Plant production system

Abstract

To improve the efficiency of each process up until plants are shipped and the hygiene quality of the plants.SOLUTION: A plant production system includes: an imaging device that images a plant; a first working unit that exposes a base of the plant so that the imaging device can image it; a second working unit that cuts the base of the plant; and an information processing device. The information processing device executes: processing of controlling an operation of the first working unit to expose the base of the plant; processing of determining a position of the base of the plant based on image data captured by the imaging device and specifying a cutting position for the plant; and processing of controlling an operation of the second working unit to cut the base of the plant at the cutting position.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The present invention relates to a plant production system that produces plants in a facility such as a plant factory. [Background technology]

[0002] In recent years, hydroponic cultivation of plants such as leafy vegetables in plant factories has been actively carried out in order to achieve stable supply to the market and quality improvement by controlling soil-borne pests. Various cultivation facilities have been proposed for hydroponic cultivation in such plant factories.

[0003] For example, Patent Document 1 discloses a cultivation facility that uses multiple types of cultivation panels. In the cultivation facility, plants are cultivated in a cultivation process that follows a sowing process, a seedling raising process, and a planting process, while the cultivation panels are transported on a line. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Publication No. 7-099847 Summary of the Invention [Problem to be solved by the invention]

[0005] In such cultivation facilities, it is desirable to automate and unmann each process from the standpoint of improving the efficiency of each process up to the shipment of plants and improving the sanitary quality of the plants.

[0006] Therefore, the present invention proposes a plant production system that realizes a reduction in the number of workers and automation of work in each process up to the shipment of plants. [Means for solving the problem]

[0007] The plant production system according to the present invention includes a seeding area for sowing plants, a sorting area for selecting plants to be grown from the germinated plants, a seedling raising area for growing the selected plants, a planting area for selecting plants to be grown from the grown plants and planting them, a growing area for growing the planted plants, and a harvesting area for harvesting the grown plants, and includes an imaging device for imaging the plants, a work unit for performing work on the plants, and an information processing device. The plant base includes a first work unit that exposes the base of the plant so that it can be imaged by the imaging device, and a second work unit that cuts the base of the plant, and the information processing device executes a process of controlling the operation of the first work unit to expose the base of the plant, a process of determining the position of the base of the plant based on image data captured by the imaging device and specifying a cutting position for the plant, and a process of controlling the operation of the second work unit to cut the base of the plant at the cutting position.

[0008] This enables plants to be harvested automatically by the working unit without manual work by workers in the plant factory. Effect of the Invention

[0009] According to the present invention, in a cultivation facility, it is possible to improve the efficiency of each process up to the shipment of plants and to improve the sanitary quality of plants. [Brief description of the drawings]

[0010] [Figure 1] 1 is a diagram showing an overview of a plant production system according to an embodiment of the present invention. [Diagram 2] FIG. 1 is a diagram showing a main configuration of a plant production system according to an embodiment. [Diagram 3] FIG. 2 is a diagram showing the configuration of a seeding area according to an embodiment. [Figure 4] FIG. 13 is a diagram showing a removal process in a seeding region according to an embodiment. [Diagram 5]FIG. 13 illustrates a seeding process in a seeding area according to an embodiment. [Figure 6] 4 is a flowchart showing a process executed by the information processing apparatus according to the embodiment. [Figure 7] FIG. 2 is a diagram showing a configuration of a selection area according to an embodiment; [Figure 8] 1A to 1C are diagrams illustrating a sorting process in a sorting region according to an embodiment. [Figure 9] 4 is a flowchart showing a process executed by the information processing apparatus according to the embodiment. [Figure 10] 13A and 13B are diagrams illustrating a modified example of the sorting step of the embodiment. [Figure 11] FIG. 2 is a diagram showing the configuration of a harvesting area according to an embodiment. [Figure 12] FIG. 13 illustrates a sorting process in a harvesting area according to an embodiment. [Figure 13] FIG. 13 illustrates a sorting process in a harvesting area according to an embodiment. [Figure 14] FIG. 2 illustrates a harvesting process in a harvesting area according to an embodiment. [Figure 15] FIG. 2 illustrates a harvesting process in a harvesting area according to an embodiment. [Figure 16] FIG. 2 illustrates a harvesting process in a harvesting area according to an embodiment. [Figure 17] FIG. 1 illustrates a trimming process in a harvesting area according to an embodiment. [Figure 18] FIG. 1 illustrates a trimming process in a harvesting area according to an embodiment. [Figure 19] 4 is a flowchart showing a process executed by the information processing apparatus according to the embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] Hereinafter, an embodiment of the present invention will be described with reference to FIGS. The configurations shown in the drawings referred to in the description of the present embodiment are extracted and shown the essential parts and their surrounding configurations required to realize the present embodiment. The descriptions in the drawings are schematic, and the relationships and ratios between the thicknesses and planar dimensions of each structure, including the plants, shown in the drawings are merely for the convenience of description. Therefore, various modifications can be made according to the design, etc., within the scope of the technical concept of the present invention.

[0012] An overview of the plant production system 100 will be described with reference to Fig. 1. Plants 6 produced in the plant production system 100 include leafy vegetables such as leaf lettuce whose leaves and stems are primarily edible, including spinach, komatsuna, and bok choy. The plants 6 here are not limited to leafy vegetables, but include a wide range of plants whose bases are cut off before shipping, including fruit vegetables such as broccoli whose flower buds are primarily edible.

