Measuring device, measuring method and computer readable storage medium

Abstract

The measuring device or the measuring method is configured so that the information processing device executes the following processing: specifies a grape bunch to be measured based on detection that the grasping portion grasps the grape bunch; and starts measuring the number of particles of the specified grape bunch.

Description

Technical Field

[0001] The present invention relates to measuring equipment, measuring methods and procedures, and more particularly to a technology that can be used to measure characteristic quantities of an object to be measured in various types of operation processes. Background Art

[0002] Various techniques related to object measurement are known.

[0003] For example, PTL 1 described below discloses a technology of scanning rice grains flowing on a belt conveyor using a linear image sensor to evaluate quality.

[0004] Reference List

[0005] Patent Literature

[0006] PTL 1

[0007] Japanese Patent Publication No. 1989(H01)-312447 Summary of the invention

[0008] Technical issues

[0009] For example, considering the case of measuring the number, size, etc. of the object to be measured, it is important to first specify the object to be measured.

[0010] However, requiring workers to perform some additional actions just to specify the object to be tested is undesirable.

[0011] Therefore, an object of the present technology is to enable appropriate specification of an object to be measured without imposing an extracted action load or an operation load on a user (worker) during a work process involving measurement performed by a measuring device.

[0012] Problem Solution

[0013] A measuring apparatus according to the present technology includes: a measurement object specifying unit that performs a process of specifying an object to be measured based on detection that a grip portion grips the object; and a measuring unit that obtains a measurement result in a process of measuring a feature amount of the object to be measured specified by the measurement object specifying unit.

[0014] For example, the grasping part is an object capable of grasping an object, such as a worker's hand or finger, a worker's hand or finger wearing a glove or a predetermined tool, a tool capable of grasping an object through human operation, a tool capable of automatically grasping an object, and a robotic arm.

[0015] The object represents various objects, for example, agricultural products like grapes, bananas or tomatoes, natural objects like trees or animals, and industrial products, and the object to be measured is the whole or part of the object specified by grasping.

[0016] The characteristic quantity represents a value that can be quantified, compared, and evaluated, for example, the number of particles, size (size), color, ingredient content, ingredient ratio, sugar content, moisture content, and estimated price.

[0017] The measuring apparatus according to the present technology may further include a presentation control unit that performs a process for presentation based on the measurement result.

[0018] That is, the presentation control unit performs control to present the feature amount measured by the measurement unit or information based on the feature amount using display, sound, vibration, etc. For example, the presentation control unit performs a process of presenting measurement information, determination information based on the measurement information, and the like.

[0019] In the measuring device according to the present technology, the measuring process can be performed by using the captured image.

[0020] For example, an image of an object captured by an integrated or separate imaging device is input. The captured image is used to measure feature quantities that can be determined from the image.

[0021] In the measuring apparatus according to the present technology, the measuring process can be performed based on the detection that the gripping portion grips the object.

[0022] That is, the measurement of the characteristic amount of the object to be measured starts by detecting that the gripping portion grips the object.

[0023] In the measuring apparatus according to the present technology, the measuring process can be performed based on the detection that the gripping portion grips the object and moves the object.

[0024] For example, when a certain movement is applied to the object in the grasping state, the characteristic quantity of the object to be measured begins to be measured. The movement can be shaking, holding and moving up, down, left, right, backward, forward, rotating, etc.

[0025] In the measuring apparatus according to the present technology, the measuring process can be performed based on the detection of the gripping portion gripping the object and the predetermined action other than the gripping.

[0026] For example, a predetermined action is detected in a state where the gripping part grips the object to start measuring the feature quantity of the object to be measured. The predetermined action may be an audio action, such as the generation of a worker's voice and a predetermined sound, a gesture action of a worker's hand or a device (e.g., scissors), etc.

[0027] In the measuring apparatus according to the present embodiment, the measuring process is performed by using images of a plurality of frames captured during a period in which the object to be measured is moved.

[0028] For example, a captured image of a subject photographed by an integrated or separate imaging unit is input, and measurement is performed using images of a plurality of frames obtained as, for example, moving images.

[0029] In the measuring apparatus according to the present technology, the measurement object specifying unit may set the object grasped and moved by the grasping portion as the object to be measured.

[0030] For example, the measuring object specifying unit sets an object or a part of an object to be measured to which some movement is applied in a grasping state. Examples of movement include holding the object to move the object upward, downward, left, right, backward and forward, shaking the object, rotating the object, etc.

[0031] The measurement apparatus according to the present technology may further include a target setting unit that sets a target value of the feature amount, wherein the target setting unit obtains a difference between the feature amount measured during the measurement and the target value.

[0032] For example, a target value of a feature amount is set and stored based on user setting, automatic setting, or the like to allow comparison between the target value and the measured value.

[0033] The measuring device according to the present technology may further include a presentation control unit that performs a process for presenting the difference value.

[0034] The presentation control unit presents the difference between the current feature value and the target value using display, sound, or the like.

[0035] In the measuring device according to the present technology, the movement may be a rotational movement.

[0036] For example, the rotation of an object in a grasped state is detected to start the measurement.

[0037] In the measuring apparatus according to the present technology, the gripping portion may be one of a human hand, a tool operated by a human, and an automatically operated robot arm.

[0038] The measuring object specifying unit detects a grasping object among a human hand, a tool, and a robot arm as a grasping part to specify the object to be measured. Examples of human hands include bare hands and gloved hands, etc. The tool means any tool that can be grasped by human intention regardless of its mode, such as a tool operated by a human hand, a tool operated by an object other than a hand, a tool mounted on a hand and used, and a remote control tool. The robot arm means a robot arm that can be grasped by automatic control.

[0039] In the measuring device according to the present technology, the object as the object to be measured may be agricultural crops.

[0040] That is, the measurement object designation unit designates the individual crops grasped among the crops as the objects to be measured. The crops mentioned here are crops in a broad sense, including fruits, vegetables, grains, trees, flowers, mushrooms, fertilizers, animal feed, horticultural crops, economic crops, etc.

[0041] In the measuring apparatus according to the present technology, the measurement object specifying unit may perform a process of setting a grape bunch in which branches are gripped by the gripping part as the object to be measured, and during the measurement process, the number of particles may be measured as a feature amount of the grape bunch set as the object to be measured.

[0042] A grape bunch in which a branch was grasped was set as an object to be measured, and the number of particles of the grape bunch was measured.

[0043] The measuring device according to the present technology may further include an imaging unit that captures an image to be used in the measuring process.

[0044] For example, an integrated or separate imaging unit is included.

[0045] The measuring device according to the present technology may further include an imaging unit that captures an image to be used in the measuring process; and a presentation unit that presents the measurement result, wherein the imaging unit and the presentation unit are provided on the main body mounting unit.

[0046] The main body installation unit is a unit that can be installed on a person's body or clothes. For example, the main body installation unit can be a head-mounted type, a glasses type, an earphone type, a wristband type, a clothing type, a clamp type, a pocket storage type, a pendant type, etc. The imaging unit and the presentation unit are arranged on the main body installation unit.

[0047] The presentation unit refers to a unit capable of presenting a measurement result to a user, and refers to a unit capable of presenting some information to the five senses of the user, for example, a display unit, a sound output unit, and a vibration unit.

[0048] In the measuring apparatus according to the present technology, the presentation unit may be a display unit that displays information on a display surface provided in front of the eyes of the user.

[0049] For example, information such as measurement results is displayed on a display unit that is a head-mounted type, a glasses type, or the like and is provided in front of the eyes of the user.

[0050] In the measuring apparatus according to the present technology, a sensor unit that detects that the gripping portion grips an object may be provided.

[0051] Examples of sensor units that detect an object grasped by a grasping part such as a human hand, a tool, and a robotic arm include imaging devices that detect images, pressure, temperature information, distance measurement information, etc., pressure sensors, thermal tracers, distance measurement sensors, etc.

[0052] The measuring method according to the present technology is performed by an information processing device, and the measuring method includes: performing a process of specifying an object to be measured based on detecting that a gripping portion grips an object; and obtaining a measurement result in a process of measuring a characteristic amount of the specified object to be measured. That is, the information processing device implements an appropriate process of specifying the object to be measured.

[0053] The program according to the present technology is a program that causes an information processing device to execute the following: a process of specifying an object to be measured; and a process of obtaining a measurement result. This realizes an information processing device capable of specifying an object to be measured.

[0054] Furthermore, a measuring method according to the present technology is performed by an information processing device, and includes: a process of specifying a grape bunch to be measured based on detection that a gripping portion grips an object; and a process of starting measurement of the number of grains of the specified grape bunch.

[0055] Alternatively, an information processing device performs: a process of grasping a grape bunch by a designated grasping portion; and a process of measuring the number of grains of the designated grape bunch as the designated grape bunch rotates. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] Figure 1 is a block diagram of a measuring device in an embodiment of the present technology;

[0057] Figure 2 is an explanatory diagram of a functional configuration of a measuring device in an embodiment;

[0058] Figure 3 is an explanatory diagram of an example of a mode of a measuring device in the embodiment;

[0059] Figure 4 is an explanatory diagram of a usage state of a measuring device in an embodiment;

[0060] Figure 5 is an explanatory diagram of a display state in an embodiment;

[0061] Figure 6 is a flowchart of a processing example of the first embodiment;

[0062] Figure 7 is an illustrative diagram of an example of an identification method that can be used in an embodiment;

[0063] Figure 8 is a flow chart of a measurement process in an embodiment;

[0064] Fig. 9 is a flowchart of a processing example in the second embodiment;

[0065] Fig.10 is a flowchart of a processing example in the third embodiment;

[0066] Fig.11 is a flowchart of a processing example in the fourth embodiment;

[0067] Fig.12 is a flowchart of a processing example in the fifth embodiment;

[0068] Fig.13 is an explanatory diagram of a display example in the fifth embodiment;

[0069] Fig.14 is an explanatory diagram of a display example for supporting berry thinning in an embodiment;

[0070] Fig.15 are explanatory diagrams of various examples of measurement devices and system configurations in the embodiments;

[0071] Fig.16 is a block diagram of a configuration example of a measurement terminal in an embodiment;

[0072] Fig.17 is a block diagram of a configuration example of an information processing device in an embodiment;

[0073] Fig.18 is an explanatory diagram of a mode and a display example of a measuring device using a mobile terminal in an embodiment;

[0074] Fig.19 This is an explanatory diagram of a mode of a measurement system using network communication in an embodiment. DETAILED DESCRIPTION

[0075] Hereinafter, the embodiments will be described in the following order.

[0076] <1. Example of configuration of measuring equipment>

[0077] <2. Processing Example of First Embodiment>

[0078] <3. Processing Example of Second Embodiment>

[0079] <4. Processing Example of Third Embodiment>

[0080] <5. Processing Example of Fourth Embodiment>

[0081] <6. Processing Example of Fifth Embodiment>

[0082] <7. Examples of equipment and system configuration>

[0083] <8. Conclusion and Transformation>

[0084] <1. Example of configuration of measuring equipment>

[0085] In the embodiment, a measuring device capable of measuring the number of particles in a grape bunch, etc., described later, is shown as an example of a measuring device used by a grape grower. However, the use is obviously not limited thereto.

[0086] Figure 1A configuration example of the measuring device 1 in the embodiment is shown.

[0087] The measuring device 1 in the example includes an imaging unit 2 , an image signal processing unit 3 , an image analysis unit 4 , a control unit 5 , an operation unit 6 , a sensor unit 7 , a display control unit 8 , a display unit 9 , and a storage unit 10 .

[0088] The imaging unit 2 can image an object to be detected, such as grapes grown in a vineyard.

[0089] Specifically, the imaging unit 2 may be a general visible light camera that obtains at least an image of an object or a camera having a distance measurement function for measuring the distance to the object. The camera having a distance measurement function may be a camera equipped with an image sensor for capturing an image and also equipped with an image sensor for detecting in a distance measurement method based on, for example, an STL (Structured Light) system or a ToF (Time of Flight) system, or may be a stereo camera.

[0090] Furthermore, depending on the feature quantity to be measured or the purpose, the imaging unit 2 may be a camera, for example, a near infrared camera, a multispectral camera, and a specific wavelength imaging camera, including an image sensor with a specific wavelength that captures an image for measurement.

[0091] Furthermore, the imaging unit 2 may be a thermal tracer that captures a temperature distribution image.

[0092] The image sensor mounted on the imaging unit 2 is, for example, an imaging element such as a CCD (Charge Coupled Device) sensor and a CMOS (Complementary Metal Oxide Semiconductor) sensor, which receives light entering from a subject through an imaging optical system in the imaging unit 2, converts the light into an electrical signal, and outputs the electrical signal. The image sensor may be a sensor driven by a global shutter system or a rolling shutter system.

[0093] The image sensor applies, for example, CDS (correlated double sampling) processing, AGC (automatic gain control) processing, etc. to the electrical signal obtained by photoelectric conversion of the received light, and further performs A / D (analog / digital) conversion processing. The image sensor then outputs the image signal as digital data to the image signal processing unit 3 of the subsequent stage.

