JP2022047955A - Plant cultivation system and plant cultivation method - Google Patents

Abstract

To provide a plant cultivation system that can improve a sanitary aspect.SOLUTION: A plant cultivation system 1 has: a holder 5 which holds plants 3 by one strain; a plate 7 on which a plurality of holders 5 is arranged; a cultivation shelves 9 to 14 on which a plurality of plates 7 is mounted; a transplantation robot 15 which is installed outside cultivation shelves 9 to 14, and changes arrangement pattern of the holders 5 on the plate 7; and plate conveying devices 17,19,21 which carry out the plate 7 from the cultivation shelves 9 to 14, and carry the plate 7 in which an arrangement pattern of the holders 5 is changed by the transplantation robot 15 onto the cultivation shelves 9 to 14.SELECTED DRAWING: Figure 1

Description

The disclosed embodiments relate to plant cultivation systems and plant cultivation methods.

Patent Document 1 describes a plant cultivation system. This plant cultivation system supports a holder that holds the plant to be cultivated for each plant and a plurality of holders that can be moved along the longitudinal direction, and each holder is supplied from one side in the longitudinal direction. Has a rail configured such that a plurality of retainers move according to the retainer supplied towards the other side in the longitudinal direction.

International Publication No. 2017/042891

In the above-mentioned conventional plant cultivation system, further improvement in hygiene has been requested.

The present invention has been made in view of such problems, and an object of the present invention is to provide a plant cultivation system and a plant cultivation method capable of improving hygiene.

In order to solve the above problems, according to one aspect of the present invention, in a plant cultivation system for cultivating plants, a holder for holding the plants one by one and a plate on which a plurality of the holders are arranged are arranged. A cultivation shelf on which a plurality of the plates are placed, an automatic machine installed outside the cultivation shelves to change the arrangement pattern of the holders on the plates, and the plates carried out from the cultivation shelves. A plant cultivation system including a plate transfer device for carrying the plate whose arrangement pattern of the holder is changed by the automatic machine to the cultivation shelf is applied.

Further, according to another aspect of the present invention, in the plant cultivation method for cultivating a plant, a plurality of holders for holding the plant one by one are arranged on a plate, and the plurality of the plates are cultivated on a shelf. The plate is carried out from the cultivation shelf, the arrangement pattern of the holder on the plate is changed outside the cultivation shelf, and the plate having the changed arrangement pattern is carried into the cultivation shelf. And the plant cultivation method with is applied.

According to the plant cultivation system of the present invention and the like, hygiene can be improved.

It is explanatory drawing which shows an example of the whole structure of the plant cultivation system which concerns on embodiment. It is a perspective view which shows an example of the structure of a plate transfer apparatus. It is a side view seen from the short side which shows an example of the structure of a cultivation shelf. It is explanatory drawing which shows an example of the stage of the growth stage in a cultivation shelf. It is explanatory drawing which shows an example of the transport route of a plate in a cultivation shelf. It is explanatory drawing which shows an example of the structure of a harvesting work room. It is explanatory drawing which shows an example of the structure and the replanting operation of a replanting robot. It is a top view of the part corresponding to one section of the "seedling raising" stage of the cultivation shelf. It is a top view of the part corresponding to one section of the "growth 1" stage of a cultivation shelf. It is a top view of the portion corresponding to one section of the "growth 2" stage of the cultivation shelf.

Hereinafter, one embodiment will be described with reference to the drawings.

<1. Overall configuration of plant cultivation system>
First, an example of the overall configuration of the plant cultivation system 1 according to the present embodiment will be described with reference to FIG.

In the plant cultivation system 1, the plants 3 to be cultivated are held one by one with the holder 5 (see FIG. 7 described later), and the plate 7 on which the plurality of holders 5 are arranged is placed on the cultivation shelf for a predetermined period. This is a system for growing plants. Plant 3 is, for example, a leafy vegetable. As shown in FIG. 1, the plant cultivation system 1 includes a plurality of cultivation shelves 9, 10, 11, 12, 13, 14 (six in this example), a replanting robot 15, and a plurality (three in this example). ), It has a plate transfer device 17, 19, 21, a plurality of automatic guided vehicles 23, a controller 24, and the like.

The cultivation shelves 9 to 14 are arranged in the production room 25, and a plurality of plates 7 are placed on each of the cultivation shelves 9 to 14. The cultivation shelves 9 and 10 are arranged so as to sandwich the plate transport device 17 in between. The plate transfer device 17 carries out and carries in the plates 7 to the cultivation shelves 9 and 10 on both sides. The cultivation shelves 11 and 12 are arranged so as to sandwich the plate transfer device 19. The plate transfer device 19 carries out and carries in the plates 7 to the cultivation shelves 11 and 12 on both sides. The cultivation shelves 13 and 14 are arranged so as to sandwich the plate transport device 21 in between. The plate transfer device 21 carries out and carries in the plates 7 to the cultivation shelves 13 and 14 on both sides. In this way, the plant cultivation system 1 has three sets of cultivation shelves (cultivation shelves 9, 10), with two cultivation shelves arranged so as to sandwich the plate transport devices 17, 19, 21 as one set each. It has cultivation shelves 11, 12 and cultivation shelves 13, 14). The operation of the plate transfer devices 17, 19 and 21 is controlled by the controller 24.

