WO2018216520A1 - Système de culture et programme informatique - Google Patents

Système de culture et programme informatique Download PDF

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Publication number
WO2018216520A1
WO2018216520A1 PCT/JP2018/018475 JP2018018475W WO2018216520A1 WO 2018216520 A1 WO2018216520 A1 WO 2018216520A1 JP 2018018475 W JP2018018475 W JP 2018018475W WO 2018216520 A1 WO2018216520 A1 WO 2018216520A1
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WO
WIPO (PCT)
Prior art keywords
cultivation
unit
state
panel
cultivation panel
Prior art date
Application number
PCT/JP2018/018475
Other languages
English (en)
Japanese (ja)
Inventor
拓郎 森
平井　達也
浩二 河野
Original Assignee
株式会社椿本チエイン
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 株式会社椿本チエイン filed Critical 株式会社椿本チエイン
Publication of WO2018216520A1 publication Critical patent/WO2018216520A1/fr

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    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
    • A01G9/00—Cultivation in receptacles, forcing-frames or greenhouses; Edging for beds, lawn or the like
    • A01G9/14—Greenhouses
    • A01G9/143—Equipment for handling produce in greenhouses
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
    • A01G31/00—Soilless cultivation, e.g. hydroponics
    • A01G31/02—Special apparatus therefor
    • A01G31/06—Hydroponic culture on racks or in stacked containers
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
    • A01G9/00—Cultivation in receptacles, forcing-frames or greenhouses; Edging for beds, lawn or the like
    • A01G9/02—Receptacles, e.g. flower-pots or boxes; Glasses for cultivating flowers
    • A01G9/029—Receptacles for seedlings
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
    • Y02A40/00—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production
    • Y02A40/10—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in agriculture
    • Y02A40/25—Greenhouse technology, e.g. cooling systems therefor
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P60/00—Technologies relating to agriculture, livestock or agroalimentary industries
    • Y02P60/20—Reduction of greenhouse gas [GHG] emissions in agriculture, e.g. CO2
    • Y02P60/21—Dinitrogen oxide [N2O], e.g. using aquaponics, hydroponics or efficiency measures

Definitions

  • the present invention relates to a cultivation system and a computer program using a transfer device for transferring a flat cultivation panel used in a plant factory, for example.
  • Plant factories that grow plants by controlling the growth environment are increasing regardless of their size.
  • automation of operations in cultivation processes such as sowing, sprouting, greening, seedling selection, seedling raising, seedling transplanting, growth, and harvesting has been promoted.
  • Vegetables cultivated in plant factories can be supplied in a stable manner that is not affected by the weather, can be cultivated with optimized culture materials, have high nutritional value, and can be grown without pesticides due to the absence of insect damage. It has excellent points such as being.
  • Patent Document 1 and Patent Document 2 shelves capable of placing several stages of cultivation containers containing plants in the height direction are provided and a large number of cultivation containers are placed, and light from the light source is directed toward the cultivation containers.
  • the cultivation system to irradiate performing control which mounts each cultivation container in an appropriate position is disclosed.
  • a monitor camera is used to enable visual confirmation of the growth state of the plant in the cultivation container. For example, by providing a monitor camera on a moving device using, for example, a stacker crane that moves the cultivation container, an attendant confirms an image output from the monitor camera, and moves and removes the cultivation container according to the confirmed result. An attendant operates the mobile device to do so.
  • JP 2000-209970 A Japanese Patent Application Laid-Open No. 2001-078568 Japanese Patent Laying-Open No. 2015-043175
  • This invention is made
  • the cultivation system according to the present invention is a cultivation system using a transfer device for transferring the cultivation panel between a plurality of accommodating units that accommodate a plant and a flat cultivation panel having a hole in which the medium of the plant is buried.
  • the transfer device has a gripping part for gripping an edge of the cultivation panel, a state determination part for determining the state of the cultivation panel or plant to be transferred, and a state determined by the state determination part.
  • a grip location determining unit that determines the location of the cultivation panel gripped by the grip unit.
  • the transfer device includes a camera that captures part or all of the cultivation panel, and the state determination unit determines the state based on an image obtained from the camera.
  • the cultivation panel includes a wireless tag having a storage medium
  • the transfer device includes a reader that reads information from the storage medium of the wireless tag of the cultivation panel, and the state The determination unit determines the state based on information read by the reader.
  • the cultivation system which concerns on this invention WHEREIN:
  • the state determination unit determines the orientation of the cultivation panel
  • the gripping location determination unit determines a gripping location by the gripping unit based on the determined orientation of the cultivation panel.
  • the state determination unit determines the growth state of the plant.
  • the grip location determination unit determines a grip location by the grip portion based on the determined growth state.
  • the cultivation system according to the present invention further includes a storage location determination unit that determines a storage destination of the plurality of storage units based on the growth state.
  • the computer program according to the present invention executes a process of instructing a computer to perform a gripping operation by a transfer device having a gripping part that grips an edge of a flat cultivation panel having a hole in which a plant and a culture medium of the plant are buried.
