Plant removal device

Abstract

To suppress an increase in the size of a device.SOLUTION: A plant removing device includes an image sensor, a detection unit, a determination unit, an irradiation unit, and an output unit. The detection unit is configured so as to detect a non-object plant on the ground on the basis of image data generated by the image sensor. The determination unit is configured so as to determine whether or not the non-object plant detected by the detection unit is to be a beam irradiation object on the basis of the image data. The irradiation unit is configured so as to radiate beams onto the non-object plant as an irradiation object. The output unit is configured so as to output position information indicating the position of the non-object plant, which is not the irradiation object.SELECTED DRAWING: Figure 5

Description

[Technical Field]

[0001] The present disclosure relates to a plant removal device and the like. [Background technology]

[0002] A self-propelled 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 a beam (for example, Patent Document 1). [Prior art documents] [Patent documents]

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

[0004] However, the system of Patent Document 1 may detect weeds larger than a certain size or weeds that have grown to a certain stage. To remove such weeds, a more powerful beam must be emitted, which requires a larger beam output and a larger battery capacity. Therefore, if all detected weeds were to be removed using a beam, the device would likely become larger.

[0005] One aspect of the present disclosure aims to prevent the device from becoming large. [Means for solving the problem]

[0006] One aspect of the present disclosure is a plant removal device comprising an image sensor, a detection unit, a determination unit, an irradiation unit, and an output unit. The image sensor is configured to generate image data representing an image of the ground. The detection unit is configured to determine predetermined plants as target plants and plants that are not target plants as non-target plants, and to detect non-target plants on the ground based on the image data. The determination unit is configured to determine, based on the image data, whether or not the non-target plants detected by the detection unit are to be irradiated with a beam. The irradiation unit is configured to irradiate the non-target plants that are to be irradiated with a beam. The output unit is configured to output position information representing the positions of the non-target plants that are not to be irradiated.

[0007] According to the above configuration, non-target plants that are difficult to remove by irradiating them with a beam in the plant removal device are excluded from the beam irradiation targets and can be removed by other means based on the position information output to the outside. This reduces the frequency of beam use in the plant removal device, and therefore prevents the plant removal device from becoming larger.

[0008] In one aspect of the present disclosure, the judgment unit may be configured to detect the size of the non-target plant detected by the detection unit based on image data, and if the detected size exceeds a predetermined first threshold, not to judge the non-target plant as an irradiation target, and if the size does not exceed the first threshold, to judge the non-target plant as an irradiation target.

[0009] With this configuration, large undesired plants are excluded from the beam irradiation and can be removed by other means based on the externally output position information. This eliminates the need to increase the beam output or battery capacity to remove such undesired plants with the beam. This prevents the plant removal device from becoming too large.

[0010] In one aspect of the present disclosure, the image data may represent an image of the ground on which the target plant is located. The detection unit may be configured to detect non-target plants based on the image data. The determination unit may be configured to detect a distance between the non-target plant and the target plant based on the image data, and not determine the non-target plant as an irradiation target if the detected distance does not exceed a predetermined second threshold, and to determine the non-target plant as an irradiation target if the distance exceeds the second threshold. The irradiation unit may be configured to irradiate a beam onto the non-target plant that is an irradiation target. The output unit may be configured to output position information of the non-target plant that is not an irradiation target.

[0011] According to the above configuration, damage to the target plants caused by irradiation of the beam onto the non-target plants can be suppressed. In one aspect of the present disclosure, the judgment unit may be configured to determine, based on image data, whether the non-target plant detected by the detection unit has reached a predetermined growth stage, and if it has reached the growth stage, not to judge the non-target plant as an irradiation target, and if it has not reached the growth stage, to judge the non-target plant as an irradiation target.

[0012] According to the above configuration, undesired plants that have reached a certain growth stage and are difficult to remove with a low-power beam are excluded from the beam irradiation target and can be removed by other means based on the location information output to the outside. This eliminates the need to increase the beam output or battery capacity to remove such undesired plants with a beam. This prevents the plant removal device from becoming too large.

