JPH0779681A - Detection of plant of different kind and method for exterminating weed by using the detection method - Google Patents

Abstract

PURPOSE:To collectively exterminate different kind plants in a uniformly grown plant community by detecting the position of a different kind plant by chromaticity difference, etc., producing a data map of the different kind plant from the detection result and controlling the position of a weeding means by a position controlling mechanism. CONSTITUTION:The image picked up with a color CCD camera 1 used as a sensor for detecting a different kind plant by chromaticity difference, etc., is processed by an image processing unit 2 to prepare a data map specifying the position of the different kind plant. A weeding means such as a chemicals spraying apparatus 9 is two-dimensionally driven by stepping motors 5,6 by a computer 3 through an I/O 4 based on the data map. After completing a series of operation, a truck 10 is self-propelled by an AC motor and the similar operation is repeated.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for detecting heterogeneous plants existing in a uniformly growing plant group, particularly weeds in the lawn of a golf course, and a method for controlling weeds using the method.

[0002]

2. Description of the Related Art Weed detection methods have not yet been established, except for the method by human eyes. In particular, as a method for controlling weeds that occur in fields and lawns, up to now, a manual method and a chemical method using a herbicide are mainly used.

The above-mentioned method relying on human labor is problematic especially in view of the recent lack of labor, and the chemical method using a herbicide or the like is environmentally polluting, especially in the case of a golf course, the installation location is in the mountains. Some of them have developed a plateau area close to the water source of the country, which provides social problems related to serious environmental pollution in terms of water pollution. That is, although pesticides used in golf courses include fungicides, herbicides, and insect repellents, the ratio of herbicides is large in addition to fungicides. Since these chemicals have extremely strong water pollution properties, they are an environmental problem in various places as described above. In terms of administration, the government has set provisional guidelines to regulate the agricultural chemicals used in 1990, and local governments have banned agricultural chemicals and set stricter guidelines than the national government. However, at present, the only extermination method other than herbicides is manual work, for example, in one golf course, extermination with pesticides is performed on the fairway and on the green,
Weeds are exterminated by hand for about one week per hole. This manual extermination also raises labor costs,
There are problems such as the aging of workers and a shortage of manpower. From this point, automation of weed control is desired.

[0004]

As described above, the conventional weed control is inefficient because the herbicide is applied evenly to a specific plant group including weeds. If the phytotoxicity to the specific plant group by spraying the necessary chemicals is small, the effect of weed control will be small, and in order to sufficiently enhance the weed control effect, it is necessary to prepare for some phytotoxicity to the specific plant group. It will form the cause of excessive environmental pollution. Therefore, there is a demand for efficient weed control by identifying weeds in the specific plant group, confirming their positions, and spraying a concentrated herbicide to the weed positions, and minimizing environmental pollution.

By the way, turf used in golf courses is required to be resistant to dryness and trampling and to be regenerated even with strong cutting to maintain green. At present, four types of plants are mainly planted: Koroshishiba, Bentgrass, Perennial Ryegrass, and Noshiba. Each of these five types has its own characteristics: Korishishiba is resistant to summer heat and bentgrass is relatively resistant to winter cold.

[0006] In addition, weeds on the golf course are not only noticeable to the player but impair the appearance, but also have a bad influence on the rolling of the ball, which is an extremely important problem in maintenance management on the golf course side. . Classifying golf courses by turf can be divided into greens, tees, and fairways. Weeds often seen on the fairway are Bluegrass, Dandelion, Plantain,
There are clovers, crabgrass and so on. Most of the weeds that are often seen in greens are Poa annua. Although this white-billed anemone has white spikelets from early spring to summer, there is almost no difference between the color of turf and grass from early autumn to winter. In the present invention, the major species, Plutella xylostella, which is most distributed in golf courses and which is most desired to be exterminated, is the main object.

The present invention has been made in view of the above technical problems. In the fields, golf courses, and particularly golf courses, heterogeneous plants (Scutellaria baicalensis) occurring in a specific plant group such as lawns that are uniformly grown. The present invention provides a method for detecting weeds that is consistent with the characteristics that change with the change of the four seasons, and provides a weed control method that enables a concentrated and efficient weed control by creating a data map of weed positions by using the detection method. It is intended for the purpose.