  • the computer determines the arrangement pattern or orientation of the holes of the cultivation panel, or the growth state of the plant planted in the cultivation panel, and based on the identified state, the edge of the cultivation panel A process for determining a grip location is executed.
  • the cultivation including the plant is carried out by grasping the edge of the cultivation panel and taking out the cultivation unit from the accommodation unit and placing it on the accommodation unit.
  • the gripping location is determined by determining the state of the unit.
  • a precise operation of gripping and moving the cultivation panel is required. It is possible to transfer and transfer at an appropriate position according to the shape and dimensions of the cultivation panel and at an appropriate holding position while avoiding overhanging of the plant.
  • the state is determined by the camera.
  • the growing state of the plants planted on the cultivation panel that is, the size, the protruding state of the leaves, and the like are different for each cultivation unit.
  • These conditions which were difficult with an infrared sensor, can be grasped two-dimensionally and three-dimensionally by analyzing the images taken by the camera. Avoid overhanging and grasp at an appropriate gripping location corresponding to the type of cultivation panel. Is possible.
  • the state is determined by reading information from a wireless tag provided on the cultivation panel.
  • Static information such as the type, shape, and hole arrangement pattern of the cultivation panel can be determined by reading the information without analyzing the image captured by the camera.
  • the arrangement pattern of the holes for holding the plants on the cultivation panel is determined.
  • the discrimination may be executed based on an image from the camera, or the arrangement pattern identification information may be stored in advance in the wireless tag and read out. Based on the arrangement pattern of the holes, it is possible to avoid the hole part itself, and further the overhanging part of the plant.
  • the orientation of the cultivation panel is determined.
  • the discrimination may be executed based on an image from the camera, or orientation information may be stored in the wireless tag and read out before being taken out in advance. Based on the determined orientation, an appropriate grip location can be determined.
  • the growth state of the plant is determined.
  • the determination may be executed based on an image from the camera, or may be executed by reading information on the growth state stored in advance in the wireless tag by inspection or the like. Based on the determined orientation, an appropriate gripping location or accommodation location can be determined.
  • FIG. 4 is a flowchart showing an example of a processing procedure from taking in a cultivation panel to placing by a transfer device on the front side in the first embodiment. It is explanatory drawing which shows the outline
  • FIG. 4 is a flowchart showing an example of a processing procedure from taking in a cultivation panel to placing by a transfer device on the front side in the first embodiment. It is explanatory drawing which shows the outline
  • FIG. 10 is a flowchart showing an example of the process sequence from taking in the cultivation panel by the transfer equipment of the front side in Embodiment 2 to mounting.
  • 10 is a flowchart illustrating an example of a processing procedure for capturing a cultivation panel by a rear transfer device according to the second embodiment. It is a model perspective view which shows the cultivation panel of Embodiment 3.
  • FIG. It is a block diagram which shows the structure of the cultivation system in Embodiment 3.
  • FIG. 10 is a flowchart showing an example of a processing procedure from taking a cultivation panel to placing it by a transfer device on the front side in a third embodiment.
  • 10 is a flowchart illustrating an example of a processing procedure for capturing a cultivation panel by a rear transfer device according to a third embodiment.
  • FIG. It is a block diagram which shows the structure of the cultivation system in Embodiment 4.
  • FIG. It is a flowchart which shows an example of the process sequence from taking in of the cultivation panel by the transfer apparatus of the front side in Embodiment 4 to mounting. It is a flowchart which shows an example of the process sequence of taking in the cultivation panel by the back side transfer apparatus in Embodiment 4.
  • the plant factory automatically grows the cultivation unit that accommodates the cultivation unit in which the plant seedling is transplanted in the growing step after transplanting the seedling in each step of cultivation, and automatically the cultivation unit with respect to the cultivation shelf.
  • a cultivation system including a device to be transferred manually.
  • FIG. 1 is a schematic perspective view of a cultivation system 100 according to the first embodiment.
  • the cultivation system 100 in the first embodiment includes a cultivation shelf 1 and a transfer device 2.
  • the cultivation shelf 1 is configured by arranging a plurality of multistage shelves in the left-right direction that can accommodate a plurality of cultivation units in the up-down direction.
  • the cultivation unit is in a state in which a medium in which a seedling of a plant to be cultivated is buried in each hole of a rectangular cultivation panel in which a plurality of holes are provided vertically and horizontally. .
  • the transfer device 2 includes a transfer unit that moves in the frontage direction (left-right direction) and the height direction (up-down direction) of the cultivation shelf 1, and uses the transfer unit to transfer the cultivation unit from other places to the cultivation shelf 1. It is a device that is placed in or taken out from each accommodating portion.
  • the cultivation shelf 1 includes a frame 11 serving as a framework, a guide rail 12 that receives the cultivation unit, a basket 13 for forming a flow of a culture solution that is constantly supplied to the lower part of each cultivation unit that is housed, A collar receiver 14 and a support portion 15 that support the collar 13 are provided.
  • Each accommodation part of the cultivation shelf 1 is comprised by partitioning the flame
  • the frame 11 is configured by arranging a plurality of gate-shaped frame members formed by connecting the upper portions of a pair of left and right support columns with horizontal beams in the front-rear direction and connecting the upper portions of these frame members with vertical beams.