A transport area 27 is arranged on one side (left side in FIG. 1) of the cultivation shelves 9, 11 and 13 in the production chamber 25 in the longitudinal direction. The transport area 27 is an area for transporting the plates 7 carried out from the cultivation shelves 9, 11 and 13 to the harvesting work room 29 for harvesting the plants 3. In the transport area 27, an automatic guided vehicle 23 (an example of a moving body) loads a plate 7 and moves between the cultivation shelves 9, 11 and 13 and the harvesting work room 29. The traveling of the automatic guided vehicle 23 is controlled by the controller 24.

A replanting area 31 is arranged on the other side (right side in FIG. 1) of the cultivation shelves 9, 11 and 13 in the production chamber 25 in the longitudinal direction. A replanting robot 15 is arranged in the replanting area 31. That is, the replanting robot 15 is installed outside the cultivation shelves 9, 11 and 13. The replanting robot 15 (an example of an automatic machine) changes the arrangement pattern of the holder 5 on the plate 7. The operation of the replanting robot 15 is controlled by the controller 24. In the replanting area 31, the automatic guided vehicle 23 loads the plate 7 and moves between the cultivation shelves 9, 11 and 13 and the replanting robot 15. The traveling of the automatic guided vehicle 23 is controlled by the controller 24.

A harvesting work room 29 (an example of a harvesting area) is adjacent to the transportation area 27 side of the production room 25. In the harvesting work room 29, a work table 33 for performing the harvesting work is installed. The worker 35 harvests the plant 3 from the plate 7 transported by the automatic guided vehicle 23 on the work table 33 and stores the plant 3 in the container 37. The container 37 is transported by an automatic guided vehicle 23 to, for example, a storage room (not shown). The production room 25 and the harvesting work room 29 may be a space partitioned by a wall, a door, or the like, or may be a communication space.

The controller 24 controls the entire plant cultivation system 1 by controlling the operations of the plate transfer devices 17, 19, 21, the operation of the replanting robot 15, and the operation of the automatic guided vehicle 23 in cooperation with each other. The controller 24 is composed of, for example, a personal computer (PC), a motion controller, a programmable logic controller (PLC), or the like. The controller 24 may be arranged inside the production chamber 25 or may be arranged outside. Further, the controller 24 may be composed of one control device or a plurality of control devices.

The configuration of the plant cultivation system 1 described above is an example, and is not limited to the above contents. For example, the number of cultivation shelves is not limited to three, but may be one or two, or four or more. Further, it is not always necessary to arrange the two cultivation shelves so as to sandwich the plate transfer device between them, and the cultivation shelves may be arranged only on one side of the plate transfer device. Further, the plate 7 may be directly delivered from the plate transfer devices 17, 19 and 21 to the replanting robot 15 without being transported by the automatic guided vehicle 23 in the replanting area 31.

<2. Configuration and operation of plate transfer device>
Next, an example of the configuration and operation of the plate transfer devices 17, 19, 21 will be described with reference to FIG. 2. Since the plate transfer devices 17, 19 and 21 have the same configurations and operations, the plate transfer device 19 will be described here as an example, and the plate transfer devices 17 and 21 will be omitted.

As shown in FIG. 2, the plate transfer device 19 has a gantry support frame 39, a beam 41, a slider 43, and a hand 45.

The support frame 39 is a pair of columns 39a that are erected along the Z-axis direction and are arranged facing each other in the Y-axis direction, and a substantially horizontal support frame 39 that is bridged over the upper ends of the pair of columns 39a along the Y-axis direction. It has a beam 39b. The beam 41 is movably bridged between a pair of columns 39a in the Z-axis direction, and is moved in the Z-axis direction by a Z-axis actuator (not shown). The slider 43 is provided on the beam 41 so as to be movable in the Y-axis direction, and is moved in the Y-axis direction by a Y-axis actuator (not shown). The hand 45 is provided on the slider 43 so as to be movable in the X-axis direction, and is moved in the X-axis direction by the X-axis actuator 47. The hand 45 is composed of, for example, two rod-shaped members, and holds the plate 7 by, for example, supporting the edges of both ends of the plate 7 in the Y-axis direction from below.