[0013] In one aspect of the present disclosure, the output unit may be configured to transmit the location information to the terminal. According to the above configuration, it is possible to remove non-target plants that are difficult to remove by irradiating the plant with a beam using an alternative method based on the location information received by the terminal. This reduces the frequency with which the beam is used by the plant removal device, thereby preventing the plant removal device from becoming larger.

[0014] One aspect of the present disclosure is a terminal configured to communicate with a plant removal device that removes undesired plants by irradiating a beam, the terminal including a receiver and a display. The receiver receives location information indicating the locations of undesired plants that are not to be irradiated with the beam. The display displays an image illustrating the locations of undesired plants that are not to be irradiated based on the location information received by the receiver. An application may also be configured to realize the functions of such a terminal.

[0015] According to the above configuration, the location of non-target plants that have not been irradiated with the beam by the plant removal device can be easily determined, and the work of removing the non-target plants can be carried out smoothly. [Brief explanation of the drawings]

[0016] [Figure 1] FIG. 1 is a block diagram of a weeding system. [Figure 2] FIG. 2 is a block diagram of a weeding device. [Figure 3] FIG. 2 is a block diagram of a terminal. [Figure 4] FIG. 2 is an explanatory diagram of paths, ridges, and crops in cultivated land indicated by path information. [Figure 5] 10 is a flowchart of a weeding process. [Figure 6] FIG. 10 is an explanatory diagram of a map image showing the positions of weeds excluded from the beam irradiation target. [Figure 7] FIG. 10 is an explanatory diagram of the determination of first and second conditions. [Figure 8] FIG. 10 is an explanatory diagram of edge detection of weeds. [Figure 9] FIG. 1 is an explanatory diagram of the growth stages of weeds. DETAILED DESCRIPTION OF THE INVENTION

[0017] 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.

[0018] [1. Overview] A weeding system 1 of this embodiment removes weeds (i.e., non-target plants) that are plants other than crops (i.e., target plants) in cultivated land where crops (i.e., target plants) are grown (see FIG. 1). The weeding system 1 includes a self-propelled weeding device 2 (i.e., a plant removal device) and a terminal 3 that communicates wirelessly with the weeding device 2. The weeding device 2 detects weeds while traveling through cultivated land 4 and performs weeding work by irradiating the detected weeds with a beam (see FIG. 2).

[0019] Here, the weeding device 2 does not remove all detected weeds, but does not remove weeds that are difficult to remove with a beam. That is, the weeding device 2 determines whether or not the detected weeds should be irradiated with the beam, and irradiates the beam on the weeds that are irradiated with the beam. On the other hand, the weeding device 2 does not irradiate the weeds that are excluded from the irradiation targets with the beam, and transmits position information indicating the positions of the weeds to the terminal 3. Then, when the terminal 3 receives the position information of the weeds that were not irradiated with the beam, it notifies the user of the weeding device 2 of the position information, and the user removes the weeds separately.

[0020] [2. Weeding device] The weeding device 2 includes a communication control unit 20, a power supply 21, a laser oscillator 22, a laser head 23, an optical system 24, a camera 25 (in other words, an image sensor), lighting 26, a traveling unit 27, a housing 28, and a cover 29 (see FIG. 2). A work area 2A of a predetermined shape (for example, a rectangle) is formed on the ground directly below the weeding device 2 (in other words, the housing 28) in the cultivated land 4. Then, while the weeding device 2 is stopped from traveling, it detects weeds in the work area 2A and irradiates the weeds with a beam.

[0021] The communication control unit 20 is a part that performs overall control of the weeding device 2, and is equipped with a CPU and memory. The CPU executes programs stored in the memory, thereby realizing various functions of the weeding device 2. Note that the various functions realized by the communication control unit 20 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.