  • the guide rail 12 is provided inside the left and right support columns in parallel to the floor so as to connect these frame members in the front-rear direction. Note that a plurality of guide rails 12 (11 sets in FIG. 1) are provided at predetermined intervals in the vertical direction, and are provided to have the same height on the left and right.
  • ⁇ Receptor 14 is a strip-shaped plate material, and is bridged in the left-right direction between the pillars of the frame member.
  • the collar receiver 14 is positioned with respect to the lower surfaces of the plurality of guide rails 12 provided at the same height on the left and right.
  • ⁇ 13 has a U-shaped cross section, and is made of resin, for example.
  • the eaves 13 are stretched over the eaves 14 over the entire length in the front-rear direction of the frame 11 so as to be substantially parallel to the floor surface.
  • the flange 13 is constructed so as to protrude from the frame 11 to the front and the rear at an appropriate length.
  • the support portion 15 is provided so as to protrude forward from the foremost support column of the frame 11 and supports the front protrusion portion of the flange 13. Similarly, on the rear side, a support portion 15 (not shown) is provided so as to protrude rearward from the rearmost support column, and supports the rearward protrusion portion of the flange 13.
  • the cultivation shelf 1 is configured by arranging a set of multi-stage shelves including the frame 11, the guide rails 12, the baskets 13, the baskets 14, and the support portions 15 as described above.
  • the size of one set of multistage shelves is, for example, 1400 mm in width (left-right direction), 7500 mm in height (up-down direction), and 20000 mm in depth (front-back direction).
  • the cultivation shelf 1 is configured by arranging such multi-stage shelves in parallel over, for example, 20 sets and a width of 36000 mm with a predetermined interval.
  • the size is an example, and the width, height, and depth may vary depending on the size of the plant factory.
  • the floor of the plant factory where the cultivation shelf 1 is installed has a slight inclination in the backward direction, and it is preferable that the flow of the culture solution in the straw 13 is promoted.
  • a light source is provided inside each storage section of the cultivation shelf 1 (not shown).
  • the light source is configured by suspending a white light emitting diode or a fluorescent lamp downward.
  • FIG. 2 is a front view of the transfer device 2
  • FIG. 3 is a side view. Details of the transfer device 2 will be described with reference to FIGS.
  • symbol 40 in FIG.2, 3 has shown the cultivation panel of the cultivation unit transferred by the transfer apparatus 2 (The plant contained in a cultivation unit is not shown in figure).
  • the transfer device 2 is configured using a stacker crane. Specifically, it includes a frame 21, a travel rail 22, a travel guide 23, a travel platform 24, a lift guide 25, a lift belt 26, a transfer unit 28, and a power distribution unit 29.
  • the frame 21 is fixed so as to be arranged in the left-right direction with the foremost strut of the cultivation shelf 1, a plurality of struts, a rear strut fixed at an appropriate position behind the strut, and an upper portion between the struts It is comprised with the horizontal beam connected in the left-right direction and the vertical beam which connects between the front and back support
  • the plurality of struts are erected so as to be respectively positioned in the gaps between the plurality of multistage shelves constituting the cultivation shelf 1, and the horizontal beams are provided so as to straddle the cultivation shelf 1 in the left-right direction.
  • the vertical beam of the frame 21 extends an appropriate length in the forward direction.
  • the traveling guide 23 and the power distribution unit 29 are installed on the extending end of the vertical beam.
  • a traveling rail 22 is laid on the floor so as to be parallel to the traveling guide 23.
  • a traveling table 24 is supported on the traveling rail 22 via drive wheels.
  • the traveling table 24 is provided with two upright lifting guides 25, a lifting belt (chain) 26, and a transfer unit 28.
  • the two raising / lowering guides 25 are fixed to the traveling platform 24 and connected at the upper part, and the connecting part is supported by the traveling guide 23 via a guide wheel.
  • the traveling table 24 moves in the left-right direction while being guided by the traveling rail 22 and the traveling guide 23 by rotating driving wheels by the driving force of a traveling motor provided on the traveling table 24.
  • the power distribution unit 29 accommodates cables for supplying power and signals to the components installed in the traveling platform 24.
  • the lifting guide 25 is provided with cables for supplying electric power and signals to the components of the transfer device 2, so that the transfer unit can be placed at any position on the travel rail 22.
  • a connection mechanism is provided so that the cable contacts the power distribution unit 29 regardless of the height of the cable 28.
  • the transfer unit 28 includes a first frame that is horizontally supported between two lift guides 25 via a guide wheel, and a second frame that is movably supported in the front-rear direction with respect to the frame inside the frame. And a chuck unit 281 (see FIG. 4) fixed in the frame.
  • the first frame is connected to one end of the elevating belt 26.
  • the elevating belt 26 extends upward from the transfer unit 28, is folded at the upper part of the elevating guide 25, and is connected to an elevating motor installed on the traveling platform 24.
  • the transfer unit 28 is moved up and down by being guided by the lifting guide 25 as a whole when the lifting belt 26 is sent by the lifting motor and the first frame is moved up and down.