The plate transport device 19 having the above configuration moves the plate 7 placed on the cultivation shelves 11 and 12 in the lateral direction (X-axis direction) of the cultivation shelves 11 and 12 and carries them out from the cultivation shelves 11 and 12. The carried-out plate 7 is transported toward the replanting robot 15 on the other side (replanting area 31 side) in the longitudinal direction (Y-axis direction) of the cultivation shelves 11 and 12, and is loaded on the automatic guided vehicle 23. Further, the plate transport device 19 receives the plate 7 whose arrangement pattern has been changed by the replanting robot 15 from the automatic guided vehicle 23, and receives one side (transport area) of the cultivation shelves 11 and 12 in the longitudinal direction (Y-axis direction). It is transported toward the 27 side), and the transported plate 7 is moved in the lateral direction (X-axis direction) of the cultivation shelves 11 and 12 and carried into the cultivation shelves 11 and 12. Further, the plate transport device 19 transports the plates 7 carried out from the cultivation shelves 11 and 12 toward one side (transport area 27 side) in the longitudinal direction (Y-axis direction) and loads them on the automatic guided vehicle 23.

Further, the cultivation shelves 11 and 12 are divided into a plurality of sections (not shown in FIG. 2; see FIG. 3 described later). The plate transfer device 19 moves the plate 7 from a predetermined section of the cultivation shelves 11 and 12 to another section along a transfer route set based on the growth stage of the plant 3.

A workbench 49 is installed at an appropriate height on the outside of the cultivation shelf 9, between the cultivation shelves 10 and 11, between the cultivation shelves 12 and 13, and on the outside of the cultivation shelf 14. As a result, the worker can safely perform aerial work on each of the cultivation shelves 9 to 14 by using the workbench 49. Further, the dimensions of each cultivation shelf 9 to 14 in the lateral direction (X-axis direction) are such that the operator can access the entire area from one side (for example, about 700 mm). As a result, the worker performs maintenance on each cultivation shelf 9 to 14 from the space on the side opposite to the side where the plate transport devices 17, 19 and 21 are installed (the space on the side where the workbench 49 is installed). be able to.

<3. Cultivation shelf configuration, plate transportation route>
Next, an example of the configuration of each cultivation shelf 9 to 14 and the transport route of the plate 7 will be described with reference to FIGS. 3 to 5.

FIG. 3 shows an example of the configuration in which each cultivation shelf 9 to 14 is viewed from the short side. In FIG. 3, a part of each cultivation shelf 9 to 14 in the longitudinal direction is extracted and shown.

As shown in FIG. 3, each cultivation shelf 9 to 14 is divided into a plurality of compartments 51 in the longitudinal direction (horizontal direction in FIG. 3) and the height direction (vertical direction in FIG. 3). In each section 51, two plates 7 are arranged side by side in the longitudinal direction. The dimensions (for example, about 700 mm) of each cultivation shelf 9 to 14 in the lateral direction (paper depth direction in FIG. 3) and the dimensions of the plate 7 (for example, about 600 mm) are about the same, and the plate 7 is in each section 51. Only one row is arranged in the lateral direction. Further, in each section 51, a light source 53 for shining light on the leaves of the plant 3 is installed. The type of the light source 53 is not particularly limited, but for example, an LED, a fluorescent lamp, or the like is used. A tray 55 for storing the culture solution is installed at the bottom of each plate 7, and the roots of the plant 3 held by the holder 5 (see FIG. 7 described later) arranged on the plate 7 are used as the culture solution. It is designed to be soaked.

The plate 7 is placed in a compartment 51 preset according to the growth stage of the plant 3. In the example shown in FIG. 3, each section 51 of the first stage from the bottom of each cultivation shelf 9 to 14 is the "seedling raising" stage, each section 51 of the second stage from the bottom is the "growth 1" stage, and the third stage from the bottom. Each section 51 of the 10th stage is set as a "growth 2" stage. The "seedling raising" stage is a growth stage after the plant 3 is sown in the holder 5 until it germinates and reaches a predetermined size. The "growth 1" stage is a growth stage until the plant 3 that has grown to some extent in the "seedling raising" stage becomes a larger predetermined size. The "growth 2" stage is a growth stage until the plant 3 that has grown to some extent in the "growth 1" stage reaches the size of the harvest stage. In the present embodiment, for example, the "seedling raising" stage is set to 16 days, the "growth 1" stage is set to 8 days, and the "growth 2" stage is set to 16 days. The above-mentioned growth stage and number of days are examples, and a smaller number or a further subdivided growth stage may be used. In addition, the number of days in each growth stage may be other than the above.

4 and 5 show an example of the stage of the growth stage in each cultivation shelf 9 to 14 and an example of the transport route of the plate 7. In addition, each section A to P of the "seedling raising" stage in FIG. 4 corresponds to one section 51, and each section A to H of the "growth 1" stage corresponds to two sections in the longitudinal direction (Y direction), respectively. It corresponds to 51, and each section A to P of the “growth 2” stage corresponds to eight sections 51 in the height direction (Z direction), respectively.

