes a movement mechanism, a laser irradiator 2, a camera 3, a control device 4, a shielding wall 5, a sensor unit 6, a fire extinguishing unit 7, and a tank 8.

[0021] Furthermore, there is a risk that objects other than unwanted plants P2, such as dried weeds, mulch sheets, or straw mulch, may catch fire due to irradiation with laser light L. The mobile weeding device 1 is configured to detect and extinguish fire B caused by irradiation with laser light L using the sensor unit 6, fire extinguishing unit 7, and tank 8.

[0022] [2. Shielding wall] A shielding wall 5 is provided below the main body 10 of the mobile weeding device 1 (see FIG. 1). The shielding wall 5 is a cylindrical section that protrudes downward from the edge of the lower surface of the main body 10, and is arranged to surround the space below the main body 10. The shielding wall 5 is arranged to laterally surround an area on the ground facing the main body 10 (hereinafter referred to as the work area W), and the mobile weeding device 1 removes unwanted plants P2 present in the work area W with laser light L. The shielding wall 5 may be made of a light-blocking material to prevent the laser light L from leaking to the outside.

[0023] In this embodiment, as an example, the work area W is rectangular, and the shielding wall 5 surrounds the work area W on all four sides. Of course, the shape of the work area W is not limited to a rectangle and may be, for example, a circle, and the shape of the shielding wall 5 can also be determined appropriately depending on the shape of the work area W.

[0024] The mobile weeding device 1 may be configured without the shielding wall 5. Even in such a case, the area on the ground facing the main body 10 is set as the work area W, and unwanted plants P2 in the work area W are removed in the same manner.

[0025] [3. Control device] The control device 4 is a device for controlling the mobile weeding device 1, and includes, for example, a computer having a processor, storage media such as RAM and ROM, a communication unit, and an input / output unit (see Fig. 1). As will be described in detail later, the computer also realizes the functions of an image processing unit 41, a laser control unit 42, and a fire extinguishing control unit 43, as shown in Fig. 2.

[0026] The control device 4 also includes a monitor 40, a communication device 44, and a speaker 45. The monitor 40 is a component for displaying various types of information and may be configured, for example, as a liquid crystal display. The communication device 44 is configured to communicate with devices such as a server, a PC, or a mobile terminal wirelessly or via a cable. The speaker 45 is a device for outputting sound.

[0027] [4. Movement mechanism] The moving mechanism is a mechanism for moving the mobile weeding device 1, and the mobile weeding device 1 removes unwanted plants P2 using laser light L while moving across farmland. As an example, the moving mechanism moves the mobile weeding device 1 using a plurality of wheels 11 driven by a motor (see FIG. 1 ). However, the present invention is not limited to this, and instead of the wheels 11, at least one electrically driven crawler may be used, for example, or the mobile weeding device 1 may move by flying.

[0028] Furthermore, the control device 4 may control the movement mechanism so that the mobile weeding device 1 automatically moves through farmland according to a preset route. Of course, the present invention is not limited to this, and the mobile weeding device 1 may move in response to a user's operation, or may be moved by another device or manually.

[0029] [5. Camera] Camera 3 is provided on main body 10 and is configured to generate image data by photographing work area W from above (see FIG. 1). The image shown in the image data generated by camera 3 may include at least one crop P1, at least one unwanted plant P2, and other objects (for example, structures such as fences, obstacles such as stones, etc.).

[0030] The image processing unit 41 of the control device 4 then acquires the image data generated by the camera 3 (see FIG. 2). Using AI (artificial intelligence) constructed using statistical techniques, the image processing unit 41 identifies the unwanted plants P2 from the image shown by the image data generated by the camera 3 and identifies the position of the unwanted plants P2 in the work area W. Examples of statistical techniques include supervised machine learning and multivariate analysis. In supervised machine learning, a decision formula (i.e., a classifier) ​​is constructed by analyzing images of plants with numerous labels (i.e., training data) using a machine learning circuit.

