JP5593255B2 - Vegetation control device, plant breeding system - Google Patents

Description

  The present invention relates to a technique for controlling plant growth.

  In recent years, with the aim of uniforming the degree of growth of crops and stabilizing the yield and quality, efforts have been made for precision farming methods that adjust the fertilization amount, etc. based on the analysis results of soil and growing plants in the field. It is out. In addition, examples of managed farming methods using closed horticultural facilities have been seen.

  In a closed type horticultural facility that uses only artificial light to completely control plant growth, the plant grows more uniform by adjusting the wavelength and intensity of light applied to the plant according to the degree of plant growth. I am trying. For some plants, it has also been experimentally clarified that expected growth is observed when only light of a specific wavelength is irradiated at a certain growth stage. If a plant body is grown based on this knowledge, the stability of the growth and the stability of the yield are realized as compared with open field cultivation or the like. Therefore, the closed gardening facilities as described above have appeared. Such a horticultural facility is called a “plant factory” because of the expectation that it can supply plants stably.

  As an invention related to a plant factory, in Patent Document 1 below, a seedling image is taken using a CCD camera, the length of the leaf and the area of the leaf are analyzed, and the wavelength of light irradiated to the seedling from the projector according to the result “Plant cultivation apparatus and method” for changing strength and time are disclosed.

  Further, in Patent Document 2 below, the plant body is elongated by irradiating light containing a relatively large amount of infrared light in the early stage of plant seedling growth, and infrared light is emitted in the flower bud formation period or the maturity period such as fruit. A "plant irradiation light irradiation method and apparatus" that switches to light irradiation containing less is disclosed.

JP 2004-121033 A JP 2001-57816 A

  Horticultural facilities are categorized as a light source that uses only artificial light to grow crops, a method that uses both sunlight and artificial light to grow crops, and a method that uses only sunlight to grow crops. . In the present specification, these will be referred to as a closed type (fully controlled type), a semi-closed type (with sunlight combination type), and a light open type (horticultural facility or plant factory), respectively.

  Appropriate temperature, sunlight, moisture, and nutrients are required for plant growth. Also, the conditions required at each stage of growth vary. In this regard, in outdoor cultivation, since most of these conditions are governed by the weather, it is not easy to equalize the amount and quality of the plant to be grown, and a great deal of labor is required. Nutrients can be controlled to some extent by adjusting the amount of fertilizer applied to the soil, but it is difficult to adjust moisture, temperature and sunshine in the open ground. In order to deal with such problems, a cultivation method using a simple house equipped with a rain shield and a light-shielding curtain has come to be used. Furthermore, horticultural facilities equipped with air-conditioning equipment such as air blowing and air conditioning are also used to adjust the temperature. In recent years, fully controlled horticultural facilities (fully controlled plant factories) that can control all conditions including the amount of sunlight and spectrum have also appeared.

  A fully controlled horticultural facility can control most parameters related to plant growth and therefore has the highest quality stability. However, it is inevitable that the operation cost such as electric power to cover the amount of light necessary for growing the plant body and the cost for facility construction increase. For this reason, the combination with other methods is continuing while observing the balance with the demand price of the product. Such operation and production costs are generally increased toward the tunnel type, the rain protection type, the simple house type, the steel house type, the solar combined type, and the fully controlled type, with open field cultivation as the lower limit. On the other hand, the number of items that can be controlled decreases toward open field cultivation, with the upper limit being fully controlled.

  Since each vegetation control device (including for outdoor use) currently owned by each producer is different, and the subsequent investment plan is also different, there is an optimum vegetation control device and vegetation control method for each producer. Furthermore, the optimal vegetation control device and vegetation control method differ for the same producer at different times. Therefore, it is expected that each control device and control method will be used in the future.

  When the equipment provided in the horticultural facility is different, the vegetation control device for controlling the equipment is also different. For example, the light sources provided in closed facilities, semi-closed facilities, and light-open facilities have different characteristics, so take a picture of the plant with a camera, measure the growth state, and control the light source to make the growth state uniform In this case, the conditions suitable for camera photography vary depending on the characteristics of the light source provided in each facility. Therefore, it is necessary to provide a vegetation control device individually according to the characteristics of each light source, and costs and labor for individually customizing the vegetation control device are required.

  The present invention has been made to solve the above-described problems, and an object of the present invention is to provide a vegetation control apparatus capable of dealing with various types of light sources provided in various gardening facilities.

  The vegetation control device according to the present invention captures a plurality of spectral images in a state where a light source that is not a disturbance light source is stopped, and the incident light is in a state suitable for camera photographing when the spectral images coincide with each other. Is determined.

  According to the vegetation control apparatus according to the present invention, it is possible to capture a spectrum image at a time point when the influence of the disturbance light source on the spectrum image is small. As a result, even when the disturbance light source varies depending on the type of horticultural equipment, it is possible to measure the growing state using the spectrum image without individually customizing the shooting conditions and the like.

1 is a configuration diagram of a plant growing system 1 according to Embodiment 1. FIG. It is a functional block diagram of an optical system control apparatus (110). It is a functional block diagram of an analyzer (111). It is a functional block diagram of a crop cultivation control device (112). It is a functional block diagram of a user terminal (113). It is a flowchart which shows the operation | movement procedure of the plant cultivation system 1. It is a detailed processing flow of step S103 of FIG. It is a detailed processing flow of step S108 of FIG. It is a timing chart which shows the operation example which implements imaging | photography with a camera (106) at the timing judged with the optical system control apparatus (110) being suitable for imaging | photography. It is a timing chart which shows another operation example which implements imaging | photography with a camera (106) at the timing judged with the optical system control apparatus (110) being suitable for imaging | photography. It is the figure which looked at the breeding shelf (102) from right above. It is a side view which shows arrangement | positioning of a camera (106). It is a detailed processing flow of Step S103 in Embodiment 2. It is a detailed processing flow of step S103 in Embodiment 3. It is a flowchart which shows the operation | movement procedure of the plant cultivation system 1 in Embodiment 4. It is a functional block diagram of a computer (200).

<Embodiment 1>
Below, the basic terminology used in the embodiment of the present invention and the concept of growth control will be described first, and then the configuration of the embodiment will be described using the drawings.

<Embodiment 1: Explanation of terms>
In the present invention, the light source capable of controlling blinking means a light source capable of controlling turning on and off from the outside. The light source is designed to irradiate light of a predetermined wavelength. It is assumed that the intensity of irradiation is designed so that it can be changed by changing the amount of power supplied from the power source or setting. That is, the light source is connected to receive power supply based on an instruction from the optical system control device 110 described later, and the optical system control device 110 increases the power supply amount to the power source to irradiate the light source. The intensity (illuminance) of the light source can be reduced by increasing the intensity (illuminance) or reducing the amount of power supply. Alternatively, the power supply amount to the light source is constant, and an instruction to increase or decrease the irradiation intensity is transmitted to the light source through the wiring, and the light source controls the irradiation intensity accordingly. You can also The means for transmitting this instruction can be arbitrarily designed. For example, the instruction may be transmitted by raising or lowering the voltage of the transmission wiring, or the command code for changing the irradiation intensity is repeatedly changed between HIGH / LOW. It may be transmitted as a pulse signal. Further, the same light source may be configured using a plurality of light sources, and the brightness of the entire light source may be adjusted by turning on and off some of the light sources. The blinking response speed is not particularly limited, but it is desirable to use a light source that loses afterglow in a short time, rather than using a light source that shows long afterglow. Although the criteria for determining afterglow length vary depending on the case, for example, a light source that causes the afterglow to disappear after about 3 seconds is used as a boundary.

  The characteristics of the wavelength of light emitted by the light source can be expressed as, for example, “includes a wavelength included in the range of 400 nm to 450 nm with a bandwidth of 50 nm”. The intensity of illumination may be uniform over the entire bandwidth, or only certain wavelengths may be strong or weak. The characteristics of the light source to be used can be set at the time of plant growth, but it is desirable to use a pattern of wavelength and intensity that can mainly control plant growth. If it is not clear which wavelengths and intensities are effective at all growth stages of the plant to be grown, use a light source that can irradiate light with a broad wavelength range, such as a white light source. Also good.

  A plurality of light sources may be provided. The plurality of light sources can control blinking independently. For example, consider the case of two light sources. Only the first light source can be turned on at a certain timing, and the second light source can be turned off during the period. The reverse is also possible. Further, both can be turned on simultaneously or turned off.

  When three or more light sources are provided, there may be a case where not all the light sources can be blinked independently. In this case, it is sufficient that at least these three light sources can be divided into two groups that can be blinked independently of each other. The reason will be described below.

  For example, consider a case where a light source including a wavelength of 400 nm to 450 nm with a bandwidth of 50 nm is desired. If only one light source can output only a bandwidth of 25 nm, the first light source emits a wavelength of 400 nm to 425 nm over a bandwidth of 25 nm, and the second light source has a wavelength of 425 nm to 450 nm. Is arranged over a bandwidth of 25 nm, and two light sources are arranged adjacent to each other. Thereby, it can comprise so that the light of a wavelength of 400 nm-450 nm may be irradiated. In this case, even if these two light sources cannot control blinking independently of each other, there is substantially no problem. Of course, there is no problem as long as these two light sources can control blinking independently of each other.

  In vegetation analysis, it may be necessary to separate and analyze responses to light of adjacent wavelengths as described above, so it may be desirable to configure so that blinking can be controlled independently. . In the first embodiment, in order to observe a difference between different wavelengths, it is assumed that at least two light sources capable of independently controlling blinking are provided.