[0094] The image signal processing unit 3 includes, for example, an image processing processor including a DSP (Digital Signal Processor), etc. The image signal processing unit 3 applies various processes to the image signal as digital data input from the imaging unit 2 .

[0095] For example, in the case of an image signal of a normal visible light image, the image signal processing unit 3 performs a clamping process of clamping the black levels of R (red), G (green), and B (blue) at a predetermined level, a correction process between the color channels of R, G, and B, a de-mosaic process of including all R, G, and B color components in the image data of each pixel, a process of generating (separating) a brightness (Y) signal and a color (C) signal, and the like.

[0096] Furthermore, the image signal processing unit 3 can also apply necessary resolution conversion processing to the image signal subjected to various types of signal processing, for example, resolution conversion for recording, for communication output, or for monitoring images.

[0097] Furthermore, the image signal processing unit 3 can also apply, for example, compression processing, encoding processing, etc., to the image data subjected to resolution conversion for recording or for communication.

[0098] The image analysis unit 4 extracts a frame of an image signal subjected to a predetermined process by the image signal processing unit 3, and performs image analysis processing for measurement. For example, the image analysis unit 4 determines the type and operation state of an object as a subject using a method such as pattern matching, determines the area and attribute of the object for feature amount measurement, or performs measurement based on the determination.

[0099] The image analysis unit 4 performs a process of setting each frame (or intermittent frame) in video shooting as a processing target and analyzing the frame to determine the situation on the subject side or obtain information for determination. For example, the image analysis unit 4 determines the situation about the grip and the object, or calculates information for determining the grip state, etc. In addition, the image analysis unit 4 can measure feature quantities from frames during imaging.

[0100] Furthermore, the image analysis unit 4 can read image data captured by the imaging unit 2 and stored in the storage unit 10 and set the image data as a processing target to perform analysis on an object as a subject, such as measurement of feature amounts and calculation of information used for measurement.

[0101] The information determined by the image analysis unit 4 is supplied to the control unit 5 and used in a series of measurement processes.

[0102] Note that the image analysis unit 4 may include an AI (artificial intelligence) engine and can perform image recognition processing based on machine learning, deep learning, etc. to recognize, for example, determination of an object, the state of a grip, etc., or recognize a part regarding measurement of a feature amount.

[0103] The control unit 5 includes a microcomputer (arithmetic processing device) including a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), a flash memory, and the like.

[0104] The CPU executes a program stored in the ROM, flash memory, or the like to integrally control the entire measuring apparatus 1 .

[0105] The RAM is used as a work area in various types of data processing by the CPU, and is used to temporarily store data, programs, and the like.

[0106] The ROM and flash memory (nonvolatile memory) are used to store an OS (Operating System) used by the CPU to control each component, and to store content files (eg, image files) and application programs, firmware, and the like used for various operations.

[0107] The control unit 5 performs control regarding imaging operations (e.g., shutter speed, exposure adjustment, and frame rate) in the imaging unit 2, parameter control of various types of signal processing in the image signal processing unit 3, and control of analysis processing of the image analysis unit 4. In addition, the control unit 5 performs setting processing corresponding to user operations, imaging operation control, measurement process, display operation control, and the like.

[0108] Note that the control unit 5 may have the function of the image analysis unit 4 .

[0109] The operation unit 6 may be a controller provided on the device housing, such as a key, a switch and a dial, a touch panel, etc. According to the operation unit 6, the user can perform, for example, a power on / off operation, various setting operations, an input operation of a target value, activation of a program, etc. The operation unit 6 transmits a signal corresponding to the input operation to the control unit 5.

[0110] Note that in the present embodiment, an operation for designating an object to be measured (e.g., designating a bunch of grapes as a measurement object) or an operation as a measurement start trigger (measurement start operation of the number of particles) is an operation that the operation unit 6 does not perform in order to prevent direct operation by the user, as described later. However, the operation unit 6 is capable of performing these operations.

[0111] The sensor unit 7 represents various sensors provided integrally as needed. For example, the sensor unit 7 may include various sensors such as a pressure sensor, a sound sensor, a position sensor, an illumination sensor, a contact sensor, a temperature sensor, a distance measurement sensor, an acceleration sensor, an angular velocity sensor, a pressure sensor, a height sensor, a weight sensor, and a body state sensor for detecting pulse, body temperature, etc., and the sensor unit 7 may include sensors required for measuring the process adopted.

[0112] The various sensors perform sensing for measuring a feature amount, sensing for specifying an object to be measured, sensing for determining the start of measurement (for example, detecting that a gripping portion grips an object), and the like.

[0113] Note that the sensor unit 7 may not be provided, and only the image captured by the imaging unit 2 may be used to specify the object to be measured or measure the feature amount.

[0114] Furthermore, depending on the feature amount, the imaging unit 2 may not be provided, and the detection information of the sensor unit 7 may be used to specify the object to be measured or measure the feature amount.

[0115] In addition, the user's operation may also be recognized by various sensors of the sensor unit 7, or may be recognized from the image captured by the imaging unit 2. For example, an operation using voice, an operation using a subject motion (gesture), etc. may be detected, and in this case, there may be an example where there is no operation unit 6 as a key or other physical controller as a touch panel, etc.

[0116] The display unit 9 is a display unit that performs various types of displays for a user (eg, a photographer), and includes, for example, a display device mounted on the measuring apparatus 1 such as an LCD (Liquid Crystal Display) and an organic EL (Electro Luminescence) display.

[0117] The display control unit 8 performs a process for causing the display unit 9 to perform a display operation. For example, the display control unit 8 includes a character generator, a display driver, etc., and causes the display unit 9 to perform various types of display based on the control of the control unit 5.

[0118] In addition, the display control unit 8 can also cause the display unit 9 to display the image captured by the imaging unit 2 as a monitoring image (so-called through-the-lens image), or can cause the display unit 9 to reproduce and display a still image or moving image recorded in a recording medium.

[0119] Furthermore, the display control unit 8 can also cause the display unit 9 to display various operation menus, icons, messages, etc., ie, a GUI (Graphical User Interface), on the screen based on the instruction of the control unit 5 .

[0120] The display unit 9 may be included in the measuring apparatus 1 . Alternatively, a separate display device may be used, and the display device may be used as the display unit 9 .

[0121] The storage unit 10 includes, for example, a nonvolatile memory, and stores image files such as still image data, moving image data, etc. captured by the imaging unit 2, attribute information of the image files, thumbnail images, etc. In addition, the storage unit 10 is also used as an area for storing information of measurement results, various subsidiary information corresponding to the measurement, and various types of detection information obtained in the measurement by the sensor unit 7. In addition, the storage unit 10 is also used as an area for storing setting information, which is, for example, a target value for work.

[0122] The storage unit 10 can actually have various implementations. For example, the storage unit 10 may be a flash memory built into the measuring device 1, or may be in an implementation including a memory card (e.g., a portable flash memory) that can be attached to and detached from the measuring device 1, and a card recording and reproducing unit for recording, reproducing, and accessing the memory card. In addition, examples of the implementation in which the storage unit 10 is built into the measuring device 1 include an implementation in which the storage unit 10 is implemented as an HDD (hard disk drive) or the like.

[0123] In the case of the present embodiment, the configuration as described above is provided, and further, the software program provides the control unit 5 with Figure 2 Functional configuration shown.

[0124] That is, the control unit 5 includes the functions of a measurement object specifying unit 5a, a measuring unit 5b, a presentation control unit 5c, and a target setting unit 5d.

[0125] Note that although the control unit 5 includes Figure 2 , but part or all of the measurement object specifying unit 5a, the measuring unit 5b, the presentation control unit 5c, and the target setting unit 5d may be included in, for example, the image analyzing unit 4. The performance, throughput, necessary functions, etc. in the microcomputer, processor, etc. installed in the measuring device 1 actually depend on the design conditions of each device, etc., and, for example, there may be various specific implementations of an arithmetic processing device including the following functions, such as Figure 1 The image signal processing unit 3, the image analyzing unit 4, the control unit 5 and the display control unit 8 in the display apparatus are provided. For example, these functions may be provided by one microcomputer, or these functions may be appropriately distributed and installed on two microcomputers.

[0126] therefore, Figure 2 The functional configuration shown may not be provided in the control unit 5 , and it is only necessary to provide the functional configuration at least in the measuring device 1 .

[0127] The measurement object specifying unit 5a performs a process of specifying the object to be measured based on the detection that the gripping unit grips the object. The process of specifying the object to be measured is, for example, a process in which the control unit 5 instructs the image analysis unit 4 to set the condition of the object to be measured (gripped by the gripping unit) so that the image analysis unit 4 specifies the pixel range of the object to be measured, a process in which the pixel range of the object to be measured is actually specified, etc.

[0128] For example, the grasping part is an object capable of grasping an object, such as a worker's hand or finger, a worker's hand or finger wearing a glove or a predetermined tool, a tool capable of grasping an object through human operation, a tool capable of automatically grasping an object, and a robotic arm.

[0129] The object represents various objects, for example, crops such as grapes, bananas, or tomatoes, natural objects such as trees or animals, and industrial products, and the object to be measured is all or part of the object specified by grasping.

[0130] The measurement object specifying unit 5a can identify the actual grasping of the object by the gripping portion using the image analysis result of the image analysis unit 4 or the detection result of the sensor unit 7. For example, in the case where a specific event such as "the hand grasps the branch of the grape bunch" is obtained as the image analysis result of the image analysis unit 4, the measurement object specifying unit 5a recognizes that "the gripping portion grasps the object". Alternatively, when a state in which the hand approaches the branch of the grape bunch is determined in the analysis result of the image analysis unit 4, and the pressure sensor of the sensor unit 7 (the pressure sensor mounted on the worker's finger) detects a pressure equal to or higher than a predetermined pressure, the measurement object specifying unit 5a recognizes the occurrence of a specific event such as "the hand grasps the branch of the grape bunch" and determines that "the gripping portion grasps the object".

[0131] As in these examples, the measuring object specifying unit 5 a recognizes the “grip gripping object” based on the determination process of the image analyzing unit 4 or detection information of some sensor as the sensor unit 7 .

[0132] The measuring unit 5b performs a process for acquiring a measurement result of a characteristic amount of the object to be measured specified by the measuring object specifying unit 5a. For example, the measuring unit 5b performs a process required for acquiring a measurement result of the number of particles in a grape bunch as the object to be measured.

[0133] The counting process as the actual measurement may be performed based on the image analysis of the image analysis unit 4, and the measurement unit 5b may acquire the measurement result. Alternatively, the measurement unit 5b may count the number of image regions recognized as grains of grapes by the image analysis unit 4. Furthermore, according to the feature quantity to be measured, the measurement unit 5b may acquire the number as the detection information of the sensor unit 7, or may perform counting based on the detection information to calculate the measurement result. That is, it is only necessary for the measurement unit 5b (control unit 5) to at least acquire the measurement result during the measurement process, regardless of whether the measurement unit 5b performs the measurement.

[0134] Therefore, in terms of at least obtaining the measurement result, the measurement unit of the present disclosure may refer to the measurement unit 5b of the embodiment. The measurement unit may also be configured to perform a measurement process, and may be regarded as a concept including the measurement unit 5b and the image analysis unit 4, a concept including the measurement unit 5b and the sensor unit 7, or a concept including the measurement unit 5b, the image analysis unit 4, and the sensor unit 7.

[0135] Note that the feature quantity obtained as the measurement result of the measuring unit 5b is not limited to the quantity, for example, the number of grains of grapes, and the feature quantity may also be a value that can be quantified or can be compared and evaluated, for example, the size (size), color, ingredient content, ingredient ratio, sugar content, moisture content and estimated price of the object to be measured.

[0136] The presentation control unit 5 c performs a process for presentation based on the measurement result as a result of the measurement process obtained by the measurement unit 5 b .

[0137] Specifically, the process is, for example, a process of controlling the display control unit 8 so that the display unit 9 displays information on the number of particles in the grape bunch. Alternatively, the presentation control unit 5c may present information determined from the measurement result, for example, determination information of "appropriate", "inappropriate", "appropriate amount", "insufficient" and "excessive", or guidance content for subsequent work, instead of the numerical value of the measurement result.

[0138] Note that, although the measurement result is presented by display in the example described in the embodiment, the numerical value of the measurement result or the presentation based on the measurement result may be provided to the user by sound or vibration. Figure 1 Although not shown, a sound output unit, a vibration unit, etc. may also be provided.

[0139] For example, sound information such as "the measurement result is 38 particles" and "the number is appropriate" may be output, or "appropriate" and "inappropriate" may be presented in different vibration patterns.

[0140] The target setting unit 5d performs a process of setting a target value of a feature quantity to be measured according to, for example, an input or selection by a user. For example, in the case where a user who is a grape grower intends to set the number of grains in a grape bunch to 35, the user inputs a target value of "35", and the target setting unit 5d sets the target value to "35", and the target setting unit 5d performs a process of storing the target value in, for example, the storage unit 10. During the measurement process, a comparison process of the current measurement value and the stored target value is performed to perform a presentation suitable for the user.

