JP6614283B1 - Inspection device, transplantation device, inspection method, and computer program - Google Patents

Abstract

An inspection apparatus, a transplantation apparatus, an inspection method, and a computer program for performing an inspection for seedling selection by a simple method are provided. In an inspection apparatus that inspects the state of a seedling based on a captured image obtained by capturing a seedling of a plant P, a specifying unit that specifies a circumscribed circle of a contour of a leaf part of the seedling in the captured image, and a specifying unit An inspection apparatus comprising: a calculation unit that calculates an index value based on the size of the circumscribed circle, and a determination unit that determines whether the seedling is good or bad based on the index value calculated by the calculation unit. [Selection] Figure 4

Description

  The present invention relates to an inspection apparatus, a transplant apparatus, an inspection method, and a computer program for performing an inspection for seedling selection by a simple method.

  Plant factories that grow plants by controlling the growth environment are increasing regardless of size. Among them, in large-scale plant factories, automation of operations in cultivation processes such as sowing, sprouting, greening, seedling selection, seedling raising, seedling transplanting, growth, and harvesting has been promoted.

  As for automation in the seedling selection process, various methods have been proposed in which image data obtained by imaging a seedling with a camera is analyzed to determine good / bad. In seedling selection disclosed in Patent Document 1, the height of the center of gravity of a seedling is calculated from the image data of the seedling, and an immature seedling is discriminated from image data captured while rotating the seedling. In Patent Document 2, it is possible to determine the state of leaves (whether or not water is sufficient) of the plant being cultivated based on the area, the ratio between the length and width of the leaves, pattern matching, the position of the center of gravity of the leaves, and the like. It is disclosed. In patent document 3, the number and length of a leaf are calculated from the side image of a plant, the approximate ellipse which matches each Futaba from a bird's-eye view image is specified, and the length and width of a leaf are calculated from the specified approximate ellipse Is disclosed.

Japanese Patent Laid-Open No. 9-23747 JP 2017-184673 A JP 2011-103870 A

  As disclosed in Patent Documents 1 to 3, in order to determine the good / bad of each plant seedling, the imaging is performed by a special method such as imaging the seedling from different directions or imaging while moving the seedling. Is required. Attempts have also been made to perform highly complex image analysis, such as pattern matching, and to determine with high accuracy.

  In consideration of replenishment of nutrient solution, light source, etc., there are many cases where a plurality of plants are cultivated side by side in order to improve efficiency. Therefore, there may be a case where leaves overlap in one stock or even in a bird's eye view or a side image, or there are cases where leaves of different strains overlap and it is difficult to discriminate even if complicated image analysis is performed. There is a real situation. In order to pick up images one by one, as disclosed in Patent Document 1, a mechanism for changing or rotating the height of only one stock is required, which requires cost.

  This invention is made | formed in view of such a situation, and it aims at providing the test | inspection apparatus, transplant apparatus, test | inspection method, and computer program which test | inspect for seedling selection by a simple method.

  An inspection apparatus according to the present disclosure is an inspection apparatus that inspects a state of the seedling based on a captured image obtained by capturing a plant seedling, and a specifying unit that specifies a circumscribed circle of a contour of a leaf portion of the seedling in the captured image And a calculating unit that calculates an index value based on the size of the circumscribed circle specified by the specifying unit, and a determination unit that determines the quality of the seedling based on the index value calculated by the calculating unit.

  In the inspection apparatus according to the present disclosure, the calculation unit calculates an index value using an area of a region corresponding to the leaf portion or a perimeter of the region corresponding to the leaf portion and a size of the circumscribed circle. To do.

  In the inspection apparatus according to the present disclosure, the calculation unit is a plurality of remaining leaves excluding a portion in a circle having a radius shorter than a radius of the circumscribed circle, with the stem portion of the seedling being the center of the leaf portion. The index value is calculated based on the area ratio between the parts.

  In the inspection apparatus according to the present disclosure, the captured image is an image obtained by imaging a plurality of seedlings of the plant from above, and the specifying unit is a region corresponding to a leaf portion of the seedling that is reflected in the captured image. For each stock, and the calculation unit calculates an index value for each stock.

  The transplant device according to the present disclosure includes an imaging unit that images a medium in which a plurality of plant seedlings are planted, and the above-described inspection device that performs an inspection based on a captured image captured by the imaging unit, Based on the test result in the test apparatus, the transplant unit includes a transplant unit that transplants the plurality of seedlings from the culture medium to another cultivation panel, and the transplant unit is planted with a seedling that is determined to be defective based on the test result. The removal part which removes the seedbed part currently used from the said culture medium is provided.

  The inspection method according to the present disclosure is a method for inspecting a state of the seedling based on a captured image obtained by imaging a plant seedling, and identifying a circumscribed circle of a contour of a leaf portion of the seedling in the captured image; Calculating an index value based on the size of the specified circumscribed circle, and determining whether the seedling is good / bad based on the calculated index value.