  Furthermore, light sources are classified into light sources in which the spectrum and intensity of light to be irradiated are stable over time and light sources in which they vary over time. In the present invention, the former is called a stable light source and the latter is called a variable light source. It is time that determines the boundary between stability and variation, which varies depending on the method of implementation. For example, when shooting with a camera having an exposure time of 1/60 second, a light source having a constant spectrum and irradiation intensity over 1/60 second (about 167 ms) is regarded as a stable light source candidate. Can do. A light source whose spectrum and irradiation intensity change at a speed of less than 1/60 second can be regarded as a candidate for a variable light source. On the other hand, if one image is taken every 10 seconds, a light source having a constant spectrum and irradiation intensity every 10 seconds is regarded as a stable light source candidate. What is regarded as a stable light source candidate in both of these meanings is a stable light source in the present invention, and what is regarded as a variable light source candidate in any meaning is a variable light source in the present invention.

  It should be noted here that the stable light source and the variable light source are separated based on the two parameters of the imaging speed and the imaging interval. For example, the shorter the exposure time and the shorter the shooting interval, the more stable light source candidates. Based on such properties, a light source and a camera used for carrying out the present invention are set.

<Embodiment 1: Explanation of basic operation: shooting timing>
Next, the operation when the plant growing system 1 according to the first embodiment captures an image for performing vegetation analysis will be described. The plant growing system 1 according to the first embodiment includes means for determining the timing for capturing an image and means for performing imaging at the determined timing.

  The plant growing system 1 according to the first embodiment first determines whether or not a predetermined time has elapsed since the previous shooting. If the predetermined time has not elapsed, the system waits. When the predetermined time has elapsed, in order to determine the timing for capturing an image, the output of the light source that can control blinking is stopped, and then two capturing operations are performed. The shooting interval can be set freely, but it may be set to several seconds, and the interval may be varied using a random number generator so that the interval varies every time. By providing such variation, the probability that the presence of a light source that fluctuates at a certain unknown period can be detected is improved.

  Further, from the data table in which a plurality of shooting interval values are recorded in advance or the data table in which past actual shooting intervals are recorded, the shooting interval values may be sequentially or randomly extracted to determine the shooting interval. After following an imaging interval set at random any number of times, an optimal interval may be determined from the past results. As a method for selecting the optimum value, for example, at least an implementation form using a median value (median), using an average value, using a maximum value, or using a minimum value is cited.

  The camera used in the first embodiment is sensitive to at least all output wavelengths of a stable light source that can control blinking. That is, the intensity of the reflected light or transmitted light of the light source that is sequentially turned on can be photographed. On the other hand, the output wavelength of a light source that cannot control blinking does not necessarily have sensitivity to all output wavelengths. This is because the plant growing system 1 according to the first embodiment performs vegetation analysis using a light source that can control blinking. Nonetheless, it is useful to have sensitivity to light in the visible light band, especially when performing vegetation analysis such as outline inspection, so the output wavelength of the light source that can control blinking includes light in that band. Even if not, the camera may be designed to have sensitivity in the same band.

  In determining the timing for capturing an image, a difference is calculated between the first captured image and the second captured image. If this difference value is greater than or equal to a predetermined value, it means that there is a fluctuating light source at that time as a light source for which blinking cannot be controlled, so it is determined that the timing is not appropriate. If this predetermined value is set to 0, it corresponds to setting on the condition that the first captured image and the second captured image completely coincide.

  However, since it is rare that a plurality of captured images completely match due to the influence of thermal noise of a general camera, the predetermined value 0 is not different from the influence of thermal noise. It is reasonable to set the judgment condition to mean. For example, thermal noise is modeled as an effect that adds or subtracts a random number to the lower-order bits of each pixel value of a captured image, and the difference of the lower-order bits is ignored when comparing images. It is done.

  If the result that the photographing timing is appropriate is obtained, the plant growing system 1 photographs reflected light or transmitted light using a camera while sequentially blinking a stable light source capable of controlling blinking. That is, since shooting is performed by the number of stable light sources that can control blinking, the first light source is turned on and the other light sources are turned off in the first shooting. In the second shooting, the second light source is turned on and the other light sources are turned off. The process of determining the shooting timing is repeated until a predetermined number of images are shot.

  The order of shooting is not necessarily determined. For example, in the first shooting, the third light source may be turned on and the other light sources may be turned off, and in the second shooting, the first light source may be turned on and the other light sources may be turned off. In addition to determining this order in advance, the order may be determined randomly in each vegetation analysis using a random number generator. By determining the order at random, the response depending on the light receiving order of the observation target can be relaxed, while the possibility of finding a new light receiving order dependent characteristic can be increased.

  For example, in the case of irradiation in the order of blue → red and irradiation in the order of red → blue, if the response of the observation target to the second irradiation is different, it can be detected. On the other hand, if you always irradiate in the order of blue → red, you will not get the chance of such discovery. However, if it is clear that an appropriate irradiation order already exists, it is desirable to set the order according to that order rather than random.

  The image captured as described above represents information related to the irradiation light wavelength (spectrum) of a stable light source capable of controlling blinking, and is therefore referred to as a spectral image in this specification. A spectrum image obtained from a stable light source capable of controlling a plurality of blinks is called a multispectral image as a set. Further, light of a specific wavelength from these light source groups is called spectral light, and when expressed as a set, it is called multispectral light.

<Embodiment 1: Explanation of basic operation: Feature amount representing growing state>
The plant growing system 1 according to the first embodiment performs vegetation analysis using a multispectral image. When performing vegetation analysis, feature quantities having a correlation with the growing state of the plant to be observed are calculated from the multispectral image. Although there are various types of such feature quantities, a typical example is a normalized vegetation index (NDVI).

  NDVI is a value calculated as NDVI = (NIR−R) / (NIR + R) using the reflectance NIR of near infrared light and the reflectance R of red light. This utilizes the fact that healthy plants rich in chlorophyll absorb red light by chlorophyll while reflecting near infrared light. If the NDVI value is high, the plant can be considered healthy. This knowledge is used in a chlorophyll measuring instrument called a SPAD meter. The SPAD meter is used for supporting determination of topdressing timing in farming. Also in the plant growing system 1 according to the first embodiment, it is possible to calculate the growing state of the plant body using the NDVI value.

  Since the SPAD meter performs measurement by sandwiching plant leaves in an apparatus and creating a local darkroom, it is difficult to measure many plants, whereas the plant growing system according to the first embodiment 1 can calculate the NDVI values of many plants in one image. The reason for this will be described below.

  In obtaining the reflectance for calculating NDVI, it is necessary to exclude the influence of unknown external light. The term “external light” as used herein means a disturbance light source that cannot control blinking, particularly a variable light source. Regarding the stable light source among the disturbance light sources, even if the blinking cannot be controlled, it is not always necessary to exclude the influence. The SPAD meter eliminates the influence of external light by creating a local darkroom. As a result, it is difficult to increase the size of the SPAD meter system as it is. A closed plant factory can block outside light, but other facilities, such as a semi-closed type, cannot block outside light. Even in the closed type, not all light sources are necessarily under control, and there is external light such as fluorescent lights for human work, and it is difficult to increase the size of the SPAD meter as it is. It is. Furthermore, since the SPAD meter is configured to eliminate the influence of the stable light source by creating a dark room, it is redundant in terms of equipment. On the other hand, the plant growing system 1 according to the first embodiment excludes the influence of the external light by selecting the timing when there is no fluctuation of the external light and taking the spectrum image, so that a dark room is provided like a SPAD meter. There is no need to provide it and it is highly versatile.

<Embodiment 1: Explanation of basic operation: Another example of feature amount representing growing state>
The feature quantity used for the vegetation analysis by the plant growing system 1 according to the first embodiment is not only the NDVI value. In addition to NIR and R, blue light reflectance B, green light reflectance G, and vegetation index GNDVI = (NIR-G) / (NIR + G), (GR) / (G + R), A value such as (R−B) / (R + B) can be used. In addition, the reflectance of light of a specific wavelength, and other normalized index values of multiple wavelengths (values obtained by substituting each reflectance into a formula according to NDVI, and further adjustment by adding / subtracting arbitrarily set values) Can also be used.

  Moreover, not only the calculation between spectrum images but the shape of a plant body can be read from a certain spectrum image, and it can also be made into a feature-value. For example, the leaf area is a good index representing the growth progress of a plant body, and this can be efficiently calculated using a spectral image for green light. The position of the plant body in the spectrum image can be extracted using a spectrum image obtained by photographing reflection and transmission of near-infrared light. This is mainly because the reflection characteristics of near-infrared light are different between the soil portion and the plant portion of the growing shelf. That is, if the position of the plant body is extracted from the spectrum image of near-infrared light, the health value of the leaf of the plant body is increased by integrating the luminance value of the extracted plant body position from the spectrum image of green light. Can be caught. Further, the leaf area can be extracted by analyzing the distribution of the green light spectrum image with the extracted position as the center. Similarly, if a spectral image obtained by photographing the transmission of near-infrared light is used, the length and number of veins contained in the leaf and the planar distribution can be observed. Furthermore, the growth variation of the plant body can be predicted from these values.

  The calculation method of these feature-values can be arbitrarily designed and selected according to the output wavelength and intensity | strength of the stable light source which the plant growing system 1 which concerns on this Embodiment 1 which can control blinking. There are several known wavelengths that correlate with vegetation. For example, the wavelength around 450 nm (blue), the wavelength near 650 nm (red), the absorption band of chlorophyll, the wavelength near 800 nm with high reflectance in vegetation, and the absorption of moisture Light sources with various wavelengths such as a wavelength around 1.4 um or 1.9 um, which is a band, can be used. A light source group may be prepared so as to cover all of these, or only a part thereof may be covered. Since the wavelength band of visible light is also suitable for analyzing the morphology of the plant body, it may be covered. On the other hand, in facilities equipped with fluorescent lamps that cannot control flickering as external light, the effects of external light can be obtained by taking images using light in the infrared region and light in the ultraviolet region that the fluorescent lamp hardly irradiates. Vegetation analysis can be performed without receiving.

