JP6762045B2 - Crop cultivation method and crop cultivation equipment - Google Patents

Description

The present invention relates to a crop cultivation method and a crop cultivation device, and more particularly to a technique suitable for use in a mobile mobile crop cultivation device for agricultural products such as tomatoes.

Traditionally, in the cultivation of crops, especially in the cultivation of crops such as tomatoes, in the cultivation of crops that provide the optimum environment for the crops according to the growing condition of the crops, planting in a limited cultivation area. Techniques for increasing yields by increasing the density are being considered. When crops are planted directly on the land (called fixed cultivation), the rows of crops are fixed according to the space and passages where people work, so the land cannot be used effectively.

It is required to further reduce the cultivation management cost because the construction cost of the equipment and the land rent can be reduced and the equipment required for heating can be reduced.

Furthermore, in fixed cultivation, it is necessary to take aisle width even in the initial growing stage, which limits the yield per unit area. In addition, even in the initial growing stage, it was not possible to plant densely, and energy costs such as heating costs required per plant were high, so there was a demand to reduce this. Further, the conveyor type or the hanging type device is large and requires a large area for installation, so that there is a problem that the cost cannot be reduced.

On the other hand, if a growing shelf for cultivating crops is prepared and the growing shelf can be moved, the growing shelf can be moved when a person works, so that the land can be effectively used. Therefore, if the growing shelves can be moved, it can be expected that the yield will be increased even with the same land area as compared with the case of a field where the rows of crops are fixed.

Therefore, as a technique capable of controlling the planting density by moving crops during cultivation, for example, a water feeder moving device for plant cultivation of Patent Document 1 in which plants are arranged on a plurality of conveyors arranged in a straight line. There is. In this technology, water feeders are arranged at predetermined intervals for each conveyor according to the degree of plant growth, and speed differences are sequentially provided according to the intervals between the water feeders to drive the conveyors. .. This will control the planting density and improve the area efficiency of plant cultivation while maintaining the proper spacing of crops.

In addition, there is a technique that can effectively utilize the area of the passage portion by moving the crop according to the work and the growth process of the plant for small crops such as strawberries. For example, there is a plant moving device as in Patent Document 2 for small crops. In this technique, a support for supporting a plant being cultivated is provided, and a transfer mechanism, a movable frame, a drive frame, etc. are provided under the support to make the plant movable. In addition, the joint mechanism that connects multiple transfer mechanisms is provided with play so that it can be adjusted, so that the distance between plant strains can be adjusted.

Further, a suspension method using rails (Patent Document 3), a spiral transport rail (Patent Document 4), a hanging type mobile cultivation device (Patent Document 5), and a circulation type movement by a conveyor. Cultivation equipment (Patent Document 6) and the like are known.

Japanese Unexamined Patent Publication No. 58-47413 Japanese Unexamined Patent Publication No. 6-14663 JP-A-2010-51256 JP 2012-24076 JP-A-2009-65961 Japanese Unexamined Patent Publication No. 2014-36578

The above-mentioned growing shelves are intended to effectively utilize the area of the aisle when a person works, and move regardless of the cultivation period or the growing stage of the crop. Therefore, the planting density was not effective for the growth stage. In addition, in the technique using a conveyor, the structure for controlling the spacing between crops becomes complicated, and it is difficult to move according to the growth of crops and control the spacing between strains.

Further, in the technique of Patent Document 2 for adjusting between plant strains according to the growth process of a plant, a support for supporting the plant and a driving means for driving the support are complicated, resulting in a large-scale system. It is difficult to introduce and costs a lot. Furthermore, although the planting density can be changed only in a pattern determined in advance by design, it is not flexible enough to cope with the seasonally changing light environment.

In addition, large-scale producers such as vegetable factories can easily introduce equipment and can withstand large-area and high-cost capital investment, but small-scale producers should suddenly introduce such large-scale equipment. Is not practical.
In order to enhance the international competitiveness of agricultural products, it is necessary to make it possible for small-scale producers to introduce high-cost, high-yielding technology. In addition, it is necessary to aim for further energy-saving production. For the development of agriculture, it seems urgent to provide equipment that can be introduced to such small-scale producers.

The present invention has been made in view of the above circumstances, and has a simple configuration, controls the interval between growing shelves, has a higher planting density, is expected to have a high yield, and can be introduced even by small-scale producers. This is an attempt to achieve the purpose of providing a crop cultivation method and a crop cultivation device having a high yield and a high energy saving effect at low cost.

The crop cultivation method of the present invention is a crop cultivation method in a crop cultivation apparatus having a longitudinal direction on the left and right and having a plurality of growth shelves for cultivating crops arranged in a parallel state in the front-rear direction.
A plurality of the breeding shelves are positioned in an area where a passage is provided while the plurality of the breeding shelves are positioned.
The above problem was solved by moving any of the plurality of breeding shelves and making the position between any one set of the plurality of breeding shelves a passage.

In the crop cultivation method of the present invention, the plurality of the growing shelves arranged in the front-rear direction are arranged in order from the front side, the first growing shelf, the second growing shelf, ..., The nth growing shelf (n: integer), ...・ Stipulated as
When the positions corresponding to the width of the growing shelf in the area are defined as the first position, the second position ..., the nth position, ... In order from the front side,
It is determined whether or not the breeding shelf is located at the p-th position (p: integer), and when the breeding shelf is not located at the p-position, the breeding shelf at the (p + 1) position is moved to the p-position. , When the breeding shelf is located at the p-th position, the growing shelf is placed at the (n + 1) position while adding 1 to p in the procedure for determining whether or not the growing shelf is located at the (p + 1) position. A passage can be provided between the n-th breeding shelf and the n + 1-th breeding shelf by repeating until the position is not present.

In the crop cultivation method of the present invention, it can be determined whether or not the growing shelf is located at the p-th position in order from p = 1.

In the crop cultivation method of the present invention, the growing shelf is provided with a wheel for traveling and moving, a drive shaft for driving the wheel, and a drive unit for driving the drive shaft.
By driving the drive unit, the breeding shelf can be moved.

In the crop cultivation method of the present invention, the fixed drive unit provided on the growing shelf and
It is provided with an external drive unit that is detachable from the fixed drive unit and can drive a plurality of the breeding shelves.
The removal drive unit can be attached to the fixed drive unit provided on the growing shelf to be moved, and the moving growing shelf can be moved.

The crop cultivation device of the present invention is a crop cultivation device having a longitudinal direction on the left and right, and a plurality of growing shelves for cultivating crops are arranged in a parallel state in the front-rear direction to form a multi-stage structure.
In order to move any of the plurality of breeding shelves and make the position between any one set of the plurality of breeding shelves a passage, a plurality of the regions where the passage is provided while locating the plurality of the breeding shelves. The above problem was solved by providing a distance control unit for locating the growing shelf.

According to the present invention, a crop having a simple configuration, controlling the interval between growing shelves, having a higher planting density, expecting a higher yield, and being introduced by a small-scale producer to improve the yield and having a high energy-saving effect. It is possible to achieve the effect that the cultivation method and the crop cultivation apparatus can be provided at low cost.

It is a side view which shows the growing shelf of 1st Embodiment of the crop cultivation apparatus which concerns on this invention. It is a front view which shows the growing shelf of 1st Embodiment of the crop cultivation apparatus which concerns on this invention. It is a side view which shows the multi-stage growing shelf in 1st Embodiment of the crop cultivation apparatus which concerns on this invention. It is the above figure which shows the multi-stage growing shelf in 1st Embodiment of the crop cultivation apparatus which concerns on this invention. It is a front view which shows the driving part in 1st Embodiment of the crop cultivation apparatus which concerns on this invention. It is a side view which shows the fixed drive part of the growing shelf in 1st Embodiment of the crop cultivation apparatus which concerns on this invention. It is a top view which shows the fixed drive part of the growing shelf in 1st Embodiment of the crop cultivation apparatus which concerns on this invention. It is a top view which shows the removal drive part in 1st Embodiment of the crop cultivation apparatus which concerns on this invention. It is a side view which shows the removal drive part in 1st Embodiment of the crop cultivation apparatus which concerns on this invention. It is a front view which shows the disassembled state of the drive part of the growing shelf in 1st Embodiment of the crop cultivation apparatus which concerns on this invention. It is a schematic diagram explaining the whole process in 1st Embodiment of the crop cultivation apparatus which concerns on this invention. It is the schematic explaining the whole process of the 1st experimental example of the crop cultivation apparatus which concerns on this invention. It is a schematic diagram explaining the distance control between the growing shelves in the 1st experimental example of the crop cultivation apparatus which concerns on this invention. It is the schematic explaining the whole process of the 2nd experimental example of the crop cultivation apparatus which concerns on this invention. It is a side view explaining the planting time to the growing shelf in the 2nd experimental example of the crop cultivation apparatus which concerns on this invention. It is a side view which shows the growing shelf of 2nd Embodiment of the crop cultivation apparatus which concerns on this invention. It is an overall system block diagram of the 2nd Embodiment of the crop cultivation apparatus which concerns on this invention. It is a side view which shows the state which put the breeding shelf of 2nd Embodiment of the crop cultivation apparatus which concerns on this invention on a carriage. It is a front view which shows the state which put the breeding shelf of 2nd Embodiment of the crop cultivation apparatus which concerns on this invention on a carriage. It is a partially enlarged side view of the bogie shown in FIG. It shows the setting of the distance between beds of the crop cultivation apparatus in the Example which concerns on this invention, and is explanatory drawing in the early stage of growth that the distance between beds in an initial state is 600 mm. It is an interlocking operation flowchart when the position Pa2 in FIG. 21 is a passage. It is an interlocking operation flowchart when the position Pa3 in FIG. 21 is a passage. It is an interlocking operation flowchart when the position Pa4 in FIG. 21 is a passage. It shows the setting of the inter-bed distance of the crop cultivation apparatus in the Example which concerns on this invention, and is explanatory drawing in the middle stage of growth that the inter-bed distance in an initial state is 1000 mm. It shows the setting of the inter-bed distance of the crop cultivation apparatus in the Example which concerns on this invention, and is explanatory drawing in the late-growth stage where the inter-bed distance in an initial state is 1400 mm. It is a graph which shows the yield by the crop cultivation apparatus in the Example which concerns on this invention.