[0013] The plant production system 100 includes a cultivation facility 1 for cultivating and harvesting a plurality of plants 6, and a shipping facility 2 for shipping the harvested plants 6. The cultivation facility 1 and the shipping facility 2 are provided, for example, within a building of a plant factory.

[0014] The cultivation facility 1 has a sowing area 11, a sorting area 12, a seedling raising area 13, a planting area 14, a growing area 15, a harvesting area 16 and a washing area 17.

[0015] In the sowing area 11, the seeds 61 of the plants 6 to be cultivated are selected and sowed. In the sowing area 11, the seeds 61 that are expected to have poor germination, for example, are removed. The remaining seeds 61 to be sowed are sown in a cultivation panel 101 for raising seedlings having a medium. When the sown seeds 61 germinate, the plants 6 are transported to the selection area 12 together with the cultivation panel 101.

[0016] In the sorting area 12, plants 6 that have failed to germinate are removed. The remaining plants 6 are selected as seedlings and are transported to the seedling raising area 13 where they are raised. The raised plants 6 are transported to the planting area .

[0017] In the planting area 14, the plants 6 grown in the seedling cultivation panel 101 are planted in the growth cultivation panel 102. When planting in the growth cultivation panel 102, plants 6 with poor growth are removed. In addition, in order to prevent contact between the plants 6 as they grow, the spacing between the planted plants 6 is ensured to be wide on the cultivation panel 102. Note that, when growing the plants 6, the plants 6 planted in the growth cultivation panel 102 may be replanted in another cultivation panel as the plants grow. The number of times the plants 6 are replanted in another cultivation panel can be set according to the type of plant 6 to be grown and the growing method.

[0018] The plants 6 planted in the planting area 14 are transported to the growing area 15 as growing targets and grown there. The plants 6 that have grown to a state where they can be harvested in the growing area 15 are transported to the harvesting area 16.

[0019] In the harvesting area 16, the grown plants 6 are harvested. In the harvesting area 16, the plants 6 are harvested by cutting the bases of the plants to separate them from the cultivation panels 102. The harvested plants 6 are transported to the shipping facility 2.

[0020] In the cleaning area 17, the cultivation tools such as the various cultivation panels 101, 102 used for cultivating the plants 6 are washed, sterilized, and dried. After cleaning, the cultivation tools are transported to each area and reused for cultivating the plants 6.

[0021] The shipping facility 2 is provided with a lower leaf processing area 21, a weighing area 22, a packaging area 23, a boxing area 24 and a loading area 25.

[0022] The plants 6 harvested in the harvesting area 16 of the cultivation equipment 1 are transported to the lower leaf processing area 21. In the lower leaf processing area 21, lower leaf processing is performed to remove parts of the plants 6 that are not required for shipping. The lower leaf processing targets here include parts of the plants 6 that are not suitable for eating, such as parts that have turned black due to rot or other factors. Note that such lower leaf processing may be performed in the harvesting area 16 of the cultivation equipment 1.

[0023] The plants 6 that have been subjected to bottom processing are classified according to product standards according to the weight measured in the weighing area 22, and are packaged in film or the like in the packaging area 23. The packaged plants 6 are transported to the boxing area 24, inspected by a metal detector, and then packaged in a formed box. The boxes filled with the plants 6 are loaded onto pallets in the loading area 25, and shipped in a refrigerated state.

[0024] All or part of each area in the cultivation facility 1 may be provided in the shipping facility 2, and all or part of each area in the shipping facility 2 may be provided in the cultivation facility 1. Furthermore, the configurations provided in each area of ​​each facility are merely divided for convenience, and one of the above-mentioned areas may include all or part of the configurations included in the other areas.

[0025] In addition, in this embodiment, an example in which the cultivation facility 1 and the shipping facility 2 are installed inside a building of a plant factory will be described, but either the cultivation facility 1 or the shipping facility 2 may be installed in a different factory. Also, parts of the areas installed in the cultivation facility 1 and the shipping facility 2 may be installed in different factories. In other words, even if each facility and parts of its areas are installed in different places, the plant production system 100 is constructed based on the functions of each facility.

[0026] The configuration of the plant production system 100 will be described with reference to Fig. 2. The plant production system 100 includes, for example, a plurality of imaging devices 3, a plurality of operation units 4, an information processing device 5, and a plant database 7.

[0027] In the plant production system 100, the information processing device 5 controls the operation of the work unit 4 based on the image capture results of the plant 6 captured by the imaging device 3. The work unit 4 can automatically perform various tasks on the plant 6 in each area.

[0028] The imaging device 3 performs remote sensing of the plants 6 in each area of ​​the plant production system 100. Image data obtained by the imaging device 3 is sent to the information processing device 5.

[0029] Each imaging device 3 includes an imaging section 31, a signal processing section 32, and an imaging control section 33. The imaging section 31 includes an imaging lens system, an exposure section, a filter, an image sensor, etc. The image sensor detects light that has passed through the filter using its sensing element, and outputs an imaging image signal according to the amount of light to the signal processing section 32.

