JP2013000087A - Movable cultivation apparatus, plant cultivation system, and plant cultivation plant - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a movable cultivation apparatus that can move plants into a suitable raising environment position.SOLUTION: The movable cultivation apparatus includes a raising bed for raising plants, a movable base movable while supporting the raising bed, and a control part for moving the position of the movable base according to the raised situation of the plants.

Description

  The present invention relates to a mobile cultivation apparatus, a plant cultivation system, and a plant cultivation plant.

  2. Description of the Related Art A plant cultivation apparatus that moves a plant to be grown up and down in a warehouse is known (see, for example, Patent Document 1).

JP 2008-61623 A

  However, in the cultivation apparatus shown in Patent Document 1, since the plant is moved up and down simply by a preset condition or the like, the moved position is not always a suitable position for growing the plant. It was.

  The present invention has been made in view of such circumstances, and its purpose is to provide a mobile cultivation apparatus, a plant cultivation system, and a plant cultivation plant that can move a plant to a suitable position for growing the plant. It is to provide.

  In order to solve the above-described problems, the present invention provides a growth floor on which plants are grown, a movable table that can move while supporting the growth floor, and the position of the movable table according to the growth status of the plant. It is a mobile cultivation device characterized by comprising a control part which moves.

  In addition, the present invention comprises a growing floor on which plants are grown, a movable base that can move the position of the growing floor, and a control unit that moves the position of the movable base, The mobile cultivating apparatus is capable of moving to a plurality of cultivating areas having different cultivating environments, and the control unit moves the position of the movable platform to a cultivating area selected from the plurality of cultivating areas. It is.

  Moreover, this invention is a plant cultivation system provided with the above-mentioned mobile cultivation apparatus.

  Moreover, this invention is a plant cultivation plant provided with the above-mentioned plant cultivation system.

  According to this invention, a plant can be moved to a position suitable for growing the plant.

It is a figure which shows the outline | summary of the plant cultivation plant by one Embodiment of this invention. It is a figure which shows the mobile detection apparatus in this embodiment. It is a schematic block diagram which shows the structure of the plant cultivation system in this embodiment. It is a figure which shows control of the harvest time of the plant in this embodiment. It is a figure which shows the positional relationship of the flower used as a detection target and a fruit in this embodiment. It is a figure explaining detection of the actual maturity level used as a candidate for detection in this embodiment. It is a figure which shows the state of the leaf used as detection object in this embodiment. It is a figure which shows the movable stand in the mobile cultivation apparatus in this embodiment. It is a schematic block diagram which shows the structure of the mobile cultivation apparatus in this embodiment. It is a figure which shows an example in the case of moving a movable stand in a 1st breeding room. It is a figure which shows an example in the case of moving a movable stand from a 1st growing room to a 2nd growing room. It is a figure which shows an example in the case of moving a movable stand to each of several cultivation chambers. It is a figure explaining the case where a plant is moved to the position where it is easy to image. It is a figure explaining the case where a plant is inclined to the angle which is easy to be imaged. It is a figure which shows the example which a belt conveyor conveys a movable stand. It is a figure which shows the example which a movable stand moves the raising floor which floats in water.

Hereinafter, an embodiment of the present invention will be described with reference to the drawings.
FIG. 1 is a diagram showing an outline of a plant cultivation plant 4 according to an embodiment of the present invention. FIG. 1A shows a cross-sectional view thereof, and FIG. 1B shows a plan view thereof.
The plant cultivation plant 4 includes a plant cultivation system 1 (FIG. 3) and is a facility for cultivating plants.
As shown in FIG. 1, the plant cultivation plant 4 includes a plant cultivation growth floor 6 on which plants 9 are grown, a movable platform 60 that can move while supporting the cultivation floor 6, and a movable platform 60 for movement. A guide rail 70, a plant enclosure 8 that surrounds the growth floor 6 to separate the outside air space 7, and a lamp 10 that irradiates light to the plants 9 grown on the growth floor 6 are provided. The plant cultivation plant atmosphere adjusting device 2 adjusts the atmosphere of the inner space 13 of the plant enclosure 8. The breeding floor 6 is provided for each seedling of the plant 9. A plurality of movable platforms 60 are provided for each growth floor 6 so as to be movable while supporting each of the growth floors 6. Moreover, although the growth floor 6 is a soil floor in the illustrated example, it may be a hydroponics floor for hydroponics that includes a liquid fertilizer circulation device (not illustrated).

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

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

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

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

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

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

  In addition, the movable platform 60 supports the growing floor 6 and travels along the guide rail 70. That is, the movable table 60 moves the position of the plant 9 along the guide rail 70. For example, the movable table 60 moves in each of the inner spaces 13-1 and 13-2. Moreover, the movable stand 60 moves back and forth between the inner spaces 13-1 and 13-2. The guide rail 70 is a rail that guides the travel of the movable table 60. Further, the guide rail 70 is a rail provided in a concave shape on a flat table, and is installed so as not to hinder the movement of the mobile detection device 40. Further, the flat table on which the guide rail 70 is installed has a mesh structure that does not block the environment between the upper space and the lower space of the table.

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

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

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

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

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

  The plant cultivation system 1 shown in FIG. 3 includes, for example, a control target unit 100, a determination unit 200, an imaging unit 300, an imaging position moving unit 400, a plant control unit 500, and a mobile cultivation apparatus 600.

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

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

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

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

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

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

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

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

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

  The mobile cultivation apparatus 600 moves the position of the plant 9 by moving the movable base 60 based on a command from the plant control unit 500. For example, the mobile cultivation apparatus 600 can move the position of the plant 9 to a plurality of cultivation areas having different cultivation environments. That is, the mobile cultivation apparatus 600 can control the growing environment of the plant 9 by moving the position of the plant 9.

The plant control unit 500 determines the growing environment of the plant 9 according to the result of determining the growing state based on the growing model of the plant 9 based on the image information of the plant 9 captured from the position moved by the imaging position moving unit 400. Control.
The plant control unit 500 includes a growth model generation unit 510, an environment control unit 520, a position control unit 530 (imaging position control unit), a production plan design unit 540, a harvest plan design unit 550, a pruning plan design unit 570, and a movable table A control unit 610 (control unit) is provided.
The training model generation unit 510 generates a training model based on the image information, and updates the training model held in the training model unit 220.
The growth model generation unit 510 is a first model generation unit that determines the first growth model according to the growth status generated from the image information, and a second model that detects the position of the flower at the time of flowering from the image information and generates a second growth model. The model generation unit includes a third model generation unit that generates a third breeding model for determining the harvest time from the image information.

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

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

The movable table control unit 610 is a configuration included in the mobile cultivation apparatus 600 and controls the movable table 60 according to the growth status of the plant 9. For example, the movable table control unit 610 receives a command based on the arrangement plan designed by the arrangement plan design unit 560, and moves the movable table 60 on which the plant 9 is grown to a position corresponding to the growing state of the plant 9. Let Further, the movable table control unit 610 controls the movable table 60 in cooperation with the control of the imaging position moving unit 400 by the position control unit 530, so that the imaging unit 300 images the plant 9 according to the position and direction. The plant 9 is moved or inclined.
The movable table control unit 610 receives a command based on the harvest plan designed by the harvest plan design unit 550, and places the movable table 60 on which the harvestable plant 9 is grown at a position where the harvesting operation is performed. It may be moved.

