JP7244063B2 - Nutrient solution supply device, plant cultivation system, and nutrient solution supply program - Google Patents

Description

The present invention relates to a nutrient solution supply device, a plant cultivation system, and a nutrient solution supply program.

2. Description of the Related Art A box-shaped cultivation container for supplying a nutrient solution to the roots is known, which accommodates a plate-like support portion that supports the plant stock (leaves) upward and roots downward. In a conventional cultivation container, a pipe and a nozzle for supplying a nutrient solution are arranged inside, and the nutrient solution is sprayed from the pipe to the roots via the nozzle.
In the cultivation containers of Patent Literatures 1 and 2, nozzles are also arranged inside. In Patent Literature 1, the nutrient solution is stored in the lower part inside the cultivation container, and the nozzle sucks up the stored nutrient solution and sprays the nutrient solution toward the roots of the plant. In Patent Document 2, a nutrient solution is sprayed from a nozzle toward the roots, and the roots are shaken by the wind speed to bring the nutrient solution into contact with and absorb the entire surface of the roots.

JP 2014-212699 A JP 2012-10651 A

However, in the equipment for cultivating plants on a large scale using a large number of cultivation containers such as those disclosed in Patent Documents 1 and 2, nozzles are arranged inside the cultivation containers. Maintenance such as repair is not easy. Therefore, there is a demand for a technology that facilitates maintenance of nozzles that supply liquid for plant cultivation.

The present invention has been made in view of the above problems, and relates to a nutrient solution supply device, a plant cultivation system, and a nutrient solution supply program that are easy to maintain.

[composition]
The characteristic configuration of the nutrient solution supply device according to the present invention for achieving the above object is as follows:
at least one nozzle that can be inserted into and removed from the interior of the cultivation container through the opening of the cultivation container that accommodates at least the roots of the plant, and that sprays a nutrient solution into the interior of the cultivation container; ,
a driving unit that inserts and removes the nozzle into and out of the cultivation container through an opening of the cultivation container;
at least one moving body for moving the nozzle to the cultivation container;
It is in the point of providing

A liquid such as a nutrient solution is sprayed onto the roots accommodated in the cultivation container. Compared to the case where the roots are immersed in the nutrient solution (liquid), the ability of the roots to absorb the nutrient solution is increased, and the growth of the plant body is promoted. According to the above characteristic configuration, the nutrient solution supply device for spraying the nutrient solution into the cultivation container is provided separately from the cultivation container. When spraying the nutrient solution inside the cultivation container, the nozzle is moved to the cultivation container. Then, the nozzle of the nutrient solution supply device is inserted from the outside to the inside of the cultivation container, and the nutrient solution is sprayed inside the cultivation container. Thereby, the growth of the plant body can be promoted by spraying the nutrient solution on the roots.
In addition, since the nozzle is provided in a nutrient solution supply device separate from the cultivation container outside the cultivation container, maintenance work such as repair, inspection, and replacement of the nozzle can be performed efficiently and accurately.
As described above, according to the above characteristic configuration, while adopting the method of promoting the growth of the plant body by spraying the nutrient solution on the roots, the configuration in which the nozzle is provided outside the cultivation container is adopted to improve the efficiency of the maintenance work. can be achieved.

[composition]
The characteristic configuration of the plant cultivation system according to the present invention is
at least one nutrient supply device;
a plurality of stages on which a plurality of cultivation containers containing at least the roots of the plant body and having openings into which the nozzles are inserted and removed;
a cultivation shelf in which the plurality of stages are combined;
a cultivation room in which the plurality of cultivation shelves are arranged;
a lighting device disposed on the top of the cultivation container placed on the stage and irradiating the plant body with light;
an air conditioner that adjusts at least one of the temperature and humidity of the cultivation room;
It is in the point of providing

[composition]
A nutrient solution supply program to be executed by a system control unit of a plant cultivation system according to the present invention,
Its characteristic configuration is
The at least one nutrient solution supply device for spraying the nutrient solution to the interior of the at least one cultivation container to be sprayed is controlled according to the type of the nutrient solution, the remaining amount of the nutrient solution, and the movement distance to the cultivation container. identifying from a plurality of the nutrient solution supply devices based on at least one of
Positioning the nutrient solution supply device specified so as to correspond to the at least one cultivation container to be sprayed;
a step of inserting the nozzle of the nutrient solution supply device into the cultivation container and spraying the nutrient solution into the cultivation container;
a step of pulling out the nozzle from the cultivation container when the spraying of the nutrient solution is finished;
The point is to execute

1 is a plan view of a plant cultivation system; FIG. It is a side view of a plant cultivation system. It is a front view of a plant cultivation system. It is a perspective view of a cultivation container. It is the side view which looked at the cultivation container from the opening part side. 1 is a partial perspective view of a plant cultivation system; FIG. It is a schematic diagram which shows the positional relationship of a spraying apparatus and a cultivation container. It is a schematic diagram which shows the mode of movement of a spray part and a drive part. It is a top view of a spraying device and a cultivation container. It is a schematic diagram which shows the mode of movement of a nozzle and a support member within a cultivation container. 3 is a block diagram of a system controller; FIG. It is an example of the environmental conditions of the cultivation room in environmental condition DB. It is an example of spray conditions in the spray condition DB. It is an example of the cultivation record of the cultivation room in cultivation record DB. It is an example of the cultivation record of the cultivation container in cultivation record DB. It is an example of the growth state of the plant body in cultivation record DB. It is an example of a production plan in the production plan DB. It is an example of a production plan in the production plan DB. It is an example of information including the current position of the spray device in the spray device DB. It is an example of the flowchart which shows the flow of control processing of environmental conditions. It is an example of the flowchart which shows the flow of control processing of spray conditions. It is an example of information including the current positions of a plurality of spray devices in the spray device DB. It is an example of the flowchart which shows the flow of a process which specifies the spraying apparatus which sprays a nutrient solution to the cultivation container of spray object from multiple spraying apparatuses. It is an example of the flowchart which shows the flow of spray amount control processing. FIG. 4 is a plan view of one cultivation rack having partition walls; FIG. 3 is a side view of one cultivation shelf having partition walls; It is a top view of the spraying apparatus and cultivation container which concern on a modification. It is a top view of the spraying apparatus and cultivation container which concern on another modification. FIG. 28 is a schematic diagram showing how the support member of the spray device shown in FIG. 27 is extended; It is a schematic diagram which shows the mode of insertion/removal of the nozzle using a cylinder mechanism. It is a front view of a plant cultivation system concerning a modification. It is a partial perspective view of the plant cultivation system which concerns on a modification. It is a partial perspective view of the plant cultivation system which concerns on a modification. It is a top view of the plant cultivation system which concerns on a modification. It is a schematic diagram which shows a mode that a nozzle and a support member are inserted in a cultivation container from upper direction. FIG. 35 is a schematic diagram showing how the cultivation containers shown in FIG. 34 are stacked in the Z direction. It is a schematic diagram which shows the cultivation container comprised substantially in the shape of a triangular pyramid. It is a side view of another plant cultivation system. 1 is a side view of a plant cultivation system including a nutrient solution tank and a relay tank; FIG. FIG. 5 is a side view showing how the nozzle swings; FIG. 4 is a plan view showing how the nozzle swings; FIG. 4 is a plan view showing how the nozzle swings; It is a perspective view of a cultivation container. It is the side view which looked at the cultivation container from the opening part side.

[Embodiment]
DESCRIPTION OF THE PREFERRED EMBODIMENTS A plant cultivation system including a spray device (a nutrient solution supply device) of the present invention will be described below with reference to the drawings.

(1) Configuration of Plant Cultivation System (1-1) Overall Configuration As shown in FIGS. 1 to 3, a plant cultivation system 1 of the present embodiment is provided in a cultivation room 3 inside a building. The inside of the cultivation room 3 is controlled in terms of temperature, humidity, etc., and is substantially a closed room. In the cultivation room 3, plants 50 including leafy vegetables such as lettuce, cabbage, spinach and celery, fruit vegetables such as strawberries, tomatoes, cucumbers, pumpkins, tomatoes and eggplants, and root vegetables such as Japanese radish, turnips, carrots and burdock are grown. is cultivated. Other leaf vegetables include leaf lettuce such as frill lettuce, romaine lettuce, batavia lettuce, lorobionda, loro rossa, butterhead lettuce, or oak leaf lettuce; , Chinese cabbage mini cultivars, cruciferous leafy vegetables such as non-heading cabbage, chard (Swiss chard), spinach (mainly salad cultivars are preferred), or chrysanthemum.

In the cultivation room 3, there are a plurality of cultivation shelves 20 (20A, 20B, 20C, 20D), an introduction device 11 for introducing cultivation containers R described later into the cultivation racks 20, and cultivation containers R from the cultivation racks 20. An extracting device 13 for collecting, a nutrient solution tank 5 storing liquid such as nutrient solution and water necessary for cultivation of a plant body 50 to be described later, and an environmental condition (cultivation environment) in the cultivation chamber 3 are adjusted. For this purpose, for example, an LED 7 and an air conditioner 8 are provided. A plurality of cultivation shelves 20 are arranged side by side in the cultivation room 3 (FIGS. 1, 3, etc.). Each cultivation shelf 20 has a plurality of stages S (S1, S2, S3, S4, S5) (FIG. 2, etc.). The cultivation container R will be described later.
In addition, below, as an example of the liquid supplied to the plant body 50, the nutrient solution which can promote the growth of the plant body 50 is mentioned as an example, and is demonstrated. However, the liquid supplied to the plant body 50 may be water.

In this embodiment, the longitudinal direction of the cultivation shelf 20 is the -X and +X directions, and the lateral direction of the cultivation shelf 20 perpendicular to the longitudinal direction is the -Y and +Y directions. The vertical direction orthogonal to the horizontal plane including the -X and +X directions and the -Y and +Y directions is defined as the -Z and +Z directions. The -X and +X directions are collectively referred to as the X direction, the -Y and +Y directions are simply referred to as the Y direction, and the -Z and +Z directions are simply referred to as the Z direction.

The position of each part in the cultivation room 3 of the plant cultivation system 1 can be specified by these XYZ coordinates. The origin of the XYZ coordinates can be the point O in FIGS. 1 and 3, for example. The position of the cultivation container R within the cultivation room 3 can also be identified by the XYZ coordinates. However, in this embodiment, for the sake of simplicity, the position of the cultivation container R is represented by the shelf number of the cultivation shelf 20, the step number of the step S, and the cultivation container number from the -X direction side of the cultivation container R. .

As shown in FIG. 1, in the cultivation room 3, four cultivation racks 20 are arranged in parallel with the X direction as the longitudinal direction and spaced apart from each other in the Y direction. Therefore, between the +Y direction side of the cultivation shelf 20A and the cultivation room 3, between the cultivation shelves 20A and 20B, between the cultivation shelves 20B and 20C, between the cultivation shelves 20C and 20D, and between the -Y direction side of the cultivation shelf 20D and the cultivation A space is provided between it and the chamber 3 . As shown in FIGS. 2 and 3, each cultivation shelf 20 has five stages S1 to S5 in the Z direction. S5 are arranged in order with a space therebetween.
In this embodiment, the stages S1 to S5 have the same height in each cultivation shelf 20. As shown in FIG. For example, the height of the stage S3 of one cultivation shelf 20 and the height of the stage S3 of another cultivation shelf 20 are the same.

Each stage S has the X direction as its longitudinal direction, similar to the cultivation shelf 20 . Stages S1 to S5 are supported by vertical struts V extending in the Z direction. The vertical pillars V support both ends of each stage S in the Y direction as shown in FIG. 3, and support the stages S at predetermined intervals in the X direction as shown in FIGS.

In each stage S, a plurality of cultivation containers R1, R2, . Each stage S conveys the cultivation container R from the -X direction side to the +X direction side. On the −X direction side, which is the starting end of the stage S, a loading device 11 for loading the cultivation container R into each stage S is arranged. On the other hand, on the +X direction side, which is the terminal end of the stage S, a take-out device 13 for taking out the cultivation container R from each stage S is arranged. Therefore, new cultivation containers R are placed on each stage S one after another from the loading device 11 . As a new cultivation container R is arranged on the stage S, the cultivation container R already arranged on the stage S moves on the stage S in the +X direction. Then, the cultivation container R arranged on the final +X direction side is collected from the unloading device 13 in accordance with the introduction of a new cultivation container R. Such a stage S is composed of a conveying device such as a belt conveyer and a roller conveyer, and can convey the cultivation container R in the +X direction by rotating the belt and rollers. The cultivation container R may be transported by sliding on a transporting device such as a belt conveyor and a roller conveyor by the force of being pushed out, or may be transported by receiving power supply and rotating belts and rollers. good.

Between stages S of adjacent cultivation shelves 20, a plurality of cultivation containers R are placed at corresponding positions in the Y direction. For example, when 20 same cultivation containers R are placed on one stage S of one cultivation shelf 20 in the X direction, another cultivation shelf 20 adjacent to the one cultivation shelf 20 in the Y direction , 20 same cultivation containers R are mounted in the X direction on another stage S having the same height as the one stage S. The 20 cultivation containers R in each stage S are arranged at the same position in the X direction. It is placed facing the tenth cultivation container R from the direction side.

As shown in FIGS. 2 and 3, a plurality of LEDs 7, which are lighting devices, are provided above the cultivation containers R arranged on each stage S. As shown in FIGS. A strain 51 ( FIG. 4 ) of the plant body 50 described later can receive light from the LED 7 . The irradiation time, color, intensity, wavelength, etc. of the light from the LEDs 7 are adjusted so as to promote the growth of the plant body 50 .
In addition, the LED 7 is not limited to being arranged above the cultivation container R, and may be arranged at a position where the plant body 50 can be irradiated with light in the cultivation chamber 3 . For example, the LED 7 may be arranged at a position away from the cultivation container R so as to irradiate the plant body 50 with light.
In addition, an air conditioner 8 is provided on the take-out device 13 side of the cultivation room 3 . The air conditioner 8 is capable of adjusting temperature, humidity, air volume, etc., and supplies air of desired temperature, humidity, air volume, etc. into the cultivation room 3 . Thereby, the desired cultivation environment in the cultivation room 3 is controlled.

In the cultivation container R, a plant body 50 (FIG. 4), which will be described later, is cultivated. While the cultivation container R is being conveyed on the stage S, the cultivation conditions and the like are adjusted in the interior Rs of the cultivation container R (hereinafter also referred to as the cultivation container interior Rs), and the plant body 50 is transferred to, for example, the cultivation shelf 20. It is cultivated in a state of growth and a harvestable state, etc. from the beginning of the input. Then, the plant body 50 is finally taken out by the take-out device 13, harvested, moved to another cultivation shelf 20, and the like.

