JP2013150584A - Pollination apparatus, plant cultivation system, and plant-cultivation plant - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a pollination apparatus capable of efficiently pollinating plants while reducing manual labor.SOLUTION: A pollination apparatus includes a detecting portion for detecting the pollination position of a plant based on a picked-up image of the plant, and a pollination operation portion performing a pollination operation for putting pollen grains on the detected pollination position.

Description

  The present invention relates to a pollination device, a plant cultivation system, and a plant cultivation plant.

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

Japanese Utility Model Publication No. 5-17505

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

For example, in a plant cultivation plant, plants are cultivated in a facility in a closed space where the cultivation environment can be controlled. In this case, since natural pollination is difficult, manual pollination may be performed. Also, in plant cultivation in an outdoor space, manual pollination may be performed to ensure pollination or to improve the variety.
However, when pollinating by hand in plant cultivation, it is necessary to put pollen on the pistil of each flower of the plant by manual work, which requires excessive labor and time. Furthermore, since it is difficult to determine the pollination state of whether or not pollination has been completed later, loss of labor and time may occur due to pollination after pollination once, forgetting to wear pollen There is a problem that occurs.

  The present invention has been made in view of such circumstances, and an object thereof is to provide a pollination apparatus, a plant cultivation system, and a plant cultivation plant that can efficiently pollinate a plant with reduced manual labor. There is.

  In order to solve the problems described above, the present invention includes a detection unit that detects a pollination position of the plant based on a captured image of the plant, and a pollination operation for attaching pollen to the detected pollination position. And a pollination operation unit.

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

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

  According to the present invention, it is possible to efficiently pollinate a plant by reducing manual labor.

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 movement type pollination apparatus in this embodiment. It is a schematic block diagram which shows the structure of the mobile pollination apparatus in this embodiment. It is a flowchart which shows the process of the pollination operation | movement in this embodiment. It is a figure which shows the example which detects a pollination position. It is a figure which shows another example which detects a pollination position. It is a figure which shows an example of the several image obtained by imaging a pollination position from a different position. It is a figure which shows the example of the pollination operation | movement in an end effector part. It is a figure which shows another example of the pollination operation | movement in an end effector part. It is a figure explaining the example of a position detection in case the IC tag is attached to the plant.

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

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

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

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

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

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

Further, by selective setting, when the temperature of the outside air space 7 is lower than the set temperature of the inner space 13, air is taken in from the inner space 13, and the air is one conduit 22, the lamp enclosure 20, and the other conduit 24. Since the lamp 10 is cooled by this air and the air warmed by the heat of the lamp 10 returns to the inner space 13. . Therefore, the heating load of the air conditioner 12 can be reduced by the heat of the lamp 10.
Note that one duct 22 is provided with a blowing means 36 such as a fan for blowing air in the direction of arrow A or arrow B.
Moreover, as shown in FIG.1 (b), the inner space 13 of the plant enclosure 8 is divided | segmented by the partition 38, and is divided into inner space 13-1 and 13-2. Each of the inner spaces 13-1 and 13-2 can be set to different environmental conditions. In addition, a part of the partition wall 38 is provided with an openable / closable passage capable of moving back and forth between the inner spaces 13-1 and 13-2.
In the passage between the breeding beds 6 where the plants 9 are cultivated, the mobile detection device 40 self-propels to detect the state of the plant 9, and the mobile pollination device 60 (pollination device) self-propels. The pollination position of the plant 9 is detected, and the pollination operation is performed to attach pollen to the detected pollination position.

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

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

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

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

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

  The plant cultivation system 1 illustrated in FIG. 3 includes, for example, a control target unit 100, a determination unit 200, an imaging unit 300, an imaging position moving unit 400, a plant control unit 500, and a mobile pollination device 60 (pollination device). I have.

The control target unit 100 includes a plant 9 to be managed and an environment driving unit 120 that controls the growing environment of the plant 9.
The plant 9 can determine the growth status based on the state of leaves, stems, flowers / fruits, and roots after germination. The growth status can be determined in relation to the elapsed time from the reference time (eg, germination).
For example, in the determination based on the leaf state, the number of leaves, the size of the leaf, the projected area of the overgrown leaf, the wilting condition (angle, aspect ratio), and the like can be given. In the judgment based on the state of the stem, the height, the condition of the branch, the thickness, and the like can be given. In the determination based on the state of the flower / fruit, the number, density, arrangement, flowering state, fruit maturity, and the like can be given. In the determination based on the state of the root, the length, the extent of spread, 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 pollination device 60 performs a pollination operation for attaching pollen to the pollination position of the plant 9 based on a command from the plant control unit 500. For example, the mobile pollination device 60 includes a moving means capable of self-running, and moves within the plant cultivation plant 4 as necessary.

The plant control unit 500 determines the growing environment of the plant 9 according to the result of determining the growing state based on the growing model of the plant 9 based on the image information of the plant 9 captured from the position moved by the imaging position moving unit 400. Control.
The plant control unit 500 includes a growth model generation unit 510, an environment control unit 520, a position control unit 530 (imaging position control unit), a production plan design unit 540, a harvest plan design unit 550, a pruning plan design unit 570, and a pollination plan design unit. 580 and a pollination command unit 590 are 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 in order to change the position and imaging direction of the imaging unit 300 and capture image information according to the purpose.

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

  The pollination command unit 590 is a position of the plant 9 that is a target for causing the mobile pollination device 60 to perform a pollination operation with respect to the pollination device control unit 600 (described later with reference to FIG. 9) included in the mobile pollination device 60. Or the position (namely, target position) of the flower of the plant 9 is notified as a control command value. In addition, the pollination command unit 590 causes the mobile pollination device 60 to perform a pollination operation based on the pollination plan designed by the pollination plan design unit 580.

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

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

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

In addition, the detection of the breeding status by the detection unit 210 can be performed by detecting the status of each individual and making a comprehensive determination based on the detected results. In the comprehensive determination, various statistical processing techniques such as averaging the detected detection results and detecting variations can be applied.
For example, it is 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, flowering state of the flower, maturity of the fruit, and the like are listed as determination items.
FIG. 5 is a diagram illustrating a positional relationship between a flower to be detected and a fruit.
FIGS. 5 (a) and 5 (c) show the flowering state, and FIGS. 5 (b) and 5 (d) show the fruiting state.
Since the actual position depends on the position of the flower, the actual number and position can be specified by specifying the number and position of the flowers. The positions of the flowers f1 and f2 shown in the flowering period change as the positions of the fruits F1 and F2 in the mature period.
The number of flowers (fruits) is detected by counting the quantity existing within a predetermined range or the number of flowers (fruits) attached to the stem (specified branch).
The density of the flower (fruit) is calculated by dividing the quantity of the detected flower (fruit) by the unit capacity. Alternatively, the density of flowers (fruits) is simply detected by counting the number of flowers (fruits) present in a predetermined range of the captured image.
The arrangement of flowers (fruits) is detected as a three-dimensional coordinate position by using a three-dimensional measurement technique. Moreover, the actual position of the fruiting period can be estimated from the detected position of the flower. The actual estimated position can be calculated based on the three-dimensional coordinate position of the flower by assuming the actual size and weight and using the strength and length of the branch from which the fruit hangs as calculation conditions.
From this calculated estimated position, it is possible to estimate interference with an adjacent actual object. That is, it can be estimated that interference occurs when the relative distance is closer than the actual size.
The flowering state of the flower is detected as a state of whether or not it is flowering (or the degree of flower opening) based on the shape of the flower, the size of the flower, or the color of the flower. Note that the flowering state of the flower may be the ratio of the flower that bloomed in one individual plant 9 (for example, the ratio of the flower that bloomed with respect to the number of buds). In addition, the flowering state of the flower may be the ratio of the flower that blooms in the plant 9 of the plant cultivation plant 4.

