JP7354763B2 - plant cultivation equipment - Google Patents

Description

The present invention relates to plant cultivation equipment.

In plant cultivation equipment, there is a configuration in which a work vehicle with a worker on board travels between multiple cultivation beds installed in a greenhouse, and a configuration in which the work vehicle is equipped with an imaging camera to detect the ripeness of fruits (patented). Reference 1).

Japanese Patent Application Publication No. 2017-195895

According to Patent Document 1, the system detects mature fruits using a fruit discrimination device such as a color discriminator from image data taken by a camera, and calculates the total number of mature fruits in each cultivation row and the total number of ripe fruits in the entire cultivation room. Based on the total number of mature fruits, it is possible to allocate the workers who will harvest the ripe fruits and to set the work area according to their skill level.

However, analyzing fruit images in real time while harvesting fruit is problematic in terms of work efficiency due to processing speed.

An object of the present invention is to make it easier for unskilled persons to perform operations such as flower thinning and fruit thinning using a simple method.

A first aspect of the present invention provides a plant cultivation facility equipped with a plurality of cultivation beds (5) for cultivating plants (P) and a work vehicle (3) that travels between the cultivation beds (5). The moving vehicle (3) has an imaging camera (25f, 25r) for imaging the plant (P), a controller (26) for receiving and analyzing imaging data, and a display (28), and is connected to the controller (26). equipped with a terminal (27) that is capable of transmitting and receiving data,
The controller (26) detects a ripened fruit by analyzing the imaged data of the imaging camera (25f, 25r), and sends the imaged data in which the ripened fruit is detected to the administrator computer. ,
An instructor manually sets work lines (L1, L2) indicating the work height for leaf cutting work on the plant (P) by touching the display screen of the imaged data of the detected state on the administrator computer. At the same time,
The supervisor computer transmits the data of the work line (L1, L2) to the controller (26) or the terminal (27), and the work line (L1, L2) displays the real-time image on the display (28). This is plant cultivation equipment configured to be displayed superimposed on the .
In the second aspect of the present invention, an instructor manually sets vertical attracting work lines (L3, L4) at regular intervals with respect to the plant (P) extending in the vertical direction by touching the display screen, and The work lines (L3, L4) are the plant cultivation equipment of the first aspect of the present invention configured to be displayed superimposed on the display (28) of the real-time image.
The third invention is
For plants (P) that extend in the vertical direction, an instructor designates a thinning work area (Z1, Z2, Z3) between the upper work line (L6, L8, L10) and the lower work line (L7, L9, L11). The first or second aspect of the present invention is configured such that the flower thinning work area (Z1, Z2, Z3) is set by manually touching the display screen, and the flower thinning work area (Z1, Z2, Z3) is displayed superimposed on the display (28) of the real-time image. This is plant cultivation equipment.
The fourth invention is
The plant cultivation equipment according to any one of the first to third aspects of the present invention is configured such that the image data is analyzed by the administrator computer (29) instead of being analyzed by the controller.
A first invention related to the present invention is a plant cultivation facility equipped with a plurality of cultivation beds 5 for cultivating plants P and a work vehicle 3 that travels between the cultivation beds 5. It is equipped with imaging cameras 25f and 25r that take images, a controller 26 that receives and analyzes imaging data, and a terminal 27 that has a display 28 and is connected to the controller 26 and is capable of transmitting and receiving data. Work lines L1 and L2 indicating the work height of a predetermined work on the plant P are set, and the work lines L1 and L2 are displayed on the real-time image display 28.

A second invention related to the present invention is a plant cultivation facility equipped with a plurality of cultivation beds 5 for cultivating plants P and a work vehicle 3 that travels between the cultivation beds 5. It is equipped with imaging cameras 25f and 25r that take images, a controller 26 that receives and analyzes imaging data, and a terminal 27 that has a display 28 and is connected to the controller 26 and is capable of transmitting and receiving data. Vertical work lines L3 and L4 are set at regular intervals with respect to the plant P extending in the vertical direction, and the work lines L3 and L4 are displayed on a real-time image display 28.

A third invention related to the present invention is a plant cultivation facility equipped with a plurality of cultivation beds 5 for cultivating plants P and a work vehicle 3 that travels between the cultivation beds 5. It is equipped with imaging cameras 25f and 25r that take images, a controller 26 that receives and analyzes imaging data, and a terminal 27 that has a display 28 and is connected to the controller 26 and is capable of transmitting and receiving data. Work areas Z1, Z2, and Z3 are set between upper work lines L6, L8, and L10 and lower work lines L7, L9, and L11 for plants P extending in the vertical direction, and work areas Z1 are displayed on the real-time image display 28. , Z2, Z3 are displayed.