The plant cultivation system 1 of the present embodiment includes a spray device (nutrient solution supply device) 100, a moving mechanism 60 that allows the spray device 100 to travel, and a system control device 200 that controls the spray device 100 and the moving mechanism 60 (Fig. 11 etc.). The spray device 100 is a device that supplies a nutrient solution to the roots 53 of the plant body 50 by spraying into each cultivation container R ( FIG. 4 , etc.) containing the roots 53 . A space is provided between the adjacent cultivation shelves 20, and the spray device 100 can travel in the space along the X direction. Thereby, the space between adjacent cultivation shelves 20 can be effectively used as a space in which the spray device 100 runs.

The moving mechanism 60 includes a traveling rail 61 (FIGS. 6 to 8, etc.) extending in the X direction corresponding to the stage S, a mounting table 62 (FIGS. 1, 2, 8, etc.), and the mounting table 62 in the Z direction. A vertical transport unit 63 (FIGS. 2, 8, etc.) for moving the mounting table 62 along the Y direction, a width direction transport unit 64 (FIG. 1, etc.) for moving the mounting table 62 along the Y direction, and a vertical transport unit It has a power source 65 (see FIG. 2, etc.) for supplying power to a section 63, a width direction conveying section 64, and various drive sections.
A traveling carriage (not shown) is connected to the lowermost portion of the vertical transport section 63 . The traveling carriage moves as the vertical transport section 63 moves along the width direction transport section 64 .

Here, the spraying device 100 includes a spraying part 110 that sprays the nutrient solution into the cultivation container R, a tank device 120 that stores the nutrient solution, and a driving part 130 that puts the spraying part 110 into and out of the cultivation container Rs. and a moving body 140 on which the spraying section 110, the tank device 120 and the driving section 130 are placed. Such a spray device 100 travels in the X direction along the travel rail 61 between adjacent cultivation shelves 20 . Therefore, the spraying device 100 can travel in the X direction on the stages S1 to S5 between the cultivation shelves 20A and 20B and on the stages S1 to S5 between the cultivation shelves 20C and 20D.

In the spraying device 100, the spraying section 110, the tank device 120, and the drive section 130 can run separately. Therefore, the vertical transport section 63 and the width direction transport section 64 can move the spray section 110 and the tank device 120 in the Z direction and the Y direction separately from the driving section 130 and transport them to the predetermined stage S. It should be noted that the spray section 110, the tank device 120, and the drive section 130 may be integrated as described in a modified example described later.
The configuration of the spray device 100, the configuration of the moving mechanism 60, and the state of movement of the spray device 100 will be described later.

(1-2) Cultivation Container Next, the cultivation container R will be described with reference to FIGS. 4 and 5. FIG.
The cultivation container R is, for example, a rectangular parallelepiped box. However, the shape of the cultivation container R is not limited to a rectangular parallelepiped shape, and may be, for example, a spherical shape or a cylindrical shape. Moreover, from the viewpoint of uniform spraying of the nutrient solution into the cultivation container interior Rs, the shape of the cultivation container R is preferably spherical or cylindrical. The cultivation container R is composed of a lower wall 32 at the bottom in the Z direction and side walls 33 (33a to 33d) extending upward from the lower wall 32. As shown in FIG. The sidewall 33 has a pair of first sidewall 33a and third sidewall 33c facing in the Y direction, and a pair of second sidewall 33b and fourth sidewall 33d facing in the X direction.

The first side wall 33a of the cultivation container R is formed with an opening 41 penetrating through the first side wall 33a. The opening 41 is an opening through which a nozzle 115 and a support member 113, which will be described later, are inserted into the cultivation container interior Rs and pulled out from the cultivation container interior Rs, as shown in FIG. The nozzle 115 and the support member 113 are provided in the spray device 100, and the spray device 100 is driven by the drive unit 130 so that the nozzle 115 and the like are inserted into and pulled out of the cultivation container R.

The opening 41 is formed in a circular shape, for example. The cultivation container R is provided with a lid portion 43 capable of opening and closing the opening portion 41 corresponding to the opening portion 41 . The lid 43 keeps the opening 41 open until the nozzle 115 is inserted into the cultivation container R and pulled out. Conversely, when the nozzle 115 is not inserted into the cultivation container R, the lid 43 closes the opening 41 . Therefore, after the spraying of the nutrient solution from the nozzle 115 is completed and the nozzle 115 is pulled out from the cultivation container interior Rs, the cultivation container interior Rs can be maintained in a substantially closed state. As a result, fluctuations in the humidity inside the cultivation container Rs can be suppressed, and the desired humidity can be maintained. In addition, when the opening 41 of the cultivation container R is left open, the nutrient solution sprayed into the cultivation container interior Rs flows out from the opening 41, and the humidity in the cultivation container interior Rs is accelerated to decrease. put away.

In the present embodiment, the cultivation container R is arranged such that the first side wall 33a having the opening 41 faces the space formed between the adjacent cultivation shelves 20 . In the case of FIG. 4, the cultivation container R is placed on the cultivation shelf 20 so that the opening 41 faces the -Y direction.

The placement orientation of the cultivation container R in FIG. 4 is an example, and the arrangement orientation differs depending on which stage S of the cultivation shelf 20 the cultivation container R is arranged on. Therefore, unlike the arrangement in FIG. 4, the cultivation container R may be placed on the cultivation shelf 20 such that the opening 41 faces the +Y direction side, for example.

A cultivation panel 37 can be placed on the upper end of the side wall 33 (33a to 33d) of the cultivation container R. The cultivation panel 37 is a plate-like member on which the plant body 50 is placed. The cultivation panel 37 is formed with, for example, a plurality of circular support holes 39 extending through the cultivation panel 37 in plan view. The support holes 39 support the strain 51 side of the plant body 50 on the upper surface side of the cultivation panel 37 and support the roots 53 of the plant body on the lower surface side. Therefore, the strain 51 grows on the upper surface side of the cultivation panel 37 and the root 53 grows on the lower surface side of the cultivation panel 37 . For example, as shown in FIG. 4, the cultivation panel 37 has four support holes 39 in the X direction and six support holes 39 in the Y direction arranged in a matrix.
Note that, in the above description, the cultivation panel 37 is provided with a plurality of support holes 39 . However, the number of support holes 39 in the cultivation panel 37 is not particularly limited, and for example, one support hole 39 may be formed in each cultivation panel 37 . Thereby, one plant body 50 can be grown in one cultivation container R.

As shown in FIGS. 4 and 5, the cultivation panel 37 is arranged at the upper end of the cultivation container R, so that the strains 51 such as leaves, which are the upper part of the plant body 50, are positioned outside the cultivation container R. . Moreover, the root 53 which is the lower part of the plant body 50 is located in the cultivation container inside Rs. In FIGS. 6, 8, 9, etc., which will be described later, the plant body 50 arranged on the cultivation panel 37 is omitted for the sake of simplicity of explanation.

In this embodiment, the plant body 50 is directly arranged on the cultivation panel 37 , but a pot containing the plant body 50 may be arranged on the cultivation panel 37 .
In the above description, one cultivation panel 37 is placed on the upper end of one cultivation container R, as shown in FIG. However, a plurality of cultivation panels 37 may be arranged at the upper end of one cultivation container R. In this case, the plurality of cultivation panels 37 can be placed side by side on the upper end of the cultivation container R along the X direction. That is, the length of one cultivation panel 37 in the X direction is shorter than the length of the cultivation container R in the X direction. Furthermore, the cultivation container R is fixed on the step S, and the plurality of cultivation panels 37 may move along the upper end of the cultivation container R sequentially in the +X direction. However, the cultivation container R on which the plurality of cultivation panels 37 are placed may move on the stage S.

The cultivating containers R in which such cultivating panels 37 are placed are arranged along the horizontal plane of the plurality of stages S in the X direction. A plurality of cultivation shelves 20 having the plurality of stages S are arranged in the cultivation room 3 . Various methods for controlling the cultivation environment (environmental conditions) of the plant body 50 include a method for controlling environmental conditions such as air conditioning and lighting in the entire cultivation room 3, a method for controlling environmental conditions for each cultivation shelf 20, and the like. In this embodiment, as an example, the environmental conditions are controlled in the entire cultivation room 3 .

The opening 41 will be further explained. The opening 41 is formed below the central portion in the X direction and the central portion in the Z direction in the first side wall 33a. Referring to FIG. 5, the length of the first side wall 33a of the cultivation container R in the X direction is L4, and the center P of the opening 41 is located substantially at the center of the first side wall 33a in the X direction. Therefore, in the X direction, the distance between the second side wall 33b and the center P and the distance between the fourth side wall 33d and the center P are L4/2. In addition, the center P of the opening 41 is located below the center of the first side wall 33a in the Z direction. Therefore, in the Z direction, the distance L2 between the lower wall 32 and the center P is smaller than L1/2 (L2<L1/2). The radius d of the opening 41 is less than or equal to L2 (d<L2).

Thus, the opening 41 into which the nozzle 115 is inserted is provided in the center part of the cultivation container R in the X direction and the lower part in the Z direction. Therefore, the nutrient solution can be sprayed from below the roots 53 of the plant bodies 50 at the central portion in the X direction between the plurality of plant bodies 50 arranged in the cultivation container interior Rs. As a result, the nutrient solution can be sprayed approximately uniformly into the cultivation container interior Rs, and the nutrient solution can be sprayed directly toward the roots 53 that absorb the nutrient solution. Therefore, the uneven growth of the plant body 50 in the cultivation container interior Rs can be suppressed, and the growth can be promoted.

It is preferable that the radius d of the circular opening 41 is appropriately designed according to the size that allows the nozzle 115 and the support member 113 to be inserted into the cultivation container interior Rs. If the opening 41 is too large compared to the size corresponding to the nozzle 115 and the support member 113, the nutrient solution sprayed into the cultivation container interior Rs will leak out through the opening 41, and the opening will leak from the outside. Air can easily enter 41 . However, by limiting the size of the opening 41 to the extent that the nozzle 115 and the support member 113 can be inserted as described above, the leakage of the sprayed nutrient solution and the entry of air from the outside are suppressed, and the Rs inside the cultivation container is suppressed. The humidity of the nutrient solution can be maintained at a desired level.

(1-3) Moving Mechanism Next, the moving mechanism 60 will be described with reference to FIGS. 1, 2, 6 to 8, and the like. The moving mechanism 60 has the travel rail 61, the mounting table 62, the vertical transport section 63, the width direction transport section 64, and the power source 65, as described above.

(a) Power Source The power source 65 (FIG. 2, etc.) supplies power to the moving body 140 running on the running rail 61, the vertical transport section 63, the width direction transport section 64, and the like. The power source 65 can also supply power for spraying by the spraying section 110 of the spraying device 100, supplying the nutrient solution to the spraying section 110 by the tank device 120, moving the spraying section 110 by the driving section 130, and the like. good too.

(b) Travel rail As shown in FIGS. 6 to 8, the travel rail 61 has a surface Sa (FIGS. 7, 10, etc.) facing the space between the cultivation shelves 20 at each stage S. ) along the longitudinal direction of the step S. The running rail 61 is U-shaped, and the U-shaped groove opens toward the space between the cultivation racks 20 . Such a running rail 61 is provided in each stage S as shown in FIGS. 7, 8, and the like. A pair of running rails 61 adjacent in the Y direction are attached to the step S at the same height position so that the U-shaped grooves face each other. End portions of a moving body 140 of the spray device 100, which will be described later, are fitted into the grooves of the pair of running rails 61. As shown in FIG.

As shown in FIGS. 6 to 8 and 10, a running portion 142 that can run along the running rail 61 is provided at the end of the moving body 140 . The running unit 142 is, for example, a rotatable wheel or the like. A motor is arranged in the traveling portion 142, and the motor is supplied with electric power from the power source 65, and the traveling portion 142 rotates. As a result, the moving body 140 moves in the X direction along the travel rail 61 . The spray unit 110, the tank device 120, and the drive unit 130 placed on the moving body 140 can move in the X direction on each stage S and stop at a position corresponding to an arbitrary cultivation container R. Although the motor is provided in the running portion 142 here, a motor may be provided separately from the running portion 142 . The motor may be supplied with power from the power source 65 to rotate, and the rotational power may be transmitted to the traveling portion 142 to rotate the traveling portion 142 .

Different from the above, for example, the traveling rail 61 has a conveying mechanism such as a conveyor, and the conveying mechanism receives power supply from the power source 65 to move the moving body 140 fitted in the traveling rail 61 in the X direction. You can move it. In this case, the moving body 140 may not be provided with the traveling portion 142 described above.

(c) Vertical Conveying Section and Mounting Table The mounting table 62 is a table on which the spraying section 110 and the tank device 120 placed on the first moving body 141 of the spraying device 100 are placed.
As shown in FIGS. 2 and 8, the vertical conveying unit 63 is provided along the Z direction at the end of the -X direction in the cultivation chamber 3, for example. The vertical transport unit 63 receives the first moving body 141 that has traveled to the end in the −X direction on the stage S on the mounting table 62 . In addition, the spray unit 110 and the tank device 120 are placed on the first moving body 141 . The vertical transport unit 63 receives power from the power source 65 and moves the first moving body 141 mounted on the mounting table 62 along the vertical support V in the Z direction. The vertical transport unit 63 is a device that transports objects in the Z direction, and can use, for example, a stacker crane.

Different from the above, the vertical transport section 63 may be a belt conveyor attached to the vertical support V along the Z direction. In this case, the vertical conveying section 63, which is a belt conveyor, is driven by being supplied with power from the power source 65 to move the mounting table 62 in the Z direction.

(d) Width Direction Conveying Unit As shown in FIG. 1, the width direction conveying unit 64 is provided at the end in the −X direction and, for example, in the +Z direction in the cultivation chamber 3 . The width direction conveying unit 64 receives power supply from the power source 65, and moves the first moving body 141, the spraying unit 110, and the tank device 120 mounted on the mounting table 62 to one cultivation shelf 20 along the Y direction. to another cultivation shelf 20. The width direction transport unit 64 is a device that transports objects in the Y direction, and can use, for example, a stacker crane.

For example, the width direction conveying unit 64 receives the mounting table 62 conveyed to the end in the +Z direction by the vertical conveying unit 63, moves the mounting table 62 in the Y direction, and moves the mounting table 62 to a predetermined cultivation shelf 20. Position. Next, the vertical transport unit 63 receives the mounting table 62 from the width direction transporting unit 64 , moves the mounting table 62 in the Z direction, and positions the mounting table 62 on the predetermined stage S of the predetermined cultivation shelf 20 . Then, the vertical transport section 63 transfers the first moving body 141 , the spray section 110 and the tank device 120 from the mounting table 62 to the running rail 61 .

Alternatively, the width direction transport section 64 may be a belt conveyor attached along a rung (not shown) extending in the Y direction. In this case, the width direction conveying section 64, which is a belt conveyor, is driven by being supplied with power from the power source 65, and moves the mounting table 62 in the Y direction.

(1-4) Spraying Device The spraying device 100 has a spraying section 110 , a tank device 120 , a driving section 130 and a moving body 140 . Each part of the spray device 100 will be described with reference to FIGS. 6 to 10 and the like.