  The computer program according to the present disclosure includes a step of acquiring a captured image obtained by capturing an image of a plant seedling in a computer, a step of specifying a circumscribed circle of a contour of a leaf portion of the seedling in the captured image, A step of calculating an index value based on the size and a step of determining good / bad of the seedling based on the calculated index value are executed.

  In one aspect of the present disclosure, the circumscribed circle of the contour of the leaf portion of the seedling in the captured image obtained by imaging the seedling is specified, and an index value used for determining good / bad is calculated based on the size of the circumscribed circle. With the individual configuration, it is possible to determine good / bad based on quantitative information obtained by a relatively simple method of specifying a circumscribed circle.

  In one aspect of the present disclosure, the index value is calculated in consideration of the area of the region corresponding to the leaf portion or the perimeter of the leaf portion region in addition to the size of the circumscribed circle. The green area is sufficiently advanced to be recognized as a leaf part, and it is comprehensively judged using the area and perimeter indicating that it is a sufficiently expanded leaf, and accuracy can be improved without complicated image processing. It is possible to maintain and judge.

  In one aspect of the present disclosure, good / bad is determined from the balance between the size and spread of leaves among a plurality of leaves in a single seedling. A seedling that is growing well has a plurality of leaves spread in a well-balanced manner, so that it can be determined while maintaining accuracy without performing complicated image processing.

  In one aspect of the present disclosure, good / bad is determined for each seedling from a captured image obtained by capturing a state in which a plurality of seedlings are planted. The state of each of the plurality of seedlings can be inspected from the captured image obtained by collectively capturing the plurality of seedlings without imaging the seedlings one by one.

  In the case of the inspection apparatus according to the present disclosure, it is possible to perform an inspection for seedling selection by a simple method from a captured image obtained by imaging a seedling.

It is a block diagram which shows the structure of an inspection apparatus. It is a schematic diagram which shows an example of the external appearance of an inspection apparatus. It is a flowchart which shows an example of the procedure of the inspection process by the control part of an inspection apparatus. It is a schematic diagram which shows an example of an inspection process. It is a schematic diagram which shows an example of an inspection process. It is a flowchart which shows an example of the procedure of the inspection process by the control part in embodiment. 10 is a schematic diagram illustrating an example of an inspection process according to Embodiment 2. FIG. FIG. 9 is a schematic perspective view of a transplant device in a third embodiment. It is a figure which shows an example of a removal part. It is a perspective view which shows an example of the culture medium of the plant transplant origin. It is a perspective view which shows a culture medium, an accommodating part, a cultivation panel, and a transplant arm. FIG. 10 is a block diagram showing an internal configuration of a transplant device in a third embodiment. 12 is a flowchart illustrating an example of a procedure for transplant control in the third embodiment. 12 is a flowchart illustrating an example of a procedure for transplant control in the third embodiment. It is a figure which shows the example of the content of test | inspection information.

  The present invention will be specifically described with reference to the drawings showing embodiments thereof.

(Embodiment 1)
FIG. 1 is a block diagram showing the configuration of the inspection apparatus 1. The inspection device 1 includes a control unit 10, a storage unit 11, an imaging unit 12, a display unit 13, and an operation unit 14.

  The control unit 10 uses a processor such as a CPU (Central Processing Unit) and a GPU (Graphics Processing Unit). The control unit 10 causes the general-purpose computer to function as the inspection apparatus 1 by executing each process based on the inspection program 1P stored in the storage unit 11.

  The storage unit 11 uses a nonvolatile storage medium such as a flash memory, a hard disk, or an SSD (Solid State Disk). In addition to storing the inspection program 1P, the storage unit 11 stores information that the control unit 10 refers to during processing.

  The imaging unit 12 uses a camera module. The control unit 10 can instruct the imaging unit 12 to capture a still image, and can acquire the still image captured by the imaging unit 12. The imaging unit 12 can store image data of an image obtained by imaging in the storage unit 11 and output it.

  The display unit 13 uses a display device such as a liquid crystal panel or an organic EL display. The display unit 13 outputs a monitor screen including an operation screen under the control of the control unit 10.

  The operation unit 14 is an interface that receives user operations, and uses physical buttons, a touch panel device with a built-in display, and the like. The operation unit 14 accepts an operation with a physical button or accepts an operation on an operation screen displayed on the display unit 13 with a touch panel.

  The inspection apparatus 1 configured as described above is based on a still image obtained by imaging a plurality of plants P planted in a rectangular plate-shaped medium made of urethane with the imaging unit 12 from above, and each plant P Check the condition.

  FIG. 2 is a schematic diagram illustrating an example of the appearance of the inspection apparatus 1. The inspection apparatus 1 includes a housing 20, a mounting table 21, and a frame 22. On the mounting table 21, a panel D in which a plurality of plants P to be inspected are stored is mounted. The imaging unit 12 is attached to the distal end portion of an L-shaped frame 22 erected at one place on the peripheral edge of the mounting table 21, and the entire mounting table 21 is set as an imaging range. The frame 22 is attached with a housing 20 that accommodates the control unit 10, the storage unit 11, the display unit 13, and the operation unit 14 of the inspection apparatus 1. The control unit 10 is connected to the imaging unit 12 via a cable. Has been. The display unit 13 and the operation unit 14 are accommodated so as to be exposed from the housing 20.