Hereinafter, the first embodiment of the crop cultivation apparatus according to the present invention will be described with reference to the drawings.
FIG. 1 is a side view showing a crop cultivation apparatus according to the present embodiment, in which reference numeral 100 is a growing shelf. In the figure, the right side of the paper is the front and the left side is the back.
FIG. 2 is a front view showing a growing shelf 100 in the crop cultivation apparatus according to the present embodiment. In the figure, the left side on the paper is left and the right side is right.
FIG. 3 is a side view showing a state in which a plurality of growing shelves are connected in the crop cultivation device of the present embodiment, and FIG. 4 is a top surface showing a state in which a plurality of growing shelves are connected in the crop cultivation device of the present embodiment. It is a figure.

As shown in FIGS. 1 and 2, the crop cultivation apparatus according to the present embodiment is assumed to have a growing shelf 100 as a basic configuration, and the growing shelf 100 includes a frame 101, front wheels 102F, and rear wheels. A side wheel 102R, a first reinforcing rod 103, a second reinforcing rod 104, a drive unit 105A, a drive chain 105B, a front distance sensor 106F, a rear distance sensor 106R, and a breeding pot portion 107 are provided. ..

As shown in FIGS. 1 and 2, the frame 101 is configured as a rectangular shape (rectangle) in the vertical direction, the front-rear direction, and the left-right direction. A front wheel 102F and a rear wheel 102R for easily moving on the ground are provided in the lower part of the frame 101. The width D of the frame, which is the length from the center of the front wheels 102F to the center of the rear wheels 102R, is set to about 500 mm. The first reinforcing rod 103 is provided so as to extend in the vertical direction at the center position in the front-rear direction on the side surface of the frame body 101. Two second reinforcing rods 104 are provided extending laterally on the side surface of the frame 101 at a position slightly below the center in the vertical direction. A third reinforcing rod 111 extending in the vertical direction is provided at the center of the frame 101 in the horizontal direction.

As shown in FIGS. 1 and 2, a drive unit 105A is provided at a portion where the first reinforcing rod 103 and the second reinforcing rod 104 intersect.
A drive shaft 102A is connected to the drive unit 105A via a drive chain 105B, and the drive shaft 102A is provided with driveable front wheels 102F.
The drive chain 105B connects the front wheel 102F and the drive unit 105A, transmits the power of the drive unit 105A to the front wheel 102F, and drives the front wheel 102F. The growing shelf 100 can be moved in the front-rear direction by the rotation of the front wheel 102F.

As shown in FIGS. 1 and 2, the drive shaft 102A of the breeding shelf 100 is connected to, for example, the drive unit 105A by the drive chain 105B, and the drive shaft 102A is connected to the front wheel 102F. The central wheel 102C and the right wheel 102D of the breeding shelf 100 are connected to the drive shaft 102A. As a result, as the front wheel 102F is rotationally driven, the central wheel 102C and the right wheel 102D of the growing shelf 100 are also rotated by the rotating drive shaft 102A. As a result, a constant driving force is applied to the wheels located in the left-right direction of the growing shelf 100, so that the growing shelf 100 can be stably moved in the front-rear direction.
The drive shaft 102A may be provided with a detection means 90 such as an encoder.

As shown in FIGS. 1 and 2, the breeding shelf 100 travels on a rail 10 in which the front wheel 102F, the rear wheel 102R, the center wheel 102C, and the right wheel 102D are all grooves extending in the front-rear direction. The direction of movement is regulated by this.
As shown in FIGS. 1 and 2, three rails 10 are provided in the left-right direction with respect to the growing shelf 100, and the front wheel 102F, the rear wheel 102R move the rail 10, and the center wheel 102C move. The rail 10 and the moving rail 10 of the right wheel 102D are arranged in parallel.
Each of the rails 10 is provided with a rectangular installation plate 10b on both sides thereof in a plan view to stabilize the installation of the rail 10. The growing shelf 100 may be moved in the front-rear direction without providing the rail 10. In this case, it is possible to reduce the installation cost of the equipment.

As shown in FIGS. 2 and 3, the breeding shelf 100 may be provided with a manual handle 110 and a manual handle chain 110B on the opposite side of the drive unit 105A in the left-right direction. The manual handle 110 is provided on the left side portion where the drive unit 105A is provided, at a position corresponding to substantially the center in the vertical direction of the growing shelf, and is provided on the right side portion on the opposite side in the left-right direction. The manual handle chain 110B connects the drive shaft 102A connected to the pinion gear (described later) and the manual handle 110, and the power of the manual handle 110 can be transmitted to the pinion gear via the drive shaft 102A. A clutch may be provided between the manual handle chain 110B and the drive shaft 102A so that the manual handle chain 110B does not move when the wheels are rotated by the drive unit 105A.

The front distance sensor 106F and the rear distance sensor 106R detect only mutual contact so that the adjacent growing shelves 100 to 700 do not come into contact with each other in the growing shelves 100 to 700 provided in multiple stages as described later. It is said to be a contact sensor. Both the front distance sensor 106F and the rear distance sensor 106R are provided at positions where they can come into contact with each other when the growing shelves 100 to 700 move in the front-rear direction, and the support portion projects from the frame 101 in the front-rear direction. It is provided at the tip position of 106a and 106b. The support portions 106a and 106b are framed by the operator's feet according to the length dimension of the support portions 106a and 106b protruding from the frame body 101 so that the adjacent growing shelves 100 to 700 cannot contact each other when they come into contact with each other. It is configured so that it will not be pinched by the body 101.

A growing pot portion 107 is provided between the front wheel 102F and the rear wheel 102R at the lower part of the frame 101. Growing plants such as tomatoes are planted in the growing pot portion 107 at predetermined intervals in the left-right direction.

In the crop cultivation apparatus according to the present embodiment, as shown in FIGS. 3 and 4, the plurality of growth shelves 100, 200, 300, 400, 500, 600, 700 are shown in FIGS. 1 and 2, respectively. It has substantially the same configuration as the growing shelf 100 shown, and a plurality of shelves are arranged in parallel in the front-rear direction so that the longitudinal direction is the left-right direction and each is parallel.

In the crop cultivation apparatus according to this embodiment, a plurality of growing shelves having a configuration substantially corresponding to the growing shelf 100 are provided in the front-rear direction. The number of stages is arbitrary, but in this embodiment, an example of 7 stages is shown.
In these breeding shelves, the numbers in the 100s of the code in the figure are changed, and the last two digits and the like are indicated by the same code in the corresponding configurations.

The multi-stage breeding shelves 200, 300, 400, 500, 600, 700 each have substantially the same configuration as the breeding shelves 100 shown in FIGS. 1 and 2, so that the longitudinal direction is the left-right direction. In addition, a plurality of units are arranged in parallel in the front-rear direction so that they are parallel to each other.

The growing pot portion 107 is set so as to extend in the left-right direction, and the growing pot portion 107 is planted with crops at substantially the same interval between strains. In the crop cultivation apparatus according to this embodiment, the interval between the growing shelves is changed, and the interval between the strains is not changed from the initially set constant value.

FIG. 5 is a front view showing a drive unit in the crop cultivation device of the present embodiment, FIG. 6 is a side view showing a fixed drive unit of the growing shelf in the crop cultivation device of the present embodiment, and FIG. 7 is a side view. It is a top view which shows the fixed drive part of the growing shelf in the crop cultivation apparatus of this embodiment, FIG. 8 is a top view which shows the removal drive part in the crop cultivation apparatus of this embodiment, and FIG. 9 is the present embodiment. It is a side view which shows the removal drive part in the crop cultivation apparatus of this embodiment, and FIG. 10 is a front view which shows the disassembled state of the drive part in the crop cultivation apparatus of this embodiment. In addition, in the figure, in order to clarify the shape relationship around the axis, there is a part shown in cross-sectional view or perspective.