[0030] The signal processing unit 32 performs AGC (Automatic Gain Control) processing, A / D (Analog / Digital) conversion processing, etc. on the captured image signal output from the image sensor of the imaging unit 31 to convert it into digital data, and further performs various necessary signal processing, and outputs it as image data of the imaging target to the imaging control unit 33. The imaging control unit 33 is configured to sequentially store the image data supplied from the signal processing unit 32 in, for example, a storage unit (not shown) so that it can be transmitted to the information processing device 5.

[0031] The imaging control unit 33 is configured by, for example, a microcomputer, and controls the overall operation of the imaging device 3, such as imaging operation, image data storage operation, communication operation, and the like.

[0032] The imaging device 3 may be provided in each area in the plant production system 100. The imaging device 3 is provided in, for example, the sowing area 11, the sorting area 12, and the harvesting area 16.

[0033] Each working unit 4 operates based on a control signal from an information processing device 5 to perform various tasks. The working unit 4 is, for example, a robot arm, and includes a servo motor 41, a reduction gear 42, and a drive control unit 43.

[0034] The servo motor 41 and the reduction gear 42 are provided at each joint of the robot arm, and are geared motors whose rotation shaft and output shaft coincide with each other. The drive control unit 43 is composed of, for example, a microcomputer, and controls the operation of the servo motor 41 and the reduction gear 42 based on control signals from the information processing device 5.

[0035] The operation of the servo motor 41 and the reduction gear 42 is controlled by the drive control unit 43, thereby realizing the operation of the working unit 4 along a predetermined target trajectory.

[0036] The work units 4 may be provided in each area in the plant production system 100. The work units 4 are provided, for example, in the sowing area 11, the sorting area 12, and the harvesting area 16. Each area is provided with a work unit 4 having a structure suitable for the work in that area. The work units 4 in each area will be described in detail below.

[0037] The following describes the hardware configuration of the information processing device 5. The information processing device 5 includes a central processing unit (CPU), a read only memory (ROM), and a random access memory (RAM), which are all interconnected via a bus.

[0038] The CPU executes various processes according to programs stored in the ROM or programs loaded into the RAM. The RAM also stores data necessary for the CPU to execute various processes.

[0039] The CPU performs processing operations based on various programs, thereby executing necessary information processing and communication in the information processing device 5. For example, the function of the information processing device 5 is installed in electronic devices such as an equipment management device for the entire plant factory in the plant production system 100. Also, for example, the function of the information processing device 5 may be installed in each of the electronic devices such as the equipment management device in each area. Note that the function of the information processing device 5 is not limited to equipment management devices, and may also be installed in a personal computer or a mobile terminal.

[0040] Furthermore, the information processing device 5 is not limited to being configured with a single CPU, but may be configured with a system of multiple CPUs. The multiple CPUs may include a CPU that can be used by a cloud computing service.

[0041] The information processing device 5 includes an image analysis unit 51 and an operation control unit 52 as functions realized by software, for example.

[0042] The image analysis unit 51 analyzes the image data obtained by the imaging device 3 to identify the plant 6 and executes various types of determination processing.

[0043] The operation control unit 52 executes processing to control the operations of the imaging device 3 and the work unit 4 based on the results of the determination processing in the image analysis unit 51 .

[0044] Each function of the information processing device 5 is a function that is realized by processing executed by, for example, a CPU included in the information processing device. Note that all or part of the processing of each configuration described below may be realized by hardware. Also, when each function is realized by software, it is not necessary for each function to be realized by an independent program. Processing of multiple functions may be executed by one program, or one function may be realized by the cooperation of multiple program modules.

[0045] In the plant database 7, data on the plants 6 required for the processing executed by the information processing device 5 is recorded for each type of plant 6. The plant database 7 may be constructed in an information processing device separate from the information processing device 5, or may be constructed in the information processing device 5. The plant database 7 may be realized in any form as long as it is accessible by the information processing device 5.

[0046] The seeding area 11 in the plant production system 100 will be described in detail with reference to FIGS.

[0047] In the sowing area 11, an imaging device 3 and a gripping operation unit 44 are provided as shown in Fig. 3 to Fig. 5. The imaging device 3 is provided so as to be able to capture images of seeds 61 of plants 6 and the like. The gripping operation unit 44 is provided as a work unit 4 (see Fig. 2), and is, for example, a robot arm for work. The gripping operation unit 44 operates to grip and move the seeds 61 based on a control signal from the information processing device 5.

[0048] In the sowing area 11, a removal step of removing the seeds 61A unsuitable for sowing and a sowing step of sowing the seeds 61 are carried out.

[0049] In the removal process, before sowing the seeds 61 on the seedling cultivation panel 101 shown in Fig. 5, the seeds 61 are placed on, for example, the mounting panel 103 shown in Fig. 3. Then, based on the captured image of the seeds 61 obtained by the imaging device 3, the seeds 61A that are not suitable for sowing are identified from among the seeds 61 placed on the mounting panel 103.

[0050] The seeds 61A that are not suitable for sowing are, for example, seeds that are expected to have poor germination even if sowed. Such seeds 61A are, for example, seeds that are mostly defective.

[0051] The identified seed 61A is gripped by the gripping operation unit 44 and removed from the placement panel 103, as shown in FIG.