<Embodiment 1: Explanation of basic operation: Removal of shadow region>
When there is external light that moves with time, such as the sun, the shadow of the facility may enter a part of the spectrum image. There are various methods for detecting a shadow region, such as a method for analyzing a luminance distribution in an image and a method for comparing a plurality of images.

  It is possible to freely set whether the analysis is performed by excluding only a partial area in the image in which the shadow is inserted, or whether the image is taken again with the image itself invalid. If the analysis is performed with only a part of the area excluded, the analysis is performed by managing which area in the image is the analysis target and clearly indicating to the user the area that has not been analyzed. It is possible to give the user an opportunity to determine whether the process is performed with an acceptable degree of accuracy. At this time, it is confirmed in advance in the database which location in the facility each pixel of the image corresponds to, such as the actual growth shelf, and which part in the facility was used for analysis It may be as illustrated above. Such an auxiliary display is effective in helping the user to understand and more easily confirming the integrity of the system.

  Such a database is stored, for example, in a storage device in the analysis device 111 described later, and is configured to be referred to as appropriate when the analysis device 111 transmits the analysis result or displays the analysis result. Is appropriate. On the other hand, a part or all of such a database function is provided on the user terminal 113 side to be described later, and the analysis device 111 manages only information such as the shooting angle of the camera, and the actual position on the user terminal 113 side. You may make it confirm. As a result, the analyzer 111 can be used for a wide range of environments, which is effective for cost reduction.

<Embodiment 1: Explanation of basic operation: Plant growth>
The crop growth control device 112, which will be described later, refers to the feature quantities representing the above-described growth state, and controls the growth of the crop so that they are made uniform on the surface of the growth shelf. That is, the growing state is controlled so that the degree of cultivation of the crop becomes uniform and the number of crops that grow faster or slower than others is as small as possible. The crop growing control device 112 adjusts part or all of parameters such as the amount of light, water, and nutrients given to the plant body as means for that purpose. A part or all of these may be freely combined. This control may be automatically performed by the crop growth control device 112, or the crop growth control device 112 may only present the control content, and the actual work may be manually performed by a human.

  There is a difference in the speed of influence of growing means such as light, water, and nutrients on the plant body, and the effect is different at each stage of growth. For example, when a certain plant body is irradiated with infrared light, an effect of accelerating elongation is recognized, but the effect is limited to an early stage of growth, and a special effect cannot be expected in the later stage. . The required amount of water varies depending on the size of the plant, and the nutrient required for the early stage of growth and the required nutrient for the later stage are different.

  Information regarding the set values for each of the growing means is recorded as a table as a growing model in the storage device in the crop growing control device 112. By searching the growth model table using the growth stage as a key, appropriate setting items and setting values can be read out. For example, when it is necessary to control the amount of light irradiation to accelerate the growth of the plant body, more light is irradiated than the set value read from the growth model table. In addition, when it is necessary to slow down the growth, light that is less than the set value read from the growth model table is irradiated. An example of light that affects growth is light in the thermal infrared region. Since the light in the thermal infrared region has an effect of increasing the temperature of the plant body, it can partially increase the temperature and promote growth.

  The degree of resolution at which growth can be adjusted can be designed as needed by adjusting the irradiation range and number of light sources. The plant growing system 1 according to the first embodiment is not configured to automatically adjust the amount of water and nutrients, but this is based on the assumption that the water and nutrients are given sufficiently evenly. It is because. These are based on the assumption that each farming mode can be improved by the farmer's hand and that the frequency of control is low compared to the control of the light irradiation amount. But in order to accelerate | stimulate further automation, it is easy to provide the mechanism which controls these in some plant growth systems 1 which concern on this Embodiment 1. FIG. For example, the crop growth control device 112 may be configured to calculate the supply amount of moisture and nutrients and output the instruction. In that case, the amount of water and the amount of nutrients at each growth stage are recorded in the growth model table recorded in the database.

  In order to control plant growth, it is important to understand the stage of plant growth. Therefore, the accumulated time, the accumulated temperature, the accumulated light irradiation amount, etc. after sowing or transplanting the plant body can be used.

  The accumulated time is calculated by the analyzer 111 described later. The analyzer 111 starts the calculation from the timing of sowing and transplantation. The integrated temperature is calculated by accumulating information from the temperature sensor. The integrated light irradiation amount is calculated by accumulating measurement results from a light meter (a camera may also serve as a light meter).

  If the above parameters are managed from the time of sowing, the management may be started with these initial values set to zero. In addition, initial values such as an integration time, an integration temperature, and an integrated light irradiation amount at the transplantation stage may be given by the user using the user terminal 113. Alternatively, the user inputs only the sowing date to the user terminal 113, and the user terminal 113 automatically inquires the weather information center or the like based on the preset area information and plant body information, and sets an appropriate initial value. It may be set internally.

  For the integrated temperature and the integrated light irradiation amount, a threshold value is set for determining whether or not the instantaneous measurement value is included in the integrated value. For example, if the average temperature in a certain period such as 24 hours is smaller than a predetermined value, the instantaneous measurement value at that time is not counted as the integrated temperature. There are various ways of setting this threshold value. For example, the average temperature may be calculated using only a period in which the amount of sunlight is greater than a certain amount.

  This threshold value can also be set individually for each plant. For example, when growing a plurality of types of plants in a facility using the plant growing system 1 according to the first embodiment, or when growing plants with different sowing times, a plurality of accumulated times, accumulated temperatures, and accumulated light Manage the dose. These may be recorded in the form of a database using the plant body number as a key, or may be recorded in the form of a database using the coordinates of the growing shelf as a key. If the management method uses the coordinates of the growing shelf as a key, information can be managed for each part even in the same plant body, so that more precise management can be performed. On the other hand, it is necessary to replace the measurement result of the light meter or the temperature sensor with one having a resolution corresponding thereto, or to obtain a value representative of the corresponding resolution by calculation. If it is the former, it can respond easily. In the latter case, a process of calculating the difference in how the light hits each coordinate using the spectrum image and estimating the light quantity and temperature for each coordinate based on the difference is performed.

  The basic terms used in the first embodiment and the concept of breeding control have been described above. Below, the structure of the plant cultivation system 1 is demonstrated using drawing.

<Embodiment 1: System configuration>
FIG. 1 is a configuration diagram of a plant growing system 1 according to the first embodiment. The plant growing system 1 includes a horticultural facility (100), a growing shelf (102), an out-of-facility uncontrollable light source (103), an in-facility uncontrollable light source (104), a controllable unstable light source (105), a camera (106), Controllable stable light source group (107), light quantity sensor (108), environment sensor (109), optical system control device (110), analysis device (111), crop growth control device (112), user terminal (113) . The “vegetation control device” according to the present invention corresponds to the optical system control device (110).

  The horticultural facility (100) is a facility for growing a plant body, and is connected to each control device and the user terminal (113) via a wiring (101). The growth shelf (102) is a shelf for growing plants. The out-of-facility impossible control light source (103) exists outside the horticultural facility (100) among the light sources that cannot control blinking. The in-facility uncontrollable light source (104) is present in the horticultural facility (100) among the light sources that cannot control blinking. The controllable unstable light source (105) is a light source that can control blinking and whose emission spectrum and its intensity are not temporally stable. The camera (106) measures reflected light or transmitted light of light emitted from each light source toward the growth shelf (102). The controllable stable light source group (107) is a light source group that can control blinking and whose emission spectrum and its intensity are temporally stable. The light amount sensor (108) is a sensor that measures the amount of light around the growth shelf (102). A camera can be used instead. The environmental sensor (109) is a sensor that measures temperature, humidity, sunlight, etc. around the growth shelf (102).

  The wiring (101) includes a controllable unstable light source (105), a camera (106), a controllable stable light source group (107), a light quantity sensor (108), an environment sensor (109), an optical system control device (110), and an analysis. A device (111), a crop cultivation control device (112), and a user terminal (113) are connected. On the growth shelf (102), the plant bodies (1021, 1022) are grown.

  FIG. 1 shows a configuration in which the optical system control device (110), the analysis device (111), the crop cultivation control device (112), and the user terminal (113) are installed outside the horticultural facility (100). However, each of these devices may be installed in the garden facility (100). In addition, only the user terminal (113) may be arranged outside the horticultural facility (100) such as a farmer's office, and each control device may be operated from a distance of the horticultural facility (100). You may comprise so that some or all of each control apparatus may be shared between gardening facilities (100). Each apparatus can be installed in various forms as long as the function of the system is not impaired.

  FIG. 2 is a functional block diagram of the optical system control device (110). The optical system control device (110) controls blinking of each light source, and determines whether the light source state in the shooting environment is suitable for shooting by the camera (106). The optical system control device (110) is connected to a light source (105, 107), a camera and a sensor group (106, 108, 109) that can control blinking via a wiring (101). Information can be exchanged with the device. In addition, information can be exchanged with the analysis device (111), the crop growth control device (112), and the user terminal (113) through the wiring (101).

  The optical system control device (110) includes a camera control unit (1101), a light source control unit (1102), a light state reception unit (1103), a light state determination unit (1104), a control information reception unit (1105), and a data storage unit. (1106).

