JP2012088100A - Vegetables and fruits harvest determination device, vegetables and fruits harvest determination method and vegetables and fruits harvest determination program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a vegetables and fruits harvest determination device which allows a worker to easily and objectively determine properness of harvest of a vegetable or a fruit.SOLUTION: The vegetables and fruits harvest determination device for determining properness of harvest of a vegetable or a fruit includes information input means 17 for inputting reference information to derive a harvest properness determination result, determination means 19 for determining properness of harvest of a target vegetable or fruit according to the reference information, by extracting an area of the target vegetable or fruit from image information input through image input means 12, and output means 13 for displaying the determination result of the determination means as image information.

Description

  The present invention relates to a fruit and vegetable harvest determining device, a fruit and vegetable harvest determining method, and a fruit and vegetable harvest determining program.

  In harvesting fruits and vegetables, it is necessary for an operator to determine whether or not the fruits and vegetables can be harvested based on appearance information such as the color and shape of each fruits and vegetables. For example, in the harvesting of tomatoes, the operator determines whether or not the harvesting is possible based on whether or not the degree of redness of the tomato color is a certain level or more. In such a harvesting process, an operator is required to make a determination based on a certain standard. However, it is often difficult for human vision to make objective and continuous judgment based on appearance information. For example, when judging whether or not harvesting is possible based on the redness of the color of the product, since the sense of redness of human vision changes due to the aftereffect of the color by continuing to see the red color, it is based on a certain standard. It becomes difficult to continue judgment. In addition, the judgment varies depending on individual differences among workers.

  Therefore, by irradiating the fruits and vegetables with the measuring light beam, the cultivation management device for judging whether or not the fruits and vegetables can be harvested based on the spectral spectra of the transmitted light and the reflected light, and the coloration rate of the fruits are determined from the photographed images of the fruits to be harvested. A method for determining whether or not to harvest has been proposed (see, for example, Patent Documents 1 and 2).

Japanese Patent No. 3138407 JP 2008-206438 A

  When using the cultivation management apparatus described in Patent Document 1, the operator must directly touch the irradiation unit and the light receiving unit of the apparatus to the fruits and vegetables. It is difficult to determine whether or not to harvest fruits and vegetables that are out of reach. Moreover, when using the method described in patent document 2, since the determination value of the coloring rate of the fruit to be harvested is determined in advance, the determination value of the coloring rate can be flexibly changed by the operator. Can not.

  Therefore, an object of the present invention is to provide a fruit and vegetable harvest determining device that allows an operator to easily and objectively determine whether or not fruits and vegetables can be harvested.

  The fruit and vegetable harvesting possibility judging device according to the present invention is a fruit and vegetable harvesting possibility judging apparatus for judging whether or not to harvest fruits and vegetables, through an information input means for inputting reference information for deriving a result of judgment of harvesting possibility, and a video input means. A determination unit that extracts a target fruit and vegetable region from the input video information, determines whether the target fruit or vegetable is harvestable according to the reference information, and an output unit that displays the determination result of the determination unit as video information. To do.

  The method for determining whether or not to harvest fruits and vegetables according to the present invention is a method for determining whether or not to harvest fruits and vegetables, wherein the information input means inputs reference information for deriving a harvestability determination result, and the determination means inputs video. A region of the target fruit or vegetable is extracted from the video information input through the means, and whether or not the target fruit or vegetable is harvested is determined according to the reference information, and the output means displays the determination result of the determination means as video information.

  The fruit and vegetable harvestability determination program according to the present invention is a fruit and vegetable harvestability determination program for determining whether or not a fruit can be harvested, and is a process for inputting reference information used for deriving a harvestability determination result from information input means to a computer. And extracting the region from the video information input via the video input means, determining whether the target fruit or vegetable can be harvested according to the reference information, and outputting the determination result to the output means for displaying the harvestability determination result as video information. And processing.

  According to the present invention, in the harvesting of fruits and vegetables, whether or not the target fruits and vegetables can be harvested is determined from the image information of the fruits and vegetables. Therefore, the operator can easily and objectively determine whether or not the fruits and vegetables can be harvested.

It is a block diagram which shows 1st Embodiment of the fruit and vegetables harvest judgment apparatus of this invention. It is a flowchart which shows operation | movement of the fruit and vegetables harvest judgment apparatus 100. FIG. It is explanatory drawing which shows an example of the video information acquired from the video input part. It is explanatory drawing which shows an example of the result of having extracted the fruit and vegetables area | region from the video information of FIG. It is a flowchart which shows an example of the determination process of the red degree in a fruit and vegetables area | region. It is explanatory drawing which shows an example of the video information for conveying a harvest availability determination result to a user. It is a block diagram which shows 2nd Embodiment of the fruit and vegetables harvest judgment apparatus of this invention. It is a block diagram which shows the principal part of this invention. It is a block diagram which shows the principal part of this invention.