[0022] In addition, the communication control unit 20 is equipped with an antenna and the like, and performs wireless communication with the terminal 3 via the antenna. The communication control unit 20 is also configured to detect the position (hereinafter, current location) of the weeding device 2. Specifically, the communication control unit 20 may detect the current location using GPS, for example, or may detect the speed and direction of travel of the weeding device 2 using a sensor, and then detect the current location based on these detection results.

[0023] The power source 21 includes a rechargeable battery and supplies power to each part of the weeding device 2. The laser oscillator 22, the laser head 23, and the optical system 24 output a beam for removing weeds. Specifically, a beam is generated by laser oscillation in the laser oscillator 22, and the path of the beam is adjusted by the laser head 23 and the optical system 24.

[0024] The housing 28 houses the communication control unit 20, the power supply 21, the laser oscillator 22, the laser head 23, and the optical system 24. The camera 25 is provided at the bottom of the housing 28 and captures an image of the work area 2A below the housing 28.

[0025] Lighting 26 is provided at the bottom of housing 28 and illuminates work area 2A. The cover 29 is provided so as to protrude downward from the bottom surface of the housing 28, and has a wall portion that surrounds the work area 2A from the sides, thereby maintaining the brightness of the work area 2A illuminated by the light 26.

[0026] The travel unit 27 is provided below the cover 29 and includes tires and a motor for moving the weeding device 2. [3. Terminal] The terminal 3 is configured as an information processing device such as a PC, smartphone, or tablet, and has installed thereon an application 32B for assisting in the removal of weeds that have been excluded from the target of beam irradiation by the weeding device 2 (see FIG. 3). The terminal 3 includes a control unit 30, a communication unit 33, a display unit 34, an input unit 35, and a storage unit 36.

[0027] The control unit 30 includes a CPU 31 and a memory 32. The CPU 31 executes programs stored in the memory 32, thereby realizing various functions of the terminal 3. Note that the various functions realized by the control unit 30 are not limited to being realized by executing programs, and some or all of the functions may be realized using one or more pieces of hardware.

[0028] The memory 32 includes a semiconductor memory (e.g., a ROM, a RAM, and a flash memory) that is a non-transitory physical recording medium. An operating system (hereinafter, referred to as OS) program 32A and an application 32B stored in a storage unit 36 ​​are loaded into the memory 32. The OS program 32A is a program that provides basic functions of the terminal 3, and the application 32B is operated by the OS program 32A.

[0029] The communication unit 33 performs wireless communication with the weeding device 2. The display unit 34 includes a display device (not shown) and displays various images on the display device. The input unit 35 includes, for example, a keyboard, a pointing device, a touch panel, etc., and receives operations from the user.

[0030] The storage unit 36 ​​includes an auxiliary storage device such as an HDD or SSD, and stores various data. [4. Route Information] The weeding device 2 travels through the cultivated land and weeds in accordance with the route information stored in the memory of the communication control unit 20. An example of the route information shown in Fig. 4 indicates the positions of each ridge 40 and each crop 41 in the cultivated land 4, a route 42 along which the weeding device 2 travels through the cultivated land 4, and a stop position on the route 42 where the weeding device 2 stops and performs weeding work.

[0031] As an example, the cultivated land 4 has four ridges 40, and six crops 41 are grown in each ridge 40 at set positions spaced apart by a fixed distance (for example, 60 cm). Each ridge 40 is assigned an X (an integer from 1 to 4) as identification information, and each crop 41 in each ridge 40 is assigned a Y (an integer from 1 to 6) as identification information. The position of each crop in the cultivated land 4 is then identified by the X and Y coordinates.

[0032] 4, as an example, a path 42 is set along each ridge 40, and the weeding device 2 travels along the path 42 with the ridge 40 positioned between the tires of the traveling unit 27. As an example, the path information also sets a start point 42A adjacent to the crop 41 located at coordinates (4, 1), and sets an end point 42B adjacent to the crop 41 located at coordinates (1, 1). Then, the path 42 is set along each ridge 40 from the start point 42A to the end point 42B.