(a) Moving Body The moving body 140 is, for example, a plate-like member on which the spray device 100 is placed. Both ends of the moving body 140 facing the adjacent step S are slidably fitted into grooves of the running rail 61 . As shown in FIGS. 6 to 8 and 10, the above-described running portions 142 are provided at both ends in the Y direction of the moving body 140 fitted in the grooves of the running rails 61 . As described above, the traveling part 142 is rotatable by being supplied with electric power from the power source 65, whereby the moving body 140 moves in the X direction along the traveling rail 61 and stops at an arbitrary cultivation container R position. It is possible.
The moving body 140 has a first moving body 141 and a second moving body 143 . The first moving body 141 and the second moving body 143 are separable and can run on the running rail 61 independently. The spray part 110 and the tank device 120 are placed on the first moving body 141 . A drive unit 130 that moves the spray unit 110 is mounted on the second moving body 143 .

(b) Spraying Part, Tank Device The spraying part 110 is a device for spraying a nutrient solution into the cultivation container interior Rs. In this embodiment, as shown in FIGS. 6 to 10 and the like, the spray device 100 can spray the nutrient solution to both cultivation containers R arranged in adjacent stages S and opposed to each other. That is, the spraying device 100 includes a first spraying part 110a that sprays a nutrient solution onto the cultivation container R arranged on the stage S on the +Y direction side, and a −Y direction side that faces the cultivation container R with the spraying device 100 interposed therebetween. and a second spraying part 110b for spraying a nutrient solution to the cultivation container R arranged in the stage S of the second spraying part 110b. The first and second spraying units 110a and 110b spray the nutrient solution onto the corresponding cultivation container R, and have the same configuration except that each component is symmetrical with respect to the X direction. . Therefore, the first spray section 110a will be described below, and the second spray section 110b will be omitted or briefly described.

The suffix "a" is added to the code number of each component of the first spraying unit 110a, and the same component of the second spraying unit 110b as the first spraying unit 110a has the same code number with the suffix "a". "b" is attached. In addition, the first and second spraying units 110a and 110b may be collectively referred to as the spraying unit 110, and the same applies to other components.

The first spraying part 110a includes a first nozzle 115a for spraying a nutrient solution, a long first support member 113a for supporting the first nozzle 115a, and a first support member 113a inserted into the cultivation container R and It has a first support body 111a for pulling out (inserting and removing).

The first support member 113a is elongated and formed of a hollow cylindrical member (long member), and is connected to the tank device 120 in which the nutrient solution is stored. The tank device 120 has a tank body 121 that stores the nutrient solution to be supplied to the first spraying section 110a and the second spraying section 110b. The tank body 121 is supplied with the nutrient solution through the main hose 5a from the nutrient solution tank 5 having a larger capacity than the tank body 121, and temporarily receives the nutrient solution sprayed from the first and second spraying portions 110a and 110b. are stored. The first support member 113a is connected to a first hose 123a of the tank device 120, and is supplied with the nutrient solution from the tank body 121 via the first hose 123a. The end of the first support member 113a on the +Y direction side is closed, and the nutrient solution supplied from the tank body 121 through the first hose 123a goes to the hollow portion of the first support member 113a. across.

The first nozzle 115a is attached to the +Z direction side at the +Y direction end, which is the tip of the first support member 113a in the insertion direction. Since the first nozzle 115a is provided at the tip of the first support member 113a in the insertion direction, the distance between the cultivation container R and the first nozzle 115a is short, and the first nozzle 115a can be easily inserted into the cultivation container R. It is possible.
Further, when the first nozzle 115a is inserted into the cultivation container R, the tip side of the first support member 113a in the insertion direction moves in the cultivation container interior Rs from the insertion side to the back side. Therefore, in the cultivation container interior Rs, the nutrient solution can be sprayed from the first nozzle 115a at any point in the process of moving the first nozzle 115a in the insertion direction. Furthermore, by spraying the nutrient solution from the first nozzle 115a over the entire process of movement in the insertion direction, the nutrient solution can be sprayed more uniformly over the entire cultivation container interior Rs.

Similarly, the first nozzle 115a provided on the front end side of the first support member 113a in the insertion direction is moved in the backward direction, which is the direction from the deep side of the cultivation container interior Rs to the insertion side. Therefore, the nutrient solution can be more uniformly sprayed from the first nozzle 115a at any point in the backward direction. Furthermore, by spraying the nutrient solution from the first nozzle 115a over the entire process of movement in the retreating direction, the nutrient solution can be sprayed more uniformly over the entire interior Rs of the cultivation container.

The first nozzle 115a has a hollow portion inside, and a plurality of first holes 116a communicating with the hollow portion are formed on the surface. The plurality of first holes 116a are arranged to face upward in the +Z direction. The hollow portion of the first nozzle 115a communicates with the hollow portion of the first support member 113a, and the nutrient solution from the tank device 120 is supplied to the hollow portion of the first nozzle 115a at a predetermined pressure. Therefore, the nutrient solution to which a predetermined pressure is applied is sprayed in the +Z direction from the plurality of first holes 116a of the first nozzle 115a. In the present embodiment, the spray range of the nutrient solution from the plurality of first holes 116a is set to, for example, approximately ±90° with respect to the Z direction.

A first support member 113a having a first nozzle 115a at its tip is supported by the first support body 111a. The first support main body 111a has a first handle portion 117a on the side facing the driving portion 130 . The first support body 111a is gripped by the first handle portion 117a by the driving portion 130, which will be described later, and is moved in the direction toward and away from the cultivation container R, that is, in the Y direction. As a result, the first support member 113a supported by the first support body 111a and the first nozzle 115a provided at the tip thereof are inserted into the cultivation container interior Rs and pulled out from the cultivation container interior Rs. .

The length of the support member 113 will be explained using FIG. The support member 113 has a length Lb (first length) in the Y direction from the opening 41 on the insertion side of the nozzle 115 in the cultivation container R to the inner side. The length Lb is approximately the same as or slightly smaller than the length La of the cultivation container R in the Y direction. When the support member 113 is inserted into the cultivation container R by the length Lb, the tip of the support member 113 reaches the vicinity of the terminal end of the cultivation container R in the Y direction. As described above, since the support member 113 has a length Lb that allows it to reach the innermost side of the cultivation container R in advance, the drive unit 130 pushes the support member 113 into the cultivation container R, thereby moving the nozzle 115 to the cultivation container R. can be inserted all the way to the back of the As a result, the nutrient solution can be sprayed from the insertion side of the cultivation container R to the back side, and the nutrient solution can be uniformly sprayed into the cultivation container interior Rs.

The spray section 110 and the tank device 120 are placed on the first moving body 141 . Therefore, when the first moving body 141 moves in the X direction, the spray section 110 and the tank device 120 also move in the X direction. Therefore, the spray part 110 and the tank device 120 can be stopped at any position of the cultivation container R aligned in the X direction.

Note that the tank device 120 may be fixed to the first moving body 141 . The spray unit 110 in this embodiment is attached to the first moving body 141 so as to be movable toward and away from the cultivation container R by the drive unit 130 described later. For example, the spray unit 110 may be simply placed on the first moving body 141 without being fixed to it. In addition, a part of the support body 111 is movable according to the nozzle 115 and the support member 113 being inserted into the cultivation container interior Rs and pulled out from the cultivation container interior Rs, and the rest of the support body 111 is the first movement. It may be fixed to the body 141 .

Since the spraying device 100 includes the tank device 120 that stores the nutrient solution, means for supplying the nutrient solution to the nozzle 115 can be incorporated into the spraying device 100 . Therefore, compared with the case where means for supplying the nutrient solution to the nozzle 115 is provided separately, the spray device 100 can be made compact and can be improved in portability.

(c) Driving Unit The driving unit 130 clamps the handle portion 117 of the support body 111 and moves the support body 111 toward and away from the cultivation container R, that is, in the Y direction. The drive unit 130 has a first drive unit 130a that drives the first spray unit 110a and a second drive unit 130b that drives the second spray unit 110b. The first and second driving units 130a and 130b have the same structure except that each component is symmetrical with respect to the X direction. Therefore, the first driving section 130a will be described below, and the second driving section 130b will be omitted or briefly described.
The suffix “a” is added to the reference numerals of the components of the first driving section 130a, and the same reference numerals and suffixes are added to the components of the second driving section 130b that are the same as those of the first driving section 130a. "b" is attached. Further, the first and second drive units 130a and 130b may be collectively referred to as the drive unit 130, and the same applies to other components.

The first drive unit 130a is a so-called robot arm, and swings in the Y direction to move the first support body 111a in the Y direction. The first driving portion 130a has a first fixing portion 131a, a first rear arm 134a, a first connecting portion 135a, a first front arm 133a, and a first holding portion 137a. The first fixing portion 131 a is a swinging fulcrum of the first driving portion 130 a and is fixed at a predetermined position of the second moving body 143 . The first rear arm 134a is a long member connected to the first fixing portion 131a, and is connected so as to be able to swing in the Z direction and the Y direction. The first forearm 133a is an elongated member. The first connecting portion 135a connects the first front arm 133a and the first rear arm 134a so that they can swing independently in the Z direction and the Y direction. The first clamping portion 137a is composed of a bifurcated member so as to be able to clamp the first handle portion 117a.

At the initial position, as shown in FIG. 6 and the like, the first front arm 133a and the first rear arm 134a are bent in an inverted V shape with the first connecting portion 135a as the apex so as to be inclined in the -Z direction. . As shown in FIG. 9 and the like, when the first front arm 133a and the first rear arm 134a swing from the initial position in the +Y direction or the −Y direction, they are bent in the Z direction so as to follow the horizontal plane. Extend.

The first clamping portion 137a clamps the first handle portion 117a by changing the bifurcated member from an open state to a closed state. The first driving portion 130a is configured to move the first front arm 133a and the first rear arm while using the first fixing portion 131a as a fulcrum in a state in which the first holding portion 137a holds the first handle portion 117a of the first support body 111a. 134a swings in the Z direction and the Y direction through the first connecting portion 135a, thereby moving the first support body 111a in the Y direction.
On the other hand, the first holding portion 137a opens the first handle portion 117a by opening the bifurcated member.
Such a driving part 130 is mounted on the second moving body 143 .

(1-5) Overview of Movement of Spray Device and Spray Next, an overview of movement of the spray device 100 and spray of the nutrient solution will be described. The movement of the spray device 100 and the spraying of the nutrient solution are controlled by a system control device 200, which will be described later.

A plurality of cultivation containers R are arranged on each of the plurality of stages S of the plurality of cultivation shelves 20 . The spray device 100 controls the stage S (any of the stages S1 to S5) of the cultivation shelf 20 (any of the cultivation shelves 20A to 20D) on which the cultivation container R is placed according to the control of the system control device 200. to the position where the cultivation container R to be sprayed with the nutrient solution is placed. In this embodiment, the spray device 100 moves to a place where two cultivation containers R arranged at the same position facing each other in the Y direction are placed.

In this case, in this embodiment, as shown in FIG. 8, the drive unit 130 is placed on the second moving body 143 and is retracted to the retracted position adjacent to the takeout device 13 on the +X direction side. . In the retracted position, the holding portion 137 of the driving portion 130 faces the −X direction with respect to the fixing portion 131 . In this embodiment, for example, a plurality of drive units 130 are arranged at the retracted positions of the stages S, respectively.
However, as will be described later, only one driving unit 130 may be provided. In this case, the drive unit 130 may be mounted on the moving body 140 and moved to a predetermined cultivation container R position together with the spray unit 110 and the tank device 120 . Alternatively, the second moving body 143 on which the driving section 130 is mounted and the first moving body 141 on which the spraying section 110 and the tank device 120 are mounted may be separately moved to the position of the predetermined cultivation container R. good.

Further, the first moving body 141 on which the spraying part 110 and the tank device 120 are mounted is mounted on the mounting table 62 (FIG. 8, etc.). Then, as shown in FIGS. 1, 8, etc., the mounting table 62 is moved in the Y direction by the width direction conveying unit 64, so that the mounting table moves to the position of the cultivation shelf 20 on which the predetermined cultivation container R is placed. 62 is moved. Next, as shown in FIG. 2, FIG. 8, etc., the mounting table 62 is moved in the Z direction by the vertical transport unit 63, and is moved to the position of the stage S where the predetermined cultivation container R is mounted. be.

Next, the first moving body 141 on which the spraying section 110 and the tank device 120 are mounted moves from the mounting table 62 to the running rail 61 of the stage S as shown in FIGS. 6 to 9 and the like. The first moving body 141 moves in the X direction along the grooves of the pair of running rails 61 . The first moving bodies 141 move to positions of predetermined cultivation containers R facing each other in the Y direction and stop. Further, the drive unit 130 retracted to the retracted position of the step S on which the predetermined cultivation container R is placed moves to the position of the predetermined cultivation container R. As a result, as shown in FIGS. 7, 9, etc., the spraying device 100 including the spraying unit 110, the tank device 120, the driving unit 130, and the moving body 140 is positioned at the predetermined cultivation container R facing each other in the Y direction. Positioned in

The spray device 100 sprays the nutrient solution into the predetermined cultivation container interiors Rs facing each other in the Y direction in accordance with a spray command from a system control unit 210 (part of the system control device 200), which will be described later. In addition to the shelf number of the cultivation shelf 20 on which the cultivation container R is placed, the step number of the stage S, and the cultivation container number of the cultivation container R, the spraying command includes the spray amount of the nutrient solution and the type of the nutrient solution. It contains information such as the specified nutrient solution type and set humidity.

Specifically, as shown in FIG. 9 and the like, the first clamping portion 137a of the first drive portion 130a clamps the first handle portion 117a of the first support body 111a. At this time, as shown in FIG. 6, the first front arm 133a and the first rear arm 134a of the first driving portion 130a are bent in an inverted V shape from the first connecting portion 135a as described above.

Next, with the first fixing portion 131a as a fulcrum, the first front arm 133a and the first rear arm 134a gradually swing in the −Z direction and the +Y direction through the first connecting portion 135a, thereby 1 support body 111a gradually moves in the +Y direction. At this time, the first front arm 133a and the first rear arm 134a gradually swing in the +Y direction and also swing in the -Z direction. The V-shaped angle gradually widens along the plane of the moving body 140 . As a result, as shown in FIGS. 9 and 10, the first nozzle 115a and the first support member 113a extend from the opening 41 of the cultivation container R on the +Y direction side toward the inner side (insertion direction). Gradually inserted into Rs. When the first nozzle 115a begins to be inserted into the cultivation container R, the first nozzle 115a sprays the nutrient solution into the cultivation container interior Rs. The first nozzle 115a continues to spray the nutrient solution until the first nozzle 115a reaches the rear side of the cultivation container R in the +Y direction.