  • the chuck unit 281 that holds the cultivation panel 40 can move in the front-rear direction by moving the second frame provided with the chuck unit 281 in the front-rear direction with respect to the first frame. As a result, the rear edge of the cultivation panel 40 held by the chuck unit 281 can reach the guide rails 12 of the cultivation shelf 1 as shown in FIG. 3.
  • FIG. 4 is an explanatory view schematically showing the chuck unit 281.
  • FIG. 4 shows a state where the chuck unit 281 is holding the cultivation panel 40 provided with a plurality of holes 401 as viewed from above.
  • the chuck unit 281 fixed to the second frame of the transfer unit 28 has a plurality of gripping portions 282 that grip the edge of the rectangular cultivation panel 40 of the cultivation unit.
  • the plurality of gripping portions 282 are configured to grip a plurality of locations on the edge of the cultivation panel 40 (left and right direction in FIG. 1).
  • the chuck unit 281 shown in FIG. 4 has three grip portions 282.
  • the plurality of gripping portions 282 are composed of movable claws and fixed claws provided on the top and bottom.
  • the movable claw is fixed to the shaft 283, and a fixed claw (not shown) is fixed to the base 284.
  • the roller 285 fixed to the shaft 283 is rotated by the driving unit 286 based on an instruction from the control unit 30 so that the movable nail rotates in the vertical direction so as to sandwich the cultivation panel 40 together with the fixed nail.
  • the base 284 or the grip 282 itself is gripped in the left-right direction with respect to the second frame on which the chuck unit 281 is provided by the operation of the drive unit 286 based on an instruction from the controller 30. It can be moved within a minute range of several parts 282.
  • the control unit 30 may make the second frame movable in a minute range in the left-right direction with respect to the first frame.
  • the transfer unit 28 includes a camera 27 (see FIG. 5) on the upper part of the second frame.
  • the camera 27 is installed facing downward so that the entire cultivation unit including the cultivation panel 40 held by the chuck unit 281 is included in the photographing range.
  • the orientation of the camera 27 is not limited to the downward direction, and may be an orientation that allows the entire cultivation unit to be viewed (perspectively), or may be directed downward and in the front-rear direction.
  • the number of cameras 27 is not limited to one, and a plurality of cameras 27 may be provided for one transfer unit 28, and may include a first camera facing downward and a second camera facing forward and backward, Furthermore, you may make it include the 3rd camera which image
  • the transfer device 2 configured as described above is provided in front of the cultivation shelf 1 as shown in FIG. 1 and is also provided on the rear side.
  • the two transfer devices 2 are provided so as to face each other with the cultivation shelf 1 sandwiched in the front-rear direction, and thereby the cultivation system 100 is configured.
  • FIG. 5 is a block diagram illustrating a configuration of the control unit 30 of the transfer apparatus 2.
  • the control unit 30 uses a PLC (Programmable Logic Controller).
  • the control unit 30 includes a storage unit 301 and is connected to the travel motor, the lifting motor, and the transfer unit 28.
  • the control unit 30 outputs a control signal to the traveling motor and the lifting motor and inputs an output pulse from a rotary encoder attached to the output shaft of each motor.
  • the rotary encoder may be attached to the output shaft of the reduction gear.
  • the control unit 30 can specify the position of the traveling platform 24 on the traveling rail 22 and the position of the transfer unit 28 relative to the lifting guide 25 by measuring the number of output pulses from each rotary encoder. Based on the position information, the control unit 30 controls the traveling of the traveling platform 24 and the lifting / lowering of the transfer unit 28, that is, the movement of the cultivation unit in the left-right direction and the up-down direction.
  • the storage unit 301 uses a non-volatile storage medium such as a flash memory, and can be read and written from the control unit 30.
  • the storage unit 301 stores in advance the positions at which the transfer unit 28 should stop with respect to each storage unit of the cultivation shelf 1 (the travel stop position of the travel platform 24 and the lift stop position of the transfer unit 28). .
  • the position to be stopped is stored as the number of output pulses of the rotary encoder of the travel motor starting from the initial position of the travel platform 24 (Home ⁇ Position (origin), for example, the left end on the travel rail 22).
  • the elevation is stored as the number of output pulses of the rotary encoder of the elevation motor starting from the initial position (and the lower limit in the height direction) of the transfer unit 28.
  • the control unit 30 counts the number of output pulses during traveling and during ascending / descending, and when the number matches the number of output pulses stored in the storage unit 301 as the stop position, the position is specified. Stop.
  • the control unit 30 causes the transfer device 2 on the front side to take in the cultivation unit placed in another place (not shown) into the transfer unit 28 and travel the traveling table 24 in the frontage direction (left and right direction) of the cultivation shelf 1. Then, the transfer unit 28 is moved up and down. And the transfer apparatus 2 stops the transfer unit 28 in the position corresponding to the predetermined
  • the control unit 30 outputs a control signal for moving the cultivation unit, that is, the second frame in the front-rear direction (toward the rear) to the transfer unit 28, and both sides of the cultivation panel 40 of the cultivation unit. This is placed so that the portion is along the guide rail 12.
  • this cultivation unit placement process is performed on all the accommodation units of the cultivation shelf 1 once or twice a day, for example.
