Growth management system

Abstract

To provide a growth management system capable of calculating data on key parts of cultivated plants.SOLUTION: Provided is a growth management system for managing the growth state of a cultivated plant Q. The growth management system includes: an imaging device that captures the cultivated plant Q; a recognition unit that recognizes a main stem 51 of the cultivated plant Q appearing in a captured image acquired through the imaging device; and a stem diameter calculation unit that calculates a stem diameter D2 of the main stem 51 recognized by the recognition unit.SELECTED DRAWING: Figure 4

Description

[Technical field]

[0001] The present invention relates to a system for managing the growth of cultivated plants. [Background technology]

[0002] For example, Patent Document 1 discloses a cultivation facility that performs temperature control of a greenhouse based on the growth state around the growth point of a cultivated plant (referred to as a "plant stock" in the document). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2011-19438 A Summary of the Invention [Problem to be solved by the invention]

[0004] In order to grasp the growth status of a cultivated plant, it is desirable to recognize the main part of the cultivated plant. In the configuration disclosed in Patent Document 1, the growth status near the growing point is measured. Since the appearance and shape near the growing point are prone to change drastically compared to the main parts of the cultivated plant, it is difficult to grasp the growth status of the cultivated plant based on the condition near the growing point. As a main part of a cultivated plant, the main stem is particularly useful, and in order to construct a useful growth management system, it is useful to recognize the main stem.

[0005] The present invention provides a growth management system capable of calculating data relating to essential parts of a cultivated plant. [Means for solving the problem]

[0006] The present invention relates to a growth management system for managing the growth status of a cultivated plant, the system including an imaging device for imaging the cultivated plant, a recognition unit for recognizing a main stem of the cultivated plant captured in an image acquired by the imaging device, and a stem diameter calculation unit for calculating a stem diameter of the main stem recognized by the recognition unit.The stem diameter calculation unit is configured to calculate an approximation curve of the main stem recognized by the recognition unit, and to calculate the stem diameter in a normal direction or an approximately normal direction of the approximation curve. It is characterized by the fact that

[0007] According to the present invention, the main stem is recognized by the recognition unit. The main stem is a major part of a cultivated plant that serves as a criterion for determining the growth condition. The stem diameter of the main stem, which is a major part of the cultivated plant, is calculated, so that the growth condition of the cultivated plant can be easily determined based on the stem diameter. Furthermore, with this configuration, even if the main stem has a complex curved shape, the main stem is simplified as an approximate curve, making it easier to calculate the stem diameter. In this way, the present invention makes it possible to realize a growth management system capable of calculating data regarding key parts of cultivated plants.

[0008] In the present invention, it is preferable that the stem diameter calculation unit is configured to calculate the stem diameter of a portion of the main stem that is a predetermined length below a reference height of the cultivated plant.

[0009] According to this configuration, a reference height of the cultivated plant is set, and the stem diameter of the main stem located a predetermined length below the reference height is calculated. This allows the stem diameter of the reference portion of the main stem to be calculated, making it easier to determine the growth status of the cultivated plant.

[0010] In the present invention, it is preferable that the recognition unit is configured to be able to recognize an inflorescence portion differentiated from an upper part of the main stem, and the stem diameter calculation unit is configured to define the position of the inflorescence portion as the reference height when the recognition unit recognizes the inflorescence portion at the upper part of the cultivated plant, and to define the position of the upper end of the main stem as the reference height when the recognition unit does not recognize the inflorescence portion at the upper part of the cultivated plant.

[0011] Depending on the state of overgrowth at the top of the cultivated plant, which part is suitable as the reference height changes. With this configuration, if an inflorescence is recognized at the top of the cultivated plant, the vertical position corresponding to the inflorescence is defined as the reference height. Also, if an inflorescence is not recognized at the top of the cultivated plant, the vertical position of the upper end of the main stem is defined as the reference height. With this configuration, even if the state of overgrowth at the top differs greatly between multiple cultivated plants, variation is unlikely to occur in the vertical position set as the reference height. As a result, variation is unlikely to occur in the part of the main stem from which the stem diameter is calculated.

[0012] In the present invention, it is preferable that the stem diameter calculation unit is configured to define the position of the tallest flower as the reference height when the recognition unit recognizes a plurality of flowers in the inflorescence portion at the upper part of the cultivated plant.

[0013] With this configuration, variation is less likely to occur in the vertical position set as the reference height, and variation is less likely to occur in the location on the main stem from which the stem diameter is calculated.