[0033] In the route information, the position of each crop 41 is set as a stop position, and when the weeding device 2 stops at a stop position, the crop 41 at that stop position is located in the work area 2A of the weeding device 2 (see FIG. 2). The weeding device 2 travels along the route 42, stops at each stop position, and performs weeding work around the crop 41 at the stop position.

[0034] The stopping position of the weeding device 2 can be determined appropriately depending on, for example, the size of the crops 41 or the spacing between adjacent crops 41. Also, for example, stopping positions may be set corresponding to multiple crops 41 so that multiple crops 41 are present in the work area 2A when the weeding device 2 stops at the stopping position.

[0035] The positions of each ridge 40 and each crop 41 in the route information, the position of the route 42, and the stop position may be determined, for example, by longitude and latitude detected by GPS. Alternatively, these positions may be determined, for example, as relative positions to a reference point (for example, the position of the starting point 42A) determined on the cultivated land 4.

[0036] The path information may be set by the user of the weeding device 2 or by the vendor that provides the weeding device 2. [5. Weed Control] Next, we will explain the weeding process, which is the process performed when the weeding device 2 performs weeding work according to the route information, using the flowchart in Figure 5. When starting the weeding process, the weeding device 2 travels to the start point of the route, or the weeding device 2 is placed at the start point by a user or the like. Then, this process is started by the weeding device 2 located at the start point.

[0037] In S100, the communication control unit 20 of the weeding device 2 detects the current location of the weeding device 2 and identifies the closest stopping position when the weeding device 2 moves along the route indicated in the route information. Then, the communication control unit 20 controls the traveling unit 27 to move to the identified stopping position, and when the weeding device 2 moves to the identified stopping position, the process proceeds to S105.

[0038] When the weeding device 2, which is performing weeding work according to the route information in Fig. 4, reaches the stopping position, one crop 41 is located directly below the weeding device 2, and the crop 41 and the area around the crop 41 are present in the above-mentioned work area 2A (see Fig. 2). However, this is not limiting, and there may be multiple crops or no crops in the work area 2A.

[0039] In S105, the communication control unit 20 turns on the light 26 to illuminate the work area 2A, and also captures an image of the work area 2A with the camera 25 to generate image data. Then, the communication control unit 20 performs image recognition based on the image data to detect crops and weeds present in the work area 2A.

[0040] In S110, the communication control unit 20 determines whether or not each weed detected in S105 should be a target for beam irradiation. Specifically, if the beam output required to remove the weed would be too high or if irradiation of the weed with the beam could cause damage to crops, the communication control unit 20 excludes the weed from the targets for beam irradiation. The detailed method of this determination will be described later.

[0041] In S115, the communication control unit 20 irradiates the beam to all weeds that have been targeted for irradiation with the beam. On the other hand, if there are weeds that are excluded from the targets for irradiation, the communication control unit 20 stores the current stopping position of the weeding device 2 in memory as position information of the weeds, and proceeds to S120.

[0042] In S120, the communication control unit 20 determines whether the weeding device 2 has stopped at all the stop positions set in the route information. If the determination is affirmative (S120: Yes), the communication control unit 20 moves to the end point of the route and proceeds to S125. On the other hand, if the determination is negative (S120: No), the communication control unit 20 proceeds to S100.

[0043] In S125, the communication control unit 20 transmits the position information of the weeds that have been excluded from the beam irradiation targets to the terminal 3. The communication control unit 20 may transmit route information to the terminal 3 together with the position information.

[0044] In S130, the control unit 30 of the terminal 3, operating according to the application 32B, receives position information from the weeding device 2 via the communication unit 33, and based on the position information, displays on the display unit 34 the positions of the weeds that have been excluded from the beam irradiation target.

[0045] That is, for example, the control unit 30 may display a map image 4A illustrating the positions of ridges 40 and crops 41 in the cultivated land 4 where weeding work has been performed, based on the route information received together with the location information (see FIG. 6). The control unit 30 may then display a marker 43 on the map image 4A indicating the position of the weeds that have been excluded from the irradiation targets. Furthermore, at this time, the control unit 30 may also display a message box 44 on the map image 4A indicating the reason why the weeds have been excluded from the irradiation targets.