[0031] The image processing unit 41 also determines the growing point of the unwanted plant P2 identified by AI and identifies the position of the growing point. The growing point is a part that mainly contains tissue with active cell division at the tip of the plant stem, and can be identified depending on the type of plant.

[0032] Furthermore, in this embodiment, the image processing unit 41 displays the image represented by the image data of the camera 3 on the monitor 40. However, the present invention is not limited to this, and the image processing unit 41 does not have to display the image on the monitor 40.

[0033] [6. Laser irradiator] The laser irradiator 2 is provided in the main body 10 and is configured to irradiate unwanted plants P2 located in the work area W with laser light L from above (see FIG. 1). The laser irradiator 2 includes a battery, an oscillator, and a focusing unit.

[0034] The laser irradiator 2 is controlled by a laser control unit 42 of the control device 4 (see FIG. 2). The laser control unit 42 controls the laser irradiator 2 to irradiate the unwanted plants P2 identified by the image processing unit 41 with laser light L. This causes damage (specifically, burn damage) to the unwanted plants P2, causing them to wither and die. Furthermore, if multiple unwanted plants P2 are identified by the image processing unit 41, the laser irradiator 2 sequentially irradiates these unwanted plants P2 with laser light. Furthermore, the laser control unit 42, for example, irradiates the growth points of the unwanted plants P2 with laser light L.

[0035] The laser control unit 42 may perform laser irradiation while the mobile weeding device 1 is moving, or may perform laser irradiation while the mobile weeding device 1 is stopped. [7. Sensor section] The sensor unit 6 is provided on the underside of the main body 10 and is a part for detecting ignition occurring in the work area W while the mobile weeding device 1 is removing unwanted plants P2 (see FIG. 1). The sensor unit 6 includes a smoke sensor that detects smoke and a temperature sensor that detects temperature. The sensor unit 6 may also include either a smoke sensor or a temperature sensor.

[0036] The sensor unit 6 is controlled by the fire extinguishing control unit 43 of the control device 4, thereby forming a detection unit (see FIG. 2). Specifically, for example, when the fire extinguishing control unit 43 detects smoke based on a signal from a smoke sensor, it may determine that a fire B has broken out in the work area W. Also, for example, the fire extinguishing control unit 43 may detect the temperature of the work area W based on a signal from a temperature sensor, and when the temperature reaches a predetermined threshold, it may determine that a fire B has broken out in the work area W.

[0037] Furthermore, the fire extinguishing control unit 43 may have a function as a position identification unit that, when fire B is detected via the sensor unit 6, identifies the location of the ignition point where fire B is occurring based on image data of the work area W generated by the camera 3. At this time, the fire extinguishing control unit 43 may identify the ignition point using AI, similar to the image processing unit 41. Furthermore, the fire extinguishing control unit 43 may detect fire B based on image data of the work area W generated by the camera 3 instead of the sensor unit 6.

[0038] [8. Firefighting Unit and Tank] The fire extinguishing unit 7 is provided in the main body 10 and is a component for extinguishing a fire using a fire extinguishing agent stored in the tank 8 (see FIG. 1). The fire extinguishing unit 7 is controlled by the fire extinguishing control unit 43 of the control device 4 (see FIG. 2). When the fire extinguishing control unit 43 detects a fire B in the work area W via the sensor unit 6, the fire extinguishing control unit 43 causes the fire extinguishing unit 7 to extinguish the fire. The fire extinguishing control unit 43 may extinguish the fire while the mobile weeding device 1 is stopped, or may extinguish the fire while the mobile weeding device 1 is moving. The fire extinguishing control unit 43 may continue extinguishing the fire with the fire extinguishing unit 7 until the fire is completely extinguished, more specifically, until the fire B is no longer detected by the sensor unit 6, for example.

[0039] The extinguishing agent may be, for example, a liquid or gas, or may be a powder or foam extinguishing agent. In addition, the extinguishing agent is preferably one that is not harmful to crops or humans and does not affect the growth of crops, and for example, water, CO2 gas, nitrogen gas, or the like may be used as the extinguishing agent.