[0014]

[0015]

[0016] The present invention teeth , A growth management system for managing the growth status of a cultivated plant, comprising: an imaging device for imaging the cultivated plant; A distance measuring device that obtains distance measurement data in three-dimensional coordinates for the cultivated plant imaged by the imaging device. A recognition unit that recognizes a main stem of the cultivated plant captured in an image acquired by the imaging device, and a stem diameter calculation unit that calculates a stem diameter of the main stem recognized by the recognition unit. The stem diameter calculation unit is configured to calculate the stem diameter of the main stem recognized by the recognition unit based on the three-dimensional coordinates. Characterized by .

[0017] According to the present invention, the main stem is recognized by the recognition unit. The main stem is a major part of a cultivated plant that serves as a criterion for determining the growth condition. Since the stem diameter of the main stem, which is a major part of the cultivated plant, is calculated, the growth condition of the cultivated plant can be easily determined based on the stem diameter. This configuration improves the accuracy of calculating stem diameter. In this way, the present invention makes it possible to realize a growth management system capable of calculating data regarding key parts of cultivated plants.

[0018] The present invention teeth , A growth management system for managing the growth status of a cultivated plant, comprising: an imaging device for imaging the cultivated plant; a recognition unit for recognizing a main stem of the cultivated plant captured in an image acquired by the imaging device; and a stem diameter calculation unit for calculating a stem diameter of the main stem recognized by the recognition unit.The recognition unit is configured to detect an inflorescence part differentiated from an upper part of the main stem and in a blooming state, and determines whether the inflorescence part is in a blooming state based on a length of the main stem between an upper end of the main stem and the inflorescence part in a blooming state. In the cultivated plant, the tendency is either vegetative growth in which the main stem grows or reproductive growth in which an inflorescence differentiated from the main stem grows. The above growth status Discrimination value of It is preferable that the growth determination unit is provided to determine the growth.

[0019] According to the present invention, the main stem is recognized by the recognition unit. The main stem is a major part of a cultivated plant that serves as a criterion for determining the growth condition. Since the stem diameter of the main stem, which is a major part of the cultivated plant, is calculated, the growth condition of the cultivated plant can be easily determined based on the stem diameter. With this configuration, the growth assessment unit can determine whether the cultivated plant is prone to nutrient deficiencies or to vine droop, etc., based on the length of the main stem between the upper end of the main stem and the inflorescence portion in a bloomed state. In this way, the present invention makes it possible to realize a growth management system capable of calculating data regarding key parts of cultivated plants. [Brief description of the drawings]

[0020] [Figure 1] FIG. 2 is a plan view showing the entire interior of the horticultural facility. [Diagram 2] FIG. 2 is a side view showing the entire interior of the horticultural facility. [Diagram 3] FIG. 2 is a block diagram showing the configuration of a growth management system. [Figure 4] FIG. 1 is a diagram showing an example of a method for calculating the stem diameter of a cultivated plant. [Diagram 5] FIG. 1 is a diagram showing an example of a method for calculating the stem diameter of a cultivated plant. [Figure 6] FIG. 13 is a diagram showing calculation of a discrimination value based on the tree vigor of a cultivated plant. [Figure 7] FIG. 13 is a diagram showing the flowering state of inflorescences and weighting coefficients corresponding to the flowering state. [Figure 8] FIG. 1 is a diagram showing an example of a method for calculating the length of the main stem from the shoot apex to the branching point of a bloomed inflorescence (main stem length) in a cultivated plant. [Figure 9] FIG. 13 is a diagram showing index ranges and discrimination values ​​in a graph with stem diameter and main stem length as axes. [Figure 10] 1 is a flowchart showing a method for determining a stem diameter discrimination value and a tree vigor discrimination value. [Figure 11] 13 is a flowchart showing a method for determining a main stem length discriminant value. [Figure 12]FIG. 13 is a diagram showing an example of a method for determining the future growth state of a branch and leaf portion. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0021] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described with reference to the drawings.

[0022] [Configuration of horticultural facilities] An embodiment of the present invention will be described with reference to the drawings. As shown in Figs. 1 and 2, a cultivation system SY (corresponding to the "growth management system" of the present invention) in this embodiment includes a horticultural facility 1. In the horticultural facility 1, ridges A1 to A8 for planting cultivated plants Q are arranged vertically and horizontally. Between each ridge A, there is a passageway through which the manager of the cultivated plants Q (including an operator, etc.) can pass. The horticultural facility 1 may be, for example, a vinyl greenhouse or a solar-powered plant factory.