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

  Since such a plant cultivation system 1 can be easily scaled up, it is necessary to efficiently perform pollination work. In addition, manual pollination work has conventionally been labor-intensive work, and thus it is necessary not only to improve efficiency but also to save labor.

[Process to pollinate plants]
Next, the process which makes the plant 9 pollinate in the plant cultivation plant 4 while the mobile pollination apparatus 60 moves will be described.

FIG. 8 is a diagram showing a mobile pollination device 60 (pollination device). As shown to Fig.8 (a), the mobile pollination apparatus 60 uses the mobile vehicle main body 61 as a trolley | bogie. The mobile vehicle body 61 includes wheels 61W serving as moving means, and moves by power supplied from a drive unit (not shown).
The drive unit is mounted on the mobile vehicle body 61 and drives the wheels 61W in accordance with a control amount for moving the mobile pollination device 60.
On the upper surface of the movable vehicle body 61, a bracket 62B is provided that is supported rotatably about a vertical axis. The bracket 62B is provided with an arm portion 62, and the bracket 62B supports the arm portion 62 so as to roll freely in the front-rear direction. Moreover, as shown in FIG. 8, the movable pollination apparatus 60 is provided with the several arm part 62 (62-1, 62-2, 62-3, 62-4) connected continuously.

  Further, an end effector portion 63 (pollination operation portion), an imaging portion 64, and an RFID (Radio Frequency Identification) reader 65 are provided at a tip portion (62-4) of the arm portion 62 opposite to the movable vehicle main body 61. Are provided (see FIG. 8B). The end effector unit 63 illustrated in FIG. 8B includes an injecting unit 63 </ b> A that injects pollen onto the plant 9. The injecting unit 63A has a pipe-like nozzle that injects pollen by air pressure or the like, for example, via a pipe connected to a storage unit (not shown) in which pollen collected in advance is stored. Pollen is sprayed from the tip of the nozzle. Further, the ejection portion 63A can change the protrusion amount in the longitudinal direction with respect to the arm portion 62-4.

Note that the end effector unit 63 includes an application unit 63B illustrated in FIG. 8C or a vibration unit 63C illustrated in FIG. 8D instead of the injection unit 63A illustrated in FIG. It is good also as a structure.
The application part 63B shown in FIG.8 (c) has the cotton swab similar to what is used by the artificial pollination operation | work by hand, for example, and is supported so that rolling is possible with respect to the arm part 62-4. And the application part 63B can be rock | fluctuated by making the side supported by the arm part 62-4 into a fulcrum. For example, the application unit 63B, after attaching pollen to the tip of a cotton swab from a storage unit (not shown) in which pollen collected in advance is stored, shakes the tip to rub the pollination position of the plant 9. The pollen is applied (attached) to the pollination position by moving. Moreover, the application part 63B can change protrusion amount to a longitudinal direction with respect to the arm part 62-4.
In addition, when the application part 63B pollinates the flower in which the pistil and the stamen are close to each other in one flower, the pistil is not attached to the tip part of the cotton swab. You may perform the pollination operation | movement which adheres the pollen contained in the stamen to a pistil by rocking | fluctuating a front-end | tip part so that it may rub against a stamen.
Moreover, the vibration part 63C shown in FIG. 8D has a pinching mechanism that holds (holds) the plant 9 and is supported so as to be able to roll with respect to the arm part 62-4. The vibrating portion 63C can swing around the side supported by the arm portion 62-4 as a fulcrum. For example, when the plant 9 has a flower in which a pistil and a stamen are close to each other in a single flower, the vibration part 63C pinches the plant 9 and swings, thereby pollinating the plant 9 Vibrate and pollinate. Moreover, the vibration part 63C can change the protrusion amount in the longitudinal direction with respect to the arm part 62-4.

  It should be noted that whether the end effector unit 63 is configured of the injection unit 63A, the application unit 63B, or the vibration unit 63C is determined by, for example, the type of the plant 9 to be pollinated. For example, for plants mainly based on cross-pollination, pollination is preferred in which pollen of other flowers collected in advance is attached to the pollination position using the spraying part 63A or the application part 63B. In addition, when pollens of different varieties are attached for the purpose of breed improvement, the pollen collected in advance can be attached in the same manner using the spraying unit 63A or the application unit 63B. On the other hand, for plants mainly based on self-pollination (particularly, the same flower pollination), pollination in which pollen within the same flower is attached to the pollination position using the application unit 63B or the vibration unit 63C is desirable.

The imaging unit 64 images the plant 9 (and the situation around the plant 9), and generates image information. The imaging unit 64 includes an imaging device equipped with a CCD or CMOS sensor, an optical system attached to the imaging device, and a light emitting device for auxiliary light for imaging. Moreover, the imaging part 64 is provided in the upper part or the lower part of the end effector part 63, images the plant 9 made into pollination object, and detects the pollination position of the plant 9. FIG. Note that in which position of the end effector unit 63 the imaging unit 64 is provided is determined by the use of the end effector unit 63, the type of plant 9 to be pollinated, and the like.
In addition, the imaging position of the imaging unit 64 is changed according to the movement of the end effector unit 63, and the relative position of the imaging unit 64 with the plant 9 that is the subject changes. Note that the imaging unit 64 mounted on the tip of the arm unit 62-4 can be swung in any direction by the arm unit 62-4 being configured to be swiveled around a longitudinal axis and controlled to swivel. It is good. By combining these controls, the imaging unit 64 can image the plant 9 from an arbitrary position and an arbitrary direction.

  The RFID reader 65 reads ID information registered in an IC chip with an antenna processed into a tag or a label (hereinafter referred to as an IC tag) by non-contact communication using an electromagnetic induction method or a radio wave method. The RFID reader 65 is mounted, for example, at the tip of the arm unit 62-4 and at a position that does not interfere with the imaging process by the imaging unit 64, and reads ID information from an ID tag attached to the plant 9.

  In addition, although not shown in figure, the mobile pollination apparatus 60 is provided with the transmission / reception part for transmitting / receiving a communication signal by wireless communication, for example. For example, the mobile pollination apparatus 60 receives a command signal transmitted by wireless communication from the pollination command unit 590, and executes pollination processing based on the received command signal. Further, although not shown, the mobile pollination device 60 includes a storage battery and a power supply unit that supplies power from the storage battery, and supplies power to each unit included in the mobile pollination device 60.

FIG. 9 is a schematic block diagram showing an example of the configuration of the mobile pollination device 60 in the present embodiment. The same components as those shown in FIGS. 3 and 8 are denoted by the same reference numerals.
The mobile pollination apparatus 60 includes a pollination apparatus control unit 600 that controls each unit included in the mobile pollination apparatus 60.
The pollination device control unit 600 includes a movement control unit 610, a pollination position control unit 620, a pollination operation control unit 630, an imaging control unit 640, a pollination position detection unit 650 (detection unit), a pollination history information generation unit 660, and an identification information detection unit. 670, and a pollination process control part 680 (control part).

  The movement control unit 610 performs control for driving the plurality of wheels 61 </ b> W to move the mobile pollination device 60 to the target position according to the command information from the pollination processing control unit 680. Moreover, the movement control part 610 has memorize | stored the map information of the movement range, The command information from the pollination process control part 680 is instruct | indicated by the coordinate information (target position coordinate information) according to the map information. The movement control unit 610 can detect the position coordinates of the current position by means such as inertial navigation, and performs feedback control so that there is no difference between the instructed coordinate information and the position coordinates of the current position. Move to the target position. Note that the command information from the pollination processing control unit 680 may be relative position information based on the current position.