  The aspect of the inspection apparatus 1 is not limited to that illustrated in FIG. 2, and may be, for example, a tablet terminal, a smartphone, or the like. The imaging unit 12 that is a camera module and the other components of the inspection apparatus 1 are wirelessly connected. It is configured to be communicable, and the inspection apparatus 1 may perform processing by wirelessly acquiring still image data captured by the imaging unit 12.

  FIG. 3 is a flowchart illustrating an example of the procedure of the inspection process performed by the control unit 10 of the inspection apparatus 1. Based on the inspection program 1P, the control unit 10 starts the following processing when the operation unit 14 receives an instruction to start inspection, for example.

  The control unit 10 instructs the imaging unit 12 to perform imaging (Step S101), and acquires a captured image from the imaging unit 12 (Step S102). The control unit 10 classifies the acquired captured image into a plurality of partial images (step S103), and selects the plurality of partial images after the classification one by one (step S104).

  The control unit 10 identifies seedlings one by one based on the pixel value distribution of the selected partial image (step S105). In step S105, the control unit 10 extracts the pixel of the leaf portion. Specifically, the control unit 10 sequentially refers to the pixel values of the partial image in the scanning direction, and when a pixel having a predetermined luminance and color can be identified, the controller 10 continuously refers to the pixel values of the surrounding pixels of the identified pixel. It is determined whether or not the pixel is a color pixel to be identified as the leaf color. When it is determined that the pixel is a color pixel that should be identified as the leaf color, the control unit 10 determines that the pixel belongs to the same group as the pixel that is first identified. Create a vertical (horizontal) matrix binary (0 (zero) or 1) map corresponding to the partial image, set the value corresponding to the pixels determined to belong to the same group to "1", etc. The coordinates in the image of the pixel group corresponding to the leaf are specified with “0” as the pixel. In addition, the method of extracting the pixels of the leaf portion is not limited to this.

  The control unit 10 identifies the area of the region (pixel group) corresponding to the identified seedling for each strain (step S106). The control unit 10 can specify the area by counting the number of pixels while determining whether or not the pixels belong to the same group. The control unit 10 specifies the length (peripheral length) of the contour of the pixel group of the extracted leaf portion for each seedling (step S107). The control unit 10 can also specify the contour by counting the number of pixels corresponding to the contour while determining whether or not the pixel belongs to the same group.

  The control unit 10 identifies a circumscribed circle of a region (pixel group) corresponding to one strain of seedling (step S108) and calculates its radius (step S109).

  The control unit 10 calculates an index value for each stock using the area specified in step S106, the perimeter specified in step S107, and the radius of the circumscribed circle calculated in step S109 (step S110). In step S110, the control unit 10 calculates the index value by multiplying, for example, the area, the perimeter, and the radius. The area, the perimeter, and the radius may be multiplied by weighting factors, respectively.

  The control unit 10 determines whether the index value calculated in step S110, the area specified in step S106, the perimeter specified in step S107, and the radius of the circumscribed circle calculated in step S109 satisfy a predetermined condition. Whether each stock is good or bad is determined (step S111).

  The predetermined condition in step S111 is, for example, an index value that is equal to or greater than a first threshold value, less than a second threshold value that is greater than the first threshold value, and a radius that is equal to or greater than a third threshold value, For example, it is less than a fourth threshold value that is greater than the third threshold value. The conditions differ depending on the index value calculation method, and it is only necessary to be stored in the storage unit 11. The index value calculation method and the predetermined condition may be different depending on the type of the plant P. The determination of good / bad is not an absolute evaluation using the first to fourth threshold values stored in advance, but other captured images, areas calculated from other partial images, perimeter, circumscribed circle radius, etc. You may perform based on the relative evaluation using the standard deviation with respect to.

  The control unit 10 determines whether or not the inspection processing has been performed for all of the plurality of sorted partial images (step S112), and when it is determined that the inspection processing has not been performed for all (S112: NO), the processing is performed. Return to step S104.

  When it is determined that the inspection process has been performed for all (S112: YES), the control unit 10 displays the determination result on the display unit 13 (step S113), and ends the inspection process for one imaging. In step S113, the control unit 10 may display the discrimination result on the display unit 13 together with information for identifying each stock (position, number, etc. in the panel D).

  In this way, the control unit 10 functions as a specifying unit by the circumscribed circle specifying process in step S101, functions as a calculating unit by calculating the index value in step S110, and functions as a determining unit by the determining process in step S111. .

  4 and 5 are schematic diagrams illustrating an example of the inspection process. FIG. 4 shows a captured image obtained from the imaging unit 12 in a diagram. FIG. 5 shows a circumscribed circle specified for each stock with respect to the seedling of the plant P by a bold line, the calculated index value by letters, and the determination result of good / bad is “G: good” and “B: It is indicated by the characters “bad”. A determination result as shown in FIG. 5 may be displayed on the display unit 13. In this case, the determination result of good / bad may be expressed not only by characters but also by a color, the presence or absence of shading, or blinking.