In FIGS. 4 and 5, for example, the plates 7 are sequentially carried into the sections A to P of the “seedling raising” stage every day from the state where the plates 7 are not placed on the cultivation shelves.

When the delivery of the plate 7 is completed up to the section P of the "seedling" stage, 16 days elapse in the section A of the "seedling" stage. Therefore, the plate 7 of the section A of the “nursery” stage is transported to the replanting area 31, and the replanting robot 15 moves the holder 5 from the plate 7 for the “nursery” stage to the plate 7 for the “growth 1” stage. Transfer to. The plate 7 for the “growth 1” stage has a wider space between the grooves 56 (see FIGS. 8 and 9 described later) in which the holder 5 is arranged than the plate 7 for the “nursery” stage. Further, a spacer 57 (see FIGS. 7 and 9 described later) is appropriately inserted between the holders 5. As a result, the arrangement pattern of the holders 5 is changed so that the distance between the holders 5 becomes wider. The plate 7 for the “growth 1” stage in which the arrangement pattern of the holder 5 is changed is transported to the cultivation shelf and carried into the section A of the “growth 1” stage.

Similarly, for each section B to H of the "seedling" stage, the holder 5 is sequentially transferred from the plate 7 for the "seedling" stage to the plate 7 for the "growth 1" stage every day, and the "growth 1" stage is performed. It is carried into each section B to H of the stage. In this way, the plate 7 and the tray 55, including the culture broth, are replaced at the timing of replanting from the “seedling raising” stage to the “growth 1” stage.

As described above, when the movement of the plate 7 from the “seedling” stage to the “growth 1” stage is completed up to the section H of the “growth 1” stage, the section A of the “growth 1” stage elapses for 8 days. Therefore, the plate 7 of the section A of the "growth 1" stage is transported to the replanting area 31, and the replanting robot 15 moves the holder 5 from the plate 7 for the "growth 1" stage to the "growth 2" stage. Transfer to plate 7. The plate 7 for the "growth 2" stage has a wider space between the grooves 56 in which the holder 5 is arranged than the plate 7 for the "growth 1" stage (see FIGS. 9 and 10 described later). Further, a spacer 59 (see FIGS. 7 and 10 described later) is appropriately inserted between the holders 5. As a result, the arrangement pattern of the holders 5 is changed so that the distance between the holders 5 is further widened. The plate 7 for the “growth 2” stage in which the arrangement pattern of the holder 5 is changed is transported to the cultivation shelf and carried into the section A of the “growth 2” stage.

Similarly, for each section B to H of the "growth 1" stage, the retainer 5 is sequentially transferred from the plate 7 for the "growth 1" stage to the plate 7 for the "growth 2" stage every day. It is carried into each section B to H of the "Growth 2" stage. In this way, the plate 7 and the tray 55, including the culture broth, are exchanged at the timing of replanting from the “growth 1” stage to the “growth 2” stage.

In parallel with the movement of the plate 7 from each section A to H of the above "growth 1" stage to each section A to H of the "growth 2" stage, for each of the remaining sections I to P of the "seedling" stage. Every day, the holder 5 is sequentially transferred from the plate 7 for the "seedling" stage to the plate 7 for the "growth 1" stage, and is carried into each section A to H of the "growth 1" stage. In this way, the plate 7 and the tray 55, including the culture broth, are replaced at the timing of replanting from the “seedling raising” stage to the “growth 1” stage.

As described above, when the movement of the plate 7 from the “seedling” stage to the “growth 1” stage is completed up to the section H of the “growth 1” stage, the section A of the “growth 1” stage elapses for 8 days. Therefore, similarly to the above, the holder 5 is transferred from the plate 7 for the "growth 1" stage to the plate 7 for the "growth 2" stage, and is carried into the section I of the "growth 2" stage. Similarly, for each section B to H of the "growth 1" stage, the retainer 5 is sequentially transferred from the plate 7 for the "growth 1" stage to the plate 7 for the "growth 2" stage every day. It is carried into each section JP of the "Growth 2" stage. In this way, the plate 7 and the tray 55, including the culture broth, are exchanged at the timing of replanting from the “growth 1” stage to the “growth 2” stage.

As described above, when the movement of the plate 7 from the "growth 1" stage to the "growth 2" stage is completed up to the section P of the "growth 2" stage, 16 days elapse in the section A of the "growth 2" stage. .. Therefore, the plate 7 of the section A of the "growth 2" stage is transported to the harvesting work room 29, and the plant 3 is harvested from the plate 7. Similarly, for each section B to P of the "growth 2" stage, the plate 7 is transported to the harvesting work room 29 every day, and the plant 3 is harvested from the plate 7.