In the crop cultivation device according to this embodiment, as shown in FIGS. 4 to 10, the drive unit 105A is composed of an external drive unit 85 and a fixed drive unit 105C.

As shown in FIGS. 5 to 7 and 10, the fixed drive unit 105C is a support plate fixed to two second reinforcing rods 104 extending in the lateral direction so as to be located outside the frame 101. It has a 105a, a rotating shaft 105b rotatably fixed to the support plate 105a, and a sprocket 105c fixed to the rotating shaft 105b. A driving chain 105B is wound around the sprocket 105c to drive a driving force. Can be transmitted to the drive shaft 102A.

As shown in FIGS. 5, 8 to 10, the external drive unit 85 includes a drive motor 85A, a rotary drive shaft 85b connected to the rotary shaft 105b so as to transmit the driving force of the drive motor 85A, and a drive motor. When the grip portion 85g that projects from the 85A in the front-rear direction and attaches the removal drive portion 85 to the fixed drive portion 105C and the grip portion 85g that supports the removal drive portion 85 and the removal drive portion 85 are attached to the fixed drive portion 105C It has a position setting unit 85d for positioning the removal drive unit 85 with respect to the support plate 105a, and a support plate portion 85a for integrally supporting and fixing the position setting unit 85d with respect to the drive motor 85A and the grip portion 85g.

In the fixed drive unit 105C, as shown in FIGS. 5 to 7 and 10, the tip of the rotating shaft 105b is a driving force transmitting unit 105e having a cross-sectional shape having a polygonal shape, for example, a square.
Similarly, in the removal drive unit 85, as shown in FIGS. 5, 8 to 10, a diameter-expanded portion 85c is provided at the tip of the rotary drive shaft 85b, and the diameter-expanded portion 85c is formed to be, for example, a square. A concave driving force transmission recess 85e having a cross-sectional shape composed of polygons is formed. The driving force transmitting portion 105e and the driving force transmitting recess 8e are fitted to each other so that the rotation from the driving motor 85A can be transmitted to the sprocket 105c.

As shown in FIGS. 5 to 7 and 10, the fixed drive unit 105C is provided with a plurality of engagement holes 105d in the support plate 105a located around the rotating shaft 105b, and the removal drive unit 85 is set to the fixed drive unit 105C. By engaging the tip of the position setting portion 85d with the engagement hole 105d, it acts as a reaction force receiver when transmitting the rotational force from the drive motor 85A to the rotary shaft 105b. ..

In the removal drive unit 85, as shown in FIGS. 5, 8 to 10, a spring ball plunger 85f is provided in the recess of the drive force transmission recess 85e as a stopper for the drive force transmission portion 105e to be driven. Grooves 105f for a spring ball plunger are provided on the outer periphery of the force transmission unit 105e so that the removal drive unit 85 does not come off during rotational drive.

In the removal drive unit 85, as shown in FIGS. 8 and 9, a drive switch 85s is provided in the middle of the grip portion 85g, and the drive motor 85A is turned on / off while the removal drive unit 85 is gripped. It is said that it can be operated. The drive switch 85s is preferably installed in the vicinity where the operator's thumb is located while the grip portion 85 g is gripped.
Further, the drive switch 85s is provided with a position to be turned on on the left and right and a position to be turned off in the center, and the rotation direction of the drive motor 85A is provided so that the breeding shelf 100 moves toward the direction in which the drive switch 85s is turned on. Can be set.

Further, a power source (not shown) is connected to the drive motor 85A so that drive power can be supplied. As the power source, it is preferable to form the external drive unit 85 as a rechargeable integrated structure as a secondary battery integrated with the drive motor 85A.

In the removal drive unit 85, as shown in FIGS. 5, 8 to 10, when the removal drive unit 85 is attached to the fixed drive unit 105C, the support plate portion 85a and the support plate 105a are attached so as to face each other. In order to make the position easily distinguishable, it is preferable that the support plate portion 85a and the support plate 105a are configured as a plate body having substantially the same contour shape.

Further, instead of detecting the rotation of the drive shaft 102A, a detection means 90 such as an encoder can be provided on the rotation drive shaft 85b. Further, by providing the external drive unit 85 with a display means for displaying the output of the detection means 90, the rotation speed of the drive shaft 102A connected by the chain and the sprocket is calculated from the rotation speed of the rotation drive shaft 85b. , The display means can be displayed so that the operator can easily confirm the moving distance of the breeding shelf 100.

In the crop cultivation device according to this embodiment, as shown in FIG. 4, when the growing shelf 100 is moved in the front-rear direction along the rail 10, the removal drive unit is shown by an arrow K in FIG. The 85 is attached to the fixed drive unit 105C.
In this case, the driving force transmission recess 85e is inserted into the driving force transmitting portion 105e while gripping the gripping portion 85g. Then, the spring ball plunger 85f is locked in the groove 105f, and the driving force transmitting portion 105e is connected so as not to come off from the driving force transmitting recess 85e.
At this time, the driving force transmission recess 85e is inserted into the driving force transmitting portion 105e while adjusting the angle around the rotation driving shaft 85b of the gripping portion 85g so that the tip of the positioning portion 85d engages with the engaging hole 105d. It is necessary.

When the driving force transmission recess 85e is inserted into the driving force transmitting portion 105e, the tip of the positioning portion 85d can be rotated and adjusted around the rotary driving shaft 85b without engaging with the engaging hole 105d. The length of the position setting unit 85d is set in the length dimension. Further, the axial length dimension of the position setting portion 85d is set so that the spring ball plunger 85f is locked in the groove 105f after the tip of the position setting portion 85d is engaged with the engagement hole 105d. ..

In this state, by turning on the drive switch 85s, the drive motor 85A is rotationally driven, and the rotary drive shaft 85b is rotated while receiving the reaction force by the position setting unit 85d, and the polygonal drive force transmission recess is formed. When the 85e rotates the driving force transmission unit 105e, the rotating shaft 105b rotates, the sprocket 105c that is desired to rotate rotates, and the driving force is transmitted to the driving shaft 102A via the driving chain 105B.
As a result, the central wheel 102C, the right wheel 102D, and the front wheel 102F connected to the drive shaft 102A are rotationally driven. As a result, the growing shelf 100 can be moved in the front-rear direction. At this time, since the spring ball plunger 85f is locked in the groove 105f, the removal drive unit 85 does not separate from the fixed drive unit 105C.

After moving the breeding shelf 100 to a predetermined position, the drive switch 85s is turned off. Further, when moving any of the other growing shelves 200 to 700, the removal drive unit 85 is fixed by pulling out the removal drive unit 85 from the fixed drive unit 105C while gripping the grip portion 85 g. It can be separated from the drive unit 105C. At this time, the spring ball plunger 85f locked in the groove 105f overcomes the urging force and the driving force transmitting recess 85e is pulled out from the driving force transmitting portion 105e.

Next, when moving any of the other growing shelves 200 to 700, while gripping the gripping portion 85g, the removal driving unit 85 is set to the fixed driving unit 105C to 705C in the same manner as the growing shelf 100 described above. By attaching to one, any of the other growing shelves 200-700 can be moved. As a result, the operator can easily set the interval between the growing shelves 100 to 700 to the required state. Further, if there is only one external drive unit 85, all the growing shelves 100 to 700 can be easily moved, so that the equipment cost can be reduced.

In the crop cultivation apparatus according to this embodiment, among the multi-stage growing shelves 200 to 700, the first-stage growing shelf 200 and the final-stage growing shelf 700 can be supplied with nutrient solution, which is not shown. The connected nutrient solution hose 119 and the nutrient solution hose 719 are connected.

As shown in FIGS. 2 to 4, the growing shelf 100 has a nutrient solution hose 119 connected to the upper left corner of the rectangular growing shelf 100 and a nutrient solution hose provided on the upper left side of the growing shelf 100. A nutrient solution distribution unit 121 connected to 119, and a nutrient solution hose 120 that is distributed and connected from the nutrient solution distribution unit 121 and is connected to the left side of the growth shelf 100 downward to supply nutrient solution to the growth pot portion 107. , A nutrient solution hose 123 that is distributed and connected to the nutrient solution distribution unit 121 and faces the upper position of the growth shelf 100 to the right, and a nutrient solution that is provided at the upper right position of the growth shelf 100 and is connected to the nutrient solution hose 123. The nutrient solution hose 125, which is connected to the nutrient solution distribution unit 124 and corresponds to the nutrient solution hose 120 which is connected to the nutrient solution distribution unit 124 and supplies nutrient solution to the growth pot portion 107 with the right side position of the growth shelf 100 facing downward. A nutrient solution hose 122 that is distributed and connected from the nutrient solution distribution unit 121 and connected to the adjacent growth shelf 200 is provided.