[0052] 5, the seeds 61 from which the seeds 61A have been removed are sown on the cultivation panel 101 by the gripping operation unit 44. At this time, the seeds 61 are sown by the gripping operation unit 44 at intervals m and n suitable for the plants 6 to be cultivated.

[0053] Once the removal and sowing steps are completed, the seeded cultivation panels 101 are transported to the sorting area 12, for example, by a conveyor (not shown) provided in the sowing area 11.

[0054] 6, the processes executed by the information processing device 5 in the seeding area 11 will be described. The information processing device 5 realizes each process based on the functions of the image analysis unit 51 and the operation control unit 52 shown in FIG.

[0055] In step S101, the image analysis unit 51 performs image analysis processing on image data obtained by the imaging device 3 capturing an image of the mounting panel 103, and detects each of the seeds 61 placed on the mounting panel 103 (see FIG. 3).

[0056] In step S102, the image analysis unit 51 identifies seeds 61A that are not suitable for sowing, that is, seeds 61A to be removed, from the detected seeds 61, based on data obtained from the plant database 7 (see FIG. 2).

[0057] In the plant database 7, data on the characteristics of the seeds 61A to be removed, for example, is recorded for each type of plant 6. The image analysis unit 51 compares the characteristics of the seeds 61A obtained from the plant database 7 with the characteristics of each detected seed 61 to identify the seeds 61A to be removed.

[0058] For example, data on the loss rate of the seeds 61 predicted to germinate poorly may be recorded in the plant database 7. In this case, the image analysis unit 51 compares the loss rate of the seeds 61A obtained from the plant database 7 with the loss rate of each detected seed 61 to identify the seeds 61A to be removed.

[0059] In step S103, the operation control section 52 controls the operation of the gripping operation unit 44 so as to remove the seed 61A to be removed. Based on the control of the operation by the operation control section 52, the gripping operation unit 44 grips the seed 61A and removes it from the mounting panel 103 (see FIG. 4). The removal step in the sowing area 11 is realized by the processing from steps S101 to S103 executed by the information processing device 5.

[0060] In step S104, the operation control unit 52 controls the operation of the gripping operation unit 44 so that the seed 61 from which the seed 61A has been removed is sown in the seedling cultivation panel 101 having a culture medium. At this time, the operation control unit 52 controls the operation of the gripping operation unit 44 based on data obtained from the plant database 7.

[0061] In the plant database 7, data on intervals m, n (see FIG. 5) suitable for cultivating the seeds 61, for example, is recorded for each type of plant 6. The image analysis unit 51 controls the operation based on the data, so that the seeds 61 are sown by the gripping operation unit 44 at intervals suitable for cultivation. After the processing of step S104, the information processing device 5 ends the processing shown in FIG. 6. The processing of step S104 executed by the information processing device 5 realizes the sowing process in the sowing area 11.

[0062] By the information processing device 5 executing the process shown in FIG. 6, the selection and sowing of the seeds 61 in the sowing area 11 can be performed automatically by the gripping operation unit 44 without manual work by an operator of the plant factory.

[0063] Although the function of the gripping work unit 44 as the work unit 4 in the sowing area 11 is realized by one unit (arm robot), the function of the gripping work unit 44 may be realized by using a plurality of units.

[0064] The sorting area 12 in the plant production system 100 will be described in detail with reference to FIGS.

[0065] 7 and 8, an imaging device 3 and a sorting operation unit 49 are provided in the sorting area 12. The imaging device 3 is provided so as to be able to capture images of the plants 6 on the cultivation panel 101. The sorting operation unit 49 is provided as a work unit 4 (see FIG. 2), and is, for example, a robot arm for work. The sorting operation unit 49 operates to grip and move the plants 6 based on a control signal from the information processing device 5.

[0066] In the sorting area 12, a sorting step is carried out to sort out plants 6 that are not suitable for seedling cultivation.

[0067] 7, in the selection process, the seeds 61 sown on the cultivation panel 101 for raising seedlings are germinated. Then, based on the captured image of the plants 6 obtained by the imaging device 3, the plants 6 (seeds 61) placed on the cultivation panel 101 are identified as selection targets 64 that are not suitable for raising seedlings.

[0068] The selection target 64 that is not suitable for raising seedlings is, for example, a plant 6 that has poor germination, and includes a seed 61 that does not germinate or has only insufficient germination.

[0069] The identified selection target 64 is grasped by the selection operation unit 49 and removed from the cultivation panel 101, as shown in FIG.

[0070] After the sorting process is completed, the cultivation panels 101 are transported to the seedling raising area 13, for example, by a conveyor (not shown) provided in the sorting area 12.

[0071] 9, the process executed by the information processing device 5 in the selection area 12 will be described. The information processing device 5 realizes each process based on the functions of the image analysis unit 51 and the operation control unit 52 shown in FIG.

[0072] In step S301, the image analysis unit 51 performs image analysis processing on image data obtained by the imaging device 3 capturing an image of the cultivation panel 101, and detects each plant 6 (seed 61) placed on the cultivation panel 101 (see FIG. 7).

[0073] In step S302, the image analysis unit 51 identifies selection targets 64 that are not suitable for seedling cultivation from the detected plants 6 (seeds 61) based on data obtained from the plant database 7 (see FIG. 2).