  • the cultivation unit placed in each storage unit is pushed back little by little and reaches the end in 20 to 30 days.
  • the control unit 30 controls to take out the cultivation unit from all the storage units of the cultivation device 1 once or twice a day.
  • the rear transfer device 2 conveys the extracted cultivation unit to a mounting place corresponding to the next step (for example, harvesting).
  • control part 30 in Embodiment 1 performs the process which discriminate
  • control unit 30 adjusts the position of the chuck unit 281 in the left-right direction or the position of each of the gripping units 282 so that the gripping unit 282 of the chuck unit 281 grips an appropriate location determined by the gripping location determination unit 303. An instruction to do so is given to the drive unit 286.
  • the state determination unit 302, the gripping part determination unit 303, and the storage unit determination unit 304 execute processing in software based on a program stored in the storage unit 301 by the control unit 30 that is a PLC.
  • FIG. 6 is a flowchart showing an example of a processing procedure from taking in the cultivation panel 40 to placement by the transfer device 2 on the front side in the first embodiment.
  • the processing procedure shown in the flowchart of FIG. 6 is not performed in the transfer device 2 on the rear side.
  • Control part 30 moves transfer unit 28 to the taking-in part of the cultivation unit currently placed in order to make it accommodate in cultivation shelf 1 (Step S101).
  • the transfer unit 28 images the cultivation unit (plant and cultivation panel 40) placed thereon with the camera 27 (step S102).
  • the control unit 30 acquires an image captured by the camera 27 (step S103).
  • the control unit 30 analyzes the acquired image, and first determines the type of the cultivation panel 40 at the place where the cultivation unit is placed as the state determination unit 302 (step S104).
  • the type of the cultivation panel 40 is divided by, for example, the size of the cultivation panel 40, the number of holes, and the arrangement.
  • the storage unit 301 stores dimensions and hole arrangement patterns for each type of the cultivation panel 40, and the control unit 30 can determine the type based on the acquired image.
  • the control unit 30 secondly determines the orientation of the cultivation panel 40 as the state determination unit 302 (step S105).
  • the cultivation panel 40 is rectangular, which of the long side and the short side is placed along the guide rail 12 depends on the type, and the arrangement of the holes is the center in the long side direction or the short side direction.
  • the line may not be symmetrical with respect to the line, and the location to be gripped may differ depending on the orientation.
  • the control unit 30 can determine the orientation of the cultivation panel 40 based on the arrangement pattern of the cultivation panel 40 stored in the storage unit 301.
  • control unit 30 determines the growth state of the seedlings of the plants (plants of the cultivation unit) planted in the cultivation panel 40 as the state determination unit 302 (step S106).
  • the control unit 30 determines a seedling range corresponding to a portion of the image obtained by photographing a plant seedling in the image acquired in step S103, and determines the growth state based on the determined seedling range size. Determine.
  • the control unit 30 captures an image by including the entire cultivation panel 40 in the imaging range from above in step S102, determines the range of the cultivation panel 40 by edge processing, and selects seedlings by color or brightness or both in the image. Determine the seedling area taken.
  • the control unit 30 calculates the ratio of the seedling range to the range (area) of the cultivation panel 40, and determines whether the growth state is good or bad depending on whether the ratio is 50% or more. Or the control part 30 images from diagonally upward so that the cultivation panel 40 may be looked down on in step S102, and determines the range of the cultivation panel 40 and a seedling similarly. In this case, the control unit 30 calculates the ratio of the determined seedling range in the captured image range, or estimates the height of the seedling by the position in the image of the seedling range, the size in the height direction, You may make it discriminate
  • control unit 30 determines a grip location by the grip unit 282 of the chuck unit 281 based on the type of the cultivation panel 40 determined in step S104 and the orientation of the cultivation panel 40 determined in step S105 (step S107). Further, the control unit 30 determines whether or not the determined gripping part sandwiches a part of the seedling based on the image acquired in step S103 (step S108). When a part of the seedling protrudes from the edge, the gripping part 282 may pinch the seedling, and the seedling may be damaged. However, it is possible to control to grip the part that is not sandwiched based on the image.
  • step S108 If it is determined that the object is sandwiched in step S108 (S108: YES), the control unit 30 shifts the gripping position and determines again (step S109), and instructs the chucking unit 281 to perform the gripping operation (step S110). If it is determined in step S108 that a portion is not sandwiched (S108: NO), the control unit 30 directly instructs the gripping operation (S110).
  • the control unit 30 determines a storage unit as a storage destination based on the quality of the growth state determined in step S106 (step S111).
  • the cultivation shelf 1 of the present disclosure is a shelf with a deep depth in the front-rear direction, and the cultivation unit that has been placed is pushed slightly backward by being placed once or twice a day by the transfer device 2 on the front side. It is.
  • the cultivation unit that is determined to be inferior due to its immature growth state is accommodated in the accommodation unit located on the left side of the entire cultivation shelf 1, and the cultivation unit that is judged as good is accommodated in the accommodation unit on the right side, and is determined as defective.