  The camera control unit (1101) controls the camera (106) used when taking a spectrum image. The light source control unit (1102) controls blinking of the light sources (105, 107) that can control blinking. The light state receiver (1103) receives the measurement result from the light amount sensor (108). The light state determination unit (1104) is based on the measurement result received by the light state reception unit (1103), and whether the light source state around the growth shelf (102) is suitable for the camera (106) to capture a spectrum image. Determine whether or not. The control information receiving unit (1105) receives the light source strength setting value from the crop growth control device (112) and the user terminal (113). The data storage unit (1106) stores an output setting value of the light source, a light state, a control history, and the like.

  FIG. 3 is a functional block diagram of the analysis apparatus (111). The analysis device (111) is a device that analyzes the growing state of the plant bodies (1021, 1022) based on the measurement results of each sensor and camera. The analyzer (111) is connected to the camera and the sensor group (106, 108, 109) via the wiring (101), and can exchange information with these. In addition, information can be exchanged with the optical system control device (110), the crop cultivation control device (112), and the user terminal (113) through the wiring (101).

  The analysis device (111) includes a data reception unit (1111), a data analysis unit (1112), an analysis result transmission unit (1113), and a data storage unit (1114).

  The data receiving unit (1111) receives measurement data from the camera and sensor group (106, 108, 109) and outputs the measurement data to the data analysis unit (1112). A data analysis part (1112) extracts the feature-value of the plant body (1021,1022) demonstrated previously. Further, a comparative analysis is performed between the extracted feature quantity and the past feature quantity. The analysis result transmission unit (1113) transmits the analysis result of the data analysis unit (1112) to the crop growth control device (112). The analysis result data can include basic information such as time, integration time, integration temperature, and the like together with the analysis result. The data storage unit (1114) stores a calculation method of feature amounts extracted by analysis, a set value, data necessary for performing the analysis, and the like. In addition, results of analysis in the middle and past history are also stored. In addition to being used in the analysis, these data can be arbitrarily referred to from the crop growth control device (112), the optical system control device (110), and the user terminal (113).

  FIG. 4 is a functional block diagram of the crop cultivation control device (112). The crop growth control device (112) is a device that grows the plants (1021, 1022) based on the analysis result of the analysis device (111) or outputs control information for the growth. The crop growth control device (112) is connected to the optical system control device (110), the analysis device (111), and the user terminal (113) via the wiring (101), and exchanges information with them. be able to.

  The crop growth control device (112) includes an analysis result reception unit (1121), an optical system control information calculation unit (1122), an optical system control information transmission unit (1123), and a data storage unit (1124).

  The analysis result receiving unit (1121) receives the analysis result from the analysis device (111) and directly outputs it to the optical system control information calculation unit (1122) or temporarily stores the analysis result in the data storage unit (1124). To do. Alternatively, a part of the measurement result is directly output to the optical system control information calculation unit (1122), and the remaining part is stored in the data storage unit (1124). The optical system control information calculation unit (1122) uses the received analysis result and the information stored in the data storage unit (1124) to store the plants (1021, 1022) installed on the growth shelf (102). ) Calculate the set values such as the spectral wavelength, intensity, and irradiation time of the optical system necessary for uniform growth. If the uniformity of growth is expected to be sufficient, the same calculation result as the previous calculation is output, or the standard setting value for growth stored in the data storage unit (1124) is output. . The calculation result of the optical system control information calculation unit (1124) may be temporarily stored in the data storage unit (1124), or directly transmitted from the optical system control information transmission unit (1122) to the optical system control device (110). May be. The standard set values for growing stored in the data storage unit (1124) may be recorded in advance at the manufacturing stage of the crop growing control device (112), or may be set from the user terminal (113). Also good. Especially in the latter case, information such as the latest research results can be reflected, and more accurate control can be performed.

  FIG. 5 is a functional block diagram of the user terminal (113). The user terminal (113) is a terminal for inputting an operation instruction to each control device. The user terminal (113) is connected to the optical system control device (110), the analysis device (111), and the crop growth control device (112) via the wiring (101), and exchanges information with them. be able to. By connecting a light source, a camera, etc. on the same wiring (101), these may be directly controlled from the user terminal (113).

  The user terminal (113) includes an input unit (1131), a display unit (1132), a data transmission unit (1133), a data reception unit (1134), and a data storage unit (1135).

  The input unit (1131) receives an operation input from the user. For example, it can be configured using an input device such as a keyboard or a touch panel. The input unit (1131) receives data, commands, responses to inquiries to the user from the plant breeding system 1, and stores them in the data storage unit (1135) or through the data transmission unit (1133) and the wiring (101). Send the input data to the required device. For example, when the optical system controller (110) is configured to be able to instruct blinking of the light source, the user instructs blinking through the input unit (1131). The display unit (1132) displays inquiry contents from the plant growing system 1 to the user. Moreover, the information which the plant cultivation system 1 presents to a user, for example, an analysis result, an operation state, etc., is displayed. The data receiving unit (1134) receives information to be presented to the user from the plant growing system 1 through the wiring (101), and after performing necessary processing, instructs the display unit (1132) to display the information. The data receiving unit (1134) not only receives information unilaterally transmitted from the plant growing system 1, but also receives a data backup instruction from the data transmitting unit (1134), the optical system control device (110), The data may be broadcast to the analysis device (111) and the crop growth control device (112), and as a response, backup data may be received from each device and stored in the data storage unit (1135). By operating in this way, it is possible to prepare for a failure of each control device, or to collect data in one place and perform an original analysis.

<Embodiment 1: Overall system operation>
FIG. 6 is a flowchart showing an operation procedure of the plant growing system 1. Hereinafter, each step of FIG. 6 will be described.

(FIG. 6: Step S100)
The plant growing system 1 starts its operation when each control device, user terminal (113), camera, each sensor, and each light source shown in FIG. 1 are activated. Some of these may be activated after receiving an instruction to activate from any of the control devices.

(FIG. 6: Step S101)
The camera control unit (1101) of the optical system control device (110) calibrates the camera (106) as part of various initialization processes. The camera calibration here refers to adjusting the angle of view by taking a picture in a state where no crop has been installed on the growing shelf (102) or a temporary plant body, and the brightness value of the photographed image. The camera (106) is appropriately monitored through the operation organization by checking whether the brightness of the captured image is too low or too high due to the blinking of the light source. This is the work to be done. This step may be performed manually by the user, for example, via the user terminal (113), or the camera control unit (1101) may be automatically performed according to a predetermined procedure.

(FIG. 6: Step S102)
The user installs the plant bodies (1021, 1022) to be grown on the growing shelf (102). After the plant body is installed, the optical system control device (110), the analysis device (111), and the crop growth control device (112) cooperate with each other, and the plant body group (1021, 1022) installed on the growth shelf (102). ) While growing uniformly.

(FIG. 6: Step S102: Supplement)
As a method of installing a plant body, plant seeds are sown in soil placed on a growth shelf (102), and a plant body that has already been grown to some extent is transplanted to the soil placed on the growth shelf (102). There is. The plant growing system 1 can correspond to any of them, but the method for initializing setting values of the analysis device (111), the crop growth control device (112), and the like differs depending on the installation method. For example, when starting growth from seeding, the above integrated temperature is started from 0, and when starting growth by transplanting, the integrated temperature that has already been calculated since seeding is set as a set initial value. Can be mentioned.

(FIG. 6: Step S103)
The camera control unit (1101) of the optical system control device (110) instructs the camera (106) to take a spectrum image around the growth shelf (102). The light state determination unit (1104) determines whether an appropriate condition is set for the camera (106) to shoot. This determination is mainly based on whether or not the amount of light from the light source is in an appropriate state. Details of this step will be described later with reference to FIG. If it is determined that the shooting conditions are satisfied, the process proceeds to step S104. If it is determined that the shooting conditions are not satisfied, this step is continued.

(FIG. 6: Step S103: Supplement)
When it is determined that the shooting conditions are not satisfied and this step is repeated, a waiting time of several seconds to several minutes may be inserted. Thereby, it can operate | move, without impairing an imaging | photography opportunity and giving an excessive load to an optical system control apparatus (110) and a camera (106). Further, when the number of times that it is determined in this step that the shooting condition is not satisfied exceeds a predetermined number, a warning may be given to the user. This can provide the user with an opportunity to set an appropriate shooting interval. The user has an opportunity to grasp the environment in which the optical system control device (110) is installed. In addition, by appropriately setting the shooting interval, it is possible to prevent the determination process from being repeated excessively, so that an effect such as reduction in power consumption can be expected.

(FIG. 6: Steps S104 to S105)
The light source control unit (1102) of the optical system controller (110) sequentially blinks the controllable stable light source group (107) (S104). The camera control unit (1101) captures a spectrum image when each light source is turned on (S105).

(FIG. 6: Steps S104 to S105: Supplement)
The order in which the controllable stable light source group (107) blinks is not necessarily fixed. Since the light source control unit (1102) knows which light source is blinking, it is sufficient for the camera control unit (1101) to capture the spectrum images corresponding to the respective light sources without duplication.

(FIG. 6: Step S106)
The light source control unit (1102) determines whether or not spectral images have been captured for all light sources. If there is a light source that has not been shot, the process returns to step S103 and the same processing is repeated. If shooting has been completed for all light sources, the process proceeds to step S107.

(FIG. 6: Step S106: Supplement)
When returning from this step to step S103, the optical system control device (110) appropriately sets the shooting time and the like. Further, when it is determined that there is no fluctuating light source that cannot control blinking, step S103 is not necessarily performed.

(FIG. 6: Step S107)
The data analysis unit (1112) of the analysis device (111) analyzes the spectrum image captured by the camera (106). Examples of analysis are as already described. In the first embodiment, the spectral image captured by the camera (106) is directly transmitted to the data receiving unit (1111) of the analyzer (111). However, the spectral image is temporarily stored in the optical system controller (110). ) In the data storage unit (1106), and a part or all of the spectral images may be transmitted to the analysis device (111) after photographing is completed.