[0008]

[Means for Solving the Problems] In order to achieve the above-mentioned technical object, the present invention has the characteristics of each of the possible weed detecting means, and the seasonal change between the above weeds (Sparrow grasshopper) and the lawn. Appropriate combination of identification features
It enables efficient weed detection, and in the case of Poa annua, it is effective to control the weeds while the white ears are attached to detect very noticeable periods. The present invention proposes a method for detecting a heterologous plant which enables detection at the time of, and enables complete control. For example, it is possible to visually identify, in the winter of rough roads and roughs, where the wild grass of the golf course is mainly used, the detection of weeds at the time of death of the wild grass, or from the spring to the summer of the green of the golf course. At the time when the white squirrel of A. annua produces white ears, a detection method by image processing is used, and when there is a difference in water content between the lawn and the stilt, from the autumn to the winter, detection by the reflected electric field of the irradiated microwave is used. Using the method, even in the above cases, when affected by morning dew or night dew, or in the winter when the water content is low, etc., a tactile sensor that uses the difference in tactile sensation or light that uses the difference in light absorption in chloroplasts Complete detection of weeds by using weed detection with a detection sensor or by combining each of the above long and short detection methods It is obtained to carry out.

According to the second aspect of the present invention, the weed detection means and the weed control means are provided with a position control mechanism capable of controlling the position in at least two-dimensional directions, and the weed position is detected by the detection means. A weed extermination method is characterized in that a weed extermination means is operated by controlling the position control mechanism by the data map at the time of exterminating weeds after creating a data map of weed positions from the detected data. The weed exterminating means means a method of irradiating high frequency or heat to kill the weeds, and a means of mechanically removing the weeds in addition to spraying the pesticides.

[0010]

By the above technical means, it is possible to control a plant group that is almost uniformly growing, for example, a heterogeneous plant generated in a lawn that grows on a golf course, for example, a grasshopper that grows in a grass (Bentgrass) of the grass family. In this case, it can be visually identified from spring to summer in response to changes in the four seasons, but cannot be visually identified from autumn to winter and winter. However, during the visually recognizable period from the spring to the summer, it is identifiable by the image processing means of the technical means, and in the autumn to winter and winter, the radio waves due to the water content of the technical means are identifiable. It becomes possible to identify by means of detection by detecting reflected electrolysis intensity of irradiation microwave using absorption, detection means by tactile sensor and detection means by optical sensor using absorption of light by chloroplasts, and especially weed control The required weeds can be exterminated from autumn to winter when weeds grow into large plants.

[0011]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, public embodiments of the present invention will be described in detail with reference to the drawings. However, unless otherwise specified, the dimensions, materials, shapes, relative positions, etc. of the components described in this embodiment are not intended to limit the scope of the present invention thereto, but are merely illustrative examples. Only. 1 to 3 show an embodiment of a detection method by image processing of the present invention, FIG. 4 shows an embodiment of a detection method by irradiation microwaves, and FIGS. 5 to 9 show a detection method by a tactile sensor. An example is shown, and FIGS. 10 to 12 show an example of a detection method using an optical sensor.

