JP2013158288A - Pollination auxiliary device and program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a pollination auxiliary device with which, when hand pollination is performed, workers can easily distinguish the pollination state of plants, in a plant for cultivating plants, where the plants are cultivated in a closed space of facilities, so that the cultivation environment is controlled, and where, in some cases, natural pollination is difficult.SOLUTION: A pollination auxiliary device includes a display control part, which reads pollination history information from a storage part which stores the pollination history information of a detection target plant, and which displays in a display part the pollination history information corresponding to an image based on the detection target.

Description

  The present invention relates to a pollination assisting device and a program.

  A plant cultivation system in a plant cultivation plant (plant factory) is attracting attention as being capable of reducing the load caused by cultivation work and stabilizing the supply of plants (for example, see Patent Document 1 and Non-Patent Document 1). .

Japanese Utility Model Publication No. 5-17505

Hiroshige Nishina, “Progress of“ Regional Base Type Intelligent Solar Plant Factory ””, Science Council of Japan, Public Symposium “Intelligent Solar Plant Plant”, July 3, 2009.

For example, in a plant cultivation plant, plants are cultivated in a facility in a closed space where the cultivation environment can be controlled. In this case, since natural pollination is difficult, manual pollination may be performed. Also, in plant cultivation in an outdoor space, manual pollination may be performed to ensure pollination or to improve the variety.
However, when pollinating by hand in plant cultivation, the worker puts pollen on the pistil of each flower of the plant, for example, manually. In this case, it is difficult for the operator to later determine the pollination state of whether or not the pollination has been completed. Therefore, there is a problem that labor and time are lost or pollen is forgotten by pollinating once after pollination once.

  This invention is made | formed in view of such a situation, The objective is to provide the pollination auxiliary | assistance apparatus which can make an operator discriminate | determine the pollination state of a plant easily, and a program.

  In order to solve the above-described problem, the present invention reads the pollination history information of the detection target from a storage unit that stores the pollination history information of the plant that is the detection target, and the image based on the detection target is the pollination history information. It is a pollination assistance apparatus provided with the display control part displayed on a display part in response to.

  In addition, the present invention reads the pollination history information of the detection target from the storage unit that stores the pollination history information of the plant that is the detection target into the computer as the above-described pollination assisting device, and uses the pollination history information as the detection target. Is a program for causing a display control procedure to be displayed on the display unit in association with an image based on the above.

  According to this invention, the worker can easily determine the pollination state of the plant.

It is a figure which shows the outline | summary of the plant cultivation plant by one Embodiment of this invention. It is a figure which shows the mobile detection apparatus in this embodiment. It is a schematic block diagram which shows the structure of the plant cultivation system in this embodiment. It is a figure which shows control of the harvest time of the plant in this embodiment. It is a figure which shows the positional relationship of the flower used as a detection target and a fruit in this embodiment. It is a figure explaining detection of the actual maturity level used as a candidate for detection in this embodiment. It is a figure which shows the state of the leaf used as detection object in this embodiment. It is a figure which shows an example of the pollination auxiliary | assistance apparatus in this embodiment. It is a schematic block diagram which shows an example of a structure of the pollination auxiliary | assistance apparatus in this embodiment. It is a figure which shows the image of the plant imaged by the imaging part of the pollination assistance apparatus. It is a figure which shows the 1st display example of the display part in a pollination assistance apparatus. It is a figure which shows the 2nd example of a display of the display part in a pollination assistance apparatus. It is a figure which shows the 3rd example of a display of the display part in a pollination assistance apparatus. It is a figure which shows the 4th example of a display of the display part in a pollination assistance apparatus. It is a figure which shows an example of the pollination operation | work by an operator. It is a figure which shows the example by which pollination history information is updated by the operation input from an operation part. It is a figure explaining the example of a position detection in case the IC tag is attached. It is a figure which shows another Example of a pollination auxiliary | assistance apparatus.

Hereinafter, an embodiment of the present invention will be described with reference to the drawings.
FIG. 1 is a diagram showing an outline of a plant cultivation plant 4 according to an embodiment of the present invention. FIG. 1A shows a cross-sectional view thereof, and FIG. 1B shows a plan view thereof.
The plant cultivation plant 4 includes a plant cultivation system 1 (FIG. 3) and is a facility for cultivating plants.
As shown in FIG. 1, the plant cultivation plant 4 irradiates a plant floor 8 for plant cultivation, a plant enclosure 8 that surrounds the plant floor 6 to separate the outside air space 7, and a plant 9 that is vegetated on the plant floor 6. Is provided. The plant cultivation plant atmosphere adjusting device 2 adjusts the atmosphere of the inner space 13 of the plant enclosure 8. The growth floor 6 is a soil floor in the illustrated example, but may be a hydroponics floor for hydroponics provided with a liquid fertilizer circulation device (not shown).

  The plant enclosure 8 is for maintaining the atmosphere suitable for the plant cultivated by separating the periphery of the growth floor 6 from the outside air space 7. The lamp 10 is installed inside the plant enclosure 8 in the illustrated example.

  Furthermore, the plant cultivation plant 4 includes an air conditioner 12 for supplying air adjusted to a predetermined condition inside the plant enclosure 8. Normally, the air conditioner 12 takes air from the inner space 13 through the suction port 16, adjusts it, and returns it from the discharge port 18 to the inner space 13.

  In the plant cultivation plant atmosphere adjusting device 2, the lamp 10 is surrounded by a lamp enclosure 20. At least a part of the wall of the lamp enclosure 20 is transparent. Connected to the lamp enclosure 20 is one conduit 22 that selectively connects the inside of the lamp enclosure 20 to the inner space 13 and the outside air space 7. The lamp enclosure 20 is connected to another duct 24 that selectively connects the inside of the lamp enclosure 20 to the inner space 13 and the outside air space 7. That is, one pipe line 22 branches off at the base of the bifurcated pipe 26, and one of the bifurcated pipes 26 communicates with the inner space 13 and the other communicates with the outside air space 7. The other duct 24 branches off at the base of the bifurcated pipe 28, and one of the bifurcated pipes 28 communicates with the inner space 13 and the other communicates with the outside air space 7. Two-way switching valve portions 30 and 32 are provided at the roots of the bifurcated tubes 26 and 28, respectively.

  When the temperature of the outside air space 7 is higher than the set temperature of the inner space 13, both the one pipe line 22 and the other pipe line 24 are set by the two-way switching valve portions 30 and 32 so as to communicate with the outside air space 7. When the temperature of the outside air space 7 is lower than the set temperature of the inner space 13, both the one pipe line 22 and the other pipe line 24 are set by the two-way switching valve portions 30 and 32 so as to communicate with the inner space 13.

  With this selective setting, when the temperature of the outside air space 7 is higher than the set temperature of the inner space 13, air is taken in from the outside air space 7, and the air passes through the one pipe line 22, the lamp enclosure 20, and the other pipe line 24. The lamp 10 is cooled by this air because it proceeds in the direction of the arrow A through this order and is discharged again into the outside air space 7. Further, the air heated by the heat of the lamp 10 does not flow into the inner space 13. Therefore, an increase in the cooling load of the air conditioner 12 due to the heat of the lamp 10 is prevented, and the air conditioning load is reduced.

Further, by selective setting, when the temperature of the outside air space 7 is lower than the set temperature of the inner space 13, air is taken in from the inner space 13, and the air is one conduit 22, the lamp enclosure 20, and the other conduit 24. Since the lamp 10 is cooled by this air and the air warmed by the heat of the lamp 10 returns to the inner space 13. . Therefore, the heating load of the air conditioner 12 can be reduced by the heat of the lamp 10.
Note that one duct 22 is provided with a blowing means 36 such as a fan for blowing air in the direction of arrow A or arrow B.
Moreover, as shown in FIG.1 (b), the inner space 13 of the plant enclosure 8 is divided | segmented by the partition 38, and is divided into inner space 13-1 and 13-2. Each of the inner spaces 13-1 and 13-2 can be set to different environmental conditions. In addition, a part of the partition wall 38 is provided with an openable / closable passage capable of moving back and forth between the inner spaces 13-1 and 13-2.
In the passage between the growing floors 6 where the plants 9 are cultivated, the mobile detection device 40 is self-propelled to detect the state of the plants 9.

[Management of plant growth status]
First, in the plant cultivation plant 4, the case where the state of the plant is detected while the mobile detection device 40 moves is illustrated.

With reference to FIG. 2, the mobile detection apparatus 40 which detects the state of the plant in the plant cultivation plant 4 is shown.
FIG. 2 is a diagram showing the mobile detection device 40 in the present embodiment.
The mobile detection device 40 uses the mobile vehicle body 41 as a carriage. The mobile vehicle body 41 includes wheels 41W serving as moving means, and moves by power supplied from a drive unit (not shown).
On the upper surface of the movable vehicle body 41, a bracket 42B is provided that is supported rotatably about a vertical axis. The bracket 42B is provided with an arm portion 42, and the bracket 42B supports the arm portion 42 so as to roll freely in the front-rear direction. As shown in FIG. 2, the mobile detection device 40 includes a plurality of arm portions 42 (42-1, 42-2, 42-3, and 42-4) that are connected in series, and the arm portion 42. An imaging unit 300 is provided at the tip opposite to the movable vehicle body 41.

The mobile detection device 40 includes a power supply unit (not shown) that allows the arm unit 42, the imaging unit 300, and the control unit (not shown) of the mobile detection device 40 to function and to be able to run on its own.
The control unit of the mobile detection device 40 controls the movement of the mobile vehicle main body 41, drives the arm unit 42 as required, drives to determine the position and direction of the imaging unit 300, and causes the imaging unit 300 to function. Control, communication control for communicating detection processing, processing results, and the like based on captured image information are performed.
The mobile detection device 40 detects the state of the plant 9 (FIG. 1) cultivated in the plant cultivation plant 4 (FIG. 1) while moving.
The mobile detection device 40 may be a pedestal provided in place of the mobile vehicle body 41.

Next, with reference to FIG. 3, the outline | summary of the plant cultivation system which controls cultivation of a plant, ie, agricultural crops, is demonstrated.
FIG. 3 is a schematic block diagram illustrating an example of the configuration of the plant cultivation system 1 in the present embodiment.
The plant cultivation system 1 controls the harvesting time by controlling environmental conditions such as the growing environment in the process from harvesting and shipping the plant to be cultivated, thereby increasing the yield at the scheduled harvesting time. it can.
In order to increase the harvest amount at the scheduled harvest time, there are direct control for managing plant growth and indirect control in each process from germination to harvest.
Direct control includes processing the plant itself by thinning, pruning, or the like.
The indirect control includes setting various environmental conditions.
The plant cultivation system 1 controls the plant and the environment in which the plant is cultivated as an object to be controlled, and optimizes the growing state of the plant, the harvesting time, and the like so as to increase the harvest amount at the scheduled harvesting time.

In the plant cultivation system 1 shown in this embodiment, control of each cultivation process is facilitated by modeling the plant cultivation environment as a control target.
In that control, the plant itself cannot be completely controlled by a direct method, and even in an indoor environment, it is difficult to ensure the uniformity of the environment so that there is no variation, It becomes a factor which makes control difficult. In addition, the degree of growth depends on individual differences between plants, and even within the same individual, the actual harvest time varies, which makes it difficult to control.
In this embodiment, the control target is modeled, the factors that make the control difficult are regarded as disturbances, and the model is optimized according to the growth situation, thereby making it easy to control the amount of harvest at the scheduled harvest time. To.
A configuration example of such a plant cultivation system will be described.

  The plant cultivation system 1 illustrated in FIG. 3 includes, for example, a control target unit 100, a determination unit 200, an imaging unit 300, an imaging position moving unit 400, a plant control unit 500, and a pollination assisting device 70.

The control target unit 100 includes a plant 9 to be managed and an environment driving unit 120 that controls the growing environment of the plant 9.
The plant 9 can determine the growth status based on the state of leaves, stems, flowers / fruits, and roots after germination. The growth status can be determined in relation to the elapsed time from the reference time (eg, germination).
For example, in the determination based on the leaf state, the number of leaves, the size of the leaf, the projected area of the overgrown leaf, the wilting condition (angle, aspect ratio), and the like can be given. In the judgment based on the state of the stem, the height, the condition of the branch, the thickness, and the like can be given. In the determination based on the state of the flower / fruit, the number, density, arrangement, flowering state, fruit maturity, and the like can be given. In the determination based on the state of the root, the length, the extent of spread, etc. are raised.

The environment driving unit 120 controls the growing environment where the plant is cultivated according to the amount of environment control supplied from the plant control unit 500. Here, the growing environment is, for example, an environment based on conditions relating to light supplied to the plant 9, conditions relating to air, conditions relating to water, conditions relating to fertilizer, and the like. Conditions relating to light include conditions such as the amount of light supplied to the plant 9 or wavelength, and conditions relating to air include conditions such as the ambient temperature, humidity, air volume, and carbon dioxide concentration of the plant 9. There is. Moreover, as conditions regarding water, there are conditions such as the amount of water supplied to the plant 9 or water temperature, and as conditions regarding fertilizer, there are conditions such as the concentration of nutrients contained in the water supplied to the plant 9. .
The environment driving unit 120 includes a light control unit 121, an air conditioning facility 122, a carbon dioxide processing unit 123, and a water adjustment facility 124.