As shown in FIG. 3, the growing shelves 100 to 700 are provided with waste liquid hoses 130 to 730 for flowing the waste liquid from the growing pot portions 107 to 707, and the growing shelves 200 in the first stage and the growing shelves 700 in the final stage are provided with nutrient solutions. The hose 119 and the nutrient solution hose 719 are connected. In the figure, the nutrient solution hose is schematically shown to show the direction in which the nutrient solution flows.

The nutrient solution flowing from the nutrient solution hose 119 is distributed to the nutrient solution hose 120, the nutrient solution hose 122, and the nutrient solution hose 123 by the nutrient solution distribution unit 121. The nutrient solution distributed to the nutrient solution hose 120 is supplied to the right side of the growing pot portion 107. The nutrient solution distributed to the nutrient solution hose 123 is supplied to the left side of the growing pot portion 107 via the nutrient solution distribution section 124 and the nutrient solution hose 125. The nutrient solution distributed to the nutrient solution hose 122 flows to the nutrient solution distribution unit 221 corresponding to the nutrient solution distribution unit 121 on the adjacent growth shelf 200.
Similarly, in each of the multiple-stage growing shelves 100 to 700, the nutrient solution is supplied to the growing pot portions 107 to 707, and the waste liquid from the growing pot portions 107 to 707 is discharged via the waste liquid hoses 130 to 730, respectively. It is arranged so that it can flow into the gutter 10a.

The nutrient solution flowing from the nutrient solution hose 622 on the growth shelf 100 flows to the nutrient solution hose 720 by the nutrient solution distribution unit 721. The nutrient solution distributed to the nutrient solution hose 720 is supplied to the growing pot portion 707. Since the nutrient solution distribution unit 721 does not have an adjacent growing shelf, the water is automatically stopped.

As shown in FIG. 4, the nutrient solution flowing from the nutrient solution hose 719 is distributed to the nutrient solution hose 725, the nutrient solution hose extending downward, and the nutrient solution hose 723 by the nutrient solution distribution unit 724. The nutrient solution distributed to the nutrient solution hose extending downward is supplied to the left side of the growing pot portion 707. The nutrient solution distributed to the nutrient solution hose 723 is supplied to the left side of the growing pot portion 707 via the nutrient solution distribution section 721. The nutrient solution distributed to the nutrient solution hose 725 flows to the nutrient solution distribution unit 624 corresponding to the nutrient solution distribution unit 724 on the adjacent growth shelf 600.
Similarly, in each of the multiple-stage growing shelves 100 to 700, the nutrient solution is supplied to the growing pot portions 107 to 707, and the waste liquid from the growing pot portions 107 to 707 is discharged via the waste liquid hoses 130 to 730, respectively. It is arranged so that it can flow into the gutter 10a.

FIG. 11 is a schematic view illustrating the entire process in the crop cultivation apparatus according to the present embodiment.

Tomato will be described as an example of a crop. In the case of tomatoes, the stage of growth can be estimated according to the planting time and the accumulated temperature. The integrated temperature is 200 ° C. / day, which is 10 days multiplied by 20 ° C. when the average daily temperature is 20 ° C. and 10 days have passed at the average temperature of 20 ° C.

A case where tomatoes are cultivated in three stages in low-stage dense planting will be described.
In FIG. 11, the period from planting to harvesting in the third stage is shown in seven growth stages. First, the tomato strain P is planted (stage S0 in FIG. 11). The first stage flower F blooms at a cumulative temperature of about 400 ° C. day after planting (stage S1 in FIG. 11). The second stage flower F blooms at a cumulative temperature of about 610 ° C / day after planting.

At this time, a small real GF1 is formed in the first stage (stage S2 in FIG. 11). The third stage flower F blooms at a cumulative temperature of about 810 ° C / day after planting. At this time, the fruit in the first stage becomes a fruit GF2 larger than GF1, and a small fruit GF1 is formed in the second stage (stage S3 in FIG. 11). When the cumulative temperature is about 81 to 1500 ° C. day after planting, the tomatoes grown in the first to third stages grow larger (stage S4 in FIG. 11).

When the cumulative temperature reaches about 1500 ° C. day or more after planting, the tomato RF grown in the first stage begins to be colored and harvesting can be started (stage S5 in FIG. 11).

When the cumulative temperature reaches about 1710 ° C. day or more after planting, the tomatoes grown in the second stage begin to be colored and harvesting can be started (stage S6 in FIG. 11).

When the cumulative temperature reaches about 1920 ° C. day or more after planting, the tomato RF grown in the third stage begins to be colored and harvesting can be started. Since the coloring time of the fruits varies, the cultivation is terminated after the harvest period is set to an integrated temperature of about 2400 ° C., which is the day when all the fruits are harvested (stage S7 in FIG. 11).

At this time, the drive unit 105A is used to control the distance between the growing shelves according to the integrated temperature. For example, in FIG. 11, the distance between the growing shelf 100 and the growing shelf 200 is set as D1, the distance between the growing shelf 200 and the growing shelf 300 is set as D2, and the distance between the growing shelf 300 and the growing shelf 400 is set. The distance is set to D3. At this time, the distance between the growing shelves is controlled so that D1 is narrower than D2 and D2 is narrower than D3. By doing so, the distance between the growing shelves can be set according to the growth of the crop. For example, when the number of leaves increases, it is preferable to widen the spacing between the growing shelves according to the growth as described above in order to increase the amount of photosynthesis.

That is, the first growing shelf that started growing crops in the first period, the second growing shelf that started growing crops in the second period later than the first period, and the second growing shelf that started growing crops in the second period. It has a third growing shelf that started growing crops from the third period, and has a first distance between the first growing shelf and the second growing shelf, and a second growing shelf and a third growing shelf. The distance between the growing shelves is controlled so as to be different from the second distance between them. By doing so, it is possible to obtain the optimum solar radiation according to the degree of growth of the crops on each growing shelf.

If it is difficult to make a judgment based only on the integrated temperature, a solar radiation measurement sensor is provided to correct and control the distance between the growing shelves according to the solar radiation information. Further, a stem length measuring sensor for measuring the stem length may be provided, and the distance between the growing shelves may be corrected and controlled according to the stem length information. Further, these information may be combined to correct and control the distance between the growing shelves.

The spacing between the growing shelves may be controlled based on indicators such as maximization of crop yield, leaf area and photosynthetic requirements. By changing the spacing between the growing shelves for each growing stage, it is expected that the yield will increase by increasing the planting density while maintaining the photosynthetic efficiency. Cultivate in the field at different planting times for each growing shelf, and grow at the optimum intervals for each growing shelf.

For example, in the case of tomatoes, the growth stage is estimated based on the planting time and the accumulated temperature, and the distance to the adjacent growing shelf is changed according to each growth stage to maximize the yield of the entire field. To do so. In addition to moving the growing shelves when specified by the operator using the drive unit 105A, the growing shelves are moved intermittently by a timer or at a time when no work is being performed at night. be able to.

In addition, it is possible to predict the shelves scheduled for work on that day and to make a passage in advance using the drive unit 105A so that the worker can pass through. Further, when the drive unit 105A is used to control the distance between the growing shelves, the operator's feet are attached to the frame body 101 according to the length dimensions of the support portions 106a and 106b protruding from the frame body 101. It can be prevented from being pinched.

<Example of the first experiment>
FIG. 12 is a diagram illustrating all the steps of the first experimental example of the crop cultivation apparatus according to the present invention.

In this example, the breeding shelves are arranged to move from the direction in which the sun is located to the opposite side at noon. The breeding shelf 100 is planted on the southernmost side. It moves from the south side to the north side according to the accumulated temperature. At this time, the distance between the adjacent growing shelves is controlled by the distance control unit. For example, between the breeding shelf 100 and the breeding shelf 200 and between the breeding shelf 300 and the breeding shelf 400 are different. Assuming that the distance D10 is between the breeding shelf 100 and the breeding shelf 200 and the distance D20 is between the breeding shelf 300 and the breeding shelf 400, the distance D20 is longer than the distance D10.

Further, when the crop grows to the extent that it can be harvested, the distance between the growing shelves is widened, such as the distance D30 between the growing shelves 400 and the growing shelves 500. Similarly, the space between the growing shelves 700 and the growing shelf 800 can be sufficiently widened so that the harvesting robot 30 traveling along the dotted line R4 can pass through. As a result, efficient harvesting can be performed. Similarly, the dotted lines R1, R2, and R3 can be passed through the harvesting robot 30 and the worker to harvest the fruits that have grown in the first and second stages.

When the harvesting is completed and the growing shelf reaches the northern end, the stock is removed and the growing shelf is manually placed on the trolley 20. The worker moves the growing shelf placed on the trolley to the southern end where it was first planted, and performs planting.

As a result, the plants are arranged in order of stem length from the south side to the north side, so that the sunlight is optimized. The moving distance is set according to the accumulated temperature, and the distance between the growing shelves is set according to the growth of the stock. This sets the harvest to end at the northern end. Since it is possible to always perform the work associated with flowering and harvesting at the same fixed position in the field, mechanization and automation become easy.