[0046] In addition, it is conceivable that only the position information of weeds excluded from the irradiation target, but not the path information, is transmitted from the weeding device 2 to the terminal 3. In such a case, the path information may be stored in advance in the memory unit 36 ​​of the terminal 3, and the control unit 30 may display the map image 4A based on the path information and the position information received from the weeding device 2.

[0047] Then, the user confirms the positions of the weeds that were not irradiated with the beam using the terminal 3 and removes the weeds using a means other than the weeding device 2. The timing for transmitting the position information of weeds that are not irradiated with the beam from the weeding device 2 to the terminal 3 is not limited to S125 of the weeding process and can be determined as appropriate. Specifically, for example, when the weeds detected in S110 are excluded from the targets for beam irradiation, the position information of the weeds may be transmitted to the terminal 3.

[0048] The control unit 30 of the terminal 3 may display the positions of weeds excluded from the beam irradiation targets without displaying the map image 4A. The weeding device 2 may also be provided with a display unit, and the communication control unit 20 may display the positions of weeds excluded from the beam irradiation targets on the display unit in the same way as the terminal 3.

[0049] [6. How to determine which weeds to remove] In S110 of the weeding process, the communication control unit 20 of the weeding device 2 determines, based on the image 5 represented by the image data generated by the camera 25, whether or not the detected weeds should be the target for irradiation with the beam.

[0050] That is, for example, the communication control unit 20 may exclude the weed 50 from the irradiation target if the first condition that the size of the weed 50 in the image 5 exceeds a predetermined first threshold is met, and may include the weed 50 as the irradiation target if the first condition is not met (see Figure 7).

[0051] Specifically, the communication control unit 20 may, for example, set a rectangular frame 51 surrounding a weed 50 that has been image-recognized in the image 5, and consider the area of ​​the frame 51 to be the size of the weed 50. Alternatively, the communication control unit 20 may, for example, detect an edge 52 of the weed 50 in the image 5, and consider the area of ​​the region inside the edge 52 (for example, the number of pixels in that region) to be the size of the weed 50 (see FIG. 8).

[0052] Furthermore, for example, the communication control unit 20 may exclude the weeds 50 from the irradiation target when a second condition is satisfied, that is, the distance between the weeds 50 and the crops 53 in the image 5 does not exceed a predetermined second threshold. On the other hand, the communication control unit 20 may include the weeds 50 as the irradiation target when the second condition is not satisfied (see FIG. 7).

[0053] Specifically, the communication control unit 20 may, for example, set a rectangular frame 51 surrounding a weed 50 and a rectangular frame 54 surrounding a crop 53 in the image 5. Then, the communication control unit 20 may determine that the second condition is not satisfied if the shortest distance 55 between these frames 51, 54 exceeds a second threshold value and the weed 50 is sufficiently far from the crop 53. On the other hand, the communication control unit 20 may determine that the second condition is satisfied if, for example, the shortest distance 55 does not reach the second threshold value, if the frames 51, 54 overlap, or if one of the frames 51, 54 is located inside the other.

[0054] Also, for example, the communication control unit 20 may exclude the weed 50 from the irradiation target if the third condition that the weed 50 in the image 5 has reached a predetermined growth stage is met, and may include the weed 50 as the irradiation target if the third condition is not met.

[0055] Specifically, the communication control unit 20 may determine, for example, the thickness of the stem of the weed 50 in the image 5, the number of leaves, the presence or absence of flowers, etc. Then, if the determination result reaches a predetermined threshold, the communication control unit 20 may determine that the weed 50 has reached a predetermined growth stage. Furthermore, the communication control unit 20 may, for example, determine the type of the weed 50 based on the shape of the weed 50 and set a threshold for determining the growth stage based on the type. As a specific example, if the weed 50 is a grass plant, the communication control unit 20 may determine the number of leaves 50A of the weed 50, and if the number of leaves 50A is three or more, may determine that the weed has reached a predetermined growth stage (see FIG. 9).