[0074] In the plant database 7, data on the characteristics of the plants 6 (seeds 61) that are to be selected targets 64, for example, is recorded for each type of plant 6. The image analysis unit 51 identifies the selection targets 64 by comparing the characteristics of the plants 6 (seeds 61) obtained from the plant database 7 with the characteristics of each of the detected plants 6 (seeds 61).

[0075] In step S303, the operation control unit 52 controls the operation of the sorting work unit 49 to remove the sorting target 64. Based on the control of the operation by the operation control unit 52, the sorting work unit 49 grasps the sorting target 64 and removes it from the cultivation panel 101 (see FIG. 8). The sorting process in the sorting area 12 is realized by the processes from steps S301 to S303 executed by the information processing device 5.

[0076] After removing the selection target 64 in step S303, the operation control unit 52 may control the operation of the selection work unit 49 so as to place a plant 6 suitable for seedling cultivation in the place where the selection target 64 has been removed, as shown in Fig. 10. At this time, the operation control unit 52 may control the operation of the selection work unit 49 so as to move, for example, a plant 6 of another cultivation panel 101 to the place where the selection target 64 has been removed.

[0077] By the information processing device 5 executing the process shown in FIG. 9, the plants 6 (seeds 61) in the sorting area 12 can be automatically sorted by the sorting work unit 49 without manual work by an operator in the plant factory.

[0078] Although the function of sorting task unit 49 as task unit 4 in sorting area 12 is realized by one unit (arm robot), the function of sorting task unit 49 may be realized by using a plurality of units.

[0079] The harvesting area 16 in the plant production system 100 will be described in detail with reference to FIGS.

[0080] The plants 6 planted on the cultivation panels 102 for growth are grown in the growth area 15 (see FIG. 1), and then transported to the harvesting area 16 by a transport conveyor 201, as shown in FIG. 11. Note that the transportation of the plants 6 from the growth area 15 to the harvesting area 16 is not limited to the conveyor 201, and may also be performed by an AGV (Automated Guided Vehicle) or a transport vehicle.

[0081] Provided in harvesting area 16 are an imaging device 3, a harvesting work unit 46, a cutting work unit 47, and a trimming work unit 48. Harvesting work unit 46, cutting work unit 47, and trimming work unit 48 are provided as work units 4 (see FIG. 2), and are, for example, work robot arms.

[0082] Harvesting unit 46, for example, grips plant 6 and presses it from the side, thereby exposing the base of plant 6 so that imaging device 3 can capture an image. Harvesting unit 46 can also grip and move plant 6 after harvesting.

[0083] The cutting work unit 47 cuts the base of the plant 6. For example, the cutting work unit 47 harvests the plant 6 by cutting the base of the plant 6 that has been exposed by being pressed down by the harvesting work unit 46.

[0084] The trimming operation unit 48 cuts off a part of the plant 6 that is stunted due to physiological disorders or has withered and discoloured.

[0085] Harvesting work unit 46, cutting work unit 47 and trimming work unit 48 perform the various operations described above based on control signals from information processing device 5.

[0086] In the harvesting area 16, the plants 6 are harvested through a selection process, a harvesting process and a trimming process.

[0087] In the selection process, as shown in Fig. 11, the image of the plant 6 grown on the cultivation panel 102 for growth is captured by the imaging device 3, and the plant 6 that has discolored due to poor growth or the like is identified. Fig. 12 shows a plant 6, which has a part of its leaves 6a that are discolored 6b, and a plant 63 in which the majority of the leaves 6b are discolored. Note that in Fig. 12, the discolored part of the leaf 6b is shown with a matte finish.

[0088] The stalk 62 is still suitable for shipment as a product, and is therefore set aside for harvesting after the discolored portions of the leaves 6b are removed by the trimming unit 48 as shown in Fig. 13. On the other hand, the stalk 63 is discarded because it is unsuitable for shipment, with the majority of the leaves 6b being discolored.

[0089] In the harvesting process, the plant 6 grown on the cultivation panel 102 is cut and harvested. In the harvesting process, as shown in Fig. 14, the harvesting work unit 46 grasps the plant 6 and presses the plant 6 from the side as shown in Fig. 15 to expose the base of the plant (e.g., the part indicated by the dashed line 6c). Then, as shown in Fig. 16, the exposed base of the plant is cut by the cutting work unit 47. This separates the plant 6 from the cultivation panel 102. When the cultivation panel 102 with the plant 6 planted therein is transported by the conveyor 201, the cutting operation unit 47 may be disposed downstream of the conveyor 201. In this case, the base of the plant 6 is exposed to the downstream side of the conveyor 201 by the harvesting operation unit 46, and the base is cut by the cutting operation unit 47 from the downstream side of the conveyor 201. At this time, it is also possible not to move the position of the harvesting unit 46 relative to the conveyor 201. For example, by providing the plate- or rod-shaped harvesting unit 46 at a position lower than the height of the plants 6 from the conveyor 201, and passing the plants 6 transported by the conveyor 201 between the harvesting unit 46 and the conveyor 201, the plants 6 are pressed down from the sides by the harvesting unit 46, and the bases of the plants 6 can be exposed on the downstream side of the conveyor 201.

[0090] In the trimming process, as shown in Fig. 17, the plant 6 held by the harvesting unit 46 is imaged by the imaging device 3, and withered and discolored leaves 6d are identified. Note that in Fig. 17, the discolored parts of the leaves 6d are indicated by a matte finish.