A weed detecting method and its exterminating method according to an embodiment of the present invention by image processing will be described with reference to FIGS. 1 to 3. The detection of weeds by image processing is performed by image processing using chromaticity difference so that weeds can be visually recognized at the time. That is, the histogram shown in FIG. 1 is obtained for each of the RGB R image, G image, and B image in which the grass portion and the weed portion are significantly separated.
A color CCD camera is used as a sensor, and in order to keep the illumination conditions constant, 100 (V) and 150 (W) incandescent bulbs are used, and the device is covered with a dark curtain. A 70 × 70 (cm) area is taken in by a CCD camera into a computer through an image processing device. As in the image processing algorithm shown in FIG. 2, in 1 the color image is captured, in 2 the R image (red part image) is separated from the image, and then the average value of the histogram is calculated for the R image and then the threshold is calculated. A value is determined and binarization processing is performed. In step 3, expansion processing is performed on the binarized screen, and excess graphics are removed based on the area of a certain fixed range. The center of gravity of the remaining figures in 4 is obtained, and a weed map whose coordinates are the positions of the weeds is created. As shown in FIG. 3, the weed control device includes a CCD camera 1, an image processing device 2 that processes an image obtained by the camera to create a data map indicating a weed position, and an I / O based on the data map. The computer 3 for operating the pesticide spraying device 9 via 4 and the trolley 10. The agricultural chemical spraying device 9 is a position controllable X operated by, for example, stepping motors 5 and 6 via the I / O 4.
-It is composed of a pesticide spraying nozzle 8 and a pump 7 mounted on a Y table, and is configured to spray a pesticide by arbitrarily moving to a predetermined weed position. After completing the above series of operations, the AC motor is allowed to self-propelled for 70 (cm), and the same operation is repeated by the above-mentioned apparatus set. As a result of performing image processing by this method, 4 to 20 (c
It was confirmed that the weeds of m) (diameter 70 mm) could be identified. Furthermore, this weed control device allows pesticides to be administered only to weeds, thus minimizing the use of pesticides.

However, although detection by image processing is effective in the seasons from early spring to summer, it is difficult to identify it in the autumn and winter. On the other hand, from the viewpoint of green management, it is desirable to exterminate in the period from autumn to winter when the P. anthracis occurs before the white spikelets form in the spring. To do this, it is necessary to exterminate a few (cm) weeds. In other words, there is almost no difference between grass and weeds in the fall, and in winter the color of the grass is colored with pigments, that is, it feels moist, the rigidity and height of the grass when stroked. The three types of detection methods of the present invention, which pay attention to the properties of weeds by utilizing the degree of catching and slight color difference, will be described below.

FIG. 4 is a diagram showing an embodiment of a detector for detecting the reflected electric field of the irradiation microwave of the present invention, which utilizes the effect of absorption of microwaves by the contained water. Microwaves are absorbed by water and are attenuated as they propagate through an object containing water. The amount of attenuation is related to the substance and water content. The microwave oscillator of this device is close to the absorption peak due to water vapor.
A 4.15 (GHz) Gunn diode oscillator 12 is used. In consideration of the fact that the reflected electric field strength is greatly influenced by the surface shapes of grass and weeds, a reception-only horn 15 that encloses the oscillator 12 is provided for scattered waves that are irregularly reflected and cannot be received. Since the directivity is high, the opening surface of the horn 13 becomes the lawn 19 inspection surface as it is, and accurate measurement is possible. Further, as a comparison wavelength, 10.52 (GHz), which has relatively little absorption by water vapor
The Gunn diode 16 of is attached. As shown in FIG. 4, the structure of this detector is the transmitter / receiver 1 for the irradiation microwave.
2 and the receiver 14 for exclusive use of scattered waves and the comparative microwave transmitter / receiver 16 are mounted on the left and right scanning mechanism 20, and the linear shaft 1
The vehicle can be moved laterally via the motor 7, and the motor 18 can be moved vertically to create a data map by an arithmetic control unit (not shown) attached. Then, the required weeds can be exterminated by spraying the chemicals to the required weeding positions using the pesticide spraying device separately provided by using the data map created above. According to the detection method using this irradiation microwave, the received electric field strength at a position where a weed is present has a large value in the autumn (October), that is, in the fall, the water content of the weed is small relative to the grass. I understand. In this way, the reception intensity is affected by the weather and place, but it is possible to distinguish between weeds and turf by the relative difference. However, in the case of being affected by the morning mist or night mist, and in the winter green, the water content of both weeds and turf is small, which may make identification difficult.