  The pollination position control unit 620 performs control to drive the arm unit 62 and move the tip of the arm unit 62 to the target position in accordance with the command information from the pollination processing control unit 680. Further, the pollination position control unit 620 performs control to drive (via) the arm unit 62 to move the position of the end effector unit 63 relative to the pollination position detected by the pollination position detection unit 650. That is, the pollination position control unit 620 drives the arm unit 62 to move the end effector unit 63 to the position for the end effector unit 63 to perform the pollination operation at the pollination position detected by the pollination position detection unit 650. Take control. Moreover, the pollination position control part 620 shows the state of the arm part 62 with a state variable, and performs multi-value control using the state variable. The pollination position control unit 620 can detect the presence of the plant 9 within the range in which the arm unit 62 is moved by determining the image information captured by the imaging unit 64 and prevent contact with the plant 9. Can do. In addition, the pollination position control unit 620 may detect whether or not to contact the plant 9 based on the spatial information of the plant 9 indicated by the second growth model.

  The pollination operation control unit 630 controls the pollination operation of attaching pollen to the pollination position of the plant 9 that drives the end effector unit 63 to pollinate according to the command information from the pollination processing control unit 680. Here, the pollination operation is an operation of injecting pollen to the pollination position by the injection unit 63A, an operation of applying pollen to the pollination position by the application unit 63B, and an operation of vibrating the pollination position by the vibration unit 63C. , Etc. The pollination position is a pollination position detected by a pollination position detector 650 described later.

The imaging control unit 640 controls the imaging unit 64 in accordance with the command information from the pollination processing control unit 680 to capture the plant 9 (and the situation around the plant 9) to be pollinated, and generate image information. The imaging control unit 640 controls an imaging device included in the imaging unit 64, an optical system attached to the imaging device, and a light emitting device for auxiliary light for imaging.
In the imaging control unit 640, the imaging position of the imaging unit 64 is changed according to the movement of the arm unit 62 and the end effector unit 63, and the relative position with respect to the plant 9 that is the subject changes. In addition, when the arm unit 62-4 on which the imaging unit 64 is mounted can be turned, the imaging control unit 640 can turn the imaging unit 64 in an arbitrary direction by performing turning control. By combining these controls, the imaging control unit 640 can control the imaging unit 64 to image the plant 9 from any position and any direction.

The pollination position detection unit 650, based on the command information from the pollination processing control unit 680, based on the feature information indicating the characteristics of the flowers registered in advance and the image of the plant 9 captured by the imaging unit 64. The pollination position (for example, the center position of the plant 9, the position of the flower pistil, or the position of the flower) is detected.
For example, in the pollination position detection unit 650, as feature information indicating the feature of the flower of the plant 9, information about the shape of the flower, information about the size of the flower, information about the color of the flower, and the like are registered in advance. In addition, the pollination position detection unit 650 performs image processing on the image of the plant 9 imaged by the imaging unit 64, and image information necessary for detecting the pollination position of the plant 9, that is, the flower Image information relating to feature information indicating features is extracted. Then, the pollination position detection unit 650 uses a pattern matching method based on the feature information indicating the feature of the flower and the image information, or a method for calculating and detecting a feature value evaluation value based on the feature information. For example, the position of the flower of the plant 9 and the pollination position are detected. Further, the pollination position detection unit 650 outputs the detected pollination position to the pollination processing control unit 680.

  In response to the command information from the pollination processing control unit 680, the pollination history information generation unit 660 causes the end effector unit 63 to perform a pollination operation on the pollination position detected by the pollination position detection unit 650 by the control of the pollination operation control unit 630. In response to this, pollination history information is generated. For example, the pollination history information generation unit 660 generates information indicating whether or not the pollination has been completed as the pollination history information of the pollination position of the plant 9 in association with the detected pollination position. For example, the pollination position is a position generated based on a three-dimensional model of the plant 9 (three-dimensional coordinate position of the flower detected by the detection unit 210) measured in advance in the plant cultivation system 1. In addition, the pollination history information generation unit 660 may generate the pollination history information in association with the date and time when the pollination operation is performed on the pollination position. Then, the pollination history information generation unit 660 causes the status storage unit 230 to store the generated pollination history information. Thereby, the pollination history information of each pollination position of the plant 9 can be stored in association with each pollination position. Note that the pollination history information generated by the pollination history information generation unit 660 may be stored in the pollination device control unit 600 instead of the situation storage unit 230.

The identification information detection unit 670 detects ID information registered in the IC tag via the RFID reader 65. For example, an IC tag (identifier) indicating identification information for specifying a pollination position is attached to the plant 9, and the identification information detection unit 670 detects the identification information from the IC tag via the RFID reader 65. The pollination position detection unit 650 executes processing for detecting the pollination position of the plant 9 based on the identification information detected by the identification information detection unit 670.
For example, the IC tag is attached to the branch of the plant 9, and the pollination position detection unit 650 pollinates the plant 9 based on the identification information detected by the identification information detection unit 670 and the branch structure of the branch of the plant 9. Detect position. Note that an IC tag may be attached in association with the flower of the plant 9, and the pollination position of the plant 9 may be detected based on the identification information detected by the identification information detection unit 670.

The pollination processing control unit 680 controls the position of the plant 9 or the position of the flower of the plant 9 (that is, the target position), which is notified from the pollination command unit 590 and causes the mobile pollination apparatus 60 to perform the pollination operation. Accept as a value.
And pollination process control part 680 controls movement control part 610 according to the received control command value, drives wheel 61W, and moves mobile pollination device 60 to a target position. Note that the command information for controlling the movement control unit 610 by the pollination processing control unit 680 is instructed by coordinate information (target position coordinate information) corresponding to the map information of the range in which the mobile pollination apparatus 60 moves. Further, the pollination processing control unit 680 controls the pollination position control unit 620 to drive the arm unit 62 according to the received control command value, and performs control to move the tip of the arm unit 62 to the target position.

  Further, the pollination processing control unit 680 controls the imaging control unit 640 to cause the imaging unit 64 to image the pollination target plant 9 (and the surroundings of the plant 9) to generate image information. And the pollination process control part 680 controls the pollination position detection part 650, and detects the pollination position of the plant 9 based on the image information of the plant 9 imaged and produced | generated by the imaging part 64. FIG. Further, the pollination processing control unit 680 controls the pollination position control unit 620 and the pollination operation control unit 630 to perform a pollination operation for attaching pollen to the pollination position detected by the pollination position detection unit 650.

In addition, the pollination processing control unit 680 controls the pollination history information generation unit 660 to generate pollination history information. In addition, the pollination processing control unit 680 reads the pollination history information associated with the pollination position of the plant 9 from the status storage unit 230, and based on the read pollination history information, the end effector unit for the detected pollination position 63 pollination operation is controlled. For example, the pollination processing control unit 680 controls whether or not the end effector unit 63 performs a pollination operation on the detected pollination position based on the read pollination history information.
The pollination processing control unit 680 includes an estimation unit 681 that estimates an appropriate pollination time based on the growth status of the plant 9, and the end effector unit 63 based on the appropriate pollination time estimated by the estimation unit 681. The pollination operation may be controlled. Here, the appropriate pollination time based on the growth status of the plant 9 is, for example, an appropriate pollination time determined for each type of the plant 9 and is the number of days since the flower of the plant 9 has been flowered (for example, The appropriate pollination time indicated by, for example, between 2 days after flowering and several days later. The estimation unit 681 may be included in the determination unit 200 or the plant control unit 500, and the estimated pollination timing may be notified to the pollination processing control unit 680.

  With the above configuration, the mobile pollination device 60 can automatically perform the pollination operation of attaching pollen to the pollination position of the plant 9 cultivated in the plant cultivation plant 4. Therefore, the mobile pollination device 60 can efficiently pollinate the plant 9 with reduced manual labor.