(Control of plant harvest time)
Next, with reference to FIG. 4, control of the harvest time of the plant in this embodiment is demonstrated.
FIG. 4 is a diagram illustrating the control of the plant harvest time in the present embodiment.
In the graph shown in FIG. 4, the horizontal axis indicates the number of days (hours) elapsed from germination, the vertical axis indicates the degree of plant growth, and has a so-called growth curve shape. As shown in this graph, the degree of growth can be defined as a function according to the number of days elapsed. The standard.

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

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

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

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

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

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

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

In the determination based on the state of the flower / fruit in the determination unit 200, the number, density, arrangement, actual maturity, and the like are listed as determination items.
FIG. 5 is a diagram illustrating a positional relationship between a flower to be detected and a fruit.
FIGS. 5 (a) and 5 (c) show the flowering state, and FIGS. 5 (b) and 5 (d) show the fruiting state.
Since the actual position depends on the position of the flower, the actual number and position can be specified by specifying the number and position of the flowers. The positions of the flowers f1 and f2 shown in the flowering period change as the positions of the fruits F1 and F2 in the mature period.
The number of flowers (fruits) is detected by counting the quantity existing within a predetermined range or the number of flowers (fruits) attached to the stem (specified branch).
The density of the flower (fruit) is calculated by dividing the quantity of the detected flower (fruit) by the unit capacity. Alternatively, the density of flowers (fruits) is simply detected by counting the number of flowers (fruits) present in a predetermined range of the captured image.
The arrangement of flowers (fruits) is detected by using a three-dimensional measurement technique. Moreover, the actual position of the fruiting period can be estimated from the detected position of the flower. The actual estimated position can be calculated based on the three-dimensional position of the flower by assuming the actual size and weight and using the strength and length of the branch from which the fruit hangs as calculation conditions.
From this calculated estimated position, it is possible to estimate interference with an adjacent actual object. That is, it can be estimated that interference occurs when the relative distance is closer than the actual size.

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

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

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

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

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

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

  Further, a harvest time determination model (third breeding model) for determining the harvest time, which extracts the characteristics of the target to be detected using a pattern based on the size, shape, or color, is required.

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

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

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

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

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

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

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

(Design of layout plan)
The arrangement plan design unit 560 designs an arrangement plan for the plants 9 cultivated in the plant cultivation plant 4 based on the first breeding model. By designing based on the first breeding model, the size of the individual plant 9 after growth can be calculated.
By formulating this arrangement plan, it is possible to efficiently arrange plants while preventing interference with adjacent plants or facilities in the growth process. This arrangement plan is a criterion for determining an appropriate arrangement or the like when so-called thinning is performed or when different types of plants do not match each other.
In addition, the arrangement plan design unit 560 changes the arrangement plan of the plants 9 according to the growth status determined based on the first growth model and the captured image information. The arrangement plan design unit 560 can change the arrangement according to the degree of growth of each individual plant 9 by appropriately changing the arrangement plan according to the growing situation.

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

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

When large-scale cultivation is enabled by such a plant cultivation system 1, even in an indoor environment, it is difficult to ensure the uniformity of the growing environment so as to eliminate variation. Even if the growing environment is uniform, the degree of growth of the plant 9 may vary for each individual plant 9. Furthermore, it is necessary to efficiently perform work in a wide cultivation space by such large-scale cultivation. For this reason, it is desired to move the plant 9 to a suitable position for growing the plant 9 according to the growing situation of the plant 9.
Here, the position suitable for growing the plant 9 described above is a position of a suitable growing environment or a position of a suitable growing work (observation of a growing situation, harvesting work, etc.).

[Plant movement control]
Next, control in which the mobile cultivation apparatus 600 moves the plant 9 in the plant cultivation plant 4 will be described.
The movable table control unit 610 controls to move the position of the movable table 60 that can move while supporting the growing floor 6 on which the plant 9 is grown, according to the growing state of the plant 9. For example, the situation storage unit 230 stores the growth status of the plant 9 determined based on the captured image information of the plant 9 and the growth model in association with the growth floor 6. And the movable stand control part 610 moves the position of the movable stand 60 according to the growing condition of the plant 9 read from the situation memory | storage part 230. FIG.
Here, the movement of the position of the movable base 60 is movement by changing the position in the horizontal direction, changing the position in the vertical direction, or changing the inclination angle. That is, the mobile cultivation apparatus 600 can move the plant 9 in the horizontal direction, move the plant 9 in the vertical direction, or tilt the plant 9 by moving the position of the movable table 60.
Thereby, the mobile cultivation apparatus 600 moves the plant 9 to a position suitable for growing the plant 9 according to the growing state of the plant 9.

(Configuration of movable platform 60 in mobile cultivation device 600)
FIG. 8 is a diagram illustrating the movable table 60 in the mobile cultivation apparatus 600. As shown in FIG. 8A, the movable table 60 includes a base 60 </ b> A, a support table 60 </ b> B that supports the growth floor 6, and wheels 60 </ b> W that are rotatable with respect to the direction in which the growth floor 6 is moved. Yes. Then, the movable platform 60 moves while supporting (placing) the growing floor 6 when a movable platform driving section 65 described later with reference to FIG. 9 drives the wheels 60W. Further, as shown in the bottom view of the movable table 60 in FIG. 8B, the four wheels 60 </ b> W are supported so as to be rotatable about an axis (vertical axis) orthogonal to the bottom surface of the movable table 60. The moving direction can be changed.
Further, as shown in FIGS. 8C and 8D, the movable base 60 further includes an inclination mechanism portion 60 </ b> M (inclination portion), and the growth floor 6 can be inclined by driving the movable base driving portion 65. It is. For example, as the tilt mechanism portion 60M, a plurality of pneumatic cylinders that expand and contract by air pressure are installed on the base 60A so as to support the support base 60B. And the movable stand 60 inclines the support stand 60B with respect to the base 60A by selectively expanding and contracting a plurality of pneumatic cylinders. Thereby, the movable stand 60 can incline the breeding floor 6 supported by the support stand 60B. The tilt mechanism 60M is not limited to a configuration in which a pneumatic cylinder is used, but a cylinder that expands and contracts by the pressure of another gas such as a gas pressure cylinder and a cylinder that expands and contracts by the pressure of a liquid such as a hydraulic cylinder. The structure used may be sufficient and the structure by which raising / lowering mechanisms other than a cylinder are used may be sufficient.

  For example, as shown in FIGS. 8C and 8D, the movable base 60 includes two tilting mechanism portions 60M, and the growing bed 6 is expanded and contracted exclusively by the two tilting mechanism portions 60M. Tilt. FIG. 8C shows a state in which the right tilt mechanism 60M (R) on the paper surface of the two tilt mechanisms 60M provided in the movable base 60 is extended, and the left tilt climatic section 60M. The case where (L) is in a contracted state is shown. In this case, the growth floor 6 is inclined by lifting only the right side on the paper surface of the support base 60B with respect to the base 60A. On the other hand, FIG. 8 (d) shows a state in which the right tilt mechanism 60M (R) on the paper surface of the two tilt mechanisms 60M provided in the movable base 60 is contracted, and the left tilt climate. The case where the part 60M (L) is in the extended state is shown. In this case, only the left side on the paper surface of the support base 60B is lifted with respect to the base 60A, so that the breeding floor 6 is inclined in the opposite direction to FIG.