[0141] The target setting unit 5d is a function provided in the case of executing the process of the fifth embodiment.

[0142] Furthermore, in the case where the function of the target setting unit 5 d is provided, the presentation control unit 5 c also performs presentation based on the result of the comparison processing of the current measurement value and the stored target value.

[0143] Although the control unit 5 has the above-described functional configuration, there is also a case where, for example, the control unit 5 and the image analysis unit 4 are provided by one microcomputer, a processor, etc. In this case, it is possible to adopt Figure 2 Function configuration.

[0144] The measuring device 1 of the embodiment has the following features: Figure 1 and Figure 2 The configuration shown in the figure will be described, and a specific implementation of measuring the number of grape particles using the measuring device 1 having the configuration will be described.

[0145] As the number of farmers decreases and farmers age, efficient management and high profitability of agriculture by young farmers are desired.

[0146] In particular, one operation that is needed to improve the efficiency of native grape production is an operation called "berry thinning."

[0147] When ordinary native grapes grow in a natural state, a bunch includes 50 to 70 grapes. If the grapes grow with this number of grapes, a small number of grapes will have low sugar content and their commercial value will be low. Therefore, the grapes need to be thinned to the appropriate number of grapes, and this work is called "berry thinning".

[0148] In addition, grape berries gradually grow after the flowers wither, and after a few weeks, adjacent grape berries rub against each other. Therefore, the berry thinning work of all grape bunches in the farm needs to be completed in such a short time. In addition, the berry thinning work needs to be completed in a very short time, and efficiency is very important. Specifically, it is necessary to thin all grape bunches in the farm in about two weeks, and the efficiency is very high.

[0149] The key points of berry drop include the following.

[0150] -Remove poorly shaped particles.

[0151] - Make the particle density uniform.

[0152] - Make the number of particles appropriate.

[0153] One of the most difficult things to achieve in terms of efficiency is getting the particle count right.

[0154] Note that the appropriate value of the number of grains varies depending on the type. For example, the appropriate value for variety A is 30 to 35 grains, the appropriate value for variety B is 40 to 45 grains, the appropriate value for variety C is 50 grains, and so on. In addition, the appropriate value also varies depending on the commercial value of the grapes to be produced, and high-priced delicious grapes with large grains are substantially obtained by reducing the number of grains.

[0155] As mentioned above, berry thinning needs to be completed in a very short time, and workers cannot count the number of berries in each bunch of grapes every time.

[0156] Depending on the job, berry thinning work performed by farmers includes the following.

[0157] 1. In the early morning when work begins, count only the number of grapes in a bunch, and then thin the berries to the appropriate value.

[0158] 2. Look closely at the bunch of grapes and build an image in your mind of the berries falling completely.

[0159] 3. The berry thinning work is repeated continuously to obtain the image.

[0160] However, it is difficult to determine the appropriate number of particles due to factors such as physical conditions and time (it is difficult to see the number of particles in the evening at sunset).

[0161] In this case, a measuring device is needed to measure the number of grains in the grape bunches.

[0162] In this case, there may be an application that counts and displays the number of particles based on an image taken by, for example, a smartphone's camera.

[0163] For example, a worker presses the shutter button of a smartphone to take a picture of a bunch of grapes. An application running in the smartphone analyzes the image to measure and display the number of grains. This enables the worker to identify the number of grains.

[0164] However, the operation of taking a photo with a smartphone during berry thinning work (e.g., the action of pressing a photo button on the screen) is not suitable for berry thinning work and puts a burden on the worker. In this regard, it is difficult to make the berry thinning work efficient.

[0165] Furthermore, in addition to the bunch to be measured, other bunches may appear in the captured image, not only in the case of smartphones, but also in other cases where a camera is used to take pictures to measure the number of grains. In particular, the bunches of grapes are densely packed in farms. Therefore, workers may need photography skills in order to specify and measure only specific bunches of grapes, or other bunches of grapes may appear in the image, making the count inaccurate.

[0166] In addition, in the case where a photo is taken in one direction during shooting, the number of particles on the back side is uncertain based on the image. Therefore, for example, the number of particles on the front side appearing in the image is multiplied by a coefficient to calculate the estimated number of all particles. However, in this case, depending on the coefficient, the error may be large and there may be a problem with accuracy.

[0167] In view of this situation, in this embodiment, the object to be measured is first clearly specified, thereby improving the accuracy of measurement.

[0168] Furthermore, measurement is performed at an appropriate time to obtain measurement results, and a burden on a worker in operation is prevented during measurement.

[0169] Examples of suitable measuring devices 1 for this concept include: Figure 3 The illustrated embodiment includes a glasses unit 11 .

[0170] exist Figure 3 In the example of FIG. 1 , the measuring device 1 comprises a glasses unit 11 and a control unit 15 connected by a cable 14 .

[0171] The glasses unit 11 is of glasses type, and the worker can Figure 4 The berry thinning operation is shown with eyewear units 11 , such as sunglasses, worn during the operation.

[0172] The control unit 15 includes a small housing, and the worker puts the control unit 15 into a pocket of clothes or the like.

[0173] The camera 12 is mounted on the glasses unit 11 to allow the worker to take a picture in front of the worker.

[0174] In addition, the front surface of the glasses-type glasses unit 11 includes an on-glasses display unit 13. The on-glasses display unit 13 is typically, for example, a transparent or translucent liquid crystal panel, etc. Although the user can regard the on-glasses display unit 13 as just glasses and can check forward, necessary display can be performed on the glasses.

[0175] For example, Figure 5 It shows that when the user Figure 4 1 and 2. The display state on the display unit 13 of the glasses when the glasses unit 11 is worn is shown.

[0176] The user can see the grapes 22, 23, and 24 through the transparent plate as the display unit 13 on the glasses, and in this state, for example, perform Figure 5 The particle count shown shows 25, for example, "Particle count 45." This allows the user to check the measured particle count.

[0177] Note that, instead of being transparent or semi-transparent, the on-glasses display unit 13 may display the captured image of the camera 12 as an image through a lens.

[0178] The operation button 15 a is provided on the control unit 15 , and, for example, a power on / off operation or the like can be performed.

[0179] Note that the camera 12, the on-glass display unit 13, and the operation button 15a are Figure 1 An embodiment of the imaging unit 2, the display unit 9 and the operating unit 6 in FIG.

[0180] The eyeglass unit 11 and the Figure 1 A control unit 15 of the components configured in FIG. 1 serves as the measuring device 1 .

[0181] In the above example, the camera 12 as the imaging unit 2 and the on-glasses display unit 13 as an example of the display unit 9 are mounted on the glasses unit 11, and in this example, the operation button 15a as an example of the operation unit 6 is mounted on the control unit 15. However, Figure 1 The components shown may be mounted on one of the glasses unit 11 and the control unit 15 .

[0182] In addition, there can be Figure 1 All components are arranged in the glasses unit 11 and an embodiment in which the control unit 15 is not provided.

[0183] Note that the embodiment of the measuring device 1 is not limited to a method based on Figure 3 The embodiments of the glasses unit 11 and the control unit 15 are described below. Figure 3 Examples of implementations of .

[0184] <2. Processing Example of First Embodiment>

[0185] Will be in Figure 6 Detailed Description of the Preferred Embodiment A processing example is described as a first embodiment, which is applicable to the use of the measuring device 1 in the berry thinning work of grapes. Figure 6 is used by control unit 5 Figure 2 An example of processing performed by the functions of the measurement object specifying unit 5a, the measuring unit 5b, and the presentation control unit 5c.

[0186] The control unit 5 of the measuring device 1 executes in the powered-on state Figure 6 process.

[0187] In step S101 , the control unit 5 performs a waiting process.

[0188] The waiting process is a process of capturing an image using the imaging unit 2 and monitoring the analysis result of the captured image by the image analysis unit 4 , the detection result by the sensor unit 7 , and the operation of the operation unit 6 .

[0189] More specifically, the control unit 5 monitors whether an operation of instructing the operation unit 6 to end the measurement is performed. The operation of instructing the end of the measurement is, for example, an operation for stopping the measurement to perform various types of settings, an operation for switching to another mode, a power-off operation, etc. In the case where the control unit 5 detects such an operation, the control unit 5 ends the operation from step S102. Figure 6 process and transfer to another necessary process.

[0190] During the waiting process, the control unit 5 also detects whether the worker's hand is within the field of view of the imaging unit 2. The fact that the hand is within the field of view indicates a state in which the worker's hand is in the image captured by the imaging unit 2.

[0191] Examples of methods of recognizing a hand include the following.

[0192] -Determine the presence of hands in view by identifying skin color based on image analysis.

[0193] -Identify a person's hand based on its temperature by using images captured by a thermal tracer.

[0194] -Recognizing a hand by using a method of recognizing a human hand implemented by machine learning or deep learning by using an image captured by an image sensor.

[0195] -Recognize the hand by using a method of recognizing a person's hand implemented by machine learning or deep learning by using images captured by a time-of-flight sensor or a stereo camera.

[0196] - Hand identification by identifying the specific color and pattern of gloves worn by workers.

[0197] A method of identifying the gloves worn by a worker may be, for example, that the worker wears a glove having a Figure 7 The glove with a checkered pattern shown in the figure is used to identify the pattern through image recognition. In addition, the color of the glove can be a color that does not exist on the farm (e.g., purple), and it can be determined based on the color in the image to identify whether the hand is within the field of view.

[0198] Once the control unit 5 detects that the hand is in the field of view of the imaging unit 2, i.e. in the captured image, the control unit 5 monitors the time when the measurement is performed. That is, in step S104, the control unit 5 monitors whether the hand grasps the branch of the grape bunch and further rotates the grape bunch in the grasped state.

[0199] Examples of a method for recognizing whether a hand is grasping a branch include the following.

[0200] - Install pressure sensors on workers' fingertips or gloves to identify whether the hand is grasping a branch based on changes in pressure.

[0201] -Use a thermal tracer to sense changes in temperature based on changes in blood flow in the fingers. That is, changes in blood flow after grasping a branch are used for detection.

[0202] - Use the captured image for recognition. For example, a recognition algorithm of the state of a hand grasping a branch implemented by machine learning is used for recognition.

[0203] Furthermore, an example of a method of identifying an operation of rotating a grape bunch includes applying an analysis process to a captured image according to advancement of frames of the captured image to identify grape particles, and determining rotation of the grape bunch based on movement of positions of the grape particles.

[0204] Even if the worker's hand once grasped the branch of the grape bunch, if the control unit 5 detects that the worker's hand is in the captured image but the worker's hand is released without rotating the branch of the grape bunch or the hand is further out of the field of view, the control unit 5 returns from step S105 to S101.

[0205] When the control unit 5 detects that the hand in the viewing angle holds and rotates the branch of the grape bunch, the control unit 5 is triggered to automatically start measuring the number of grains. That is, the control unit 5 proceeds from step S104 to S106 and performs the grain number measurement process of the grape bunch other than the held branch.

[0206] In the measurement of the number of particles, the control unit 5 acquires captured images of the grape bunch in multiple directions while the grape bunch is rotating, and measures the number of particles existing three-dimensionally, including the number of particles existing on the back side of the grape bunch.

[0207] Figure 8 The particle number measurement process of step S106 is shown in detail in FIG.

[0208] exist Figure 8 In step S120, the control unit 5 specifies the necessary number of frames (N) for capturing images. For example, the control unit 5 sets the required number of frames in a period of time when the worker holds and rotates the branch of the grape bunch as the frame for measurement.

[0209] Note that workers can rotate the bunches about 120° to 150° to see the number of grapes, because even if the branch is rotated to this horizontal angle, it is usually not cut.

[0210] In addition, particles on the back side usually appear first in the frame image after a rotation of about 120° to 150°. Therefore, a plurality of frames in a period during which the worker rotates the grape bunch about 120° to 150° are extracted to measure the number of particles from these frames.

[0211] Here, it is assumed that the speed at which the worker rotates the grape bunch is 360° per second. In the case of this level of speed, it is appropriate to capture images at a frame rate of, for example, about 120fps. The control unit 5 specifies a required number (N) of frame image data in the frames of the captured image obtained at the frame rate as a processing target.

[0212] Depending on the frame rate and rotation speed, the N frames can be continuous frames or intermittently extracted frames. This can vary depending on the actual rotation period.

[0213] The control unit 5 sets n=1 for the variable n in step S121, and proceeds to step S122. In step S122, the control unit 5 specifies the object to be detected in the nth frame among the frames to be specified. The variable is first n=1, and the control unit 5 performs a process of specifying the object to be detected in the first frame of N frames specified as the processing target. For example, the control unit 5 instructs the image analysis unit 4 to specify the grape bunch held by the worker on the branch as the object to be detected.

[0214] That is, the grape bunch whose branch is held by the worker's hand, which is recognized by the image analysis unit 4, is specified as the object to be measured. Specifically, the image analysis unit 4 determines the area (pixel area) of the grape bunch located below the worker's hand in the image based on image analysis, brightness edge detection, color determination, etc. In this way, the image analysis unit 4 specifies the pixel range of the grape bunch in the image of the frame as the processing target as the object to be measured.