Next, with reference to FIG. 10, the pollination operation | movement by the mobile type pollination apparatus 60 is demonstrated.
FIG. 10 is a flowchart illustrating an example of a process of pollination operation in the present embodiment.
First, the pollination processing control unit 680 of the pollination device control unit 600 receives the position of the plant 9 or the flower of the plant 9 from which the mobile pollination device 60 executes the pollination operation from the pollination command unit 590 of the plant control unit 500. A control command value indicating the position (that is, the target position) is received (step S1). Next, the pollination processing control unit 680 outputs command information for moving the mobile pollination device 60 to the target position in the movement control unit 610 based on the received control command value. The movement control unit 610 moves the mobile pollination device 60 to the position of the plant 9 or the position of the flower of the plant 9 (that is, the target position) to be subjected to the pollination operation according to the command information from the pollination processing control unit 680. (Step S2).

  Subsequently, after the pollination processing control unit 680 moves the mobile pollination device 60 to the target position, the flower of the plant 9 to be pollinated has been pollinated based on the pollination history information read from the status storage unit 230. It is determined for every flower of the plant 9 whether there exists (step S3). Here, the pollination history information is, for example, information indicating whether or not pollination has been performed in association with the pollination position of the plant 9, and in response to being pollinated by the mobile pollination device 60. This is information generated by the pollination history information generation unit 660 and stored in the situation storage unit 230. In step S3, when it is determined that all the flowers of the plant 9 to be pollinated have been pollinated, the pollination processing control unit 680 returns the process to step S2, and the flower of the plant 9 that is the next pollination target. The movable pollination device 60 is moved to the position.

  On the other hand, in step S3, when there is a flower for which the flower of the plant 9 to be pollinated is determined not to be pollinated, the pollination processing control unit 680 causes the imaging unit 64 to capture the flower determined to be not pollinated. In this position, the pollination position control unit 620 is controlled to move the tip of the arm unit 62. And pollination position detection part 650 is based on the feature information which shows the feature of the flower registered beforehand, and the picture of plant 9 picturized by image pick-up part 64 according to the command information from pollination processing control part 680. 9 is detected (step S4).

Next, the pollination processing control unit 680 controls the pollination operation control unit to cause the pollination position detected by the pollination position detection unit 650 to perform pollination operation for pollinating the pollen via the end effector unit 63. (Step S5).
In addition, the pollination processing control unit 680 controls the pollination history information generation unit 660 to generate pollination history information according to the pollination operation in step S5, and stores it in the status storage unit 230 in association with the pollination position (step). S6).

Next, the pollination processing control unit 680 determines whether there is another plant 9 to be pollinated (step S7). If it is determined in step S7 that there is another plant 9 to be pollinated, the pollination processing control unit 680 returns the process to step S2, and moves the mobile pollination device 60 to the movement control unit 610 to the next target position. The command information to be moved is output.
On the other hand, when it is determined in step S7 that there is no other plant 9 to be pollinated, the pollination processing control unit 680 determines a predetermined termination process (for example, the mobile pollination device 60) for terminating the pollination operation. And the like are moved to a predetermined stop position, and the process is terminated.

  In addition, in step S3, the pollination processing control unit 680 determines for each flower of the plant 9 whether or not the flower of the plant 9 to be pollinated has been pollinated based on the pollination history information. Whether or not it is an appropriate pollination time may be determined for each flower of the plant 9. For example, the pollination processing control unit 680 can determine based on an appropriate pollination time estimated by the estimation unit 681 based on the growth status of the plant 9.

  As described above, the mobile pollination device 60 detects the pollination position of the plant 9 based on the captured image of the plant 9, and appropriately pollinates the detected pollination position based on the growth status and the pollination history information. Perform the action. Thereby, the mobile pollination device 60 automates the pollination operation for attaching pollen to the pollination position of the plant 9 cultivated in the plant cultivation plant 4, and the appropriate pollination timing for the appropriate pollination position. Can pollinate. Therefore, the mobile pollination device 60 can efficiently pollinate the plant 9 with reduced manual labor.

  Then, the detail of each process which concerns on the mobile pollination apparatus 60 in this embodiment is demonstrated.

(Direction of plant position to be pollinated)
The pollination command unit 590 in the plant control unit 500 determines the position of the plant 9 or the position of the flower of the plant 9 (that is, the target position) that causes the mobile pollination apparatus 60 to perform the pollination operation.
The pollination command unit 590 controls the polling apparatus control unit 600 to control the position of the plant 9 or the position of the flower of the plant 9 (that is, the target position) that is a target for causing the mobile pollination apparatus 60 to perform the pollination operation. Notify as.
In pollination apparatus control unit 600, pollination processing control unit 680 receives a target position that is a control command value. According to the command information from the pollination processing control unit 680, the movement control unit 610 drives the wheels 61W to move the mobile pollination device 60 to the target position.
Command information from the pollination processing control unit 680 is instructed by coordinate information (target position coordinate information) corresponding to the map information of the range in which the mobile pollination apparatus 60 moves.

(Moving to the position of the plant to be pollinated)
The movement control unit 610 moves to the position of the plant 9 or the position of the flower of the plant 9 (that is, the target position) that causes the mobile pollination device 60 to execute the pollination operation according to the command information from the pollination processing control unit 680. The mold pollination apparatus 60 is moved.
For example, the movement control unit 610 stores map information of a range in which the mobile pollination device 60 moves in an internal storage area, and the command information from the pollination processing control unit 680 has coordinates corresponding to the map information. Since it is indicated by the information, the control target can be obtained without conversion.
Furthermore, the movement control unit 610 can detect the position coordinates of the current position by means such as inertial navigation. Temporarily, information which is not registered in the initial map information and becomes an obstacle to movement can be added and stored. In addition, the movement control unit 610 stores information on a position determined as a position that becomes an obstacle to movement when traveling repeatedly, route information that has actually been passed, and the like. As a result, the movement control unit 610 can determine a place where a route that can actually pass through is concentrated and a place with a high passing frequency is easy to pass, avoiding a faulty part. Thus, since it can move, judging the state of a passage based on the memorized information, it can choose and move an efficient route.
Then, the movement control unit 610 performs feedback control based on the position information so that there is no difference between the instructed coordinate information and the position coordinate of the current position, and causes the mobile pollination device 60 to reach the target position.

Further, the movement control unit 610 can also select to perform the operation by sequentially moving the command information from the pollination processing control unit 680 in a predetermined direction based on the position as a position at which the pollination operation is started. . The selection can be made according to an instruction from the pollination command unit 590.
Furthermore, the movement control unit 610 may perform speed control according to the position in order to increase movement efficiency. For example, the movement control unit 610 refers to the map information and increases the movement speed by detecting a situation such as when the distance to the target position is long, when the distance moved linearly is long, or when an obstacle is not near the movement path, etc. . On the other hand, the movement control unit 610 refers to the map information, when the stop position is close, when it is close to the place where the direction change is performed, when it passes through the vicinity of the obstacle, or when it passes through a bad road. Detect and reduce movement speed. In addition to the referenced map information, the movement control unit 610 is based on image information detected by the imaging unit 64 and information detected by an acceleration sensor included in the mobile pollination device 60 as a condition for performing speed control. It is possible to use the path status detected in this way.

(Determination of plants to be pollinated)
When the mobile pollination apparatus 60 reaches the target position, it subsequently detects the state of the plant 9 at the target position. First, the mobile pollination apparatus 60 determines whether or not the flower of the plant 9 that is a pollination target is at an appropriate time as a target to be pollinated, whether or not the pollination has been completed.
The flower position (three-dimensional coordinate position) of the plant 9 that performs the determination is registered and managed as the actual arrangement model 222 with respect to the flower position described above.
The pollination processing control unit 680 of the mobile pollination device 60 follows the position of the flower of the plant 9 as a pollination target based on the information on the position of the flower in the actual arrangement model 222 (second growth model) with respect to the position of the flower. In this order, it is determined for each flower of the plant 9 whether or not it is an object to be pollinated by determining whether it is an appropriate time as an object to be pollinated, whether or not it is already pollinated.