  As shown in FIG. 5, the index value is determined to be “bad” both when it is too low and too high. In Embodiment 1, as described above, it is determined as “good” when the index value is greater than or equal to the first threshold and less than the second threshold greater than the first threshold. When the radius is smaller, it is easier to determine “bad”, the larger the area, the easier it is determined to be “good”, and the longer the perimeter, the easier it is to determine “bad”. Determination may be made by providing threshold values for the specified area, perimeter, and radius.

  The determination based on the area or the like has been conventionally performed, but it is possible to determine good / bad by a simple method by specifying the circumscribed circle and adding the radius to the index value. By using a circumscribed circle, it is possible to determine a stock having a more expanded leaf as a good stock.

  Note that the control unit 10 may display a captured image of the panel D on which the circumscribed circle illustrated in FIG. 5 is superimposed in step S113.

  The captured image used for the above-described processing is acquired by one imaging by the imaging unit 12 that is attached to the frame 22 as illustrated in FIG. 2 with the angle of view and the imaging range from right above being fixed. It was an image. However, the present invention is not limited to this, and a configuration may be adopted in which processing is performed on a captured image captured from obliquely above. For example, when the inspection apparatus 1 is a tablet terminal with a built-in camera module, and an operator manually operates the tablet terminal, it is difficult to capture images at a fixed angle or imaging range. Moreover, you may use the picked-up image imaged with the imaging angle which is different in the frame 22 which is not fixed or movable, for example, daringly from two or more different angles from diagonally upward. The control unit 10 may perform the processing shown in the flowchart of FIG. 3 on each of the captured images taken at different angles, calculate an average value of the index values, and use this to determine good / bad. . The control unit 10 corrects the pixel group corresponding to each leaf in the captured image captured at the other angle using the captured image captured at the one angle, and the corrected pixel group is shown in the flowchart of FIG. 3. The illustrated processing procedure may be performed.

(Embodiment 2)
The configuration of the inspection apparatus 1 according to the second embodiment is the same as that of the first embodiment except that the details of the inspection process are different. Therefore, the same reference numerals as those of the first embodiment are attached to the common configurations. Detailed description will be omitted.

  FIG. 6 is a flowchart illustrating an example of the procedure of the inspection process performed by the control unit 10 according to the second embodiment. Among the processing procedures shown in the flowchart of FIG. 6, the steps common to the processing procedure shown in the flowchart of FIG. 3 of the first embodiment are denoted by the same step numbers and detailed description thereof is omitted.

  In the second embodiment, after calculating the radius of the circumscribed circle, the control unit 10 specifies the coordinates serving as the center of the stock (step S121). Various methods are conceivable for specifying the center of the stock in step S121. For example, the control unit 10 may specify the center of the narrowest part between two true leaves, or the stock may be planted. It is also possible to identify the hole of the medium of the panel D that is present and center this. It may be concentric with the center of the circumscribed circle.

  The control unit 10 creates a mask image corresponding to a circular stock center having the identified center as a concentricity (step S122). The radius of the mask image is set to a predetermined ratio (for example, 40%) with respect to the radius of the circumscribed circle calculated in step S109.

  The control unit 10 classifies the pixel group corresponding to the same strain specified in S105 into two by the mask image created in step S122, and calculates the balance between the classified pixel groups (step S123). Specifically, in step S123, the control unit 10 extracts pixels that do not overlap with the mask image from the series of pixel groups specified in step S105, and groups consecutive pixels. The control unit 10 selects two groups from the group of pixel groups in descending order of the number of pixels, and calculates an area (number of pixels) ratio between the selected groups. Thereby, a numerical value corresponding to the balance between the sizes of the two true leaves can be calculated.

The control unit 10 calculates the index value in consideration of the balance calculated in step S123 (S110), and advances the processing to the next step. The index value is calculated as follows, for example. The area, the radius, the perimeter, and the like may be expressed in arbitrary units such as a pixel unit and a millimeter unit in the captured image.
Index value = (Area x circumscribed circle radius x balance)

  FIG. 7 is a schematic diagram illustrating an example of inspection processing according to the second embodiment. FIG. 7 shows the circumscribed circle specified for each stock of the plant P by a bold line and the mask image by hatching in the captured image of FIG. 4 shown in the first embodiment. Further, in FIG. 7, the calculated balance and index value are indicated by letters, and the determination result of good / bad is indicated by letters “G: good” and “B: bad”. Compared to the example shown in FIG. 5, the upper stock in the leftmost column is determined as “bad”, the lower stock in the leftmost column is determined as “good”, and the lower stock in the rightmost column is determined as “bad”. Is determined. Due to the balance, it is judged that the stock that has spread into two true leaves is good.

  The determination methods shown in the first and second embodiments can easily and more accurately determine good / bad by adjusting the index value calculation method and the predetermined conditions for the index value.