As shown in FIG. 10, the nutrient solution is sprayed upward from the first nozzle 115a, and the inside Rs of the cultivation container is filled with the misty nutrient solution at a predetermined humidity. By spraying the nutrient solution upward from the first nozzle 115a, the root 53 of the plant body 50 may be directly sprayed with the nutrient solution. The spray intensity and the height of the cultivation panel 37 in the cultivation container interior Rs can be appropriately adjusted so that the roots 53 are positioned within the spray range of the nutrient solution from the first nozzle 115a. After the direct supply of the nutrient solution is stopped, the roots 53 to which the nutrient solution is directly supplied try to further absorb the nutrient solution sprayed and floating in the cultivation container interior Rs, and the absorption capacity increases. Therefore, the growth of the plant body 50 is further promoted.

When the first nozzle 115a reaches the deep side of the cultivation container R, next, the first front arm 133a and the first rear arm 134a move in the +Z direction through the first connecting portion 135a while the first fixing portion 131a serves as a fulcrum. And it gradually swings in the -Y direction and returns to its original state. Therefore, the first support body 111a gradually moves in the -Y direction. As a result, as shown in FIGS. 9 and 10, the first nozzle 115a and the first support member 113a gradually move from the interior Rs of the cultivation container R toward the opening 41 (backward direction) from the rear side of the cultivation container R. move in the direction of extraction. The first nozzle 115 a continues to spray the nutrient solution from the rear side of the cultivation container R in the +Y direction to the vicinity of the opening 41 .

As described above, the first nozzle 115a moves in either the insertion direction from the opening 41 of the cultivation container R to the back side or the backward direction from the back side of the cultivation container R to the opening 41. Also, by spraying the nutrient solution to the cultivation container R from the first nozzle 115a, the nutrient solution can be sprayed more uniformly over the entire cultivation container interior Rs.

As the first drive portion 130a finally returns to its original position, the first support body 111a returns to its initial position before movement. After that, the first holding portion 137a of the first drive portion 130a releases the first handle portion 117a of the first support body 111a.

Although the operation is symmetrical with respect to the X direction, the second driving section 130b performs the same operation as the first driving section 130a at the same timing. The second nozzle 115b and the second support member 113b are gradually inserted into the cultivation container R from the opening 41 of the cultivation container R on the -Y direction side toward the inner side (insertion direction). And the 2nd nozzle 115b sprays a nutrient solution to the depth|inner side after being inserted in the cultivation container inside Rs.
Conversely, the second nozzle 115b and the second support member 113b move from the innermost side of the cultivation container R toward the opening 41 (backward direction) in a direction gradually pulled out from the cultivation container interior Rs. The second nozzle 115b continues to spray the nutrient solution from the deep side of the cultivation container R in the −Y direction to the vicinity of the opening 41. FIG. Finally, the second support body 111b returns to the initial position before movement, and the second handle portion 117b is released.
When the support body 111 returns to the initial position, the driving section 130 returns to the retracted position.

(2) Control of Plant Cultivation System Next, the control process of the environmental condition of the cultivation container R in the plant cultivation system 1 and the control process of the spray condition by the spray device 100 will be described. These controls are performed by the system control device 200 ( FIG. 11 ) of the plant cultivation system 1 .

In this embodiment, the system control device 200 is included in the plant cultivation system 1 and provided separately from the spray device 100 . Therefore, the system control device 200 is provided, for example, in a central monitoring room that controls the plant cultivation system 1 . Moreover, the system control device 200 may be provided in a remote control device or the like that remotely controls the plant cultivation system 1 . The spray device 100 has a separate device control section 300 ( FIG. 11 ) that decodes and executes control from the system control section 210 of the system control device 200 .

(2-1) System Control Device As shown in FIG. 11, the system control device 200 includes a system control section 210 that controls the environmental conditions of the cultivation container R and the spray conditions of the spray device 100. . The system control device 200 also includes an environmental condition DB 221, a spray condition DB 223, a cultivation record DB 240, a production plan DB 250, and a spray device DB 260 that store information for performing these controls.
Of the system control device 200, at least one of the system control unit 210, the environmental condition DB 221, the spray condition DB 223, the cultivation record DB 240, the production plan DB 250, and the spray device DB 260 may be provided as functional units within the spray device 100. good. Alternatively, any of these may be provided in a command room or the like that controls the plant cultivation system 1 .

(a) Environmental condition database
As shown in FIG. 12, the environmental condition DB 221 stores environmental conditions for setting the cultivation room 3 to a desired cultivation environment.
As shown in FIG. 12, the environmental conditions DB 221 stores temperature, humidity, CO ₂ concentration, pH value, EC value (electrical conductivity), and amount of light (photosynthetic photon flux density (PPFD: Photosynthetic Photon Flux Density)), wavelength of light, and air volume are set in one record. Desired light quantity and wavelength can be adjusted by controlling ON/OFF and color of the LED 7 . Also, the temperature, humidity, CO ₂ concentration, pH value, EC value, air volume, etc. can be adjusted by the air conditioner 8 .

In FIG. 12, temperature, humidity, CO ₂ concentration, pH value, EC value, light intensity, light wavelength and air volume are listed as environmental conditions. The environmental conditions need not be all of these, and may be, for example, at least one. Also, the environmental conditions are not limited to this, and may include other conditions such as dissolved oxygen concentration.
In addition, in FIG. 12, the cultivation room 3 is controlled under predetermined environmental conditions regardless of time. However, environmental conditions may change over time. For example, the environmental conditions may be changed over time according to the growth of the plant body 50 within the cultivation room 3 .

(b) Spray condition DB
As shown in FIG. 13, the spray condition DB 223 stores the date and time of controlling the spray condition, the shelf number and the stage number for specifying the position of the cultivation container R for the cultivation container R to be sprayed to control the spray condition. Also, the cultivation container number, the spray amount of the nutrient solution, the nutrient solution type specifying the type of the nutrient solution, and the set humidity to be maintained are set in one record. In this embodiment, the nutrient solution is sprayed onto two cultivation containers R arranged at the same position facing each other in the Y direction. Therefore, in the spraying condition DB 223, two cultivation containers R with the same stage number and the same cultivation container number on the adjacent cultivation shelves 20 are sprayed at the same time.

By setting spraying conditions such as the supply amount and supply date and time of the nutrient solution for each of the plurality of cultivation containers R as described above, the inside Rs of each cultivation container can be maintained under appropriate cultivation conditions. In particular, the type of nutrient solution, supply amount, supply date and time, etc. may differ depending on the growth state of the plant 50, and an appropriate amount of nutrient solution according to the growth state can be supplied to the plant 50 at an appropriate time. The growth of the plant body 50 can be promoted.

It should be noted that the cultivation container R moves in the +X direction with the lapse of time in the stage S and is taken out from the cultivation room 3 by the take-out device 13 . In the spraying condition DB 223, the spraying conditions for the cultivation container R specified by each shelf number, stage number, and cultivation container number are set in consideration of movement of each cultivation container R in the +X direction.
Also, the plant body 50 housed in the cultivation container R is harvested at a predetermined date and time as shown in the production plan of FIG. 17A. Therefore, it is not necessary to spray the nutrient solution on the cultivation container R in which the plant body 50 to be harvested is accommodated. Therefore, in the spray condition DB 223, the cultivation container R is excluded from spray targets.
Further, here, it is assumed that the duration of spraying of the nutrient solution, the spraying intensity, and the like are constant for each cultivation container R. As shown in FIG. However, in the spraying condition DB 223, the duration of spraying of the nutrient solution, the spraying intensity, and the like may be set for each cultivation container R.

(c) Cultivation record DB
The cultivation record DB 240 includes a thermometer 231, a hygrometer 232, a CO ₂ sensor 233, a pH sensor 234, an EC meter 235 for measuring electrical conductivity, a light detection sensor 236 for detecting light amount and wavelength, and an air flow sensor, which are shown in FIG. The conditions of the cultivation room 3 and the cultivation container interior Rs obtained from the measuring device 230 such as 237, the growth condition of the plant body 50, and the like are recorded as cultivation records.
As shown in FIG. 14, in the cultivation record DB 240, each item of the environmental conditions described above is recorded in one record for each date and time when the cultivation record of the cultivation room 3 is obtained.
Further, as shown in FIG. 15, the cultivation record DB 240 stores, for each cultivation container R, a shelf number, a stage number, a cultivation container number for specifying the position of the cultivation container R, date and time, temperature, humidity, Cultivation records including _CO2 concentration, pH value and EC value are recorded in one record.

In addition, as shown in FIG. 16, the cultivation record DB 240 stores, for each cultivation container R, a shelf number, a stage number, a cultivation container number for specifying the position of the cultivation container R, the date and time, and the plant body 50. The total length, the diameter and length of the leaf 51, the length and color of the root 53, and the current weight of the plant 50 are recorded in one record. These growth states (the overall length of the plant 50, the diameter and length of the leaves 51, the length and color of the roots 53, etc.) are determined based on an image of the plant 50 captured by an imaging camera or the like. is obtained.

(d) Production plan DB
The production plan DB 250 stores a production plan for cultivating and harvesting the plant body 50 in the cultivation room 3 .
As shown in FIG. 17A , the production plan DB 250 stores, for each cultivation container R, a shelf number, a stage number, a cultivation container number for specifying the position of the cultivation container R, a variety of the plant body 50, and a cultivation panel 37. The date and time when the plant body 50 is put into the cultivation chamber 3, the date and time when the plant body 50 is harvested, the planned weight of the plant body 50 at the time of harvesting, and the like are stored. In addition, as shown in FIG. 17B, the production plan DB 250 stores the planned total harvest amount for each variety.
(e) Atomizer DB
Information including the current position of the spraying device 100 in the cultivation room 3 is stored in the spraying device DB 260 . For example, when the spray device 100 driven in the plant cultivation system 1 is device A, as shown in FIG. 18, the current position of device A is specified by XYZ coordinates (XA, YA, ZA) and stored. . The current position of the spraying device 100 is detected at any time by position detection means (not shown) or the like, and is updated at any time as the spraying device 100 moves.
In the spraying device DB 260, as the spraying history of the spraying device 100, which is device A, there are information such as the date and time when the nutrient solution was sprayed, the type of nutrient solution sprayed, the remaining amount of the nutrient solution, and information specifying the cultivation container R to be sprayed. may be stored.

(2-2) Control Flow Next, the control flow in the system control unit 210 will be described. As shown in FIG. 11 , the system control unit 210 controls the environment control unit 211 that controls the environmental conditions of each of the plurality of cultivation containers R, and the control processing of the conditions for spraying the nutrient solution to each of the plurality of cultivation containers R. and a spray control unit 213 to perform.

(a) Environmental Condition Control Processing First, the flow of environmental condition control processing will be described with reference to FIG.
Step S1: The environment control unit 211 refers to the environmental condition DB 221 of FIG. Control conditions.
Step S2: The environment control unit 211 compares the environmental conditions set in FIG. 12 with the cultivation record of the cultivation room 3 detected in FIG. When the cultivation record deviates from the environmental conditions, the environment control unit 211 controls the LEDs 7, the air conditioner 8, etc. so as to match the environmental conditions. When the environmental control unit 211 determines that the control of the environmental conditions is finished (Yes in step S2), the environmental condition control processing is finished. Otherwise (No in step S<b>2 ), the environment control unit 211 continues the process of controlling the environmental conditions of the cultivation room 3 .

Further, the environment control unit 211 may refer to the growth state of the plant body 50 in FIG. 16 and control the LED 7 and the air conditioner 8 to promote the growth, thereby controlling the temperature of the cultivation chamber 3 and the like. Moreover, the environment control part 211 may control the temperature etc. of the cultivation room 3 so that the production plan of FIG. 17A and FIG. 17B may be adapted.
In this way, the environment control unit 211 determines at any time whether the cultivation records recorded in the cultivation record DB 240 and the environmental conditions in the environmental condition DB 221 are different, and controls the environmental conditions, can be maintained at set environmental conditions. As a result, efficiency of cultivation of the plant body 50 in the plant cultivation system 1 can be achieved.

(b) Spray Condition Control Processing Next, the flow of the spray condition control processing will be described with reference to FIG.
Step S21: The spray control unit 213 controls the spray device 100 to move to the position where the cultivation container R to be sprayed with the nutrient solution is placed (positioning control).
Specifically, the spray control unit 213 refers to the spray condition DB 223 of FIG. 13 and acquires the shelf number, stage number, and cultivation container number of the cultivation container R to be sprayed. Here, as described above, two cultivation containers R facing each other on adjacent cultivation shelves 20 are set as spray targets. Therefore, the spray control unit 213 acquires, for example, the shelf numbers 20A and 20B, the stage number S1, and the cultivation container number R1. In this case, the two cultivation containers R with the stage number S1 and the cultivation container number R1 placed on the adjacent cultivation shelf 20A and the cultivation shelf 20B and opposed to each other in the Y direction are the spray targets.

The spray control unit 213 acquires the current position of the spray device 100 from the spray device DB, and moves the spray device 100 from the current position to the cultivation container R to be sprayed with the nutrient solution. In this case, the spray control unit 213 controls the vertical transport unit 63, the width direction transport unit 64, and the first moving body 141 based on the current position of the spray device 100 and the position of the cultivation container R to be sprayed. The device 100 is moved to the cultivation container R to be sprayed.

Movement of the spray device 100 is performed as follows. The spray control unit 213 places the first moving body 141 on which the spray unit 110 and the tank device 120 are mounted on the mounting table 62 (FIG. 8, etc.). For example, the spray control unit 213 drives the width direction conveying unit 64 to move the mounting table 62 in the Y direction, and moves the mounting table 62 to a position corresponding to the shelf number read from the spray condition DB 223 . For example, when the shelf numbers are 20A and 20B, the spray control unit 213 moves the mounting table 62 between the cultivation shelf 20A and the cultivation shelf 20B.

Next, the spray control unit 213, for example, drives the vertical transport unit 63 to move the mounting table 62 in the Z direction, and moves the mounting table 62 to a position corresponding to the stage number read from the spray condition DB 223. . For example, when the stage number is S1, the spray control unit 213 moves the mounting table 62 to stage S1.

Further, the spray control unit 213 moves the first moving body 141 from the mounting table 62 to the running rail 61 of the predetermined stage S. Then, the spray control unit 213 moves the first moving body 141 along the groove of the running rail 61 in the X direction to move the first moving body 141 to the position corresponding to the read cultivation container number. For example, when the cultivation container number is R1, the spray control unit 213 moves the first moving body 141 to a position corresponding to the first cultivation container R1 from the -X direction side. Thereby, the first moving body 141 on which the spraying unit 110 and the tank device 120 are placed can be associated with the position on which the cultivation container R to be sprayed is placed.

In this embodiment, as shown in FIGS. 2 and 8, the drive unit 130 is placed on the second moving body 143 and is retracted to the retracted position adjacent to the take-out device 13 on the +X direction side. . Therefore, when the spray control unit 213 acquires the shelf number, the stage number, and the cultivation container number of the cultivation container R to be sprayed, the drive unit 130 is placed at a position corresponding to the shelf number and the stage number. Then, the second moving body 143 is moved to the position where the cultivation container R to be sprayed is placed. For example, when the shelf numbers are 20A and 20B, the stage number is S1, and the cultivation container number is R1, the spray control unit 213 is located between the cultivation shelves 20A and 20B, and is retracted corresponding to the stage S1. The second moving body 143 on which the drive unit 130 is mounted is moved along the X direction to the position of the cultivation container R1.
By these operations, the spray control unit 213 moves the first moving body 141 on which the spray unit 110 and the tank device 120 are placed and the second moving body 141 on which the driving unit 130 is placed at the position of the cultivation container R to be sprayed. A moving body 143 can be positioned.