  In addition, after reaching the target position, the pollination processing control unit 680 causes the imaging unit 64 to image the plant 9 to be pollinated to generate image information, and again detects the latest information on the position of each flower of the plant 9. May be. And the pollination process control part 680 may determine whether it is the object made to pollinate for every flower of the plant 9 in order according to the newest information of the position of the detected flower. The latest information on the detected flower position is output to the plant control unit 500 or the growing model unit 220 and fed back to the actual arrangement model 222 (second growing model) with respect to the flower position.

For example, the pollination processing control unit 680 may determine an appropriate pollination time estimated by the estimation unit 681 based on the information (for example, the elapsed time from the flowering time) of the growth state model 221 (first growth model) based on the elapsed time. Is determined for each flower of the plant 9. Further, the pollination processing control unit 680 reads the pollination history information associated with the pollination position from the status storage unit 230, and determines whether or not the pollination has been completed based on the read pollination history information. Judge every time. Then, for example, the pollination processing control unit 680 determines that it is an appropriate pollination time and is a target for pollinating a flower that has been determined not to be pollinated. On the other hand, the pollination processing control unit 680 determines that it is not an object for pollinating a flower that is determined to be not at an appropriate pollination time or has been pollinated.
As described above, the pollination processing control unit 680 determines whether the pollination position of the plant 9 is an appropriate pollination timing and whether or not the pollination has been completed based on the growth status and the pollination history information. Can do.

(Detection of pollination position of plants to be pollinated)
The pollination processing control unit 680 controls the pollination position control unit 620 to position the tip of the arm unit 62 at a position for the imaging unit 64 to image the flower that has been determined to be pollinated. Move. As described above, this position is detected based on the position of the flower based on the information of the actual arrangement model 222 (second growth model) with respect to the position of the flower, or the image information captured by the mobile pollination device 60. The latest information on the position of flowers.

Next, the pollination processing control unit 680 causes the pollination position detection unit 650 to detect the pollination position of the flower for attaching pollen to the flower determined to be pollinated.
The pollination position detection unit 650, based on the command information from the pollination processing control unit 680, based on the feature information indicating the characteristics of the flowers registered in advance and the image of the plant 9 captured by the imaging unit 64. Detect pollination position. For example, the pollination position detection unit 650 detects the center position of the flower of the plant 9, the position of the flower pistil, or the position of the flower as the pollination position. Here, the feature information indicating the feature of the flower is, for example, information about the shape of the flower, information about the size of the flower, information about the color of the flower, or the like.

FIG. 11 is a diagram illustrating an example of detecting a pollination position.
This figure is an example in which the center position of the flower based on the shape and size of the flower is detected as the pollination position after detecting the contour of the flower, and the image of the flower imaged by the imaging unit 64 (The image of the flower imaged from the front with respect to the petal) is shown.
In the example shown in FIG. 11A, the pollination position detection unit 650 detects the contour L10 of the flower f10 from the image, and based on the shape of the flower f10 based on the detected contour L10 and the size of the flower f10, Detect pollination position. For example, the pollination position detection unit 650 calculates a range calculated by multiplying the size of the contour L10 by a predetermined ratio around the center (center of gravity) position C10 with respect to the contour L10 of the flower f10 (in this figure, the center position) A region K10 indicated by (range by C10 and radius r10) is detected as a flower pollination position.
Here, information regarding the shape of the flower f10 and the size of the flower f10 is registered in advance in the pollination position detection unit 650 as feature information of the flower. And the pollination position detection part 650 detects the outline of the flower mentioned above using pattern matching based on the feature information and image information of this flower, for example. In addition, a predetermined ratio with respect to the size of the flower for calculating the pollination position is also registered as information on the size of the flower f10. This predetermined ratio is, for example, the ratio of the size of the pollination position (the size of the pistil) to the size of the flower determined by the type of the plant 9, and is registered for each type of the plant 9 to be detected.

The example illustrated in FIG. 11B is a case in which the flower image captured by the imaging unit 64 is an image captured from obliquely above the petal.
When the pollination position can be detected from the direction of the imaged image depending on the type of the plant 9, the pollination position detection unit 650 detects the contour L11 of the elliptical petal imaged from the obliquely upward direction, A range calculated by multiplying the size of the flower f10 by a predetermined ratio with the center (center of gravity) position C11 of the ellipse as the center (in this figure, the ellipse shape by the center position C10 and the radii r11 and r11 ′) The region K11 indicated by the size of (range) is detected as a flower pollination position.

  The example shown in FIG. 11C is a case where the image of the flower imaged by the imaging unit 64 is an image imaged from the lateral direction with respect to the petal (direction orthogonal to the front direction of the petal). Thus, in the image of the flower f10 captured from the lateral direction (or the image of the flower f10 captured from the back side, etc.), it is difficult for the pollination position detection unit 650 to appropriately detect the contour L12 of the petal. It is also difficult to calculate the center (center of gravity) position C12 or the radius r13 with respect to the contour L12. Therefore, in such a case, the pollination position detection unit 650 cannot detect the pollination position or the detection accuracy decreases. Therefore, it is necessary to change the position of the imaging unit 64 so that the direction of the imaged flower f10 is a direction in which the pollination position can be detected.

  For example, the pollination position detection unit 650 generates information indicating the direction of the imaged flower and information indicating that the pollination position cannot be detected based on the image of the flower f10 captured by the imaging unit 64. Output to 680. The pollination processing control unit 680 controls the pollination position control unit 620 based on the information input by the pollination position detection unit 650 indicating the direction of the imaged flower f10 and the information indicating that the pollination position cannot be detected. Then, the arm part 62 is driven, and the tip part of the arm part 62 (position where the imaging part 64 is located) is in a front direction with respect to the petal as shown in FIG. 11 (a). Control to move to (position). After the control for moving the position of the imaging unit 64 is completed, the pollination processing control unit 680 causes the pollination position detection unit 650 to detect the pollination position again. Thereby, the pollination position detection part 650 detects a pollination position similarly to the example shown to Fig.1 (a).

  As described above, the pollination position detection unit 650 can detect the pollination position of the plant 9 based on the image of the plant 9 captured by the imaging unit 64. In addition, the pollination processing control unit 680 controls the pollination position control unit 620 based on the image information indicating the position and direction of the flower of the plant 9 detected by the pollination position detection unit 650, and takes an image via the arm unit 62. The position of the part 64 is moved. That is, the pollination processing control unit 680 can move the position of the imaging unit 64 based on the image of the plant 9 such that the plant 9 is imaged by the imaging unit 64 from a position suitable for detecting the pollination position. it can.

Note that the pollination position detection unit 650 uses the information about the shape of the flower and the information about the size of the flower as described with reference to FIG. It may be used as information.
FIG. 12 is a diagram illustrating another example of detecting the pollination position.
FIG. 12 (a) is an example in the case where the center position of the flower based on the flower shape, flower size, and flower color is detected as the pollination position after detecting the contour of the flower. The image of the flower imaged by H.64 (the image of the flower imaged from the front with respect to the petal) is shown.
As shown in this figure, the pollination position detection unit 650 uses, for example, the fact that the color around the pistil is different from the color of the petal as information on the color of the flower f10. For example, the pollination position detection unit 650 detects the contour L13 of the flower f10, and a range based on a center (center of gravity) position C13 in the range of the detected contour L13 and a region having different colors around the pistil (in this figure, A region K13 indicated by a center position C13 and a radius r13) can be detected as a pollination position.