(FIG. 6: Step S108)
The analysis result receiving unit (1121) of the crop growth control device (112) receives the analysis result of the analysis device (111). The optical system control information calculation unit (1122) determines whether or not the plant body (1021, 1022) has been grown. If the training is to be continued, the process proceeds to step S109, and if the training is to be ended, this processing flow is ended. Details of this step will be described later with reference to FIG.

(FIG. 6: Step S109)
The optical system control information calculation unit (1122) of the crop growth control device (112) calculates optical system control information. For example, based on the analysis result of the analyzer (111), it was determined that the growth of some plant bodies (1021) in the spectrum image taken by the camera (106) was slower than the growth of other plant bodies (1022). In this case, the optical system control information calculation unit (1122) calculates control information for irradiating the plant body (1021) with light having a longer time and intensity, and the light source control unit (1102) of the optical system control device (110). ). Alternatively, if it is determined that the growth of the plant body (1022) has progressed too much, control information that irradiates the plant body (1022) with light of a shorter time and intensity is calculated, and the light source control unit (1102) is calculated. Notice.

(FIG. 6: Step S110)
The calculation result of the optical system control information calculation unit (1122) is notified to the light source control unit (1102) via the control information reception unit (1105) of the optical system control device (110). The light source controller (1102) of the optical system controller (110) controls each light source based on the calculation result. Thereby, the operation state of a light source will be in the state which equalizes the growth state of the plant bodies (1021,1022) installed in the growth shelf (102). After this step, the process returns to step S103 and the same processing is repeated.

<Embodiment 1: Details of Step S103>
FIG. 7 is a detailed processing flow of step S103 of FIG. Hereinafter, each step of FIG. 7 will be described.

(FIG. 7: Step S200)
When the light state determination unit (1104) of the optical system control device (110) receives a request to determine the photographing condition from the camera control unit (1101) in step S103 of FIG. 6, this processing flow starts.

(FIG. 7: Step S201)
The light state determination unit (1104) determines whether or not the current time is suitable for shooting conditions. Specifically, if the current time is not a preset shooting time, or if the elapsed time from the previous shooting time has not reached a predetermined time interval, it is determined that the shooting conditions are not met, and step Proceed to S208. If the current time matches the shooting conditions, the process proceeds to step S202.

(FIG. 7: Step S201: Supplement)
Which of the above methods is used to determine the shooting condition can be set when the plant growing system 1 is started to operate. The length of the shooting interval varies depending on the observation target and the growth environment. For example, when it is set to shoot once every 12 hours, if the elapsed time from the previous time is less than 12 hours, it is determined that the shooting conditions are not met.

(FIG. 7: Steps S202 to S203)
The light state determination unit (1104) turns off all light sources that can be controlled (S202). The light state determination unit (1104) performs shooting by the camera (106) (S203).

(FIG. 7: Step S204)
The light state determination unit (1104) stands by for a predetermined time in order to observe the presence and influence of a light source that cannot be controlled. If the waiting time is known in advance about the characteristics of the light source that cannot be controlled, the waiting time may be set based on that knowledge. If not, it may be set randomly using, for example, a random number generator. You may have one random number generation apparatus in the whole plant cultivation system 1, and may share between each apparatus. In that case, either a random number generator is directly connected to the wiring (101), or one of the optical system control device (110), the analysis device (111), the crop growth control device (112), and the user terminal (113). A random number generator may be provided inside so that it can be accessed from the outside through the wiring (101).

(FIG. 7: Step S204: Example of waiting time)
For example, consider a case where a fluorescent lamp exists as a light source that cannot be controlled. If the fluorescent lamp is connected to a 50 Hz power supply, the period is not 1/60 seconds, and if it is connected to a 60 Hz power supply, the period is 1/50. Set a waiting time like this. As a result, it is possible to successfully detect luminance fluctuation caused by a light source that cannot be controlled. Moreover, it is expected that the presence of outside light that has not been predicted can be detected by including a random element in the waiting time.

(FIG. 7: Step S205)
The light state determination unit (1104) performs the second shooting by the camera (106) after the standby time in step S204 has elapsed.

(FIG. 7: Step S206)
The light state determination unit (1104) compares the camera shooting result in step S203 with the camera shooting result in step S205. As described in step S204, if the waiting time is appropriately set, the presence of a light source that cannot be controlled and whose spectrum or intensity is not stable is detected by comparing two images. Can do. If the two images match, the process proceeds to step S207. If the two images do not match, the process proceeds to step S208.

(FIG. 7: Step S206: Supplement 1)
In this step, if the two images match, it can be seen that the light source that cannot be controlled is a stable light source. In the stable light source, since the spectral intensity or the like does not change with time, it is not necessary for the analysis device (111) to analyze the difference in spectrum between the images when the analysis device (111) analyzes the images. It will be sufficient to analyze how much they differ. This is because when NDVI or the like is used as a feature amount of a plant body, it is sufficient if the reflectance is known. In this case, the difference between the images is such that when the pixel value of the first image is multiplied by a constant, the pixel value of the second image is obtained. By adjusting this constant multiple parameter, it is possible to adjust how much difference is allowed.

(FIG. 7: Step S206: Supplement 2)
The constant parameter is determined by the detection result of the light quantity sensor (108). For example, if the amount of light detected by the light amount sensor (108) is 0, there is no light source that cannot be controlled in the plant growing system 1, so the constant parameter may be set to 1. If the light quantity detected by the light quantity sensor (108) is larger than 0, the constant parameter may be increased according to the magnitude.

(FIG. 7: Step S206: Supplement 3)
In the first embodiment, the light amount sensor measures the overall light amount, and the camera is assumed to be a sensor that can capture the light amount of each region within the angle of view. The light quantity sensor (108) can be replaced with a camera (106) for taking a spectrum image. In the case of performing such substitution, the plant growing system 1 may not include the light amount sensor (108), but the camera (106) requires a spectral image to be taken and a request to measure the light amount. Need to respond to both.

(FIG. 7: Step S206: Supplement No. 4)
In this step, the determination accuracy when determining whether two images match can be arbitrarily set. For example, due to thermal noise during shooting, the probability that the shooting result in step S203 and the shooting result in step S205 exactly match is low, and generally a slight difference occurs. However, in the case of a difference caused by thermal noise, a slight difference appears evenly in the entire image, so that it can be considered that the feature is sufficiently matched. Since how much thermal noise is mixed depends on the brightness at the time of photographing or the like, the allowable thermal noise may be automatically adjusted using the light amount as a parameter. As a result, it is possible to reduce the influence of thermal noise and increase the opportunity to perform analysis using a spectral image.

(FIG. 7: Step S207)
The light state determination unit (1104) outputs a determination result indicating that the current light source state is suitable for photographing by the camera (106).

(FIG. 7: Step S208)
The light state determination unit (1104) outputs a determination result indicating that the current light source state is not suitable for photographing by the camera (106).

<Embodiment 1: Details of Step S108>
FIG. 8 is a detailed process flow of step S108 of FIG. Hereinafter, each step of FIG. 8 will be described.

(FIG. 8: Step S300)
The analysis result receiving unit (1121) of the crop growth control device (112) starts this processing flow in accordance with an instruction from the analysis device (111).

(FIG. 8: Step S301)
The analysis result receiving unit (1121) receives the growth characteristic amount of the plant body (1021, 1022) as the analysis result from the analysis device (111).

(FIG. 8: Step S302)
The optical system control information calculation unit (1122) has a predetermined growth characteristic received in step S301 indicating that the plants (1021, 1022) being grown on the growth shelf (102) have reached a predetermined growth stage. Check if the value is reached. If the predetermined growth stage has been reached, the process proceeds to step S303, and if not, the process proceeds to step S304.

(FIG. 8: Step S302: Supplement)
Whether or not the predetermined growth stage has been reached can be determined by comparing the growth feature quantity with the growth feature quantity at the end of growth of the plant body stored in advance in the data storage unit (1124). . If both match or sufficiently match, it is determined that a predetermined growth stage has been reached. The comparison process is performed by, for example, digitizing the growth feature value, expressing the result as a vector, and calculating the difference between the two. The term “sufficiently coincides” means that the difference value between the two is less than a predetermined threshold value. The threshold value may be recorded in advance in the data storage unit (1124) when the crop growth control device (112) is initialized, or may be input by the user at an appropriate time through the user terminal (113).

(FIG. 8: Step S303)
The optical system control information transmission unit (1123) transmits control information indicating that the growth of the plant bodies (1021, 1022) is to be terminated to the optical system control device (110).

(FIG. 8: Step S304)
The optical system control information transmission unit (1123) transmits control information indicating that the growth of the plant bodies (1021, 1022) should be continued to the optical system control device (110).

<Embodiment 1: Operation of light source and camera photographing>
FIG. 9 is a timing chart showing an operation example in which shooting by the camera (106) is performed at a timing when the optical system control device (110) determines that it is suitable for shooting. Hereinafter, the operation at each time point in FIG. 9 will be described.

(Figure 9: Preconditions)
FIG. 9 shows an example in which imaging is performed using one camera (106) on the assumption that there are light source groups A, B, C, and D having different wavelengths of light to be irradiated. Using a plurality of cameras (106) having different wavelength bands of light that can be photographed, the wavelength band of light that can be photographed can be widened, or the cost of the camera (106) can be reduced. Although this will not be described in detail, it can be realized by applying the operation example described below as it is. The camera (106) shoots at the time when the camera trigger changes from 0 to 1, and the light source is turned off when the operation instruction value is 0 and turned on when the set value is 1.