[0215] In step S123, the control unit 5 (or the image analysis unit 4) measures the number of grape particles in the frame, and the control unit 5 obtains the measurement result.

[0216] That is, the control unit 5 determines the image of particles within the pixel range specified as the object to be measured, and measures the number of particles.

[0217] Once the control unit 5 measures the number of particles in one frame, in step S124 the control unit 5 checks whether the variable n reaches the specified frame number N. If the variable n does not reach the frame number N, the control unit 5 increases the variable n in step S125 and returns to step S122.

[0218] Therefore, in the N frames selected as the processing targets, the specification of the pixel range as the object to be measured in the image and the measurement of the number of particles in the pixel range are sequentially performed.

[0219] Note that the process targets multiple frames of images captured during the cycle of a worker rotating the grape bunch.

[0220] In this case, the rotation angle of the grape bunch is estimated from the movement amount of the particles in the image, and when the particles measured first move to other positions after rotation, such particles are not counted again. In this way, the number of particles can be accurately estimated.

[0221] Furthermore, for example, in the case where particles counted in the first frame appear in a frame one round later based on the rotation angle from the first frame counted first, such particles are not counted in order to perform accurate counting of the number of particles.

[0222] In this way, grape particles that cannot be observed from one direction (one frame) can be accurately identified, and grape particles can be measured without double counting.

[0223] Furthermore, examples of a method of measuring grape bunch particles beyond a grasped branch include the following.

[0224] - Use TOF to measure the position of the hand and count the number of particles at the same depth as the hand.

[0225] - Use stereo cameras or defocusing methods to measure depth and thus identify each particle to measure the number of particles.

[0226] - Use multiple IR (infrared) rays of wavelengths absorbed by water and wavelengths not absorbed by water to detect and count grains. Note that in addition to infrared, visible light or other wavelengths can also be used. Grape grains contain more moisture than branches, and due to the difference in moisture content, the peak corresponding to grape grains is formed only at a specific wavelength of infrared light. Therefore, parts of grape grains with a large amount of moisture can be detected, and as a result, the number of grains can be counted.

[0227] exist Figure 8 In the process of measuring the number of particles for each frame, at the end of the measurement of the number of particles for each frame, the variable n reaches the designated number of frames N in step S124, and the process of the control unit 5 proceeds to step S126. In step S126, the control unit 5 adds the number of particles counted in the frames to calculate the number of particles of the entire grape bunch. That is, the control unit 5 obtains the measurement result of the number of particles in a specific grape bunch, which is the object to be measured specified by the worker holding the grape bunch.

[0228] Once in Figure 6 In step S106, Figure 8 After the process of completing the measurement of the number of particles, the control unit 5 proceeds from step S107 to step S108 and presents the number of particles. For example, the control unit 5 instructs the display control unit 8 to make the display unit 9 (for example, the display unit 13 on the glasses) perform the following operation: Figure 5 The number of particles shown shows 25.

[0229] In this case, the control unit 5 may generate and display not only the number of particles but also a predetermined determination result obtained from the measurement and the like.

[0230] In addition, the measurement results can be presented not only by display but also by sound, vibration, etc.

[0231] Once the process for presentation is executed, the control unit 5 returns to the waiting process of step S101.

[0232] According to this process, a measurement object is specified while a worker grasps a branch with his hands, and measurement is performed while the worker rotates a grape bunch.

[0233] The object to be measured is specified based on the branch being held. Figure 5 There are a plurality of grapes 22, 23 and 24 in the perspective shown, and only the bunch 22B of the grapes 22 below the grasped branch 22A is designated as the object to be measured. Therefore, although the grapes appear in the perspective, each group of grapes can be accurately measured.

[0234] Furthermore, no additional operations such as pressing a shutter button for imaging are required, and berry thinning work is not hindered.

[0235] In addition, the image information of a plurality of frames and the information of the rotation angle of the grape bunch can be used to prevent the remeasurement of the first measured particles, and therefore, the number of particles can be accurately measured.

[0236] <3. Processing Example of Second Embodiment>

[0237] Reference Fig. 9 A processing example of the second embodiment is described. Fig. 9 is used by control unit 5 Figure 2 An example of processing performed by the functions of the measurement object specifying unit 5a, the measuring unit 5b, and the presentation control unit 5c. Note that the same step numbers are provided to the same procedures as those already described, and description will not be repeated.

[0238] The control unit 5 performs a waiting process in step S101 and monitors the end of the process in step S102. In step S103, the control unit 5 monitors whether the worker's hand enters the viewing angle.

[0239] In this example, once the control unit 5 detects that the hand enters the viewing angle, the control unit 5 proceeds to step S150 and determines whether the hand is holding a branch.

[0240] When the hand appearing in the viewing angle does not hold the branch, the control unit 5 returns to step S101. When the control unit 5 detects that the hand holds (grasps) the branch, the control unit 5 regards the detection as a trigger for the start of measurement and proceeds to step S106 to start the particle number measurement process. This process is as follows Figure 8 In this case, a worker can rotate the grape bunch to accurately measure the number of grains from multiple frames of images.

[0241] Once the particle number measurement process is completed, the control unit 5 proceeds from step S107 to step S108 and controls the presentation of the number of particles and the like as the measurement result.

[0242] In this way, Fig. 9 The process of is an example of starting the measurement by recognizing the fact that the hand is holding a branch.

[0243] Note that although the fact that the hand holds the branch to start the measurement is detected in the example, the worker may not rotate the grape bunch. Therefore, if the rotation of the grape bunch is not detected for a predetermined time or longer, the measurement may be completed with an error.

[0244] Alternatively, the measurement can be performed regardless of whether the bunch is rotated. For example, in the event that rotation is detected, Figure 8 In the process of measuring the number of particles using images of a plurality of frames of the grape bunch observed from different directions. On the other hand, in the case where the grape bunch is not rotated, the images of the frames are substantially the same images. Therefore, the number of particles of the grapes is measured from an image of one frame (an image observed from one direction), and the number of particles of the grapes is multiplied by a coefficient as in the fourth embodiment described later to obtain an estimated value of the number of particles on the back side (not appearing in the image). The number of particles of the entire grape bunch is calculated from the estimated value.

[0245] In addition, the object or feature quantity can be accurately measured regardless of whether the object to be measured is rotated. In this case, the measurement can be started when the object is grasped, and for example, the object to be measured can be appropriately specified using an image or sensing information in one direction to measure the feature quantity.

[0246] <4. Processing Example of Third Embodiment>

[0247] Reference Fig.10 A processing example of the third embodiment is described. Fig.10 The process is also used by the control unit 5 Figure 2An example of processing performed by the functions of the measurement object specifying unit 5a, the measuring unit 5b and the presentation control unit 5c, with Fig. 9 The difference is that the processes of steps S151 and S152 are performed while the hand holding the branch is detected in step S150.

[0248] In the case where the control unit 5 determines that the hand is holding a branch in step S150, the control unit 5 does not immediately determine to start measurement. The control unit 5 monitors whether a trigger for starting measurement is detected in step S151, and monitors whether the hand is released in step S152.

[0249] The control unit 5 detects a trigger for starting measurement based on the determination result of the image from the image analysis unit 4 or the detection information of the sensor unit 7 .

[0250] Even if the hand once grasped the branch of the grape bunch, if the control unit 5 detects that the worker's hand is released without detecting a trigger, or if the control unit 5 detects that the worker's hand is further out of view, the control unit 5 returns from step S152 to S101.

[0251] Furthermore, in the case where the control unit 5 detects a predetermined trigger in a state where the worker's hand is holding the branch of the grape bunch, the control unit 5 proceeds from step S151 to S106 and starts the particle number measurement process. Figure 8 In this case, a worker can rotate the grape bunch to accurately measure the number of grains from multiple frames of images.

[0252] Once the particle number measurement process is completed, the control unit 5 proceeds from step S107 to step S108 and controls the presentation of the number of particles and the like as the measurement result.

[0253] As described above, in this example, a predetermined action as a trigger is detected to start measuring the feature quantity of the object to be measured while the worker is holding the branch with his hand. The predetermined action as a trigger may be an audio action, such as the generation of a worker's voice and a predetermined sound, a gesture action of a worker's hand or a device (e.g., scissors), etc.

[0254] Specific examples of the actions include the following.

[0255] -Talk while holding the branch with your hands.

[0256] -While holding the branch with your hands, say the predetermined word.

[0257] - Producing a predetermined sound when holding a branch with your hands (e.g., the sound of hitting a tree and the sound of scissors dropping berries).

[0258] - While holding the branch with the hand, performing a predetermined gesture that can be recognized in the captured image (e.g., bringing the other hand into view and bringing a pair of scissors into view).

[0259] - While holding the branch with one hand, performing a predetermined gesture detectable by the sensor unit 7 (eg, hitting the ground with one leg and shaking the other hand (based on vibration or pressure detection)).

[0260] Note that, depending on whether the worker rotates the grape bunch, a process similar to that of the second embodiment may be performed.

[0261] <5. Processing Example of Fourth Embodiment>

[0262] Grapes are arranged three-dimensionally around the branches, and the exact number of grapes cannot be estimated from images captured from only one direction. Therefore, in the first embodiment, measurement is performed based on images of multiple frames while the grape bunch is rotating.

[0263] However, there is also a case where measurement is performed based on shooting in one direction. In this case, the product of the number of particles measured from an image in one direction and a predetermined coefficient value can be calculated to estimate and measure the number of particles in the string. This example is shown as a fourth embodiment to illustrate Fig.11 Processing example in .

[0264] The control unit 5 Fig.11 The control unit 5 performs a waiting process in step S101 and monitors the end of the process in step S102. In step S103, the control unit 5 monitors whether the worker's hand enters the viewing angle.

[0265] Furthermore, once the control unit 5 detects that the hand enters the viewing angle, the control unit 5 proceeds to step S150 and determines whether the hand is holding a branch.

[0266] Furthermore, when the hand appearing in the viewing angle does not hold a branch, the control unit 5 returns to step S101. When the control unit 5 detects that the hand holds (grasps) a branch, the control unit 5 regards the detection as a trigger for starting measurement and executes the particle number measurement process from step S170.

[0267] The control unit 5 specifies the captured frame image in step S170, and performs a process of specifying the object to be measured in the image in step S171. For example, the control unit 5 instructs the image analysis unit 4 to specify the grape bunch held by the worker on the branch as the object to be measured. The image analysis unit 4 determines the area (pixel area) of the grape bunch located under the worker's hand in one frame image based on image analysis, brightness edge detection, color determination, etc., and specifies the pixel range of the grape bunch as the object to be measured.

[0268] In step S172, the control unit 5 (or the image analysis unit 4) measures the number of grape particles within the pixel range as the measurement object, and the control unit 5 obtains the measurement result.

[0269] That is, the control unit 5 determines the image of particles within the pixel range specified as the object to be measured, and measures the number of particles.

[0270] In step S173, the control unit 5 multiplies the acquired measurement result by a preset coefficient. The number of particles measured from the image is the number of particles on the front side that appears as the subject of the imaging unit 2 during imaging. On the other hand, the coefficient is, for example, a coefficient for estimating the number of particles on the back side that does not appear in the captured image. Therefore, the measured number of particles is multiplied by the coefficient to estimate the number of particles on the back side.

[0271] In step S174, the control unit calculates the number of particles of the entire grape bunch based on the number of measured particles on the front and the number of particles on the back estimated by coefficient multiplication. In this way, the measurement result of the grape bunch as the object to be measured is obtained.

[0272] In addition, the control unit 5 performs particle number presentation processing in step S175. For example, the control unit 5 instructs the display control unit 8 to cause the display unit 9 (for example, the on-glass display unit 13) to perform the following Figure 5 The number of particles shown shows 25.

[0273] In this way, the number of grapes can be measured fairly accurately even without workers rotating the bunches.

[0274] However, the number of particles on the back is an estimated value, and the error becomes larger depending on the coefficient. Therefore, the optimal coefficient can be selected considering the variety, season, location, weather conditions, etc.

[0275] <6. Processing Example of Fifth Embodiment>

[0276] The fifth embodiment includes a function of setting a target value of the number of particles, and provides a function of notifying a worker of information of a difference from the target value or the fact that the value has reached the target value. Fig.12 A processing example of the fifth embodiment is shown. Fig.12 is used by control unit 5 Figure 2 An example of processing performed by the functions of the measurement object specifying unit 5a, the measuring unit 5b, the presentation control unit 5c, and the target setting unit 5d.

[0277] In step S100, the control unit 5 sets a target value for the number of particles. For example, the control unit 5 determines the target value based on an input operation of the target number of particles input by a worker, and stores the target value in the storage unit 10. For example, "35 particles" or the like is set as the target value.

[0278] The control unit 5 performs a waiting process in step S101 and monitors the end of the process in step S102. In step S103, the control unit 5 monitors whether the worker's hand enters the viewing angle.