  As color information, information by reflection of near ultraviolet rays may be used instead of information by reflection of visible light. FIG. 12B shows an example of using information by reflection of near ultraviolet rays, whereas FIG. 12A shows an example of using general color information (information by reflection of visible light). Yes. For example, insects that mediate flower pollination, such as bees, can sense near ultraviolet light. As shown in this figure, most flowers have a near-ultraviolet reflectance that varies depending on the position of the flower, and the center side of the flower with pollen and nectar is the absorbing part, and the outer part around it is the reflecting part. Therefore, the pollination position detection unit 650 detects the pollination position by using the fact that the center side becomes darker (the absorption of ultraviolet rays is large) compared to the outside of the petals when color information by reflection of near ultraviolet rays is used. be able to. That is, the pollination position detection unit 650 detects the contour L14 of the flower f10 based on image information by reflection of near ultraviolet rays, and the center (center of gravity) position C14 in the range of the detected contour L13 and the center side of the petal. A region K14 indicated by a range based on the dark region (in this figure, a range based on the center position C14 and the radius r14) can be detected as a pollination position. Note that the imaging unit 64 can capture an image of near ultraviolet rays by combining, for example, an ultraviolet transmission filter and a visible light blocking filter and imaging through these filters.

The pollination position detection unit 650 may detect the position of the flower pistil or the position of the flower as the pollination position instead of the center position of the flower of the plant 9.
For example, the pollination position detection unit 650 registers information regarding the shape of the pistil, the size of the pistil, or the color of the pistil as information regarding the shape of the flower, the size of the flower, or the color of the flower, pattern matching, etc. May be used to detect the position of the pistil as the pollination position. By detecting the position of the pistil, it is possible to perform a pollination operation for attaching pollen to a more specified position.
In addition, for example, when the size of the flower is relatively small, a pollination operation (for example, an operation of injecting pollen by the injection unit 63A) to the entire position of the detected flower (the entire inside of the region indicated by the outline of the petal). ) May be more efficient than detecting the pollination position in more detail and performing a pollination operation. In such a case, the pollination position detection unit 650 detects the entire inner side of the area indicated by the outline of the petal detected based on the information on the shape of the flower, the size of the flower, or the color of the flower (ie, the position of the flower). The pollination position may be detected.
In this way, the pollination position detection unit 650 can detect the center position of the flower, the position of the flower pistil, or the position of the flower as the pollination position based on the captured image of the plant 9.

(Pollination operation to the pollination position)
Subsequently, the mobile pollination device 60 performs a pollination operation for pollinating pollen to the pollination position detected by the above-described pollination position detection process.
First, the pollination processing control unit 680 moves the end effector unit 63 to a position for performing pollination operation with respect to the detected pollination position. Specifically, the pollination processing control unit 680 controls the pollination position control unit 620 to move the end effector unit 63 via the arm unit 62. In addition, the pollination processing control unit 680 accurately adjusts the distance between the detected pollination position and the position of the end effector unit 63 to a suitable distance according to the method of pollination operation (for example, spraying, application, or vibration). If it is possible, it is possible to increase the efficiency of the pollination operation for attaching pollen to the plant 9 and to increase the probability of successful pollination and fertilization.

When the end effector unit 63 is moved to a position where the pollination operation is performed with respect to the detected pollination position, the pollination position detection unit 650 sets the distance between the pollination position and the end effector unit 63, for example, as follows: It can detect by the 1st method shown in 2 or a 2nd method.
The first method of distance detection performed by the pollination position detection unit 650 is a method of calculating the distance to the pollination position based on a plurality of pieces of image information obtained by imaging the pollination position of the plant 9 from different positions. . For example, the processing is based on the difference in images that occurs when the left and right eyes are seen.
FIG. 13 is a diagram illustrating an example of a plurality of images obtained by imaging the pollination positions from different positions.
Fig.13 (a) is an image which imaged the pollination position from the position corresponding to the left eye, and FIG.13 (b) is an image which imaged the pollination position from the position corresponding to the right eye. In this figure, the symbol K15 indicates the region of the pollination position where the flower f10 is detected, and the symbol 63A indicates the injection unit 63A of the end effector unit 63.
In this method, the position of one imaging unit 64 is moved to the left and right, and a region K15 of a pollination position captured as a two-dimensional image is extracted based on two pieces of image information obtained from each position. Then, the distance to the target pollination position is detected from the relationship between the two imaging positions in the three-dimensional space and the extracted pollination position region K15.
Alternatively, a subject image obtained through an optical system in which optical axes are arranged at different positions may be captured by the imaging unit 64 without moving the position of one imaging unit 64 left and right. Further, the two imaging units 64 may be arranged at different positions.

The second method of distance detection performed by the pollination position detection unit 650 is a method of calculating the distance to the plant 9 based on the sharpness of the image that changes according to the focus position of the optical system in the imaging unit 64. The pollination position detection unit 650 measures the distance to the subject using so-called camera autofocus technology.
When the distance from the imaging unit 64 to the subject and the in-focus position of the optical system are equal (when they are within the depth of field), the imaging unit 64 focuses on the subject and produces an image with high contrast. To obtain (the sharpness of the image is increased). The pollination position detection unit 650 measures the distance to the pollination position (subject) by detecting information on the focus position of the optical system by the imaging control unit 640. In addition, when the imaging part 64 is provided in the front-end | tip part of the arm part 62-4, it is the state which approached the pollination position and the distance to a to-be-photographed object is near. In such short-distance shooting, since the depth of field becomes shallow, detection using the in-focus position of the optical system becomes easy.
Thereby, when the pollination processing control unit 680 moves the end effector unit 63 to a position where the pollination operation is performed with respect to the detected pollination position, the position between the detected pollination position and the position of the end effector unit 63 is determined. The distance can be accurately adjusted to a position suitable for the pollination operation.

Subsequently, the pollination processing control unit 680 moves the end effector unit 63 to a position for performing the pollination operation with respect to the detected pollination position, and then controls the pollination operation control unit 630 to end the end effector unit. 63 is made to pollinate. FIG. 14 is a diagram illustrating an example of pollination operation in the end effector unit 63.
Fig.14 (a) has shown the example of the pollination operation | movement in case the end effector part 63 is provided with the injection part 63A. As shown in this figure, the pollination processing control unit 680 controls the pollination position control unit 620 to a position suitable for injecting pollen to the pollination position of the flower f10 detected by the pollination position detection unit 650. The ejection unit 63A is moved. Then, the pollination processing control unit 680 controls the pollination operation control unit 630 to inject pollen from the injection unit 63A to the pollination position.

  FIG.14 (b) has shown the example of the pollination operation | movement in case the end effector part 63 is provided with the application part 63B. As shown in this figure, the pollination processing control unit 680 controls the pollination position control unit 620 to a suitable position for applying pollen to the pollination position of the flower f10 detected by the pollination position detection unit 650. The application part 63B is moved. Then, the pollination processing control unit 680 controls the pollination operation control unit 630 to apply the pollen attached to the tip of the swab shape of the application unit 63B to the pollination position.

  FIG. 14C shows an example of the pollination operation in the case where the end effector portion 63 includes a vibrating portion 63C. As shown in this figure, the pollination processing control unit 680 moves the vibrating unit 63C by controlling the pollination position control unit 620 to the position of the flower shaft (stem) in the vicinity of the flower f10 detected by the pollination position detection unit 650. . Then, the pollination processing control unit 680 controls the pollination operation control unit 630 to vibrate the pollination position by causing the vibration unit 63C to pinch and swing the flower shaft (stem) in the vicinity of the flower f10.

FIG. 15 is a diagram illustrating another example of the pollination operation in the end effector unit 63.
In some plant flower structures, pistils are hidden in the flower, such as legumes and tomatoes. Below, with reference to FIG. 15, the example of the pollination operation | movement with respect to the plant of the structure where the flower pistil is hidden is demonstrated.
FIG. 15 (a) shows an example in which pistil (pi) and stamen (st) pollinate the flower f20 hidden in the petal, like a legume plant flower. Such a flower is, for example, an insect flower that is pollinated by bumble bees entering the flower. In such a case, the mobile pollination device 60 inserts the tip of the injection unit 63A or the application unit 63B provided in the end effector unit 63 into the flower and hides the pistil (pi) ) Can be pollen. FIG. 15A shows an example in which the tip of the injection part 63A is inserted.