  • the cultivated unit is placed in the left storage unit once a day, and the cultivated unit determined to be good is placed in the right storage unit twice a day.
  • the cultivation unit determined to be defective can be provided with a cultivation period longer than the cultivation unit determined to be good before being pushed backward, and is expected to grow larger.
  • a difference in the culture solution and a difference in growth conditions such as a light source are provided in the storage shelf, and the control unit 30 is provided in a storage unit having a growth condition that matches the growth state when transferring from the transfer device 2 on the front side. You may make it control so that a cultivation unit may be accommodated.
  • the control unit 30 conveys the gripped cultivation unit to the accommodation unit determined in step S111 and places the cultivation panel 40 (step S112), and ends the process.
  • the transfer device 2 on the rear side can also transfer by gripping an appropriate gripping portion by executing the processing procedure shown in the flowchart of FIG.
  • the process in the rear transfer apparatus 2 is determined in step S111. This is different from the transfer device 2 on the front side.
  • FIG. 7 is an explanatory diagram showing an outline of the process when the cultivation panel 40 is taken in.
  • the perspective view of the cultivation panel 40 in the state by which the plant P was planted is shown, and the gripping location determined in the hatching range indicated by reference numerals 821 and 822 is shown.
  • the camera 27 is provided so that the cultivation panel 40 may be imaged from diagonally upward.
  • the control unit 30 first determines the gripping location in the range indicated by the broken line based on the result of determining the type and orientation of the cultivation panel 40, but the gripping location on the right side of the edge of the cultivation panel 40 is a hole. Since it can be determined based on the image captured by the camera 27 that it overlaps with a part of 401 or a part of the seedling (S108: YES), the gripping position is shifted to the right side and determined again (S109).
  • the cultivation system 100 can transfer the plant P without hurting in the transfer that requires a precise operation of holding and transferring the edge of the cultivation panel 40 in which the plant P is planted. It becomes possible. Unlike the transfer in material handling that picks up a rectangular parallelepiped transfer object (such as a cardboard box), the transfer device 2 grips the cultivation panel 40 and places it on the rail. is required. Furthermore, since the overhang
  • each state of the cultivation panel 40 is determined and grasped, not only the 32 holes as shown in FIG. 4 and the cultivation panel 40 symmetrically arranged, but also 35 holes, It is also possible to mix and use different types of cultivation panels 40 such as 100. It is also possible to grow the cultivation panel 40 holding seedlings of different types of plants P, for example, lettuce and baby leaves mixed in the same cultivation shelf 1.
  • the type and orientation of the cultivation panel 40, the growth state of the plant P included in the cultivation unit are all determined, and the grip location and the accommodation destination are determined from the determination result.
  • the present invention is not limited to this, and only the type of panel, only the orientation, or only the growth state may be determined to determine the grip location.
  • the determination of the containment is not essential. In a system that can provide a difference in growth conditions for each storage unit on a large scale like the cultivation shelf 1 of the present disclosure, the storage unit can be determined.
  • FIG. 8 is a block diagram illustrating a configuration of the cultivation system 100 according to the second embodiment.
  • the same reference numerals are given to the configurations common to the cultivation system 100 in the first embodiment, and detailed description thereof is omitted.
  • the control unit 30 further includes a communication unit 306.
  • the cultivation system 100 in Embodiment 2 includes a central device 5 that is a device different from the transfer device 2.
  • the communication unit 306 uses a wireless communication device such as Wi-Fi or a wired communication device such as Ethernet (registered trademark), and communicates with a factory LAN disposed in a plant factory or directly with the central device 5. Communication connection is possible.
  • the communication unit 306 may use Bluetooth (registered trademark) as long as the control unit 30 can communicate with the central apparatus 5.
  • the central device 5 uses a PC (Personal Computer) installed in a space of the plant factory where the cultivation system 100 is installed and in a different space from the cultivation system 100.
  • the central device 5 is a PC used as a monitoring device used by a work manager of the cultivation system 100, for example.
  • the central device 5 is not limited to this, and may be a server device existing outside the plant factory.
  • the central device 5 includes a control unit 50, a communication unit 51, a storage unit 52, and an output unit 53, and the output unit 53 is connected to a monitor 54.
  • the control unit 50 uses a CPU (Central Processing Unit) to control each component.
  • the communication unit 51 can use a communication device based on a communication standard corresponding to the communication unit 306 of the control unit 30 to establish communication connection with a factory LAN.
  • the storage unit 52 uses a non-volatile storage device such as a flash memory or a hard disk.
  • the output unit 53 reproduces and outputs a video signal based on the video data stored in the storage unit 52 to the monitor 54 under the control of the control unit 50.
  • the control unit 30 of the transfer device 2 on the front side associates the information on the determined cultivation unit (type, direction and growth state, or any one or two) with the information on the accommodation destination.
  • the data is transmitted from the communication unit 306 to the central device 5.
  • the process at the time of accommodation of the cultivation unit accommodated in each accommodating part of the cultivation shelf 1 is memorize
  • the storage position is updated by shifting in the front-rear direction.