A fourth invention related to the present invention is that in any one of the first to third inventions related to the present invention , the administrator computer 29 executes image data analysis and work line setting; The configuration is such that the setting contents are transmitted to the terminal 27 via the in-vehicle controller 26 or by bypassing it.

According to the present invention, even an unskilled person can easily perform the leaf cutting work and the drawing work.
According to the first invention related to the present invention , when the management worker sets the work lines L1 and L2, the worker riding on the work vehicle 3 can easily understand the work height, so that non-skilled workers can easily understand the work height. Even if it is, leaf cutting work and attracting work can be done easily.

According to the second invention related to the present invention , the work of shifting the position of the plants P due to growth is performed, and by aligning the shifting position with the line, even an unskilled person can arrange the plants at equal intervals, resulting in good cultivation. can be realized.

According to the third invention related to the present invention , the work range of flower thinning, fruit thinning, or leaf cutting performed by the worker can be indicated, and even an unskilled worker can easily distinguish the work range.

In addition to the effects of the first to third inventions related to the present invention, the fourth invention related to the present invention is convenient because preparations before work can be performed in a variety of ways.

BRIEF DESCRIPTION OF THE DRAWINGS It is a schematic diagram of the plant cultivation equipment of embodiment in this invention. (A) A conceptual diagram showing an outline of a part of cultivation equipment and an outline of a control system according to an embodiment of the present invention, and (B) a conceptual diagram of another example of a control system according to an embodiment of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a schematic diagram of an example of cultivation equipment and an example of a display according to an embodiment of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a schematic diagram of an example of cultivation equipment and an example of a display according to an embodiment of the present invention. It is a schematic diagram of an example of other cultivation equipment and an example of a display according to an embodiment of the present invention. It is a schematic diagram of an example of other cultivation equipment and an example of a display according to an embodiment of the present invention. It is a schematic diagram of an example of other cultivation equipment and an example of a display according to an embodiment of the present invention. It is a schematic diagram of an example of other cultivation equipment and an example of a display according to an embodiment of the present invention. It is a schematic diagram of an example of other cultivation equipment and an example of a display according to an embodiment of the present invention. It is a schematic diagram of an example of other cultivation equipment and an example of a display according to an embodiment of the present invention. It is a schematic diagram of an example of other cultivation equipment and an example of a display according to an embodiment of the present invention. It is a schematic diagram of an example of other cultivation equipment and an example of a display according to an embodiment of the present invention. It is a schematic diagram of an example of other cultivation equipment and an example of a display according to an embodiment of the present invention. It is a schematic diagram of an example of other cultivation equipment and an example of a display according to an embodiment of the present invention. It is a schematic diagram of an example of other cultivation equipment and an example of a display according to an embodiment of the present invention. FIG. 1 is a schematic diagram of an example of a display according to an embodiment of the present invention.

The greenhouse equipment according to the embodiment of the present invention will be described below.

Figure 1 shows an example of a cultivation facility, and this cultivation facility consists of a cultivation room 1, which is a greenhouse in which the indoor environment such as temperature and humidity is controlled by a heater, a humidifier, etc., and a cultivation room 1 adjacent to the cultivation room 1. It also has a shipping room 2. A main passage 4 is provided in the center of the cultivation room 1 through which workers, mobile work vehicles (work carts) 3, pest control vehicles, etc. can pass, and the main passage 4 has a concrete road surface. It is a concrete passageway made up of. At lateral positions on both sides of the main passage 4, a cultivation space 6 for cultivating crops is formed in which many rows of cultivation beds 5 serving as cultivation units are arranged. The cultivation bed 5 is a cultivation bed section made of rock wool that serves as a culture medium, and the nutrient solution is supplied to each cultivation bed 5 from a nutrient solution supply device 7 in the shipping chamber 2.

In addition, entrances and exits 8 to the cultivation chamber 1 equipped with opening/closing doors are provided at both ends of the main passage 4, and the structure allows access to the adjacent shipping room 2 through one of the entrances and exits 8. The other doorway 8 is configured to allow entry and exit from the outside of the cultivation facility. Then, the work vehicle 3 is moved from the main passage 4 to the sub passage 9 between the cultivation beds 5, and while the work vehicle 3 is moved along the cultivation beds 5 in the sub passage 9, various types of plants to be cultivated are removed. Able to perform work. The sub passage 9 is a passage formed in the front-rear direction between the left and right sides of each cultivation bed 5. The work vehicle 3 runs on left and right heating pipes laid on the sub-pathway 9, which heat the entire greenhouse, using as running rails 13.