Fig. 15 (b) shows a case where the stamen (st) surrounds the outside of the pistil (pi) and is arranged in a cylindrical shape like a tomato flower, and the flower f30 where the pistil (pi) is hidden is pollinated. An example is shown. Such a flower is, for example, an airborne flower in which pollen is released from a stamen (st) surrounding the outside by vibration and pollination is received by a pistil (pi). In such a case, the mobile pollination device 60 can attach pollen to the pistil (pi) by vibrating the flower by the vibration part 63 </ b> C included in the end effector part 63. Note that the mobile pollination device 60 uses the application unit 63B provided in the end effector unit 63 to pollinate the application unit 63B intermittently against the stamens (st) arranged in a cylindrical shape to give vibration. You may act.
Thus, the mobile pollination apparatus 60 can perform an appropriate pollination operation according to the type of flower of the plant 9 by a process that is unmanned with respect to the detected pollination position.

(Generation of pollination history information)
The pollination process control unit 680 causes the pollination history information generation unit 660 to generate pollination history information after executing the above-described pollination operation process. For example, the pollination processing control unit 680 performs pollination operation on the pollination position detected by the pollination position detection unit 650 via the end effector unit 63, and associates the pollination position with the pollination position of the plant 9. Information indicating that pollination has been completed is generated as the pollination history information of the position. That is, the pollination history information generation unit 660 indicates whether or not pollination has been completed as the pollination history information of the pollination position of the plant 9 according to the command information from the pollination processing control unit 680 in association with the detected pollination position. Generate information. This pollination position is a position generated based on the three-dimensional model of the plant 9 (three-dimensional coordinate position of the flower detected by the detection unit 210) measured in advance in the plant cultivation system 1. Then, the pollination history information generation unit 660 causes the status storage unit 230 to store the generated pollination history information.

Further, when generating pollination history information, the pollination history information generation unit 660 further generates the date and time when the pollination operation is performed on the pollination position in association with the pollination history information. In this case, the pollination processing control unit 680 can obtain information on the date of pollination for the pollination position where the pollination has been completed, in addition to the information on whether or not the pollination has been completed. Thereby, for example, when the pollination position that has been pollinated has not been fertilized after a lapse of a predetermined time (for example, even after a predetermined time has elapsed with respect to the date and time of pollination, It is also possible to determine that fertilization has not been achieved based on an image obtained by imaging the flower at the pollination position, such as when petals that should fall off remain. In this case, the pollination processing control unit 680 may control the pollination operation control unit 630 again to perform the pollination operation on the pollination position that has not been fertilized based on the result of determining that the fertilization has not been achieved. it can.
Thus, the mobile pollination device 60 can generate the pollination history information of the pollination position by the pollination history information generation unit 660 in response to performing the pollination operation on the pollination position.

(Identification of pollination position using identification information)
Next, a process for identifying and detecting a pollination position using identification information based on an identifier will be described.
In the above-described embodiment, the position of the plant 9 cultivated in the plant cultivation plant 4, the position of the flower, the pollination position, and the like are generated as a three-dimensional coordinate position based on the captured image information. And based on the produced | generated three-dimensional coordinate position, the mobile pollination apparatus 60 performs control to a pollination position. On the other hand, as another example of the method for detecting the position, an IC tag (identifier) indicating identification information for specifying the pollination position is attached to the plant 9, and the mobile pollination device 60 is based on this identification information. There is also a method for detecting the position of the plant 9, the position of the flower, the pollination position, and the like and executing control to the pollination position. The identification information by the IC tag is also effective as auxiliary information for rough position (region) determination at the three-dimensional coordinate position generated based on the above-described image information and for improving the position detection accuracy.

  For example, the identification information detection unit 670 of the mobile pollination device 60 is registered with an IC tag attached to the plant 9 via the RFID reader 65 provided at the tip of the arm unit 62-4. Detect information. This ID information is stored in the situation storage unit 230 in association with each position coordinate such as the position of the plant 9, the position of the flower, and the pollination position. The mobile pollination device 60 may have a storage unit, and the above-described ID information may be stored in the storage unit in association with each position coordinate. And pollination position detection part 650 reads the position coordinate matched with ID information detected by identification information detection part 670 from situation storage part 230 as identification information which specifies a pollination position, and this read position coordinate Based on this, the pollination position of the plant 9 is detected.

  The pollination history information generation unit 660 may generate pollination history information in association with the ID information registered in the detected IC tag. In this case, for example, the pollination processing control unit 680 determines whether or not pollination has been completed for each of the pollination positions associated with the ID information, based on the pollination history information.

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

Next, an example of position detection based on an IC tag attached to the plant 9 will be described with reference to FIG.
FIG. 16 is a diagram for explaining an example of position detection when an IC tag is attached to the plant 9.

  FIGS. 16A and 16B show examples of position detection when an IC tag is attached to a branch (stem) of the plant 9. A general plant has a branch structure (stem) in which the tip of the stem is split and branches in the elongation process of growth, and has a branch structure by these branches (stem). The plant 9 shown in FIG. 16 (a) has branches (stems) B1 to B3 that are branched at branch points N1 to N3 according to the growth from the main trunk (stem) B0. In addition, the stem (stem) B0 and the branches (stems) B1 to B3 are flowered via the flower axes. The stem (stem) B0 has a flower f15 (1), the branch (stem) B1 has a flower f15 (2) and a flower f15 (3), and the branch (stem) B2 has a flower f15 (4) and a flower f15 ( 5), but the flower f15 (6) has arrived at the branch (stem) B3.

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

FIG. 16B shows the stem (stem) B0 and the branches (stems) B1 to B3 to which the IC tags Tag0 to Tag3 correspond respectively by dashed arrows b0 to b3. For example, the IC tags Tag0 to Tag3 have IDs as identification information for specifying the positions of flowers or the pollination positions of the stems (stems) or branches (stems) in the sections indicated by broken arrows b0 to b3, respectively. Information is registered. The ID information is stored in the situation storage unit 230 in association with the branch structure (stem) of the plant 9.
Moreover, the branch structure of the branch (stem) of the plant 9 is detected by image processing from, for example, the captured image of the plant 9. The branch structure of the branch (stem) of the plant 9 is detected as a three-dimensional position coordinate by using the three-dimensional measurement method for the detected branch, and is three-dimensionally modeled and stored in the situation storage unit 230. .
Thereby, the mobile pollination device 60 uses each branch (stem) of the plant 9 based on the ID information (identification information) detected by the identification information detection unit 670 and the branch structure of the branch (stem) of the plant 9. The pollination position can be detected every time.

  For example, in the plant 9 shown in FIGS. 16A and 16B, the mobile pollination device 60 uses the stem (stem) B0 based on the ID information detected from the IC tag and the branch structure of the branch (stem). And the area | region corresponding to every branch (stem) B1-B3 is detected as a pollination position. As an example, the mobile pollination device 60 uses the ID information of the IC tag Tag1 to indicate the area corresponding to the branch (stem) B1, that is, the flowers f15 (2), f15 ( 3) is detected as a pollination position. Similarly, the mobile pollination device 60 uses the ID information of the IC tag Tag2 to recognize the flowers f15 (4) and f15 (5) that are attached to the region corresponding to the branch (stem) B2, that is, the branch (stem) B2. ) Is detected as a pollination position. Similarly, the flower f15 (1) is detected from the ID information of the IC tag Tag0, and the flower f15 (6) is detected as the pollination position from the ID information of the IC tag Tag3.

  In addition, the mobile pollination device 60 sets the pollination position for each position of the flower attached to the branch (stem) corresponding to each ID information based on the ID information detected from the IC tag and the branch structure of the branch. It may be detected. For example, the mobile pollination device 60 may detect the pollination position for each position of the flower f15 (2) and the position of the flower f15 (3) attached to the branch (stem) B1 based on the ID information of the IC tag Tag1. Good.