The light control unit 121 includes a light emitting unit or a light shielding unit, and controls the light amount or wavelength of light given to the plant 9. The general plant 9 is subjected to photosynthesis by the amount of light depending on appropriate light intensity and irradiation time, and growth is promoted. Moreover, the irradiation direction of light is controlled using the circadian nature of the plant 9, and the growth direction of the plant 9 is controlled. Moreover, unlike natural light such as the sun, the light control unit 121 promotes specific growth by limiting and giving a specific wavelength.
For example, light emitting units that can limit the emission wavelength include light emitting diodes and high pressure neon lamps. When the wavelength is limited by the light shielding portion, a wavelength selective filter is used.

The air conditioner 122 controls the ambient temperature, humidity, and air volume where the plant 9 is placed.
Growth can be promoted without damaging the growth of the plant 9 by providing a sufficient volume of air while controlling the air to an appropriate ambient temperature, humidity, and air volume.
The carbon dioxide processing unit 123 controls the carbon dioxide concentration in the air managed by the air conditioning equipment 122. Photosynthesis can be promoted by maintaining an appropriate amount of carbon dioxide. The carbon dioxide processing unit 123 does not simply generate carbon dioxide, but may reuse carbon dioxide generated by other equipment.

The water conditioning facility 124 controls at least one of the amount of water supplied to the plant 9, the water temperature, and the nutrient concentration. Especially in the case of hydroponics, water temperature and nutrient concentration are important management items.
Thus, in the plant cultivation system 1, by providing the environment driving unit 120, while shielding the change of the outdoor environment, and using the form of building the cultivation environment under the artificial environment and the change of the outdoor environment, The present invention can be applied to any management support type cultivation environment in which an appropriate environment is supplementarily constructed. Which form is adopted is appropriately selected according to conditions such as the type of plant to be cultivated, the cultivation period, the growth process, and the environment in which the facility is placed.
For example, it is known that there is a plant whose growth is promoted by continuous irradiation using artificial light for a predetermined period from germination. In addition, by selecting the wavelength to be irradiated, it is possible to control the growth amount and promote the target growth.
In addition, the environment driving unit 120 controls each of the growing environments of the inner spaces 13-1 and 13-2 according to the environmental control amount corresponding to each inner space supplied from the plant control unit 500. Can do. That is, the environment driving unit 120 can control each of the inner spaces 13-1 and 13-2 to have different growth environments.

The determination unit 200 determines the growth status of the plant 9 based on the image information captured by the imaging unit 300 and the growth model of the plant 9.
The determination unit 200 includes a detection unit 210, a growth model unit 220, a situation storage unit 230 (storage unit), and a growth situation determination unit 240.
The detection unit 210 detects the growth status of the plant 9 from the imaged image information of the plant 9, and stores the image information and the growth status in the status storage unit 230.
The detection unit 210 detects and detects the position of the feature point of the plant 9 or the position of the plant 9 included in the image information from the image information of the captured plant 9 and the position information of the image. The positional information and the captured time information are stored in association with the image information stored in the status storage unit 230.
The training model unit 220 includes a plurality of training models. The plurality of breeding models set in the breeding model unit 220 are, for example, a breeding situation model 221 (first breeding model) based on an elapsed time that associates an elapsed time from a reference time (such as germination) with the breeding situation of the plant 9. An object to be detected using an actual arrangement model 222 (second breeding model) with respect to the position of the flower and a pattern based on the size, shape or color, in which the actual position when the flower has grown is estimated Are extracted, and a harvest time determination model 223 (third breeding model) for determining the harvest time is included.

The situation storage unit 230 stores the image information of the plant 9, the growth situation, the position information of the feature point of the plant 9 or the position information of the plant 9 included in the image information, and the captured time information in association with each other.
The growth status determination unit 240 determines the growth status based on the growth model of the plant 9 using at least one of the stored image information and the growth status.
The breeding situation determination unit 240 includes a breeding situation model 221 (first breeding model) based on elapsed time, an actual arrangement model 222 (second breeding model) with respect to the position of the flower, and a harvest time judgment included in the breeding model unit 220. The growth status of the plant 9 is determined based on at least one of the models 223 (third growth model).

The imaging unit 300 images the plant 9 (and the situation around the plant 9), and generates image information.
The imaging unit 300 includes an imaging device on which a CCD (Charge Coupled Device) or a CMOS (Complementary Metal Oxide Semiconductor) sensor is mounted, and a light emitting device for auxiliary light for imaging.
The imaging unit 300 is mounted on the distal end portion of the arm unit 42 included in the movable detection device 40 (FIG. 2) included in the imaging position moving unit 400. The imaging position is changed according to the movement of the tip of the arm part 42, and the relative position with respect to the plant 9 as the subject changes. In addition, the imaging unit 300 is mounted on a swivel provided at the tip of the arm unit 42, and can be swung in an arbitrary direction by controlling the swivel. By combining these controls, the imaging unit 300 can image the plant 9 from an arbitrary position and an arbitrary direction.

The imaging position moving unit 400 moves the position captured by the imaging unit 300 to the instructed position so that the plant 9 can be imaged from the instructed direction.
The imaging position moving unit 400 includes a movable detection device 40 (FIG. 2) that moves the imaging position. The movable detection device 40 (FIG. 2) includes an (articulated) arm unit 42 (robot arm). Provided.
An optical system that guides light from the subject to the imaging unit 300 is provided at the tip of the arm unit 42, and the imaging position moving unit 400 rotates the optical axis of the optical system in a designated direction.

  The pollination assisting device 70 requests the plant control unit 500 to provide information related to pollination of the plant 9. And the pollination auxiliary | assistance apparatus 70 notifies an operator the information regarding the pollination of the plant 9 based on the information regarding the pollination of the plant 9 acquired from the plant control part 500 according to the request | requirement. For example, the pollination assisting device 70 is carried by an operator who moves in the plant cultivation plant 4 and notifies the worker of information related to pollination of the plant 9 in the plant cultivation plant 4.

The plant control unit 500 determines the growing environment of the plant 9 according to the result of determining the growing state based on the growing model of the plant 9 based on the image information of the plant 9 captured from the position moved by the imaging position moving unit 400. Control.
The plant control unit 500 includes a growth model generation unit 510, an environment control unit 520, a position control unit 530 (imaging position control unit), a production plan design unit 540, a harvest plan design unit 550, a pruning plan design unit 570, and a pollination plan design unit. 580 and a communication processing unit 590.
The training model generation unit 510 generates a training model based on the image information, and updates the training model held in the training model unit 220.
The growth model generation unit 510 is a first model generation unit that determines the first growth model according to the growth status generated from the image information, and a second model that detects the position of the flower at the time of flowering from the image information and generates a second growth model. The model generation unit includes a third model generation unit that generates a third breeding model for determining the harvest time from the image information.

The environment control unit 520 generates an environment control amount that controls the growing environment according to the determined growing situation. For example, the environment control unit 520 controls the light amount or wavelength of light given to the plant 9 by the light control unit 121 when the light given to the plant 9 is controlled according to the determined growing situation. The environment control unit 520 controls the carbon dioxide concentration at which the plant 9 is placed by the carbon dioxide processing unit 123 when the carbon dioxide concentration to be given to the plant 9 is controlled according to the determined growing situation. When the environment control unit 520 controls the air supplied to the plant 9 according to the determined growth status, the air conditioning facility 122 supplies at least one of the ambient temperature, humidity, and air volume supplied to the plant 9. To control. When the environment control unit 520 controls the water to be supplied to the plant 9 according to the determined growth situation, the water adjustment facility 124 supplies at least water amount, water temperature, ambient temperature, and nutrient concentration supplied to the plant 9. Control one of them. Further, the environment control unit 520 generates an environment control amount for each of the inner spaces 13-1 and 13-2.
The position control unit 530 controls the imaging position moving unit 400 to instruct the position and direction in which the plant 9 is imaged. The position control unit 530 controls the imaging position moving unit 400 in order to change the position and imaging direction of the imaging unit 300 and capture image information according to the purpose.

The production plan design unit 540 designs a production plan based on the captured image information.
The harvest plan design unit 550 designs a harvest plan based on the third breeding model.
The arrangement plan design unit 560 designs an arrangement plan for the plants 9 cultivated in the plant cultivation plant 4 based on the first breeding model.
The pruning plan design unit 570 designs a pruning plan for pruning the plant 9 based on the first breeding model. Moreover, the pruning plan design part 570 designs the pruning plan which prunes the flower (fruit) of the plant 9 according to a 2nd growth model.
The pollination plan design unit 580 designs a pollination plan that causes the plant 9 to pollinate based on the first breeding model.

The communication processing unit 590 performs communication processing with the pollination assisting device 70. For example, the communication processing unit 590 receives information regarding pollination of the plant 9 requested from the pollination assisting device 70 to the plant control unit 500 and transmits information according to the request to the pollination assisting device 70. In addition, the communication processing unit 590 receives update information on information related to pollination of the plant 9 from the pollination assisting device 70. And when the above-mentioned update information is received by the communication processing part 590, the plant control part 500 is equipped with each part of the plant control part 500 or the growth model part 220 of the determination part 200 based on the said update information. The contents stored in the breeding model or the situation storage unit 230 are updated as necessary.
Note that the communication processing unit 590 transmits and receives communication signals by wireless communication with the pollination assisting device 70.

(Control of plant harvest time)
Next, with reference to FIG. 4, control of the harvest time of the plant in this embodiment is demonstrated.
FIG. 4 is a diagram illustrating the control of the plant harvest time in the present embodiment.
In the graph shown in FIG. 4, the horizontal axis indicates the number of days (hours) elapsed from germination, the vertical axis indicates the degree of plant growth, and has a so-called growth curve shape. As shown in this graph, the degree of growth can be defined as a function according to the number of days elapsed, and the growth model generated based on past data for the tendency under specific environmental conditions is managed as the growth status of the plant 9. The standard.

The graph S4a is a breeding model showing a growth curve that is used as a reference for the management of the cultivation status of the plant 9. The harvest time can be set based on this graph S4a.
The graph S4b shows a process of growing later than the growth model shown in the graph S4a without managing the plant growth status. When growing as shown in the graph S4b, the harvesting time is delayed from the plan. Therefore, in the plant cultivation system 1, the delay of the breeding situation detected in the process of breeding is controlled so as to promote the breeding situation by controlling the surrounding environment.
When promoting the growing situation, the processing content is selected according to the type of the plant 9 to be controlled and the time when the countermeasure is to be implemented. For example, as a breakdown of the measures, there are methods such as increasing the amount of light irradiation, increasing the ambient temperature and water temperature, and increasing the required nutrient amount.

  On the other hand, also in the case of delaying the breeding status, the processing content is selected according to the type of the plant 9 to be controlled and the timing of implementing the countermeasure. For example, as a breakdown of the measures, there are methods such as reducing the amount of light irradiation, reducing the ambient temperature and water temperature, and reducing the amount of necessary nutrients.

In addition, the detection of the breeding status by the detection unit 210 can be performed by detecting the status of each individual and making a comprehensive determination based on the detected results. In the comprehensive determination, various statistical processing techniques such as averaging the detected detection results and detecting variations can be applied.
For example, it is possible to divide the whole into a plurality of sections and collectively determine the results detected from the plants 9 included in the sections. By dividing the partition in this way, it is possible to detect variations due to the arranged positions.

It is also possible to set different environments by arranging different types of plants for each section.
The detection of the growth status of the plant 9 may be detected based on one determination criterion or based on a plurality of variables detected based on a plurality of determination criteria.

(Determination of plant growth status)
Next, with reference to FIGS. 5 to 7, the determination of the plant growth status in the present embodiment will be described.
In the determination of the growth status of the plant 9 performed by the determination unit 200, a plurality of determination items can be selected according to the detection target. For example, in the determination of the growth status of the plant 9 performed by the determination unit 200, a leaf, a stem, a flower / fruit, or a root can be selected as a detection target, and a plurality of determinations are performed according to the selected detection target. Items can be selected.
The detection unit 210 detects the state of the selected detection target in accordance with the determination items shown below. The breeding situation determination unit 240 judges the breeding situation based on the breeding model of the plant 9 using at least one of the stored image information and the breeding situation for the detected state of the detection target. Moreover, the training status determination unit 240 selects a training model to be used as a criterion for determination from a plurality of training models provided in the training model unit 220 according to the determination item.