The shipping room 2 is equipped with the aforementioned nutrient solution supply device 7 and a sorting device 10 that sorts harvested products (fruits) such as tomatoes by weight, size, or grade. Note that the sorting device 10 serves as a pretreatment device that processes cultivated crops before shipping. The sorting device 10 includes a sorting conveyor 11 for conveying and sorting harvested products, and harvest storage sections 12 for each class provided on both sides of the sorting conveyor 11. The structure is such that the harvested products are supplied from there to each harvested product storage section 12 and sorted into each class. Note that the sorting conveyor 11 has a bent L-shape in plan view. Further, each harvest storage section 12 may be provided with a storage box for storing the harvest, and the harvest may be shipped in each storage box.

An attraction wire 15 is provided above the cultivation bed 5 along the cultivation row, and the cultivated strain of the plant P to be cultivated is attracted by the attraction wire 15. It is attracted by the attraction string 17 that hangs down through it. The attraction hook 16 is configured to be suspended from the attraction wire 15, and has a well-known configuration in which the attraction string 17 wound around the attraction hook 16 is appropriately let out and hangs downward. Further, after the plants have grown to a predetermined height (near the attraction hook 16), while letting out the attraction string 17 from the attraction hook 16, the attraction string 17 is sequentially moved in the direction in which the plurality of cultivated plants are arranged, that is, in the cultivation bed 5. The height of the plant is lowered by shifting it in the longitudinal direction, and the plant is continuously cultivated. Therefore, when cultivating tomatoes, for example, the tomato stems extend from the cultivation bed 5 along the attraction strings 17.

The work vehicle 3 is equipped with front, rear, left and right running wheels 20, a lifting platform 21 on which a worker can ride, and an electric motor serving as a drive source for driving the running wheels 20 and the lifting platform 21. It has a well-known configuration in which the operator rides on the platform 21 and lifts and lowers the platform 21 to a desired height while performing operations such as cutting off leaves, cutting off buds, and harvesting cultivated plants. The running wheels 20 are integrally formed with a large diameter portion disposed on the outer side in the left-right direction of the machine body and a small diameter portion arranged on the inner side in the left-right direction of the machine body. You can move around.

The work vehicle 3 is equipped with imaging cameras 25f and 25r at the front and rear in the traveling direction, and can transmit image data of fruits and leaves of cultivated plants to a work vehicle control unit (controller) 26 while moving the work vehicle 3. It should be noted that the controller 26 stores various data acquired or calculated in advance in addition to the imaging data. Furthermore, a mobile terminal 27 that can communicate with the controller 26 is provided, and the mobile terminal 27 is configured to be able to acquire various data in addition to imaging data, and the display 28 is configured to display imaging data and the like. The mobile terminal 27 can be attached to a predetermined location on the work vehicle 3, and is attached at a position where it can be easily seen by the operator on board.

If there are two imaging cameras 25f and 25r in the front and back, they can be switched between the front and back as the work vehicle 3 moves and take in the image data. It is possible to image the plant P without escaping it. Furthermore, the front imaging camera 25f images the state of the plant P before the work, and the rear imaging camera 25r images the state of the plant P after the work, so that the management worker can visually check the work status. .

In the example shown in FIG. 2A, the mobile terminal 27 is configured to be able to communicate with the controller 26, and is configured to generate and display a work line L on a stored image, which will be described later, as well as display the work line L in a real-time image to perform various operations. In the example shown in FIG. 2(B), the in-vehicle controller 26 and the administrator computer 29 are linked through communication, and various data can be sent and received from the administrator computer 29 to the controller 26. The administrator computer 29 generates and displays a work line L for a stored image, which will be described later, and sends it to the in-vehicle controller 26 and displays it on the mobile terminal 27. It is also possible to bypass the on-vehicle controller 26 and send the information directly from the administrator computer 29 to the mobile terminal 27.

Next, a display example of the display 28 of the mobile terminal 27 will be explained. A camera automatically detects the ripened fruits of each cultivated strain while driving the work vehicle 3 or the pest control vehicle. Image data taken by the imaging cameras 25f and 25r is wirelessly transmitted to the controller 26, and a fruit discriminating device in the controller 26 detects ripened fruit. For example, when the fruit is a tomato, the fruit turns red when it matures, so the fruit discrimination device is configured to process photographed image data and discriminate the color to determine the degree of ripeness. In addition to color discrimination, a configuration may also be adopted in which ripe fruits are discriminated based on shape, size, etc. Among the fruits displayed on the display 28, fruits determined to have a predetermined maturity level are marked with an arrow A (FIG. 3). In addition, Figures 4 and 5 show examples of displaying maturity samples. For example, work instructions are given by surface color like tomatoes (Figure 4), and when there are multiple surface colors like bell peppers, the colored ratio is given. This is an example (FIG. 5) of giving instructions. In the case of FIG. 4, the standard red color that can be harvested is shown, and those exhibiting redder than this color can be determined to be harvestable.