Step S12: The spray control unit 213 operates the spray unit 110, the tank device 120, and the drive unit 130 to spray the nutrient solution into the two cultivation container interiors Rs that are spray targets and are opposed to each other (insertion/removal control, supply amount control , supply date and time control, liquid (nutrient solution) type control).
Specifically, as shown in FIG. 9, the spray control section 213 causes the holding section 137 of the driving section 130 to hold the handle section 117 of the support body 111 . Next, the spray control unit 213 gradually swings the front arm 133 and the rear arm 134 to gradually move the support body 111 toward the cultivation container R to be sprayed. As a result, as shown in FIGS. 9 and 10, the nozzles 115 and the support members 113 are gradually inserted into the two cultivation container interiors Rs from the openings 41 of the two cultivation containers R toward the inner side (insertion direction). inserted. The spray control unit 213 sprays the nutrient solution from the nozzle 115 while the nozzle 115 is inserted into the two cultivation container interiors Rs.

When the nozzle 115 reaches the inner side of the two cultivation containers R, the spray control unit 213 gradually moves the front arm 133 and the rear arm 134 to move the support body 111 away from the two cultivation containers R to be sprayed. move gradually. As a result, the nozzles 115 and the support members 113 are moved from the inner side of the two cultivation containers R toward the opening 41 (backward direction), and are gradually pulled out from the cultivation container interior Rs. The spray control unit 213 causes the nozzles 115 to spray the nutrient solution from the inner side of the two cultivation containers R to the vicinity of the openings 41 .

The spray control unit 213 stops spraying the nutrient solution from the nozzle 115 when the nozzle 115 reaches the opening 41 . Then, the spray control unit 213 controls the drive unit 130 to pull out the nozzles 115 from the two cultivation container interiors Rs. In addition, the spray control unit 213 releases the clamping of the grip portion 117 by the clamping portion 137 .
After that, the spray control unit 213 returns the driving unit 130 to the retracted position.

Step S13: The spray control unit 213 refers to the spray condition DB 223, and if there is a cultivation container R to be sprayed next (Yes in step S13), returns the process to step S11. If there is no cultivation container R to be sprayed next (No in step S13), the spray control unit 213 advances the process to step S14.

Step S14: The spray control unit 213 compares the current actual humidity of one cultivation container R recorded in the cultivation record DB 240 of FIG. 15 with the current set humidity of the cultivation container R set in FIG. compare. Then, when the actual humidity at this time is less than the set humidity (No in step S14), the spray control unit 213 controls the spray device 100 to spray the nutrient solution again into the cultivation container interior Rs. On the other hand, if the current actual humidity meets the set humidity (Yes in step S14), the spray control unit 213 terminates the process.

For example, referring to FIG. 15, the current time is 2019/1/10 12:45, the shelf number is 20A, the stage number is S1, and the cultivation container number is R1. 70%. On the other hand, referring to FIG. 13, in the cultivation container R1 (the shelf numbers are 20A and 20B, the stage number is S1, and the cultivation container number is R1), the time is 12:00 on January 10, 2019 and the set humidity is 90%. is. Therefore, the spray control unit 213 determines that the actual humidity of 70% at the present time after the time of spraying is much lower than the set humidity of 90% at the time of spraying. Therefore, the spray control unit 213 controls the spray device 100 to spray the nutrient solution into the cultivation container R1 to bring the set humidity closer to 90%.
Here, the spray control unit 213 holds a value such as 15% as the threshold for replenishing the spray of the nutrient solution as described above, that is, as the threshold for the difference between the set humidity and the actual humidity at the present time. shall be
Note that in FIG. 20, steps S13 and S14 may be performed in any order.

In step S14, the spray device 100 is controlled based on whether the current humidity inside Rs of the cultivation container satisfies the set humidity. However, control of the spraying device 100 is not limited to this, and the amount of nutrient solution sprayed to a desired cultivation container R may be adjusted by referring to the growth state of the plant body 50 in FIG. 16 so as to promote growth. . Similarly, the spray amount of the nutrient solution to the desired cultivation container R may be adjusted so as to match the production plans of FIGS. 17A and 17B. For example, when the growth of the plant body 50 lags behind the production plan, even if the spray amount is adjusted to increase the spray amount of the nutrient solution to the cultivation container interior Rs containing the plant body 50 good.

In this way, the environment control unit 211 controls the cultivation record recorded in the cultivation record DB 240, the production plan in the production plan DB 250, the current position of the spraying device in the spraying device DB 260, the environmental conditions in the environmental condition DB 221, and the spraying in the spraying condition DB 223. By controlling the spray device 100 based on the conditions and the like, the efficiency of cultivation of the plant body 50 in the plant cultivation system 1 can be improved.

In the above embodiment, the nutrient solution is sprayed onto the roots 53 of the plant 50 accommodated in the cultivation container interior Rs. Compared to the case where the roots 53 are immersed in the nutrient solution, the absorption of the nutrient solution by the roots 53 is enhanced, and the growth of the plant body 50 is promoted. And according to the said structure, the spraying apparatus 100 which sprays a nutrient solution to the cultivation container R is provided separately from the cultivation container R. FIG. When spraying the nutrient solution to the inside Rs of the cultivation container, the nozzle 115 is moved to the cultivation container R. Then, the nozzle 115 of the spray device 100 is inserted from the outside of the cultivation container R into the inside, and the inside Rs of the cultivation container R is sprayed with the nutrient solution. Thereby, the growth of the plant body 50 can be promoted by spraying the plant body 50, particularly the roots 53, with the nutrient solution.

Moreover, when spraying the nutrient solution from the nozzle 115, it is generally necessary to push out the nutrient solution with a high pressure. Therefore, clogging of the nozzle 115 and deterioration of the components of the nozzle 115 cause problems such as being unable to spray the nutrient solution and not being able to spray the nutrient solution at a desired pressure. As described above, since the nozzle 115 is provided in the spray device 100 separate from the cultivation container R outside the cultivation container R, the nozzle 115 can be maintenance work such as repair, inspection and replacement can be performed efficiently and accurately.

In addition, when the nozzle 115 is provided inside the cultivation container R, for example, the cultivation container R is opened, and a tool or the like is applied to the nozzle 115 inside the cultivation container Rs. need to perform maintenance work. Therefore, the maintenance work takes a long time, and the inspection of the nozzle 115 cannot be performed sufficiently. In addition, maintenance work cannot be performed efficiently and accurately due to reasons such as difficulty in applying tools and the like. However, according to the above configuration, since the nozzle 115 is provided in the spray device 100 outside the cultivation container R, such difficulty in maintenance work is suppressed.

As described above, according to the above configuration, while adopting the method of promoting the growth of the plant body 50 by spraying the nutrient solution on the roots 53, maintenance is performed by adopting the configuration in which the nozzle 115 is provided outside the cultivation container R. Work efficiency can be improved.

Furthermore, when the nozzle 115 is provided in the cultivation container interior Rs, it is necessary to lay a pipe in the cultivation container interior Rs for supplying the nutrient solution to the nozzle 115 in the cultivation container interior Rs. If a plurality of nozzles 115 are provided, the piping configuration becomes complicated. According to the above configuration, since the nozzle 115 is provided outside the cultivation container R, there is no need to lay a pipe inside the cultivation container Rs for supplying the nutrient solution to the nozzle 115 inside the cultivation container Rs. And labor reduction, reduction of maintenance work of piping, etc. can be achieved.

Moreover, when a plurality of cultivation containers R are connected by one pipe, it is difficult to change the supply amount, supply time, type, etc. of the nutrient solution for each cultivation container R. However, according to the above configuration, it is possible to easily change the supply amount and supply time of the nutrient solution from the nozzle 115 inserted into the cultivation container R for each cultivation container R. Also, by varying the type of nutrient solution in the tank device 120 of the spray device 100, the type of nutrient solution from the nozzle 115 inserted into the cultivation container R can be easily changed.

Moreover, since the nozzle 115 is inserted into and pulled out of the cultivation container R, the cultivation container R is left stationary. Therefore, compared to the case where the cultivation container R is moved to the nutrient solution spraying device 100, changes in the state of the space in which the cultivation container R is stored, that is, the cultivation environment for the plant body 50 can be suppressed. If the environment changes, the growth of the plant body 50 may be inhibited, the plant body 50 may die, or the like. 50 growth can be promoted.

[Other embodiments]
The configurations disclosed in the above-described embodiments (including other embodiments, the same shall apply hereinafter) can be applied in combination with configurations disclosed in other embodiments unless there is a contradiction. The embodiments disclosed in this specification are examples, and the embodiments of the present invention are not limited thereto, and can be modified as appropriate without departing from the scope of the present invention.

(1) In the above embodiment, the plant cultivation system 1 is provided with only one spray device 100 . Therefore, in the above embodiment, the spray device DB 260 stores the current position of one spray device 100 as shown in FIGS. 11 and 18 .
However, the plant cultivation system 1 may be provided with a plurality of spray devices 100 . In this case, the spray device DB 260 stores the current positions and the like of the plurality of spray devices 100 as shown in FIG. 21, the spray device DB 260 stores the current position, usability, nutrient solution type, remaining amount of nutrient solution, and the like for each of the plurality of spray devices 100, deviceA, deviceB, and deviceC, in one record. For example, the spraying device 100 of device A is currently located at (XA, XB, XC) and is currently usable without failure, so it is indicated as "O", the type of nutrient solution to be sprayed is Type A, and the nutrient solution is The remaining amount is 800 mL.

An example of the spraying process when the plant cultivation system 1 includes a plurality of spraying devices 100 will be described below with reference to FIGS. 22 and 23. FIG. In the process of FIG. 22 , the spraying device 100 that sprays the nutrient solution onto the cultivation container R to be sprayed is specified from the plurality of spraying devices 100 . In the process of FIG. 23, a spray amount control process is performed to identify a cultivation container R with an insufficient spray amount and increase the spray amount of the nutrient solution to the cultivation container R.

Step S21: The spray control unit 213 refers to the spray condition DB 223 of FIG. 13 and acquires the nutrient solution type of the cultivation container R to be sprayed. For example, when the current time is 2019/1/10 12:00, the spray control unit 213 determines the nutrient solution type of the cultivation container R (shelf numbers 20A and 20B, stage number S1, cultivation container number R1) to be sprayed. Get TypeA as
Next, the spraying control unit 213 refers to the spraying device DB 260 of FIG. 21 and extracts a plurality of spraying devices 100 capable of spraying the previously acquired Type A nutrient solution. For example, the spray control unit 213 extracts deviceA, deviceC, . . . from FIG. 21 as the spray device 100 corresponding to TypeA. Further, the spray control unit 213 acquires the current position of each of the plurality of extracted spray devices 100 from FIG.

Step S<b>22 : The spray control unit 213 calculates the moving distance from each spray device 100 to the cultivation container R to be sprayed based on the current positions of the plurality of spray devices 100 .
The spray control unit 213 controls the vertical conveying unit 63, the width conveying unit 64, the first moving body 141, and the like to move each spray device 100 to the cultivation container R to be sprayed. That is, each spray device 100 moves through paths in the X, Y, and Z directions. Therefore, the spray control unit 213 first identifies the movement route to the cultivation container R to be sprayed for each of the plurality of spray devices 100 . The spray control unit 213 specifies, for example, a movement route that allows the shortest distance to reach the cultivation container R to be sprayed.
Next, the spray control unit 213 calculates the movement distance from each spray device 100 to the cultivation container R to be sprayed based on the movement route of each spray device 100 .
It should be noted that the moving distance of each spray device 100 may be obtained from the linear distance in the XYZ coordinates regardless of the moving path.

Step S23: The spraying control unit 213 specifies the spraying device 100 that sprays the nutrient solution to the cultivation container R to be sprayed, among the plurality of spraying devices 100 extracted in step S21. Here, the spray control unit 213 specifies the spray device 100 with the shortest movement distance as the spray device 100 to be sprayed based on the movement distance acquired in step S22. In addition, the spraying control unit 213 causes the spraying device 100 having the largest remaining amount to spray, among the plurality of spraying devices 100 extracted in step S21, based on the remaining amount of the nutrient solution of, for example, Type A shown in FIG. It may be specified as 100.

Step S24: The spray control unit 213 instructs the specified spray device 100 to spray the nutrient solution to the cultivation container R to be sprayed. That is, as in the above-described embodiment, the spray control unit 213 controls the vertical transport unit 63, the width direction transport unit 64, the first moving body 141, and the like, and controls the specified predetermined one of the multiple spray devices 100. The spraying device 100 is moved to the cultivation container R to be sprayed. In addition, the spray control unit 213 moves the second moving body 143 on which the driving unit 130 is mounted to the cultivation container R concerned. Then, in the same manner as described above, the spray control unit 213 causes the predetermined spray device 100 to spray the nutrient solution into the cultivation container interior Rs.

Step S25: The spraying control unit 213 ends the process when the spraying of the nutrient solution to the cultivation container R to be sprayed ends (Yes in step S25), and continues spraying otherwise (No in step S25). do. Note that even after the spraying process to one cultivation container R ends in step S25, the spraying control unit 213 refers to the spraying condition DB 223 in FIG. 13 and performs the same process for the cultivation container R to be sprayed next. .

In the above spraying process, one spraying device 100 is extracted from the plurality of spraying devices 100 corresponding to one cultivation container R to be sprayed. However, a plurality of spraying devices 100 corresponding to each of the plurality of cultivation containers R to be sprayed may be extracted.

Next, the spray amount control process will be described with reference to FIG. 23 . In the spray condition DB 223 of FIG. 13, the spray amount of the nutrient solution to the inside Rs of the cultivation container is set. In the spray amount control process, the spray amount is controlled based on the growth state of the plant body 50 housed in the cultivation container R, the humidity inside the cultivation container Rs, and the like.
Step S31: The spray control unit 213 acquires the growth state of the plant body 50 accommodated in the cultivation container R to be sprayed.
For example, the spray control unit 213 refers to the spray condition DB 223 of FIG. 13, and if the current time is 2019/1/10 12:00, the spray target is cultivation container R (shelf numbers 20A and 20B, stage number S1, the cultivation container number R1) is obtained. Next, the spray control unit 213 controls the plant bodies housed in the cultivation container R (shelf numbers 20A and 20B, stage number S1, cultivation container number R1) at the current time of 2019/1/10 12:00. 50 growth states are acquired from the cultivation record DB 240 of FIG. Here, the spray control unit 213 determines that the length of the plant 50 is 10 cm, the diameter and length of the stock 51 are 3 cm and 4 cm, the length of the root 53 is 6 cm and the color is white, and the current weight of the plant 50 is Get the information 5g.