In the determination based on the leaf state in the determination unit 200, the number of leaves, the size of the leaf, the projected area of the overgrown leaf, the wilting condition (angle, aspect ratio of one leaf), and the like are listed as determination items. .
The number of leaves is detected by counting the number of leaves existing within a predetermined range, or the number of leaves attached to the stem (specified branch).
The size of one leaf is the size of the specified leaf, the average size of the leaves existing within a predetermined range, or the size of the leaf attached to the stem (specified branch). It is detected by calculating the average. The size of the leaves can be the length in the longitudinal direction (vertical), the length in the direction orthogonal to the longitudinal direction (horizontal), and the area.
The projected area of the overgrown leaves is detected as the area projected from the side surface of the plant 9 onto the vertical plane.
Also, stress such as lack of moisture can be easily detected depending on how much the leaves are wilted. In the wilted state, the leaf tip faces down, and the wilting state of the leaf is detected from the angle formed by the horizontal plane and the leaf surface. Alternatively, the wilting degree of the leaf may be calculated from the aspect ratio of one leaf. By wilting, there is no leaf tension, and the apparent width becomes narrower. Therefore, the aspect ratio of a single leaf changes depending on the condition of wilting.

In the determination by the state of the stem in the determination unit 200, stem height, branch tension, stem thickness, and the like are listed as determination items.
The height of the stem is detected from the height of the tip of the stem (or the leaf at the tip). For example, the height of the stem can be detected from the height of the imaging unit 300 by matching the height of the imaging unit 300 with the height of the stem.
The degree of branch tension is detected from the number of branches branched or the length of the branches.
The stem thickness is detected from the stem thickness at the reference height.

In the determination based on the state of the flower / fruit in the determination unit 200, the number, density, arrangement, flowering state of the flower, maturity of the fruit, and the like are listed as determination items.
FIG. 5 is a diagram illustrating a positional relationship between a flower to be detected and a fruit.
FIGS. 5 (a) and 5 (c) show the flowering state, and FIGS. 5 (b) and 5 (d) show the fruiting state.
Since the actual position depends on the position of the flower, the actual number and position can be specified by specifying the number and position of the flowers. The positions of the flowers f1 and f2 shown in the flowering period change as the positions of the fruits F1 and F2 in the mature period.
The number of flowers (fruits) is detected by counting the quantity existing within a predetermined range or the number of flowers (fruits) attached to the stem (specified branch).
The density of the flower (fruit) is calculated by dividing the quantity of the detected flower (fruit) by the unit capacity. Alternatively, the density of flowers (fruits) is simply detected by counting the number of flowers (fruits) present in a predetermined range of the captured image.
The arrangement of flowers (fruits) is detected as a three-dimensional coordinate position by using a three-dimensional measurement technique. Moreover, the actual position of the fruiting period can be estimated from the detected position of the flower. The actual estimated position can be calculated based on the three-dimensional coordinate position of the flower by assuming the actual size and weight and using the strength and length of the branch from which the fruit hangs as calculation conditions.
From this calculated estimated position, it is possible to estimate interference with an adjacent actual object. That is, it can be estimated that interference occurs when the relative distance is closer than the actual size.
The flowering state of the flower is detected as a state of whether or not it is flowering (or the degree of flower opening) based on the shape of the flower, the size of the flower, or the color of the flower. Note that the flowering state of the flower may be the ratio of the flower that bloomed in one individual plant 9 (for example, the ratio of the flower that bloomed with respect to the number of buds). In addition, the flowering state of the flower may be the ratio of the flower that blooms in the plant 9 of the plant cultivation plant 4.

By the way, the actual maturity level may be detected based on the actual color change.
FIG. 6 is a diagram for explaining detection of the actual maturity level to be detected.
As shown in FIG. 6A, the present invention can be applied when the color of the ripe fruit F3 is different from the color of the fruit F4 that is not fully ripe. The actual maturity can be detected by detecting a change in color of the actual fruit F4 that is not fully ripe to the color C2 of the fruit F3 that is ripe.
As shown in FIG. 6B, the actual maturity can be detected by detecting a discolored range (Z2) of a part of the actual color C2 (for example, the lower side).
The actual maturity level may change higher as the maturity level increases. Actually, a predetermined amount of light (measurement auxiliary light) is irradiated to detect the amount of transmitted light. For example, the imaging unit 300 detects the transmitted light by irradiating measurement auxiliary light from a position close to the actual lower part (or side surface). At that time, the positional relationship is adjusted so that direct light from the auxiliary light source does not enter the angle of view of the imaging unit 300.

  In the determination based on the state of the root in the determination unit 200, the length, the extent of spread, and the like are listed as determination items. If it is hydroponics, the length of a root may be detectable. The length of the root is detected as the length from the position of the strain. The extent of root spread is detected by the area of the root spread from the position of the strain. Both the length and extent of roots are difficult to detect directly because they are underwater. However, for example, the length and spread of the root can be indirectly detected by the shadow of the root caused by irradiating the auxiliary light.

In addition to the direct detection method for detecting the plant 9, the detection unit 210 shown above indirectly detects information that cannot be directly detected by creating a three-dimensional model based on the directly detected result. May be.
FIG. 7 is a diagram illustrating a state of a leaf to be detected.
FIG. 7A shows a bird's-eye view of four stems with leaves.
The image information captured from the side surface of the plant 9 can acquire the image information as shown in this figure, but it is difficult to detect a planar state. Therefore, four leaves are extracted as three-dimensional information.
FIG. 7B shows the result of projecting on the horizontal plane based on the result of using the four leaves shown in FIG. 7A as the three-dimensional information. By adopting such an order conversion method, it is possible to create a planar projection view of leaves included in an arbitrary height range even when it is difficult to image from the upper part of the plant 9. A broken-line circle indicates a circle passing near the tip of the leaf.

FIG. 7C shows a state where the four leaves shown in FIG. The state where the tip of each leaf hangs down toward the ground is shown. The four leaves in this state are extracted as three-dimensional information.
FIG. 7 (d) shows the result of projection on the horizontal plane based on the result of using the four leaves shown in FIG. 7 (c) as three-dimensional information in the same manner as FIG. 7 (b). Since the four leaves are in a wilted state, the circle passing near the tip of the leaf is smaller than the circle passing near the tip of the leaf shown in FIG.
By detecting the diameter of the circle passing through the vicinity of the tip of the leaf indicated by the projected leaf image, it is possible to detect the degree of leaf growth, the condition of wilting, and the like.
Moreover, it can be applied to detecting the state of a plant flower such as “chrysanthemum” where a flower blooms at the tip of the stem.

(Generation of training model)
Next, a growth model generated by the growth model generation unit 510 in the plant control unit 500 will be described.
In the above-mentioned “(Plant Growing Status Judgment)”, the detection of the plant 9 growing status by the detection condition suitable for the purpose according to the judgment item is shown. Here, generation of a breeding model used as a reference (determination item) for determining the detected breeding status will be described.
First, in order to determine the growth status of the plant 9 according to the elapsed time from the reference time (eg, germination), the process of associating the elapsed time from the reference time (eg, germination) with the growth status of the plant 9 A training situation model by time (first training model) is required.
Various items can be selected for the first breeding model. For example, in the determination based on the leaf state, the number of leaves, the size of the leaf, the projected area of the overgrown leaf, the wilting condition (angle, aspect ratio), and the like can be given. In the judgment based on the state of the stem, the height, the condition of the branch, the thickness, and the like can be given. In the determination based on the state of the flower / fruit, the number, density, arrangement, flowering state, fruit maturity, and the like can be given. In the determination based on the state of the root, the length, the extent of spread, etc. are raised.
In the selected item, for example, modeling can be performed by using a numerical value based on a growth curve corresponding to an elapsed time from a reference time (such as germination) as a reference value.
This first breeding model can be used not only as a reference for growth of an individual but also when determining interference with an adjacent individual.

In addition, an actual arrangement model (second breeding model) with respect to the position of the flower, which estimates the actual position when the flower has grown, is required.
In the second breeding model, the number, density, arrangement, and the like are given as determination items in the determination based on the state of the flower / fruit in the three-dimensional model based on the three-dimensional coordinate position of the flower / fruit.
In the selected item, modeling can be performed by using the position and the actual size of the actual arrangement with respect to the position of the flower as reference values.
This second breeding model can be used not only as a reference for individual actual growth, but also when determining adjacent real interference based on the size and isolation distance of each adjacent real.

  In addition, a harvest time determination model (third breeding model) is required that uses the pattern based on size, shape, or color to extract the characteristics of the target to be detected and determine the harvest time.

That is, the breeding model generation unit 510 generates a reference value by modeling a numerical value corresponding to the item selected as the determination item, and sets it as the initial value of the growth model unit 220.
The growth model generation unit 510 generates and updates the generation of the growth model based on the image information. If there is a large discrepancy between the generated breeding model and the actual state, an unreasonable amount of control may be given. In that case, the growth model generation unit 510 corrects the growth model by making a determination based on a predetermined threshold, and updates the value held in the growth model unit. The update of the breeding model may be changed by a growth process determined in stages.

  In the determination unit 200, a value detected by determining (calculating) the growth status determination unit 240 based on the value detected by the detection unit 210 and the value of each growth model held in the growth model unit 220. And the difference with the value of each breeding model held in breeding model part 220 is calculated, and the breeding situation is judged.

  The breeding model generation unit 510 may calculate the value of the breeding model by statistically processing the detected value detected in the past, the value of the model set in the past, and the like.

(Control of the surrounding environment)
The environment control unit 520 generates an environment control amount that controls the growing environment according to the determined growing situation. For example, the environment control unit 520 controls the light amount or wavelength of light given to the plant 9 by the light control unit 121 when the light given to the plant 9 is controlled according to the determined growing situation. The environment control unit 520 controls the carbon dioxide concentration at which the plant 9 is placed by the carbon dioxide processing unit 123 when the carbon dioxide concentration to be given to the plant 9 is controlled according to the determined growing situation. When the environment control unit 520 controls the air to be given to the plant 9 according to the determined growth status, the air conditioning facility 122 uses at least one of the temperature, humidity, and air volume of the air supplied to the plant 9. Control one. When the environmental control unit 520 controls the water to be supplied to the plant 9 according to the determined breeding situation, the water adjustment facility 124 supplies at least one of the amount of water supplied to the plant 9, the water temperature, and the nutrient concentration. Control.
For example, in order to promote the growing situation, the environment control unit 520 controls the light control unit 121 to increase the illuminance of light given to the plant 9, extend the irradiation time, and increase the light amount. Moreover, the raising condition can be promoted by increasing the ambient temperature of the plant 9 by the air conditioner 122. The control of such conditions varies depending on the type of plant, the growing process, etc., and the control content suitable for each is determined.
Control of the surrounding environment is repeatedly performed at a relatively short period by the environment control unit 520 at the time of cultivation so that the damage to the plant 9 can be reduced and the cultivation can be performed in an appropriate environment by detecting the abnormal value early. To do.

(Control of imaging position)
The position control unit 530 controls the imaging position moving unit 400 to instruct the position and direction in which the plant 9 is imaged. The position control unit 530 controls the imaging position moving unit 400 in order to change the position and imaging direction of the imaging unit 300 and capture image information according to the purpose.
Since the imaging position moving unit 400 includes the movable detection device 40 including the multi-indirect type arm unit 42, the position of the imaging unit 300 can be set flexibly.
Even if the fruit of the plant 9 becomes a shadow of a leaf or other fruit, the imaging unit 300 can be easily moved to a position that is not affected by them. Thereby, even if the fruit of the plant 9 to be photographed is hidden in the shadow of the leaves or other fruits, the fruit of the plant 9 to be photographed can be reliably imaged by the imaging unit 300 without being hindered by them. it can.
In addition, although the imaging part 300 shall be arrange | positioned at the front-end | tip part of the arm part 42, you may be provided in the arm near the front-end | tip of the arm part 42, or the pan head provided in the arm. Moreover, although it was set as the front-end | tip of the arm part 42, you may incorporate in the arm part 42. FIG.

(Design of production plan)
The production plan design unit 540 designs a production plan based on the captured image information. By designing a production plan based on the image information, it is possible to efficiently cultivate the plant 9 by effectively using the facilities of the plant cultivation system 1 as well as determining whether or not to harvest. This production plan can also be used to adjust the shipment amount at the target time.

(Design of harvest plan)
The harvest plan design unit 550 designs a harvest plan based on the third breeding model.
By designing based on the third breeding model, it is possible to increase the accuracy of determination as to whether or not harvesting is possible. By performing this determination, for example, the actual harvest time can be optimized, and the quality can be made uniform.
The image information for designing the harvest plan can also be acquired when approaching each plant 9 to perform another process. Alternatively, if the harvesting order is formulated by a harvesting plan designed in the past, the detection frequency can be controlled according to the harvesting order. That is, it is possible to increase the detection frequency for the fruits whose harvest time is determined to be delayed by the harvest plan and to increase the detection frequency for the fruits whose harvest time is near, so that the detection efficiency can be increased.
It can also be used as a determination condition for raising or postponing the harvest time. Thereby, the quantity according to the required shipment quantity can be harvested.