(Embodiment 3)
In the third embodiment, an example of a transplantation device having the function of the inspection device 1 will be described. FIG. 8 is a schematic perspective view of the transplantation device 3 in the third embodiment. In the following description, upper and lower, front and rear, and left and right indicated by arrows in FIG. 8 are used.

  The transplant device 3 includes a transplant unit 300 and an inspection unit 100. The transplanting unit 300 includes a frame 25 that holds the cultivation panel T, a transfer unit 4 that transfers the medium storage unit 40, a transplant arm drive unit 5 that drives the transplant arm 50, a transfer of the storage unit 40, and a driving of the transplant arm 50. A transplant control unit 30 (indicating an outer box in FIG. 8) is provided.

  The frame 25 includes a plurality of support columns and a plurality of horizontal members that connect the support columns. A guide frame is installed at a predetermined height in the center of the frame 25 along the front-rear and left-right directions. The cultivation panel T is fixed to the guide frame so that it can be attached and detached. Details of the cultivation panel T will be described later.

  The transplant arm drive unit 5 is below the cultivation panel T and includes a transplant arm 50, a support base 51, a drive unit 52, a travel guide 53, and a left-right direction guide 54. The traveling guide 53 is installed in the lower part of the frame 25 in the front-rear direction. The installation position of the traveling guide 53 is below the cultivation panel T. A support base 51 is attached to the travel guide 53 so as to travel. The support base 51 is provided with a drive unit 52, and the transplant arm 50 is attached to the drive unit 52. The traveling guide 53 is configured to be movable in the left-right direction along the left-right direction guide 54. Thereby, the transplant arm 50 can move to the lower part of all the holes T1 of the cultivation panel T below the cultivation panel T. The transplant arm 50 can be raised with respect to the support base 51 by the operation of the drive unit 52, and the transplant hand 55 provided at the tip of the transplant arm 50 has an initial position lower than the cultivation panel T. It is possible to move up and down between the raised position higher than the cultivation panel T through the hole T1 of the cultivation panel T.

  The transplant arm 50 is provided with a removal portion 56. The removal unit 56 is a mechanism for removing the seedbed portion held by the transplantation hand 55 when the transplantation hand 55 of the transplantation arm 50 is at a position lower than the cultivation panel T. FIG. 9 is a diagram illustrating an example of the removal unit 56. In FIG. 9A, the removal unit 56 is an air nozzle, for example, and air is blown to the state in which the transplantation hand 55 releases the grip via the transplantation arm driving unit 5, and the seedling part is installed under the frame 25. You may skip to (not shown). In FIG. 9B, the removal unit 56 is a U-shaped plate-like hand provided substantially parallel to the cultivation panel T so as to be adjacent to the cultivation panel T at substantially the same height as the cultivation panel T. In this case, the inner size of the hand is substantially the same as the reduced diameter portion of the hole T1 of the cultivation panel T, and the transplant arm drive unit 5 moves the transplant hand 55 of the transplant arm 50 to the position of the hand of the removal unit, You may make it move up and down and remove the seedbed part currently grasped by the transplant hand 55. FIG.

  The transfer unit 4 is located above the cultivation panel T and includes a storage unit 40, a left-right direction guide 41, and a front-rear direction guide 42. The front-rear direction guide 42 is installed in the front-rear direction at a position on the rear side of the upper center of the cultivation panel T. A left-right direction guide 41 extending in the left-right direction is attached to the front-rear direction guide 42. On the front surface of the left-right direction guide 41, one long side of the rectangular frame-shaped accommodation portion 40 is attached. Accordingly, the storage unit 40 moves in the left-right direction along the left-right direction guide 41 with reference to the medium delivery position in which the left-right direction guide 41 is positioned in the forefront in the front-rear direction guide 42. It is possible to move in the front-rear direction along the guide 42.

  An outline of the transplantation of the plant P from the culture medium to the cultivation panel in the transplantation device 3 will be described with reference to FIGS. 10 and 11. FIG. 10 is a perspective view showing an example of a plant B as a plant transplant source, and FIG. 11 is a perspective view showing the medium B, the container 40, the cultivation panel T, and the transplant arm 50. In addition, the culture medium B, the accommodating part 40, the cultivation panel T, and the transplant arm 50 are an illustration to the last, and are not limited to this.

  The medium B is made of urethane, for example, and has a rectangular flat plate shape as shown in FIG. The culture medium B is divided into a plurality of nursery beds arranged in rows and columns. Each of the plurality of nursery beds is connected to the adjacent nursery bed at the center of each side via a connecting portion B2. On one side of the medium B, one hole B1 for raising the plant P is provided in each of the nursery beds.

  The accommodating part 40 has a rectangular frame and a bottom plate provided with holes arranged in a plurality of rows in the vertical and horizontal directions so that the medium B can be accommodated. The size and number of holes provided in the bottom plate of the storage unit 40 correspond to the size and the number of divisions of the seedbed part of the medium B to be used. The accommodating part 40 is replaceable according to the type of the culture medium B.