[0091] 18, the identified leaves 6d are cut off by the trimming work unit 48. This completes the harvesting of the plants 6. The harvested plants 6 are transported to the shipping facility 2 (see FIG. 1) and undergo various operations for shipping.

[0092] 19, the processes executed by the information processing device 5 in the harvesting area 16 will be described. The information processing device 5 realizes each process based on the functions of the image analysis unit 51 and the operation control unit 52 shown in FIG.

[0093] In step S201, the image analysis unit 51 performs image analysis processing on image data obtained by the imaging device 3 capturing an image of the cultivation panel 102, and detects each plant 6 grown on the cultivation panel 102 (see FIG. 11). The image analysis unit 51 identifies a stalk 62 (63) having discolored leaves 6b among the detected plants 6 (see FIG. 12). At this time, the image analysis unit 51 also identifies position information of the stalk 62 (63) on the cultivation panel 102, position information of the discolored portion of the leaf 6b, and the like, based on the image analysis processing.

[0094] In step S202, the image analysis unit 51 judges whether the proportion of the discolored portion of the identified plant 62 (63) to the whole is equal to or greater than a predetermined range, based on data obtained from the plant database 7 (see FIG. 2). The plant database 7 stores data on the threshold of the proportion of the discolored portion for each type of plant 6, for example, and the image analysis unit 51 makes this judgment by comparing the data with the proportion of the discolored portion of the plant 62 (63) to the whole. The proportion of the discolored portion as a whole that is the selection criterion for the strain 62 (63) can be set to a different proportion depending on the use of the plant 6, such as fresh food or processed food. For example, if the use of the plant 6 is a processed food, it can be used without being discarded even if the proportion of the discolored portion as a whole is larger than when it is a fresh food.

[0095] If the proportion of the discolored portion to the whole is less than the predetermined range, the process proceeds from step S202 to step S203, and the operation control unit 52 controls the trimming operation unit 48 to cut off the discolored portion of the leaf 6b based on the position information of the discolored portion of the stalk 62 specified by the image analysis unit 51 (see Figs. 12 and 13). After that, the process proceeds from step S203 to step S205.

[0096] On the other hand, if the proportion of the discolored portion to the whole is equal to or greater than the predetermined range, the process proceeds from step S202 to step S204, and the operation control unit 52 executes a process of discarding the stalk 63 (see Figs. 12 and 13). The operation control unit 52 performs control such that, for example, the cutting operation unit 47 cuts the stalk 63 to be discarded, and the harvesting operation unit 46 carries the stalk 63 to a disposal space. Thereafter, the process returns from step S204 to step S201, and a process of identifying the stalk 62 (63) having discolored leaves 6b is executed. Note that, if there is no stalk 62 (63) having discolored leaves 6b in step S201, the information processing device 5 proceeds to step S205. The process from step S201 to S204 executed by the information processing device 5 realizes a sorting process in the harvesting area 16.

[0097] In step S205, the operation control unit 52 identifies plants to be harvested from among the plants 6 grown on the cultivation panel 102. The plants to be harvested are plants that were not discarded in the processes from steps S201 to S202.

[0098] In step S206, operation control section 52 controls harvesting unit 46 to grasp and press down laterally the stalk to be harvested (plant 6) (see FIGS. 14 and 15). As the stalk is pressed down by harvesting unit 46, the base of plant 6 is exposed.

[0099] At this time, operation control unit 52 controls the pressing by harvesting work unit 46 so that the pressed plant 6 is inclined at a predetermined angle relative to cultivation panel 102. The predetermined angle is an angle at which the base of plant 6 (the part enclosed by dashed line 6c in FIG. 15) is exposed so that it can be imaged by imaging device 3, and an appropriate angle for cutting is recorded for each type of plant 6 in plant database 7, for example. Operation control unit 52 controls the operation of harvesting work unit 46 based on data relating to the angle corresponding to the type of plant 6 obtained from plant database 7.

[0100] In step S207, the image analysis unit 51 performs image analysis processing on the image data obtained by the imaging device 3 capturing an image of the base of the plant 6, and identifies the cutting position of the plant 6 by the cutting operation unit 47. The cutting position of the base that maintains the unity of the leaves 6a varies depending on the type of plant 6. Data on these cutting positions is recorded, for example, in the plant database 7. The image analysis unit 51 identifies the cutting position of the base of the plant 6 based on the data on the cutting position obtained from the plant database 7.

[0101] In step S208, the operation control unit 52 executes control to cause the cutting work unit 47 to cut the base of the plant 6 based on the cutting position identified by the image analysis unit 51 (see FIG. 16). The operation control unit 52 also executes control to cause the harvesting work unit 46 to grip the plant 6 after cutting. The processing from steps S205 to S208 executed by the information processing device 5 realizes the harvesting process in the harvesting area 16. 19, an example is described in which plants 6 to be harvested are selected as plants to be harvested or plants to be discarded, and then the plants 6 to be harvested are harvested, but all plants 6 to be harvested may be harvested and then plants to be discarded may be selected. For example, the information processing device 5 may execute the processes from steps S201 to S204 after executing the processes from steps S205 to S208.