(Design of placement plan)
The arrangement plan design unit 560 designs an arrangement plan for the plants 9 cultivated in the plant cultivation plant 4 based on the first breeding model. By designing based on the first breeding model, the size of the individual plant 9 after growth can be calculated.
By formulating this arrangement plan, it is possible to efficiently arrange plants while preventing interference with adjacent plants or facilities in the growth process. This arrangement plan is a criterion for determining an appropriate arrangement or the like when so-called thinning is performed or when different types of plants do not match each other.

(Design of pruning plan)
The pruning plan design unit 570 designs a pruning plan for pruning the plant 9 based on the first breeding model.
Thereby, the case where it interferes with the adjacent plant 9 or its own branch can be estimated, and the branch to be pruned and its position can be selected appropriately.
Further, the pruning plan design unit 570 designs a pruning plan for pruning the flowers (fruits) of the plant 9 based on the second growth model.
Thereby, the case where it interferes with an own branch and a fruit can be estimated by calculating the position which grows in the plant 9, the branch and the fruit to be pruned can be selected, and the pruning position can be appropriately selected. .

(Design of pollination plan)
The pollination plan design unit 580 designs a pollination plan that causes the plant 9 to pollinate based on the first breeding model. For example, the pollination plan design unit 580 calculates the time for the plant 9 to pollinate based on the elapsed time from the reference time (such as germination time) and the flowering state of the detected flower in the plant 9. Thereby, the pollination plan design part 580 can plan the time which makes the plant 9 cultivated in the plant cultivation plant 4 pollinate in the pollination time according to the growing condition.
In addition, the image information for designing a pollination plan can also be acquired when approaching when performing another process with respect to each plant 9. FIG. Or if the pollination order is formulated by the pollination plan designed in the past, it is also possible to control the detection frequency according to the pollination order. That is, it is possible to increase the detection frequency for the plant 9 whose pollination time is close and to increase the detection frequency for the plant 9 whose pollination time is determined to be delayed, thereby increasing the detection efficiency.

(Control of plant cultivation system)
In the plant cultivation system 1 shown in the present embodiment, the imaging unit 300 images the plant 110 and generates image information.
The imaging position moving unit 400 (imaging position moving unit) includes an (articulated) arm unit 42 (robot arm) that moves the position captured by the imaging unit 300, so that the plant 9 can be moved from any position and direction. The situation can be measured, and the harvesting time can be controlled by controlling the environmental conditions based on the measured image information.

  Since such a plant cultivation system 1 can be easily scaled up, it is necessary to efficiently perform a pollination operation for pollinating a plant. In particular, manual pollination work, such as putting pollen on the pistil of each flower of a plant by manual work, is a work that requires labor conventionally, and it is desired to improve the work efficiency.

[Pollination auxiliary device]
Next, in the plant cultivation plant 4, the pollination assistance apparatus 70 which assists a pollination operation | work when an operator performs the operation | work which a plant 9 pollinates is demonstrated.

The pollination assisting device 70 notifies the operator of the pollination work by displaying the pollination history information of the plant 9 as the detection target on the display unit in association with the image based on the plant 9 as the detection target. To do.
FIG. 8 is a diagram illustrating an example of the pollination assisting device 70 in the present embodiment. A pollination assisting device 70 shown in this figure is an example configured as a portable terminal device that is carried and used by an operator, and an imaging unit 71 and a display unit 74 are arranged on the front and back surfaces. It is an example comprised as a tablet-type terminal device.

  The pollination assisting device 70 includes an imaging unit 71 that images a subject and a display unit 74 that displays the captured image in an integrated housing. For example, the pollination assisting apparatus 70 displays an image captured by the imaging unit 71 directed to the subject (the plant 9 that is the detection target) on the display unit 74. The pollination assisting device 70 displays the pollination history information of the plant 9 on the display unit 74 in association with the captured image of the plant 9.

FIG. 9 is a schematic block diagram illustrating an example of the configuration of the pollination assisting device 70 in the present embodiment. In this figure, the same components as those shown in FIG. 3 or FIG.
The pollination assisting device 70 includes an imaging unit 71, a pollination information processing unit 72, a display control processing unit 73, a display unit 74, an identification information detection unit 76, a storage unit 77, and a control unit 79.

The imaging unit 71 includes a camera unit 711 and an imaging control unit 712.
The camera unit 711 includes an imaging device equipped with a CCD or CMOS sensor, an optical system attached to the imaging device, and a light emitting device for auxiliary light for imaging. In addition, the camera unit 711 generates image information from a subject image obtained by imaging the subject with the plant 9 as a detection target as a main subject. The imaging control unit 712 controls the camera unit 711 to capture an image and causes the generated image information to be output to the pollination information processing unit 72 and the display control processing unit 73.

The pollination information processing unit 72 includes a reference position detection unit 721, a pollination position detection unit 722, a pollination operation detection unit 723, a pollination history information generation unit 724, and a pollination timing determination unit 725.
The reference position detection unit 721 detects the reference position of the plant 9 imaged by the imaging unit 71 when the worker performs pollination work. This reference position is associated with the position information of the plant 9 with which the image information of the plant 9 detected by the mobile detection device 40, the growth status, and the like are associated in the plant cultivation plant 4, and the plant cultivation This is a reference position for specifying the position of the plant 9 imaged by the pollination assisting device 70 in the plant 4.

  For example, a reference point indicating a reference position is provided in advance for each individual plant 9 cultivated in the plant cultivation plant 4, and the reference position detection unit 721 includes a reference point included in an image captured by the imaging unit 71. Based on the above, the reference position of the plant 9 imaged by the imaging unit 71 is detected. Thereby, the reference position detection unit 721 specifies the position in the plant cultivation plant 4 of the plant 9 imaged by the imaging unit 71.

  The reference points provided in advance include, for example, a notation indicating a number assigned to each plant 9 cultivated in the plant cultivation plant 4, a notation indicating a coordinate position in the plant cultivation plant 4, and the like. Character information is written. In this case, the reference position detection unit 721 reads the character information included in the image picked up by the image pickup unit 71 for character recognition or the like, and detects the reference position of the plant 9 picked up by the image pickup unit 71.

Further, the reference position detection unit 721 detects the reference position of the plant 9 imaged by the imaging unit 71 based on the identifier attached to the plant 9 detected by the identification information detection unit 76 described later. Good.
Further, the reference position detection unit 721 may acquire position information by a GPS (Global Positioning System) system and detect the position of the plant 9 imaged by the imaging unit 71 based on the acquired position information. .

The pollination position detection unit 722 detects the position of the flower of the plant 9 as the pollination position based on pre-registered feature information indicating the feature of the flower and the image of the plant 9 captured by the imaging unit 71.
For example, in the pollination position detection unit 722, information relating to the shape of the flower of the plant 9, information relating to the shape of the flower, information relating to the size of the flower, information relating to the color of the flower, and the like are registered in advance. In addition, the pollination position detection unit 722 performs image processing on the image of the plant 9 captured by the imaging unit 71 to detect image information necessary for detecting the pollination position of the plant 9, that is, the flower Image information relating to feature information indicating features is extracted. And the pollination position detection part 722 is based on the feature information which shows the feature of a flower, and the image information, The method of detecting using pattern matching, The method of calculating and detecting the evaluation value of the feature-value based on feature information For example, the position of the flower of the plant 9 is detected as the pollination position.
In addition, the pollination position detection part 722 may detect the center position of the flower of the plant 9, the position of the pistil of the flower, etc. as a pollination position.

In addition, when detecting the pollination position, the pollination position detection unit 722 detects the pollination position as a three-dimensional coordinate position with respect to a reference point indicating the reference position detected by the reference position detection unit 721. For example, the pollination position detection unit 722 detects the pollination position as a three-dimensional coordinate position generated based on the three-dimensional model of the plant 9 detected and created by the mobile detection device 40 in the plant cultivation plant 4. .
In addition, the pollination position detection unit 722 stores the detected pollination position in the storage unit 77 in association with the reference position detected by the reference position detection unit 721. Thereby, the pollination position detection part 722 can memorize | store the pollination position in the memory | storage part 77 as a three-dimensional coordinate position with respect to the reference | standard position of the plant 9. FIG. Therefore, the pollination auxiliary device 70 can specify the position of the plant 9 and the pollination position of the plant 9 in the plant cultivation plant.

It should be noted that the pollination position at the time point detected from the image captured by the imaging unit 71 when performing the pollination operation does not exactly match the pollination position at the time point detected by the mobile detection device 40 before that. There is a case. This is because the pollination position is not a position due to a structure that is completely fixed, such as the position of a flower. Thereby, as for a pollination position, the difference of a some position may arise from time to time. Also in this case, in order to determine that the pollination position where a slight position difference has occurred is the same, the pollination position detection unit 722 is, for example, the same pollination position when the position difference is less than a predetermined threshold. Determine and update to the latest pollination position information.
Moreover, when the flower detected from the image imaged by the imaging part 71 at the time of pollination work is detected by the mobile detection apparatus 40 before that, it may still be a habit. In this case, the pollination position detection unit 722 adds the detected flower position as a new pollination position, and updates the information on the pollination position.

The pollination operation detection unit 723 detects whether or not the pollination operation has been performed on the pollination position detected by the pollination position detection unit 722 based on the captured image of the plant 9 that is the detection target.
Here, the captured image of the plant 9 that is the detection target is, for example, a moving image when a pollination operation is performed by an operator. When the image capturing unit 71 captures an image of a pollination operation in which an operator attaches pollen to a flower pistil using a cotton swab or the like, the pollination operation detection unit 723 is based on an image in which the operation of the pollination operation is captured. The operation of the pollination work is detected, and it is detected that the pollination work has been performed.

For example, as a method for detecting the operation of the pollination operation, a method for pattern matching with a pre-registered characteristic operation pattern of the pollination operation, a feature (for example, a cotton swab) is extracted from the image based on its shape. And a method of detecting from the motion vector of the feature.
In addition, when detecting that the pollination operation has been performed at the pollination position, the pollination operation detection unit 723 supplies information indicating that the pollination operation has been performed in association with the pollination position to the pollination history information generation unit 724.

When the pollination operation detection unit 723 detects whether or not the pollination operation has been performed based on the captured image of the plant 9, whether or not the fertilization has been achieved based on the state of the captured flower of the plant 9. It may be detected whether or not pollination work has been performed.
For example, when the pollination position that has been pollinated has not reached fertilization after a lapse of a predetermined time (for example, when a petal that should fall due to fertilization remains even after a lapse of a predetermined time with respect to the date and time of pollination) ), The pollination operation detection unit 723 detects the state of the flower of the imaged plant 9 and determines that it has not been fertilized. In addition, when the pollination position that has been pollinated has reached fertilization after a lapse of a predetermined time (for example, when a petal has fallen by fertilization after a lapse of a predetermined time with respect to the date and time of pollination), the pollination operation is detected. The unit 723 detects the state of the flower of the imaged plant 9 and determines that fertilization has been achieved.
Then, the pollination operation detection unit 723 may detect whether or not the pollination operation has been performed based on the result of determining whether or not fertilization has been achieved, and supply the detection result to the pollination history information generation unit 724.

  The pollination history information generation unit 724 generates information indicating whether or not the pollination has been completed as the pollination history information of the plant 9 based on the result detected by the pollination operation detection unit 723. In addition, the pollination history information generation unit 724 generates pollination history information of the plant 9 in association with the pollination position of the plant 9 that is the detection target.

For example, if the pollination history information generation unit 724 detects that the pollination operation has been performed by the pollination operation detection unit 723 with respect to the pollination position detected by the pollination position detection unit 722, the pollination history information generation unit 724 associates it with the detected pollination position. Information indicating that pollination has been completed is generated as pollination history information. On the other hand, if the pollination history information generation unit 724 does not detect that the pollination operation has been performed by the pollination operation detection unit 723 with respect to the pollination position detected by the pollination position detection unit 722, the pollination history information generation unit 724 correlates with the detected pollination position. Information indicating that it is not completed is generated as pollination history information. Note that the pollination history information generation unit 724 may further generate the pollination history information by associating the date and time when the pollination operation was performed with respect to the pollination position.
Then, the pollination history information generation unit 724 stores the generated pollination history information in the storage unit 77.
Thereby, the pollination history information of each pollination position of the plant 9 can be stored in association with each pollination position.

The pollination history information generation unit 724 may generate the above-described pollination history information based on the operation information input from the operation unit 75 and indicating whether or not the pollination has been completed. Thereby, the operator can update the pollination history information by operating the operation unit 75 of the pollination assisting apparatus 70 while performing the pollination operation.
Note that the pollination history information generation unit 724 may store the generated pollination history information in the status storage unit 230 via the communication processing unit 590 instead of storing the generated pollination history information in the storage unit 77, or the storage unit 77. And the situation storage unit 230.