  • the control unit 50 can identify the cultivation unit that has reached the end based on the number of cultivation units that have been accommodated so far as the cultivation unit that has been accommodated before. It is possible, and it is possible to notify the state at the time of accommodation toward the transfer device 2 on the rear side. By knowing the type and direction of the accommodation, the transfer device 2 on the rear side can easily determine the grip location based on a state other than the growing state.
  • one multistage shelf has 11 stages of storage units, and the two multistage shelves are provided as 20 sets as one set.
  • Is 440 (11 stages ⁇ 40).
  • the 440 storage units can be distinguished from the control unit 30 by their positions (x: position in the left-right direction (what number), y: position in the up-down direction (number of steps)).
  • the state of the cultivation unit (the mounting direction and mounting) in association with the positions in the front-rear direction. What is necessary is just to memorize
  • FIG. 9 is a flowchart showing an example of a processing procedure from taking in the cultivation panel 40 to placement by the transfer device 2 on the front side in the second embodiment.
  • steps common to the processing procedure shown in the flowchart of FIG. 6 in the first embodiment are denoted by the same step numbers and detailed description thereof is omitted.
  • the position of the accommodation unit (information identifying the accommodation unit) is transmitted in association with the accommodation destination (step S113), and the process ends.
  • FIG. 10 is a flowchart illustrating an example of a processing procedure for taking in the cultivation panel 40 by the rear transfer device 2 according to the second embodiment.
  • the control unit 30 moves the transfer unit 28 to the receiving target storage unit (step S201).
  • the control unit 30 acquires the state of the cultivation unit (the type and orientation of the cultivation panel 40) existing at the end of the storage unit to be captured from the central device 5 through the communication unit 306 (step S202).
  • the control unit 30 acquires an image captured by the camera 27 (step S204).
  • the control unit 30 determines a grip location by the grip unit 282 of the chuck unit 281 based on the state (type and orientation of the cultivation panel 40) received in step S202 (step S205).
  • control part 30 judges whether the determined holding
  • step S206 If it is determined that the object is sandwiched in step S206 (S206: YES), the control unit 30 shifts the gripping position and determines again (step S207), and instructs the chucking unit 281 to perform the gripping operation (step S208). If it is determined in step S206 that a portion is not sandwiched (S206: NO), the control unit 30 directly executes a gripping operation instruction (S208).
  • the control unit 30 conveys the gripped cultivation unit and places the cultivation panel 40 on the placement location of the next process (step S209), and ends the process.
  • the rear transfer device 2 does not need to determine the type and orientation of the panel at the time of capture. Moreover, the state until each cultivation unit accommodated in the cultivation shelf 1 is taken out in the central device 5 can be specified.
  • a cultivation unit is image
  • FIG. 11 is a schematic perspective view showing the cultivation panel 40 of the third embodiment.
  • the cultivation panel 40 is made of polystyrene foam and has a flat plate shape, and holes 401 are provided in a plurality of rows in the vertical and horizontal directions. Each hole 401 is configured to accommodate a nursery bed portion obtained by cutting a flat medium in which plant P seedlings are planted for each section without any gap.
  • the cultivation panel 40 in Embodiment 3 is provided with the wireless tag 41 with a storage medium.
  • the wireless tag 41 is a passive tag such as an RFID tag, for example, and individual identification information is stored in advance. Note that the storage medium built in the wireless tag 41 can be rewritten by a general-purpose reader / writer, and stores the type (hole arrangement pattern) of the cultivation panel 40 to which the wireless tag 41 itself is attached.
  • FIG. 12 is a block diagram showing the configuration of the cultivation system 100 in the third embodiment.
  • the same reference numerals are given to the configurations common to the cultivation system 100 in the first embodiment, and detailed description thereof is omitted.
  • the transfer unit 28 includes a reader / writer 289.
  • the reader / writer 289 is a reader / writer corresponding to the wireless tag 41.
  • the radio wave range is narrowed to such an extent that reading and writing can be performed on the wireless tag 41 of the cultivation panel 40 in a state of being gripped by the chuck unit 281 and taken into the transfer unit 28.
  • the reader / writer 289 reads the identification information stored in the storage medium of the wireless tag 41 and the type of the cultivation panel 40, and stores the cultivation panel 40 in the storage medium built in the wireless tag 41, and the determined growth. Information indicating the state can be written. Moreover, you may make it memorize
  • FIG. 13 is a flowchart illustrating an example of a processing procedure from taking in the cultivation panel 40 to placement by the transfer device 2 on the front side according to the third embodiment.
  • the steps common to the processing procedure shown in the flowchart of FIG. 6 in the first embodiment are denoted by the same step numbers, and detailed description thereof is omitted.
  • the transfer device 2 on the front side photographs the cultivation unit (S102, S103), and reads the state of the cultivation panel 40 by the reader / writer 289 (step S134).
  • step S134 for example, the type of the cultivation panel 40 is read.
  • the orientation information may be read when the orientation information is already stored, or may be read when the test result such as the growth state or the plant type is written.
  • the control unit 30 of the transfer device 2 in Embodiment 3 determines the type of the cultivation panel 40 using information stored in the wireless tag 41 (S104), and also determines the growth state and the type of plant depending on the case. (S106). And the control part 30 determines a holding location and an accommodating part by these discrimination
  • the reader / writer 289 writes the state (direction and growth state) of the cultivation unit determined in steps S104 to S106 to the wireless tag 41 (step S114), and processing Exit.