FIG. 13 is a diagram illustrating distance control between growing shelves in the crop cultivation apparatus according to this experimental example.

Multiple growing shelves with different growth stages are cultivated in the same field. First, the column on the first day in the left column will be described. The leftmost number indicates the order of the growing shelves, and the second number indicates the integrated temperature. The numbers on the right indicate the distances to the adjacent growing shelves, respectively. The letters in the center indicate the growth stage of the crop estimated in response to the cumulative temperature.

From the description [0:20: 600 mm immediately after planting], it can be seen that the cumulative temperature of 20 ° C. and days have passed since the planting, and the control is performed so as to have a total margin of 600 mm on the left and right sides of the growing shelf. At this time, the margins are evenly distributed on the left and right sides of the growing shelf, and a margin of 300 mm is set on the right side and 300 mm on the left side.
Similarly, from the description [1: 220: 600 mm immediately after planting], it can be seen that the control is performed so as to have a total margin of 600 mm on the left and right sides of the growing shelf at an integrated temperature of 220 ° C. day. At this time, a margin of 300 mm is set on the right side of the growing shelf and a margin of 300 mm is set on the left side. The distance between these two growing shelves is the sum of the margins of the growing shelf on the right side and the growing shelf on the left side. That is, in this case, it is 600 mm.

Furthermore, from the description [2: 420: 600 mm during 1-stage flowering], the first stage is in bloom at an integrated temperature of 420 ° C., and the left and right sides of the growing shelf are controlled to have a total margin of 600 mm. You can see that. From the description [3: 620: 600 mm during two-stage flowering], the second stage is in bloom at an integrated temperature of 620 ° C., and the left and right sides of the growing shelf are controlled to have a total margin of 600 mm. I understand. From the description [4: 820: 1000 mm during 3 stage flowering], the 3rd stage is in bloom at an integrated temperature of 820 ° C., and it is controlled so as to have a total margin of 1000 mm, 500 m on each side of the growing shelf. I understand.
The distance between the [2: 420: 1-stage flowering 600 mm] growing shelf and the [3: 620: 2-stage flowering 600 mm] growing shelf is 600 mm in total of the respective margins. The distance between the growing shelf of [3: 620: 600 mm during 2-stage flowering] and the growing shelf of [4: 820: 1000 mm during 3-stage flowering] is 800 mm in total of the respective margins.

When the crop grows large and the fruit grows large, from the description [5: 1020: 1000 mm during fruit enlargement], the fruit becomes enlarged at an integrated temperature of 1020 ° C. day, and 500 mm on each side of the growing shelf. It can be seen that the control is performed so as to take a total margin of 1000 mm. It can be seen that the growing shelves of [6:1220: fruit enlargement medium 1000 mm] are also controlled so as to have a total margin of 1000 mm, 500 m on each side. At this time, the distance between the growth shelf of [5: 1020: 1000 mm in fruit enlargement] and the growth shelf of [6: 1220: 1000 mm in fruit enlargement] is 1000 m in total.

In this way, the distance between the growing shelves is controlled based on the growth of the crop, that is, the integrated temperature. As a result, the crops can receive more appropriate sunlight and air conditioning, and the planting density is improved, which is expected to increase the yield.

In FIG. 13, the distance between the growing shelves is similarly controlled on the 21st, 41st, 61st, and 101st days. For example, the first growing shelf on the 21st day is [0:420: 600 mm during 1-stage flowering], and the next growing shelf is [1: 620: 600 mm during 2-stage flowering]. The next growing shelf is [2: 820: 1000 mm during 3-stage flowering]. As described above, on the first day and the 21st day, the distance between the growing shelf 1 and the growing shelf 2 is changed from 600 mm to 800 mm, and the distance between the growing shelves is widened. Hereinafter, the distance between the growing shelves is controlled in the same manner. As a result, the planting density and yield are expected to increase 1.5 times compared to the conventional low-stage dense planting cultivation. Although tomatoes have been described as an example in this embodiment, any crop having a plant height of 1.5 m or less can be cultivated for general purposes. For example, large fruit vegetables such as paprika, cucumber, melon, melon, watermelon, and eggplant can be cultivated.

<Example of the second experiment>
Next, as a second experimental example of the crop cultivation apparatus according to the present invention, a case where the growing shelves are arranged so as to move in the east-west direction will be described.
FIG. 14 is a diagram illustrating all the steps of the second experimental example of the crop cultivation apparatus according to the present invention.

The crop cultivation apparatus according to the second experimental example is composed of a combination of a first growing shelf group 100A moving from west to east and a second growing shelf group 100B moving from east to west.
The first breeding shelf group 100A is composed of a plurality of breeding shelves (cultivation beds) 140, 240, 340, 440, 540, 640, 740, 840, 940. The second breeding shelf group 100B is composed of a plurality of breeding shelves 150, 250, 350, 450, 550, 650, 750, 850, 950.
The first breeding shelf group 100A and the second breeding shelf group 100B are combined in the north-south direction.

In the first growing shelf group 100A, crops are planted at the position of the growing shelf 140 in FIG. The breeding shelf 240 and the breeding shelf 340, which are earlier than the breeding shelf 140, are moved to the east side in this order. The breeding shelf is moved along the breeding shelf rail 140R. In the breeding shelves, the distance between adjacent breeding shelves is controlled according to the breeding time. In the first breeding shelf group 100A, the breeding shelf 940 that has finally been harvested is placed on the trolley 1240 and moved to the second breeding shelf group 100B. The movement of the bogie 1240 is carried out along the bogie rail 240R.

On the other hand, in the second growing shelf group 100B, crops are planted at the position of the growing shelf 150 in FIG. The breeding shelf 250 and the breeding shelf 350, which are earlier than the breeding shelf 150, are moved to the west side in this order. The breeding shelf is moved along the breeding shelf rail 150R. In the breeding shelves, the distance between adjacent breeding shelves is controlled according to the breeding time. In the second breeding shelf group 100B, the breeding shelf 950 whose harvest is finally completed is placed on the trolley 1250 and moved to the first breeding shelf group 100A. The movement of the bogie 1250 is performed along the bogie rail 250R.

As described above, the breeding shelf of the first breeding shelf group 100A moves to the second breeding shelf group 100B after the harvest is completed, and the breeding shelf of the second breeding shelf group 100B moves to the first breeding shelf group 100A after the harvest is completed. To do. The stem heights of the growing shelves 140, 240, and 340 that have just been planted are low. On the other hand, the breeding shelves 750, 850, 950 and the like arranged on the north side have a high stem height and a wide distance between the breeding shelves. Since there is sunlight from the south side, it is necessary for the crops of the growing shelves 140, 240, 340 of the first growing shelf group 100A on the south side and the crops of the growing shelves 750, 850, 950 of the second growing shelf group 100B on the north side. Sufficient sunlight is given.

Further, the breeding shelves 740, 840, and 940 of the first breeding shelf group 100A are arranged so that the stem height is high on the south side and the distance between the breeding shelves is wide. On the other hand, the breeding shelves 150, 250, 350, 450 of the second breeding shelf group 100B on the north side are arranged so that the distance between the breeding shelves becomes narrow. As a result, the crops of the growing shelves 150, 250, 350, 450 of the second growing shelf group 100B receive as much sunlight as necessary from between the growing shelves of the first growing shelf group 100A. In addition, the crops of the growing shelves 740, 840, and 940 of the first growing shelf group 100A on the south side can also receive sufficient sunlight.

FIG. 15 is a side view showing a growing pot portion of the growing shelf for explaining the planting time of the crop cultivation device according to this experimental example on the growing shelf. In the figure, for the sake of clarity, a state in which two rows are planted when viewed from the side is shown.

FIG. 15A shows a case where planting was carried out in the same growing pot portion 107a at the same time. Since planting is carried out in the same growing pot portion 107a at the same time, the growth of the crops in the same growing pot portion 107a is the same, and the stem length is also the same. When planted in this way, the fruits of the same growing pot portion 107a bear fruit at the same time.

FIG. 15B shows that when crops are planted in two rows in the same growing pots 107b-1 and 107b-2, crops having different growth stages are put into one growing pot 107b-1, 107b-2. It is planted. That is, the crops are planted in the growing pots 107b-1 and 107b-2 so that the growth stages are the same when viewed from the passage. According to this, since the growth stages of the crops on both sides of the aisle are the same (PlR and P2L in FIG. 15), the crops can be managed for each aisle. For example, the work during harvesting is streamlined. As a result, for example, when harvesting by a robot is assumed, the fruits on both sides of the passage can be harvested at once when passing through one passage, and the harvest becomes efficient.

In the above embodiment, the integrated temperature, the amount of solar radiation, etc. were used as the information for estimating the growth stage, but the distance control unit 50 sets the spacing between the growth shelves based on the index based on the growth environment and the index based on the growth information. It may be controlled.