Embodiment 1. FIG.
A first embodiment of the present invention will be described below with reference to the drawings.

  FIG. 1 is a block diagram showing a first embodiment of the fruit and vegetable harvest judgment device of the present invention. 1 includes a control unit 180, a video input unit 120, a video output unit 130, a target extraction unit 140, an availability determination unit 150, a video generation unit 160, and a key operation unit 170. With. The fruit and vegetable harvest judgment device 100 is carried and used by a user.

  The video input unit 120 is a video camera, for example, and inputs an external video. However, the video input unit 120 is not limited to a video camera. The user inputs the video of the fruits and vegetables to be harvested into the video input unit 120 at the harvesting work site. For example, when the video input unit 120 is a video camera, the video of the fruits and vegetables to be harvested is input by shooting the camera toward the fruits and vegetables to be harvested.

  The video output unit 130 is, for example, a display and displays a video. However, the video output unit 130 is not limited to a display. The user harvests fruits and vegetables in a state where the video displayed by the video output unit 130 can be referred to.

  The target extraction unit 140 extracts information about the fruits and vegetables that are the targets of the harvestability determination from the video information. The target extraction unit 140 has extraction information for extracting information about the target fruits and vegetables from the video information.

  The availability determination unit 150 determines whether or not the fruits and vegetables can be harvested based on the information about the fruits and vegetables extracted by the target extraction unit 140. The availability determination unit 150 has rule information for determining whether or not to harvest fruits and vegetables from the information about fruits and vegetables.

  The video generation unit 160 generates video information to be displayed on the video output unit 130.

  The control unit 180 controls each unit of the video input unit 120, the video output unit 130, the target extraction unit 140, the availability determination unit 150, and the video generation unit 160.

  Next, the operation of this embodiment will be described.

  FIG. 2 is a flowchart showing the operation of the fruit and vegetable harvest determination device 100.

  The control unit 180 acquires the video information of the video shot by the user from the video input unit 120 (step S201). FIG. 3 is an explanatory diagram illustrating an example of video information acquired from the video input unit 120. As shown in FIG. 3, the video information includes a plurality of tomatoes before harvesting. The control unit 180 outputs the video information acquired in step S201 to the target extraction unit 140.

  The target extraction unit 140 extracts a target fruit and vegetable region (hereinafter referred to as a fruit and vegetable region) from the video information received from the control unit 180 (step S202). In the following description, a case will be described in which feature information is used as extraction information for the target extraction unit 140 to extract a fruit and vegetable region. Note that the extracted information may be information other than feature information.

  In the case of the method using the feature information, the target extraction unit 140 has information regarding the feature of the fruits and vegetables to be extracted as the feature information. As an example of the feature information, there is information on color and shape. For example, when the target fruit or vegetable is a tomato, the characteristic information includes information on the shape and color of the tomato. Upon receiving the video information, the target extraction unit 140 uses an image recognition technique to search for a region in the video that matches the feature information that the target extraction unit 140 owns. Output as.

  FIG. 4 is an explanatory diagram showing an example of a result of extracting the fruit and vegetable region from the video information of FIG. As shown in FIG. 4, four rectangular areas are extracted as the fruit and vegetables area. Although the tomatoes shown in FIG. 4 are separated from each other, when a plurality of tomatoes are overlapped with each other, the overlapping tomato regions do not match the shape of the tomatoes, and thus are not extracted as the fruit and vegetable region. Moreover, although the shape of the fruit and vegetables area | region is a rectangle, the shape of the fruit and vegetables area | region may be arbitrary shapes. For example, it may be a curved region that traces the boundary line of the target fruit or vegetable. When the shape of the fruit and vegetable area is rectangular, the target extraction unit 140 selects a rectangular area surrounding the target fruit and vegetable as the fruit and vegetable area, and sets a set of two-dimensional coordinates of the vertices of the rectangular area. It outputs to the control part 180 as area | region information.

  Next, the control unit 180 outputs the area information received from the target extraction unit 140 to the availability determination unit 150 together with the video information received from the video input unit 120. The availability determination unit 150 determines whether the target fruit or vegetable can be harvested based on the video information and the region information (step S203). When a plurality of pieces of area information are acquired in step S202, the availability determination unit 150 performs a determination process for each piece of all area information. The availability determination unit 150 outputs the determination result of whether the target fruit or vegetable can be harvested to the control unit 180 as the harvest availability determination result.

  Here, a method for determining whether or not harvesting is possible by the availability determining unit 150 will be described. The availability determination unit 150 has rule information for deriving a harvest availability determination result from the video information. As an example of the rule information, there is information such as “determine that harvesting is possible if the degree of red in the fruit and vegetable region is equal to or greater than a predetermined value”. Note that the rule information may be any rule as long as the rule determination result can be derived from the video information. For example, when evaluating based on the color level of the image in the fruits and vegetables area, rather than evaluating the pixels in the area evenly, the evaluation is weighted and priority is given to the evaluation of the color level in the center of the area. Such a rule may be used.