The pollination time calculation unit 725 calculates an appropriate pollination time based on the growth status of the plant 9. Here, the appropriate pollination time based on the growth status of the plant 9 is, for example, an appropriate pollination time determined for each type of the plant 9, and the number of days since the flower of the plant 9 bloomed (for example, , Between 2 days after flowering and several days later).
For example, the pollination time calculation unit 725 determines an appropriate pollination time at the pollination position of the plant 9 imaged by the imaging unit 71 based on the first growth model of the growth model unit 220 supplied via the communication processing unit 590. calculate. That is, the pollination time calculation unit 725 calculates an appropriate pollination time for the plant 9 based on the growth status of the plant 9 observed in advance by the mobile detection device 60. In addition, the pollination time calculation unit 725 stores information indicating the calculated appropriate pollination time in the storage unit 77 in association with each pollination position.
The pollination time calculation unit 725 may store information indicating the calculated appropriate pollination time in the status storage unit 230 via the communication processing unit 590 instead of storing the information in the storage unit 77. You may memorize | store in both the memory | storage part 77 and the condition memory | storage part 230. FIG.

The display control processing unit 73 is based on the image captured by the imaging unit 71, the pollination position detected by the pollination information processing unit 72, and the information regarding pollination at the pollination position generated by the pollination information processing unit 72. A display image is generated and displayed on the display unit 74.
The display control processing unit 73 includes a display control unit 731 and a display information generation unit 732.
The display control unit 731 reads the pollination history information of the plant 9 that is the detection target from the storage unit 77 and causes the display unit 74 to display the pollination history information in association with an image based on the plant 9.

That is, the display control unit 731 reads the pollination history information of the plant 9 that is the detection target from the storage unit 77 and supplies it to the display information generation unit 732. Then, the display control unit 731 causes the display unit 74 to display the display information generated based on the pollination history information by the display information generation unit 732 in association with the image of the plant 9 captured by the imaging unit 71.
For example, the display control unit 731 displays display information indicating pollination history information on the pollination position of the plant 9 captured by the imaging unit 71 on the display unit 74 in association with the pollination position of the captured image of the plant 9. .
Note that the display control unit 731 reads information indicating an appropriate pollination time of the plant 9 to be detected from the storage unit 77, and displays the information indicating the appropriate pollination time in association with an image based on the plant 9. You may display on the part 74. FIG.

The display information generation unit 732 generates display information indicating the pollination history information associated with the pollination position based on the pollination history information read from the storage unit 77. For example, the display information generation unit 732 is display information indicating pollination history information associated with the pollination position of the plant 9 imaged by the imaging unit 71 based on the pollination history information read from the storage unit 77. Display information indicating whether or not pollination has been completed, or display information indicating the date and time when the pollination operation was performed is generated. In addition, the display information generation unit 732 generates display information indicating the reference position of the plant 9 detected by the reference position detection unit 721. The display information generation unit 732 generates display information indicating an appropriate pollination time associated with the pollination position based on information indicating an appropriate pollination time read from the storage unit 77.
Then, the display information generation unit 732 supplies the generated display information to the display control unit 731.

  The display unit 74 displays the display image generated by the display control processing unit 73. The display unit 74 is, for example, a liquid crystal display, an organic EL (Electro-Luminescence) display, or the like.

The operation unit 75 detects operation from the worker, thereby acquiring operation information that causes the pollination assisting device 70 to function, and notifies the control unit 79 of the operation information. The operation unit 75 is configured as a touch panel provided on the display surface of the display unit 74.
In addition, the operation part 75 may be comprised as a mechanical button provided in the housing | casing surface of the pollination assistance apparatus 70, and the combination of the touchscreen provided on the display surface of the display part 74, and a mechanical button. It may be constituted by.
The storage unit 77 stores reference position information of the plant 9, pollination position information, pollination history information, information indicating an appropriate pollination time, and the like.

The identification information detection part 76 detects identification information from the identifier which shows the identification information which specifies the pollination position of the plant 9 or the plant 9 which is a detection symmetry. For example, the identification information detection unit 76 includes an RFID (Radio Frequency Identification) reader 76R, and through this RFID reader 76R, an IC chip with an antenna (hereinafter referred to as an IC tag) processed into a tag or a label shape. The registered ID information is read by non-contact communication using an electromagnetic induction method or a radio wave method.
In this case, the plant 9 is attached with an IC tag (identifier) indicating identification information for identifying the plant 9 or the pollination position of the plant 9, and the identification information detection unit 76 is connected to the IC tag via the RFID reader 76R. Detect identification information. The reference position detection unit 721 or the pollination position detection unit 722 described above may detect the reference position of the plant 9 or the pollination position of the plant 9 based on the identification information detected by the identification information detection unit 76.

For example, an IC tag is attached to the trunk of the plant 9 corresponding to each individual plant 9 or the vicinity thereof, and the reference position detection unit 721 is based on the identification information detected by the identification information detection unit 76. The reference position of the plant 9 may be detected.
The IC tag is attached in association with the branch portion of the branch of the plant 9, and the pollination position detection unit 722 is based on the identification information detected by the identification information detection unit 76 and the branch structure of the branch of the plant 9. Thus, a flower corresponding to each branch of the plant 9 may be detected as a pollination position.
The pollination position detection unit 722 detects the flower of the plant 9 as the pollination position based on the identification information detected by the identification information detection unit 76 with an IC tag attached to the plant 9 in association with the flower. May be.

The control unit 79 controls each unit provided in the pollination assisting device 70. For example, the control unit 79 controls the imaging operation of the imaging unit 71, the process of the pollination information processing unit, the display process of the display control processing unit 73, and the like according to the operation information detected by the operation unit 75.
In addition, the control unit 79 controls communication between the plant cultivation system 1 and the pollination assisting device 70 via the communication processing unit 590.
Further, for example, in the case where the control unit 79 is configured to store pollination history information, information indicating plant growth status, and the like in both the storage unit 77 and the status storage unit 230, the control unit 79 stores the information in the storage unit 77 at a predetermined timing. Control is performed so that the stored information and the information stored in the status storage unit 230 are synchronized so that they are the latest information. Thereby, in the plant cultivation plant, the control part 79 is the pollination log | history information updated by the pollination auxiliary | assistance apparatus 70 of each of several workers, or the growth condition (for example, flower of a plant 9) which changes with progress of time. Information indicating the flowering status) can be stored in the storage unit 77 and the status storage unit 230 so that no mismatch occurs.

  With the above configuration, the pollination assisting apparatus 70 causes the display unit 74 to display the pollination history information on the pollination position of the plant 9 cultivated in the plant cultivation plant 4 in association with the image of the plant 9. Therefore, the pollination assisting apparatus 70 can make the operator easily determine the pollination state of the plant 9. The pollination assisting device 70 can also display information indicating the appropriate pollination time at the pollination position of the plant 9 cultivated in the plant cultivation plant 4 on the display unit 74 in association with the image of the plant 9. . Therefore, the pollination assisting apparatus 70 can notify the worker of an appropriate pollination time for the plant 9.

Then, each process which concerns on the pollination auxiliary | assistance apparatus 70 in this embodiment is demonstrated.
(Detection of plant pollination position)
First, a process in which the pollination assisting device 70 detects the pollination position will be described.
The pollination assisting device 70 associates the pollination position of the plant 9 imaged by the imaging unit 71 with the three-dimensional coordinate position of the plant 9 or the flower of the plant 9 detected by the mobile detection device 40, and the plant cultivation plant 4. The pollination position of the plant 9 in the inside is detected.

FIG. 10 is a diagram illustrating an image of the plant 9 captured by the imaging unit 71 of the pollination assisting device 70. This figure shows an example in which a reference point K 0 is attached to the trunk of the plant 9. Here, as the reference point K0, for example, character information indicating a number assigned to each plant 9 in the plant cultivation plant 4 is described.
The reference position detection unit 721 reads character information from the image of the reference point K0 included in the image of the plant 9 captured by the imaging unit 71 by character recognition, and detects the reference position of the captured plant 9. Thereby, the reference | standard position detection part 721 can pinpoint the position in the plant cultivation plant 4 of the imaged plant 9. FIG.

  Next, the pollination position detection unit 722 detects the position of the flower of the plant 9 as the pollination position based on pre-registered feature information indicating the feature of the flower and the image of the plant 9 captured by the imaging unit 71. To do. In FIG. 10, the pollination position detection unit 722 detects the image areas of the flowers f <b> 15 (1) to f <b> 15 (6) from the captured image of the plant 9. In addition, the pollination position detection unit 722 calculates the detected position of the flower of the plant 9 (pollination position) as a position with respect to the reference position of the plant 9. And the pollination position detection part 722 detects the pollination position with respect to a reference | standard position as a three-dimensional coordinate position produced | generated based on the three-dimensional model of the plant 9 detected and produced by the mobile detection apparatus 40. FIG.

For example, the pollination position detection unit 722 is associated with the three-dimensional coordinate position of the flower of the plant 9 based on the second growth model 222 (actual arrangement model with respect to the position of the flower) acquired via the communication processing unit 590, The position (pollination position) of the flower of the plant 9 imaged by the imaging unit 71 is detected.
Thereby, the pollination auxiliary device 70 detects the pollination position of the plant 9 imaged by the imaging unit 71 as the position with respect to the reference position in the plant 9 and detects it in correspondence with the three-dimensional coordinate position in the plant cultivation plant 4. can do.

In addition, when the angle of view imaged by the imaging unit 71 is changed (moved, enlarged, or reduced) after the pollination position is detected by the reference position detection unit 721 and the pollination position detection unit 722, the pollination position detection is performed. The unit 722 can continue to detect the imaged pollination position by tracking the detected pollination position. For example, the pollination position detection unit 722 detects the image of the plant 9 by tracking the movement, enlargement, or reduction of the flower image area detected based on the feature information indicating the feature of the flower. Track pollination position.
Thereby, also when an operator changes the view angle imaged by the imaging part 71 of the pollination assistance apparatus 70 (movement, expansion, or reduction), the detected pollination position in the plant 9 (in the plant cultivation plant 4). Which pollination position can be specified.

In addition, the pollination assistance apparatus 70 is good also as a structure provided with the attitude | position detection sensor which detects the attitude | position change of the direction and inclination of the pollination assistance apparatus 70 at the time of being hold | gripped by the operator. In this case, the pollination assisting device 70 can detect a change in the angle of view captured by the imaging unit 71 based on the displacement amount and the displacement direction of the posture of the pollination assisting device 70 detected by the orientation detection sensor. .
Thereby, also when an operator changes the view angle imaged by the imaging part 71 of the pollination assistance apparatus 70 (movement, expansion, or reduction), the detected pollination position is in the plant 9 (in the plant cultivation plant 4). Which pollination position can be specified.
Note that an acceleration sensor, an angular velocity sensor, a tilt sensor, a geomagnetic sensor, or the like may be used as the posture detection sensor.

(Pollination history information display control)
Next, processing in which the pollination assisting apparatus 70 displays the pollination history information of the detected pollination position on the display unit 74 will be described.
The display control unit 731 reads the pollination history information of the pollination position detected by the pollination position detection unit 722 from the storage unit 77. Next, the display information generation unit 732 generates display information indicating pollination history information associated with the pollination position based on the pollination history information read from the storage unit 77. Then, the display control unit 731 causes the display unit 74 to display the display information generated based on the pollination history information by the display information generation unit 732 in association with the image of the plant 9 captured by the imaging unit 71.

Below, the example of the display screen displayed on the display part 74 in the pollination assistance apparatus 70 is demonstrated using FIGS. 11-14. FIGS. 11 to 14 are display examples of the display unit 74 in the pollination assisting device 70, and show an example in which the operation unit 75 is configured as a touch panel provided on the display surface of the display unit 74.
An operator who performs pollination can obtain pollination history information of the plant 9 by referring to the display screen of the pollination assisting device 70.

  FIG. 11 is a diagram illustrating a first display example of the display unit 74 in the pollination assisting apparatus 70. This figure shows an example in which an image of the plant 9 and information indicating whether or not each flower of the plant 9 has been pollinated is displayed. Further, in this figure, an image display area P110 and operation input detection areas P121, P122, P123, and P124 in the operation unit 75 are shown in the display area of the display unit 74.

  In the image display area P110, an image of the plant 9 captured by the imaging unit 71 and information indicating the reference position of the plant 9 (display information P111) are displayed. Here, as information indicating the reference position of the plant 9, for example, a number (No. 0015) assigned to the plant 9 is displayed. In the image display region P110, whether or not pollination has been performed with respect to the positions (pollination positions) of the images of the flowers f15 (1) to f15 (6) in the image of the plant 9 detected by the pollination position detection unit 722. Information indicating whether or not is displayed. Here, “display information P112 indicated by a solid double circle” is displayed as information indicating that pollination has not been completed, and “display information P113 indicated by a dashed circle” is displayed as information indicating that pollination has been completed. ing.