In addition, although not shown in figure, the movable stand 60 is provided with the transmission / reception part for transmitting / receiving a control signal by radio | wireless communication, for example. The movable table 60 receives the control signal transmitted from the movable table control unit 610 by wireless communication, and is driven based on the received control signal. Further, although not shown, the movable table 60 includes a storage battery and a power supply unit that supplies electric power from the storage battery, and supplies electric power to each unit included in the movable table 60.
The movable table 60 may be configured to be supplied with power from the guide rail 70. In addition, the movable table 60 may be configured to transmit and receive control signals via the guide rail 70.

(Configuration of mobile cultivation device 600)
FIG. 9 is a schematic block diagram showing an example of the configuration of the mobile cultivation apparatus 600 in the present embodiment. In the figure, the same reference numerals are given to the same components as those in FIG. 3 and FIG.
The mobile cultivation apparatus 600 includes a movable table 60 and a movable table control unit 610 that controls the movable table 60. The movable table 60 includes a movable table driving unit 65 that drives the wheels 60 </ b> W and the tilt mechanism unit 60 </ b> M under the control of the movable table control unit 610. The movable table control unit 610 controls the movable table 60 by transmitting and receiving a control signal to and from the movable table driving unit 65 provided in the movable table 60 using, for example, wireless communication.
In addition, the movable table control unit 610 includes a movement position determination unit 620, a movement path calculation unit 630, an interval calculation unit 640, a movement control unit 650, an inclination position determination unit 660, and an inclination control unit 670. ing.

  The movement position determination unit 620 receives a command based on the arrangement plan designed by the arrangement plan design unit 560, and the plant determined from the situation storage unit 230 based on the image information of the captured plant 9 and the breeding model. Read 9 growth status. The growing status of the plant 9 is stored in the status storage unit 230 in association with the growing floor 6 on which the plant 9 is grown. For example, the position information of the plant 9 is stored as coordinate information in the situation storage unit 230, and the position of the growing floor 6 can be indicated by the coordinate information of the plant 9 grown on the growing floor 6. The growth status of the plant 9 is stored in the status storage unit 230 in association with coordinate information (position coordinates) indicating the position of the growth floor 6. Further, the position of the growth floor 6 is determined as a pair with the position of the movable platform 60 that supports the growth floor 6. That is, the growth status of the plant 9 is stored in the status storage unit 230 in association with coordinate information (positional coordinates) indicating the position of the movable platform 60 that supports the growth floor 6 on which the plant 9 is grown. Note that the planting status of the plant 9 may be stored in the status storage unit 230 by assigning a unique ID number to each movable platform 60 and in association with the ID number.

  In addition, the movement position determination unit 620 moves the movable table 60 (the position of the movable table 60) to be moved according to the growth status of the plant 9 associated with each movable table 60 read from the situation storage unit 230. ) And the destination position is determined. For example, the movement position determination unit 620 selects the movable platform 60 on which the plant 9 whose growth status is delayed (growth is delayed) as compared with the breeding model is grown as the movable platform 60 to be moved, The movement destination of the movable platform 60 is selected and determined from the environmental positions that promote the growing situation. As an example, the movement position determination unit 620 moves the movable platform 60 of the plant 9 that has been cultivated at a position where the light irradiation amount is small due to environmental variations and the growth status is delayed to a position where the light irradiation amount is large. Choose from among them. In addition, the movement position determination unit 620 cooperates with the control of the imaging position movement unit 400 by the position control unit 530 according to the growing state of the plant 9, and according to the position and direction in which the imaging unit 300 images the plant 9. The position of the destination of the plant 9 is determined. In addition, the movement position determination unit 620 corrects the position of the movement destination of the movable table 60 based on the position interval calculated by the interval calculation unit 640.

  The movement path calculation unit 630 calculates a movement path based on the position coordinates of the current position of the movable platform 60 to be moved and the position coordinates of the movement destination determined by the movement position determination unit 620. For example, the movement route calculation unit 630 moves on the coordinates according to the normal route when traveling along the guide rail 70 on the movement route from the position coordinates of the movable platform 60 to be moved to the position coordinates of the movement destination. Calculate as quantity and moving direction. Then, the movement route calculation unit 630 outputs the calculated movement route to the movement control unit 650. Note that the movement route calculation unit 630 may output the position coordinates of the current position and the position coordinates of the movement destination to the movement control unit 650 instead of outputting the movement route, or from the position coordinates of the current position. A plurality of position coordinates on the movement path to the position coordinates of the movement destination may be output to the movement control unit 650.

  The interval calculation unit 640 receives a command based on the arrangement plan designed by the arrangement plan design unit 560, and adjusts the position interval of each of the plurality of movable platforms 60 according to the growth status of the plant 9. The interval (distance between position intervals) is calculated as position interval information indicated by the coordinate values. For example, the space | interval calculation part 640 calculates the position space | interval information which does not produce interference with the adjacent plant 9 or a plant | facility according to the magnitude | size of the plant | plant 9 becoming large by growth. Moreover, the space | interval calculation part 640 may calculate position space | interval information based on the magnitude | size of the individual after the growth of the plant 9 formulated by the arrangement plan design part 560. The interval calculation unit 640 outputs the calculated position interval information to the movement control unit 650 or the movement position determination unit 620.

The movement control unit 650 outputs a control signal for driving the movable table driving unit 65 included in the movable table 60 to the movable table 60 to be moved, based on the movement route calculated by the movement route calculation unit 630. Thereby, the movement control unit 650 moves the movable base 60 from the current position to the destination position. In addition, the movement control unit 650 generates a control signal for adjusting each position interval of each of the plurality of movable tables 60 based on the position interval information calculated by the interval calculation unit 640, and the movable table that adjusts the position intervals. 60.
Note that the movement control unit 650 can detect the position coordinates of the current position of the movable platform 60 by means such as inertial navigation, and provides feedback so that there is no difference between the position coordinates of the movement destination and the position coordinates of the current position. Control may be performed to move to a destination position. Further, the movement control unit 650 performs feedback control based on a plurality of position coordinates on the movement path so that there is no difference in order from the position coordinates close to the current position among the plurality of position coordinates, and the position of the movement destination It may be moved to.

  In addition, the movement control unit 650 moves the position of the movable table 60 via the movable table driving unit 65, and then stores the position coordinates after the movement of the movable table 60 in the situation storage unit 230. In this case, the movement control unit 650 may update the position coordinates before the movement of the movable table 60 stored in the situation storage unit 230 to the position coordinates after the movement, or move separately from the position coordinates before the movement. You may make it possible to know the movement history by adding and storing later position coordinates.

  The tilt position determination unit 660 cooperates with the control of the imaging position moving unit 400 by the position control unit 530 in accordance with the growth status of the plant 9, and the plant according to the position and direction in which the imaging unit 300 images the plant 9. 9 tilt positions are determined. That is, the tilt position determination unit 660 determines the tilt direction and the tilt amount when tilting the growing floor 6 supported by the movable table 60.

  The tilt control unit 670 outputs a control signal for driving the movable table driving unit 65 based on the tilt position of the growing bed 6 to be tilted determined by the tilt position determining unit 660, and the tilt mechanism unit 60 </ b> M of the movable table 60. To control. Accordingly, the tilt control unit 670 tilts the plant 9 in cooperation with the control of the imaging position moving unit 400 by the position control unit 530. In addition, after the imaging unit 300 controlled by the imaging position moving unit 400 by the position control unit 530 finishes the process of imaging the plant 9, the inclination control unit 670 is set to a position before the inclined breeding floor 6 is inclined. Control to return.