FIG. 5 is a diagram showing a schematic structure of a tactile sensor used in the detection method by the tactile sensor of the present invention.
In the detection method using the tactile sensor of the present invention, the tactile sensor using the strain gauge is used in order to collectively detect the stiffness, height, and catch by paying attention to the difference in touch. As shown in FIG. 1, a plastic strain gauge 22 is attached to a thin plate 21 (for example, 1 mm × width 10 mm, tip width 3 mm) 21 made of a thin strip-shaped flexible material such as urethane rubber, and the distance from the tip end is reduced. The ground is slid so that the portion 23 up to 4 (mm) touches the ground, and the plant is slid so as to be pressed down from above, and the apparent rigidity of the plant is the load applied by the pressing and the load. Is assumed to be proportional to the displacement caused by. FIG. 6A
The relationship between the height X and the output voltage V and the load P and the output voltage V is previously shown in FIG.
Record in (B) and (C), then difference in mounting height ΔX
The two sensors (sensor A, sensor B) marked with are moved on the same scanning line Y as shown in FIG. 7, and the measurement results are shown in FIG. 8A for the smoothing points of 31 points. After smoothing, the apparent stiffness D is calculated by the following calculation formula. Apparent Stiffness D = (Pa−Pb) / (Xβ−Xα) = (Pa−Pb) / Xo = (Pa−Pb) / (Xa + ΔX−Xb) FIG. 6 shows the above formula for calculating the apparent stiffness component. The apparent stiffness component D is calculated by indexing and substituting Pa and Pb from B) and (C). As a result, the position of the weeds can be detected along the traveling road position Y of the sensor as shown in FIG. 8 (C). The results of experiments conducted in the summer (September) and winter (January) are shown in FIGS. 9 (A) and 9 (B). From this figure, it can be seen that it can be distinguished in summer and winter. In addition, it was confirmed that weeds up to a diameter of 45 (mm) could be detected.

FIG. 10 shows an absorption spectrum of chloroplasts, FIG. 11 shows the structure of an optical sensor used in the detection method of the optical sensor of the present invention, and FIG. 12 shows the detection results. It is shown. The present invention, even if there is almost no color difference, when it is barely visually recognizable, such as when it is illuminated by the setting sun or when the amount of sunlight is less than when it is sunny due to cloudy It is thought that the difference between the two is related to the amount of chloroplasts, and a sensor for measuring the reflectance of light using a photodiode is used. The wavelength 660 (nm), which is said to be closely related to the absorption by chloroplasts, is based on the fact that the pigment (chlorophyll) in chloroplasts has a different amount of absorption depending on the wavelength of light.
And 850 (nm), which has relatively little absorption as a comparison wavelength
It was used. As an example, FIG. 10 shows an absorption spectrum of spinach chloroplast. Further, FIG. 11 shows the structure of the optical sensor used in the present invention. As shown in the figure, the light from the light emitting diode 31 having the peak wavelength at each wavelength is 45 (deg) to the lawn on the ground. Spot irradiation. The reflected light is condensed by the lens 33 through the interference filter 32 and received by the photodiode 34.
The measurement range φ of the sensor is a circular shape having a diameter of about 7 (mm), and the photodiode 44 outputs the average value of this range. Since the output current of the photodiode is very small,
High precision operational amplifier AD with extremely small input bias current
S15AJ (Analog Devices) is used and connected to the non-inverting input terminal of the operational amplifier as short as possible. In addition, in order to minimize the leakage current,
A ceramic case type was used instead of the metal case type, and the entire device including the photodiode mounting part was molded with acrylic. In addition, since the output from the DC amplifier has a frequency of about 100 (Hz), the DC amplifier is attached to the sensor so as to move together.
Next, the cutoff frequency (fc) is smoothed by a maximum flat low-pass filter having a frequency of 10 (Hz). Further, in order to block sunlight, the entire sensor is covered with a double box-shaped dark curtain. Autumn (November) in Figure 12 (A) and (B)
And the results of an experiment conducted in winter (January) are shown. It has been shown that the reflection intensity of weeds is about 40% less than that of turf throughout each season, and weeds with a diameter of about 15 (mm) can be identified.