The display information generation unit 732 generates display information indicating the reference position of the plant 9 detected by the reference position detection unit 721. The display control unit 731 associates the display information indicating the reference position of the plant 9 generated by the display information generation unit 732 with the position of the reference point K0 of the image of the plant 9 captured by the imaging unit 71, and the display unit 74. To display.
Further, the display control unit 731 reads the pollination history information of the plant 9 imaged from the storage unit 77 and supplies it to the display information generation unit 732. The display control unit 731 captures display information (display information P112 or display information P113) indicating whether or not the pollination has been generated based on the pollination history information by the display information generation unit 732 by the imaging unit 71. The image of the plant 9 is displayed on the display unit 74 in association with the position of the flower image. In FIG. 11, the display control unit 731 displays display information P112 indicating that it has not been pollinated in association with the positions of the images of the flowers f15 (2) to f15 (4) of the plant 9, and the flower f15 (plant 9 Display information P113 indicating that pollination has been completed is displayed in association with the positions of the images 1), f15 (5), and f15 (6).

Thereby, the worker who pollinates the pollination position of the plant 9 refers to the display screen of the pollination assisting device 70 to indicate whether or not the pollination has been completed for each flower of the plant 9. Can be obtained. Therefore, the operator can easily determine whether or not pollination has been completed for each flower of the plant 9. That is, the worker performs the pollination operation while referring to the display screen of the pollination assisting device 70, thereby preventing the loss of labor and time such that the pollination position once pollinates and then pollinates again. It is possible to prevent forgetting to put pollen on the pollination position.
In this way, the pollination assisting device 70 can make the operator easily determine the pollination state of the plant 9.

Of the operation input detection areas P121, P122, P123, and P124 in the operation unit 75 shown in FIG. 11, the operation input detection area P121 is information indicating the pollination date on which the pollination operation has been performed on the pollination position where the pollination has been performed. An area for detecting an operation for switching between display and non-display is shown. The operation unit 75 supplies an operation signal for switching between display and non-display of information indicating the pollination date on which the pollination operation has been performed to the control unit 79 by detecting the operator's operation in the operation input detection region P121. The operation information is notified.
The operation input detection area P122 indicates an area for detecting an operation for switching between displaying and hiding information indicating a pollination appropriate period which is an appropriate pollination timing for a pollination position that has not been pollinated. The operation unit 75 detects the operation of the operator in the operation input detection area P122, thereby supplying an operation signal for switching between display and non-display of information indicating the appropriate timing of pollination to the control unit 79 and notifies the operation information. To do.
The operation input detection area P123 indicates an area for detecting an operation for switching whether or not to make a transition to an operation mode in which an operation can be input based on whether or not the pollination position has been pollinated. The operation unit 75 detects an operation of the operator in the operation input detection region P123, and sends an operation signal to the control unit 79 to switch whether or not to make a transition to an operation mode in which operation input can be performed. The operation information is notified.
The operation input detection area P124 detects an operation for returning to the state in which the display information by the previous operation is displayed with respect to the state in which the display information is displayed in the image display area P110 by the operation of the operation unit 75. Indicates the area. The operation unit 75 detects an operator's operation in the operation input detection area P124 and supplies an operation signal to the control unit 79 to return to the state in which the display information by the previous operation is displayed. Notify information.

  FIG. 12 is a diagram illustrating a second display example of the display unit 74 in the pollination assisting device 70. This figure has shown the example of a display when the operation which displays the information which shows the pollination date by which the pollination operation | work was performed with respect to the pollination position which has been pollinated is input into the operation input detection area P121 in the operation part 75. . Moreover, in this figure, the same code | symbol is attached | subjected to the structure similar to FIG.

In the image display area P110, an image of the plant 9 captured by the imaging unit 71 is displayed, as in FIG. In the image display area P110, among the images of the flowers (pollination positions) f15 (1) to f15 (6) in the image of the plant 9, the flowers f15 (1), f15 (5), f15 ( Corresponding to the positions of the image 6), display information P114 indicating the date of pollination on which the pollination operation has been performed is displayed at each position.
The display control unit 731 reads the pollination history information of the plant 9 imaged from the storage unit 77 and supplies it to the display information generation unit 732. The display control unit 731 then displays display information (display information P112 or display information P113) indicating whether or not pollination has been generated based on the pollination history information by the display information generation unit 732 and display information indicating the date of pollination. P114 is displayed on the display unit 74 in association with the position of the flower image in the image of the plant 9 imaged by the imaging unit 71. In FIG. 12, the display control unit 731 displays display information P112 indicating that pollination has been completed in association with the positions of the images of the flowers 9 of the plants 9 f15 (1), f15 (5), and f15 (6). Display information P114 (month and date on which pollination work was performed) indicating each pollination date is displayed in association with the positions of the images of flowers f15 (1), f15 (5), and f15 (6).

Thereby, the worker who pollinates the pollination position of the plant 9 refers to the display screen of the pollination assisting device 70 to indicate whether or not the pollination has been completed for each flower of the plant 9. In addition, the display information indicating the pollination date when the pollination operation was performed on the already pollinated flowers can be obtained. Therefore, the operator can easily determine whether or not each plant 9 has been pollinated, and can easily know the date of pollination of the pollinated flowers.
In this way, the pollination assisting device 70 can make the operator easily determine the pollination state of the plant 9.

  FIG. 13 is a diagram illustrating a third display example of the display unit 74 in the pollination assisting device 70. This figure has shown the example of a display when the operation which displays the information which shows the pollination proper time which is an appropriate pollination time with respect to the pollination position which has not been pollinated in the operation input detection area P122 in the operation part 75 is shown. . Moreover, in this figure, the same code | symbol is attached | subjected to the structure similar to FIG.

In the image display area P110, an image of the plant 9 captured by the imaging unit 71 is displayed, as in FIG. In the image display area P110, among the images of the flowers (pollination positions) f15 (1) to f15 (6) in the image of the plant 9, the images f15 (2) to f15 (4) that have not been pollinated are located. Display information P115 indicating the appropriate period of pollination at each position is displayed in association with each other.
The display control unit 731 reads out information indicating the appropriate pollination time of the plant 9 imaged from the storage unit 77 and supplies the information to the display information generation unit 732. And the display control part 731 displays the display information (display information P112 or display information P113) which shows whether it is already pollinated produced | generated based on the pollination history information by the display information production | generation part 732, and the display information which shows a suitable pollination time. P115 is displayed on the display unit 74 in association with the position of the flower image in the image of the plant 9 imaged by the imaging unit 71. In FIG. 13, the display control unit 731 displays display information P112 indicating that it has not been pollinated in association with the positions of the images of the flowers f15 (2) to f15 (4) of the plant 9, and the flower f15 (2 ) To f15 (4), display information P115 (appropriate pollination time period) indicating the appropriate pollination period is displayed.

Thereby, the worker who pollinates the pollination position of the plant 9 refers to the display screen of the pollination assisting device 70 to indicate whether or not the pollination has been completed for each flower of the plant 9. Display information indicating an appropriate pollination time of a flower that has not been pollinated can be obtained. Therefore, the operator can easily determine whether or not each plant 9 has been pollinated, and can easily know an appropriate pollination time for a flower that has not been pollinated.
In this way, the pollination assisting device 70 can make the operator easily determine the pollination state of the plant 9.

  FIG. 14 is a diagram illustrating a fourth display example of the display unit 74 in the pollination assisting device 70. This figure shows another display example when an operation for displaying information indicating an appropriate pollination time is input to the operation input detection region P122 in the operation unit 75 for a pollination position that has not been pollinated. ing. Moreover, in this figure, the same code | symbol is attached | subjected to the structure similar to FIG.

FIG. 14 is different from FIG. 13 in the display information display method indicating the appropriate period of pollination.
In the example of this figure, the display information generation unit 732 displays the display information P116 (the period from the current date and time until the pollination appropriate time is reached) as information indicating the appropriate pollination time for each of the flowers f15 (2) and f15 (4) that have not been pollinated. Display, e.g. "2 days later"). Further, the display information generation unit 732 generates display information P117 (display “appropriate time” indicating that the current time is pollination appropriate) as information indicating the appropriate time of pollination of the flower f15 (3) that has not been pollinated. Then, the display control unit 731 displays the display information P116 or the display information P117 generated by the display information generation unit 732 in association with the positions of the images of the flowers f15 (2) to f15 (4) that have not been pollinated. Let

  Note that the display information indicating whether or not pollination has been completed, the display information indicating the appropriate period of pollination, and the like are not limited to the display methods illustrated in FIGS. These display methods only need to be able to discriminate each state.For example, in the case where pollination has been completed and in the case where pollination has not been completed, or in the case where pollination is appropriate and when it is not suitable for pollination, different colors are used. It is good also as the display method etc. which are displayed using.

  In addition, the pollination assistance apparatus 70 may display the information of a pollination plan in association with the plant 9 cultivated in the plant cultivation plant 4 based on the pollination plan designed by the pollination plan design unit 580. For example, the pollination assisting device 70 is based on the pollination plan designed by the pollination plan design unit 580, information indicating the period during which the pollination operation is planned, each predetermined area in the plant cultivation plant 4, or each type of plant For example, information indicating the scheduled pollination time may be displayed on the display unit 74 in association with the layout of the plants 9 in the plant cultivation plant 4.

(Detection of pollination work)
Next, the process which the pollination auxiliary | assistance apparatus 70 detects whether the pollination operation | work was detected by the detected pollination position is demonstrated.
The pollination operation detection unit 723 of the pollination auxiliary device 70 detects whether or not the operator has performed the pollination operation on the pollination position detected by the pollination position detection unit 722. For example, when the operation of the pollination operation by the operator is imaged by the imaging unit 71, the pollination operation detection unit 723 detects that the operation of the pollination operation has been performed based on the captured image.

FIG. 15 is a diagram illustrating an example of pollination work by an operator. This figure has shown the operation | movement of the pollination operation | work which an operator attaches pollen to the pistil of the flower f20 using the cotton swab M1. When the operation of the pollination operation as shown in this figure is imaged by the imaging unit 71, the pollination operation detection unit 723 detects the operation of the pollination operation based on the image of the operation of the pollination operation, and the pollination operation is performed. It is detected that For example, the pollination operation detection unit 723 detects the image of the cotton swab M1 from the captured image based on the feature of the shape. Then, the pollination operation detection unit 723 performs pattern matching with a characteristic operation pattern of a previously registered pollination operation based on the position of the image of the flower f20 and the position and movement of the detected flower f20 of the cotton swab M1. Detects pollination operation.
In addition, the pollination operation detection unit 723 supplies the detection result to the pollination history information generation unit 724 in association with the pollination position.

(Generation of pollination history information)
The pollination history information generation unit 724 of the pollination auxiliary device 70 generates pollination history information of the pollination position.
For example, when the pollination operation detection unit 723 detects that the pollination operation has been performed at the pollination position, the pollination history information generation unit 724 generates the pollination history information according to the detection result. For example, the pollination history information generation unit 724 has not been pollinated in association with the pollination position as the pollination history information in response to detection of an operator's pollination operation for the pollination position by the pollination operation detection unit 723. Is changed to information indicating that pollination has been completed.

  Thus, the pollination history information generation unit 724 generates information indicating whether or not pollination has been completed as the pollination history information of the pollination position of the plant 9 in association with the detected pollination position. This pollination position is a position generated based on the three-dimensional model of the plant 9 (three-dimensional coordinate position of the flower detected by the detection unit 210) measured in advance in the plant cultivation system 1. Then, the pollination history information generation unit 724 stores the generated pollination history information in the storage unit 77.

  Further, when generating pollination history information, the pollination history information generation unit 724 further generates a date and time when the pollination operation is performed on the pollination position in association with the pollination history information. In this case, the pollination assisting device 70 can obtain information on the date of pollination for the pollination position where the pollination has been completed, in addition to the information on whether or not the pollination has been completed. Thereby, for example, when the pollination position that has been pollinated has not been fertilized after a predetermined time has elapsed (for example, even after a predetermined time has elapsed with respect to the date and time of pollination, the pollination assisting device 70 falls due to fertilization. It is also possible to determine that fertilization has not been achieved based on an image obtained by imaging the flower at the pollination position, for example, when a supposed petal remains. In this case, the pollination history information generation unit 724 has received pollination from information indicating that the pollination history information has been pollinated for the pollination position that has not been fertilized based on the result determined that the fertilization has not been achieved. It can also be changed to information indicating that it is not. Here, this determination may be executed in the above-described pollination operation detection unit 723 or may be executed in the pollination history information generation unit 724.

  Thus, the pollination assisting device 70 can generate the pollination history information of the pollination position by the pollination history information generation unit 724 by detecting whether or not the pollination operation has been performed on the pollination position.

