Light concentration weeding system
Weeding apparatus includes a concentrator assembly having a two-dimensional array of discrete semiconductor light emitters ( 2 ), e.g. laser diodes or LEDs. A primary optical stage ( 3 ) includes collimating lenses ( 4 ) each corresponding to one of the semiconductor light emitters ( 2 ) to collimate their light and produce a compound collimated beam. A secondary optical stage ( 5 ) incorporates a lens system arranged to convert the collimated beam into a convergent beam to concentrate the emitted light at a focal position. The concentrator assembly ( 1 ) may be incorporated in a weeding unit with a mechanical drive arrangement to direct the focal position onto a selected plant. A number of such weeding units maybe incorporated in a weeding module along with a control system. The weeding modules can be carried by an autonomous rover.
1. A weeding apparatus comprising a concentrator assembly ( 1 ) having:
a two-dimensional array of discrete semiconductor light emitters ( 2 );
a primary optical stage ( 3 ) comprising a plurality of collimating lenses ( 4 ) each corresponding to one of said semiconductor light emitters ( 2 ) to collimate light therefrom whereby the primary optical stage is operable to produce a compound collimated beam ( 10 );
a secondary optical stage ( 5 ) which incorporates a lens system arranged to convert the compound collimated beam ( 10 ) into a convergent beam ( 11 ) to concentrate the emitted light at a focal position;
wherein the semiconductor light emitters ( 2 ) are light emitting diodes;
wherein the compound collimated beam ( 10 ) produced by the primary optical stage ( 3 ) passes directly to the secondary optical stage ( 5 ) without any intervening lens system;
the weeding apparatus being arranged such that the concentrator assembly ( 1 ) can be moved to direct the focal position onto a selected plant to be damaged by light which is thereby concentrated thereon.
2. The weeding apparatus according to claim 1 wherein each light emitting diode is configured to shape the light emitted by said light emitting diode into a cone of light with a defined angular divergence preceding the primary optical stage ( 3 ).
3. The weeding apparatus according to claim 1 wherein the concentrator assembly ( 1 ) is incorporated in a weeding unit ( 14 ) which includes a mechanical drive arrangement ( 15 ) configured to move the concentrator assembly in such a way that the convergent light beam ( 11 ) is directed towards a selected plant.
4. The weeding apparatus according to claim 3 wherein the mechanical drive arrangement ( 15 ) is configured to move the concentrator assembly in such a way that the focal position of the convergent light beam is adjusted to impinge on the selected plant.
5. The weeding apparatus according to claim 3 wherein the distance of the secondary optical stage ( 5 ) from the primary optical stage ( 3 ) is adjustable to change the focal position of the convergent light beam ( 11 ) whereby the focal position is moved to impinge on the selected plant.
6. The weeding apparatus according to claim 1 wherein the semiconductor light emitters ( 2 ) are operable at a low power setting for aiming the focal position of the light beam onto a plant and a high power setting for damaging the plant.
7. The weeding apparatus according to claim 6 wherein, in the high power setting, the semiconductor light emitters ( 2 ) are configured to emit light in a pulsed manner.
8. The weeding apparatus according to claim 1 which includes a weeding module ( 19 ) having:
a plurality of weeding units ( 14 ) each incorporating a concentrator assembly ( 1 ) and a mechanical drive arrangement ( 15 ) configured to move the concentrator assembly in such a way that the convergent light beam ( 11 ) is directed towards a selected plant;
a detector system ( 20 ) to determine the spatial position of a plant which is selected to be killed or damaged;
a control system ( 22 ) configured to control the mechanical drive arrangements ( 15 ) of the weeding units ( 14 ) to direct the convergent light beams ( 11 ) towards the selected plant.
9. The weeding apparatus according to claim 8 wherein the detector system ( 20 ) comprises an imaging system for capturing plant images.
10. The weeding apparatus according to claim 9 wherein the detector system ( 20 ) comprises stereo imaging devices and the control system ( 22 ) is configured to process the stereo images from the imaging devices to identify unwanted plants and determine their spatial positions for targeting by the weeding units ( 14 ).
11. The weeding apparatus according to claim 9 wherein the weeding module ( 19 ) includes an illumination system ( 21 ) for use with the imaging system.
12. The weeding apparatus according to claim 8 wherein the detector system ( 20 ) includes a lidar sensor.
13. The weeding apparatus according to claim 8 wherein the weeding units ( 14 ), the detector system ( 20 ) and the control system ( 22 ) are sealed within a box ( 23 ) having a light-transmitting window ( 24 ).
14. The weeding apparatus according to claim 8 wherein the control system ( 22 ) of the weeding module ( 19 ) is configured to execute the following steps in the sequence stated:
(i) store the spatial positions of wanted plants comprised in a crop;
(ii) use the detector system ( 20 ) to image a working area of ground;
(iii) process the image to select unwanted plants within the working area and determine their spatial positions;
(iv) target the concentrator assemblies ( 1 ) onto the selected plants within the working area and operate the concentrator assemblies to damage the unwanted plants using concentrated light;
(v) optionally record a second image of said working area of ground using the detector system ( 20 ).
15. The weeding apparatus according to claim 8 wherein a plurality of such weeding modules ( 19 ) are contained within an autonomous vehicle ( 27 ).
16. The weeding apparatus according to claim 1 wherein the concentrator assembly ( 1 ) is mounted within a hand-held device having a handle ( 49 ) and an operating trigger ( 50 ).
17. The weeding apparatus according to claim 1 wherein the safety distance d calculated using the formula
d=f √{square root over ( i 1 /i 2 )}
is less than 1.78 m, where:
i1 is the irradiance level of light reaching the secondary optical stage in W/m2
i2 is 1,000 W/m2
f is the focal length of the secondary optical stage.
18. A weeding apparatus comprising a concentrator assembly ( 1 ) having:
a two-dimensional array ( 39 ) of discrete semiconductor light emitters ( 2 );
a primary optical stage ( 39 ) comprising a plurality of collimating lenses ( 4 ) each corresponding to one of said semiconductor light emitters ( 2 ) to collimate light therefrom whereby the primary optical stage is operable to produce a compound collimated beam ( 10 );
a secondary optical stage ( 42 ) which incorporates a lens system arranged to convert the compound collimated beam ( 10 ) into a convergent beam ( 11 ) to concentrate the emitted light at a focal position;
wherein the concentrator assembly ( 1 ) is mounted within a hand-held device having a handle ( 49 ) and an operating trigger ( 50 ) such that the concentrator assembly ( 1 ) can be moved to direct the focal position onto a selected plant to be damaged by light which is thereby concentrated thereon;
wherein the two-dimensional array ( 39 ) of discrete semiconductor light emitters and the primary and secondary optical stages ( 39 and 42 ) surround a central cavity ( 40 ), a viewing filter ( 41 ) is mounted over the cavity to block light emitted by the light emitter array ( 39 ), and a plurality of semiconductor light-emitting aiming devices ( 44 ) which emit light in a different wavelength from that of the semiconductor emitter array ( 39 ) form aiming marks which converge at said focal position.