[0279] Once the control unit 5 detects that the hand enters the viewing angle, the control unit 5 proceeds to step S150 and determines whether the hand is holding a branch.

[0280] Furthermore, when the hand appearing in the viewing angle does not hold a branch, the control unit 5 returns to step S101. When the control unit 5 detects that the hand holds (grasps) a branch, the control unit 5 regards the detection as a trigger for starting measurement, and proceeds to step S106 to start the particle number measurement process. Figure 8 As shown, the process is performed. In this case, although the worker can rotate the grape bunch to accurately measure the number of particles from the images of multiple frames, the measurement algorithm can also be switched according to whether the worker rotates the grape bunch. For example, the measurement algorithm using multiple frames and the algorithm using one frame and the coefficient for estimating the number of particles on the back can be switched according to whether the worker rotates the grape bunch.

[0281] Note that during the measurement, you can also Fig.13 It is displayed as shown in A.

[0282] For example, the number of particles is not displayed and 25 is displayed because the value is still being measured.

[0283] The target display 26 displays the set target value (for example, “35”).

[0284] “Measuring” is displayed in the status display 27 .

[0285] The display may be performed in such a manner as to allow a worker to clearly recognize a target value.

[0286] Once the particle number measurement process is completed, the control unit 5 proceeds from step S107 to S180.

[0287] In step S180 , the control unit 5 compares the particle count obtained in the particle count measurement process with the stored target value, and determines whether the difference is equal to or greater than 6.

[0288] If the difference is equal to or greater than 6, the control unit 5 proceeds to step S181 and performs a process of presenting the number of particles, etc. to the worker. For example, the control unit 5 generates information such as the number of particles, target value, state, and situation, and transmits the information to the display control unit 8 so that the display unit 9 displays the information.

[0289] For example, Fig.13B shows a display example of the display unit 9. The measured value (e.g., "45") is displayed in the particle number display 25. The set target value (e.g., "35") is displayed in the target display 26. "Measurement completed" is displayed in the status display 27. The current situation is displayed in the situation display 28. In this case, the particle number is still large, and "too much" is displayed.

[0290] The display may be performed in such a manner as to allow a worker to clearly recognize the situation of the current particle count and the target value.

[0291] Furthermore, the control unit 5 returns to step S106 and executes the particle number measuring process again. That is, after the worker starts the berry thinning work, the particle number measuring process is repeatedly executed.

[0292] Every time the measurement of the number of particles is completed, the process from step S180 is performed.

[0293] Furthermore, in the case where the difference from the target value is not equal to or greater than six (ie, equal to or less than five) in step S180, the control unit 5 proceeds to step S182. In the case where the difference is 5, the control unit 5 proceeds to step S184.

[0294] In this case, the control unit 5 instructs the display control unit 8 to perform a display for the worker by displaying that there are five more to the target. For example, the control unit 5 causes the display control unit 8 to perform the following Fig.13 The contents shown in C are displayed (note that Fig.13 C and Fig.13 D shows only the portion of content presented based on measurement).

[0295] That is, the control unit 5 causes the display control unit 8 to display the measured value "40" on the particle number display 25, the target value "35" on the target display 26, and "measurement completed" on the status display 27. In addition, the control unit 5 causes the display control unit 8 to display "5 particles" on the status display 28, etc.

[0296] The process of the control unit 5 returns to step S106, and the particle number measurement process is repeated.

[0297] In this way, when the remaining particle number approaches the target, the remaining particle number can be displayed, and guidance suitable for the worker can be achieved.

[0298] Note that although the display is performed here at the time when five particles remain to the target, it is obvious that there may be various types of times, and "3 particles" or the like may be displayed at the time when the number of remaining particles is three.

[0299] In the example of the drawing, in each case where the difference is four, three, two, or one, the case does not correspond to the determination of steps S182 and S183, and the control unit 5 returns to step S106 without particularly issuing a notification.

[0300] However, in the case where the control unit 5 determines in step S180 that the difference is equal to or less than 5, the remaining particle number may be displayed regardless of the particle number indicated by the difference. In this way, the remaining particle number may be changed with, for example, a countdown display.

[0301] When the difference is zero when the difference is calculated at the completion of the measurement, that is, when the number of particles reaches the target value, the process of the control unit 5 proceeds from step S183 to S185, and the control unit 5 controls the display control unit 8 to notify that the number of particles has reached the target. Fig.13 As shown in D, the control unit 5 causes the display unit 9 to display the measured value "35" in the particle number display 25, the target value "35" in the target display 26, "measurement completed" in the status display 27, and "target number reached" in the situation display 28.

[0302] Furthermore, this completes the berry thinning work on the grape bunches, and the process of the control unit 5 returns to the waiting process of step S101.

[0303] Fig.12 The process allows workers to accurately perform berry thinning for a target number of grains. Therefore, even if the worker is not an expert, the worker can perform appropriate berry thinning work, or can perform appropriate berry thinning work regardless of physical condition.

[0304] At the same time, as in the example, a measuring process can be continuously performed during the berry thinning work to provide guidance for the portion to be thinned according to the number of particles remaining.

[0305] For example, the current image may be analyzed while the difference is being estimated to provide guidance for particles to be thinned out so that the density becomes fairly uniform.

[0306] Fig.14 This is an example of specifying the particles to be scattered shown in the berry scattered portion display 30 for guidance. For example, an algorithm is provided to select a portion that is crowded with particles as a portion to be scattered preferentially. The particles to be scattered are selected based on the number of remaining particles to be scattered and the density of the particles, and the selected particles are presented in the berry scattered portion display 30.

[0307] The kernels to be cut can be indicated in such a way that even an inexperienced worker can provide kernels of fairly uniform density after thinning of the berries.

[0308] <7. Examples of equipment and system configuration>

[0309] Although so far according to Figure 1 and Figure 2 The embodiment has been described with reference to the configuration example of FIG. 1 , but there may be various configuration examples of the device and system of the measurement device 1. The configuration example will be described below.

[0310] Fig.15 A is an example of a measuring system including the glasses unit 11A and the information processing device 50. The information processing device 50 may be a mobile terminal such as a smartphone and a tablet computer.

[0311] Fig.15 B is also an example of a measuring system including the glasses unit 11A and the information processing device 50, and the information processing device 50 may be a notebook or desktop personal computer.

[0312] For example, in Fig.15 A and Fig.15 In the case of configuration B, the operation of capturing an image, the designation process of the object to be measured, the measurement process, and the presentation of the measurement results and other information may be the following operation modes (M1) to (M10).

[0313] Note that in each case, various sensors as the sensor unit 7 may be installed on either the glasses unit 11A side or the information processing device 50 side. The installation position may differ depending on the sensor type. The detection information of various sensors may be acquired (detected or received) on the device side that performs the process of specifying the object to be measured and the measurement process.

[0314] (M1)

[0315] The glasses unit 11A captures an image and transmits the image to the information processing device 50 .

[0316] The information processing device 50 performs the process of specifying and measuring the object to be measured, and further presents the measurement result and the like.

[0317] (M2)

[0318] The glasses unit 11A captures an image and transmits the image to the information processing device 50 .

[0319] The information processing device 50 performs a process of specifying and measuring an object to be measured, and transmits information of a measurement result and the like to the glasses unit 11A.

[0320] The eyeglass unit 11A side presents the measurement results and the like.

[0321] (M3)

[0322] The glasses unit 11A captures an image and performs a process of specifying and measuring an object to be measured. In addition, the glasses unit 11A transmits information such as a measurement result to the information processing device 50.

[0323] The information processing device 50 presents measurement results and the like.

[0324] (M4)

[0325] The glasses unit 11A captures an image and specifies the object to be measured. The glasses unit 11A transmits the captured image and information indicating the specified object to be measured to the information processing device 50.

[0326] The information processing device 50 performs the measurement process and further presents the measurement results and the like.

[0327] (M5)

[0328] The glasses unit 11A captures an image and specifies the object to be measured. The glasses unit 11A transmits the captured image and information indicating the specified object to be measured to the information processing device 50.

[0329] The information processing device 50 performs a measurement process and transmits the measurement result to the glasses unit 11A.

[0330] The eyeglass unit 11A side presents the measurement results and the like.

[0331] (M6)

[0332] The information processing device 50 captures an image and transmits the image to the glasses unit 11A.

[0333] The glasses unit 11A performs the process of specifying and measuring the object to be measured, and further presents the measurement result and the like.

[0334] (M7)

[0335] The information processing device 50 captures an image and transmits the image to the glasses unit 11A.

[0336] The glasses unit 11A performs a process of specifying and measuring an object to be measured, and transmits information of a measurement result and the like to the information processing device 50 .

[0337] The information processing device 50 side presents measurement results and the like.

[0338] (M8)

[0339] The information processing device 50 captures an image and performs a process of specifying and measuring an object to be measured. The information processing device 50 transmits information of a measurement result and the like to the glasses unit 11A.

[0340] The eyeglass unit 11A side presents the measurement results and the like.

[0341] (M9)

[0342] The information processing device 50 captures an image and specifies the object to be measured. The information processing device 50 transmits the captured image and information indicating the specified object to be measured to the glasses unit 11A.

[0343] The eyeglass unit 11A performs a measurement process, and further presents a measurement result and the like.

[0344] (M10)

[0345] The information processing device 50 captures an image and specifies the object to be measured. The information processing device 50 transmits the captured image and information indicating the specified object to be measured to the glasses unit 11A.

[0346] The glasses unit 11A performs a measurement process, and transmits the measurement results and the like to the information processing device 50 .

[0347] The information processing device 50 side presents measurement results and the like.

[0348] Although examples are shown above, there may be various operation examples performed by combining a user-mounted device such as the glasses unit 11A and the information processing apparatus 50 .

[0349] Obviously, these are examples. For example, when information acquisition and information processing in the process of the sensor unit 7, the manner of the operation unit 6, etc. are considered, there can be various other examples.

[0350] For example, in the case of each of the above-mentioned embodiments, the measuring system includes the glasses unit 11A and the information processing device 50, and the glasses unit 11A is used as a measuring terminal. In the case of the operation mode of (M1), the configuration examples of the measuring terminal 1A include the following: Fig.16 Configuration shown.

[0351] The measurement terminal 1A includes an imaging unit 2 , an image signal processing unit 3 , a control unit 5 , an operation unit 6 , a sensor unit 7 , a storage unit 10 , and a communication unit 16 .

[0352] That is, in Fig.16 In the configuration of , the measurement terminal 1A does not include the image analysis unit 4 , the display control unit 8 , and the display unit 9 , and includes the communication unit 16 .

[0353] The imaging unit 2, the image signal processing unit 3, the control unit 5, the operation unit 6, the sensor unit 7 and the storage unit 10 are similar to Figure 1 However, in the case of mode (M1), the control unit 5 may not have Figure 2 Functional configuration shown.

[0354] The communication unit 16 performs wired or wireless data communication or network communication with an external device. In the case of modes (M1) to (M10), the communication unit 16 is provided to communicate with the information processing device 50. For example, examples of the communication unit 16 include short-range wireless communication units such as Bluetooth (registered trademark).

[0355] Note that the communication unit 16 as a network communication unit can perform communications using various networks such as the Internet, a home network, and a LAN (local area network), and can transmit and receive various types of data to and from servers, terminals, etc. on the network.

[0356] In the case of the operation mode (M1), the eyeglass unit 11A may have Fig.16 Configuration.

[0357] In the glasses unit 11A in the case of the operation mode of (M2), the control unit 5 may have a function of a presentation control unit 5c, and Figure 1 The display control unit 8 and the display unit 9 can be added to Fig.16 in the configuration.

[0358] In the glasses unit 11A in the case of the operation mode of (M3), the control unit 5 may have the functions of the measurement object specifying unit 5a and the measuring unit 5b, and the image analyzing unit 4 may include Fig.16 in the configuration.

[0359] In the glasses unit 11A in the case of the operation mode of (M4), the control unit 5 may have the function of the measurement object specifying unit 5a, and the image analyzing unit 4 may include Fig.16 in the configuration.

[0360] In the glasses unit 11A in the case of the operation mode of (M5), the control unit 5 may have the functions of the measurement object specifying unit 5a and the presentation control unit 5c, and the image analyzing unit 4, the display control unit 8, and the display unit 9 may be included in Fig.16 in the configuration.

[0361] In the glasses unit 11A in the case of the operation mode of (M6), the control unit 5 may have the functions of the measurement object specifying unit 5a and the measuring unit 5b, and the image analyzing unit 4, the display control unit 8, and the display unit 9 may be added. Fig.16 The imaging unit 2 and the image signal processing unit 3 are not essential.

[0362] In the eyeglass unit 11A in the case of the operation mode of (M7), the control unit 5 may have the functions of the measurement object specifying unit 5a and the measuring unit 5b, and the image analyzing unit 4 may be added. Fig.16 The imaging unit 2 and the image signal processing unit 3 are not essential.

[0363] In the glasses unit 11A in the case of the operation mode (M8), the display control unit 8 and the display unit 9 may be added Fig.16 The imaging unit 2 and the image signal processing unit 3 are not essential.