Indicators based on the growing environment include temperature, solar radiation, humidity, saturation, CO2 concentration, wind velocity, weather, plant body temperature, medium temperature, liquid fertilizer or water supply, planting density, cooling / heating set temperature, planting date. , Harvest date, side bud harvesting date, leaf picking date, attraction work day, pinching work day (work information), etc. In addition, the interval between the growing shelves may be changed by detecting the day when a specific work is performed. In addition, a sensor attached to the operator can be used to detect the triggering date.

Indicators based on growth information include stem length, total length of stem (including side branches), internode distance, electromagnetic wave transmission rate, electromagnetic wave reflectance, sound wave transmission rate, sound wave reflectance, capacitance, number of leaves, and leaf area. , The field area occupied by the plant, the projected area when the plant was photographed, the plant volume, the plant biopotential, the plant movement speed, the LAI (leaf area index), the stem diameter, the flowering petal area, the number of flowers, the flowering position. , Flowering height, fruit size, projected area of fruit, fruit weight, fruit coloration, root length, liquid fertilizer or water absorption, medium water content, evaporation amount, drainage amount, crop weight, yield, number of harvested fruits , Plant residue weight, plant residue volume, bud date, flowering date, fruit set date, fruit maturation date, etc. It also includes the above parameters and their time-differentiated and time-integrated values. The parameters also include the number of pixels and approximate values obtained by image processing, a three-dimensional shape measuring device, and the like. Further, the interval between the growing shelves may be controlled by using a value calculated by a specific mathematical formula by combining a single or a plurality of the above parameters as an index.

Sensors may be installed inside and outside the greenhouse to measure the above parameters. In addition, the worker may check the state of the crop and input the information from the terminal. Although there is a description in the embodiment about the calculation method of the integrated temperature, the same control is performed even if the integration method is changed and the integration is performed in units of 1 hour or 1 minute. Is possible.

The crop cultivation device of the present embodiment has a plurality of growing shelves 100, 200, 300, 400, 500, 600, 700 for growing crops, and the growing shelves start growing crops at least at the nth time. The nth growing shelf (for example, the growing shelf 400 in FIG. 11), the n + 1 growing shelf (for example, the growing shelf 300 in FIG. 11) that started growing crops from the n + 1 period later than the nth period, and the n + 1th growing shelf. It has an n + 2 growing shelf (for example, a growing shelf 200 in FIG. 11) that started growing crops from the n + 2 period later than the time of, and an Nth between the nth growing shelf and the n + 1 growing shelf. When setting the distance between the breeding shelves so that the distance D3 of the above and the Nth distance D2 between the n + 1 breeding shelf and the n + 2 breeding shelf are different, a plurality of breeding units 105A are used. The shelves 100-700 can be moved as needed. With such a configuration, it is possible to maintain an appropriate interval between the growing shelves according to the growing time of the crop. With such a configuration, it is possible to maintain a flexible and appropriate interval between the growing shelves by the drive source provided for each growing shelf according to the growing time of the crop.

The growing shelves can be returned to their original planting position after harvesting. With such a configuration, the defined field can be used efficiently, and the yield can be expected to increase by increasing the planting density.

The breeding shelves include a first breeding shelf group 100A consisting of breeding shelves 140, 240, 340, 440, 540, 640, 740, 840, 940 that move in one direction, and a breeding shelf 150 that moves in the opposite direction to the one direction. , 250, 350, 450, 550, 650, 750, 850, 950 and the second breeding shelf group 100B are combined in parallel in the direction perpendicular to one direction, and the breeding shelves 140, 240 of the first breeding shelf group 100A are combined. , 340, 440, 540, 640, 740, 840, 940 move to the second breeding shelf group 100B after the end of harvesting, and the breeding shelves 150, 250, 350, 450, 550, 650 of the second breeding shelf group 100B, The 750, 850 and 950 can be moved to the first breeding shelf group after the end of harvesting. With such a configuration, the defined field can be used efficiently, and by increasing the planting density, an increase in yield can be expected.

In the present invention, the crop is a crop having a plant height of 1.5 m or less, and is, for example, strawberry, tomato, paprika, cucumber, melon, melon, watermelon, eggplant and the like. The first breeding shelf, the second breeding shelf, and the third breeding shelf indicate any three adjacent breeding shelves in the plurality of breeding shelves.

In the crop cultivation apparatus of the present embodiment, low-stage dense planting of tomatoes can be carried out more densely than usual, and a high yield can be obtained by repeating the yearbook and cultivation a plurality of times.

Hereinafter, a second embodiment of the crop cultivation apparatus according to the present invention will be described with reference to the drawings.

FIG. 16 is a side view showing the crop cultivation apparatus according to the present embodiment, and FIG. 17 is an overall system block diagram of the crop cultivation apparatus according to the present embodiment.
The present embodiment differs from the first embodiment described above in that it relates to a drive unit, and the other corresponding components are designated by the same reference numerals and the description thereof will be omitted.

In the present embodiment, as shown in FIG. 16, the growing shelf 100 has a driving unit 105 fixed to the frame 101.

As shown in FIG. 16, the breeding shelf 100 can be provided with a front distance sensor 106F and a rear distance sensor 106R in the front-rear direction thereof. The front distance sensor 106F is provided on the side portion of the frame 101 on the upper side of the front wheel 102F of the breeding shelf 100. The rear distance sensor 106R is provided on the side of the frame 101 on the upper side of the rear wheel 102R of the breeding shelf 100. The front distance sensor 106F and the rear distance sensor 106R each transmit signals to the distance control unit in response to signals from distance sensors provided on adjacent growing shelves. For example, the front distance sensor 106F of the breeding shelf 100 and the rear distance sensor 206R of the breeding shelf 200 transmit a signal to the distance control unit in response to each other's signals.

Further, as shown in FIG. 17, the growing shelf 100 can be provided with a communication cable 108 and a distribution unit 109. The communication cable 108 electrically connects a plurality of growing shelves and the main control unit 50. The distribution unit 109 distributes the communication cable 108 to the drive motor 105 of the breeding shelf 100 and distributes it to the adjacent breeding shelf 200. The height of the growing shelf 100 from the ground to the distribution portion 109 is about 1900 mm. Each breeding shelf has a drive motor that is a movable drive source. The communication cable 108 may supply electric power to the drive motor 105. Further, a solar power generation device may be installed on the growing shelf 100 to supply electric power.

As shown in FIG. 17, the plurality of growing shelves 100, 200, 300, 400, 500, 600, 700 are wirelessly or wiredly connected to the distance control unit 50. The distance control unit 50 is a server that controls the intervals between a plurality of growing shelves 100, 200, 300, 400, 500, 600, 700. The distance control unit 50 receives information from the front distance sensor 106F provided on the breeding shelf 100 and, for example, the rear distance sensor 206R of the adjacent breeding shelf 200, and sends a control signal to the drive unit (drive motor) 105. Similarly, the rear distance sensor 106R communicates with the front distance sensor (not shown) of the rear growing shelf (not shown), and the front distance sensor 206F is of the front growing shelf (not shown). Communicate with the rear distance sensor (not shown). The distance control unit 50 sends a control signal only to the drive unit (drive motor) 105, and sends a plurality of feedback signals from the distance sensor so that the distance detected by the distance sensor provided on the breeding shelf becomes constant. The drive motors of the breeding shelves may receive the signals and run on their own. The plurality of growing shelves 100, 200, 300, 400, 500, 600, 700 may be subjected to distributed control in which each growing shelf makes a judgment.

The distance control unit 50 controls the distance between the growing shelves according to the integrated air temperature.
For example, in FIG. 11, the distance between the growing shelf 100 and the growing shelf 200 is set as D1, the distance between the growing shelf 200 and the growing shelf 300 is set as D2, and the distance between the growing shelf 300 and the growing shelf 400 is set. The distance is set to D3. At this time, the distance between the growing shelves is controlled so that D1 is narrower than D2 and D2 is narrower than D3. By doing so, the distance between the growing shelves can be set according to the growth of the crop. For example, when the number of leaves increases, it is preferable to widen the spacing between the growing shelves according to the growth as described above in order to increase the amount of photosynthesis.

It is also possible to link the control by the distance control unit 50 with the work schedule. For example, it is possible to predict the shelves to be worked on for the day and create a passages for workers to pass through. Further, the distance control unit 50 may communicate with the worker via wireless, a mobile phone communication network, or the Internet. As a result, the worker can give a command from a remote place such as a mobile phone.

The crop cultivation apparatus of the present invention has a plurality of growing shelves 100, 200, 300, 400, 500, 600, 700 for growing crops, and the growing shelves start growing crops at least in the nth period. n growing shelves (for example, growing shelves 400 in FIG. 11), n + 1 growing shelves (for example, growing shelves 300 in FIG. 9) that started growing crops from the n + 1 period later than the nth period, and n + 1 It has an n + 2 growing shelf (for example, a growing shelf 200 in FIG. 9) that started growing crops from the n + 2 period later than the time, and an Nth Nth between the nth growing shelf and the n + 1 growing shelf. A distance control unit 50 that controls the distance between the breeding shelves so that the distance D3 and the Nth distance D2 between the n + 1 breeding shelf and the n + 2 breeding shelf are different can be provided. With such a configuration, it is possible to maintain an appropriate interval between the growing shelves according to the growing time of the crop.