Next, an example of control of the movable stand 60 in the mobile cultivation apparatus 600 will be described.
(Example of moving in one inner space)
Here, there is a case where there are a plurality of growth areas having different growth environments due to variations in the inner space 13-1 (hereinafter referred to as the first growth room), and the movable base 60 can be moved to the plurality of areas. I will explain. In this case, the movable table control unit 610 moves the position of the movable table to a growing area selected from a plurality of growing areas according to the growing state of the plant 9.

  FIG. 10 is a diagram illustrating an example of moving the movable table 60 in the first growth chamber. In this figure, the environment driving unit 120 controls the growing environment in the first growing room, but it is difficult to ensure the uniformity of the indoor environment so that there is no variation. The case where N is in a different breeding environment is shown. In the area S, the growing environment according to the control condition by the environment driving unit 120 is maintained. For example, the plant 9 is supplied with light having an irradiation amount according to the control condition. Therefore, the area S can be expected to grow in accordance with a growth curve (see graph S4a in FIG. 4) as a reference for managing the growth status of the plant 9. On the other hand, in the area N, the growth environment according to the control condition by the environment driving unit 120 is not maintained due to the variation, and for example, the plant 9 is supplied with light having an irradiation amount smaller than the irradiation amount according to the control condition. ing. Therefore, there is a possibility that the area N grows later than the growth curve used as a reference for the growth status management of the plant 9 (see graph S4b in FIG. 4).

  Further, in FIG. 10, as the cultivating status of the plant 9, the cultivating status A is the plant 9 growing ahead of the reference growth curve, and the cultivating status B is the plant 9 growing according to the standard growth curve. And the plant 9 which is growing later than the reference growth curve is shown as a growth status C. Even if the planting state (growth degree) of the plant 9 is grown in the same growing environment, there may be a difference for each individual. This figure shows a case where there are a plant 9 in the growth status A and a plant 9 in the growth status B in the area S, and a plant 9 in the growth status B and a plant 9 in the growth status C in the area N. Yes.

  In the example illustrated in FIG. 10, the movable platform control unit 610 is configured to move the movable platform 60 of the plant 9 in the growth state C that is grown in the area N in the area S in which the growing environment according to the control conditions is maintained. Move to.

  Specifically, first, the movement position determination unit 620 of the movable table control unit 610 moves the position of the plant 9 in the growth state C that is grown in the area N to the position in the area S from the arrangement plan design unit 560. Receive a command to Next, the movement position determination unit 620 receives a command from the arrangement plan design unit 560, and the plant 9 determined based on the image information and the growth model of the plant 9 captured from the situation storage unit 230. Read the development status of. Subsequently, the movement position determination unit 620 grows the plant in the growth status C in the area N according to the growth status of the plant 9 associated with each movable platform 60 read from the status storage unit 230. 9 movable bases 60 are determined as objects to be moved. In addition, the movement position determination unit 620 determines the current position of the movable platform 60 of the plant 9 in the growth state A among the plants 9 grown in the area S in the growth state C that is grown in the area N. It is determined as the position to which the movable platform 60 of the plant 9 is moved. Here, the movement position determination unit 620 exchanges the positions of the plant 9 to be moved and the plant 9 to be moved, so that the plant 9 in the growing state A (the most rapidly growing is among the plants 9 in the area S). The current position of the plant 9) is selected as the movement destination. That is, the movement position determination unit 620 determines the position of the movement destination so that the difference in the growth status of each plant 9 in the first growth chamber is reduced.

  Next, the movement path calculation unit 630 calculates a movement path based on the position coordinates of the current position of the movable platform 60 to be moved and the position coordinates of the movement destination determined by the movement position determination unit 620. For example, the movement path calculation unit 630 calculates the movement path of the movable platform 60 of the plant 9 in the growth state C that is grown in the area N based on the position coordinates of the current position and the position coordinates of the movement destination. Moreover, the movement path | route calculation part 630 calculates the movement path | route of the movable stand 60 of the plant 9 of the cultivation condition A currently grown in the area S based on the position coordinate of a present position, and the position coordinate of a movement destination. In addition, the movement path | route calculation part 630 shows the movement path | route (path | route C-1) of the movable stand 60 of the plant 9 of the cultivation condition C, and the movement route | path (path | route A-1) of the movable base 60 of the plant 9 of the cultivation condition A. When calculating, the movement route is calculated so that each does not collide during movement.

  Subsequently, the movement control unit 650 includes the movable table driving unit 65 provided in the movable table 60 that moves the control signal for driving the movable table driving unit 65 based on the movement path calculated by the movement path calculation unit 630. Output to. Thereby, the movement control unit 650 determines the position of the movable platform 60 of the plant 9 in the growth situation C that is grown in the area N and the movable platform 60 of the plant 9 in the cultivation situation A that is grown in the area S. Move positions and swap positions.

  In this way, the mobile cultivation device 600 moves the plant 9 in the growth status C that is being grown in the area N to a position in the area S, thereby moving the plant 9 in the growth status C (a plant whose growth is delayed). 9) can be moved to an environmental position that promotes growth. Moreover, the mobile cultivation apparatus 600 can move the plant 9 so as to reduce the difference in the growth status of each plant 9 according to the growth status of each plant 9 in the first growth chamber. Therefore, the mobile cultivation apparatus 600 can move the plant 9 to a position of a suitable cultivation environment according to the cultivation state of the plant 9. That is, the mobile cultivation apparatus 600 can move the plant 9 to a position suitable for growing the plant 9 according to the growing state of the plant 9.

(Example of moving through multiple inner spaces)
Next, different growth environments are set in the two growth areas of the inner space 13-1 (first growth room) and the inner space 13-2 (hereinafter referred to as second growth room). The case where the movable stand 60 can move between the first growing room and the second growing room will be described.
FIG. 11 is a diagram illustrating an example in which the movable platform 60 is moved from the first growth chamber to the second growth chamber. As described above, the first growing room shown in this figure is controlled in a growing environment in which the plant 9 grows in accordance with a growth curve (see graph S4a in FIG. 4) used as a reference for managing the growing status of the plant 9. . On the other hand, the 2nd growth room is controlled by the growth environment which promotes the growth of the plant 9 rather than the 1st growth room. The growth environment that promotes the growth in the second growth room is selected according to the type of the plant 9 and the degree of growth. It is a growing environment in which the amount of irradiation is increased, the ambient temperature and water temperature are increased, and the amount of nutrients is increased.

  Moreover, in FIG. 11, the growth status A, the growth status B, and the growth status C of the plant 9 indicate the same growth status as in FIG. And in this figure, the case where there are three plants 9 of the growth condition C growing behind the reference growth curve in the plants 9 in the first growth chamber is shown. In the example shown in this figure, the movable platform control unit 610 is controlled in a breeding environment that promotes the growth of the movable platform 60 of the plant 9 in the growth state C that is grown in the first growth chamber. Move into the rearing room.

Hereinafter, specific processing will be described.
In addition, the movement process by each part of the movable stand control part 610 is the same as the movement process in the 1st growth chamber mentioned above, and abbreviate | omits detailed description.
The movable platform control unit 610 calculates the movement path (route C-2 (more precisely, three types of pathways)) of the movable platform 60 of the plant 9 in the growth state C that is grown in the first growth chamber, Based on the calculated movement paths, the three movable platforms 60 are moved into the second growth chamber. Moreover, when the cultivating status of the plant 9 in the cultivating status C moved to the second cultivating chamber is determined as the cultivating status A or the cultivating status B over time, the movable platform control unit 610 determines the cultivating status A. Alternatively, the movable table 60 of the plant 9 determined to be in the growth state B is returned to the first growth chamber.