  The holder 401 is formed of a strong material such as metal, and is configured by providing a holding pin on one surface side of the plate portion provided with holes arranged in a plurality of rows in the vertical and horizontal directions. The holes in the plate part correspond to the size and the number of divisions of the seedbed part of the medium B. The holding pin is provided at a position inserted between the holes of the plate portion at a position corresponding to the corner portion of the seedbed portion of the cut of the culture medium B. The holder 401 is accommodated in the accommodating portion 40 together with the culture medium B in a state where the holder pin is directed downward and inserted into the cut from the upper surface of the culture medium B.

  The cultivation panel T is made of foamed polystyrene, for example, and has a rectangular flat plate shape. The cultivation panel T is provided with a plurality of holes T1 arranged vertically and horizontally. Each hole T1 has a circular shape and is reduced in a taper shape from one side of the panel to about half the depth. The interval between the holes T1 is designed to be an interval suitable for growth according to the type of the plant P.

  With reference to FIG. 11, the process of transplanting the plant P from the culture medium B to the cultivation panel T one by one by the transplanting device 3 will be described. The culture medium B installed by the operator is stored in the storage unit 40 together with the holder 401, and the storage unit 40 moves forward, backward, left, and right over the cultivation panel T under the control of the transplanting unit 300. The support base 51 of the transplant arm 50 moves forward, backward, left and right under the cultivation panel T under the control of the transplant unit 300. When the seed bed part of the culture medium B exists in the position directly above the empty hole T1 in the cultivation panel T, the transplanting part 300 moves the support base 51 so that the transplanting arm 50 is positioned directly below. Subsequently, the transplanting unit 300 operates the driving unit 52 so that the transplanting hand 55 at the distal end of the transplanting arm 50 is raised to the ascending position. When the transplanting arm 50 passes through the vacant hole T1 and the hole in the bottom plate of the accommodating portion 40 together with the transplanting hand 55 and moves up to the ascending position where the transplanting hand 55 reaches the culture medium B, the transplantation hand 55 becomes the seedbed part of the culture medium B Grab one of them. At this time, the transplant section 300 lowers the transplant arm 50. The seedbed part grasped by the transplanting hand 55 descends together with the transplanting arm 50 to break the connecting part B2, further descends into the hole T1 of the cultivation panel T, and is held by the reduced diameter part of the hole T1. Is done. The transplanting part 300 releases the holding by the transplanting hand 55 when the seedbed part is held in the hole T1, and the transplanting arm 50 is further lowered to return the transplanting hand 55 to the initial position. Thus, the seedling part of the culture medium B is transplanted to the cultivation panel T by the accommodating part 40, the support base 51, and the transplant arm 50 moving back and forth, right and left and up and down according to the instruction of the transplant part 300.

  FIG. 12 is a block diagram showing an internal configuration of the transplantation device 3 in the third embodiment. The transplant unit 300 constituting the transplant device 3 includes a transfer unit 4 and a transplant arm drive unit 5 and a transplant control unit 30 for controlling them. The transplant control unit 30 is a programmable logic controller. The transplant control unit 30 includes a control unit 31 which is a microprocessor, a storage unit 32 using a flash memory, a communication unit 33, and an input / output interface 34 connected to the transfer unit 4 and the transplant arm drive unit 5. Prepare.

  The control unit 31 instructs the transfer unit 4 to move and stop the accommodation unit 40 based on the transplant program 3P stored in the storage unit 32 in advance. Further, the control unit 31 instructs the transplantation arm drive unit 5 to move the support base 51 back and forth, right and left and stop, and to drive the transplantation arm 50 up and down.

  The storage unit 32 stores the transplant program 3P described above. The transplanting program 3P incorporates a transplanting procedure according to the number and size of the holes T1 of the cultivation panel T placed on the transplanting device 3 and the number of divisions of the seedbed part of the medium B accommodated in the accommodating unit 40. ing. For example, a transplantation procedure from one medium B to a plurality of cultivation panels T such as three is incorporated.

  The transplant program 3P is a program that causes the control unit 31 to execute control. The transplant program 3P is stored in advance in the storage unit 32 or incorporated in the control unit 31. The transplant program 3P may be recorded in a computer-readable recording medium 37. The storage unit 32 stores a transplant program 38 read from the recording medium 37 by a reading device (not shown). The recording medium 37 is an optical disk such as a CD-ROM, DVD-ROM, or BD, a magnetic disk such as a hard disk, a semiconductor memory, or the like. Alternatively, the transplant program 38 may be downloaded from an external computer (not shown) connected to a public communication network (not shown) and stored in the storage unit 32.

  The communication unit 33 is a communication module that realizes communication by short-range wireless communication such as Bluetooth (registered trademark) or Wi-Fi. The communication unit 33 is not limited to wireless communication, and may be one that implements wired communication using a LAN, USB cable, or the like. The control unit 31 can receive the inspection result transmitted from the inspection unit 100 by the communication unit 33.