By repeatedly and simultaneously transporting the plates 7 as described above, the plants 3 arranged on the plates 7 on the cultivation shelves 9 to 14 are placed in the “seedling” stage, the “growth 1” stage, and the “growth 2”. It is cultivated and cultivated through the stages.

<4. Structure of harvesting work room>
Next, an example of the configuration of the harvesting work room 29 will be described with reference to FIG.

As shown in FIG. 6, a work table 33 for performing harvesting work is installed in the harvesting work room 29. The worker 35 places the plate 7 and the tray 55 conveyed from the cultivation shelves 9 to 14 by the automatic guided vehicle 23 on the work table 33. Then, the worker 35 cuts the plant 3 with scissors 61, trims the plant 3, and stores the plant 3 in the container 37. The container 37 is, for example, a weight, a pallet, or the like. The container 37 is loaded in multiple stages on the automatic guided vehicle 23, and is transported by the automatic guided vehicle 23 to the outside of the harvesting work room 29 (for example, a storage room or the like).

The container 37 may be transported by, for example, a trolley or a conveyor. Further, a robot may be arranged instead of the worker 35 to automate the harvesting work.

<5. Replanting robot configuration and replanting operation, plate configuration>
Next, the replanting robot 15 and the plate 7 will be described with reference to FIGS. 7 to 10. FIG. 7 is an explanatory diagram showing an example of the configuration and replanting operation of the replanting robot 15. FIG. 8 is a plan view of the portion corresponding to one section 51 of the “seedling raising” stage of each cultivation shelf 9 to 14 as viewed from above. FIG. 9 is a plan view of the portion of each cultivation shelf 9 to 14 corresponding to one section 51 of the “growth 1” stage as viewed from above. FIG. 10 is a plan view of the portion of each cultivation shelf 9 to 14 corresponding to one section 51 of the “growth 2” stage as viewed from above. In addition, in FIGS. 8 to 10, the illustration of the plant 3 is omitted.

The replanting robot 15 is a holder on the plate 7 when the plate 7 moves from the “nursing” stage to the “growth 1” stage and when the plate 7 moves from the “growth 1” stage to the “growth 2” stage. Change the arrangement pattern of 5. Specifically, the replanting robot 15 transfers the holder 5 from the plate 7A for the “seedling” stage (see FIG. 8) to the plate 7B for the “growth 1” stage (see FIG. 9). As shown in FIGS. 8 and 9, the spacing dB of the grooves 56 in which the retainer 5 is arranged in the plate 7B for the “growth 1” stage is such that the retainer 5 in the plate 7A for the “nursery” stage is arranged. It is wider than the distance dA of the grooves 56. Further, the replanting robot 15 inserts an appropriate number of spacers 57 between the holders 5. In the example shown in FIG. 9, the length dimension of the spacer 57 is smaller than that of the holder 5. As a result, the arrangement pattern of the holders 5 is changed so that the distance between the holders 5 becomes wider. In the plate 7B, the holders 5 are arranged so as to be staggered in the lateral direction (vertical direction in FIG. 9) of the cultivation shelf, so that the interference of the leaves of the adjacent plants 3 can be suppressed.

Similarly, the replanting robot 15 transfers the holder 5 from the plate 7B for the “growth 1” stage to the plate 7C (see FIG. 10) for the “growth 2” stage. As shown in FIGS. 9 and 10, the gap dC of the grooves 56 in which the retainer 5 is arranged in the plate 7C for the “growth 2” stage is such that the retainer 5 in the plate 7B for the “growth 1” stage is arranged. It is wider than the interval dB of the grooves 56. Further, the replanting robot 15 inserts an appropriate number of spacers 59 between the holders 5. In the example shown in FIG. 10, the length dimension of the spacer 59 is the same as that of the holder 5, and the same part can be shared by the holder 5 and the spacer 57. As a result, the arrangement pattern of the holders 5 is changed so that the distance between the holders 5 is further widened. In the plate 7C, the holders 5 are arranged so as to be staggered in the lateral direction (vertical direction in FIG. 10) of the cultivation shelf, so that the interference of the leaves of the adjacent plants 3 can be suppressed.

As shown in FIG. 7, the replanting robot 15 is, for example, a vertical articulated 6-axis robot having six joints, and a hand 63 is attached to the tip of the robot as an end effector. The replanting robot 15 grips the holder 5 and the spacers 57, 59, etc. by the hand 63, and moves them.

The replanting robot 15 has a base 65, a swivel portion 67, and an arm 69. The base 65 is fixed to, for example, a floor, a frame, a wall, a ceiling, or the like.

The swivel portion 67 is supported on the upper end portion of the base 65 so as to be swivelable around a rotation axis Ax1 substantially parallel to the vertical direction. The swivel portion 67 is swiveled around the rotation axis Ax1 with respect to the upper end portion of the base 65 by the drive of the actuator Ac1 provided at the joint portion between the swivel portion 67 and the base 65.