[0056] In S110 of the weeding process, the communication control unit 20 may determine whether each detected weed satisfies all or some of the first to third conditions. Then, the communication control unit 20 may exclude weeds that satisfy at least one of the first to third conditions from the targets of irradiation.

[0057] [7. Effects] (1) According to the above embodiment, weeds that are difficult to remove by irradiating the weeding device 2 with a beam are excluded from the beam irradiation targets and can be removed by other means based on the position information output to the outside. This reduces the frequency of use of the beam in the weeding device 2 and prevents the weeding device 2 from becoming larger. Furthermore, based on the position information, weeding work can be smoothly performed by other means than the weeding device 2.

[0058] (2) In addition, large weeds that are difficult to remove with a low-power beam are excluded from the beam irradiation target and can be removed by other means. Therefore, there is no need to increase the beam output or battery capacity in order to remove such weeds with the beam. This prevents the weeding device 2 from becoming too large.

[0059] (3) Weeds near the crops can be excluded from the beam irradiation and removed by other means, thereby minimizing damage to the crops caused by beam irradiation of the weeds. (4) Furthermore, weeds that have reached a certain growth stage and are difficult to remove with a low-power beam can be excluded from the beam irradiation target and removed by other means. This eliminates the need to increase the beam output or battery capacity in order to remove such weeds with a beam. This prevents the weeding device 2 from becoming too large.

[0060] (5) Furthermore, the position information of the weeds excluded from the beam irradiation targets is transmitted to the terminal 3. Therefore, based on the position information received by the terminal 3, weeds that are difficult to remove by beam irradiation can be removed by other means. This reduces the frequency of beam use in the weeding device 2 and prevents the weeding device 2 from becoming larger.

[0061] (6) Furthermore, the terminal 3 displays the weeds that have been excluded from the beam irradiation target on the map image 4A. This allows the user to easily grasp the location of the weeds that have not been irradiated with the beam, and allows the user to smoothly remove the weeds.

[0062] 8. Other Embodiments (1) In the above embodiment, the weeding system 1 performs weeding work in cultivated land 4. However, the weeding system 1 may also be used to remove non-target plants in places other than cultivated land 4 where target plants are cultivated or grow wild (for example, parks, gardens, etc.). In addition, the weeding system 1 may also be used to remove plants in places where no target plants exist. In other words, all plants present in a specific place may be considered non-target plants, and the weeding system 1 may be used to remove such non-target plants.

[0063] (2) In S105 of the weeding process in the above embodiment, the communication control unit 20 of the weeding device 2 detects weeds while stopped at the stopping position. However, this is not limiting. For example, the communication control unit 20 may generate image data of the ground using the camera 25 while traveling along the route set in the route information and detect weeds based on the image data. Furthermore, the communication control unit 20 may stop the weeding device 2 when a weed is detected and perform processes similar to S110 and S115 in the weeding process. Then, when the weeding work is completed, the communication control unit 20 may perform processes similar to S125 and S130 and display the positions of weeds that have been excluded from the beam irradiation target.

[0064] (3) The weeding device 2 in the above embodiment is self-propelled and configured to travel automatically according to route information. However, the weeding device 2 may move along a route according to user operation, or may be moved by another device or manually to perform weeding work in the same manner.

[0065] (4) 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.