Preferably, the distance control unit 50 controls the distance between the growing shelves based on the measured value based on the growing environment or the measured value based on the growth information. With such a configuration, the distance between the growing shelves can be controlled more accurately.

In the present invention, the distance control unit includes a mode of controlling by central concentration, a mode of providing distributed control on each breeding shelf, a mode of controlling by a cloud, and the like.

FIG. 18 is a side view showing a state in which the growing shelf of the crop cultivation device according to the present embodiment is placed on a trolley.

As shown in FIG. 18, the breeding shelf 100 is mounted on a carriage 20 having a right wheel 21R and a left wheel 21L. The right wheel 21R and the left wheel 21L are swivel free casters. The dolly 20 is provided with a moving handle 22. The moving handle 22 is attached so as to fall toward it, and is used to move the breeding shelf 100 together with the trolley 20. The trolley 20 is a device for moving the breeding shelf 100, which can move only in the front-rear direction, in the left-right direction or freely for the stable movement of the breeding shelf 100. As shown in FIGS. 12 and 14, the breeding shelf 100 may need to be moved in a direction other than the front-back direction.

FIG. 19 is a front view showing a state in which the growing shelf of the crop cultivation device according to the present embodiment is placed on a trolley.

In FIG. 19, four universal casters 21A, 21B, 21C, and 21D are attached to the carriage 20 in the left-right direction. Since it is also attached in the front-rear direction, a total of eight universal casters are attached to one trolley 20, and the breeding shelf 100 can be placed on the trolley 20 and moved freely. A pinion gear 102G is provided on the drive shaft 102A connected to the wheels of the breeding shelf 100. The carriage 20 is provided with a rack gear 20G that fits into the pinion gear 102G. Next, in FIG. 7, the rack and pinion mechanism will be described.

FIG. 20 is a partially enlarged side view of the trolley of the crop cultivation device according to the present embodiment shown in FIG.

The pinion gear 102G on the breeding shelf 100 side is fitted to the rack gear 20G provided on the carriage 20 side. As a result, the force applied by the manual handle 110 is transmitted to the drive shaft 102A via the manual handle chain 110B. The driving force transmitted to the drive shaft 102A is transmitted to the pinion gear 102G and rotates. By the rotation of the pinion gear 102G, the pinion gear 102G and the rack gear 20G are fitted to each other, and the heavy breeding shelf 100 is placed on the trolley 20.

In the present embodiment, drive means are provided so as to be movable in each of the growth shelves, and the growth shelves are moved by using the rack and pinion mechanism. However, the moving means are the drives provided in each of the growth shelves. Not limited to the source, a driving means other than that provided for each of the growing shelves may be used. For example, each of the growing shelves may not have a drive source and may be moved by a driving means provided at the upper or lower part of each growing shelf so as to be movable as a whole.

Hereinafter, examples of the present invention will be described.

Verification was carried out using the crop cultivation apparatus according to the present invention.
The specifications are shown below.

<Details of drive unit>
A drive motor, a drive chain, a sprocket, and other drive units for electrically moving the wheels of the mobile cultivation bed are attached to five mobile cultivation beds (growth shelves).
Five drive motors are used.
The height of the drive motor mounting portion is 630 mm.
The drive motor mounting plate (support plate) shall be made of aluminum, and the drive shaft related parts shall be made of a material having the same hardness as the carbon rope S45C. A floating sprocket is provided so that the distance between the shafts can be adjusted. As a drive switch, a left and right operation switch is attached to each drive motor and operated while being pressed. Attach an emergency stop button to the side of each cultivation bed (growth shelf). The ground clearance of the switches is 1000 mm. A handle with a clutch is used, and the structure can be operated with a manual handle. For electrical wiring terminals, use crimp terminals as much as possible to incorporate an automatic control system.

<Details of running rail>
As a tomato dense planting mobile cultivation device, rails and rail joints are provided so that the tires of five mobile cultivation beds (growth shelves) run on the rails on the concrete road surface.
The target tire size is 25 mm in width and 125 mm in diameter. Each unit has 6 wheels. The rail portion is a channel member having a thickness of 20 mm x 40 mm and a thickness of 2 mm, and is composed of 12 channels of 2 m.
There are two types of rail joints, 6 sets are methods of connecting rails from both sides, and 3 sets are methods of connecting rails on only one side.
A flat plate with a width of 100 mm is used for the joint, and the flat plate has a structure that can be fixed to the ground with a large head nail (diameter 5 mm).

<Software details>
Mobile cultivation beds (growth shelves) In order to change the distance between four cultivation beds, we will create control software that operates the drive motors in conjunction with each other. Software (program) is created in ladder language. The control target is a drive motor attached to each mobile cultivation bed, and each is independently driven and stopped. The motor control speed shall be 10 cm / s or less, and start acceleration and stop deceleration shall be provided.
As the initial position, the center spacing of the mobile cultivation beds is set to 600 mm, and a state in which five beds are lined up is set.
By driving the drive motor, the cultivation bed is moved in three stages so that the distance between the centers of the mobile cultivation bed is 600 mm, 1000 mm, and 1400 mm according to instructions such as button operation according to the growth stage.

When the distance between beds is 600 and 1000 mm, the cultivation bed is moved in conjunction with each other so as to provide a passage width when a button is pressed during work. When moving multiple beds, move them sequentially from one side. The distance between beds is measured when the power is turned on, and the operation is performed based on the distance between the measured beds and the command from the switch. When performing a work test when the bed center spacing is 600 mm or 1000 mm, the motor is controlled or instructed so that the bed center spacing is 1400 mm in the corresponding designated arbitrary bed-to-bed passage. The motor is controlled so that the distance between the passages of the portions is 800 mm. The value of the encoder attached to the drive motor is read, and the specified rotation speed is driven. When widening the space between the centers of the beds at the same time due to changes in the growth stage, move them sequentially from the cultivation bed on the back side of the house. Adopt safe operation control so that the cultivation beds do not collide. The stopping accuracy shall be about ± 5 cm.

<Details of electrical wiring>
The electrical wiring is mainly a touch panel, a limit switch, a PLC (programmable controller), an electric wire for connecting a drive motor, and a LAN cable.
It has a growing shelf, a drive motor, and a PLC (programmable controller) as a tomato dense planting mobile cultivation device. A touch panel is used for the operation unit.
A limit switch is attached to the surface of the cultivation bed (growth shelf) in the aisle direction, and wiring is performed to stop by the signal of the limit switch. An operation unit using a touch panel is provided on the control panel, and the following buttons "emergency stop", "simultaneous expansion of all beds", "simultaneous reduction of all beds", "open 2-5 beds", and "close 2-5 beds" are provided. .. Waterproof parts such as connection cords and parts that require waterproofing.
The sequencer is stored in the control panel case. Wiring that straddles the passage should be installed at a location 2 m or more overhead. When moving the mobile cultivation bed, the expansion and contraction part can be safely expanded and contracted, and the wiring structure will be such that it will not hang down. The power supply is 100V.

FIG. 21 shows the setting of the distance between the growing shelf beds of the crop cultivation apparatus in this embodiment, and is an explanatory diagram in the early stage of growth in which the distance between the beds in the initial state is 600 mm.
FIG. 22 is an interlocking operation flowchart when the position Pa2 in FIG. 21 is used as a passage.
FIG. 23 is an interlocking operation flowchart when the position Pa3 in FIG. 21 is used as a passage.
FIG. 24 is an interlocking operation flowchart when the position Pa4 in FIG. 21 is used as a passage.
FIG. 25 shows the setting of the distance between the growing shelf beds of the crop cultivation apparatus in this embodiment, and is an explanatory diagram in the middle stage of growth when the distance between the beds in the initial state is 1000 mm.
FIG. 26 shows the setting of the distance between the growing shelf beds of the crop cultivation apparatus in this embodiment, and is an explanatory diagram in the late stage of growth when the distance between the beds in the initial state is 1400 mm.
FIG. 27 is a graph showing the yield of the crop cultivation apparatus in this example.

In the figure, M1 to M5 indicate bed (growth shelf) numbers. Further, Pa1 to Pa5, Pb1 to Pb5, and Pc1 to Pc5 indicate the positions of the beds (growth shelves), and the numerical values of the respective intervals are shown.

As shown in FIG. 21, the bed spacing (passage width) between the beds M1 to M5 located at the positions Pa1 to Pa5 in the initial setting Sa1 is set to 600 mm.