The arm 69 is supported by, for example, one side of the swivel portion 67. The arm 69 has a lower arm portion 71, an upper arm portion 73, a wrist portion 75, and a flange portion 77.

The lower arm portion 71 is rotatably supported on one side of the swivel portion 67 around the rotation axis Ax2 substantially perpendicular to the rotation axis Ax1. The lower arm portion 71 is swiveled around the rotation axis Ax2 with respect to one side portion of the swivel portion 67 by driving the actuator Ac2 provided at the joint portion between the swivel portion 67 and the swivel portion 67.

The upper arm portion 73 is rotatably supported on the tip end side of the lower arm portion 71 around the rotation axis Ax3 substantially parallel to the rotation axis Ax2 and around the rotation axis Ax4 substantially perpendicular to the rotation axis Ax3. Has been done. The upper arm portion 73 is swiveled around the rotation axis Ax3 with respect to the tip end side of the lower arm portion 71 by driving the actuator Ac3 provided at the joint portion between the upper arm portion 71 and the lower arm portion 71. Further, the upper arm portion 73 is rotationally driven around the rotation axis Ax4 with respect to the tip end side of the lower arm portion 71 by driving the actuator Ac4 provided between the actuator Ac3 and the actuator Ac3.

The wrist portion 75 is rotatably supported on the tip end side of the upper arm portion 73 around the rotation axis Ax5 substantially perpendicular to the rotation axis Ax4. The wrist portion 75 is swiveled around the rotation axis Ax5 with respect to the tip end side of the upper arm portion 73 by driving the actuator Ac5 provided at the joint portion between the wrist portion 75 and the upper arm portion 73.

The flange portion 77 is rotatably supported on the tip end side of the wrist portion 75 around the rotation axis Ax6 substantially perpendicular to the rotation axis Ax5. The flange portion 77 is rotationally driven around the rotation axis Ax6 with respect to the tip end side of the wrist portion 75 by driving the actuator Ac6 provided at the joint portion between the flange portion 77 and the wrist portion 75.

The hand 63 is attached to the tip of the flange portion 77, and rotates around the rotation axis Ax6 together with the rotation of the flange portion 77 around the rotation axis Ax6. This hand 63 includes a pair of gripping members 63a, 63a that can move in directions that are close to each other, and performs various operations and operations, including gripping the holder 5, spacers 57, 59, and the like. Is possible.

The replanting robot 15 having the above configuration is a 6-axis robot having 6 joints equipped with 6 actuators Ac1 to Ac6. Actuators Ac1 to Ac6 for driving each joint are composed of, for example, a motor, an encoder, a speed reducer, a brake, and the like.

In the above, the rotation around the center of the rotation axis along the longitudinal direction (or extension direction) of the arm 69 is called "rotation", and the rotation axis substantially perpendicular to the longitudinal direction (or extension direction) of the arm 69. The rotation around the heart is called "turning" to distinguish it.

The replanting robot 15 may be a robot other than 6 axes (for example, 5 axes, 7 axes, etc.). Further, the replanting robot 15 such as a horizontal articulated robot or a parallel link robot may be a robot other than the vertical articulated robot. Further, in addition to the general-purpose robot, for example, a dedicated working machine designed exclusively for replanting work equipped with an actuator that can move in the XYZθ direction or the like may be used.

<6. Effect of embodiment>
As described above, in the plant cultivation system 1 of the present embodiment, a holder 5 for holding the plant 3 one by one, a plate 7 on which a plurality of holders 5 are arranged, and a plurality of plates 7 are placed. The replanting robot 15 which is installed outside the cultivation shelves 9 to 14 and changes the arrangement pattern of the holder 5 on the plate 7, and the plate 7 is carried out from the cultivation shelves 9 to 14 and planted. It has plate transport devices 17, 19 and 21 for carrying the plates 7 whose arrangement pattern of the holder 5 has been changed by the replacement robot 15 into the cultivation shelves 9 to 14.

In the plant cultivation system 1, a plurality of holders 5 for holding the plants 3 one by one are arranged on the plate 7, and the plates 7 are placed on the cultivation shelves 9 to 14 to cultivate the plants 3. The plates 7 that have passed a predetermined period on the cultivation shelves 9 to 14 are carried out from the cultivation shelves 9 to 14 by the plate transfer devices 17, 19 and 21, and the arrangement pattern of the holder 5 is changed by the replanting robot 15. The plate 7 whose arrangement pattern of the holder 5 has been changed is carried into the cultivation shelves 9 to 14 by the plate transfer devices 17, 19 and 21. By doing so, the plant 3 can be cultivated while adjusting the interval between the plants 3 (the interval between the holders 5) according to the growth condition of the plant 3.