[0102] In step S209, the image analysis unit 51 performs image analysis processing on image data obtained by the imaging device 3 capturing an image of the plant 6 after cutting, and identifies leaves 6d that have discolored due to withering or other factors (see FIG. 17). At this time, the image analysis unit 51 also identifies position information of the leaves 6d based on the image analysis processing.

[0103] In step S210, the operation control unit 52 controls the trimming work unit 48 to remove the leaf 6d from the plant 6 based on the position information of the leaf 6d identified by the image analysis unit 51 (see FIG. 18). The trimming process in the harvesting area 16 is realized by the processes from steps S209 to S210 executed by the information processing device 5.

[0104] By having the information processing device 5 execute the processing shown in Figure 19, the harvesting of plants 6 in the harvesting area 16 can be performed automatically by the harvesting work unit 46, the cutting work unit 47 and the trimming work unit 48 without manual work by workers in the plant factory.

[0105] Although the functions of the cutting operation unit 47 and the trimming operation unit 48 are realized by multiple units (robot arms) as the working unit 4 in the harvesting area 16, a single unit having multiple functions may also be used as the working unit 4.

[0106] According to the embodiment described above, the plant production system 100 includes a cultivation facility 1 and a shipping facility 2 (see FIG. 1). The cultivation facility 1 includes a seeding area 11 for sowing plants 6, a sorting area 12 for selecting plants 6 to be grown from the germinated plants 6, a seedling raising area 13 for growing the selected plants 6, a planting area 14 for selecting plants 6 to be grown from the grown plants 6 and planting them, a growing area 15 for growing the planted plants 6, and a harvesting area 16 for harvesting the grown plants 6.

[0107] In the harvesting area 16, there are provided an imaging device 3 that images the plants 6, a harvesting work unit 46 (first work unit) that exposes the base of the plants 6 so that the imaging device 3 can capture images, a cutting work unit 47 (second work unit) that cuts the base of the plants 6, and an information processing device 5 (see Figures 2 and 11).

[0108] Here, the information processing device 5 executes a process of controlling the operation of the harvesting work unit 46 so as to expose the base of the plant 6 (see FIG. 15), a process of determining the position of the base of the plant 6 based on the image data captured by the imaging device 3, a process of determining a cutting position for the plant 6, and a process of controlling the operation of the cutting work unit 47 so as to cut the base of the plant 6 at the cutting position (see S205 to S208 in FIG. 16 and FIG. 19).

[0109] This allows the plants 6 to be harvested automatically by the various operation units 4 without manual work by workers in the plant factory. Therefore, in the plant factory, it is possible to improve the efficiency of each work process in the harvesting area 16 and improve the hygienic quality of the plants 6 by eliminating human intervention.

[0110] Furthermore, information processing device 5 executes processing to control the operation of harvesting unit 46 so as to press down plant 6 from the side in order to expose the base of plant 6 (see Fig. 15 and S205 to S206 in Fig. 19).

[0111] By pressing down the plant 6 from the side, the image capturing device 3 can capture an image of the base of the plant 6 without being blocked by the leaves 6a of the plant 6. This improves the accuracy of identifying the cutting position of the base based on the image data captured by the image capturing device 3.

[0112] In addition, by pressing down the plant 6 from the side, the tip portion of the leaf 6a can be separated from the cutting work unit 47. This makes it possible to prevent the tip portion of the leaf 6a from being damaged by the cutting work unit 47 when cutting the base of the plant.

[0113] The information processing device 5 may identify the plant 6 to be harvested based on the coordinate information. 11, when the cultivation panel 102 in which the plants 6 are planted is transported by a conveyor 201, the moving direction of the conveyor 201 can be considered as the X coordinate, and the direction perpendicular to the moving direction can be considered as the Y coordinate. In this case, the position where each plant 6 is to be planted on the cultivation panel 102 placed on the conveyor 201 (for example, the position of the hole in the cultivation panel 102 in which the plant 6 is to be placed) can be determined in advance by the X coordinate and the Y coordinate. In addition, the thickness direction of the conveyor 201 can be set as the Z coordinate, and the position of the base of each type of plant 6 can be recorded as the Z coordinate in the plant database 7. In this case, in the harvesting process, the information processing device 5 identifies the position of the base of each plant 6 planted in the cultivation panel 102 using the X, Y, and Z coordinates. Then, the information processing device 5 moves the cutting operation unit 47 to the identified position and cuts the base of the plant 6. This makes it possible to identify and harvest the base of the plant 6 without relying on image data captured by the imaging device 3. Furthermore, by using this coordinate information in addition to the image data captured by the imaging device 3, it becomes possible to identify the cutting position of the plant 6 with greater accuracy.

[0114] Furthermore, the harvesting area 16 may be provided with a trimming operation unit 48 (third operation unit) for removing a part of the plant 6 (see FIG. 11). In this case, the information processing device 5 executes a process for determining a part of the plant 6 to be removed based on image data captured by the imaging device 3, and a process for controlling the operation of the trimming operation unit 48 so as to remove the part to be removed (see S201 to S204, S209 to S210 in FIG. 19). The part to be removed here is, for example, a leaf 6b (6d) of the plant 6 that has become discolored due to factors such as physiological disorder or withering (see FIGS. 12 and 18).