Steps S32 and S33: Next, the spray control section 213 determines whether the growth is insufficient.
For example, the spray control unit 213 refers to FIG. 17A, refers to the input date and time, the harvest date and time, and the planned weight of the plant body 50 at the time of harvest for the cultivation container R, and determines whether or not the growth is insufficient. Here, the spray control unit 213 determines that the input date and time for the cultivation container R (shelf numbers 20A and 20B, stage number S1, cultivation container number R1) is 2019/1/1 12:00, and the harvest date and time is 2019/1. It is 12:00/20 and information that the planned weight at harvest is 105 g is acquired as the current growth state.
The spray control unit 213 compares the current growth state of the plant 50 acquired in step S31 with the input date/time, the harvest date/time, and the planned weight of the plant 50 at the time of harvest, and determines whether or not the plant 50 has grown insufficiently. to judge.
When the spray control unit 213 determines that the growth is insufficient (Yes in step S32), the process proceeds to step S33 to increase the spray amount of the nutrient solution in the cultivation container R. As a result, for example, in the spray condition DB 223 of FIG. 13, the spray amount (1.0 ml) of the cultivation container R at 12:00 on January 10, 2019, which is the current time, is increased. On the other hand, when the spray control unit 213 determines that the growth is not insufficient (No in step S32), the process proceeds to step S34.

Step S34: The spray control unit 213 refers to the cultivation record DB 240 of FIG. Get the actual humidity (60%) at 10 12:00.
Steps S35, S36: The spray control unit 213 determines whether the actual humidity of the cultivation container R is lower than the set humidity. For example, the spray control unit 213 refers to the environmental condition DB 221 of FIG. 13 and acquires the set humidity (90%) of the cultivation container R at the present time (2019/1/10 12:00). Then, the spray control unit 213 compares the current actual humidity (60%) of the cultivation container with the set humidity (90%), and determines that the actual humidity is lower than the set humidity (Yes in step S35). , the process proceeds to step S36, and the spray amount of the nutrient solution in the cultivation container R is increased. On the other hand, when the spray control unit 213 determines that the actual humidity is equal to or higher than the set humidity (No in step S35), the process ends.

In addition to the humidity of the cultivation container R, the spray control unit 213 obtains the actual humidity (55%) of the cultivation room 3 at the present time (2019/1/10 12:00) by referring to the cultivation record DB 240 of FIG. may be obtained by Then, the spray control unit 213 refers to the environmental condition DB 221 of FIG. 12 and compares it with the set humidity (70%) of the cultivation room 3 . Then, the spray control unit 213 compares the actual humidity (55%) of the cultivation room 3 with the set humidity (70%), and determines that the actual humidity is lower than the set humidity. It is controlled to supply high humidity air to the cultivation room 3 so as to bring it closer.
Further, the order of steps S31 to S33 and steps S34 to S36 may be reversed.

In addition, in the above spraying process, it is important to specify the spraying device 100 to be used for the spraying among the plurality of spraying devices 100 for the cultivation container R to be sprayed. Therefore, the spray amount control process may be omitted.
On the other hand, the above spray amount control process may be performed in the spray condition control process of FIG. 20 of the above embodiment.
By the control as described above, efficiency of cultivation of the plant body 50 in the plant cultivation system 1 can be improved as in the above-described embodiment.

(2) In the above embodiment, the spray device 100 has the first spray section 110a on the +Y direction side and the second spray section 110b on the -Y direction side with the tank body 121 interposed therebetween. Then, the spraying device 100 can spray the nutrient solution to both of the mutually facing cultivation containers R arranged on the adjacent stages S by the first spraying section 110a and the second spraying section 110b.
However, the spraying device 100 may have only one spraying part 110 and may be configured to be able to spray the nutrient solution into one cultivation container interior Rs.

(3) In the above embodiment, the cultivation environment (environmental conditions) is controlled in the entire cultivation room 3 as shown in FIG. However, environmental conditions may be controlled for each cultivation shelf 20, for example. This will be explained below.
Each of the cultivation racks 20A, 20B, 20C, and 20D is partitioned by a partition wall 21 as shown in FIGS. 24 and 25 so that environmental conditions can be individually controlled. The partition walls 21 are provided along the X direction on both sides of the cultivation racks 20 in the Y direction, so that the environment inside each cultivation rack 20 can be controlled. Specifically, as shown in FIGS. 24 and 25, on both sides of the cultivation shelf 20 in the Y direction, the cultivation panels 37 placed on the cultivation container R from the +Z direction side to the −Z direction side of each stage S. extends to a position corresponding to

Therefore, the partition wall 21 is positioned above the cultivation panel 37 between the stages S and the stage S, and the space surrounded by the cultivation panel 37, the partition wall 21, and the stage S is filled with plants. Strain 51 of body 50 is located. On the other hand, the lower part between the stages S and the cultivation panel 37 is open, and the opening 41 of the cultivation container R is located there. This allows the nozzle 115 of the spray device 100 to be inserted into the opening 41 even if each cultivation shelf 20 is provided with a partition wall 21 .

An air conditioner 8 is provided on the take-out device 13 side of the cultivation room 3 . The air conditioner 8 can supply air with different temperature and humidity for each cultivation shelf 20 . For example, each duct (not shown) extends from the air conditioner 8 to each cultivation shelf 20 , and air whose temperature and humidity are adjusted to each cultivation shelf 20 is supplied from each duct to each cultivation shelf 20 . . The air supplied from the air conditioner 8 through the duct flows through the cultivation shelf 20 from the air conditioner 8 side on the +X direction side to the −X direction side, for example. The air that has flowed in the -X direction returns to the air conditioner 8 through an exhaust passage (not shown) extending from the -X direction to the +X direction. The air conditioner 8 adjusts the temperature and humidity of the air after passing through the cultivation shelf 20, purifies the air, and discharges the air again from the duct.

By providing the partition wall 21 and setting the environmental conditions for each cultivation shelf 20 as described above, the plant body 50 can be grown under different environmental conditions for each cultivation shelf 20 . In addition, since the lower part of the partition wall 21 is open as described above and the opening 41 is exposed, the nozzle 115 of the spray device 100 can be inserted into and pulled out of the opening 41 . Therefore, while setting different environmental conditions for each cultivation shelf 20, the spray device 100 can spray the nutrient solution into the cultivation container interior Rs. In addition, by making the environmental conditions controllable for each cultivation shelf 20, it becomes possible to control the environmental conditions in a unit smaller than that of the cultivation room 3, so that the environmental conditions can be controlled more appropriately.

The environmental conditions may be controlled for each stage S instead of for each cultivation shelf 20, or may be controlled for each cultivation container R.

(4) In the above embodiment, the spray device 100 includes the spray section 110, the tank device 120, the drive section 130, and the moving body 140 (the first moving body 141 and the second moving body 143). The first moving body 141 on which the spraying section 110 and the tank device 120 are placed and the second moving body 143 on which the driving section 130 is placed are separable and can travel separately. Then, the first moving body 141 on which the spraying unit 110 and the tank device 120 are mounted is mounted on the mounting table 62 and moved by the vertical conveying unit 63 and the width direction conveying unit 64 . On the other hand, the drive unit 130 is provided for each stage S and is retracted to the retracted position when not in use.

However, the mode of movement of the spraying device 100 is not limited to this. It may be moved to the stage S of another cultivation shelf 20 by the transport unit 64 . Similarly, the second moving body 143 on which the drive unit 130 is mounted is mounted on the mounting table 62, and is moved to the stage S of another cultivation shelf 20 by the vertical transport unit 63 and the width direction transport unit 64. good too. In this case, the drive unit 130 need not be provided for each stage S, and the number thereof can be reduced to reduce costs. Furthermore, maintenance of the plurality of drive units 130 can be avoided, and the complexity of controlling the plurality of drive units 130 can be suppressed.

Further, the spraying device 100 may be configured integrally with a first moving body 141 on which the spraying section 110 and the tank device 120 are mounted, and a second moving body 143 on which the drive section 130 is mounted. Then, the spray device 100 in which each part is integrated is moved to the stage S of another cultivation shelf 20 by the vertical transport section 63 and the width direction transport section 64 . In this case also, the drive unit 130 need not be provided for each stage S.

(5) In the above embodiment, as shown in FIG. 11, the system control device 200 is included in the plant cultivation system 1, and includes the system control unit 210, the environmental condition DB 221, the spray condition DB 223, the cultivation record DB 240, and the production plan. It has DB250 and spray device DB260. Then, the device control unit 300 of the spray device 100 decodes and executes the control from the system control device 200 .
However, at least one of the system control unit 210, the environmental condition DB 221, the spray condition DB 223, the cultivation record DB 240, the production plan DB 250, and the spray device DB 260 of the system control device 200 shown in FIG. may be In addition, when all of these functional units are included in the device control unit 300 , the plant cultivation system 1 does not necessarily have the system control device 200 .

(6) In the above embodiment, as shown in FIGS. 2 and 8, the vertical transport section 63 is provided along the Z direction at the end of the -X direction in the cultivation chamber 3, for example. Therefore, the first moving body 141 on which the spraying section 110 and the tank device 120 are mounted is transferred to the vertical conveying section 63 after moving to the end in the -X direction. However, the vertical transport section 63 may be provided at any position in the space between the cultivation shelves 20 . In this case, the vertical transport section 63 can be provided, for example, along any of the vertical supports V shown in FIG. A width direction conveying portion 64 may be provided corresponding to the +Z direction end portion of the vertical direction conveying portion 63 .

(7) In the above embodiment, as shown in FIG. 9 and the like, the spray device 100 includes the first drive unit 130a for spraying the nutrient solution to one of the pair of cultivation containers R and the first spray 110a, and a second driving unit 130b and a second spraying unit 110b for spraying the other cultivation container R with the nutrient solution. However, as shown in FIG. 26, the spraying device 1000 may be provided with one driving section 1300 and one spraying section 1100 for spraying the culture solution to the pair of cultivation containers R.

As shown in FIG. 26, the spray unit 1100 includes first and second nozzles 115a and 115b for spraying the nutrient solution, and elongated first and second nozzles 115a and 115b for supporting the first and second nozzles 115a and 115b, respectively. It has support members 113a and 113b and a support body 111 for inserting and pulling out the first and second support members 113a and 113b into and out of the pair of cultivation containers R.
The support body 111 is arranged at the center of the first moving body 141 in the Y direction as an initial position, and is configured to be swingable in the Y direction with the handle portion 117 held by the driving portion 1300 . The first support member 113a is a hollow elongated member extending from the +Y direction side of the support body 111 toward the +Y direction. The second support member 113b is a hollow elongated member extending from the -Y direction side of the support body 111 toward the -Y direction.

A first nozzle 115a is attached to the tip of the first support member 113a on the +Y direction side. A second nozzle 115b is attached to the tip of the second support member 113b on the -Y direction side. The nutrient solution is supplied to the first and second support members 113 a and 113 b from the tank main body 121 of the tank device 120 through the hose 123 . The nutrient solution supplied to the first and second support members 113a, 113b is sprayed from the first and second nozzles 115a, 115b.

The drive unit 1300 is a so-called robot arm, and drives the spray unit 1100 in the Y direction. Driving portion 1300 has fixing portion 131 , rear arm 134 , connecting portion 135 , front arm 133 and clamping portion 137 . The configurations of the fixing portion 131, the rear arm 134, the connecting portion 135, the front arm 133, and the holding portion 137 are the same as those of the above-described embodiment, so detailed description thereof will be omitted.

The spraying device 1000 having the spraying unit 1100 and the driving unit 1300 is moved to a position corresponding to the cultivation container R to be sprayed, as in the above embodiment. Therefore, as shown in FIG. 26, the spraying device 1000 is positioned corresponding to two cultivation containers R facing each other in the Y direction as targets for spraying the nutrient solution.
The drive unit 1300 clamps the grip portion 117 of the support body 111 with the clamping portion 137 and moves the support body 111 from the initial position in the +Y direction. As a result, the first nozzle 115a and the first support member 113a move in the +Y direction. Therefore, as shown in FIG. 26, the first nozzle 115a and the first support member 113a gradually enter the cultivation container interior Rs from the opening 41 of the cultivation container R on the +Y direction side toward the inner side (insertion direction). inserted. Conversely, when the drive unit 1300 moves the support body 111 in the -Y direction and returns it to the initial position, the first nozzle 115a and the first support member 113a are pulled out of the cultivation container interior Rs. The nutrient solution is sprayed while the first nozzle 115a is positioned inside the cultivation container Rs.

Further, the drive unit 1300 moves the support body 111 from the initial position in the -Y direction. As a result, the second nozzle 115b and the second support member 113b move in the -Y direction. Therefore, as shown in FIG. 26, the second nozzle 115b and the second support member 113b are gradually inserted into the cultivation container Rs from the opening 41 of the cultivation container R on the -Y direction toward the inner side (insertion direction). is inserted into Conversely, when the drive unit 1300 moves the support body 111 in the +Y direction and returns it to the initial position, the second nozzle 115b and the second support member 113b are pulled out from the cultivation container interior Rs. The nutrient solution is sprayed while the second nozzle 115b is positioned inside the cultivation container Rs.

(8) In the above embodiment, as shown in FIG. 4 and the like, the support member 113 of the spray unit 110 has a length in the Y direction from the opening 41 on the insertion side of the nozzle 115 in the cultivation container R to the back side. It has Lb (first length) in advance. Then, as shown in FIG. 9 and the like, the driving unit 130, which is a so-called robot arm, moves the support body 111 in the Y direction, thereby inserting the support member 113 and the nozzle 115 into the cultivation container interior Rs and removing the nozzle 115 from the cultivation container interior Rs. pull out As long as the support member 113 and the nozzle 115 can be inserted into and pulled out of the cultivation container interior Rs, the present invention is not limited to this embodiment, and the following embodiments can also be used.
(a)
As shown in FIGS. 27 and 28, the support member 1130 is configured to be extendable from a length Lc in a shortened state to a length Lb in an extended state from the insertion side of the nozzle 115 to the rear side of the cultivation container R. may be

A support member 1130 is attached to the support body 111 in the same manner as the nozzle 115 of the above embodiment. As shown in FIG. 28, the support member 1130 attached to the support body 111 includes, for example, an elongated hollow tip member 1130-1, an elongated hollow intermediate member 1130-2, and an elongated hollow tip member 1130-2. It consists of three members, a hollow trailing end member 1130-3. However, the number of members constituting the support member 1130 is not limited to three, and may be two or four or more.