[0023] Each of the furrows A is made of, for example, a non-porous hydrophilic film, and a cultivated plant Q, for example, a tomato, is planted in each of the furrows A.

[0024] The cultivation system SY includes a plurality of visual sensing units 3. The visual sensing units 3 obtain visual information of the cultivated plants Q. This visual information is used to determine the growth state of the cultivated plants Q. In this embodiment, the horticultural facility 1 is provided with a fixed sensing unit 30 and a mobile sensing unit 31 as the visual sensing units 3.

[0025] 1 and 2, the visual sensing unit 3 has an imaging device 3A and a distance measuring device 3B. The fixed sensing unit 30 is disposed above the cultivated plant Q. Therefore, the imaging device 3A in the fixed sensing unit 30 captures images from a bird's-eye view of a main stem 51 (see FIGS. 4 and 5), branches and leaves 52 and inflorescence 53 (see FIGS. 4 and 5) differentiated from the main stem 51, and fruit clusters 54 (see FIGS. 4 and 5) growing from the inflorescence 53, etc., of the cultivated plant Q.

[0026] The mobile sensing unit 31 captures images of the cultivated plant Q from a side view while traveling along paths between parallel ridges A in the horticultural facility 1. For this reason, the imaging device 3A in the mobile sensing unit 31 captures images of the main stem 51, the branches and leaves 52, the inflorescence 53, the fruit cluster 54, and the like of the cultivated plant Q from a side view.

[0027] The imaging device 3A has, for example, a CCD element or a CMOS element, and is configured to capture visible light visible to the naked eye. The imaging device 3A in the fixed sensing unit 30 captures images of the main stem 51, branches and leaves 52, inflorescence 53, fruit bunch 54, etc. of the cultivated plant Q from a bird's-eye view at predetermined time intervals (for example, every 60 seconds). The imaging device 3A in the mobile sensing unit 31 captures images of the main stem 51, branches and leaves 52, inflorescence 53, fruit bunch 54, etc. of the cultivated plant Q while patrolling the ridges A1 to A8 of the horticultural facility 1. The imaging data V captured by each imaging device 3A is sent to the recognition unit 21 (see FIG. 3) over time.

[0028] The distance measuring device 3B is, for example, a three-dimensional scanning Lidar, and measures the distance to the cultivated plant Q, for example, by a ToF (Time of Flight) measurement method. When the distance measuring device 3B irradiates a light beam, such as an infrared laser beam, on the cultivated plant Q, the light waves of the light beam propagate through the air and are reflected on the surface of the cultivated plant Q, and the reflected light waves propagate through the air and reach the distance measuring device 3B. The distance measuring device 3B acquires the light waves reflected on the surface of the cultivated plant Q as a reflected signal. Then, the distance measuring device 3B calculates the distance between the distance measuring device 3B and the cultivated plant Q based on the time from when the light beam is irradiated to when the reflected signal is acquired. That is, the distance measuring device 3B acquires distance measurement data D1 in three-dimensional coordinates for the cultivated plant Q imaged by the imaging device 3A. The distance measurement data D1 acquired by each distance measuring device 3B is sent to the recognition unit 21 over time.

[0029] In this way, the cultivation system SY includes an imaging device 3A that captures an image of the leaves of the cultivated plant Q, and a distance measuring device 3B that measures the distance to the cultivated plant Q. The visual sensing unit 3 may not include the distance measuring device 3B. In this case, the visual sensing unit 3 may include a stereo camera as the imaging device 3A.

[0030] Although not shown, the horticultural facility 1 is also equipped with an environmental sensor, a side window, and a heat pump type air conditioning system. In addition, as shown in FIG. 3, an irrigation device 11B, a spray device 11C, a fertilizer device 12B, a curtain opening / closing device 13B for a light-shielding curtain, a carbon dioxide generator 14B, and the like are also equipped. The dashed line Gh shown in FIG. 2 is a reference position where the height of the cultivated plant Q is at its maximum height, and an attraction string for attracting the stem of the cultivated plant Q hangs down from near the height of the dashed line Gh. The fixed sensing unit 30 is provided at a position higher than the dashed line Gh. The fixed sensing unit 30 may be provided at a position lower than the dashed line Gh.