  Thus, the mobile cultivation apparatus 600 can move the plant 9 in the growing state C that is being grown in the first growing room to a growing environment that promotes growth. Moreover, the mobile cultivation apparatus 600 can be moved to a cultivation environment that reduces the difference in the cultivation status of each plant 9. Furthermore, the mobile cultivation apparatus 600 can move more individual plants 9 according to the growing situation of the plants 9 than when the movable platform 60 is moved only in the first growth chamber. , You can move to a training environment that promotes growth more positively. Therefore, the mobile cultivation apparatus 600 can move the plant 9 to a position of a suitable cultivation environment according to the cultivation state of the plant 9. That is, the mobile cultivation apparatus 600 can move the plant 9 to a position suitable for growing the plant 9 according to the growing state of the plant 9.

  The growing environment in the second growing room may be a growing environment that delays growth instead of a growing environment that promotes growth. In this case, the mobile cultivation apparatus 600 moves the plant 9 (the plant 9 in the growth state A) whose growth is fast in the first growth room to the second growth room in an environment that delays the growth, thereby It is possible to move to a breeding environment that reduces the difference in the breeding situation with the individual.

Note that the number of growing rooms is not limited to two, and may be a plurality of growing rooms. In addition, the environments in the plurality of training rooms may be set to different training environments. For example, a standard nurturing environment nurturing room, a nurturing environment nurturing room that promotes growth, and a nurturing environment nurturing room that slows growth may be provided. A plurality of breeding rooms suitable for each may be provided.
Thus, when the cultivation room of a plurality of mutually different cultivation environments is provided, the mobile cultivation apparatus 600 nurtures the cultivation environment selected from among the plurality of cultivation rooms according to the cultivation situation of the plant 9. The plant 9 can be moved into the chamber.

  The movable platform control unit 610 is selected from a plurality of growing rooms (growth areas) according to the growing status of the plant 9 so that the harvest target of the plant 9 can be harvested at the set harvesting time. You may move the position of the movable stand 60 to a cultivation room (growth area). That is, the mobile cultivation apparatus 600 moves the plant 9 to the growing room of the growing environment selected according to the growing state of the plant 9 so that the harvesting target of the plant 9 can be harvested at the set harvesting time. Let Thereby, the mobile cultivation apparatus 600 can move the plant 9 to the position of the suitable growth environment so that the harvest time may be controlled.

As described above, the plant cultivation system 1 controls the breeding environment according to the breeding situation determined based on the image information obtained by imaging the plant 9 and the breeding model of the plant 9, and according to the breeding situation, The mobile cultivation apparatus 600 can move the plant 9 to a suitable growing environment. That is, the plant cultivation system 1 can move the plant 9 to a position suitable for growing the plant 9 by the mobile cultivation apparatus 600 according to the growing state of the plant 9.
Thereby, the plant cultivation system 1 can manage the growing environment of the plant 9 and grow the plant 9 in a suitable growing environment. Furthermore, the plant cultivation system 1 can also control and manage the harvesting time by changing the growing environment of the plant 9 according to the growing state of the plant 9.

(Another example of moving through multiple inner spaces)
Subsequently, in a plurality of growing rooms (growing areas), a growing environment corresponding to the growing stage of the plant 9 is set in advance, and the movable platform 60 can be moved to each of the plurality of growing rooms. To do.
FIG. 12 is a diagram illustrating an example when the movable platform 60 is moved to each of a plurality of growing rooms.
In FIG. 12, in addition to the inner space 13-1 (first growing room) and the inner space 13-2 (second growing room) in FIG. 11, an inner space 13-3 (hereinafter referred to as third growing room). And an inner space 13-4 (hereinafter referred to as a disposal chamber) as a disposal area where the plant 9 is discarded, and an inner space 13-5 (hereinafter referred to as a harvesting chamber) as a harvesting area where the plant 9 is harvested. , And a growth environment corresponding to the growth stage of the plant 9 is set in advance. The movable table 60 can move in the plurality of inner spaces.

The first growing room and the second growing room are controlled by the growing environment described with reference to FIG. In the third growing room, a growing environment suitable for the subsequent growth of the plant 9 grown to a predetermined growth degree in the first growing room or the second growing room is set. Moreover, the plant 9 moved from the first growing room or the second growing room to the third growing room has a growing state that has reached a predetermined degree of growth, and is thinned out during this movement. There is. In addition, the plants 9 moved from the first growth chamber or the second growth chamber to the third growth chamber are spaced apart so as not to interfere with the adjacent plants 9 and the like due to the increase in the size of the individual. Adjusted.
Then, the movement to the third growth room, thinning, and adjustment of the position interval are performed by the movable table control unit 610 in response to a command based on the arrangement plan designed by the arrangement plan design unit 560.

  Specifically, first, the movement position determination unit 620 determines based on the image information and the growth model of the plant 9 captured from the situation storage unit 230 in response to receiving a command from the arrangement plan design unit 560. The growing status of the plant 9 that has been read is read out. Next, the movement position determination unit 620 moves the movable table 60 to be moved to the third growth room according to the growth status of the plant 9 associated with each movable table 60 read from the situation storage unit 230. (The movable platform 60 on which the plant 9 whose breeding state has reached a predetermined degree of growth is grown) is determined.

  In addition, the interval calculation unit 640 receives a command based on the arrangement plan designed by the arrangement plan design unit 560, and adjusts the position intervals of the plurality of movable platforms 60 according to the growth status of the plant 9. Are calculated as position interval information indicated by coordinate values. For example, the interval calculation unit 640 calculates position interval information that does not cause interference with the adjacent plant 9 or facility according to the size of the individual plant 9 of the movable platform 60 to be moved to the third growth room. . The interval calculation unit 640 outputs the calculated position interval information to the movement position determination unit 620.

  Then, the movement position determination unit 620 is a movable table that is to be moved to the third growth room based on the arrangement plan designed by the arrangement plan design unit 560 and the position interval information calculated by the interval calculation unit 640. The position of the movement destination in 60 3rd cultivation room is determined.

  Moreover, the movement position determination part 620 is compared with the movable stand 60 in which the plant 9 whose growth condition (growth degree) is remarkably bad is cultivated or another individual in response to receiving a command from the arrangement plan design part 560. Then, the movable table 60 on which the plant 9 to be thinned because the degree of growth is poor is determined as the movable table 60 on which the plant 9 to be discarded is grown, and the destination is a predetermined position in the disposal chamber. And

  Next, the movement path calculation unit 630 moves to the third growth room based on the position coordinates of the current position of the movable platform 60 to be moved determined by the movement position determination unit 620 and the position coordinates of the movement destination. (Route C-3) and a movement route (route C-4) to be moved to the disposal chamber are calculated. Subsequently, the movement control unit 650 moves the movable table 60 to the determined movement destination via the movable table driving unit 65 based on the movement route calculated by the movement route calculation unit 630.

  In addition, the movable platform control unit 610 receives a command based on the harvest plan designed by the harvest plan design unit 550 for the plant 9 grown in the third breeding chamber, and the plant 9 that can be harvested is received. The raised movable platform 60 is moved to the harvesting room.