[0040] Furthermore, the fire extinguishing unit 7 may extinguish the fire in the entire work area W, or may extinguish the fire at a location identified based on image data from the camera 3 (hereinafter referred to as zone extinguishing).

[0041] Specifically, for example, water may be used as the extinguishing agent. That is, water may be stored in tank 8, and fire extinguishing unit 7 may be provided with a mechanism for pressurizing and spraying the water obtained from tank 8, and a mechanism for adjusting the direction in which the water is sprayed. Then, upon detecting fire B, fire extinguishing control unit 43 may identify the location of the ignition and control fire extinguishing unit 7 to spray water from above toward the location of the ignition, thereby performing zone fire extinguishing.

[0042] Of course, the fire extinguishing control unit 43 may extinguish the fire not only at the fire site but also over the entire work area W by injecting water from above using the fire extinguishing unit 7 over the entire work area W.

[0043] Alternatively, an inert gas for fire extinguishing, such as CO2 gas or nitrogen gas, may be used as the extinguishing agent. In such a case, the fire extinguishing control unit 43 may control the fire extinguishing unit 7 to release the gas stored in the tank 8 over the entire work area W surrounded by the shielding wall 5, thereby extinguishing the fire over the entire work area W.

[0044] Alternatively, the fire extinguishing unit 7 may extinguish the fire by covering the fire site without using a fire extinguishing agent. That is, the mobile weeding device 1 may not be provided with the tank 8, and the fire extinguishing unit 7 may include an arm unit 70 and a pressing unit 71 (see FIG. 3).

[0045] The pressing portion 71 is a thick plate-like portion for covering the ignition point, and is made of a non-flammable material, for example. The pressing portion 71 is also disposed above the work area W. The arm unit 70 is provided at the bottom of the main body 10 of the mobile weeding device 1 and is positioned above the work area W. The arm unit 70 has a pressing unit 71 at its tip, which supports the pressing unit 71 from above. The arm unit 70 is configured to be able to adjust the distance between the pressing unit 71 and the ground, and to adjust the front-to-rear and left-to-right positions of the pressing unit 71 in the work area W. The front-to-rear direction is the direction parallel to the traveling direction of the mobile weeding device 1, and the left-to-right direction is the direction perpendicular to the front-to-rear direction.

[0046] When fire B is detected, the fire extinguishing control unit 43 identifies the location of the ignition and controls the arm unit 70 of the fire extinguishing unit 7 to adjust the position of the pressing unit 71. The fire extinguishing control unit 43 moves the pressing unit 71 toward the location of the ignition from above and presses the location of the ignition with the pressing unit 71, thereby performing zone fire extinguishing.

[0047] Alternatively, the position of the pressing unit 71 in the front-to-rear direction in the work area W may be fixed, and the arm unit 70 may adjust only the position of the pressing unit 71 in the left-to-right direction. The fire extinguishing control unit 43 may then move the mobile weeding device 1 to align the position of the pressing unit 71 in the front-to-rear direction with the position of the ignition point. The fire extinguishing control unit 43 may also control the arm unit 70 to adjust the position of the pressing unit 71 in the left-to-right direction, position the pressing unit 71 above the ignition point, and then move the pressing unit 71 toward the ignition point from above, thereby pressing the ignition point with the pressing unit 71, thereby performing zone fire extinguishing.

[0048] [9. Variations] When the fire extinguishing control unit 43 detects a fire B in the work area W via the sensor unit 6, it may notify warning information indicating that a fire has broken out in the work area W and that fire extinguishing work is necessary.

[0049] Specifically, the fire extinguishing control unit 43 may, for example, display the warning information on the monitor 40, or may output the warning information by voice via the speaker 45. In addition, the fire extinguishing control unit 43 may, for example, communicate with a server, a PC, a mobile terminal, or the like via the communication device 44, and output the warning information via these devices.

[0050] Furthermore, after detecting fire B, the fire extinguishing control unit 43 may issue warning information together with extinguishing the fire by the fire extinguishing unit 7. Furthermore, after detecting fire B, the fire extinguishing control unit 43 may issue warning information without extinguishing the fire, and in such a case, the fire extinguishing unit 7 may not be provided in the mobile weeding device 1.