This configuration provides work support for inexperienced workers and eliminates work variations.

The example shown in FIG. 6 facilitates the leaf cutting work by displaying the work line L1 on the real-time image on the display 28. Note that the work line L1 is drawn by directly touching the display 28 that displays the photographed data, and the instructed worker traces the determined position on a memorized image taken in advance, preferably immediately before, with a touch pen (not shown). You can draw a specified line using . The work line L1 is also stored and displayed on the real-time image, and the worker uses the work line L1 as a guide while checking the real-time image to identify the target crop for which leaf cutting work is to be performed and perform leaf cutting. I can do it. For example, in the example shown in FIG. 6, all leaves below the work line L1 are removed, which facilitates the leaf removal work.

Regarding how to draw the work line L1, in the above example, the screen was drawn by tracing the screen with a touch pen, but the number of pixels is specified vertically and horizontally on the display screen, and when you specify one point with the touch pen, the number of vertical pixels is calculated. It may also be configured so that it can be displayed in lines in the horizontal direction. Alternatively, it may be configured such that when two points on the left and right are specified with a touch pen, a line can be displayed by calculating a straight line passing through the two points.

Further, as shown in FIG. 16, the work line may be moved up and down by operating switches 31a and 31b for moving up and down. Alternatively, a switch (not shown) for moving the work line horizontally may be provided to display vertical work lines such as L3 and L4.

In the example shown in FIG. 7, the work line L2 is displayed on the real-time image on the display 28 to facilitate the growing point attracting work. The work line L2 can be drawn by an instructing worker by tracing a position determined to be near a growing point on a stored image captured in advance with a touch pen. The worker performs guidance while viewing the real-time image using the work line L2 as a guide.

In the example shown in FIG. 8, the perpendicular work line L3 is displayed at predetermined intervals on the real-time image on the display 28 to facilitate the guidance work. The work line L3 is drawn at a predetermined interval D from the standard work line L3' by determining the standard work line L3' and calculating the number of pixels that corresponds to the preset plant stem spacing. I can do it. The worker can designate the location where the guidance work should be performed while viewing the real-time image using the work lines L3' and L3 as a guide. In the illustrated example, the guidance is performed along the work line L3'. In the example shown in FIG. 8, an imaging camera 25' is installed in the mobile terminal 27.

In the example shown in FIG. 9, the guidance work is facilitated by displaying a vertical work line L4 on the real-time image on the display 28. It is assumed that the work line L4 is drawn in the same manner as the vertical work line L3. The worker can check the separation status d1 of the tip of the plant P stem while viewing the real-time image using the work line L4 as a guide, and can properly perform the attracting work.

In the example shown in FIG. 10, displaying the work line L5 as a growing point estimation line on the stored image transmitted from the on-vehicle controller 26 to the administrator computer 29 can be used to evaluate the state of the plant. The instructing worker checks the separation status d2 of the flower group (inflorescence) near the tip of the stem of the plant P while looking at the real-time image using the work line L4 as a guide, and determines whether the growth is toward fruit growth or leaf/stem growth. can.

Regarding the examples shown in FIGS. 11 to 14, by displaying the work areas Z1, Z2, Z3, or Z4 on the real-time image on the display 28, the flower thinning work, the fruit thinning work, the leaf cutting work, or the troubled fruit removal work is facilitated. The work area Z1 is set between the upper work line L6 and the lower work line L7, and is an upper and lower layer area Za, Zb that covers the outside of the work area of the area above the upper work line L6 and the area below the lower work line L7. By doing so, the work area Z1 is made clearer, and the object to be pruned is displayed. By separately preparing and checking a sample image S1 that displays the appropriate number of flowers, it is possible to determine which flowers should be removed from the group of flowers (inflorescence) in the real-time image displayed on the display 28, and to actually remove the flowers. I do. The sample image S1 displays an image with an appropriate number of flowers (for example, 4) and an appropriate comment, such as "Do not remove the upper flowers that have not fully bloomed."