(Fig. 9: Time L)
At time L, all light sources that can control blinking are turned off. In this time zone, the optical system control device (110) determines whether or not it is in a state suitable for camera photography. The description of the camera trigger related to the camera shooting when performing the determination is omitted in FIG.

(FIG. 9: Time M to Time N)
The optical system control device (110) turns on the light source A at time M after determining a timing suitable for camera photography. At time N, the light source A is turned off. The optical system controller (110) changes the camera trigger signal from 0 to 1 between time M and time N, and performs camera shooting (spectrum image shooting). Thereafter, the camera trigger signal returns to zero.

(FIG. 9: Time N to Time Q)
The optical system control device (110) turns off the light source A at time N and then turns on the light source B at time P. Immediately thereafter, the optical system control device (110) changes the camera trigger signal from 0 to 1, and performs camera shooting. Thereafter, the camera trigger signal returns to 0 again. The optical system control device (110) turns off the light source B at time Q.

(FIG. 9: Time N to Time Q: Supplement 1)
Since the camera shooting is performed when the camera trigger signal changes from 0 to 1, the timing at which the camera trigger signal returns from 1 to 0 may be arbitrary as long as it is before the timing at which the next shooting should be performed. For the period from turning off the light source A (time N) to turning on the light source B (time P), the appropriate timing of the camera trigger signal depends on the afterglow time of the light source A and the time until the light source B emits light. Determined. Therefore, it is preferable to confirm the timing of an appropriate camera trigger signal in advance and store it in the data storage unit (1106) of the optical system control device (110).

(FIG. 9: Time N to Time Q: Supplement 2)
In FIG. 9, shooting is performed at the timing when the camera trigger signal changes from 0 to 1. However, shooting is repeated a plurality of times during the period when the camera trigger signal is 1, and shooting is performed when the camera trigger signal is 0. It is good also as a period which transmits image data to an optical system control device (110) or an analysis device (111). Alternatively, the image data may be transmitted every time shooting is performed, and during the period when the camera trigger signal is 0, it may be set so that no special processing other than processing such as camera initialization is performed.

(FIG. 9: Time N to Time Q: Supplement 3)
For example, when the brightness of the light source is low, by accumulating a plurality of captured images, more light can be accumulated and the features of the image can be captured more accurately. Thus, it is useful to change the setting of the camera trigger signal according to the characteristics of the light source. By automatically adjusting the setting of the camera trigger signal by using the light amount sensor (108), it is possible to save the time and effort of the prior setting, and it is possible to cope well with the change in the characteristics of the light source. . In that case, a higher effect can be obtained by using a light amount sensor (108) capable of performing measurement for each wavelength of light.

(FIG. 9: Time N to Time Q: Supplement 4)
The polarity of the camera trigger signal may be opposite to that described above. Generally, it is often used so that 0 corresponds to OFF and 1 corresponds to ON, but 1 may correspond to OFF and 0 may correspond to ON.

(Figure 9: Time Q ~)
Thereafter, the light source blinks and the camera is taken in the same manner. In the operation example shown in FIG. 9, after the light source B blinks and the camera is photographed, not the light source C but the light source D is blinked to perform camera photography. That is, the order of blinking of each light source and camera shooting is not necessarily constant. For example, the order of blinking of each light source and camera shooting may be determined at random.

(Figure 9: Time Q ~: Supplement)
In FIG. 9, the period between the first timing and the second timing when the camera trigger signal becomes 1 is shorter than the period between the third timing and the fourth timing. When shooting is performed at the timing when the camera trigger signal changes from 0 to 1, the difference in the period has no effect. On the other hand, when the camera trigger signal is set to be continuously shot a plurality of times during the period of 1, the latter has a larger number of times of shooting.

  FIG. 10 is a timing chart showing another operation example in which shooting by the camera (106) is performed at a timing when the optical system control device (110) determines that it is suitable for shooting. Here, an operation example in which a plurality of light sources are turned on simultaneously is shown.

  The optical system controller (110) turns on the light sources A and B at time M and turns off the light sources at time N. The optical system control device (110) performs photographing by the camera (106) between time M and time N. In this case, the camera (106) acquires a spectrum image related to the reflected light and transmitted light with respect to the light sources A and B.

  In FIG. 10, it is assumed that the light source A and the light source B are different in at least a part of the wavelength of the irradiation light. For example, the light source A emits light with a wavelength of 800 nm to 810 nm, and the light source B emits light with a wavelength of 810 nm to 840 nm. By turning on both light sources at the same time, it is possible to apply a spectrum image for light having a wavelength of 800 nm to 840 nm at a time.

  In this case, the wavelengths of the irradiation light may partially overlap. For example, when the light source A emits light having a wavelength of 800 nm to 820 nm and the light source B emits light having a wavelength of 810 nm to 840 nm, the light in the range of 810 nm to 820 nm is the sum of the light from the light source A and the light from the light source B. As a result, the intensity of the light in the overlapping region is stronger than when irradiating each of them alone, so that it may be designed in such a way as to analyze the absolute value of the intensity of reflected light or transmitted light.

  When the ratio of the observation amount of reflected light or transmitted light to the radiation amount from the light source is used for plant growth analysis, the above-described wavelength overlap does not particularly affect. However, since a general light receiving element measures the amount of received light with a sensitivity (resolution: for example, 8 bits = 256 levels) determined in advance at the time of manufacture, if the amount of received light is too small, light cannot be measured. In that case, if it is difficult to procure a high-intensity light source, a plurality of light sources of the same type may be prepared and irradiated to the same range. Thereby, the amount of light can be increased. That is, in FIG. 10, the light source A and the light source B may be configured to have the same attribute.

<Embodiment 1: Configuration of breeding shelf (102)>
FIG. 11 is a view of the growth shelf (102) as viewed from directly above. The installation location of the light source and the camera is determined so as to cover each plant body region of the growth shelf (102). For example, as shown in FIG. 11, consider a case where a growing shelf is divided into 3 × 6 grids, and plants are assigned to each grid area and grown.

  In the example shown in FIG. 11, it can be visually confirmed that the growth of the plant body (1021) and the plant bodies (1023) to (1026) is delayed with respect to the plant body (1022). The analyzer (111) grasps this growing state based on the spectrum image and adjusts the light quantity of the light source. Thereby, it aims at equalizing the growth degree of each plant body. Therefore, it is desirable that the light amount of the light source can be adjusted for each lattice size. That is, ideally, it is desirable to install a light source capable of controlling blinking immediately above each grating. With such an installation, it is possible to cope with the variation in the growth characteristics of each species, which tends to occur when growing from sowing.

  On the other hand, when removing a certain amount of variation at the time of placing the plant body on the growth shelf (102), such as when transplanting the plant body to the growth shelf (102) after a certain amount of seedlings, the variation in the growth of the plant body is , Tend to be dominated by the nutrients in the soil of the growing shelf (102). The variation in nutrients in the soil usually occurs across a plurality of grids of the growth shelf (102), and therefore, there is a growth deviation in a certain range such as plants (1023) to (1026). Occur. In such a case, it is not always necessary to provide a light source for each grating. For example, if a light source is provided for each 2 × 2 grid (for example, a light source is disposed immediately above the intersection of broken lines in FIG. 11), the total number of light sources can be reduced, facilitating facility design. it can.

<Embodiment 1: Arrangement of Camera (106)>
FIG. 12 is a side view showing the arrangement of the camera (106). If the resolution and the angle of view are sufficiently large, the camera (106) may be installed at a position where the entire growth shelf (102) can be accommodated in the screen. For simplicity, it may be installed just above the center of the growth shelf (102) like the camera (1062) of FIG.

  In this case, in order to facilitate comparison between the plant bodies (1029), the camera (106) or the optical system control device (110) corrects the image captured by the camera (106). The correction here is correction for obtaining what kind of image is obtained when each plant body (1029) is viewed from directly above, and is also generally called ortho correction. Of course, different cameras may be used for each lattice. If a camera is placed directly above each grid, the resolution required by the camera (106) is reduced, thereby reducing the cost of the camera (106). In addition, since all the spectral images capture light from the same direction, it is not necessary to correct the image to an image viewed from directly above at each coordinate when comparing different lattice regions.

  The transmitted light of the plant body (1029) is also included in the reflected light from the surface of the growth shelf (102), but when the transmitted light is mainly observed, the plant body (1029) and the growth shelf (102) In between, you may install a camera upward. For example, like the camera (1061) of FIG. 12, a growth shelf upper surface portion (1027) and a growth shelf lower portion (1028) are provided so that some space is formed on the growth shelf (102).

  The growth shelf upper surface portion (1027) supports a portion above the root of the plant body (1029) and protects the lens surface of the camera (1061). Soil or the like is installed at the lower part of the growth shelf (1028) and supports the root part of the plant body (1029). Each camera in FIG. 12 is connected to the wiring (101) as in FIG.

  In FIG. 12, the upper part of the growth shelf (1027) and the lower part of the growth shelf (1028) appear to be widely spaced, but this is schematically shown to clearly show the position of the camera (1061). If the size of the camera (1061) is small, this interval can be reduced.

  Furthermore, it is possible to shoot only a part of the plant bodies (1029) without photographing all the plant bodies (1029). For example, only one camera for observing transmitted light is installed for several plants (1029), and the vegetation of the plant (1029) where the camera does not observe transmitted light is analyzed only from reflected light. can do.