[0051] [10. Effects] (1) According to the above embodiment, fire B caused by irradiation with laser light L for removing unwanted plants P2 can be detected early and dealt with. This makes it possible to suppress the effects of such fire B. In particular, if the shielding wall 5 is made of a light-blocking material, it may be difficult to detect fire B from outside the mobile weeding device 1. However, according to the above embodiment, fire B can be detected early even in such a case.

[0052] (2) Furthermore, since the mobile weeding device 1 is provided with the fire extinguishing unit 7, even if a fire B is started by the laser light L, it can be extinguished quickly. This prevents ignition caused by the laser light L from adversely affecting the crops P1 and from causing damage to the laser irradiator 2, camera 3, sensors, etc. Furthermore, it prevents smoke from contaminating, for example, the lenses, mirrors, or protective glass of the laser irradiator 2, which would otherwise cause a decrease in the performance of the laser irradiator 2. As a result, the burden of maintenance work on the mobile weeding device 1 can be reduced.

[0053] (3) The mobile weeding device 1 also detects fire using the smoke sensor and temperature sensor in the sensor unit 6. Therefore, the fire B can be detected effectively. (4) The mobile weeding device 1 uses water as a fire extinguishing agent, which allows for effective fire extinguishing.

[0054] (5) Furthermore, the mobile weeding device 1 performs zone fire extinguishing on the fire site by spraying water and applying pressure with the arm unit 70. This prevents the fire from being extinguished over an area wider than necessary. This reduces the consumption of fire extinguishing agents such as water used in extinguishing the fire and prevents the components required for fire extinguishing, such as the tank 8, from becoming larger. Furthermore, by extinguishing the fire by applying pressure with the arm unit 70, the fire can be extinguished without using consumables.

[0055] (6) Furthermore, since the mobile weeding device 1 is provided with a shielding wall 5 that surrounds the work area W, the detection accuracy of the unwanted plants P2 is improved, and safety is improved when removing the unwanted plants P2 by irradiating them with laser light L. Furthermore, since the mobile weeding device 1 detects fire B using a smoke sensor and a temperature sensor in the sensor unit 6 within the shielding wall 5, the effects of wind, etc. can be suppressed, and fire B can be detected with high accuracy. Furthermore, since fires within the shielding wall 5, which are difficult to detect from the outside, can be suitably detected, fire B caused by irradiation with laser light L can be dealt with early, and the effects of such fire B can be suppressed.

[0056] (7) Furthermore, the mobile weeding device 1 can suitably extinguish a fire inside the shielding wall 5 by using a fire-extinguishing gas as a fire-extinguishing agent. 11. Other Embodiments (1) The mobile weeding device 1 of the above embodiment does not necessarily have to include the image processing unit 41. That is, the control device 4 may be configured to receive input of the position of unwanted plants from outside and irradiate the laser light L from the laser irradiator 2 toward the input position.

[0057] (2) The mobile weeding device 1 of the above embodiment may be used not only in farmland but also in places other than farmland where specific plants are cultivated or grow naturally (for example, parks, gardens, etc.). The mobile weeding device 1 may also be used to remove plants in places where there are no plants to be excluded from removal and only unwanted plants P2. In other words, all plants in a specific place may be considered unwanted plants P2, and the mobile weeding device 1 may be used to remove such unwanted plants P2.

[0058] (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.