  With reference to FIG. 5, the determination process of the degree of red in the fruit and vegetable area will be described by taking as an example a case where the fruit or fruit to be determined is a tomato and the fruit and vegetables area is a rectangular area. FIG. 5 is a flowchart illustrating an example of a determination process of the degree of red in the fruit and vegetable region. First, the availability determination unit 150 acquires a fruit and vegetable region based on the video information and the region information, and extracts a red region from the fruit and vegetable region (step S501). A red area | region is an area | region which shows the part of the tomato in a fruit and vegetables area | region. As a red region extraction method, for example, a continuous region of pixels having an R value of 125 or more and a G value and a B value of 25 or less may be extracted.

  The availability determination unit 150 obtains an average of the RGB values of all the pixels in the extracted red area (step S502), and determines whether or not the degree of red in the fruit and vegetables area is equal to or greater than a specified value based on the average value of the RGB values. Confirmation is made (step S503). For example, if the R value is 200 or more and the G value and B value are 25 or less, it is determined that the degree of red is equal to or more than a specified value. If the degree of red is not less than the specified value, it is determined that harvesting is possible (step S504), and otherwise, it is determined that harvesting is impossible (step S505).

  The control unit 180 outputs the video information received from the video input unit 120, the region information received from the target extraction unit 140, and the harvest availability determination result received from the availability determination unit 150 to the video generation unit 160. The video generation unit 160 generates video information for transmitting a result of determining whether or not the fruits and vegetables can be harvested to the user based on the video information received from the control unit 180, the region information, and the harvestability determination result (step S204). . FIG. 6 is an explanatory diagram illustrating an example of video information for transmitting a result of determining whether or not harvesting is possible to the user. In FIG. 6, the region information acquired in step S202 is drawn with a line on the video information acquired from the video input unit 120 in step S201, and the harvestability determination information acquired in step S203 is set to “OK” or It is drawn with the text “NG”. Note that the video information generated by the video generation unit 160 may be any video as long as it can transmit to the user the result of determining whether the fruits and vegetables in the video can be harvested. The video generation unit 160 outputs the generated video information to the control unit 180.

  The control unit 180 outputs the video information received from the video generation unit 160 to the video output unit 130 and causes the video output unit 130 to display the video information (step S205).

  As described above, the user of the fruit and vegetable harvest determining device 100 acquires information about whether or not the fruit or vegetables within the photographing range can be harvested from the image output unit 130 by photographing the fruits and vegetables with the image input unit 120. Can do.

  In addition, the video input unit 120 and the video output unit 130 may be attached to a glasses-type frame. According to such a form, the user can acquire the fruit / fruit harvesting possibility determination information from the video output unit 130 attached to the glasses-type frame only by turning his / her face toward the fruit / fruit.

  Further, the extraction information included in the target extraction unit 140 and the rule information included in the availability determination unit 150 may be changed by the user. In order to realize such a form, for example, a user may be able to input extraction information, rule information, and the like via the key operation unit 170. When changing the extraction information, the control unit 180 may acquire the extraction information input by the user from the key operation unit 170 and overwrite the extraction information included in the target extraction unit 140 with the acquired extraction information. . In addition, when changing the rule information, the control unit 180 acquires the rule information input by the user from the key operation unit 170 and overwrites the rule information of the availability determination unit 150 with the acquired rule information. That's fine.

  If the extraction information and the like can be changed by the user in this way, it is possible to change the region extraction condition and the determination rule during the harvesting operation. In addition, it is possible to perform region extraction and harvest availability determination according to the varieties of fruits and vegetables.

Embodiment 2. FIG.
Hereinafter, a second embodiment of the present invention will be described with reference to the drawings.

  FIG. 7 is a block diagram showing a second embodiment of the fruit and vegetable harvest judging device of the present invention. The fruit and vegetable harvest judgment device 100 shown in FIG. 7 includes a terminal 110, a communication network 200, and a server 300.

  The terminal 110 includes a control unit 180, a video input unit 120, a video output unit 130, and a key operation unit 170. The terminal 110 is connected to the server 300 via the communication network 200.

  The server 300 includes a target extraction unit 340, an availability determination unit 350, and a video generation unit 360. The target extraction unit 340, the availability determination unit 350, and the video generation unit 360 perform the same processing as the target extraction unit 140, the availability determination unit 150, and the video generation unit 160 of the first embodiment, respectively.

  The control unit 180 communicates with the target extraction unit 340, the availability determination unit 350, and the video generation unit 360 of the server 300 via the communication network 200, and controls each unit.