<Embodiment 1: Summary>
As described above, the optical system control apparatus (110) according to the first embodiment uses the camera (106) when a plurality of spectral images taken with the controllable light source that is not a disturbance light source turned off match. It is determined that the image is suitable for shooting. Thereby, since the spectrum image of the plant body can be taken at a timing when the influence of the disturbance light source is small, the optical system control device (110) is generally used in various types of horticultural facilities with different types of light sources. Can do.

  Further, the optical system control apparatus (110) according to the first embodiment waits for a random time interval in step S204 when determining whether or not the state of the light source is suitable for photographing by the camera (106). . This increases the possibility that the presence of an unexpected disturbance light source can be detected, so that the influence of the disturbance light source can be mitigated and the optical system controller (110) can be used more generally.

  Moreover, the optical system control apparatus (110) according to the first embodiment blinks the light source in a random order when photographing the plant body at a timing suitable for photographing by the camera (106). Thereby, the response depending on the light receiving order of the object to be observed can be relaxed. In addition, it is possible to increase the possibility of discovering new characteristics depending on the light receiving order.

  Further, in the analysis apparatus (111) according to the first embodiment, the pixel values of a plurality of images captured at the time when the optical system control apparatus (110) determines that the camera (106) is suitable for imaging are a predetermined constant multiple. If it is within the range, it is considered that these multiple images match. Thereby, the processing load of the analyzer (111) can be reduced.

<Embodiment 2>
In the second embodiment of the present invention, an operation example in which it is determined based on the light amount of the light source whether or not the state of the light source is suitable for photographing in the processing flow described in FIG. 7 of the first embodiment will be described. Each component of the plant growing system 1 is the same as that of the first embodiment.

  FIG. 13 is a detailed processing flow of step S103 in the second embodiment. Hereinafter, each step of FIG. 13 will be described.

(FIG. 13: Steps S400 to S402)
These steps are the same as steps S200 to S202 in FIG.

(FIG. 13: Step S403)
The light state receiver (1103) receives the measurement result from the light amount sensor (108).

(FIG. 13: Step S404)
The light state determination unit (1104) determines whether or not the light amount measured by the light amount sensor (108) is suitable for photographing by the camera (106). If the amount of light is appropriate, the process skips to step S409, and if not, the process skips to step S410. If it is not possible to determine whether the amount of light is appropriate, the process proceeds to step S405.

(FIG. 13: Step S404: Supplement)
The case where the amount of light is appropriate is a case where the amount of light is zero, that is, there is no external light, or the external light is so weak that it does not affect the generation of a spectrum image by camera photography. An inappropriate amount of light is when it is clear that the sensor measurement value of the camera (106) is saturated because the amount of light is too large. In other cases, the suitability for photographing cannot be determined based on only the light amount, and the suitability for photographing is determined by comparing the camera images as in FIG. Specifically, when the measurement value of the light amount sensor (108) is equal to or greater than a predetermined upper limit threshold value, it is determined that it is not suitable for photographing, and when it is equal to or smaller than a predetermined lower limit threshold value, it is determined that it is suitable for photographing. When the light quantity is intermediate between these, or when the light quantity is unknown, it is assumed that the suitability for photographing cannot be determined only by the light quantity.

(FIG. 13: Steps S405 to S410)
These steps are the same as steps S203 to S208 in FIG.

<Embodiment 2: Summary>
As described above, the optical system control device (110) according to the second embodiment determines whether or not the state of the light source is suitable for shooting by the camera (106) based on the light amount of the light source. If the determination cannot be made only with the amount of light from the light source, the suitability for photographing is determined using the same method as in FIG. This simplifies the process of determining the suitability for photographing, particularly in an environment with few uncontrollable light sources or an environment with a small amount of uncontrollable light sources, and can reduce the processing load on the optical system control device (110).

<Embodiment 3>
In the third embodiment of the present invention, an operation example for simplifying the processing flow described with reference to FIG. 13 of the second embodiment and determining the suitability for photographing using the light amount of the light source as a main reference will be described. Each component of the plant cultivation system 1 is the same as that of Embodiment 1-2.

  FIG. 14 is a detailed processing flow of step S103 in the third embodiment. Hereinafter, each step of FIG. 14 will be described.

(FIG. 14: Steps S500 to S503)
These steps are the same as steps S400 to S403 in FIG.

(FIG. 14: Step S504)
The light state determination unit (1104) determines whether or not the light amount measured by the light amount sensor (108) is suitable for shooting by the camera (106), as in step S404 of FIG. However, there is only one determination threshold. If the amount of light is greater than or equal to this threshold value, it is determined that the light source is suitable for shooting by the camera (106), and the process proceeds to step S505. If the amount of light is less than this threshold, it is determined that the state of the light source is not suitable for shooting by the camera (106), and the process proceeds to step S506.

(FIG. 14: Steps S505 to S506)
These steps are the same as steps S409 to S410 in FIG.

<Embodiment 3: Summary>
As described above, the optical system control device (110) according to the third embodiment determines whether or not the state of the light source is suitable for shooting by the camera (106) based on the light amount of the light source. This further simplifies the process of determining the suitability for photographing, and reduces the processing load on the optical system control device (110), as compared with the second embodiment.

<Embodiment 4>
In the fourth embodiment of the present invention, in the processing flow described with reference to FIG. 6 of the first embodiment, step S103 for determining the suitability for shooting is omitted, and instead a step for determining the shooting quality is newly introduced. An example will be described. Each component of the plant cultivation system 1 is the same as that of Embodiments 1-3.

  FIG. 15 is a flowchart showing an operation procedure of the plant growing system 1 according to the fourth embodiment. Hereinafter, each step of FIG. 15 will be described.

(FIG. 15: Steps S600 to S605)
These steps are the same as steps S100 to S106 in FIG. However, a step corresponding to step S103 following step S602 is omitted.

(FIG. 15: Step S606)
The light state determination unit (1104) acquires the images taken by the camera (106) in steps S604 and S605, and determines the quality. If the quality of the image is good, the process proceeds to step S607, and if the quality is not good, the process returns to step S603 to re-photograph part or all of the spectral image group.

(FIG. 15: Step S606: Supplement)
Examples of specific methods for determining image quality include histogram analysis of each spectrum image, variance analysis, and difference analysis between images related to the same spectrum in the past. By examining the image quality before analyzing the spectral image, if unexpected external light is included, re-photographing can be performed until the effect is eliminated. . Thereby, there is an effect that it is not necessary to provide a means for detecting the presence of external light in advance. Moreover, since the frequency | count which implements step S603 increases, the frequency which implements vegetation analysis can be raised and a growth adjustment can be implemented more finely.

(FIG. 15: Step S606: Supplement: Histogram analysis)
Histogram analysis is an analysis method in which a histogram is created for pixel values in an image and whether the shape of the histogram is distorted or the like. There are various criteria for judging the skewness of the histogram shape. For example, there is a method based on how much the shape of the normal distribution differs from the histogram shape. That is, when a histogram is created for pixel values of a certain spectral image, if the shape is the same as the shape of the normal distribution, the quality is considered good, and if it deviates from the shape of the normal distribution, it is determined that the quality is not good. . When observing natural phenomena, normal distribution is seen in many scenes, so the applicable range of this method is wide.

(FIG. 15: Step S606: Supplement: Analysis of Variance)
Analysis of variance is a technique for calculating a statistical variance value of pixel values and estimating that some extra noise is included in the image if this variance value is greater than a predetermined value.

(FIG. 15: Step S606: Supplement: Difference Analysis)
When analyzing a difference from a past image, it is expected that the images match in many parts of the image. Therefore, if the difference is too large, it is determined that the image has not been acquired normally.

<Embodiment 4: Summary>
As described above, the optical system control device (110) according to the fourth embodiment determines the quality of the spectral image before the analysis device (111) analyzes the spectral image of the plant, and the quality is not good. Will re-shoot. Thereby, the frequency which implements vegetation analysis can be raised, and breeding adjustment can be implemented more finely.

<Embodiment 5>
In the first to fourth embodiments, the optical system control device (110), the analysis device (111), the crop growth control device (112), and the user terminal (113) are configured as individual devices. These devices are not necessarily divided into different cases, and some of the functions may be implemented by software using a general computer. In the fifth embodiment of the present invention, an example in which these devices are configured using a computer will be described.

  FIG. 16 is a functional block diagram of the computer (200) constituting the optical system control device (110), the analysis device (111), the crop cultivation control device (112), or the user terminal (113). The computer (200) includes a central processing unit (201), a memory (202), a hard disk (203), a display device (204), an input / output control device (205), and a keyboard (206). These components are connected by internal wiring (207). The wiring (101) is connected to the outside of the computer (200) via the input / output control device (205), and can exchange information. The display device (204) and the keyboard (206) are not necessarily built in the housing of the computer (200), and may be externally attached.

  The central processing unit (201) executes a program stored in the hard disk (203) or the memory (202), and calculates control information and processes data according to the description. The memory (202) is also referred to as a primary storage device, and is used as a temporary information saving place and work place for the central processing unit (201) to efficiently perform calculations. The hard disk (203) is also called a secondary storage device, which is less expensive than the primary storage device and the recorded information is non-volatile, but the read / write speed from the central processing unit (201) is the same as that of the primary storage device. Is not enough. The secondary storage device is used for recording information that does not fit in the primary storage device, or for storing setting data using non-volatility. The display device (204) is a device that visually displays information when presenting a user with a calculation status, a calculation result, a content of an inquiry to the user, and the like. The keyboard (206) is a device for the user to transmit operation inputs such as letters and numbers to the computer (200). The input / output control device (205) is a device that assists operation input from the keyboard (206), output of display contents to the display device (204), transmission / reception of information through the wiring (101), and the like. If the above characteristics are provided, there is no particular problem even if a flash memory or the like is used instead of the hard disk (203) or a tablet or a touch panel is used instead of the keyboard (206).