  Specifically, the movement position determination unit 620 first grows the plant 9 associated with each movable platform 60 read from the situation storage unit 230 in response to receiving a command from the harvest plan design unit 550. Depending on the situation, a movable table 60 (movable table 60 on which the plant 9 that can be harvested can be harvested) is determined and moved to a predetermined position in the harvest chamber. And In addition, the moving position determination unit 620 determines the movable platform 60 on which the plant 9 is grown that is not expected to be harvestable because the harvest target clearly does not satisfy the shipping quality according to the plant 9 growth status. The target of disposal is set as a predetermined position in the disposal room.

  Next, the movement path calculation unit 630 moves to the harvesting room (path) based on the position coordinates of the current position of the movable platform 60 to be moved and the position coordinates of the movement destination determined by the movement position determination unit 620. C-5) and a movement route (route C-6) to be moved to the waste room are calculated. Subsequently, the movement control unit 650 moves the movable table 60 to the determined movement destination via the movable table driving unit 65 based on the movement route calculated by the movement route calculation unit 630.

As described above, the mobile cultivation apparatus 600 has the movable platform 60 in each of a plurality of growth rooms (growth areas) in which a growth environment corresponding to the growth stage of the plant 9 is set in advance according to the growth status of the plant 9. By moving the plant, the plant 9 can be moved in a growth room (growth area) in which a suitable growth environment is set.
Moreover, the mobile cultivation apparatus 600 can prevent interference with an adjacent plant or a facility by adjusting the mutual position interval of each of the movable bases 60 according to the growing state of the plant 9. Moreover, the mobile cultivation apparatus 600 uses the movable platform 60 on which the plant 9 that can be harvested as a harvesting target is grown in a harvesting room (harvest area) where the harvesting operation is performed according to the growing state of the plant 9. Can be moved. Moreover, according to the growth condition of the plant 9, the movable stand 60 on which the plant 9 to be discarded or thinned is grown may be moved to a disposal room (discard area) where the plant 9 is discarded. it can.
Therefore, the mobile cultivation apparatus 600 can move the plant 9 to a position suitable for growing the plant 9 according to the growing state of the plant 9.

  Moreover, the mobile cultivation apparatus 600 moves to a growing environment corresponding to the growing stage of the plant 9, that is, moves to a suitable growing environment, moves to a harvesting room (harvesting area), or a disposal room (discarding area). ) Can be automated. Thereby, also in the plant cultivation system 1 which became large-scale, according to the growth condition of the plant 9, the plant 9 can be efficiently and with little labor in the growing environment suitable for the growing stage or the work area corresponding to the growing stage. Can be moved.

  Note that the harvesting operation performed in the harvesting chamber and the disposal operation performed in the disposal chamber in FIG. 11 may be an unmanned operation in which the robot performs an operation, a manual operation, The work may be a combination thereof.

(Move and tilt so that it is easy to capture images)
Next, when the imaging part 300 images the plant 9, the mobile cultivation apparatus 600 demonstrates the control which moves or inclines the plant 9 according to the growth condition of the plant 9. FIG.

As described above, the imaging position moving unit 400 can flexibly move the imaging unit 300 via the arm unit 42. As a result, the imaging position moving unit 400 can move and image the imaging unit 300 even if the fruit of the plant 9 to be imaged is hidden in the shadow of the leaves or other fruits. In some cases, the arm portion 42 may be extended to a complicated position. In such a case, since the time required for imaging may increase, it is effective to move the plant 9 to a position where the imaging unit 300 can easily capture an image. Similarly, it is also effective to incline the plant 9 at an angle at which the image capturing unit 300 can easily capture an image.
Therefore, the mobile cultivation apparatus 600 moves the movable table 60 to a position where the plant 9 is imaged or supports the movable table 60 based on the direction in which the plant 9 is imaged, depending on the growing state of the plant 9. The growth floor 6 is inclined. That is, the mobile cultivation apparatus 600 moves the plant 9 to a position where it can be easily imaged, or tilts the plant 9 to an angle at which it is easily imaged, depending on the growing state of the plant 9.

  FIG. 13 is a diagram for explaining a case where the plant 9 is moved to a position where it is easy to image. Fig.13 (a) has shown the case where movable stand 60-1, 60-2, 60-3 is arrange | positioned along with. In the growing situation of the plant 9 shown in this figure, for example, the side of the plant 9 grown on the movable platform 60-2 adjacent to the movable platform 60-1 is the plant 9 grown on the movable platform 60-1. Because it is obstructed by, it is difficult to image. In such a case, as shown in FIG.13 (b), the mobile cultivation apparatus 600 moves the movable stand 60-2 to the position which is not interrupted by the plant 9 grown on the movable stand 60-1. The plant 9 can be moved to a position where it can be easily imaged by the imaging unit 300.

Moreover, FIG. 14 is a figure explaining the case where the plant 9 is inclined to the angle which is easy to image. FIG. 14A shows a case where the plant 9 is inclined toward the side where the imaging unit 300 is located. In this case, the imaging unit 300 can easily capture the plant 9 from above. For example, the imaging unit 300 can easily capture the shape of the imaging target leaf L10. On the other hand, FIG. 14B shows a case where the plant 9 is inclined to the side opposite to the side where the imaging unit 300 is located. In this case, the imaging unit 300 can easily capture the plant 9 from below. For example, the imaging unit 300 can easily capture the real F10 or the like to be imaged that is hidden behind the shadow of the leaf.
That is, when the plant 9 is tilted, the overlapping state of the leaves and fruits (flowers) of the plant 9 with respect to the direction imaged by the imaging unit 300 and the orientation of the leaves and fruits (flowers) change. May make it easier to image the leaves and fruits (flowers). Thus, the mobile cultivation apparatus 600 can incline the plant 9 at an angle that is easily captured by the imaging unit 300.

Hereinafter, the operation | movement of each part at the time of the mobile cultivation apparatus 600 moving to the position where the plant 9 is easy to be imaged, or making it incline is demonstrated.
For example, the movable table control unit 610 moves the position of the movable table 60 to a position where the plant 9 is imaged according to the growing state of the plant 9. Moreover, the movable stand control part 610 inclines the growth floor 6 which the movable stand 60 supports based on the direction where the plant 9 is imaged according to the growth condition of the plant 9.

  Specifically, the movement position determination unit 620 cooperates with the control of the imaging position movement unit 400 by the position control unit 530 in accordance with the growth status of the plant 9, and based on the position where the imaging unit 300 images the plant 9. Then, the position of the movement destination of the plant 9 is determined. In addition, the tilt position determination unit 660 cooperates with the control of the imaging position moving unit 400 by the position control unit 530 in accordance with the growth status of the plant 9, and based on the direction in which the imaging unit 300 images the plant 9, 9 inclination positions (inclination direction and inclination amount) are determined.

  Note that the cooperation with the control of the imaging position moving unit 400 by the position control unit 530 is executed as follows, for example. The position control unit 530 controls the imaging position moving unit 400 to calculate control contents for moving the imaging unit 300. For example, in the case where the fruit to be imaged captured by the imaging unit 300 is in a position where a shadow of a leaf or other fruit is present, the position control unit 530 moves the imaging unit 300 to a position that does not hinder them. The control content for making it calculate is calculated. When the position control unit 530 determines that the calculated control content is complex and requires time, the position control unit 530 is movable so that the actual image to be imaged is located at a position where the control content for moving the image capturing unit 300 is simplified. Commands the platform control unit 610 to control the movable platform 60. The movement position determination unit 620 and the inclination position determination unit 660 of the movable table control unit 610 are moved according to a command from the position control unit 530, or the inclination of the growth floor 6 supported by the movable table 60 is supported. Determine the position. By executing in cooperation in this way, the position control unit 530, the movement position determination unit 620, and the tilt position determination unit 660 are configured so that the movement position of the imaging unit 300 and the movement position of the movable table 60 or the movable table 60 are the same. The inclined position of the growing floor 6 to be supported is determined.