Here, in the case of a system in which a plurality of rails are fixedly installed on the cultivation shelves 9 to 14 and the cage 5 is moved along the rails for cultivation, the rails are fixedly installed. Therefore, cleaning and cleaning are difficult, and hygiene problems arise.

On the other hand, in the present embodiment, the plate 7 is periodically carried out from the cultivation shelves 9 to 14 in order to change the arrangement pattern of the holder 5. As a result, the plate 7 can be replaced with a new plate or washed at the timing when the arrangement pattern of the holder 5 is changed. Therefore, hygiene can be improved.

Further, in the present embodiment, in particular, the plant cultivation system 1 is arranged on one side in the longitudinal direction of the cultivation shelves 9 to 14, and is a transportation area for transporting the plant 3 from the plate 7 to the harvesting work room 29. 27 is further provided, and the replanting robot 15 is arranged on the other side of the cultivation shelves 9 to 14 in the longitudinal direction.

As a result, the replanting area 31 where the replanting work by the replanting robot 15 is performed and the transportation area 27 can be separated, and it is possible to prevent the two areas from overlapping. Therefore, the work related to the replanting of the plant 3 (including the transportation of the plate 7 between the cultivation shelves 9 to 14 and the replanting robot 15) and the plate 7 between the cultivation shelves 9 to 14 and the harvesting work room 29. Can be smoothly carried out without interfering with each other.

Further, in the present embodiment, in particular, in the plate transport devices 17, 19 and 21, the plates 7 placed on the cultivation shelves 9 to 14 are moved from the cultivation shelves 9 to 14 in the lateral direction of the cultivation shelves 9 to 14. It is carried out, and the carried out plate 7 is carried toward the replanting robot 15 on the other side in the longitudinal direction of the cultivation shelves 9 to 14.

This makes it possible to automate the removal of the plates 7 from the cultivation shelves 9 to 14 and the transportation to the replanting robot 15 side.

Further, in the present embodiment, in particular, the plate transporting devices 17, 19, and 21 transport the plates 7 whose arrangement pattern has been changed by the replanting robot 15 toward one side in the longitudinal direction of the cultivation shelves 9 to 14. , The transferred plate 7 is moved in the lateral direction of the cultivation shelves 9 to 14 and carried into the cultivation shelves 9 to 14.

As a result, it is possible to automate the transportation for returning the plate 7 whose arrangement pattern has been changed by the replanting robot 15 to the predetermined section 51 of the cultivation shelves 9 to 14 and the carrying into the cultivation shelves 9 to 14. ..

Further, in the present embodiment, in particular, the plant cultivation system 1 is arranged on one side in the longitudinal direction of the cultivation shelves 9 to 14, and the plates 7 are loaded and moved between the cultivation shelves 9 to 14 and the harvesting work room 29. Further has an automatic guided vehicle 23.

This makes it possible to automate the movement of the plates 7 carried out from the cultivation shelves 9 to 14 to the harvesting work room 29. Further, by transporting the plate 7 by the automatic guided vehicle 23, the space of the plant cultivation system 1 can be saved as compared with the case where a transport device such as a conveyor is installed.

Further, in the present embodiment, in particular, in the plate transport devices 17, 19 and 21, the plates 7 placed on the cultivation shelves 9 to 14 are moved from the cultivation shelves 9 to 14 in the lateral direction of the cultivation shelves 9 to 14. It is carried out, and the carried out plate 7 is carried toward one side in the longitudinal direction and loaded on the unmanned transport vehicle 23.

As a result, it is possible to automate the removal of the plates 7 from the cultivation shelves 9 to 14 and the transportation and loading of the plates 7 to the automatic guided vehicle 23.

Further, in the present embodiment, in particular, in the plant cultivation system 1, the cultivation shelves 9, 10 and the cultivation shelves 11 are set as a set of two cultivation shelves arranged so as to sandwich the plate transport devices 17, 19 and 21 respectively. , 12 and cultivation shelves 13, 14 have three sets of cultivation shelves.

This makes it possible to transport the plates 7 of the two cultivation shelves on both sides with one plate transport device. Therefore, the number of installed plate transfer devices can be reduced, and space saving and cost can be reduced.

Further, in the present embodiment, in particular, each cultivation shelf 9 to 14 is divided into a plurality of sections 51, and the plate transport devices 17, 19 and 21 are set to a transport route based on the growth stage of the plant 3. Along the way, the plate 7 is moved from a predetermined compartment 51 to another compartment 51.

This makes it possible to automate the movement of the plate 7 from the section to the section according to the growth stage of the plant 3 on each of the cultivation shelves 9 to 14.

Further, in the present embodiment, in particular, the plant cultivation system 1 is installed at the lower part of the plate 7 and further has a tray 55 for storing the culture solution.