[0031] [Device configuration] 3, in the horticultural facility 1, imaging data V captured by an imaging device 3A, distance measurement data D1 measured by a distance measuring device 3B, and environmental condition data E in which the environmental condition measured by an environmental information acquisition unit 10 is digitized are transmitted to a management computer 2 via a wide area network WAN (Wide Area Network). Although not specifically shown, each of the horticultural facility 1 and the management computer 2 is provided with communication means capable of accessing the wide area network WAN.

[0032] A solar radiation sensor 10A, a temperature sensor 10B, a humidity sensor 10C, and a carbon dioxide concentration sensor 10D are connected to an environmental information acquisition unit 10 of the horticultural facility 1. The solar radiation sensor 10A measures the amount of solar radiation received by a cultivated plant Q in the horticultural facility 1. The temperature sensor 10B measures the air temperature indoors in the horticultural facility 1. The humidity sensor 10C measures the humidity indoors in the horticultural facility 1. The carbon dioxide concentration sensor 10D measures the carbon dioxide concentration indoors in the horticultural facility 1. In other words, the environmental information acquisition unit 10 is capable of acquiring environmental information of the horticultural facility 1 in which the cultivated plant Q is cultivated.

[0033] The management computer 2 includes a recognition unit 21, a stem diameter calculation unit 22, a flowering position calculation unit 23, a flowering state determination unit 24, a memory unit 25, and a growth determination unit 26.

[0034] When the cultivated plant Q is imaged by the imaging device 3A, the main stem 51, the branches and leaves 52, the inflorescence 53, the fruit bunch 54, etc. are recognized by the recognition unit 21 based on the color information of the image data V. A neural network capable of learning using deep learning is constructed in the recognition unit 21. The neural network is known to be able to identify input / output relationships having nonlinear characteristics by deep learning. The recognition unit 21 is configured to be able to identify the types of branches, leaves, stems, etc. of the cultivated plant Q by using the neural network learned using deep learning. The determination of the color information of the image data V may be based on RGB data or may be based on YUV data. That is, the recognition unit 21 recognizes the main stem 51, the branches and leaves 52, the inflorescence 53, the fruit bunch 54, etc. of the cultivated plant Q captured in the image acquired by the imaging device 3A.

[0035] The distance measurement data D1 measured by the distance measuring device 3B is input to the recognition unit 21. The recognition unit 21 collates the imaging data V with the distance measurement data D1 to identify the distances of the main stem 51, the branches and leaves 52, the inflorescence 53, the fruit bunch 54, and the like relative to the visual sensing unit 3. Of the cultivated plants Q recognized in the imaging data V, the cultivated plants Q planted in a ridge A farther away than the ridge A to be imaged have longer distance measurement data D1 than the cultivated plants Q planted in the ridge A to be imaged. Therefore, the recognition unit 21 recognizes the main stem 51, the branches and leaves 52, the inflorescence 53, the fruit bunch 54, and the like of the cultivated plants Q planted in the ridge A to be imaged by excluding those with longer distance measurement data D1 from the main stem 51, the branches and leaves 52, the inflorescence 53, the fruit bunch 54, and the like recognized from the imaging data V.

[0036] The stem diameter calculation unit 22 calculates the stem diameter D2 of the main stem 51 of the cultivated plant Q based on the imaging data V and the distance measurement data D1 (see Figs. 4 and 5). In other words, the stem diameter calculation unit 22 calculates the stem diameter D2 of the main stem 51 recognized by the recognition unit 21.

[0037] The flowering position calculation unit 23 calculates the main stem length L, which is the length of the main stem 51 between the upper end of the main stem 51 and the inflorescence part 53 (see FIG. 8).

[0038] Although details will be described later, the flowering state determination unit 24 determines the flowering state of the inflorescence portion 53 of the cultivated plant Q by dividing the flowering state into a plurality of stages (see FIG. 7).

[0039] The storage unit 25 is, for example, a RAM (Random Access Memory) or a hard disk, and is capable of storing the imaging data V, the distance measurement data D1, the environmental condition data E, the analysis results, the determination results, and the like.

[0040] The weather information 4 is data information on weather conditions obtained from, for example, a meteorological agency or a weather information company via a wide area communication network WAN. The weather information 4 is stored in the storage unit 25 over time.