  Next, the movement control unit 650 moves the position of the movable table 60 to the position of the movement destination determined by the movement position determination unit 620 via the movable table driving unit 65. Further, the tilt control unit 670 controls the tilt mechanism unit 60M of the movable table 60 via the movable table driving unit 65 based on the tilt position of the growing floor 6 to be tilted determined by the tilt position determining unit 660. Accordingly, the movable platform control unit 610 moves or moves the plant 9 to a position where the plant 9 is easily imaged based on the position and direction in which the plant 9 is imaged in cooperation with the control of the imaging position moving unit 400 by the position control unit 530. Can be tilted.

  When the imaging unit 300 images the plant 9 in a state where the movable table 60 is moved or the growing floor 6 supported by the movable table 60 is tilted, the detection unit 210 includes the plant 9 included in the image information. Or the position of the feature point of the plant 9 is corrected and detected based on the moving position of the movable table 60 or the inclined position of the growth floor 6 supported by the movable table 60.

As described above, the mobile cultivation apparatus 600 moves the position of the movable table 60 to a position where the plant 9 is imaged (a position where the plant 9 is easily imaged) according to the growing state of the plant 9. Moreover, the mobile cultivation apparatus 600 inclines the growing floor 6 supported by the movable table 60 at an angle at which it is easy to be imaged, based on the direction in which the plant 9 is imaged, according to the growing state of the plant 9.
Thereby, the mobile cultivation apparatus 600 can move the plant 9 to a position suitable for observation of the growing state of the plant 9 (a position where the plant 9 is easily imaged) according to the growing state of the plant 9. That is, the mobile cultivation apparatus 600 can move the plant 9 to a position suitable for growing the plant 9 according to the growing state of the plant 9.
In addition, the mobile cultivation device 600 can facilitate control in which the imaging position moving unit 400 moves the imaging unit 300 and images the plant 9. Therefore, the mobile cultivation device 600 can improve the efficiency of the imaging process performed using the mobile detection device 40. In addition, it is possible to simplify the structure and control of the multi-indirect type arm unit 42 provided in the mobile detection device 40.

For example, when the imaging unit 300 is fixedly installed in an observation area (a position observed in a growth room, an observation room, or the like) without using the mobile detection device 40, the mobile cultivation device 600 observes the observation. You may control to move the movable stand 60 with which the plant 9 used as the imaging target is grown to the position imaged in an area (further tilting the breeding floor 6). Thereby, it is possible to image the plant 9 without moving the imaging unit 300 over a wide range in the growing room.
For example, even when the observer observes the plant 9, the effort of the observer can be reduced by moving the plant 9 to the observation room as described above. In this case, the mobile cultivation apparatus 600 may be configured such that the movable platform is controlled by the operation of the observer.

  In addition, the mobile cultivation apparatus 600 may perform control to move the movable platform 60 to a position or a direction in which the harvest target of the plant 9 is easily harvested or to tilt the growing floor 6 supported by the movable platform 60. Thereby, the efficiency and labor saving of harvesting work can be achieved.

  Moreover, the mobile cultivation apparatus 600 moves the movable stand 60 to the position or direction facing the light irradiation direction, that is, the position or direction in which the amount of light to be irradiated increases, or the growing bed supported by the movable stand 60. 6 may be controlled to be inclined. Thereby, the mobile cultivation apparatus 600 can increase the light irradiation amount with respect to the plant 9 in which the light irradiation amount is insufficient. Therefore, the mobile cultivation apparatus 600 can supply the plant 9 with an appropriate amount of light so that the growth of the plant 9 is promoted.

  As described above, the mobile cultivation apparatus 600 can move the plant 9 to a position suitable for growing the plant 9 according to the growing state of the plant 9. Further, the plant cultivation system 1 can move the plant 9 to a position suitable for growing the plant 9 by the mobile cultivation apparatus 600 according to the growing state of the plant 9. Moreover, in the plant cultivation plant 4 provided with the plant cultivation system 1, according to the cultivation condition of the plant 9, the plant 9 can be moved to the position suitable for cultivation of this plant 9 with the mobile cultivation apparatus 600. .

The embodiment of the present invention has been described in detail with reference to the drawings. However, the specific configuration is not limited to this embodiment, and includes design and the like within a scope not departing from the gist of the present invention.
For example, as described with reference to FIG. 1, the case where the guide rail 70 that guides the movement of the movable table 60 is provided has been described, but a configuration without the guide rail 70 may be employed. Even if the guide rail 70 is not provided, the movable base 60 can be moved by adopting the same configuration as that of the mobile detection device 40. In addition, the number of plants 9 grown on the growing floor 6 supported by one movable platform 60 is not limited to one, and may be a plurality of individuals. Moreover, the growth floor 6 and the movable stand 60 may have an integral structure or a detachable divided structure.

  In addition, in the mobile cultivation apparatus 600, when there are a plurality of growing areas having different growth environments, the movable table control unit 610 may move the position of the movable table 60 to the growing area selected from the plurality of growing areas. Good. For example, when there are a plurality of growth areas in which the growth environments are different from each other due to variations in the first growth room, the movable platform control unit 610 does not respond to the growth status of the plant 9 and the growth area selected from the plurality of growth areas. The position of the movable table 60 may be moved. Thereby, the mobile cultivation apparatus 600 can absorb the variation of the growth environment by a position, for example, by circularly moving the position of the movable stand 60 in the first growth chamber. Moreover, the mobile cultivation apparatus 600 may move the position of the movable stand 60 to a growing area selected from a plurality of growing areas according to the type of the plant 9.

  Moreover, each part of the movable stand control part 610 of the mobile cultivation apparatus 600 is good also as a structure which equips the inside of the movable stand 60 with the one part or all the structure.

  Moreover, the movable detection apparatus 40 and the movable stand 60 of the mobile cultivation apparatus 600 can each operate two or more units, and can perform an independent process, respectively.

  Moreover, in the structure shown in FIG. 3, the plant control part 500 does not need to provide independently, It is good also as a form which controls the some plant cultivation system 1 and the some mobile cultivation apparatus 600. FIG.

  In addition, in the mobile cultivation apparatus 600 of the said embodiment, although the case where the movable stand 60 moves in the two-dimensional space on a horizontal surface was taken as an example, the movable stand 60 is a structure which moves in three-dimensional space. It is good. For example, when the movable cultivation apparatus 600 moves the movable platform 60 of each of the cultivated floors 6 installed in multiple stages in the vertical direction (vertical direction), a slope for moving the movable platform 60 in the vertical direction is provided on the traveling path. It is good also as a structure which the movable base 60 can move to an up-down direction with this slope. Moreover, the mobile cultivation apparatus 600 is good also as a structure which the movable stand 60 can move to an up-down direction with elevators, such as a forklift and an elevator.

In addition, a movable stand is good also as a structure supported by the belt conveyor conveyed with respect to the direction to which the breeding floor 6 is moved. The belt conveyor may be a belt conveyor that conveys the movable table in the horizontal direction, a belt conveyor that conveys the movable table in the vertical direction, or a combination thereof.
FIG. 15 is a diagram illustrating an example in which the belt conveyor 80 </ b> W conveys the movable table 80. FIG. 15A shows an example in which the belt conveyor 80W conveys the movable platform 80 in the horizontal direction. 15 (b) shows an example in which the belt conveyor 80W conveys the movable platform 80 in the vertical direction. Thus, the mobile cultivation apparatus 600 can convey the plant 9 grown on the growing floor 6 supported by the movable stand 80 by the belt conveyor.