The pollination history information generation unit 724 may generate the above-described pollination history information based on the operation information input from the operation unit 75 and indicating whether or not the pollination has been completed.
For example, when an operation signal indicating that a pollination operation has been performed at a pollination position that has not been pollinated is supplied from the operation unit 75 to the control unit 79, the control unit 79 displays information indicating that the pollination operation has been performed at the pollination position. Correlatively supplied to the pollination history information generation unit 724. And the pollination log | history information production | generation part 724 is the information which shows having already pollinated based on the information supplied from the control part 79, and shows the information which shows that it has not been pollinated corresponding to the pollination position as pollination log | history information. Change to

  FIG. 16 is a diagram illustrating an example in which pollination history information is updated by an operation input from the operation unit 75. This figure shows that an operation is input to the operation input detection area P124 in the operation unit 75, and the operation mode is switched to an operation mode in which it is possible to input whether or not the pollination position has been pollinated. Moreover, in this figure, the same code | symbol is attached | subjected to the structure similar to FIG.

In this operation mode, for example, when the pollination assisting device 70 is touched to the position of the flower (pollination position) of the image displayed in the image display area P110, the pollination history information of the position of the flower that has been touched is displayed. Update.
In the image display area P110, an image of the plant 9 captured by the imaging unit 71 is displayed, as in FIG. In the image display region P110, whether or not pollination has been performed with respect to the positions (pollination positions) of the images of the flowers f15 (1) to f15 (6) in the image of the plant 9 detected by the pollination position detection unit 722. Information indicating whether or not (display information P112 or display information P113) is displayed.

  In FIG. 16A, the display control unit 731 displays display information P112 indicating that pollination has not been completed in association with the positions of the images of the flowers f15 (2) to f15 (4) of the plant 9, and This indicates that display information P113 indicating that pollination has been completed is displayed in association with the positions of the images of the flowers f15 (1), f15 (5), and f15 (6). Moreover, in Fig.16 (a), it has changed to the operation mode which can be operated-inputted whether it is already pollinated with respect to a pollination position, and an operator pollinates the flower f15 (2) which has not been pollinated. After the work is performed, a touch operation is performed on the position of the image of the flower f15 (2) displayed in the image display area P110. When a touch operation is performed on the position of the image of the flower f15 (2), the control unit 79 associates information indicating that the pollination operation has been performed with the pollination position based on the operation signal supplied from the operation unit 75. Supplied to the pollination history information generation unit 724.

  Based on the information supplied from the control unit 79, the pollination history information generation unit 724 indicates that information indicating that the pollination history information associated with the flower f15 (2) has not been pollinated has been already pollinated. Change to information. Then, the pollination history information generation unit 724 stores the changed pollination history information in the storage unit 77. Next, the display control unit 731 reads the changed pollination history information of the flower f <b> 15 (2) from the storage unit 77 and supplies it to the display information generation unit 732. The display control unit 731 then associates the display information P113, which is generated based on the pollination history information by the display information generation unit 732, with the position of the image of the flower f15 (2). 74. In FIG. 16 (b), the display information P112, which is displayed at the position of the image of the flower f15 (2) in FIG. 16 (a) and indicates that it has not been pollinated, is changed to display information P113 that indicates that it has been pollinated. It has been shown.

On the other hand, when an operation signal for canceling that the pollination operation has been performed at the pollination position where the pollination has been performed is supplied from the operation unit 75 to the control unit 79, the control unit 79 has performed the pollination operation in association with the pollination position. Information for canceling is supplied to the pollination history information generation unit 724.
The case where an operation signal for canceling that the pollination operation has been performed is, for example, the case where the pollination operation has been performed but the fertilization has not been achieved even after a predetermined period has elapsed.

  When changing the pollination history information associated with the pollination position where the display information P113 indicating that the pollination has been completed is changed to information indicating that the pollination has not been completed (cancel that the pollination operation has been performed) In the operation mode described with reference to FIG. 16, for example, a touch operation may be performed at the position of the image of the flower f15 (1) on which the display information P113 indicating that pollination has been performed. When a touch operation is performed on the position of the image of the flower f15 (1), the control unit 79 associates information for canceling pollination with the pollination position based on the operation signal supplied from the operation unit 75, and pollination history information. It supplies to the production | generation part 724.

  Based on the information supplied from the control unit 79, the pollination history information generation unit 724 indicates that the information indicating that the pollination is associated as the pollination history information of the flower f15 (1) has not been pollinated. Change to information. Then, the pollination history information generation unit 724 stores the changed pollination history information in the storage unit 77. Next, the display control unit 731 reads the changed pollination history information of the flower f <b> 15 (1) from the storage unit 77 and supplies it to the display information generation unit 732. Then, the display control unit 731 associates the display information P112, which is generated based on the pollination history information by the display information generation unit 732 and indicates that the pollination has not been completed, with the position of the image of the flower f15 (1). To display.

  As described above, the pollination assisting device 70 can generate the pollination history information of the pollination position by the pollination history information generation unit 724 in response to an operation input from the operation unit 75.

(Calculation of appropriate pollination time)
The pollination assisting device 70 calculates an appropriate pollination time for the pollination position where the pollination operation for attaching pollen is not performed.
The pollination time calculation unit 725 calculates an appropriate pollination time of the pollination position of the plant 9 imaged by the imaging unit 71 based on the first growth model of the growth model unit 220 supplied via the communication processing unit 590. . Here, the appropriate pollination time based on the growth status of the plant 9 is, for example, an appropriate pollination time determined for each type of the plant 9, and the number of days since the flower of the plant 9 bloomed (for example, The appropriate pollination time indicated by, for example, between 2 days after flowering and several days later.

For example, the pollination time calculation unit 725 calculates an appropriate pollination time for each pollination position (each flower) of the plant 9 imaged by the imaging unit 71 based on the first breeding model. In addition, the pollination time calculation unit 725 stores information indicating the calculated appropriate pollination time in the storage unit 77 in association with each pollination position.
Note that the information indicating the appropriate pollination time is, for example, information indicating the period of the appropriate pollination time, or information indicating the number of days of difference from the current month and date that is the time of image capture to the appropriate pollination time (for example, , “Two days later”).

(Detection of pollination position using identification information)
Next, as another form of the process in which the pollination assisting device 70 detects the pollination position, a process for identifying and detecting the pollination position using identification information by RFID will be described.
In the above-described embodiment, the position of the plant 9 cultivated in the plant cultivation plant 4, the position of the flower, the pollination position, etc. are pollinated detected from the reference point attached to the plant 9 and the captured image. Based on the position, a three-dimensional coordinate position is generated. On the other hand, as an example of another method for detecting the position, an IC tag (identifier) indicating identification information for specifying the pollination position is attached to the plant 9, and the pollination assisting device 70 is based on this identification information. There is also a method for detecting the position of the plant 9, the position of the flower, the pollination position, and the like. This IC tag may be attached as the reference point described above. The identification information by the IC tag is also effective as auxiliary information for rough position (region) determination and position detection accuracy improvement when detecting a three-dimensional coordinate position based on the above-described image.

  For example, the identification information detection unit 76 of the pollination assisting device 70 detects the ID information registered in the IC tag attached to the plant 9 via the RFID reader 76R. This ID information is stored in the situation storage unit 230 in association with the respective three-dimensional coordinate positions such as the position of the plant 9, the position of the flower, and the pollination position. In addition, it is good also as a structure by which the above-mentioned ID information is matched with each three-dimensional coordinate position and memorize | stored in the memory | storage part 77 of the pollination assistance apparatus 70. Then, the pollination position detection unit 722 reads the three-dimensional coordinate position associated with the ID information detected by the identification information detection unit 76 from the status storage unit 230 as identification information for specifying the pollination position, and reads this The pollination position of the plant 9 is detected based on the three-dimensional coordinate position.

  In addition, the pollination history information generation unit 724 may generate the pollination history information in association with the ID information registered in the detected IC tag. In this case, for example, the pollination processing control unit 680 determines whether or not pollination has been completed for each of the pollination positions associated with the ID information, based on the pollination history information.

  In addition, this IC tag may be attached to the plant 9 by an operator, or may be attached to the plant 9 by an attachment robot or the like that does not rely on human hands.

Next, an example of position detection based on an IC tag attached to the plant 9 will be described with reference to FIG.
FIG. 17 is a diagram for explaining an example of position detection when an IC tag is attached to the plant 9.

  FIGS. 17A and 17B show examples of position detection when an IC tag is attached to a branch (stem) of the plant 9. A general plant has a branch structure (stem) in which the tip of the stem is split and branches in the elongation process of growth, and has a branch structure by these branches (stem). The plant 9 shown in FIG. 17 (a) has branches (stems) B1 to B3 that are branched from the main trunk (stem) B0 at branch points N1 to N3 according to the growth. In addition, the stem (stem) B0 and the branches (stems) B1 to B3 are flowered via the flower axes. The stem (stem) B0 has a flower f15 (1), the branch (stem) B1 has a flower f15 (2) and a flower f15 (3), and the branch (stem) B2 has a flower f15 (4) and a flower f15 ( 5), but the flower f15 (6) has arrived at the branch (stem) B3.

  Further, the IC tags Tag0 to Tag3 are attached to the plant 9 corresponding to the trunk (stem) B0 and the branches (stems) B1 to B3, respectively. The IC tag Tag1 is attached to a position near the root of the trunk (stem) B0 and corresponds to the trunk (stem) B0. The IC tags Tag2 to Tag4 are attached at positions near the branch points N1 to N3, the IC tag Tag2 is on the branch (stem) B1, the IC tag Tag2 is on the branch (stem) B2, and the IC tag Tag3 is on the branch ( Stem) B3, respectively.

FIG. 17B shows the trunk (stem) B0 and the branches (stems) B1 to B3 to which the IC tags Tag0 to Tag3 correspond respectively by broken arrows b0 to b3. For example, the IC tags Tag0 to Tag3 have IDs as identification information for specifying the positions of flowers or the pollination positions of the stems (stems) or branches (stems) in the sections indicated by broken arrows b0 to b3, respectively. Information is registered. The ID information is stored in the situation storage unit 230 in association with the branch structure (stem) of the plant 9.
Moreover, the branch structure of the branch (stem) of the plant 9 is detected by image processing from, for example, the captured image of the plant 9. The branch structure of the branch (stem) of the plant 9 is detected as a three-dimensional position coordinate by using the three-dimensional measurement method for the detected branch, and is three-dimensionally modeled and stored in the situation storage unit 230. .
Thereby, the pollination position detection part 722 of the pollination assistance apparatus 70 is based on ID information (identification information) detected by the identification information detection part 76, and the branch structure of the branch (stem) of the plant 9, respectively. The pollination position can be detected for each branch (stem).

  For example, in the plant 9 shown in FIGS. 17A and 17B, the pollination position detection unit 722 uses the stem (stem) B0 based on the ID information detected from the IC tag and the branch structure of the branch (stem). And the area | region corresponding to every branch (stem) B1-B3 is detected as a pollination position. As an example, the pollination position detection unit 722 uses the ID information of the IC tag Tag1 to identify the area corresponding to the branch (stem) B1, that is, the flowers f15 (2) and f15 ( 3) is detected as a pollination position. Similarly, the pollination position detection unit 722 determines, based on the ID information of the IC tag Tag2, the region corresponding to the branch (stem) B2, that is, the flowers f15 (4) and f15 (5) that have arrived at the branch (stem) B2. ) Is detected as a pollination position. Similarly, the flower f15 (1) is detected from the ID information of the IC tag Tag0, and the flower f15 (6) is detected as the pollination position from the ID information of the IC tag Tag3.

  In addition, the pollination position detection part 722 sets a pollination position for every position of the flower which has arrived at the branch (stem) corresponding to each ID information based on the ID information detected from the IC tag and the branch structure. It may be detected. For example, the pollination position detection unit 722 may detect the pollination position for each position of the flower f15 (2) and the position of the flower f15 (3) attached to the branch (stem) B1 based on the ID information of the IC tag Tag1. Good.

  Further, the position of the flower or the pollination position corresponding to each ID information, the position of the corresponding IC tag, or the IC corresponding to the main trunk (stem) of the plant 9 You may detect as a position coordinate on the basis of the position of a tag. For example, the pollination position detection unit 722 may detect the position of the flower f15 (2) and the position of the flower f15 (3) as position coordinates based on the position of the IC tag Tag1, or the position of the IC tag Tag0. You may detect as a position coordinate on the basis of a position.

  In addition, the pollination assisting device 70 may associate all the positions of the flowers or the pollination positions of the plants 9 with the ID information of the IC tag Tag0 corresponding to the main trunk (stem) of the plants 9. Good. For example, the pollination history information generation unit 724 generates pollination history information at all pollination positions of the plant 9 in association with the ID information of the IC tag Tag0 corresponding to the main trunk (stem) of the plant 9. Also good. That is, the pollination history information generation unit 724 may generate information on whether or not pollination has been completed for each seedling of the plant 9, for example.