As shown in FIG. 28, nozzle 115 is attached to the tip of tip member 1130-1. Leading member 1130-1 is insertable into intermediate member 1130-2, and intermediate member 1130-2 is insertable into trailing end member 1130-3. Tip member 1130-1 can be pulled out to the tip of intermediate member 1130-2, and intermediate member 1130-2 can be pulled out to the tip of rear end member 1130-3. When the tip member 1130-1 is pulled out to the tip of the intermediate member 1130-2, and the intermediate member 1130-2 is pulled out to the tip of the rear end member 1130-3, and the support member 1130 extends the longest, the total length of the support member 1130 becomes Lb. As shown in FIG. 4, the length Lb is approximately the same as or slightly smaller than the length La from the opening 41 of the cultivation container R to the third side wall 33c. Therefore, when the support member 1130 is extended to the maximum length, the support member 1130 and the nozzle 115 can be inserted from the opening 41 on the insertion side of the cultivation container R to the depth side. As a result, the nutrient solution can be sprayed from the insertion side of the cultivation container R to the back side, and the nutrient solution can be uniformly sprayed into the cultivation container interior Rs.

The first support member 1130a of the first spraying unit 1105a receives power supply from the power supply unit 1305 as a driving unit, and as shown in FIG. 1 nozzle 115a is inserted. Then, the nutrient solution is sprayed from the first nozzle 115a into the cultivation container interior Rs. Similarly, the second support member 1130b of the second spray section 1105b extends in the -Y direction as shown in FIG. 27, and the second nozzle 115b is inserted into the cultivation container interior Rs on the -Y direction side. Then, the nutrient solution is sprayed from the second nozzle 115b into the cultivation container interior Rs.
Note that when the nozzle 115 is pulled out from the cultivation container interior Rs, the support member 1130 contracts.

When using such an extendable support member 1130, as shown in FIG. That is, since the support member 1130 extends toward the cultivation container R, there is no need to move the support body 111 as in the above embodiment. Therefore, the spraying device 1005 does not include the drive unit 130, which is the robot arm of the above embodiment, and the spraying device 100 can be made compact.

When the tip member 1130-1 and the intermediate member 1130-2 are accommodated in the rear end member 1130-3 and the support member 1130 is the shortest, the total length of the support member 1130 is Lc. In this case, as shown in FIG. 27, when the spray device 1005 mounted on the first moving body 141 travels in the X direction, the support member 1130 is not interfered with by the cultivation shelf 20, the stage S, and the like.
In the above description, the support member 1130 is configured to extend and retract by receiving power supply from the power supply unit (drive unit) 1305, but the support member 1130 is a hydraulic cylinder (drive unit) that extends and retracts under hydraulic control. may

(b) As shown in FIG. 9 and the like, unlike the drive unit 130, which is a so-called robot arm, that moves the support body 111 in the Y direction, as shown in FIG. drive unit) 112 may be moved. In this case, the drive unit 130, which is a robot arm, is unnecessary. Therefore, the spray device 100 can be made compact.
As shown in FIG. 29, a support body 111 is mounted on a cylinder base 112 having a cylinder mechanism therein. The support body 111 is movable in the +Y direction and the −Y direction by driving the cylinder mechanism of the cylinder base 112 . In the case of FIG. 29, the supporting member 113 and the nozzle 115 at the tip of the supporting member 113 are inserted into the cultivation container interior Rs by moving the supporting body 111 in the +Y direction. On the other hand, by moving the support body 111 in the -Y direction, the support member 113 and the nozzle 115 are pulled out from the cultivation container interior Rs. Note that the cylinder base 112 is attached to the first moving body 141 .

(9) In the embodiment described above, as shown in FIGS. move in the direction However, the movement of the spray device 100 in the X direction is not limited to movement using the running rails 61 . For example, as shown in FIGS. 30 and 31, a plate-shaped running path 66 parallel to the XY plane is provided as the moving mechanism 60 between the adjacent stages S. As shown in FIG. The upper surface of the running path 66 can be flush with the surface of the step S, for example.

A pair of running rails 67 are provided on the running path 66 as shown in FIG. A rail engaging portion 144 that can slide on the travel rail 67 is provided on the lower surface of the moving body 140 of the spray device 100 . The rail engaging portion 144 is provided with a traveling portion (not shown) such as wheels that can be driven to rotate. 100 is movable in the X direction along the running rail 67 .

Further, as shown in FIG. 32, wheels 145 are provided on the lower surface of the moving body 140 of the spray device 100, and the spray device 100 can move by itself on the travel path 66 of the plate-like surface. good too.

(10) In the above embodiment, as shown in FIGS. 2, 6, etc., each of the plurality of cultivation containers R has an opening 41 facing the space between the cultivation shelves 20 adjacent in the Y direction. However, the position where the opening 41 is provided is not limited to this. For example, as shown in the plan view of the plant cultivation system 1 in FIG. 33, an opening 41 and a lid 43 may be provided at the top of the cultivation container R.
In this case, the support member 113 and the nozzle 115 of the spray device 100 are inserted from above to below the cultivation container R as shown in FIG. Conversely, the support member 113 and the nozzle 115 are drawn upward from the bottom of the cultivation container R. In addition, as shown in FIG. 34, a cultivation panel 37 is arranged along the Z direction in the cultivation container interior Rs. In the cultivation panel 37, a plurality of plant bodies 50 are arranged along the Z direction. Each plant body 50 is arranged on the cultivation panel 37 so that the stump 51 and the root 53 are along the X direction and the root 53 is located on the side where the support member 113 and the nozzle 115 are inserted.

In the above embodiment, as shown in FIGS. 4, 7, etc., the plant body 50 has the stump 51, which is the leaf, positioned in the +Z direction, and the root 53 in the -Z direction. However, the arrangement of the plant body 50 is not limited to this. For example, as shown in FIG. 34, each plant body 50 is arranged such that the stump 51 and the root 53 are along the X direction, and the root 53 is located on the side where the support member 113 and the nozzle 115 are inserted. It may be arranged on the cultivation panel 37 . Then, in FIG. 34, the support member 113 and the nozzle 115 are inserted into the cultivation container Rs from above the cultivation container R. As shown in FIG. 34, the opening 41 is provided on the Y direction side of the cultivation container R, and the support member 113 and the nozzle 115 may be inserted into the cultivation container interior Rs from the Y direction side.

A plurality of cultivation containers R shown in FIG. 34 may be arranged substantially horizontally in the X direction or the Y direction to form the cultivation shelf 20 . Moreover, the cultivation shelf 20 may be configured by arranging a plurality of cultivation containers R shown in FIG. 34 in parallel substantially vertically in the Z direction.

35 shows a plurality of cultivation containers R in which the stocks 51 and roots 53 are arranged along the X direction as in FIG. 34, and in which the openings 41 are provided on the Y direction side unlike in FIG. The cultivation shelf 20 may be constructed by stacking and arranging the layers almost vertically in the Z direction as shown in FIG. In this case, the cultivation container R in FIG. 34 is stacked with the opening 41 facing in the Y direction. Then, the support member 113 and the nozzle 115 are inserted into each cultivation container R from the opening 41 and the nutrient solution is sprayed. The cultivation shelf 20 may be configured by arranging the cultivation containers R shown in FIG. 35 substantially horizontally in the X direction or the Y direction.

Further, as shown in FIG. 36, the cultivation container R may be configured in a substantially triangular pyramid shape by a pair of obliquely arranged plate-like cultivation panels 37 and side walls 38 along the XZ plane. In the cultivation container R, the bottoms of a pair of facing cultivation panels 37 are supported by the steps S. As shown in FIG. Further explanation is provided below.
The pair of cultivation panels 37 are arranged on the step S so as to be inclined upward from below, and overlap each other at the top. A pair of cultivation panels 37 form an approximately triangular pyramidal internal space (inside Rs of the cultivation container). A plurality of support holes 39 are provided in the cultivation panel 37 , and a plant body 50 is arranged in each support hole 39 . The plant body 50 is arranged such that the stock 51 is positioned outside the cultivation panel 37 and the root 53 is positioned within the triangular pyramidal internal space. Since the cultivation panel 37 is slanted, the plant body 50 is also slanted and supported in the support hole 39 .

A side wall 38 is provided on the side other than the portion where the cultivation panel 37 is arranged, and the side wall 38 is formed with an opening 41 into which the support member 113 and the nozzle 115 can be inserted and pulled out. The opening 41 can be opened and closed by a lid 43 . A nozzle 115 is inserted through the opening 41 of the side wall 38, and the nutrient solution is sprayed into the triangular pyramidal internal space, so that the roots 53 absorb the nutrient solution and promote the growth of the plant body 50. .
A plurality of cultivation containers R shown in FIG. 36 may be arranged substantially horizontally in the X direction or the Y direction to form the cultivation shelf 20 . Moreover, the cultivation shelf 20 may be configured by arranging a plurality of cultivation containers R shown in FIG. 36 in parallel substantially vertically in the Z direction.

If the humidity in the internal space surrounded by the triangular pyramidal cultivation panel 37 can be maintained at a desired humidity, the side wall 38 does not necessarily have to be provided. Further, the formation position of the opening 41 is not limited to the side wall 38, and may be formed in the cultivation panel 37, for example.

(11) In the above embodiment, a plurality of cultivation containers R are arranged side by side on each stage S of the cultivation shelf 20 . However, as shown in FIG. 37, one cultivation container R corresponding to the size of each stage S may be arranged. In this case, as shown in FIG. 37, an opening 341 long in the X direction is formed in the cultivation container R from the −X direction side to the +X direction end of the cultivation container R. The opening 341 is opened and closed by a lid 343 .
When the spraying device 100 sprays the nutrient solution, for example, the support member 113 and the nozzle 115 are inserted into the cultivation container interior Rs from the end of the opening 341 on the -X direction side. Then, with the support member 113 and the nozzle 115 inserted into the cultivation container interior Rs, the spray device 100 moves from the −X direction side to the +X direction side. As a result, the support member 113 and the nozzle 115 move from the −X direction end of the opening 341 to the +X direction end while being inserted into the cultivation container interior Rs. By spraying the nutrient solution from the nozzle 115 to the inside Rs of the cultivation container during this movement, it is possible to spray the entire inside Rs of the cultivation container with the nutrient solution.

(12) In the above embodiment, as shown in FIG. 6 and the like, the tank device 120 is supplied with the nutrient solution from the nutrient solution tank 5 through the main hose 5a. However, the nutrient solution in the nutrient solution tank 5 may be temporarily stored in the relay tank 6 provided at each stage S as shown in FIG. The relay tank 6 of the stage S5 is supplied with the nutrient solution from the nutrient solution tank 5 through the relay hose 5b. The relay tanks 6 of the stages S4 to S1 are connected to each other via the pipe 5c, and the relay tanks 6 of the stages S4 to S1 can be supplied with the nutrient solution from the relay tank 6 of the stage S5.

(13) In the above embodiment, the openings 41 are circular, and are provided at the center in the X direction and the lower part in the Z direction of the first side wall 33a. However, the shape, position, number, etc. of the openings 41 in the cultivation container R are not limited to the above as long as the nutrient solution can be sprayed approximately uniformly into the cultivation container interior Rs and the nutrient solution can be supplied from the root 53 side. .
For example, the shape of the opening 41 may be an elliptical shape, a square shape, or the like.
Also, two or more openings 41 may be provided in the first side wall 33a. For example, one opening 41 may be provided in each of the four corners of the first side wall 33a. Also, a plurality of openings 41 may be provided so as to be aligned in the X direction across both ends of the first side wall 33a.
For example, if the nutrient solution can be supplied from below the roots 53 in the cultivation container interior Rs, the opening 41 can be provided in the center of the first side wall 33a in the Z direction. Furthermore, the opening 41 can be provided in the upper part of the first side wall 33a in the Z direction.

In addition, the cultivation panel 37 may be positioned above the opening 41 in the Z direction, and does not necessarily have to be provided above the cultivation container R.
Also, the lid portion 43 that opens and closes the opening portion 41 may be formed by, for example, a plurality of plate-shaped rubber pieces hanging down. Then, when the nozzle 115 and the support member 113 are inserted into the cultivation container interior Rs, the rubber is spread. Conversely, after the nozzle 115 and the support member 113 are pulled out, the rubber returns to its original state and closes the opening 41 . Also, the lid portion 43 may be made of radially notched rubber. In the same manner as described above, the rubber is spread by inserting the nozzle 115 and the support member 113, and is restored to its original state by pulling it out.

(14) In the above embodiment, one nozzle 115 is provided at the tip of the support member 113 . However, the number of nozzles 115 is not limited to one, and may be two or more.
In the above-described embodiment, the nozzle 115 sprays the nutrient solution upward in the +Z direction. is not limited from bottom to top. The spray direction of the nutrient solution from the nozzle 115 includes various directions such as oblique directions and horizontal directions (all directions on the XY plane including +X direction, -X direction, and +Y direction and -Y direction). The direction in which the nozzle 115 is attached to the support member 113 may be appropriately adjusted according to the spray direction of the nutrient solution from the nozzle 115 .
Further, the installation position of the nozzle 115 is not limited to the tip of the support member 113, and may be any position on the support member 113 as long as the nutrient solution can be sprayed into the cultivation container interior Rs.

Also, the plurality of nozzles 115 can be provided along the circumferential direction of the outer circumference of the support member 113 . Also, the plurality of nozzles 115 can be provided side by side from the +Y direction side of the tip of the support member 113 toward the -Y direction side of the base.

Further, in the above embodiment, the nozzle 115 is fixed to the support member 113 to fix the spray direction. However, the spray direction of the nutrient solution from the nozzle 115 may be switchable. For example, while the nozzle 115 is inserted into the cultivation container R and spraying the nutrient solution, the direction of spraying may be freely changed.
Further, in the above embodiment, the plurality of holes 116 of the nozzle 115 are formed on the surface of the nozzle 115 so as to spray the nutrient solution generally in one direction. However, a plurality of holes 116 may be formed on the surface of the nozzle 115 so that the nutrient solution is sprayed in multiple directions. For example, a plurality of holes 116 can be radially formed on the surface of the semicircular nozzle 115 .

(15) As described above for the nozzle 115, the spray direction of the nutrient solution from the nozzle 115 includes various directions such as an oblique direction and a horizontal direction. As an example of such nozzle spray direction control, a configuration in which the nozzle 115 at the tip of the support member 113 is swingable as shown in FIG. 39 will be described below.
As shown in FIGS. 40 and 41, a support body 111 is mounted on a cylinder base 112 having a cylinder mechanism inside, similarly to FIG. 29 described above. The support body 111 is movable in the +Y direction and the −Y direction by driving the cylinder mechanism of the cylinder base 112 .

A nozzle 115 is swingably supported via a nozzle support unit (swing portion) 118 at the tip of a support member 113 extending from the support body 111 . The nozzle support unit 118 has a nozzle connection member 118a, a nozzle support portion 118b, and an elongated swing transmission member 118c. The nozzle support portion 118 b is a rod-shaped member that extends while being connected to the root portion of the nozzle 115 and supports the nozzle 115 . The nozzle support portion 118b is connected to the support member 113 so as to be swingable about the nozzle connection member 118a. The end of the nozzle support portion 118b opposite to the nozzle 115 is connected to one end of the swing transmission member 118c. The other end of the swing transmission member 118c is connected to a swing member 119b, which will be described later.
A nozzle cylinder (swing portion) 119 is provided at the rear end portion of the support member 113 opposite to the front end portion. The nozzle cylinder 119 has a storage member 119a and a swinging member 119b connected to a swinging transmission member 118c. The swinging member 119b is inserted into or pulled out of the housing member 119a by a driving section (not shown).