As a result, the plate 7 and the tray 55 in which the culture solution is stored can be used as one unit, and the plant 3 can be moved and transported in the unit unit. Further, by carrying out the plate 7 and the tray 55 together from the cultivation shelf in order to change the arrangement pattern of the holder 5, the plate 7 and the tray 55 are cultured at the timing of changing the arrangement pattern of the holder 5. The liquid can be replaced or washed. Therefore, hygiene can be improved.

<7. Modification example>
The embodiments of the disclosure are not limited to the above, and various modifications can be made within the range not deviating from the purpose and the technical idea.

For example, in the above, the case where the plant 3 is a leafy vegetable has been described as an example, but the plant 3 may be other edible plants, flowers or other ornamental plants.

In the above description, when there is a description such as "vertical", "parallel", "planar", etc., the description does not have a strict meaning. That is, these "vertical", "parallel", and "planar" mean "substantially vertical", "substantially parallel", and "substantially flat", with design and manufacturing tolerances and errors allowed. ..

Further, in the above description, when there is a description such as "same", "same", "equal", "different", etc. in the external dimensions, size, shape, position, etc., the description is not a strict meaning. That is, those "same", "same", "equal", and "different" are allowed for design and manufacturing tolerances and errors, and are "substantially the same", "substantially the same", "substantially equal", and "substantially equal". It means "substantially different".

In addition to the above-mentioned above, the methods according to the above-described embodiment and each modification may be appropriately combined and used. In addition, although not illustrated one by one, the above-described embodiment and each modification are carried out with various modifications within a range that does not deviate from the purpose.

1 Plant cultivation system 3 Plants 5 Holders 7 Plates 9 Cultivation shelves 10 Cultivation shelves 11 Cultivation shelves 12 Cultivation shelves 13 Cultivation shelves 14 Cultivation shelves 15 Replanting robots (automatic machines)
17 Plate transfer device 19 Plate transfer device 21 Plate transfer device 23 Automated guided vehicle (mobile body)
27 Transportation area 29 Harvesting work room (harvesting area)
51 compartments 55 trays

Claims (10)

It is a plant cultivation system that grows plants.
A holder that holds the plants one by one, and
A plate on which the plurality of the holders are arranged and
A cultivation shelf on which the multiple plates are placed, and
An automatic machine installed outside the cultivation shelf and changing the arrangement pattern of the holder on the plate, and
A plate transport device that carries out the plate from the cultivation shelf and carries the plate whose arrangement pattern of the holder has been changed by the automatic machine to the cultivation shelf.
A plant cultivation system characterized by having. Arranged on one side in the longitudinal direction of the cultivation shelf, it further has a harvesting area for harvesting the plant from the plate or a transport area for transporting to the harvesting area.
The automatic machine
The plant cultivation system according to claim 1, wherein the cultivation shelf is arranged on the other side in the longitudinal direction. The plate transfer device is
The plate placed on the cultivation shelf is moved in the lateral direction of the cultivation shelf and carried out from the cultivation shelf, and the carried-out plate is transferred to the automatic machine on the other side of the cultivation shelf in the longitudinal direction. The plant cultivation system according to claim 2, wherein the plant is transported toward. The plate transfer device is
The plate whose arrangement pattern has been changed by the automatic machine is conveyed toward the one side in the longitudinal direction of the cultivation shelf, and the transferred plate is moved in the lateral direction of the cultivation shelf. The plant cultivation system according to claim 2 or 3, wherein the plant is carried into a cultivation shelf. 2. The plant cultivation system according to any one of the following items. The plate transfer device is
The plate placed on the cultivation shelf is moved in the lateral direction of the cultivation shelf and carried out from the cultivation shelf, and the carried-out plate is conveyed toward the one side in the longitudinal direction to carry the moving body. The plant cultivation system according to claim 5, wherein the plant is loaded on the shelf. The cultivation shelf is
It is arranged so as to sandwich the plate transfer device in between.
The plant cultivation system is
The invention according to any one of claims 1 to 6, wherein the two cultivation shelves arranged so as to sandwich the plate transport device are set as one set, and the cultivation shelves have at least one set. Plant cultivation system. The cultivation shelf is
It is divided into multiple sections,
The plate transfer device is
The plant cultivation system according to any one of claims 1 to 7, wherein the plate is moved from the section to another section along a transport route set based on the growth stage of the plant. .. The plant cultivation system according to any one of claims 1 to 8, further comprising a tray for storing the culture solution, which is installed at the lower part of the plate. It is a plant cultivation method for cultivating plants.
Placing a plurality of holders for holding the plants one by one on the plate and
Placing multiple plates on the cultivation shelf and
The plate is carried out from the cultivation shelf, the arrangement pattern of the holder in the plate is changed outside the cultivation shelf, and the plate having the changed arrangement pattern is carried into the cultivation shelf.
A plant cultivation method characterized by having.

Images