Even when the above-mentioned tactile sensor or optical sensor is used, in the weed control apparatus, the detection means composed of the respective sensor elements and the pesticide application means are arranged on the position control mechanism composed of the XY table capable of vertical and horizontal fine movement position control. To detect the weed position on the scanning line, create a data map of the weed position with an arithmetic controller, etc., and then operate the position control mechanism with the map to switch the pesticide spraying device provided on the mechanism. It is possible to exterminate weeds by switching and driving by means, and by spraying chemicals with emphasis on the required weed position.

[0018]

[Effect] As described above, according to the present invention, a heterogeneous plant such as a grass (bentgrass) belonging to the grass family, such as a specific plant group that is growing almost uniformly, for example, a lawn that has grown in a golf course. In the case of Poa annua, which occurs in the field, it is identified by means of image processing in the visually recognizable period from spring to summer, and in the autumn to winter and winter, the reflected electrolytic intensity of the irradiated microwave is changed. It is possible to discriminate by means of detection by means of detection or by means of tactile sensor and means by means of light sensor utilizing absorption of light by chloroplasts, and weeds can be exterminated in any season, and especially weeds should be exterminated most. I need,
It is easy to exterminate from autumn to winter when weeds grow into large plants. Further, according to the invention of claim 2, since it is possible to detect the position of the weeds by the detection method and spray the drug with emphasis on the position of the weeds, it is possible to exterminate the weeds efficiently. . It has various remarkable effects.

[Brief description of drawings]

FIG. 1 shows a histogram of weeds and turf.

FIG. 2 shows an image processing algorithm of the present invention.

FIG. 3 shows an embodiment of the weed control device by the image processing of FIG.

FIG. 4 shows an embodiment of a detection device for detecting a reflected electric field of irradiation microwaves, which utilizes the effect of absorption of microwaves by the water content of the present invention.

FIG. 5 shows a schematic structure of a tactile sensor used in the detection method by the tactile sensor of the present invention.

FIG. 6 shows the tactile sensor shown in FIG.
And (B) and (C) show the relationship between the output voltage V, the load P, and the output voltage V.

FIG. 7 is an explanatory diagram of a formula for calculating an apparent stiffness component by the two sensors shown in FIG. 6 provided on the same scanning line but having different mounting heights.

8A is a diagram showing the measurement result of FIG. 7, FIG. 8B is a diagram in which the smoothing score of FIG.
(C) shows the apparent stiffness component for the sensor scanning position Y obtained from the apparent stiffness component calculation formula.

9 shows an experimental result obtained by the tactile sensor shown in FIG.

FIG. 10 shows an absorption spectrum of chloroplasts.

FIG. 11 shows a structure of an optical sensor used in the detection method by the optical sensor of the present invention.

FIG. 12 shows detection results using the optical sensor of FIG.

[Explanation of symbols]

 1 CCD Camera 2 Image Processing Device 3 Computer 8 Pesticide Spraying Device 12 Irradiation Microwave Transmitter / Receiver 14 Scattered Wave Receiver 16 Comparative Microwave Transmitter / Receiver 21 Urethane Thin Plate 22 Strain Gauge 31 Light Emitting Diode 32 Interference Filter 33 Lens 34 Photodiode

Claims (2)

[Claims] 1. A method for detecting a heterogeneous plant generated in a group of uniformly growing specific plants, which comprises detecting means for detecting a heterogeneous plant by image processing utilizing color difference and water content of the heterogeneous plant. Detection means of reflected electric field intensity of irradiated microwaves utilizing difference in absorption of radio waves, detection means by tactile sensor utilizing difference in stiffness or tactile sensation of different plants, difference in absorption of light by chloroplasts of different plants A method for detecting a heterogeneous plant, which comprises appropriately detecting one or a plurality of detecting means among the detecting means by a light detecting sensor utilizing the above according to the season. 2. A position control mechanism capable of controlling the position of the weed position detection means and the weed control means in at least a two-dimensional direction, and detecting the weed position by the detection means,
A weed eradication method comprising: creating a data map of a weed position from the detected data, and then performing the weed eradication means by controlling the position control mechanism by the data map at the time of the weed eradication.