[0364] In the glasses unit 11A in the case of the operation mode of (M9), the control unit 5 may have the function of the measuring unit 5b, and the image analyzing unit 4, the display control unit 8, and the display unit 9 may be included in Fig.16 in the configuration.

[0365] In the glasses unit 11A in the case of the operation mode (M10), the control unit 5 may have the function of the measuring unit 5b, and the image analyzing unit 4 may include Fig.16 in the configuration.

[0366] On the other hand, the hardware configuration of the information processing device 50 can be realized by, for example Fig.17 The configuration of the computer device shown is implemented.

[0367] exist Fig.17 In the present invention, the CPU 171 executes various processes according to the program stored in the ROM 172 or the program loaded from the storage unit 178 to the RAM 173. Data and the like necessary for the CPU 171 to execute the various processes are also appropriately stored in the RAM 173.

[0368] The CPU 171, the ROM 172, and the RAM 173 are connected to each other via a bus 174. To the bus 174, an input-output interface 175 is also connected.

[0369] Components connected to the input-output interface 175 include: an input unit 176 including a keyboard, a mouse, a touch panel, etc.; an output unit 177 including a display, such as an LCD and an organic EL panel, a speaker, etc.; a storage unit 178 including a hard disk, etc.; and a communication unit 179 including a modem, etc.

[0370] The communication unit 179 performs communication processing via a network such as the Internet, and performs wired / wireless communication with peripheral devices and communication using bus communication or the like.

[0371] Furthermore, the communication unit 179 is configured to communicate with the glasses unit 11A in the cases of the modes (M1) to (M10), and in these cases, the communication unit 179 may be a short-range wireless communication unit such as Bluetooth.

[0372] A drive 180 is also connected to the input-output interface 175 as necessary, and a removable medium 181 such as a magnetic disk, an optical disk, a magneto-optical disk, and a semiconductor memory is appropriately mounted on the input-output interface 175. A computer program read therefrom is installed on the storage unit 178 as necessary.

[0373] In some cases, the sensor unit 184 is also connected to the input-output interface 175. The sensor unit 184 may include various sensors, such as Figure 1 The same as the sensor unit 7.

[0374] In the case of modes (M6) to (M10), the information processing device 50 includes an imaging unit 182 and an image signal processing unit 183 to capture an image, and the image signal processing unit 183 is connected to the input-output interface 175. Therefore, the CPU 171 can apply various analysis processes and the like to the captured image. The imaging unit 182 and the image signal processing unit 183 are similar to Figure 1 Part of the imaging unit 2 and the image signal processing unit 3.

[0375] Note that in the case of modes (M6) to (M10), the imaging unit 182 and the image signal processing unit 183 are not essential. That is, the imaging unit 182 and the image signal processing unit 183 may not be installed or may not be used even if installed. However, the imaging unit 182 may be used as a sensor.

[0376] exist Fig.17 In the information processing device 50, the configuration corresponding to the operation mode is as follows.

[0377] In the case of the operation mode (M1), the information processing device 50 may have Fig.17 , and in particular, the CPU 171 has the functions of a measurement object specifying unit 5a, a measuring unit 5b, and a presentation control unit 5c.

[0378] In the information processing device 50 in the case of the operation mode (M2), Fig.17 In the configuration of , the CPU 171 may have the functions of the measurement object specifying unit 5a and the measuring unit 5b.

[0379] In the information processing device 50 in the operation mode (M3), Fig.17 In the configuration of , the CPU 171 may have the function of the presentation control unit 5c.

[0380] In the information processing device 50 in the case of the operation mode (M4), Fig.17 In the configuration of FIG. 1 , the CPU 171 may have the functions of the measurement unit 5 b and the presentation control unit 5 c.

[0381] In the information processing device 50 in the case of the operation mode (M5), Fig.17 In the configuration of , the CPU 171 may have the function of the measuring unit 5b.

[0382] In the case of the operation mode (M6), the information processing device 50 may have Fig.17 Configuration.

[0383] In the information processing device 50 in the operation mode (M7), Fig.17 In the configuration of , the CPU 171 may have the function of the presentation control unit 5c.

[0384] In the information processing device 50 in the operation mode (M8), Fig.17 In the configuration of , the CPU 171 may have the functions of the measurement object specifying unit 5a and the measuring unit 5b.

[0385] In the information processing device 50 in the operation mode (M9), Fig.17 In the configuration of , the CPU 171 may have the function of the measurement object specifying unit 5a.

[0386] In the information processing device 50 in the operation mode (M10), Fig.17 In the configuration of , the CPU 171 may have the functions of the measurement object specifying unit 5a and the presentation control unit 5c.

[0387] In this way, there is a case where the CPU 171 has the functions of the measurement object specifying unit 5a, the measuring unit 5b, and the presentation control unit 5c. Note that, although not mentioned, there is also a case where the CPU 171 has the function of the target setting unit 5d.

[0388] In the case where software executes the functions, a program included in the software is installed from a network or a recording medium.

[0389] The recording medium includes a removable medium 181 recording the program, such as a magnetic disk, an optical disk, a magneto-optical disk, and a semiconductor memory, which is transmitted to distribute the program to the user. Alternatively, the recording medium includes a ROM 172 recording the program, a hard disk contained in a storage unit 178, etc., which is pre-included in the main body of the device and distributed to the user.

[0390] In the above configuration example, the measurement system includes Fig.15 A and Fig.15 The eyeglass unit 11A and the information processing device 50 are shown in B. The measurement system can be regarded as a system including the measurement terminal 1A as a wearable (body-mounted) unit and the information processing device 50. The body-mounted unit is a unit that can be mounted on a person's body or on clothing.

[0391] In this sense, various main body mounting units may be used instead of the glasses type glasses unit 11A. For example, the main body mounting unit may be head mounted type, earphone type, wristband type, clothing type, clamp type, pocket storage type, pendant type, etc.

[0392] Fig.15 C shows a case where the information processing device 50 as a mobile terminal (for example, a smartphone is taken as an example) is the measuring device 1 of the embodiment.

[0393] For example, the information processing device 50 has a Figure 1 The configuration is such that the worker uses the information processing device 50 (smartphone) to image the grapes. In addition, the processes in the first to fourth embodiments are performed to perform measurement, and as Fig.18 As shown in A, the number of particles performed as a result of the measurement is displayed as 25.

[0394] like Fig.18 As shown in B, the captured image display 29 and the particle number display 25 can be displayed as the measurement results.

[0395] Fig.15 D shows a case where the measuring system includes an imaging device 60 and an information processing device 50. However, the imaging device 60 is a general camera, and the information processing device 50 basically functions as the measuring device 1.

[0396] That is, the information processing apparatus 50 performs the operation of the measuring apparatus 1 (the process of the first to fourth embodiments) using the captured image transmitted through communication.

[0397] In this way, the imaging device 60 and the information processing device 50 can be combined to provide a measurement system.

[0398] Fig.19 A configuration of a measurement system communicating via a network is shown.

[0399] Fig.19 Detailed description of FIG. 1 shows the glasses unit 11A, the communication terminal 51 , the network 52 , and the cloud server 53 .

[0400] Examples of the network 52 include various implementations such as the Internet, a LAN, a VPN (Virtual Private Network), an intranet, an extranet, a satellite communication network, a CATV (Community Antenna Television) communication network, a telephone network, and a mobile communication network.

[0401] The cloud server 53 includes an information processing device. The cloud server 53 and the communication terminal 51 are composed of, for example, Fig.17 The computer device shown implements.

[0402] The glasses unit 11A transmits the captured image and sensor information to the communication terminal 51. The communication terminal 51 is, for example, a smartphone, a tablet, a dedicated terminal, etc., and is an information processing device capable of network connection. The captured image, sensor information, etc. from the glasses unit 11A are transmitted from the communication terminal 51 to the cloud server 53 via the network 52.

[0403] In this case, the cloud server 53 has the functions of the measurement object specifying unit 5a and the measuring unit 5b, so that the cloud server 53 measures the number of particles and returns the measurement result. The glasses unit 11A receives the measurement result through the network 52 and the communication terminal 51 and displays the measurement result.

[0404] In this way, measuring systems can also be constructed from so-called cloud services.

[0405] Fig.19 B is included in the addition to Fig.19 FIG. 5 is a diagram of an AI engine 54 of a configuration of FIG. 5. The AI ​​engine 54 performs a measurement object specifying process and a measurement process based on image analysis.

[0406] In this way, highly accurate measurement processes, determinations for performing measurements, etc. can be performed.

[0407] Note that the glasses unit 11A as the main body mounting unit can directly perform network communication, and the communication terminal 51 may not be provided.

[0408] <8. Conclusion and Transformation>

[0409] The embodiments have been described, and according to the embodiments, the following advantageous effects can be obtained.

[0410] The measuring device 1 of the embodiment includes: a measurement object specifying unit 5a, which performs a process of specifying the object to be measured based on detecting that a worker's hand (gripping part) grasps a branch of grapes (object); and a measuring unit 5b, which obtains a measurement result in the process of measuring the characteristic quantity of the object to be measured specified by the measurement object specifying unit 5a.

[0411] That is, in the embodiment, the action of a gripping part (eg, a worker's hand) gripping a branch is detected to specify the object to be measured. In other words, the branch of a grape bunch is gripped to specify the grape bunch as the object to be measured and measure a characteristic amount, such as the number of particles.

[0412] In this way, the object to be measured can be clearly specified during work when there is an opportunity to grasp the object. For example, the range to be measured in the captured image becomes clear.

[0413] Furthermore, the action of grasping the branch with the hand is part of the work to be performed (e.g., berry thinning), or is an action leading to the work. Therefore, the object to be measured can be accurately specified in the natural workflow. As a result, the object to be measured that provides the worker with the necessary information can be correctly set and measured without requiring the worker to perform some additional action, operation, etc. This improves usability and helps make the berry thinning work efficient. The measurement accuracy is also improved.

[0414] Furthermore, a large number of grape bunches appear in the captured image. In this case, the process may become unstable when determining the image portion for the number of particles to be measured. However, in the present embodiment, the branch is held during the work process to specify the grape bunch to be measured, and the number of particles in the grape bunch desired by the worker can be correctly set as the object to be measured during the normal work performed by the worker. In particular, in the case of agricultural crops such as fruits such as grapes and bananas that grow in bunches, it is very useful to specify the bunch to be measured by grasping the bunch.

[0415] Although grapes are illustrated as an example of an object to be measured in the embodiments, the present technology can be applied to the measurement of various objects, for example, crops such as bananas and tomatoes, natural objects such as trees and animals, and industrial products. Among the various objects, the object to be measured is all or part of an object specified by grasping.

[0416] In addition, although the characteristic quantity is the number of particles, the characteristic quantity may be a value other than the number of particles that can be quantified, compared, and evaluated, such as size (size), color, ingredient content, ingredient ratio, sugar content, moisture content, and estimated price. The present technology can also be widely used as a measuring device for these.

[0417] The measuring apparatus 1 of the embodiment includes a presentation control unit 5 c that performs a process for presentation based on the measurement result.

[0418] Therefore, the worker can recognize information, for example, the number of grains in the bunch of grapes whose branch is held. That is, the measuring device 1 can provide appropriate information during the worker's work.

[0419] Note that the value presented based on the measurement result is not limited to the value of the measurement result of the feature amount, for example, and appropriate / inappropriate determination information, guidance information, etc. corresponding to the measurement result may be presented. For example, instead of a numerical value as the measurement result, determination information such as "appropriate", "inappropriate", "appropriate amount", "insufficient", and "excessive" or guidance content for subsequent work may be presented to support accurate work.

[0420] In addition, although a sound output unit, a vibration unit, etc. are shown as examples of presentation means in addition to the display unit 9, the presentation control unit 5c can control the presentation means to present the measured feature amount corresponding to the presentation mode of the presentation means.

[0421] In the example shown in the embodiment, the captured image is used to perform the measurement process. For example, the integrated or separate imaging unit 2 images the object and inputs the captured image. In addition, the input captured image is used to measure the feature quantity that can be determined from the image.

[0422] The captured image can be analyzed to measure a characteristic quantity, for example, the number of grains in a grape. One or more frames of the captured image can be used to perform stable measurements and can improve measurement accuracy.

[0423] Note that not only the captured image but also the detection information of the sensor unit 7 can be used to perform measurement.

[0424] In the example described in the embodiment, the measurement process is performed based on the detection that the gripping part grips the object (see Fig. 9 and Fig.11 ). That is, the measurement of the characteristic quantity of the object to be measured is started by detecting that the gripping portion grips the object.

[0425] In the case where the object to be measured is specified based on grasping, the feature amount of the object to be measured is measured, and the measurement requested by the worker is performed without requiring a special operation of the worker (an operation of instructing the start of measurement).

[0426] In particular, the operation of holding the branches of the grape bunches is an operation in the normal working flow of the grape thinning work. Therefore, the measurement is performed at the appropriate time without the worker being aware of the measurement operation, which significantly improves the usability.