  Below, the example in the case of comprising an optical system control apparatus (110) using a computer (200) is shown. The camera control unit (1101), the light source control unit (1102), and the light state determination unit (1104) included in the optical system control device (110) are a central processing unit (201) that executes a program recorded on the hard disk (203). ), A memory (202), and an input / output control device (205).

  The camera control unit (1101) can be configured by the following procedure. First, the central processing unit (201) issues a command for instructing the camera (106) to shoot, and the command is appropriately applied to the wiring (101) via the internal wiring (207) and the input / output control device (205). It is sent out in a formatted form. The command is transmitted to the camera (106), and the shooting command is executed. The photographing result is transmitted from the camera (106) to the input / output control device (205) and stored in the hard disk (203) or the memory (202).

  The light source control unit (1102) can be realized by the following procedure. First, the central processing unit (201) decides to turn on or turn off the light source, and issues a command corresponding thereto. Issued commands are sent as needed to each light source that can control blinking. Each light source performs an operation corresponding to the received command. The execution result is transmitted to the input / output control device (205) as necessary, and the central processing unit (201) confirms the content and changes the content and order of subsequent operations.

  The light state receiving unit (1103) and the control information receiving unit (1105) are realized by connecting appropriate wirings to the input / output control device (205). In particular, in the case of connection through a local area network (LAN) where it is not necessary to prepare wiring for each device, this wiring corresponds to a LAN cable. In this case, the input / output control device (205) has a LAN cable connection port. Information received by the input / output control device (205) is sent to the central processing unit (201) or transmitted to a storage device such as a memory (202) or a hard disk (203). The data storage unit (1106) is realized by a non-volatile storage device represented by a hard disk (203).

  For the analysis device (111), the data reception unit (1111), the analysis result transmission unit (1113), the central processing unit (201) that executes the program recorded on the hard disk (203) of the computer (200), memory (202), and can be realized using the input / output control device (205). The data analysis unit (1112) can be realized by a central processing unit (201) that executes a program recorded on the hard disk (203) and a memory (202). The data storage unit (1114) can be realized by a hard disk (203).

  As for the crop growth control device (112), the analysis result receiving unit (1121) and the optical system control information transmitting unit (1123) are a central processing unit that executes a program recorded on the hard disk (203) of the computer (200). (201), a memory (202), and an input / output control device (205). The optical system control information calculation unit (1122) can be realized by a central processing unit (201) and a memory (202) for executing a program recorded on the hard disk (203). The data storage unit (1124) can be realized by a hard disk (203).

  The user terminal (113) realizes the input unit (1131) with the keyboard (206), the display unit (1132) with the display device (204), and the data transmission unit (1133) and the data reception unit (1134). It can be realized by the input / output control device (205), and the data storage unit (1135) can be realized by the hard disk (203).

  As mentioned above, the invention made by the present inventor has been specifically described based on the embodiment. However, the present invention is not limited to the embodiment, and various modifications can be made without departing from the scope of the invention. Needless to say.

  In addition, each of the above-described configurations, functions, processing units, etc. can be realized as hardware by designing all or a part thereof, for example, with an integrated circuit, or the processor executes a program for realizing each function. By doing so, it can also be realized as software. Information such as programs and tables for realizing each function can be stored in a storage device such as a memory or a hard disk, or a storage medium such as an IC card or a DVD.

  DESCRIPTION OF SYMBOLS 1: Plant upbringing system, 100: Horticultural facilities, 101: Wiring, 102: Growing shelf, 1021-1026: Plant body, 103: Out-of-facility impossible control light source, 104: In-facility impossible control light source, 105: Controllable unstable light source , 106: camera, 1061 to 1062: camera, 107: controllable stable light source group, 108: light quantity sensor, 109: environment sensor, 110: optical system controller, 1101: camera control unit, 1102: light source control unit, 1103: Light state receiving unit, 1104: Light state determining unit, 1105: Control information receiving unit, 1106: Data storage unit, 111: Analyzing device, 1111: Data receiving unit, 1112: Data analyzing unit, 1113: Analysis result transmitting unit, 1114 : Data storage unit, 112: crop growth control device, 1121: analysis result receiving unit, 1122: optical system control information calculation unit, 1123 Optical system control information transmission unit, 1124: data storage unit, 113: user terminal, 1131: input unit, 1132: display unit, 1133: data transmission unit, 1134: data reception unit, 1135: data storage unit, 200: computer, 201: Central processing unit, 202: Memory, 203: Hard disk, 204: Display device, 205: Input / output control device, 206: Keyboard.

Claims (15)

A camera control unit that controls a camera that captures a spectral image of the environment in which the plant is grown;
A light state determination unit that determines whether the state of incident light incident on the environment is suitable for photographing by the camera;
With
The light state determination unit
Comparing a plurality of the spectral images taken by the camera with the operation of a light source that is not a disturbance light source stopped;
Determining that the state of incident light incident on the environment is suitable for photographing by the camera at the time when the spectral images coincide with each other;
The camera control unit
The vegetation control device, wherein when the light state determination unit determines that the camera is suitable for shooting by the camera, the camera is instructed to take a spectrum image of the environment. The camera control unit
When the camera captures a plurality of the spectral images for the light state determination unit to determine whether the state of the incident light is suitable for capturing by the camera,
The vegetation control device according to claim 1, wherein an influence of the disturbance light source at a random time point appears on the spectrum image by causing the camera to capture each spectrum image at random time intervals. . A light source control unit that controls a light source that emits light to the environment;
The light source controller is
When the camera captures a plurality of the spectral images for the light state determination unit to determine whether the state of the incident light is suitable for capturing by the camera,
2. The vegetation control according to claim 1, wherein by stopping the operation of the light source, the influence of the disturbance light source appears on the spectrum image, and the influence of the light source does not appear on the spectrum image. apparatus. A light source control unit that controls a light source that emits light to the environment;
The light source controller is
When the light state determination unit determines that it is suitable for shooting by the camera, the light source is turned on or off,
The camera control unit
The vegetation control apparatus according to claim 1, wherein the light source control unit instructs the camera to take a spectral image of the environment in conjunction with turning on or off the light source. The light source controller is
The vegetation control device according to claim 4, wherein when the light state determination unit determines that the light source is suitable for photographing by the camera, the light source is turned on or off in a random order. The light source controller is
When the light state determination unit determines that the camera is suitable for shooting with the camera, and when the camera can identify which light source is turned on or off, the light source is turned on or off. The vegetation control device according to claim 4, wherein: The light state determination unit
When the amount of incident light incident on the environment is equal to or greater than a predetermined upper threshold, it is determined that the state of incident light incident on the environment is not suitable for photographing with the camera,
When the amount of incident light incident on the environment is less than or equal to a predetermined lower threshold, it is determined that the state of incident light incident on the environment is suitable for shooting with the camera,
When the amount of incident light incident on the environment is between the upper threshold and the lower threshold, or when the amount of light is unknown, the incident incident on the environment at the time when the spectral images coincide with each other. The vegetation control apparatus according to claim 1, wherein the vegetation control apparatus determines that the light state is suitable for photographing with the camera. The light state determination unit
Alternatively, when the amount of incident light incident on the environment is equal to or greater than a predetermined threshold, it is determined that the state of incident light incident on the environment is not suitable for photographing with the camera,
The vegetation according to claim 1, wherein when the amount of incident light incident on the environment is less than the threshold value, it is determined that the state of incident light incident on the environment is suitable for photographing by the camera. Control device. The light state determination unit
In determining whether the state of the incident light is suitable for photographing with the camera, the quality of the spectral image photographed by the camera is inspected,
The vegetation control device according to claim 1, wherein if the quality satisfies a reference value, it is determined that the camera is suitable for photographing with the camera, and if the quality is not satisfied, it is determined that the camera is suitable for photographing with the camera. A vegetation control device according to claim 1;
An analyzer for calculating the growing state of the plant based on a spectrum image taken by the camera according to an instruction from the vegetation control device;
A growth control device that controls the growth of the plant so that the growth state calculated by the analyzer is uniform,
A plant growing system characterized by comprising: The analyzer is
If the pixel values of a plurality of images captured by the camera are within a constant multiple range at the time when the light state determination unit determines that they are suitable for capturing by the camera, the plurality of images match. The plant growing system according to claim 10, wherein A stable light source whose output spectral intensity is stable over time;
A variable light source whose output spectral intensity varies over time;
Have
The plant growth system according to claim 10, wherein the vegetation control device includes a light source control unit that controls the stable light source. The stable light source is
A light source capable of emitting light in the near infrared region;
A light source capable of emitting light in the red region;
Including
The analyzer is
The value obtained by adding the reflectance of the light in the near infrared region and the reflectance of the light in the red region, and subtracting the reflectance of the light in the red region from the reflectance of the light in the near infrared region. The state is calculated. The plant growing system according to claim 10 characterized by things. The stable light source is
A light source capable of emitting light in the near infrared region;
A light source capable of emitting light in the green region;
Including
The analyzer is
Using a spectral image for light in the near infrared region, the position of the plant is identified,
The plant growing system according to claim 10, wherein a pixel value integrated value at the position of the plant is calculated using a spectral image with respect to light in a green region, and the pixel integrated value is used as the growing state. The stable light source is
A light source capable of emitting light in the red region;
A light source capable of emitting light in the blue region;
Including
The analyzer is
By dividing the reflectance of the light in the red region and the reflectance of the light in the blue region by the value obtained by subtracting the reflectance of the light in the red region from the reflectance of the light in the blue region, the growing state is obtained. The plant growing system according to claim 10, wherein the plant growing system is calculated.

Images