  • FIG. 14 is a flowchart showing an example of a processing procedure for capturing the cultivation panel 40 by the rear transfer device 2 according to the third embodiment.
  • the steps common to the processing procedure shown in the flowchart of FIG. 9 of the second embodiment are denoted by the same step numbers and detailed description thereof is omitted.
  • the cultivation unit existing at the end of the storage unit to be captured Is read by the reader / writer 289 from the wireless tag 41 provided on the cultivation panel 40 (step S212). Subsequent processing is the same as that in the second embodiment, but in the determination of the grip location in step S205, the determination is based on the orientation information read in step S212.
  • the wireless tag 41 is provided on the cultivation panel 40 so that the reader / writer 289 can read and write.
  • the type and orientation of the cultivation panel 40 that is complicated to discriminate from the image are discriminated while the leaves of the plant P are still small or the number of leaves is small. A gripping operation is possible based on the state.
  • FIG. 15 is a block diagram illustrating a configuration of the cultivation system 100 according to the fourth embodiment.
  • the same reference numerals are given to the configurations common to the cultivation system 100 in the first and third embodiments, and detailed description thereof is omitted.
  • the transfer unit 28 includes the reader / writer 289 but does not include the camera 27.
  • FIG. 16 is a flowchart illustrating an example of a processing procedure from taking in the cultivation panel 40 to placement by the transfer device 2 on the front side according to the fourth embodiment.
  • steps that are the same as those shown in the flowchart of FIG. 6 of the first embodiment or the flowchart of FIG. 13 of the third embodiment are given the same step numbers. Detailed description is omitted.
  • the control unit 30 moves the transfer unit 28 to the place where the cultivation unit is placed (S101).
  • the state of the cultivation panel 40 is read (S134).
  • control part 30 discriminate
  • control part 30 determines an accommodating part according to the growth state contained in the read state (S111), conveys a cultivation unit toward the determined accommodating part, and mounts it (S112).
  • cultivation panel 40 put is written (S114), and a process is complete
  • FIG. 17 is a flowchart illustrating an example of a processing procedure for capturing the cultivation panel 40 by the rear transfer device 2 according to the fourth embodiment.
  • the steps common to the processing procedure shown in the flowchart of FIG. 14 of the third embodiment are denoted by the same step numbers and detailed description thereof is omitted.
  • the control unit 30 moves the transfer unit 28 to the storage unit to be captured (S201), and then changes the state of the cultivation unit to be captured. Reading is performed by the reader / writer 289 from the wireless tag 41 provided on the cultivation panel 40 (S212). And the control part 30 determines the holding location by the holding part 282 of the chuck
  • the state can be determined by reading information from the wireless tag 41 without using the camera 27.
  • the type of the cultivation panel 40, the type of the plant P included, and the growth state (test result) are stored in the storage medium built in the wireless tag 41 in advance.
  • the growth state of can be predicted to some extent.
  • the growth state of the plant in the middle of cultivation is grasped using the camera provided in the cultivation shelf 1, and the state is acquired by the transfer device 2 on the rear side to determine the gripping location, the transport destination, etc. You may make it use for.

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  • Life Sciences & Earth Sciences (AREA)
  • Environmental Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Cultivation Receptacles Or Flower-Pots, Or Pots For Seedlings (AREA)
  • Image Analysis (AREA)
  • Hydroponics (AREA)

Abstract

La présente invention concerne un système de culture et un programme informatique qui utilisent un dispositif de transfert qui peut transférer, avec une haute précision, un objet à transférer ayant une forme de panneau dans divers états. Dans le système de culture qui utilise un dispositif de transfert, qui transfère le panneau de culture entre une pluralité de parties de réception destinées à recevoir une plante et un panneau de culture de forme plate ayant un trou dans lequel le milieu de la plante est intégré, le dispositif de transfert inclut une partie de préhension qui saisit une partie de bord du panneau de culture, et comporte : une partie de détermination d'état qui détermine un état du panneau de culture ou de la plante qui est une cible de transfert ; et une partie de détermination de point de préhension qui détermine, sur la base de l'état déterminé par la partie de détermination d'état, un point sur le panneau de culture qui doit être saisi par la partie de préhension.
PCT/JP2018/018475 2017-05-24 2018-05-14 Système de culture et programme informatique WO2018216520A1 (fr)

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CN116437531A (zh) * 2023-04-17 2023-07-14 上海华维可控农业科技集团股份有限公司 一种基于大数据的可控农业栽培光照调节系统及方法

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JP2015043175A (ja) * 2013-08-26 2015-03-05 株式会社ダイフク 物品認識装置及び物品認識設備
JP2015178141A (ja) * 2014-03-19 2015-10-08 トヨタ自動車株式会社 搬送ロボット及び搬送方法
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CN116437531B (zh) * 2023-04-17 2023-10-31 上海华维可控农业科技集团股份有限公司 一种基于大数据的可控农业栽培光照调节系统及方法

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