  Further, the position of the flower or the pollination position corresponding to each ID information, the position of the corresponding IC tag, or the IC corresponding to the main trunk (stem) of the plant 9 You may detect as a position coordinate on the basis of the position of a tag. For example, the mobile pollination device 60 may detect the position of the flower f15 (2) and the position of the flower f15 (3) as position coordinates based on the position of the IC tag Tag1, or the position of the IC tag Tag0. You may detect as a position coordinate on the basis of a position.

  In addition, the mobile pollination device 60 associates the ID information of the IC tag Tag0 corresponding to the main trunk (stem) of the plant 9 with the position of the flower attached to the plant 9 or all of the pollination positions. Also good. For example, the mobile pollination device 60 generates pollination history information at all pollination positions of the plant 9 in association with the ID information of the IC tag Tag0 corresponding to the main trunk (stem) of the plant 9. Good. That is, the mobile pollination device 60 may generate, for example, information on whether or not pollination has been completed for each seedling of the plant 9.

Further, an IC tag (identifier) indicating identification information for specifying the pollination position may be attached to each flower of the plant 9.
FIGS. 16C and 16D show examples of position detection when an IC tag is attached to each flower of the plant 9. As shown in FIG. 16C, IC tags Tag11 to Tag16 are attached to the flowers f15 (1) to f15 (6), respectively. In this case, as shown in FIG. 16B, the positions of the flowers f15 (1) to f15 (6) are associated with the ID information of the IC tags Tag11 to Tag16 attached thereto. Accordingly, the mobile pollination device 60 can detect the pollination position for each flower of the plant 9 based on the ID information (identification information) detected by the identification information detection unit 670.
In addition, you may attach the IC tag (identifier) which shows the identification information which pinpoints the above-mentioned pollination position only to the pollination position after pollination. Thereby, it can be detected that the pollination position has been pollinated.

  Thus, the mobile pollination device 60 branches the pollination position (positional coordinates) of the plant 9 by using the identification information by the IC tag attached to each branched branch (stem) of the plant 9. The work efficiency can be increased by roughly determining each branch (stem). In addition, for example, even when the pollination position moves due to internal or external factors in the growing environment, the mobile pollination device 60 is attached to each branch (stem) of the plant 9 or to each flower. By using the identification information by the IC tag, the pollination position (position coordinates) of the plant 9 can be detected with high accuracy.

Note that the identification method using an IC tag as the identifier described above may be an identification method using another identifier, and is indicated by an encoded pattern such as a one-dimensional barcode or a matrix type two-dimensional code. It is good also as an identification method using the identifier made. When detecting ID information from these encoded patterns, the identification information detection unit 670 may be configured to detect via the reading device corresponding to each identifier, or may be imaged via the imaging unit 64. It is good also as a structure detected based on the performed image.
In addition, for example, information other than ID information such as pollination history information and information on the breeding status may be registered in the identifier.

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

The embodiment of the present invention has been described in detail with reference to the drawings. However, the specific configuration is not limited to this embodiment, and includes design and the like within a scope not departing from the gist of the present invention.
For example, the pollination operation for the plant 9 is not limited to the case where the pollination operation is performed only by the mobile pollination device 60. Both the pollination operation processing by the mobile pollination device 60 and the manual pollination operation by the operator. It may be an operation to be performed. In this case, the pollination history information is generated by detecting the movement of the worker during the pollination operation from the image according to the pollination operation by the worker, in addition to being generated according to the pollination operation of the mobile pollination device 60. Moreover, the information regarding a pollination history may be input and produced | generated from the input device (not shown) by the operator.

  Moreover, each of the mobile detection device 40 and the mobile pollination device 60 can operate a plurality of units and perform independent processing.

  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 several plant cultivation systems and several mobile pollination apparatuses 60. FIG.

  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 pollination apparatus 60 have a computer system inside. The operation process of each functional unit is stored in a computer-readable recording medium in the form of a program, and the above processing is performed by the computer system reading and executing the program. The computer system here includes a CPU, various memories, an OS, and hardware such as peripheral devices.

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

  DESCRIPTION OF SYMBOLS 1 Plant cultivation system, 4 Plant cultivation plant, 9 Plant, 60 Mobile pollination apparatus, 62 Arm part, 63 End effector part (pollination operation part), 63A injection part, 63B application | coating part, 63C vibration part, 64 imaging part, 650 Pollination position detection unit (detection unit), 660 Pollination history information generation unit, 670 Identification information detection unit, 680 Pollination processing control unit (control unit), 681 estimation unit

Claims (17)

A detection unit for detecting a pollination position of the plant based on an image of the imaged plant;
A pollination operation unit for performing pollination operation to attach pollen to the detected pollination position;
A pollination apparatus comprising: The detector is
Detecting the center position of the flower, the position of the pistil of the flower, or the position of the flower as the pollination position of the plant based on the feature information indicating the feature of the flower registered in advance and the captured image of the plant. The pollination apparatus of Claim 1 characterized by these. The pollination apparatus according to claim 1 or 2, wherein the characteristic information includes information on a shape of a flower, information on a size of the flower, or information on a color of the flower. Reading the pollination history information of the detected pollination position from a storage unit storing the pollination history information associated with the pollination position of the plant, and based on the read pollination history information, the detected pollination position A control unit for controlling the pollination operation of the pollination operation unit,
The pollination apparatus according to any one of claims 1 to 3, further comprising: The controller is
The pollination apparatus according to claim 4, wherein whether or not the pollination operation unit is to perform a pollination operation on the detected pollination position is controlled based on the read pollination history information. Whether the pollination operation unit performs a pollination operation on the detected pollination position, whether or not the pollination history information of the pollination position of the plant has been pollinated in association with the detected pollination position. A pollination history information generating unit that generates information indicating the information stored in the storage unit,
The pollination apparatus of Claim 4 or Claim 5 characterized by the above-mentioned. The pollination history information generation unit
The pollination history information of the pollination position of the plant is generated in association with the detected pollination position generated based on the three-dimensional model of the plant measured in advance. Pollination device. An estimation unit that estimates an appropriate pollination time based on the growth status of the plant,
With
The controller is
The pollination device according to any one of claims 4 to 7, wherein the pollination operation of the pollination operation unit is controlled based on the appropriate pollination time estimated by the estimation unit. The pollination operation part is
An injecting unit for injecting the pollen to the detected pollination position;
An application unit for applying pollen to the detected pollination position;
A vibrating section that vibrates the detected pollination position;
The pollination apparatus according to claim 1, comprising at least one of the following. An imaging unit for imaging the plant;
An arm part for moving the pollination operation part;
The detection unit comprises
Detecting the pollination position of the plant based on the image of the plant imaged in the imaging unit,
The controller is
The pollination apparatus according to any one of claims 4 to 9, wherein the position of the pollination operation unit with respect to the detected pollination position is moved via the arm unit. An identifier indicating identification information for identifying the pollination position is attached to the plant,
An identification information detector for detecting the identification information from the identifier;
With
The detector is
The pollination apparatus according to any one of claims 1 to 10, wherein a pollination position of the plant is detected based on the identification information detected by the identification information detection unit. The pollination apparatus according to claim 11, wherein the identifier is an RFID. The identifier is
The pollination apparatus according to claim 11, which is indicated by an encoded pattern. The identifier is
Attached to the branch of the plant,
The detector is
14. The pollination position of the plant is detected based on the identification information detected by the identification information detection unit and the branch structure of the branch of the plant. The pollination apparatus as described in. The identifier is
The pollination device according to any one of claims 11 to 14, wherein the pollen device is attached in association with a flower of the plant. The pollination device according to any one of claims 1 to 15,
A plant cultivation system comprising: The plant cultivation system according to claim 16,
A plant cultivation plant comprising:

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