Unwanted plant removal system

Patent metadata

Field	Value
Publication number	US-9565848-B2
Application number	US-201314027116-A
Country	US
Kind code	B2
Filing date	Sep 13, 2013
Priority date	Sep 13, 2013
Publication date	Feb 14, 2017
Grant date	Feb 14, 2017

Abstract

Embodiments include an apparatus and methods for removing unwanted plants or weeds from an area such as an agricultural plot or lawn. The apparatus includes a three-dimensional imager configured to capture plant images and locate plants; an image processor configured to distinguish between wanted and unwanted plants based upon the captured plant images; at least one laser device configured to emit a laser beam having power sufficient to damage the unwanted plants; a laser beam controller configured to direct at least one laser beam toward the unwanted plant; and a chassis configured to support the three-dimensional imager, the laser device, and the laser beam controller. The chassis is configured to be moved across the area.

First claim

What is claimed is:

1. An apparatus comprising:
a three-dimensional imager configured to capture plant images and locate plants, the three dimensional imager comprising a multispectral imager having at least a first channel associated with a first spectral range and a second channel associated with a second spectral range;
an image processor configured to:
compare information obtained from the first channel to information obtained from the second channel, and
distinguish between a wanted plant and an unwanted plant based on the captured plant images and the comparison;

at least one laser device configured to emit a laser beam having power sufficient to damage the unwanted plant;
a laser beam controller configured to direct at least one laser beam toward the unwanted plant; and
a chassis configured to support the three-dimensional imager, the laser device, and the laser beam controller, and configured to be moved across an area.

2. An apparatus according to claim 1 , wherein the three-dimensional imager uses triangulation to locate plants.

3. An apparatus according to claim 2 , wherein the three-dimensional imager comprises a stereo camera system that includes at least two cameras.

4. An apparatus according to claim 2 , wherein the three-dimensional imager comprises a scanning system that includes a single or a multiple beam laser scanner and a single camera.

5. An apparatus according to claim 2 , wherein the three-dimensional imager comprises a scanning system that includes a single or multiple beam scanner and a stereo camera, and wherein the stereo camera includes two cameras.

6. An apparatus according to claim 2 , wherein the three-dimensional imager comprises a three-dimensional structured illuminator and at least one camera.

7. An apparatus according to claim 1 , wherein the three-dimensional imager comprises a time-of-flight measurement system.

8. An apparatus according to claim 7 , wherein the time-of-flight measurement system is comprised of a photonic mixer device sensor and a modulated light source.

9. An apparatus according to claim 7 , wherein the three-dimensional imager comprises an imaging lens and a two-dimensional sensor array.

10. An apparatus according to claim 7 , wherein the three-dimensional imager comprises a light source with one or more scanning beams, collection optics, and one or more detectors.

11. An apparatus according to claim 1 , wherein the laser device comprises an array of semiconductor lasers.

12. An apparatus according to claim 1 , wherein the laser device comprises at least one semiconductor laser configured to emit a laser beam having a wavelength of from about 430 nm to about 475 nm or from about 650 nm to about 675 nm.

13. An apparatus according to claim 1 , wherein the laser beam controller comprises at least one galvo mirror.

14. An apparatus according to claim 13 , wherein the at least one galvo mirror comprises a two-axis MEMS galvo mirror.

15. An apparatus according to claim 1 , wherein the three-dimensional imager, the laser device, and the laser beam controller supported by the chassis can sense and adjust in all three-dimensions.

16. A lawn weeding system comprising:
a lawn mower comprising cutting means; and
an apparatus according to claim 1 , wherein the chassis is mechanically coupled to the lawn mower.

17. A lawn weeding system according to claim 16 , wherein the cutting means are mechanical or electrooptical.

18. A lawn weeding system according to claim 16 , wherein the lawn mower generates power to energize at least one of the three-dimensional imager, the image processor, the at least one laser device, and the laser beam controller.

19. An apparatus according to claim 1 , wherein the apparatus is a lawn mower and the laser beam is configured to cut vegetation and to damage the unwanted plant.

20. A method of removing unwanted plants comprising:
capturing plant images using a three-dimensional imager the three dimensional imager comprising a multispectral imager having at least a first channel associated with a first spectral range and a second channel associated with a second spectral range;
comparing information obtained from the first channel to information obtained from and the second channel;
distinguishing between a wanted plant and an unwanted plant based on the plant images and the comparison;
directing a laser beam from at least one laser device towards the unwanted plant; and
damaging the unwanted plant with the laser beam.

21. A method of removing unwanted plants according to claim 20 , further comprising providing a laser beam controller configured to direct at least one laser beam towards the unwanted plant.

22. A method of removing unwanted plants according to claim 21 , further comprising mounting the three-dimensional imager, the at least one laser device and the laser beam controller on a chassis.

23. A method of removing unwanted plants according to claim 22 , further comprising moving the chassis across an agricultural field or lawn.

Assignees

• Palo Alto Res Ct Inc

Inventors

• Stowe Timothy David
• Maeda Patrick Yasuo
• Curley Tim

Classifications

• A01M21/04 Primary

  Apparatus for destruction by steam, chemicals, burning, or electricity {(apparatus for burning A01M15/00)} · CPC title

• A01D43/003

  with devices for drying or burning · CPC title