  Note that other configurations and operations of the second embodiment are the same as those of the first embodiment, and thus description thereof is omitted.

  According to the second embodiment, by installing the target extraction unit 340, the availability determination unit 350, and the video generation unit 360 on a server or the like installed on a network such as the Internet, the function of each unit is provided on the network service. It becomes possible to provide as. Further, by installing the target extraction unit 140, the availability determination unit 150, and the video generation unit 160 on the server 300 side as the target extraction unit 340, the availability determination unit 350, and the video generation unit 360, the operator can determine whether or not the fruits and vegetables can be harvested. When making the determination, it is only necessary to carry the terminal 110.

  FIG. 8 is a block diagram showing a main part of the apparatus for determining whether or not to harvest fruits and vegetables according to the present invention. As shown in FIG. 8, the fruit / fruit harvesting possibility judging device for judging whether or not the fruit or vegetables can be harvested, the information input means 17 for inputting the reference information for deriving the harvesting judgment result (in the embodiment, the key operation unit 170). And the target fruit and vegetable region are extracted from the video information input via the video input means 12 (in the embodiment, realized by the video input unit 120), and the target fruit and vegetable is harvested according to the reference information. Determination means 19 for determining availability (in the embodiment, realized by the target extraction unit 140, the availability determination unit 150, and the video generation unit 160), and output means 13 for displaying the determination result of the determination means as video information (implementation) The embodiment is realized by the video output unit 130.).

  In the above-described embodiment, the following fruits and vegetables harvest availability determination device is also disclosed.

(1) The reference information includes extraction information for extracting the target fruit and vegetable region from the video information, and rule information including a determination value that allows harvesting from the video information. An apparatus for determining whether or not a fruit or vegetables can be harvested, which extracts an area of the target fruit or vegetable from the video information and applies the rule information to the area to determine whether or not to harvest.

(2) The determination unit 19 is an apparatus for determining whether or not the fruits and vegetables can be harvested, which acquires the extraction information and the rule information input by the user from the information input unit 17.

(3) As shown in FIG. 9, with the terminal 11 (implemented with the terminal 110 in the embodiment) and the terminal 11 via the communication network 20 (implemented with the communication network 200 in the embodiment). A communication server 30 (in the embodiment, realized by the server 300), and a determination unit 39 (in the embodiment, realized by the target extraction unit 340, the availability determination unit 350, and the video generation unit 360). Are provided in the server 30, and the video input means 12 and the output means 13 are provided in the terminal 11 to determine whether or not the fruits and vegetables can be harvested.

DESCRIPTION OF SYMBOLS 10,100 Fruits and vegetables harvest judgment apparatus 11,110 Terminal 12 Image | video input means 13 Output means 17 Information input means 19,39 Determination means 20,200 Communication network 30,300 Server 120 Image | video input part 130 Image | video output part 140,340 Target extraction part 150, 350 Availability determination unit 160, 360 Video generation unit 170 Key operation unit 180 Control unit

Claims (6)

An apparatus for determining whether or not a fruit or vegetable can be harvested.
Information input means for inputting reference information for deriving a harvestability determination result;
A determination unit that extracts a region of the target fruit and vegetable from the video information input through the video input unit, and determines whether the target fruit and vegetable can be harvested according to the reference information;
An apparatus for determining whether or not a fruit or vegetables can be harvested, comprising: output means for displaying the determination result of the determination means as video information. The reference information includes extraction information for extracting the target fruit and vegetable region from the video information, and rule information including a determination value that enables harvesting from the video information,
The fruit and vegetable harvesting possibility determination device according to claim 1, wherein the determination unit extracts a target fruit and vegetable region from video information based on the extraction information, and determines whether or not harvesting is possible by applying the rule information to the region. The fruits and vegetables harvest determination device according to claim 2, wherein the determination unit acquires the extraction information and the rule information input by the user from the information input unit. A terminal and a server capable of communicating with the terminal via a communication network;
The determination means is provided in the server,
The fruit / fruit harvest availability determination device according to any one of claims 1 to 3, wherein the video input means and the output means are provided in the terminal. A method for determining whether or not fruits and vegetables can be harvested.
The determination means extracts the target fruit and vegetable region from the video information input via the video input means, determines whether the target fruit or vegetable can be harvested according to the reference information,
An output means displays the determination result of the determination means as video information. A program for determining whether or not a fruit or vegetable can be harvested.
On the computer,
A process of inputting reference information used for deriving a harvestability determination result from the information input means;
A process of extracting a region from the video information input via the video input means and determining whether or not the target fruit or vegetable can be harvested according to the reference information;
A program for determining whether or not to allow harvesting of fruits and vegetables for executing a process of outputting the determination result to an output means for displaying the determination result of the harvestability as video information.

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