[0059] [12. Technical Ideas Disclosed in the Present Specification] [Item 1] A mobile weeding device, a laser irradiator configured to irradiate a plant with laser light; a detection unit configured to detect a fire; A mobile weeding device comprising: [Item 2] The mobile weeding device according to item 1, The mobile weeding device further includes a fire extinguishing unit configured to extinguish the fire when the fire is detected by the detection unit. [Item 3] The mobile weeding device according to item 1 or 2, The detection unit has a smoke sensor that detects smoke, and is configured to detect the fire based on a result of smoke detection by the smoke sensor. Mobile weeding equipment. [Item 4] The mobile weeding device according to any one of items 1 to 3, The detection unit has a temperature sensor and is configured to detect the fire based on the temperature detected via the temperature sensor. Mobile weeding equipment. [Item 5] A mobile weeding device according to item 2, or item 3 or 4 dependent on item 2, The fire extinguishing unit is configured to extinguish the fire with water. Mobile weeding equipment. [Item 6] A mobile weeding device according to item 2 or any one of items 3 to 5 dependent on item 2, a camera configured to generate image data indicative of an image of the ground; and a position identification unit configured to identify an ignition point where the fire is occurring based on the image data, The fire extinguishing unit is configured to extinguish the fire at the location of the fire. Mobile weeding equipment. [Item 7] Item 6. The mobile weeding device according to item 6, The fire extinguishing unit is configured to extinguish the fire by covering the ignition site. Mobile weeding equipment. [Item 8] A mobile weeding device according to any one of items 1 to 7, Further provided is a shielding wall that laterally surrounds the work area on the ground; The laser irradiator is configured to irradiate the laser light onto the plants located in the work area. Mobile weeding equipment. [Item 9] A mobile weeding device according to item 2 or any one of items 3 to 8 dependent on item 2, Further provided is a shielding wall that laterally surrounds the work area on the ground; the laser irradiator is configured to irradiate the laser light onto the plants located in the work area; The fire extinguishing unit is configured to extinguish the fire by releasing a fire extinguishing gas inside the shielding wall. Mobile weeding equipment. [Explanation of symbols]

[0060] 1...mobile weeding device, 10...main body, 2...laser irradiator, 3...camera, 4...control device, 40...monitor, 41...image processing unit, 42...laser control unit, 43...fire extinguishing control unit, 44...communication device, 45...speaker, 5...shielding wall, 6...sensor unit, 7...fire extinguishing unit, 70...arm unit, 71...pressing unit, 8...tank, P1...crops, P2...unwanted plants, L...laser light, B...fire, W...work area.

Claims

1. A mobile weeding device, a laser irradiator configured to irradiate a plant with laser light; a detection unit configured to detect a fire; a fire extinguishing unit configured to extinguish the fire when the fire is detected by the detection unit; a camera configured to generate image data indicative of an image of the ground; a position identification unit configured to identify an ignition point where the fire is occurring based on the image data, The fire extinguishing unit is configured to extinguish the fire at the fire location, The fire extinguishing unit is configured to extinguish the fire by covering the ignition site. Mobile weeding equipment.

2. A mobile weeding device, a laser irradiator configured to irradiate a plant with laser light; a detection unit configured to detect a fire; a main body positioned above a work area on the ground; a shielding wall that protrudes downward from the lower surface of the main body and surrounds the work area from the sides; Equipped with The detection unit is provided on the underside of the main body and is configured to detect a fire occurring in the work area; The laser irradiator is configured to irradiate the laser light onto the plants located in the work area. Mobile weeding equipment.

3. A mobile weeding device according to claim 2, The mobile weeding device further includes a fire extinguishing unit configured to extinguish the fire when the fire is detected by the detection unit.

4. A mobile weeding device according to any one of claims 1 to 3, The detection unit has a smoke sensor that detects smoke, and is configured to detect the fire based on a result of smoke detection by the smoke sensor. Mobile weeding equipment.

5. A mobile weeding device according to any one of claims 1 to 3, The detection unit has a temperature sensor and is configured to detect the fire based on the temperature detected via the temperature sensor. Mobile weeding equipment.

6. A mobile weeding device according to claim 3, The fire extinguishing unit is configured to extinguish the fire with water. Mobile weeding equipment.

7. A mobile weeding device according to claim 3, a camera configured to generate image data indicative of an image of the ground; and a position identification unit configured to identify an ignition point where the fire is occurring based on the image data, The fire extinguishing unit is configured to extinguish the fire at the location of the fire. Mobile weeding equipment.

8. A mobile weeding device according to claim 3, The fire extinguishing unit is configured to extinguish the fire by releasing a fire extinguishing gas inside the shielding wall. Mobile weeding equipment.

Images