JP2023502608A - 自律屋内農業のための方法及び装置 - Google Patents
自律屋内農業のための方法及び装置 Download PDFInfo
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Abstract
Description
本出願は、2019年11月13日に出願された米国仮出願番号62/934,942の利益を主張する。前記出願の開示全体は、参照として本明細書に組み込まれる。
他の態様において、植物特性データは、少なくとも1つの生育モジュールに位置する1つ以上のセンサによって収集できる。
Claims (30)
- 少なくとも1つの生育モジュールで生育する植物の1つ以上の植物特性を特徴付ける植物特性データを獲得し、
農業エンジンを用いて、前記植物特性データに基づいて植物の少なくとも1つの生育欠乏を判定し、また
少なくとも1つの生育モジュールに作動可能に結合された農業コントローラに少なくとも1つの農業行為を送信し、前記少なくとも1つの農業行為は、植物の生育条件を向上させるための改善措置を含むように構成されたコンピューティング装置を含む、自律農業システム。 - 前記農業エンジンは、訓練された機械学習モデルを含む、請求項1に記載の自律農業システム。
- 前記植物特性データは、前記少なくとも1つの生育モジュールに位置する1つ以上のセンサによって収集される、請求項1に記載の自律農業システム。
- 前記コンピューティング装置は、前記少なくとも1つの生育モジュール内部の前記植物の生育条件を特徴付ける植物環境データを獲得するように構成され、前記少なくとも1つの生育欠乏は、前記植物環境データに基づいて判定される、請求項1に記載の自律農業システム。
- 前記農業エンジンは、植物特性履歴データ及び環境履歴データを用いて訓練された機械学習モデルを含む、請求項4に記載の自律農業システム。
- 前記農業コントローラは、空気循環システム、照明システム、灌漑システム、視覚システム、及び液体循環システムの少なくとも1つに作動可能に結合される、請求項1に記載の自律農業システム。
- 前記少なくとも1つの農業行為は、前記空気循環システム、前記照明システム、前記灌漑システム、前記視覚システム、及び前記液体循環システムの少なくとも1つに生育モジュールでの生育条件を変更させる命令を含む、請求項6に記載の自律システム。
- 前記植物特性データは、前記生育モジュールにおける視覚システムによって収集された画像データを含み、前記画像データは、前記生育モジュールにおける植物の画像を含む、請求項1に記載の自律農業システム。
- 前記農業エンジンは、画像履歴データに基づいて、植物の少なくとも1つの欠乏を自動的に判定する、請求項8に記載の自律農業システム。
- 前記コンピューティング装置は、前記農業エンジンの機械学習モデルを再訓練させ、前記コンピューティング装置が、再訓練された機械学習モデルの性能が初期の機械学習モデルの性能を凌駕していると判定すると、初期の機械学習モデルを再訓練された機械学習モデルに置き換えるように構成される、請求項1に記載の自律農業システム。
- 前記少なくとも1つの生育モジュールは、複数の生育コンテナを含み、
前記複数の生育コンテナは、生育コンテナのマトリックスを定義するために少なくとも2つの列と少なくとも2つの行に配置され、
前記コンピューティング装置は、前記複数の生育コンテナの各々で生育する植物の1つ以上の植物特性を特徴付ける植物特性データを獲得するように構成される、請求項1に記載の自律農業システム。 - 少なくとも1つの生育モジュールで生育する植物の1つ以上の植物特性を特徴付ける植物特性データを獲得するステップと、
農業エンジンを用いて前記植物特性データに基づいて植物の少なくとも1つの生育欠乏を判定するステップと、
前記少なくとも1つの生育モジュールに作動可能に結合された農業コントローラに少なくとも1つの農業行為を送信するステップであって、前記少なくとも1つの農業行為は、植物の生育条件を向上させるための改善措置を含むステップと、を含む、自律農業方法。 - 前記農業エンジンは、訓練された機械学習モデルを含む、請求項12に記載の方法。
- 前記植物特性データは、前記少なくとも1つの生育モジュールに位置する1つ以上のセンサによって収集される、請求項12に記載の方法。
- 前記少なくとも1つの生育モジュール内部の植物の生育条件を特徴付ける植物環境データを獲得するステップと、前記植物環境データにさらに基づいて少なくとも1つの欠乏を判定するステップと、をさらに含む、請求項12に記載の方法。