Further, an IC tag (identifier) indicating identification information for specifying the pollination position may be attached to each flower of the plant 9.
FIGS. 17C and 17D show examples of position detection when an IC tag is attached to each flower of the plant 9. As shown in FIG. 17 (c), IC tags Tag11 to Tag16 are attached to the flowers f15 (1) to f15 (6), respectively. In this case, as shown in FIG. 17B, the positions of the flowers f15 (1) to f15 (6) are associated with the ID information of the IC tags Tag11 to Tag16 attached thereto. Thereby, the pollination position detection unit 722 can detect the pollination position for each flower of the plant 9 based on the ID information (identification information) detected by the identification information detection unit 76.
In addition, you may attach the IC tag (identifier) which shows the identification information which pinpoints the above-mentioned pollination position only to the pollination position after pollination. Thereby, it can be detected that the pollination position has been pollinated.

  Thus, the pollination assistance apparatus 70 uses the identification information by the IC tag attached to each branched branch (stem) of the plant 9 to thereby change the pollination position of the plant 9 to the branched branch (stem). The work efficiency can be increased by roughly determining each time. In addition, for example, even when the pollination position moves due to an internal or external factor in the growing environment, the pollination assisting device 70 is attached to each branch (stem) of the plant 9 or to each flower. By using the identification information by the IC tag, the pollination position (position coordinates) of the plant 9 can be accurately detected.

Note that the identification method using an IC tag as the identifier described above may be an identification method using another identifier, and is indicated by an encoded pattern such as a one-dimensional barcode or a matrix type two-dimensional code. It is good also as an identification method using the identifier made. When detecting ID information from these encoded patterns, the identification information detection unit 76 may be configured to detect via the reading device corresponding to each identifier, or may be imaged via the imaging unit 71. It is good also as a structure detected based on the performed image.
In addition, for example, information other than ID information such as pollination history information and information on the breeding status may be registered in the identifier.

  Moreover, the identification method using the above-mentioned identifier may be used in order to detect an actual position besides being used in order to detect a pollination position. By being used for detection of the actual position, the actual position can be detected in the same manner as the above-described pollination position based on the identification information by the identifier and the branch structure of the branch (stem) of the plant 9.

[Another embodiment of pollination assisting device]
Next, an example in which the pollination assisting device 70 is used when pollination work is performed on a plant 9 cultivated in a place other than the plant cultivation plant 4 will be described. That is, this example is an example in the case where there is no determination unit 200 and plant control unit 500 connected via the communication processing unit 590 in the pollination assisting apparatus 70 shown in FIG.

FIG. 18 is a diagram showing another embodiment of the pollination assisting device 70. In this figure, the example of the system configuration | structure in case a some worker performs a pollination operation | work using each pollination auxiliary | assistance apparatus is shown.
In this figure, a plurality of workers perform pollination using the pollination assisting devices 70A, 70B, 70C, 70D. Each of the pollination assisting devices 70A, 70B, 70C, 70D... Has the same configuration as the pollination assisting device 70 shown in FIG. 9, and communicates with the server 800 by wireless communication. The server 800 includes a storage unit 510 and a communication processing unit 890, and the storage unit 810 is based on information updated by each of the pollination assisting devices 70 </ b> A, 70 </ b> B, 70 </ b> C, 70 </ b> D through the communication processing unit 890. The data stored in is updated. That is, the data stored in the storage unit 810 is a collection of data updated by each of the pollination assisting devices 70A, 70B, 70C, 70D. And each of pollination auxiliary | assistance apparatus 70A, 70B, 70C, 70D ... can acquire the newest and consistent information by acquiring the information memorize | stored in the memory | storage part 810. FIG.

  Thereby, even if it is a case where a pollination operation | work is performed with respect to the plant 9 cultivated in places other than the plant cultivation plant 4, the pollination assistance apparatus 70 respond | corresponds to the image of the plant 9 imaged by the imaging part 71. In addition, pollination history information of the plant 9 can be displayed on the display unit 74.

As described above, the pollination assisting apparatus 70 according to the present embodiment displays the pollination history information of the plant 9 in association with the image of the plant 9 on the display unit 74, so that the operator can easily indicate the pollination state of the plant 9. Can be discriminated. For example, the pollination assisting device 70 can make the operator easily determine whether the pollination position (for example, the position of the flower) of the plant 9 has been pollinated. Moreover, the pollination auxiliary | assistance apparatus 70 is the appropriate pollination time of the pollination date (for example, flower position) of the pollination position (for example, flower position) of the pollination operation | work which the pollination operation | work of the plant 9 (for example, flower position) was not pollinated. Is displayed on the display unit 74, so that the operator can be notified easily.
Thereby, an operator prevents the loss of the labor and time that it pollinates once after having pollinated once with respect to a pollination position by referring to the display screen of the pollination assistance apparatus 70. At the same time, forgetting to put pollen on the pollination position can be prevented. Moreover, the operator can perform pollination work at an appropriate time with respect to the pollination position. Therefore, when the pollination operation is performed manually, the pollination assisting device 70 can improve the work efficiency of the worker's pollination operation.

The embodiment of the present invention has been described in detail with reference to the drawings. However, the specific configuration is not limited to this embodiment, and includes design and the like within a scope not departing from the gist of the present invention.
For example, the pollination work for the plant 9 is not limited to the case where the pollination work is performed only by the manual labor of the worker, and the pollination robot that performs the unmanned pollination work in addition to the manual pollination work by the worker. For example, pollination work may be performed jointly. In that case, the pollination history information generated by the pollination assisting device 70 according to the pollination operation by the worker and the pollination history information generated according to the pollination operation by the pollination robot are stored in the status storage unit 230 or the storage unit 77. It is good also as a structure which is memorize | stored and each pollination log | history information is managed centrally.

  In the configuration shown in FIG. 3, the plant control unit 500 may be connected to the plurality of pollination assisting devices 70 via the communication processing unit 590.

In addition, when the pollination assisting device 70 stores information via wireless communication or the like in an external storage device (for example, the status storage unit 230 in FIG. 3 or the storage unit 810 in FIG. 18), the pollination assisting device 70 is inside. The information may not be stored, or the pollination assisting device 70 may not include the storage unit 77 inside.
Moreover, when the pollination assistance apparatus 70 is equipped with the memory | storage part 77 inside, the structure which is not memorize | stored in an external memory | storage part may be sufficient. For example, when pollination work is performed by a plurality of pollination assisting devices 70, each storage unit 77 provided in the plurality of pollination assisting devices 70 has a predetermined time interval so that the stored information does not become inconsistent. It is good also as a structure which takes synchronization by. Moreover, when the pollination auxiliary | assistance apparatus 70 is equipped with the memory | storage part 77 inside, the pollination auxiliary | assistance apparatus 70 is not used in combination with the plant cultivation system 1 or the server 800, but one pollination auxiliary | assistance apparatus 70 is used independently. Pollination work may be performed.

  Moreover, although the pollination auxiliary | assistance apparatus 70 showed about the form by which each part shown in FIG. 9 was comprised as an integrated type, it is good also as a structure by which the structure of each part was isolate | separated. For example, the pollination assisting apparatus 70 may have a configuration in which the display unit 74 is separated or a configuration in which the imaging unit 71 is separated.

Further, the pollination assisting device 70 or the display unit 74 of the pollination assisting device 70 may be in the form of a glasses-type display (head mounted display). That is, the display unit 74 may be provided in a range that blocks the visual field of the operator (user) with respect to the plant 9 to be detected.
For example, the pollination assisting device 70 in the form of a glasses-type display includes an imaging unit that images the direction of the line of sight of an operator wearing the glasses-type display, and the plant 9 captured by the imaging unit. The image is displayed on the display unit 74 and the captured pollination history information of the plant 9 is displayed on the display unit 74 in association with the image of the plant 9.
In addition, the pollination auxiliary | assistance apparatus 70 which is a form of a glasses-type display may display the pollination history information of the plant 9 on the display part 74, without displaying the image of the plant 9 imaged by the imaging part. That is, the eyeglass-type display may display the pollination history information of the plant 9 on the display unit 74 in association with the optical image of the subject (the detection target plant 9) ahead of the wearer's line of sight. In this case, the display unit 74 is, for example, a transmissive liquid crystal display, transmits an optical image of the subject (the plant 9 to be detected) to reach the operator's eyes, and displays display information such as pollination history information. In association with the pollination position of the plant 9 as an optical image, the pollination history information of the pollination position is displayed. Note that. The pollination assisting device 70 in the form of an eyeglass-type display that transmits an optical image is configured by using a half mirror, and is capable of visually recognizing the transmitted optical image and display information projected on the surface of the half mirror. There may be.

  Moreover, in the structure shown in FIG. 3, the plant control part 500 does not need to provide independently, It is good also as a form which controls a some plant cultivation system.

  Moreover, the plant cultivation plant 4 of this embodiment does not restrict | limit that it is a land facility. For example, the plant cultivation plant 4 can also move on the sea by providing a moving means for navigating on the water. The plant cultivation plant 4 can reduce the temperature difference between the climate and the plant cultivation plant by moving to an appropriate latitude according to the temperature fluctuations of the four seasons, and the loss due to the air conditioning equipment and water temperature control equipment Can be reduced. For example, the movement may be set according to the four seasons and be about four times.

  For example, the plant cultivation plant 4 can construct | assemble the environment with few changes of temperature by constructing in the ground and underwater.

  In addition, the above-mentioned plant cultivation system 1, the mobile detection apparatus 40, and the pollination auxiliary | assistance apparatus 70 have a computer system inside. The operation process of each functional unit is stored in a computer-readable recording medium in the form of a program, and the above processing is performed by the computer system reading and executing the program. The computer system here includes a CPU, various memories, an OS, and hardware such as peripheral devices.

Further, the “computer system” includes a homepage providing environment (or display environment) if a WWW system is used.
The “computer-readable recording medium” refers to a storage device such as a flexible medium, a magneto-optical disk, a portable medium such as a ROM and a CD-ROM, and a hard disk incorporated in a computer system. Furthermore, the “computer-readable recording medium” dynamically holds a program for a short time like a communication line when transmitting a program via a network such as the Internet or a communication line such as a telephone line. In this case, a volatile memory in a computer system serving as a server or a client in that case, and a program that holds a program for a certain period of time are also included. The program may be a program for realizing a part of the functions described above, and may be a program capable of realizing the functions described above in combination with a program already recorded in a computer system.

  9 plant, 70 pollination assisting device, 71 imaging unit, 74 display unit, 76 identification information detection unit, 76R RFID reader (reception unit), 77 storage unit, 724 pollination history information generation unit, 731 display control unit

Claims (13)

A display control unit that reads the pollination history information of the detection target from a storage unit that stores the pollination history information of the plant that is the detection target, and causes the display unit to display the pollination history information in association with an image based on the detection target;
A pollination assisting device comprising: An imaging unit for imaging the detection target;
With
The display control unit
The pollination assisting apparatus according to claim 1, wherein the read pollination history information is displayed in association with an image based on the captured detection target that is an image based on the detection target. Based on the captured image of the detection target, generate information indicating whether or not the pollination history information of the detection target has been pollinated, and store the pollination history information generation unit in the storage unit,
With
The display control unit
The pollination assistance according to claim 2, wherein information indicating whether or not the pollination has been completed is displayed in association with the image based on the captured detection target based on the read pollination history information. apparatus. The pollination history information generation unit
In association with the position of the detection target, generate the pollination history information of the detection target,
The display control unit
The pollination history information associated with the position of the detection target is displayed in association with the image based on the imaged detection target based on the read pollination history information. Pollination assist device. The pollination history information generation unit
The pollination assistance according to claim 3 or 4, wherein the pollination history information of the detection target is generated in association with the position of the detection target generated based on the three-dimensional model of the detection target. apparatus. In the storage unit, information indicating an appropriate pollination time calculated based on the growth status of the detection target observed in advance is stored in association with the detection target,
The display control unit
The appropriate pollination time of the detection target is read from the storage unit, and the appropriate pollination time is displayed in association with an image based on the detection target. The pollination auxiliary device according to item. An identifier indicating identification information that identifies the position of the detection target is attached to the detection target,
An identification information detector for detecting the identification information from the identifier;
The pollination assistance apparatus according to any one of claims 1 to 6, further comprising: The identifier is RFID;
A receiving unit for receiving information from the RFID;
The pollination assistance apparatus according to claim 7, comprising: The identifier is
The pollination assisting device according to claim 7 or 8, wherein the pollination assisting device is indicated by an encoded pattern. The identifier is
The pollination assisting apparatus according to any one of claims 7 to 9, wherein the pollination assisting apparatus is attached in association with a branch portion of the branch to be detected. The identifier is
The pollination assisting apparatus according to any one of claims 7 to 10, wherein the pollination assisting apparatus is attached in association with the flower to be detected. The display unit
It is provided in the range which interrupts a user's visual field with respect to the said detection target. The pollination assistance apparatus of any one of Claims 1-11 characterized by the above-mentioned. To the computer as an auxiliary pollination device,
A display control procedure for reading the pollination history information of the detection target from the storage unit storing the pollination history information of the plant that is the detection target, and displaying the pollination history information on the display unit in association with the image based on the detection target;
A program for running

Images