  The inspection unit 100 constituting the transplantation device 3 is similar to the inspection device 1 described in the first or second embodiment, the control unit 10, the storage unit 11, the imaging unit 12, the display unit 13, the operation unit 14, and the communication unit 15. Is provided. The configurations of the storage unit 11, the imaging unit 12, the display unit 13, and the operation unit 14 are the same as the internal configuration of the inspection apparatus 1 in the first embodiment, and thus the same reference numerals are given and detailed description thereof is omitted.

  The communication unit 15 of the inspection unit 100 is a communication module that realizes communication corresponding to the communication unit 33 of the transplanting unit 300. The communication unit 15 may be any communication standard, wired or wireless as long as it can transmit information to the communication unit 33.

  The control unit 10 of the inspection unit 100 executes the inspection process described in the first or second embodiment based on the inspection program 1P stored in the storage unit 11. The control unit 10 associates the good / bad determination result obtained by the inspection with the identification information (number) for identifying the strains of a plurality of plants planted in the culture medium B, from the communication unit 15 to the transplant control unit. To 30.

  Details of the transplant control of the plant P by the transplant device 3 including the inspection unit 100 configured as described above will be described. 13 and 14 are flowcharts illustrating an example of a processing procedure of transplantation control according to the third embodiment. FIG. 13 shows a processing procedure in the inspection unit 100. The transplant control process is started when the operator stores the culture medium B together with the holder 401 in the storage unit 40 and presses, for example, a test start button on the operation unit 14. In the processing procedure shown below, the inspection processing shown in the first embodiment is adopted as the processing by the inspection unit 100. Of the processing procedures of the inspection unit 100 in the flowchart of FIG. 13, the steps common to the processing procedure shown in the flowchart of FIG. 3 of the first embodiment are denoted by the same step numbers and detailed description thereof is omitted.

  When the captured image obtained by capturing the entire medium B in step S102 is acquired from the image capturing unit 12 (S102), the control unit 10 creates test information indicating the test result for the medium B (step S131).

  The control unit 10 separates into a plurality of partial images in step S103, but separates the culture medium B configured by 12 rows and 25 columns into, for example, partial images every 4 rows and 5 columns (S103). In step S104, the control unit 10 selects partial images one by one in order from the end (S104).

  The control unit 10 updates the examination information created in step S131 based on the determination result in step S111 (step S132). FIG. 15 is a diagram illustrating an example of the content of the inspection information. As shown in FIG. 15, the inspection information may be represented by a binary matrix of “good: 1” or “bad: 0” corresponding to the vertical and horizontal arrangements of the nursery bed part of the medium B, or the nursery bed medium. It may be a binary group associated with a predetermined order on B (the order of zigzag progression from the end).

  When it is determined that all the partial images have been processed in step S112 (S112: YES), the control unit 10 determines whether or not to perform transplantation based on the examination information updated based on the all partial images. (Step S133). In step S133, the control unit 10 determines the seedling period when the strain is small in the entire medium B and the proportion determined to be good is less than a predetermined ratio based on the determination result for each strain included in the inspection information. It is decided that transplantation is waiting for extension.

  When it is determined in step S133 that transplantation should be performed (S133: YES), the control unit 10 transmits examination information from the communication unit 15 to the transplantation control unit 30 (step S134), and performs processing in the examination unit 100. finish.

  When it is determined in step S133 that transplantation should not be performed (S133: NO), the control unit 10 causes the display unit 13 to display a message indicating that transplanting should be waited for and seedling raising (step S135). The processing in the unit 100 ends.

  Next, a processing procedure in the transplantation control unit 30 is shown in FIG. In the transplantation control unit 30, when the communication unit 33 receives the examination information of the medium B stored in the storage unit 40 (step S301), the control unit 31 sequentially selects the seed bed part of the medium B from the end (step S302). ). The control unit 31 refers to the inspection result of the stock corresponding to the selected nursery part from the inspection information (step S303), and determines good / bad (step S304).

  When it is determined that the control unit 31 is good (S304: YES), the control unit 31 sequentially selects the hole T1 of the transplantation cultivation panel T corresponding to the seedbed part selected in step S302 (step S305). The control unit 31 instructs the transfer unit 4 and the transplant arm drive unit 5 to move in order to move the storage unit 40 and the transplant arm 50 to positions corresponding to the selected seedbed portion and the selected hole T1 (step S306). Then, the transplantation arm drive unit 5 is instructed to transplant (step S307).

  The control unit 31 determines whether or not all the seedbed parts of the medium B have been selected (step S308), and if it is determined that all the seedbed parts have not been selected (S308: NO), the process proceeds to step S302. return.

  When it is determined to be defective in step S304 (S304: NO), the control unit 31 instructs the transfer unit 4 and the transplant arm drive unit 5 to move the accommodating unit 40 and the transplant arm 50 to the selected seedbed portion (step). S309). The control unit 31 instructs the transplantation arm drive unit 5 to perform removal at the removal unit (step S310), and advances the processing to step S308.