[0066] [9. Correspondence of Wording] S105 of the weeding process corresponds to an example of a detection section, S110 corresponds to an example of a determination section, S115 corresponds to an example of an irradiation section, S125 corresponds to an example of an output section, and S130 corresponds to an example of a reception section and a display section. [Explanation of symbols]

[0067] 1...weeding system, 2...weeding device, 2A...working area, 20...communication control unit, 21...power supply, 22...laser oscillator, 23...laser head, 24...optical system, 25...camera, 3...terminal, 30...control unit, 32B...application, 4...arable land, 4A...map image, 41...crop, 42...route, 5...image, 50...weed, 53...crop, 55...shortest distance

Claims

1. 1. A plant removal device, comprising: an image sensor configured to generate image data indicative of an image of the ground; a detection unit configured to set predetermined plants as target plants and plants other than the target plants as non-target plants, and to detect non-target plants on the ground based on the image data; a determination unit configured to determine whether the non-target plant detected by the detection unit is to be irradiated with a beam based on the image data; and An irradiation unit configured to irradiate the beam to the non-target plant that is the irradiation target; an output unit configured to output position information indicating the positions of the non-target plants that are not the irradiation target; Equipped with The determination unit is configured to detect the size of the non-target plant detected by the detection unit based on the image data, and if the detected size exceeds a predetermined first threshold, not determine the non-target plant as the irradiation target, and if the size does not exceed the first threshold, determine the non-target plant as the irradiation target. Plant removal equipment.

2. The plant removal device according to claim 1, the image data indicates an image of the ground on which the target plant is located; The detection unit is configured to detect the non-target plants based on the image data, the determination unit is configured to detect a distance between the non-target plant and the target plant based on the image data, and if the detected distance does not exceed a predetermined second threshold, not determine the non-target plant as the irradiation target, and if the distance exceeds the second threshold, determine the non-target plant as the irradiation target; The irradiation unit is configured to irradiate the beam onto the non-target plant that is the irradiation target, The output unit is configured to output the position information of the non-target plant that is not the irradiation target. Plant removal equipment.

3. 1. A plant removal device, comprising: an image sensor configured to generate image data indicative of an image of the ground; a detection unit configured to set predetermined plants as target plants and plants other than the target plants as non-target plants, and to detect non-target plants on the ground based on the image data; a determination unit configured to determine whether or not the non-target plant detected by the detection unit is to be irradiated with a beam based on the image data; An irradiation unit configured to irradiate the beam to the non-target plant that is the irradiation target; an output unit configured to output position information indicating the positions of the non-target plants that are not the irradiation target; Equipped with the image data indicates an image of the ground on which the target plant is located; The detection unit is configured to detect the non-target plants based on the image data, the determination unit is configured to detect a distance between the non-target plant and the target plant based on the image data, and if the detected distance does not exceed a predetermined second threshold, not determine the non-target plant as the irradiation target, and if the distance exceeds the second threshold, determine the non-target plant as the irradiation target; The irradiation unit is configured to irradiate the beam onto the non-target plant that is the irradiation target, The output unit is configured to output the position information of the non-target plant that is not the irradiation target. Plant removal equipment.

4. The plant removal device according to any one of claims 1 to 3, The determination unit is configured to determine whether the non-target plant detected by the detection unit has reached a predetermined growth stage based on the image data, and if the non-target plant has reached the growth stage, not determine the non-target plant as the irradiation target, and if the non-target plant has not reached the growth stage, determine the non-target plant as the irradiation target. Plant removal equipment.

5. 1. A plant removal device, comprising: an image sensor configured to generate image data indicative of an image of the ground; a detection unit configured to set predetermined plants as target plants and plants other than the target plants as non-target plants, and to detect non-target plants on the ground based on the image data; a determination unit configured to determine whether or not the non-target plant detected by the detection unit is to be irradiated with a beam based on the image data; An irradiation unit configured to irradiate the beam to the non-target plant that is the irradiation target; an output unit configured to output position information indicating the positions of the non-target plants that are not the irradiation target; Equipped with The determination unit is configured to determine whether the non-target plant detected by the detection unit has reached a predetermined growth stage based on the image data, and if the non-target plant has reached the growth stage, not determine the non-target plant as the irradiation target, and if the non-target plant has not reached the growth stage, determine the non-target plant as the irradiation target. Plant removal equipment.

6. The plant removal device according to any one of claims 1 to 5, The output unit is configured to transmit the location information to a terminal. Plant removal equipment.

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