With such a configuration, the support body 111 moves in the +Y direction as shown in FIG. 40, thereby inserting the support member 113 and the nozzle 115 into the cultivation container interior Rs. While the support member 113 and the nozzle 115 are moving in the +Y direction, the tip of the nozzle 115 is tilted in the +X direction as shown in FIGS. For example, as shown in FIG. 39, the nozzle 115 is inclined so that +θx=45° with respect to the Z direction. At this time, as shown in FIGS. 39 and 40, in the nozzle cylinder 119, the swing member 119b is pulled out from the storage member 119a, and the swing transmission member 118c moves in the -X direction. Then, the nozzle support portion 118b connected to the swing transmission member 118c swings in the +X direction with respect to the support member 113 with the nozzle connection member 118a as a fulcrum. As a result, the nozzle 115 is tilted in the +X direction with respect to the Z direction as described above. Note that the nozzle cylinder 119 is not inserted into the cultivation container interior Rs.

Conversely, in FIG. 41, the support member 113 and the nozzle 115 are pulled out from the cultivation container interior Rs by moving the support body 111 in the -Y direction. While the support member 113 and the nozzle 115 are moving in the -Y direction, the tip of the nozzle 115 is tilted in the -X direction as shown in FIGS. For example, as shown in FIG. 39, the nozzle 115 is tilted to −θx=45° with respect to the Z direction. When the nozzle 115 is inserted into the cultivation container R, it is tilted at +θx=45° with respect to the Z direction. ° Rotate. At this time, as shown in FIGS. 39 and 41, in the nozzle cylinder 119, the swinging member 119b pulled out from the storage member 119a is stored in the storage member 119a. As a result, the swing transmission member 118c moves in the +X direction. Then, the nozzle support portion 118b connected to the swing transmission member 118c swings in the -X direction with respect to the support member 113 with the nozzle connection member 118a as a fulcrum. Therefore, the nozzle 115 is tilted in the -X direction with respect to the Z direction as described above.

By tilting and swinging the nozzle 115 as described above, the nutrient solution is more uniformly sprayed into the cultivation container interior Rs. For example, the nozzle 115 may periodically spray the nutrient solution at a certain tilt angle while the rocking motion is stopped, and then spray the nutrient solution at another tilt angle while the rocking motion is stopped. preferable. This makes it easier for the nutrient solution to be sprayed more uniformly into the cultivation container interior Rs. However, the nozzle 115 may be tilted to spray the nutrient solution.

The tilt angle of the nozzle 115 is an example, and is not limited to the above angle. Further, in the above description, the nozzle 115 maintains a state of being inclined at a predetermined angle during the process of inserting and pulling out the nozzle 115 . However, the nozzle 115 may be swingable at any time during the insertion and withdrawal processes.
Further, in the above description, the nozzle 115 is swung within the YZ plane by the nozzle cylinder 119 . However, the nozzle 115 attached to the tip of the support member 113 may swing in the YZ plane by rotating the support member 113 that supports the nozzle 115 in its circumferential direction. In this case, if a rotating mechanism for rotating the support member 113 is provided, the nozzle 115 rotates as the support member 113 rotates. Therefore, the nozzle cylinder 119 is unnecessary.
Further, in the above description, the support body 111 is arranged on the cylinder base 112, and the support body 111 is moved in the Y direction by the cylinder mechanism. However, as in the above embodiment, the support body 111 may be moved in the Y direction by the driving section 130, which is a robot arm.

(16) In the above embodiment, cultivation containers R of the same size are arranged at the same positions in the stages S adjacent to each other in the Y direction. However, the arrangement of the cultivation containers R is not limited to this, and the cultivation containers R may be arranged at arbitrary intervals in each stage S. In addition, cultivation containers R of different sizes may be arranged in each stage S. In this case, instead of simultaneously spraying the nutrient solution into the cultivation container interiors Rs adjacent in the Y direction as in the above embodiment, each cultivation container R can be sprayed with the nutrient solution.

(17) In the above embodiment, the nutrient solution is sprayed from the nozzle 115 in the process of inserting the nozzle 115 from the opening 41 of the cultivation container R to the back side, and from the back side of the cultivation container R to the opening 41. It is done both in the backward direction and in the process up to. However, the spraying of the nutrient solution only needs to fill the cultivation container interior Rs with the nutrient solution at a predetermined humidity, and may be performed in only one of these two processes in the inserting direction and the retreating direction.

(18) In the above embodiment, the cultivation container R accommodates the root 53 that is the lower portion of the plant body 50, but the cultivation container R may accommodate both the strain 51 that is the upper portion and the root 53. . For example, as shown in FIG. 42, the cultivation container R is surrounded by a pair of upper wall 31 and lower wall 32 facing each other in the Z direction, and side walls 33 (33a to 33d) between the upper wall 31 and lower wall 32. configured as follows. The upper opening of the cultivation container R is covered with a top wall 31 to be a lid. The top wall 31 is removable. Therefore, the top wall 31 can be removed and the cultivation panel 37 can be placed in the cultivation container interior Rs. Then, the cultivation container R can be sealed by placing the top wall 31 on the upper ends of the first to fourth side walls 33a to 33d with the cultivation panel 37 placed in the cultivation container interior Rs. Conversely, it is also possible to remove the top wall 31 and take out the cultivation panel 37 placed inside the cultivation container Rs.

Thus, the plant body 50 including the root 53 and the stock 51 is positioned inside the cultivation container Rs. Then, when the nutrient solution is sprayed into the cultivation container interior Rs, the roots 53 in the cultivation container interior Rs absorb the nutrient solution and grow.
Therefore, when the plant body 50 is housed in the cultivation container R, when the root 53 of the plant body 50 is housed in the cultivation container R, when the stump 51 and the root 53 of the whole plant body 50 are housed in the cultivation container R may be included when housed in
In addition, the cultivation panel 37 is arranged in the upper part near the upper wall 31 in the cultivation container inside Rs, as shown in FIG. Specifically, the cultivation panel 37 is arranged at a distance L3 from the bottom wall 32 in the Z direction. The distance L3 is smaller than the length L1 of the first side wall 33a in the Z direction and larger than the distance L2 between the lower wall 32 and the center P of the opening 41 (L1>L3>L2).

When the plant body 50 is arranged in such a cultivation container interior Rs, the cultivation environment (environmental conditions) may be controlled for each cultivation container R. However, the environmental conditions may be controlled for the cultivation room 3 as a whole, as in the above embodiment.

(19) In the above embodiment, the cultivation container R is provided with the lid portion 43 capable of opening and closing the opening portion 41 . However, the lid portion 43 may be omitted.

(20) In the above embodiment, the moving directions of the spray device 100 are the X direction, the Y direction and the Z direction. However, by changing the configuration of the moving mechanism 60, the moving direction of the spray device 100 can be set to an oblique direction such as between the X direction and the Y direction.

(21) In the above embodiment, as shown in FIG. 1, the cultivation racks 20 are arranged at intervals in the Y direction. However, it is sufficient that at least the spray device 100 has a space in which it can run, and there is no need to provide intervals between the cultivation shelves 20 . For example, in the above-described embodiment, the spraying of the nutrient solution onto the cultivation shelves 20A and 20B is performed by the spray device 100 traveling between the cultivation shelves 20A and 20B. Further, the spraying of the nutrient solution onto the cultivation shelves 20C and 20D is performed by the spray device 100 traveling between the cultivation shelves 20C and 20D. Therefore, it is not always necessary to set the interval between the cultivation shelf 20A and the cultivation room 3 on the +Y direction side, the interval between the cultivation shelves 20B and 20C, and the interval between the cultivation shelf 20D and the cultivation room 3 on the − direction side.

(22) In the above embodiment, the four cultivation shelves 20 are arranged in the cultivation room 3, and each cultivation shelf 20 is composed of five stages S. However, the number of cultivation shelves 20 and the number of stages S are not limited to this. The number of cultivation shelves 20 may be, for example, 1 to 3, or may be 5 or more. Also, the number of stages S may be, for example, 1 to 4, or may be 6 or more.
Moreover, the cultivation room 3 is not limited to the interior of the building, and may be, for example, a greenhouse.

(23) In the above embodiment, the cultivation panel 37 is placed on the upper end of the cultivation container R. As shown in FIG. Then, the cultivation container R on which the cultivation panel 37 is placed moves on the stage S in the +X direction. However, only the cultivation panel 37 supporting the plant body 50 may move in the +X direction. In this case, the cultivation container R is fixed on the stage S. Then, the cultivation panels 37 are sequentially loaded from the loading device 11 and placed on the cultivation container R. As shown in FIG. Then, the cultivation panels 37 placed on the cultivation container R are sequentially moved in the +X direction on the cultivation container R and collected from the take-out device 13 . In this case, the cultivation panel 37 moves by being pushed out in the +X direction by the adjacent cultivation panel 37, for example.

(24) Various processes such as the environmental condition control process and the spray condition control process of the above embodiment can be executed by executing a program. Also, such a program may be provided by being recorded in a recording medium such as a ROM.

(25) In the above embodiment, the LED 7 is used as the illumination device. However, fluorescent lamps, metal halide lamps, high-pressure sodium lamps, and the like can be used as lighting devices.

1: Plant cultivation system 3: Cultivation room 7: LED (lighting device)
8: Air conditioner 20: Cultivation shelf 37: Cultivation panel 41: Opening 43: Lid 50: Plant body 51: Strain 53: Root 60: Moving mechanism 61: Running rail 62: Mounting table 63: Vertical conveying unit 64: Width direction conveying unit 100: spraying device (nutrient solution supply device)
110: Spraying part 112: Cylinder base (driving part)
113: Support member 115: Nozzle 118: Nozzle support unit (swing part)
119: Nozzle cylinder (oscillating part)
130: Driving unit 140: Moving body 200: System control device 210: System control unit 211: Environment control unit 213: Spray control unit 300: Device control unit 221: Environmental condition DB
223: Spray condition DB
240: Cultivation record DB
DB250: Production plan DB260: Spray device R: Cultivation container S: Stage

Claims (13)

at least one nozzle that can be inserted into and removed from the interior of the cultivation container through the opening of the cultivation container that accommodates at least the roots of the plant, and that sprays a nutrient solution into the interior of the cultivation container; ,
a driving unit that inserts and removes the nozzle into and out of the cultivation container through an opening of the cultivation container;
at least one moving body for moving the nozzle to the cultivation container;
A nutrient solution supply device. 2. The nutrient solution supply device according to claim 1, further comprising a swinging part for swinging said nozzle inside said cultivation container in a direction intersecting with an inserting/removing direction. The nutrient solution supply device according to claim 1 or 2, wherein the drive unit inserts and removes the nozzle with respect to the interior of the cultivation container by expansion and contraction. The nutrient solution supply device according to any one of claims 1 to 3, wherein the opening of the cultivation container is opened and closed by a lid. a device control unit that controls at least the moving body, the driving unit, and the spraying of the nutrient solution from the nozzle;
The device control unit
alignment control for controlling the moving body and aligning the at least one nozzle with a cultivation container to be sprayed with the nutrient solution;
an insertion/removal control for controlling the drive unit to reciprocate the nozzle between an opening of the cultivation container and a deep portion facing the opening;
at least one of supply amount control for controlling the supply amount of the nutrient solution, supply date and time control for controlling the supply date and time of the nutrient solution, and nutrient solution type control for the type of the nutrient solution to be supplied to the cultivation container; The nutrient solution supply device according to any one of claims 1 to 4. at least one nutrient solution supply device according to any one of claims 1 to 5;
a cultivation shelf having at least one stage on which a plurality of cultivation containers containing at least the roots of the plant body and having openings into which the nozzles are inserted and removed;
a cultivation room in which the cultivation shelf is arranged;
a lighting device disposed in the cultivation chamber for irradiating the plant body with light;
an air conditioner that adjusts at least one of the temperature and humidity of the cultivation room;
A plant cultivation system comprising: Each cultivation container is placed side by side along the plane of the step along the roughly horizontal direction in a state where the plant body is supported in a substantially vertical direction with respect to each cultivation container;
In each cultivation shelf, a plurality of stages on which the cultivation containers are placed are stacked in a substantially vertical direction,
7. The plant cultivation system according to claim 6, wherein a plurality of said cultivation shelves are arranged substantially horizontally in said cultivation room. Each cultivation container is placed side by side along the plane of the step along the approximately vertical direction, with the plant body supported in the approximately horizontal direction by each cultivation container;
In each cultivation shelf, a plurality of stages on which the cultivation containers are placed are arranged in a substantially vertical direction or a substantially horizontal direction,
7. The plant cultivation system according to claim 6, wherein a plurality of said cultivation shelves are arranged substantially horizontally in said cultivation room. 7. The plant cultivation system according to claim 6, wherein each of the cultivation containers has planes that face each other generally symmetrically in a substantially oblique direction, and the plant body is supported in a direction intersecting the substantially oblique plane. . The at least one nutrient solution supply device for spraying the nutrient solution to the interior of the at least one cultivation container to be sprayed is controlled according to the type of the nutrient solution, the remaining amount of the nutrient solution, and the movement distance to the cultivation container. 10. The plant cultivation system according to any one of claims 6 to 9, comprising a system control unit that specifies one of the plurality of nutrient solution supply devices based on at least one of the above. A nutrient solution supply program to be executed by the system control unit of the plant cultivation system according to claim 10,
The at least one nutrient solution supply device for spraying the nutrient solution to the interior of the at least one cultivation container to be sprayed is controlled according to the type of the nutrient solution, the remaining amount of the nutrient solution, and the movement distance to the cultivation container. identifying from a plurality of the nutrient solution supply devices based on at least one of
Positioning the nutrient solution supply device specified so as to correspond to the at least one cultivation container to be sprayed;
a step of inserting the nozzle of the nutrient solution supply device into the cultivation container and spraying the nutrient solution into the cultivation container;
a step of pulling out the nozzle from the cultivation container when the spraying of the nutrient solution is finished;
Nutrient solution supply program for executing Cultivation record data, which is the history of the cultivation environment in at least one of the inside of the cultivation room and the inside of the cultivation container, the production plan data of the plant body in the cultivation container, and the current position of the nutrient solution supply device. a cultivation environment control process for at least one of the cultivation chamber and the cultivation container, based on at least one of the device data containing the cultivation container and the growth state data of the plant whose roots are contained in the cultivation container; 12. The nutrient solution supply program according to claim 11, for executing a step including at least one of device control processing for said nutrient solution supply device. The device control process includes alignment control of the nutrient solution supply device with respect to a cultivation container to be sprayed with the nutrient solution, insertion/removal control of reciprocating movement of the nozzle, control of the supply amount of the nutrient solution, control of the date and time of supply of the nutrient solution, and at least one of controlling the kind of the nutrient solution.

Images