[0427] In addition, depending on the object to be measured or the feature quantity to be measured, the object does not need to be rotated or moved vertically in the grasping state. In this case, the appropriate start time of the measurement can be obtained by grasping.

[0428] In the example described in the embodiment, the measurement process is performed based on the detection of the gripping part gripping the object and the moving object (see Figure 8 ).

[0429] For example, when a certain movement is applied to the object in the grasping state, the characteristic quantity of the object to be measured is measured. The movement can be shaking, holding up, down, left, right, backward and forward movement, shaking, rotation, etc.

[0430] In some cases, movement of the object to be measured is necessary for measuring the object to be measured. For example, in the case of measuring the number of grape particles, not only the grape particles in front from the worker's perspective need to be counted, but also the grape particles on the back need to be counted, and the object needs to be rotated. Therefore, movement other than grasping (for example, rotation of a bunch of grapes) may be a natural operation at work. In this case, measurement is performed after the gripping operation and movement are detected, and measurement is performed accurately when necessary. In addition, a special operation of the worker (an operation to instruct the start of measurement) is not necessary, and there is no operation load.

[0431] In addition, moving the object in the grasping state (e.g., moving the object up, down, left, right, backward and forward, shaking the object, or rotating the object in the grasping state) can also be regarded as the worker's intentional measurement start operation. In this case, a simple operation continuing from grasping can be performed to instruct the device to start measurement. This is suitable for such a case that, for example, measurement will be triggered by something other than grasping the object.

[0432] In the example described in the embodiment (see Fig.10 ), a measurement process is performed based on detecting that a gripping portion grips an object and a predetermined action other than gripping.

[0433] For example, a predetermined action is detected in a state where the gripping part grips the object to start measuring the feature quantity of the object to be measured. The predetermined action may be an audio action, such as the generation of a worker's voice and a predetermined sound, a gesture action of a worker's hand or a device (e.g., scissors), etc.

[0434] The predetermined action of the worker in the gripping state is regarded as an operation for starting measurement. This allows the worker to instruct the device to start measurement at an appropriate time in the gripping state. In particular, the predetermined action is an action other than the action of the gripping portion, and the worker can easily issue instructions in the gripping (holding the branch of the grape) state. Specifically, the predetermined action can be a worker speaking, a worker saying a predetermined word, making a sound (an action of making a certain sound with a hand other than the hand holding the object or with something held by the hand), etc., and the work will not be hindered. In addition, the predetermined action can also be putting a hand other than the hand holding the branch into the image and performing a predetermined gesture, putting the scissors held by the other hand into the field of view of the imaging unit 2, performing a predetermined gesture, etc. In this case, the predetermined action is also an operation without burden at work.

[0435] In the example shown in the embodiment, the measurement process is performed by using images of a plurality of frames captured during a period in which the object to be measured is moved (see Figure 8 ).

[0436] For example, a captured image of the object taken by the imaging unit 2 is input, and a plurality of frames of images obtained as moving images are used to perform measurement. Even in a case where there is a front side and a back side, for example, images of a plurality of frames during the movement of the object to be moved can be used to accurately detect the feature quantity. In the case of the number of grape particles, an image captured while rotating the grape can be used to measure grape particles on the front side and grape particles on the back side. This can improve the measurement accuracy.

[0437] In the example described in the embodiment, the measurement object specifying unit 5a performs a process of setting the object grasped and moved by the grasping portion as the object to be measured (see Figure 6 ).

[0438] For example, the measuring object specifying unit 5a sets an object or a part of an object to which some movement is applied in a grasped state as the object to be measured. Examples of movement include holding the object to move the object up, down, left, right, backward and forward, shaking the object, rotating the object, etc.

[0439] In addition to grasping an object, an object to be moved may be specified by moving the object (e.g., rotating a bunch of grapes), and the moved object or a portion of the object may be set to more accurately specify the object or a portion (or range) of the object to be measured.

[0440] In the case of grapes, rotating bunches, picked bunches, etc. can be set to further limit the measurement object, thereby accurately specifying the measurement object.

[0441] In the embodiment, a target setting unit 5d for setting a target value of a feature quantity is provided, and the target setting unit 5d obtains a difference between the feature quantity measured during the measurement and the target value (see Fig.12 ).

[0442] For example, a target value of a characteristic quantity is set and stored based on user setting, automatic setting, etc. to allow comparison of the target value and the measured value. For example, in a case where the number of particles is set as a target value in berry thinning work, the number of particles and the measured number of particles can be compared to obtain difference information indicating the number of particles to be further thinned.

[0443] In the embodiment, a presentation control unit 5c is provided, which performs a process for presenting a difference between a feature amount measured in the measurement process and a target value (see Fig.12 and Fig.13). The presentation control unit 5c presents the difference between the current feature amount and the target value using display, sound, or the like.

[0444] For example, in the case of obtaining difference information indicating the number of particles to be further scattered, the presentation control unit 5 c may notify the worker of the difference information to appropriately present the difference information to support the work.

[0445] Note that in this case, Fig.14 As shown, the particles to be thinned can be further presented to support the workers, and even inexperienced workers can accurately perform the berry thinning work.

[0446] The movement that triggers the measurement process is a rotational movement of the grape bunch in the example shown in the embodiment (see Figure 6 ).

[0447] For example, in the case of measuring the number of grape grains, the grapes need to be rotated because from the worker's perspective, not only the grape grains in the front need to be counted, but also the grape grains in the back need to be counted. Therefore, in addition to grasping the string, rotating the string is also a natural operation in the work, and once the rotation is detected, the measurement can be started. This can prevent unnecessary operation loads on the workers.

[0448] Note that the detection of rotational movement can be used to specify the object to be measured. In the case of grapes, the rotating bunch can be set to further restrict the measurement object to accurately specify the measurement object.

[0449] Although the grasping part that grasps the object to specify the object to be measured is a human hand in the embodiment, the grasping part may be a tool operated by a human or a robot arm that is automatically operated.

[0450] Examples of human hands include bare hands, gloved hands, etc. In the case of the embodiment, the grip of the worker's hand on the object is monitored, and the natural operation process in the berry thinning work can be detected without using special gripping equipment. This prevents the load on the worker.

[0451] The gripping part may be a tool, and the tool means any tool that can be grasped intentionally by a person regardless of the mode, such as a tool operated by a person's hand, a tool operated by something other than a hand, a tool mounted on a hand and used, and a remote control tool. The other hand holds the scissors during the berry thinning work, and therefore, the grip of the object by the scissors can also be detected.

[0452] Furthermore, for operations other than berry thinning of grapes, various tools may be used in work. For measuring equipment related to work using a tool, it is effective to detect the grip of an object by the tool to specify the object to be measured.

[0453] Furthermore, in some cases, it is also useful to detect the gripping of an object by a robot arm for factory automation, etc. to specify the object to be measured. In the case of the planting process of crops, the work process at the time of shipment, the measurement in the distribution line, the measurement in the production line of processed food, the measurement in the production line of industrial products, etc., the object to be measured can be specified based on the gripping of the object by the robot arm. This enables accurate measurement.

[0454] In this way, the gripping part can be a human hand, a tool, or a robotic arm. That is, if the gripping part is capable of gripping an object, the object gripped by the gripping part can be set as the object to be measured. As a result, various types of work can be handled, and the gripping action performed in the work can be detected to specify the object to be measured.

[0455] In the example shown in the implementation mode, the object to be measured is grapes, that is, crops. The measurement object designation unit designates individual crops grasped in the crops as the object to be measured. Crops are crops in a broad sense, including fruits, vegetables, grains, trees, flowers, mushrooms, fertilizers, animal feed, horticultural crops, cash crops, etc.

[0456] According to the technology of the embodiment, it is possible to widely provide the measuring device 1 corresponding to various crops.

[0457] In the example shown in the embodiment, the measurement object specifying unit 5a performs a process of setting a grape bunch whose branch is grasped by the grasping portion as an object to be measured, and during the measurement process, the measurement object specifying unit 5a measures the number of particles as a characteristic amount of the grape bunch set as the object to be measured.

[0458] That is, a grape bunch whose branch is held is set as an object to be measured, and the number of particles in the grape bunch is measured.

[0459] The branch of each of a large number of grape bunches in the farm is held to specify the grape bunch to be measured, and the number of particles in the grape bunch is measured. As a result, automatic measurement of the number of particles for each bunch can be accurately performed, and information on the number of particles required for berry thinning work of grapes can be accurately provided to workers. This can significantly improve the efficiency of berry thinning work, which is very troublesome and needs to be completed in a short time (about two weeks).

[0460] Additionally, years of experience may be necessary to determine the berry count of grapes at a glance during berry thinning, and determinations may become erratic, depending on physical condition. However, regardless of experience or physical condition, berry counts can be measured and presented to perform a proper berry thinning job.

[0461] The measuring device 1 of the embodiment comprises an imaging unit 2 which captures an image to be used in the measuring process.

[0462] The measuring unit 5b analyzes the image captured by the imaging unit 2 and measures the number of particles. Since the imaging unit 2 is provided on the measuring device 1, the imaging device does not have to be prepared or installed separately, and a measuring device with excellent usability can be provided during berry thinning work or the like.

[0463] Note that although the imaging unit 2 (camera 12) is integrated and embedded in Figure 1 and Figure 3 In the example described in , the imaging unit 2 may be provided as a separate device.

[0464] In the example described in the embodiment, an imaging unit (camera 12) that captures an image to be used in the measurement process and a presentation unit (on-glasses display unit 13) that presents the measurement result are provided, and the imaging unit and the presentation unit are arranged on the main body mounting unit (glasses units 11 and 11A) (see Figure 3 and Fig.15 ).

[0465] The imaging unit and the presentation unit are arranged on the main body mounting unit. Therefore, the worker can wear only the main body mounting unit, and the worker does not have to pay attention to the arrangement of the device for imaging the object to be measured or for displaying the measurement result. Specifically, the worker can wear, for example, Figure 3 The spectacles-type spectacles unit 11 of the camera 12 and the on-spectacles display unit 13 is shown to accurately check the particle count display during operation without paying special attention to the arrangement of the device or the imaging direction. This significantly improves workability.

[0466] Note that the presentation unit refers to a unit capable of presenting the measurement result to the user, and refers to a unit capable of presenting some information to the user's five senses, such as a display unit, a sound output unit, and a vibration unit. A speaker and an amplifier circuit as a sound output unit, an actuator as a vibration unit, etc. can obviously be provided on a main body mounting unit such as the glasses unit 11.

[0467] In the example shown in the embodiment, the presentation unit is the on-glasses display unit 13 that displays information on a display surface provided in front of the eyes of the user.

[0468] This allows workers to check the measurement results in their work field of view. That is, workers can naturally view the measurement information during work without the need for conscious action to check the measurement results, which is very suitable in terms of work efficiency.

[0469] In the example described in the embodiment, a sensor unit 7 for detecting an object grasped by a grasping portion is provided. Examples of the sensor unit 7 for detecting an object grasped by a grasping portion (e.g., a human hand, a tool, and a robot arm) include an imaging device that detects an image, pressure, temperature information, distance measurement information, etc., a pressure sensor, a heat tracer, a distance measurement sensor, etc.

[0470] The information obtained by the sensor unit 7 or the imaging unit 2 can be used to detect the object grasped by a gripper, such as a human hand, a tool, and a robot arm, which allows to appropriately specify the object to be measured and determine the time to start measurement.

[0471] The measuring device 1 of the embodiment may also be configured as follows.

[0472] The imaging unit 2 may be in a backlit state depending on the working posture in the berry thinning work, and it is desirable that the image sensor in the imaging unit 2 has a dynamic range equal to or greater than ISO 10000.

[0473] In addition, the imaging unit 2 may have an automatic exposure function (auto exposure) and a function capable of automatically switching a neutral density filter (eg, a liquid crystal variable ND filter).

[0474] The images captured by the imaging unit 2 can be used to improve the measurement accuracy.

[0475] Furthermore, in order to capture a moving image without blurring, it is also desirable to use an image sensor with a high frame rate as the imaging unit 2 , or to use an image sensor of a global shutter system.

[0476] Furthermore, there may also be situations where work is performed in the rain and it is desirable that the measuring device 1 has a waterproof structure.

[0477] Furthermore, waterproof finishing may also be applied to the front lens or cover glass of the imaging unit 2 .

[0478] Furthermore, it is more preferable to have a function of correcting image aberration caused by raindrops.

[0479] In the case of agriculture, rain protection measures are actually very important factors.

[0480] In addition, there may be a situation where the crop shakes due to the shaking of the grasped object, and the image is blurred. In this case, the degree of blur can be measured, and the shutter speed corresponding to the degree of blur can be automatically set.

[0481] Furthermore, in order to provide uniform exposure when the shutter speed is changed, it is also desirable to have an automatic adjustment function for setting the corresponding ISO sensitivity.

[0482] Such a device can also be provided: a device for detecting the movement of the measuring device 1 using a gyro sensor (angular velocity sensor), an acceleration sensor, etc., so as to electronically move pixels according to the detection amount to correct blur when the measuring device 1 vibrates; and a device for mechanically moving the lens, image sensor or camera module to correct blur.