[0115] This makes it possible to automatically remove discolored parts of plants 6 that have no commercial value without manual work by workers in the plant factory. This improves work efficiency in the harvesting area 16 and improves quality in terms of hygiene by eliminating human intervention.

[0116] Also provided in the sowing area 11 are an imaging device 3 that images the seeds 61 of the plants 6, a gripping operation unit 44 (fourth operation unit) for removing the seeds 61A (61) of the plants 6, and an information processing device 5 (see Figures 2 and 3).

[0117] Here, the information processing device 5 executes a process of determining the seed 61A to be removed based on image data of the seed 61 captured by the imaging device 3, and a process of controlling the operation of the gripping work unit 44 so as to remove the seed 61A to be removed (see S101 to S103 in Figures 4 and 6).

[0118] This allows the seeds 61A that are expected to germinate poorly to be automatically removed before sowing without manual work by an operator, thereby improving the work efficiency in the sowing area 11 and improving the sanitary quality of the plants 6 by eliminating human intervention.

[0119] In this embodiment, the processes shown in Fig. 6, Fig. 9, and Fig. 19 can be realized as a program executed by the CPU of the information processing device 5 or the like. Such a program can be recorded in advance in a recording medium built into a device such as a computer device, or in a ROM in a microcomputer having a CPU. Also, it can be temporarily or permanently stored (recorded) in a removable recording medium such as a semiconductor memory or a memory card. Also, such a program can be installed in a personal computer or the like from a removable recording medium, or can be downloaded from a download site via a network such as the Internet. The information processing device 5 of the present embodiment can improve the accuracy of various judgments by using machine learning with an AI (artificial intelligence) engine. For example, in step S102 of Fig. 6, the information processing device 5 can improve the accuracy of the identification by using the machine learning when identifying the seeds 61A that are not suitable for sowing. For example, by accumulating image data of various plants 6 in the process from sowing to harvesting and performing machine learning, it becomes possible to link image data of the seeds 61 at the time of sowing with image data of the plants 6 at the time of harvesting. Based on the link between the seeds 61 at the time of sowing and the plants 6 at the time of harvesting, the information processing device 5 becomes able to identify the seeds 61A that may be abnormally cultivated at the time of harvesting among the photographed seeds 61. This makes it possible to remove the seeds 61A that are highly likely to be abnormal in the future during the sowing process. In addition, by using this machine learning, the accuracy of the information processing device 5 in identifying the selection targets 64 in step S302 of Figure 9 and the plants 62 (63) to be discarded and harvested in step S202 of Figure 19 can be improved.

[0120] Finally, the effects described in this disclosure are merely examples and are not intended to be limiting, and other effects may be achieved, or a part of the effects described in this disclosure may be achieved. Furthermore, not all of the combinations of configurations described in the embodiments are necessarily essential to solving the problem. [Explanation of symbols]

[0121] 1 Cultivation equipment 3. Imaging device 4 Unit of Work 5. Information processing equipment 6 plants 6a, 6b, 6d leaves 11 Seeding area 12 Selection Area 13 Seedling raising area 14 Planting area 15 Growing area 16 Harvesting Area 44 Grasping Operation Unit 46 Harvesting Unit 47 Cutting Unit 48 Trimming Unit 51 Image Analysis Unit 52 Motion control section 61, 61A seeds 62, 63 stocks 100 Plant Production Systems

Claims

1. The system comprises a sowing area for sowing plants, a sorting area for selecting plants to be grown from the germinated plants, a seedling raising area for growing the selected plants, a planting area for selecting plants to be grown from the grown plants and planting them, a growing area for growing the planted plants, and a harvesting area for harvesting the grown plants, An imaging device for imaging the plant; a work unit that performs work on the plant; An information processing device, In the harvesting area, the work units include a first work unit that exposes a base of the plant so that the imaging device can capture an image of the base, and a second work unit that cuts the base of the plant; The information processing device includes: A process of controlling an operation of the first operational unit so as to expose a base of the plant; determining a position of a base of the plant based on image data captured by the imaging device and specifying a cutting position of the plant; and controlling the operation of the second work unit so as to cut the base of the plant at the cutting position. Plant production systems.

2. In the harvesting area, The information processing device executes a process of controlling an operation of the first work unit so as to press down the plant from a side in order to expose a base of the plant. The plant production system according to claim 1 .

3. In the harvesting area, The operational unit includes a third operational unit that removes a part of the plant, The information processing device includes: A process of determining a portion of the plant to be removed based on image data captured by the imaging device; and controlling the operation of the third operation unit so as to remove the portion to be removed. The plant production system according to claim 1 or 2.

4. The operational unit includes a fourth operational unit for removing seeds of the plant, In the seeding area, The information processing device performs a process of identifying the seeds to be removed based on image data of the seeds captured by the imaging device; and controlling the operation of the fourth operational unit to remove the seed to be removed. The plant production system according to claim 1 .

5. An imaging device for imaging a plant; A first working unit that exposes a base of the plant so that the base can be imaged by the imaging device; A second working unit for cutting the base of the plant; An information processing device, The information processing device includes: A process of controlling an operation of the first operational unit so as to expose a base of the plant; determining a position of a base of the plant based on image data captured by the imaging device and specifying a cutting position of the plant; and controlling the operation of the second work unit so as to cut the base of the plant at the cutting position. Plant production systems.

Images