In the crop cultivation apparatus, as shown in FIG. 21 as the setting Sa2, as an interlocking operation when the position Pa2 is used as a passage, as shown in the flowchart in FIG. 22, it is determined whether or not the bed M5 is in the position Pa6. If the bed M5 is not in the position Pa6, the step of moving the bed M5 to the position Pa6, and if the bed M5 is in the position Pa6 as in the setting Sa5, proceed to the next step and check whether the bed M4 is in the position Pa5. If the bed M4 is not in the position Pa5, the step of moving the bed M4 to the position Pa5, and if the bed M4 is in the position Pa5 as in the setting Sa4, the next step is performed, and the bed M3 is in the position Pa4. If the bed M3 is not in the position Pa4, the step of moving the bed M3 to the position Pa4, and if the bed M3 is in the position Pa4 as in the setting Sa3, the next step is performed to the bed. It is determined whether or not M2 is in position Pa3, and if the bed M2 is not in position Pa3, the step of moving the bed M2 to position Pa3, and if the bed M2 is in position Pa3 as in setting Sa2, the next step. Has a step to proceed to and exit.

In the crop cultivation apparatus, as shown in FIG. 21 as the setting Sa3, as an interlocking operation when the position Pa3 is used as a passage, as shown in the flowchart in FIG. 23, it is determined whether or not the bed M5 is in the position Pa6. If the bed M5 is not in the position Pa6, the step of moving the bed M5 to the position Pa6, and if the bed M5 is in the position Pa6 as in the setting Sa5, proceed to the next step and check whether the bed M4 is in the position Pa5. If the bed M4 is not in the position Pa5, the step of moving the bed M4 to the position Pa5, and if the bed M4 is in the position Pa5 as in the setting Sa4, the next step is performed, and the bed M3 is in the position Pa4. If the bed M3 is not in the position Pa4, the step of moving the bed M3 to the position Pa4, and if the bed M3 is in the position Pa4 as in the setting Sa3 or the setting Sa2, then Proceed, determine whether the bed M2 is in position Pa3, and if the bed M2 is in position Pa3 as in setting Sa2, the step of moving the bed M2 to position Pa2 and the bed M2 as in setting Sa3 If it is at position Pa2, it has a step to proceed and end.

In the crop cultivation apparatus, as shown in FIG. 21 as the setting Sa4, as an interlocking operation when the position Pa4 is used as a passage, as shown in the flowchart in FIG. 24, it is determined whether or not the bed M5 is in the position Pa6. If the bed M5 is not in the position Pa6, the step of moving the bed M5 to the position Pa6, and if the bed M5 is in the position Pa6 as in the setting Sa5, proceed to the next step and check whether the bed M4 is in the position Pa5. If the bed M4 is not at the position Pa5, the step of moving the bed M4 to the position Pa5, and if the bed M4 is at the position Pa5 as in the setting Sa4 to the setting Sa2, the process proceeds to the next step, and the bed M3 Is at position Pa4, and if bed M3 is at position Pa4, a step to move bed M3 to position Pa3, and if bed M3 is at position Pa3 as in setting Sa3 or setting Sa2. Proceeds to the next step to determine whether the bed M2 is at the position Pa3, and if the bed M2 is at the position Pa3, the step of moving the bed M2 to the position Pa2 and the step where the bed M2 is at the position Pa2 as in the setting Sa2. If you are in, you have the steps to proceed and finish.

As shown in FIGS. 25 and 26, it is possible to control the respective operations as the settings Sb1 to Sb5, Sc and the positions Pb1 to Pb5, Pb1'to Pb5', and Pc1 to Pc5.
Further, in the crop cultivation device, in each of these bed operations, the removal drive unit 85 can be removed and attached to the fixed drive unit 105A to move the corresponding bed.

Even if it is not determined whether or not there is a bed at the position to be moved next, the movement can be started at a preset position with a delay of 1 to 2 seconds in the set order, and the beds can be moved sequentially.

As shown in FIG. 27, it can be seen that the yield of the crop cultivation apparatus in this example can be increased by 1.5 times as compared with the usual cultivation method shown as a conventional bed. That is, according to the crop cultivation apparatus in this embodiment, the yield per unit area is increased by densely planting and moving tomatoes, and specifically, when the plant is small, the space between beds is small, and when the plant is large, the space between beds is small. By bringing about a change in the work system by widely changing the plant area, the planting method is denser than the normal cultivation method, the yield is increased, and the yield per unit area is 1 from 20t / 10a (R) to 30t / 10a (R). It can be seen that it can be increased by a factor of 5.

According to the tomato high-density planting and mobile cultivation by the crop cultivation apparatus of the present invention, it is possible to achieve the effects of increasing the yield, improving the workability, and improving the energy saving as compared with the conventional case.

Further, it was found that by adopting the above-mentioned structure for the driving unit in the crop cultivation device of the present invention, good running characteristics without problems such as vibration are exhibited. By the traveling rail (rail) in the crop cultivation apparatus of the present invention, the bed (growth shelf) can be stably moved and traveled safely. By configuring the control unit and the electrical wiring of the control unit in the crop cultivation device of the present invention as described above, it is possible to automatically and efficiently move and operate each bed and set the distance between beds accurately.

According to the crop cultivation apparatus of the present invention, it is possible to enable dense planting and mobile cultivation in a long bed, which has not been developed so far.

10 ... Rail 10a ... Gutter 20, 1240, 1250 ... Cart 20G ... Rack gear 21A, 21B, 21C, 21D ... Flexible caster 21L ... Left wheel 21R ... Right wheel 22 ... Moving handle 30 ... Harvesting robot 50 ... Distance control unit 85 ... External drive unit 85A ... Drive motor 85a ...
85b ... Rotary drive shaft 85c ... Increasing diameter 85d ... Positioning unit 85e ... Driving force transmission recess 85f ... Spring ball plunger 85g ... Grip 85s ... Drive switch 90 ... Detection means 100, 200, 300, 400, 500, 600, 700, 800 ... Growing shelf 100A ... 1st growing shelf group 100B ... 2nd growing shelf group 101 ... Frame 102A ... Drive shaft 102F ... Front wheel 102G ... Pinion gear 102R ... Rear wheel 103 ... 1st reinforcing rod 104 ... First 2 Reinforcing rod 105 ... Drive motor 105A ... Drive unit 105B ... Drive motor chain 105C ... Fixed drive unit 105a ... Support plate 105b ... Rotating shaft 105c ... Sprocket 105d ... Engagement hole 105e ... Drive force transmission unit 105f ... Grooves 106F, 206F ... Front distance sensor 106R, 206R ... Rear distance sensor 107, 207, 307, 407, 507, 607, 707 ... Growing pot 108 ... Communication cable 109 ... Distributor 110 ... Manual handle 110B ... Manual handle belt 111 ... Third Reinforcing rods 119, 120, 122, 123, 125 ... Nutrient solution hose 121, 124 ... Nutrient solution distribution unit 130, 230, 330, 430, 530, 630, 730 Waste liquid hose 15 OR ... Growth shelf rail 240R ... Cart rail

Claims (4)

It is a crop cultivation method in a crop cultivation device having a longitudinal direction on the left and right, and a plurality of growing shelves for cultivating crops arranged in a parallel state in the front-rear direction and configured in multiple stages.
The breeding shelf is provided with wheels for traveling and moving, a drive shaft for driving the wheels, and a drive unit for driving the drive shafts.
The drive unit includes a fixed drive unit provided on the growth shelf and
It is provided with an external drive unit that is detachable from the fixed drive unit and can drive a plurality of the breeding shelves.
By driving the drive unit, the breeding shelves are moved to position the plurality of breeding shelves, and the plurality of breeding shelves are positioned in an area where a passage is provided.
The removal drive unit is attached to the fixed drive unit provided on the growing shelf to be moved, and any one of the plurality of growing shelves is moved to position the position between any one set of the plurality of growing shelves. Make it a passage
When moving a plurality of the growing shelves, the removal driving unit is removed each time, and the removing driving unit is attached to the fixed driving unit provided on the growing shelf to be moved, and the growing shelf is moved. A crop cultivation method characterized by. The plurality of the breeding shelves arranged in the front-rear direction are defined as the first breeding shelf, the second breeding shelf, ..., The nth breeding shelf (n: integer), ...
When the positions corresponding to the width of the growing shelf in the area are defined as the first position, the second position ..., the nth position, ... In order from the front side,
It is determined whether or not the breeding shelf is present at the p-th position (p: integer), and when the breeding shelf is not present at the p-position, the breeding shelf at the (p + 1) position is moved to the p-position. , When the breeding shelf is located at the p-th position, the growing shelf is placed at the (n + 1) position while adding 1 to p in the procedure for determining whether or not the growing shelf is located at the (p + 1) position. The crop cultivation method according to claim 1, wherein a passage is provided between the nth growing shelf and the n + 1th growing shelf by repeating until the position is not present. The crop cultivation method according to claim 2, wherein it is determined whether or not the growing shelf is located at the p-position in order from p = 1. The external drive unit includes a first drive force transmission unit that transmits the drive force of the drive motor.
The fixed drive unit includes a second drive force transmission unit that fits with the first drive force transmission unit.
The crop cultivation method according to any one of claims 1 to 3, wherein the second driving force transmitting unit is provided at the tip of a rotating shaft in the fixed driving unit .

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