[0483] The measuring device 1 can measure the sugar content, the estimated price at the time of shipment, the number of particles per unit area, and the number of particles to be scattered, in addition to the number of particles, and notify these to the worker.

[0484] The characteristic amount is not limited to the number of particles.

[0485] Furthermore, work can be supported by setting a suitable number of particles for each bunch, each area in the farm, etc. and notifying such a number of particles to the workers.

[0486] Furthermore, a gyro sensor, an acceleration sensor, a GPS receiver, a geomagnetic sensor, or the like may be used to detect the position of the trajectory of the measuring device 1 , and the feature amount obtained by the measuring device 1 may be mapped in association with the trajectory to make agricultural management effective.

[0487] In addition, the number of grains per bunch can be measured while the robot moves autonomously in the farm, and the robot can further perform berry thinning. The robot can measure the number of grains at night and notify the workers of the grape bunches and the number of grains to be thinned the next morning. Such a system is also highly efficient.

[0488] The measurement start time and the measurement result can be provided to the worker by sound or video. For example, the time to start measurement is provided to the worker by electronic sound, etc. This allows the user to figure out the measurement operation of the measurement device 1.

[0489] Note that the image analysis unit 4 may perform the process described as the process of the control unit 5. Figure 6 , Figure 8 , Fig. 9 , Fig.10 , Fig.11 and Fig.12 In other words, the measuring device 1 only needs to include a part as a microcomputer and a processor that executes these processes, and the part may be a part as a control unit, a part as an image analysis unit, or other parts.

[0490] The program of the embodiment is for causing a CPU, a DSP, or a device including a CPU and a DSP to execute Figure 6 , Figure 8 , Fig. 9 , Fig.10 , Fig.11 and Fig.12 The procedure of the process.

[0491] That is, the program of the embodiment is a program for causing the information processing device to execute a process of specifying an object to be measured based on detection that the gripping portion grasps the object and a process of obtaining a measurement result in the process of measuring the characteristic amount of the specified object to be measured. The program can realize the measuring device 1 and the information processing device 50.

[0492] The program may be recorded in advance in a HDD as a recording medium built into an apparatus such as a computer device, a ROM in a microcomputer including a CPU, or the like.

[0493] Alternatively, the program may be temporarily or permanently stored (recorded) in a removable recording medium such as a floppy disk, a CD-ROM (Compact Disc Read Only Memory), an MO (Magneto-Optical) disk, a DVD (Digital Versatile Disc), a Blu-ray Disc (registered trademark), a magnetic disk, a semiconductor memory, and a memory card. The removable recording medium may be provided as so-called packaged software.

[0494] Furthermore, the program can be installed on a personal computer or the like from a removable recording medium, or downloaded from a download site via a network such as a LAN (Local Area Network) and the Internet.

[0495] In addition, according to the program, it is appropriate to widely set the information processing device 50 of the embodiment. For example, the program can be downloaded to a personal computer, a portable information processing device, a portable phone, a game device, a video device, a PDA (Personal Digital Assistant), etc., to set the personal computer, etc. as the information processing device 50 used as the measuring device 1 or the measuring system of the present disclosure.

[0496] Note that the advantageous effects described in this specification are merely illustrative, and the advantageous effects are not limited. There may be other advantageous effects.

[0497] Note that the present technology can also be configured as follows.

[0498] (1) A measuring device comprising:

[0499] a measurement object specifying unit that performs a process of specifying the object to be measured based on the detection that the gripping portion grips the object; and

[0500] A measuring unit obtains a measurement result in a measurement process of a feature quantity of an object to be measured specified by a measurement object specifying unit.

[0501] (2) The measuring device according to (1), further comprising:

[0502] A presentation control unit performs a process for presentation based on the measurement results.

[0503] (3) The measuring device according to (1) or (2), wherein:

[0504] The measurement process is performed by using the captured image.

[0505] (4) The measuring device according to any one of (1) to (3), wherein:

[0506] Based on detecting that the gripping portion grips the object, a measuring process is performed.

[0507] (5) The measuring device according to any one of (1) to (3), wherein:

[0508] Based on detecting that the gripping portion grips the object and moves the object, a measurement process is performed.

[0509] (6) The measuring device according to any one of (1) to (3), wherein:

[0510] The measurement process is performed based on detection of the gripping portion gripping the object and a predetermined action other than gripping.

[0511] (7) The measuring device according to any one of (1) to (6), wherein:

[0512] The measurement process is performed by using images of a plurality of frames captured during a period of time in which the object to be measured is moved.

[0513] (8) The measuring device according to any one of (1) to (7), wherein:

[0514] The measurement object specifying unit performs a process of setting an object grasped and moved by the grasping portion as an object to be measured.

[0515] (9) The measuring device according to any one of (1) to (8), further comprising:

[0516] A target setting unit sets a target value of a feature quantity, wherein:

[0517] The target setting unit obtains a difference between a feature quantity measured during a measurement process and a target value.

[0518] (10) The measuring device according to (9), further comprising:

[0519] A presentation control unit executes a process for presenting the difference value.

[0520] (11) The measuring device according to (5) or (8), wherein:

[0521] The movement is a rotational movement.

[0522] (12) The measuring device according to any one of (1) to (11), wherein:

[0523] The gripping part is one of a human hand, a tool operated by a human, and an automatically operated robot arm. (13) The measuring device according to any one of (1) to (12), wherein:

[0524] The objects to be tested are crops.

[0525] (14) The measuring device according to any one of (1) to (13), wherein:

[0526] The measurement object specifying unit performs a process of setting a grape bunch in which a branch is grasped by the grasping portion as an object to be measured, and

[0527] During the measurement, the number of particles is measured as a characteristic quantity of the grape bunch set as the object to be measured.

[0528] (15) The measuring device according to (3) or (7), further comprising:

[0529] An imaging unit that captures images to be used in the measurement process.

[0530] (16) The measuring device according to any one of (1) to (15), further comprising:

[0531] an imaging unit that captures images to be used in the measurement process; and

[0532] A presentation unit, which presents the measurement results, wherein

[0533] The imaging unit and the presenting unit are disposed on a main body mounting unit.

[0534] (17) The measuring device according to (16), wherein:

[0535] The presentation unit is a display unit that displays information on a display surface provided in front of the eyes of the user.

[0536] (18) The measuring device according to any one of (1) to (17), wherein:

[0537] A sensor unit is provided to detect that the gripping portion grips an object.

[0538] (19) A measurement method performed by an information processing device, the measurement method comprising:

[0539] A process of specifying an object to be detected based on detecting that the gripping portion is gripping the object; and

[0540] The process of obtaining measurement results during the measurement of the characteristic quantity of the specified object to be measured.

[0541] (20) A program causing an information processing device to execute:

[0542] A process of specifying an object to be detected based on detecting that the gripping portion is gripping the object; and

[0543] The process of obtaining measurement results during the measurement of the characteristic quantity of the specified object to be measured.

[0544] (21) A measurement method performed by an information processing device, the measurement method comprising:

[0545] A process of specifying a grape bunch to be tested based on detecting that the gripping portion grips the grape bunch; and

[0546] Start the process of measuring the number of grapes in the specified bunch.

[0547] (22) A measurement method performed by an information processing device, the measurement method comprising:

[0548] a process for specifying the grape bunch grasped by the grasping portion; and

[0549] The process of measuring the number of grains in a specified bunch of grapes as it rotates.

[0550] Reference numerals list

[0551] 1 measuring device, 1A measuring terminal, 2 imaging unit, 3 image signal processing unit, 4 image analysis unit, 5 control unit, 5a measuring object specifying unit, 5b measuring unit, 5c presentation control unit, 5d target setting unit, 6 operation unit, 7 sensor unit, 8 display control unit, 9 display unit, 10 storage unit, 11 glasses unit, 12 camera, 13 display unit on glasses, 14 cable, 15 control unit, 16 communication unit, 21 hand, 22, 23, 24 grapes, 22A branch, 22B grape bunch, 25 grain number display, 26 target display, 27 status display, 28 situation display, 29 captured image display, 30 berry sparse part display, 50 information processing device, 51 communication terminal, 52 network, 53 cloud server, 54 AI engine, 60 imaging device.

Claims

1. A measuring device comprising: a measurement object designating unit that detects from a captured image including a plurality of objects whether a gripping portion grips an object among the plurality of objects and designates an individual object detected to be gripped by the gripping portion in the captured image as an object to be measured; as well as a measuring unit that starts measuring a feature quantity of the object to be measured specified by the measurement object specifying unit based on the measurement object specifying unit detecting that the gripping portion grips the individual object and obtains a measurement result during the measurement of the feature quantity of the object to be measured, The object is a crop, the measurement object designation unit designates an individual crop grasped among the crops as the object to be measured, and the characteristic quantity includes the number or size of particles of the crop.

2. The measuring device according to claim 1, further comprising: A presentation control unit performs a process for presentation based on the measurement result.

3. The measuring device according to claim 1, wherein: The measuring process is performed by using the captured image.

4. The measuring device according to claim 1, wherein: The measuring process is performed based on detecting that the gripping portion grips the object and moves the object.

5. The measuring device according to claim 1, wherein: The measuring process is performed based on detection of the gripping portion gripping the object and a predetermined action other than the gripping.

6. The measuring device according to claim 4, wherein: The measuring process is performed by using images of a plurality of frames captured during a period in which the object to be measured moves.

7. The measuring device according to claim 1, wherein: The measurement object specifying unit performs a process of setting the object grasped and moved by the grasping portion as the object to be measured.

8. The measuring device according to claim 1, further comprising: A target setting unit sets a target value of the feature quantity, wherein: The target setting unit obtains a difference between the feature amount measured in the measurement process and the target value.

9. The measuring device according to claim 8, further comprising: A presentation control unit executes a process for presenting the difference value.

10. The measuring device according to claim 4, wherein: The movement is a rotational movement.

11. The measuring device according to claim 1, wherein: The grasping portion is one of a human hand, a human-operated tool, and an automatically-operated robotic arm.

12. The measuring device according to claim 1, wherein: The measurement object specifying unit performs a process of setting the grape bunch, the branch of which is grasped by the grasping portion, as the object to be measured, and In the measuring process, the number of particles as the characteristic amount of the grape bunch set as the object to be measured is measured.

13. The measuring device according to claim 3, further comprising: An imaging unit captures the image to be used in the measurement process.

14. The measuring device according to claim 1, further comprising: an imaging unit to capture said images to be used in said measuring process; as well as A presentation unit presents the measurement result, wherein: The imaging unit and the presenting unit are disposed on a main body mounting unit.

15. The measuring device according to claim 14, wherein The presentation unit is a display unit that displays information on a display surface provided in front of the eyes of the user.

16. The measuring device according to claim 1, wherein A sensor unit is provided to detect that the gripping portion grips the object.

17. A measurement method performed by an information processing device, the measurement method comprising: a process of detecting, from a captured image including a plurality of objects, whether a gripping unit grips an object among the plurality of objects and designating an individual object detected to be gripped by the gripping unit in the captured image as an object to be detected; as well as a process of starting to measure a specified feature quantity of the object to be measured based on detecting that the gripping portion grips the object and obtaining a measurement result during the measurement of the specified feature quantity of the object to be measured, The object is a crop, the measuring method includes designating individual crops grasped among the crops as the object to be measured, and the characteristic quantity includes the number or size of particles of the crop.

18. A computer-readable storage medium storing a program, wherein when the program is executed by a computer, the computer is caused to execute: A process of detecting whether a gripping portion grips an object among the plurality of objects from a captured image including the plurality of objects and designating an individual object in the captured image that is detected to be gripped by the gripping portion as an object to be detected; and a process of starting to measure a specified characteristic quantity of the object to be measured based on detecting that the gripping portion grips the individual object and obtaining a measurement result during the measurement of the characteristic quantity of the object to be measured, in, The object is crops, and when the program is executed by a computer, it also causes the computer to designate individual crops grasped among the crops as the object to be measured, and the characteristic quantity includes the number or size of particles of the crops.

19. A measurement method performed by an information processing device, the measurement method comprising: A process of detecting whether a grasping portion grasps a grape bunch from a captured image and designating the grape bunch grasped by the grasping portion detected in the captured image as a grape bunch to be detected, wherein the captured image includes the grape bunch grasped by the grasping portion and the grape bunch not grasped by the grasping portion; as well as The process of measuring the number of grains of a specified grape bunch is started based on detecting that the grasping portion grasps the grape bunch.

20. A measurement method performed by an information processing device, the measurement method comprising: A process of detecting whether a grasping portion grasps a grape bunch from a captured image and designating the grape bunch grasped by the grasping portion detected in the captured image as a grape bunch to be detected, wherein the captured image includes the grape bunch grasped by the grasping portion and the grape bunch not grasped by the grasping portion; as well as The process of measuring the number of particles of the grape bunch to be tested based on detecting that the grasping portion grasps the grape bunch and as the grape bunch to be tested rotates.

Images