  When it is determined in step S308 that all the nursery beds have been selected (S308: YES), the control unit 31 ends the transplantation process for the medium B.

  Thereby, automatic transplantation using the inspection result by the inspection unit 100 is realized. While the seedbed part in which the strain determined to be defective is accommodated is removed by the removal part, the seedbed part is sequentially broken from the medium B, and automatic transplantation can be performed without leaving the seedbed part in the medium B. In addition, when all the holes T1 of the cultivation panel T are filled in the middle, the control unit 31 may display a message for prompting replacement of the cultivation panel T on a liquid crystal panel (not shown) or output a warning sound or the like from a speaker (not shown). Information may be transmitted from the communication unit 33 so that a message prompting replacement is displayed on the display unit 13 of the inspection unit 100.

  It should be understood that the embodiments disclosed above are illustrative in all respects and are not restrictive. The scope of the present invention is defined by the terms of the claims, rather than the meanings described above, and is intended to include any modifications within the scope and meaning equivalent to the terms of the claims.

DESCRIPTION OF SYMBOLS 1 Test | inspection apparatus 100 Test | inspection part 10 Control part 12 Imaging part 3 Transplantation apparatus 300 Transplantation part 30 Transplantation control part 31 Control part 4 Transfer part 40 Storage part 5 Transplantation arm drive part 50 Transplantation arm 56 Removal part B Medium P Plant 1P Inspection program

Claims (8)

In an inspection apparatus for inspecting the state of the seedling based on a captured image obtained by imaging a plant seedling,
A specifying unit for specifying a circumscribed circle of the contour of the part of the leaf of the seedling in the captured image;
A calculation unit that calculates an index value based on the size of the circumscribed circle specified by the specifying unit;
A determination unit for determining good / bad of the seedling based on the index value calculated by the calculation unit ,
The calculation device calculates an index value using an area of a region corresponding to the leaf portion or a perimeter of a region corresponding to the leaf portion, and a size of the circumscribed circle . In an inspection apparatus for inspecting the state of the seedling based on a captured image obtained by imaging a plant seedling,
A specifying unit for specifying a circumscribed circle of the contour of the part of the leaf of the seedling in the captured image;
A calculation unit that calculates an index value based on the size of the circumscribed circle specified by the specifying unit;
A determination unit for determining good / bad of the seedling based on the index value calculated by the calculation unit;
With
The calculation unit is based on an area ratio between a plurality of remaining portions excluding a portion in a circle centered on a stem portion of the seedling and having a radius shorter than a radius of the circumscribed circle among the leaf portions. An inspection device that calculates an index value. The captured image is an image obtained by capturing a plurality of seedlings of the plant from above,
The identification unit identifies, for each strain, an area corresponding to a portion of a seedling leaf reflected in the captured image,
The calculation unit calculates an index value for each stock ,
The inspection apparatus according to claim 1 or 2 . An imaging unit that images a medium in which seedlings of a plurality of plant plants are planted;
The inspection apparatus according to any one of claims 1 to 3, wherein an inspection is performed based on a captured image captured by the imaging unit.
Based on the test result in the test apparatus, the transplanting section for transplanting the seedlings of the plurality of strains to other cultivation panels from the culture medium,
The transplanting device includes a removal unit that removes, from the culture medium, a seedbed part in which a seedling determined to be defective based on the inspection result is planted. In an inspection method for inspecting the state of the seedling based on a captured image obtained by imaging a plant seedling,
Identifying a circumscribed circle of the contour of the leaf portion of the seedling in the captured image;
A step of calculating an index value using the area of the region corresponding to the leaf portion or the perimeter of the region corresponding to the leaf portion and the size of the specified circumscribed circle, and based on the calculated index value An inspection method including the step of determining whether the seedling is good or bad. In an inspection method for inspecting the state of the seedling based on a captured image obtained by imaging a plant seedling,
Identifying a circumscribed circle of the contour of the leaf portion of the seedling in the captured image;
The index value is based on an area ratio between a plurality of remaining portions excluding a circular portion having a radius shorter than a radius of a specified circumscribed circle, centered on the stem portion of the seedling among the leaf portions. Calculating, and
A step of determining good / bad of the seedling based on the calculated index value
Including inspection methods. On the computer,
Obtaining a captured image of a plant seedling;
Identifying a circumscribed circle of the contour of the leaf portion of the seedling in the captured image;
A step of calculating an index value using the area of the region corresponding to the leaf portion or the perimeter of the region corresponding to the leaf portion and the size of the specified circumscribed circle, and based on the calculated index value A computer program for executing the step of judging good / bad of the seedling. On the computer,
Obtaining a captured image of a plant seedling;
Identifying a circumscribed circle of the contour of the leaf portion of the seedling in the captured image;
The index value is based on an area ratio between a plurality of remaining portions excluding a circular portion having a radius shorter than a radius of a specified circumscribed circle, centered on the stem portion of the seedling among the leaf portions. Calculating, and
A step of determining good / bad of the seedling based on the calculated index value
A computer program that executes

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