  Note that the movable base is not limited to moving by wheel drive or conveyance by a belt conveyor. For example, the movable table may be moved by a linear motor, or air may be blown out from the bottom surface of the movable table, and the movable table may be moved up by the wind pressure. Further, the movable table may be moved by a crane.

In the case of hydroponics, the movable platform may be configured to move the growing floor 6 (hydroponic floor) floating in the water.
FIG. 16 is a diagram illustrating an example in which the movable platform 90 moves the growing floor 6 floating in water. The movable table 90 shown in FIG. 16 has a space for storing a gas such as air inside the movable table 90 as a buoyancy portion (not shown). Moreover, the movable stand 90 may be made using a material that floats on water, such as a foam material. Thereby, the movable stand 90 can support the growing floor 6 and float on the water. The movable table 90 includes a propulsion device 90W such as a screw (propeller) that obtains a propulsive force by generating a water flow, and can move on the water surface SU by being remotely operated. Thereby, the mobile cultivation apparatus 600 in hydroponics can float and move the plant 9 with the movable stand 90 grown on the breeding floor 6 in water.
The movable table 90 may not have a power source such as the propulsion device 90W inside the movable table 90. For example, the movable table 90 may be configured to move by being pulled through a wire or the like by a power source provided outside. Further, since the movable base 90 floats on the surface of the water and has a small frictional resistance, even when the power source moves on the movable base 90, the movable base 90 moves outside and the movable base 90 moves. Even if it exists, it can move with small power. Moreover, the mobile cultivation apparatus 600 is good also as a structure which moves the movable stand 90 to an up-down direction (vertical direction) by changing the height of a water surface.
Furthermore, the movable table 90 may be provided with a balancer such as a weight, and the movable bed 90 is inclined with respect to the water surface SU by moving the weight position in the horizontal direction, so that the breeding floor 6 is inclined. May be. Moreover, the movable stand 90 may provide a plurality of spaces that are separated from each other as a function of the balancer described above, and allow water to be selectively taken in and out of the plurality of spaces.
In addition, the water which floats the above-mentioned movable stand 90 is not restricted to mere water, The aqueous solution containing a nutrient etc. may be sufficient and other arbitrary liquids, such as oil, may be sufficient.

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

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

In addition, the plant cultivation plant 4 of this embodiment can grow several types of plants 9 together in one plant.
It can be realized by providing a partition that divides the space inside the plant cultivation plant 4 and setting the type of the plant 9 that is cultivated in a separated space unit. Moreover, by making the structure of the partition wall movable, the size (capacity) of the space to be divided can be changed. By providing such a partition, a space can be divided according to the amount of plants to be cultivated.
For example, preparation for the next cultivation can be started using the space where the harvest is finished.
Moreover, when growing the same kind, environmental conditions can be changed and the harvest time can be controlled for each divided space.

  In addition, the above-mentioned plant cultivation system 1, the mobile detection apparatus 40, and the mobile cultivation apparatus 600 have a computer system. The operation process of each functional unit is stored in a computer-readable recording medium in the form of a program, and the above processing is performed by the computer system reading and executing the program. The computer system here includes a CPU, various memories, an OS, and hardware such as peripheral devices.

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

  DESCRIPTION OF SYMBOLS 1 Plant cultivation system, 4 Plant cultivation plant, 6 Growing bed, 9 Plant, 60 Movable stand, 60M inclination mechanism part, 60W wheel, 80W belt conveyor, 400 Imaging position moving part, 610 Movable stand control part (control part), 600 Mobile cultivation equipment

Claims (19)

A breeding floor where plants are grown;
A movable base that is movable while supporting the growing floor;
In accordance with the growth status of the plant, a control unit that moves the position of the movable table,
A mobile cultivation apparatus comprising: The controller is
According to the growth status of the plant read from the storage unit that is stored in association with the growth floor, the growth status of the plant determined based on the image information and the growth model of the imaged plant The mobile cultivation apparatus according to claim 1, wherein the position of the movable table is moved. The movable table is
It is possible to move to multiple training areas with different training environments,
The controller is
The mobile cultivation apparatus according to claim 1 or 2, wherein the position of the movable base is moved to a growth area selected from the plurality of growth areas in accordance with the growth status of the plant. The mobile cultivation apparatus according to claim 3, wherein a growth environment corresponding to the plant growth stage is set in advance in each of the plurality of growth areas. The controller is
Moving the position of the movable platform to a growing area selected from the plurality of growing areas in accordance with the growing status of the plant so that the plant can be harvested at a set harvesting time. The mobile cultivation apparatus of Claim 3 or Claim 4 characterized by these. The training environment is
The environment based on at least one of a condition relating to light supplied to the plant, a condition relating to air, a condition relating to water, or a condition relating to fertilizer. 6. The mobile cultivation apparatus according to Item. The controller is
The mobile cultivation apparatus according to any one of claims 1 to 6, wherein the position of the movable base is moved to a position where the plant is imaged in accordance with a growth state of the plant. The controller is
8. The growth floor supported by the movable base is tilted based on a direction in which the plant is imaged in accordance with the growth status of the plant. 8. Mobile cultivation equipment. The movable table is
It can be moved to a disposal area where the plant is discarded, or a harvesting area where the harvesting target of the plant is harvested,
The controller is
The mobile cultivation according to any one of claims 1 to 8, wherein the position of the movable platform is moved to the disposal area or the harvesting area in accordance with a growing situation of the plant. apparatus. A plurality of movable bases each supporting a plurality of the growing floors and movable;
With
The controller is
The mobile cultivation apparatus according to any one of claims 1 to 9, wherein a position interval between each of the plurality of movable platforms is adjusted according to a growing state of the plant. The movable table is
The mobile cultivation device according to any one of claims 1 to 10, wherein the breeding floor is moved in a horizontal direction or a vertical direction. The movable table is
Wheels that are rotatable relative to the direction in which the breeding floor is moved,
The mobile cultivation apparatus according to any one of claims 1 to 11, characterized by comprising: The movable table is
It is supported by a belt conveyor that conveys the growing floor in the moving direction.
The mobile cultivation apparatus according to any one of claims 1 to 11, wherein the cultivation apparatus is any one of the above. The movable table is
A buoyancy part for floating the breeding floor in water;
The mobile cultivation apparatus according to any one of claims 1 to 11, characterized by comprising: The movable table is
An inclined part for inclining the breeding floor;
The mobile cultivation apparatus according to any one of claims 1 to 14, characterized by comprising: The image information of the plant is
The image information of the plant imaged from the position moved by the imaging position moving unit that moves the imaging position to the instructed position and enables the plant to be imaged from the instructed direction. The mobile cultivation apparatus according to any one of claims 1 to 15. A breeding floor where plants are grown;
A movable table provided movably in the position of the breeding floor;
A control unit for moving the position of the movable table;
With
The movable table is
It is possible to move to multiple training areas with different training environments,
The controller is
The mobile cultivation apparatus characterized by moving the position of the movable table to a cultivation area selected from the plurality of cultivation areas. The mobile cultivation apparatus according to any one of claims 1 to 17,
A plant cultivation system comprising: The plant cultivation system according to claim 18,
A plant cultivation plant comprising:

Images