- 前記農業エンジンは、植物特性履歴データ及び環境履歴データを用いて訓練された機械学習モデルを含む、請求項12に記載の方法。
- 前記農業コントローラは、空気循環システム、照明システム、灌漑システム、視覚システム、及び液体循環システムの少なくとも1つに作動可能に結合される、請求項12に記載の方法。
- 前記少なくとも1つの農業行為は、前記空気循環システム、前記照明システム、前記灌漑システム、前記視覚システム、及び前記液体循環システムの少なくとも1つに前記生育モジュールでの生育条件を変更させる命令を含む、請求項17に記載の方法。
- 前記植物特性データは、前記生育モジュールにおける視覚システムによって収集された画像データを含み、前記画像データは前記生育モジュールにおける植物の画像を含む、請求項12に記載の方法。
- 前記農業エンジンは、画像履歴データに基づいて前記植物の少なくとも1つの欠乏を自動的に判定する、請求項19に記載の方法。
- 前記農業エンジンの初期の機械学習モデルを再訓練させるステップと、前記コンピューティング装置が、再訓練された機械学習モデルの性能が前記初期の機械学習モデルの性能を凌駕していると判定すると、前記初期の機械学習モデルを前記再訓練された機械学習モデルに置き換えるステップと、をさらに含む、請求項12に記載の方法。
- 前記少なくとも1つの生育モジュールは、複数の生育コンテナを含み、
前記複数の生育コンテナは、生育コンテナのマトリックスを定義するために少なくとも2つの列と少なくとも2つの行に配置され、
前記方法は、前記複数の生育コンテナの各々で生育する植物の1つ以上の植物特性を特徴付ける植物特性データを獲得するステップと、をさらに含む、請求項12に記載の方法。 - 独立して制御可能な環境を各々含む複数の密閉された生育コンテナであって、生育コンテナのマトリックスを定義するために少なくとも2つの列と少なくとも2つの行に配向されている、複数の密閉された生育コンテナと、
前記複数の密閉された生育コンテナの各々に位置する少なくとも1つの移動可能なカートであって、各々は、1つ以上の植物を維持するように構成された少なくとも1つの移動可能なカートと、
トラック及びライザー上に移動可能に位置する多関節ロボットであって、前記生育コンテナマトリックスの各々の列に接近するためにトラックに沿って第1方向に移動し、また、前記生育コンテナマトリックスの各々の行に接近するためにライザーに沿って第2方向に移動するように構成された多関節ロボットを含む、自律農業装置。 - 多関節ロボットは、前記生育コンテナのマトリックスにおける各々の生育コンテナから、前記少なくとも1つの移動可能なカートを抽出及び挿入するように構成される、請求項23に記載の自律農業装置。
- 前記生育コンテナのマトリックスにおける各々の生育コンテナは、前記生育コンテナの底部に対して異なる位置で前記少なくとも1つの移動可能なカートを支持するように構成された少なくとも2つの段を含む、請求項23に記載の自律農業装置。
- コンピューティング装置及び農業コントローラをさらに含み、前記コンピューティング装置は、農業コントローラに接続され、また訓練された機械学習モデルを用いて1つ以上の植物の少なくとも1つの欠乏を判定するように構成された、請求項23に記載の自律農業装置。
- 前記コンピューティング装置は、各々の前記生育コンテナに位置する1つ以上のセンサから獲得された植物特性データに基づいて前記少なくとも1つの欠乏を判定する、請求項26に記載の自律農業装置。
- 前記コンピューティング装置は、各々の前記生育コンテナに位置する1つ以上のセンサから獲得された環境データにさらに基づいて前記少なくとも1つの欠乏を判定する、請求項27に記載の自律農業装置。
- 機械学習モデルは、各々の前記生育コンテナに位置するセンサから獲得された植物特性履歴データ及び環境履歴データを用いて訓練される、請求項28に記載の自律農業装置。
- 前記コンピューティング装置は、空気循環システム、照明システム、灌漑システム、視覚システム、及び液体循環システムのうちの1つが前記複数の生育コンテナのうちの1つで生育条件を変更するために、前記複数の生育コンテナのうちの1つに位置する空気循環システム、照明システム、灌漑システム、視覚システム、及び液体循環システムのうちの1つに農業行為を送信するようさらに構成される、請求項29に記載の自律農業装置。
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