Further, the work area Z2 is set between the upper work line L8 and the lower work line L9, and the upper and lower layer areas Zc, which cover the outside of the work area of the area above the upper work line L8 and the area below the lower work line L9, By setting Zd, the work area Z2 is made clearer and the target of fruit thinning is displayed. By separately preparing and checking a sample image S2 that displays the appropriate number of fruits, it is determined which fruit should be picked from the group of fruits in the real-time image displayed on the display 28, and the fruit is actually thinned. The sample image S2 displays an image of an appropriate number of fruits (for example, 3) and a comment, for example, ``Wait and see if the fruits are immature.''

Further, the work area Z3 is set between the upper work line L10 and the lower work line L11, and includes an upper and lower layer area Ze, which covers the outside of the work area in the area above the upper work line L10 and the area below the lower work line L11. By setting Zf, the work area Z4 is made clearer and the leaf missing object is displayed. Then, by separately preparing and checking a sample image S3 that displays leaf defects, it is determined which leaves should be removed from the plant stem displayed in the real-time image, and the leaf loss is actually performed. In the sample image S3, images such as intermediate leaves between inflorescences, leaves on the sides of inflorescences, etc., and comments are displayed.

Further, the work area Z4 is set below the work line L12, and by setting the area above the work line L12 outside the work area as an upper layer area Zg, the work area Z3 is made clearer and becomes a target for removing obstructing fruits. Display. By separately preparing and checking a sample image S4 displaying the fruit from which the disordered fruit has been removed, it is determined which fruit should be removed as the disordered fruit from the fruit group in the real-time image displayed on the display 28, and the fruit is actually removed. I do. The sample image S4 displays a detailed diagram of the impaired fruit to be removed, an instruction diagram for removing unnecessary fruits, and necessary comments.

FIG. 15 shows an example in which the area of a flower in an image based on imaging data can be calculated to predict the harvest amount. That is, the controller 26 stores past flower areas and corresponding harvest amounts, and can predict the harvest amount of the flower cluster from the imaged flower area. When the area of the predetermined colored flowers exceeds a predetermined value, it is determined that there are too many flowers, and an instruction to remove the flowers is issued. For example, if the yellow area corresponding to the flower color is small (F1), it can be predicted that there will be fewer flowers, fewer fruits, and a decrease in yield. Conversely, if the yellow area is large (F2), there will be more flowers and fruits, and an increase in yield can be predicted.

As shown in FIGS. 3 to 14, if the work line and work area are specified on the display 28 that displays imaged data, even those who are inexperienced with the work can make accurate judgments, and the variation due to human factors can be reduced. can.

3 Work vehicle 5 Cultivation bed 25f Imaging camera 25r Imaging camera 26 Controller 27 Mobile terminal (terminal)
28 Display 29 Administrator computer L1 Work line L2 Work line L3 Work line L4 Work line L6 Upper work line L7 Lower work line L8 Upper work line L9 Lower work line L10 Upper work line L11 Lower work line P Plant Z1 Work area Z2 work area Z3 work area

Claims (4)

In a plant cultivation facility equipped with a plurality of cultivation beds (5) for cultivating plants (P) and a work vehicle (3) that travels between the cultivation beds (5), plants are placed in the work vehicle (3). It has an imaging camera (25f, 25r) that takes an image of (P), a controller (26) that receives and analyzes the imaging data, and a display (28), and is connected to the controller (26) and can send and receive data. Equipped with a terminal (27),
The controller (26) detects a ripened fruit by analyzing the imaged data of the imaging camera (25f, 25r), and sends the imaged data in which the ripened fruit is detected to the administrator computer. ,
An instructor manually sets work lines (L1, L2) indicating the work height for leaf cutting work on the plant (P) by touching the display screen of the imaged data of the detected state on the administrator computer. At the same time,
The supervisor computer transmits the data of the work line (L1, L2) to the controller (26) or the terminal (27), and the work line (L1, L2) displays the real-time image on the display (28). Plant cultivation equipment configured to be superimposed on the screen . An instructor manually touches the display screen to set vertical attracting work lines (L3, L4) at regular intervals with respect to the plants (P) extending in the vertical direction, and the attracting work lines (L3, L4) The plant cultivation equipment according to claim 1, wherein the real-time image is displayed superimposed on the display (28) . For plants (P) that extend in the vertical direction, an instructor designates a thinning work area (Z1, Z2, Z3) between the upper work line (L6, L8, L10) and the lower work line (L7, L9, L11). 2. The flower thinning work area (Z1, Z2, Z3) is configured to be set manually by touching the display screen, and the flower thinning work area (Z1, Z2, Z3) is displayed superimposed on the display (28) of the real-time image. Plant cultivation equipment as described . 4. The plant cultivation equipment according to claim 1 , wherein the image data is analyzed by the administrator computer (29) instead of being analyzed by the controller.