[0041] The growth determination unit 26 includes a growth balance determination unit 26A and a growth prediction determination unit 26B, the details of which will be described later. The growth determination unit 26 determines the growth status of the cultivated plant Q based on the stem diameter D2 of the cultivated plant Q, the flowering state of the inflorescence 53, the main stem length L between the upper end of the main stem 51 and the inflorescence 53, the environmental condition data E, and the weather information 4. The data on the growth status determined by the growth determination unit 26 is transmitted to various control units of the horticultural facility 1 via the wide area communication network WAN. The data on the growth status includes a stem diameter discrimination value Ga, a main stem length discrimination value Gb, a tree vigor discrimination value Gc, and a future growth status of the branch and leaf portion 52, the details of which will be described later.

[0042] The stem diameter D2, the flowering state of the inflorescence 53, the main stem length L, the environmental condition data E, the weather information 4, and the growth status data of the cultivated plant Q can be displayed on a known display monitor, and the manager or operator can check this information on the display monitor. The display monitor may be provided in the management computer 2, or may be a laptop computer or a mobile phone carried by the manager or operator. Also, if there is an abnormality in at least one of the stem diameter D2, the flowering state of the inflorescence 53, the main stem length L, the environmental condition data E, the weather information 4, and the growth status data, an alarm may be output by a known buzzer or voice guidance.

[0043] The horticultural facility 1 is equipped with a temperature control unit 15A and a temperature control device 15B that control the temperature in the horticultural facility 1. The temperature control unit 15A transmits an instruction signal to the temperature control device 15B based on data on the growth state determined by the growth determination unit 26. The temperature control device 15B may be, for example, an opening and closing device for skylights and side windows, a ventilation fan or a circulation fan, or an air conditioner (for example, a heat pump air conditioner). Upon receiving an instruction signal from the temperature control unit 15A, the temperature control device 15B adjusts the temperature in the horticultural facility 1 by opening and closing the skylights and side windows, ventilating with the ventilation fan or the circulation fan, operating the heat pump, etc.

[0044] The horticultural facility 1 is equipped with a humidity control unit 16A that controls the humidity in the horticultural facility 1, a humidity control device 16B, and a spray device 11C. The humidity control unit 16A transmits instruction signals to the humidity control device 16B and the spray device 11C based on data on the growth state determined by the growth determination unit 26. The humidity control device 16B is, for example, a humidifier or a dehumidifier. When the humidity control device 16B receives an instruction signal from the humidity control unit 16A, it operates to humidify or dehumidify. When the spray device 11C receives an instruction signal from the humidity control unit 16A, it opens a valve (not shown) and increases the humidity in the horticultural facility 1 by spraying.

[0045] The horticultural facility 1 is equipped with an irrigation control unit 11A and an irrigation device 11B for irrigating the cultivated plant Q. The irrigation control unit 11A transmits instruction signals to the irrigation device 11B and the spray device 11C based on data on the growth state determined by the growth determination unit 26. Upon receiving the instruction signal from the irrigation control unit 11A, the irrigation device 11B and the spray device 11C open irrigation valves (not shown) to supply water to the cultivated plant Q. The instruction signal from the irrigation control unit 11A may be a voltage value or a current value.

[0046] The horticultural facility 1 is also provided with a fertilization control unit 12A and a fertilization device 12B. The fertilization control unit 12A transmits an instruction signal to the fertilization device 12B based on data on the growth state determined by the growth determination unit 26. Upon receiving the instruction signal from the fertilization control unit 12A, the fertilization device 12B opens a fertilization valve (not shown) to supply fertilizer. The fertilizer may be supplied in a state where it is mixed with water supplied to the cultivated plant Q by the irrigation device 11B, for example. This configuration makes it possible to adjust the amount of fertilization based on the instruction signal from the fertilization control unit 12A. The fertilizer mainly contains nitrogen. The components of the fertilizer are not limited to nitrogen, and may include phosphoric acid, potassium, calcium, magnesium, etc.

[0047] The horticultural facility 1 is equipped with a solar radiation amount control unit 13A and a curtain opening / closing device 13B. The solar radiation amount control unit 13A transmits an instruction signal to the curtain opening / closing device 13B based on data on the growth state determined by the growth determination unit 26. A shading curtain (not shown) is provided on a skylight of the horticultural facility 1, and the curtain opening / closing device 13B is configured to be able to open and close the shading curtain. The curtain opening / closing device 13B is configured, for example, by an electric motor. Upon receiving an instruction signal from the solar radiation amount control unit 13A, the curtain opening / closing device 13B opens and closes the shading curtain of the horticultural facility 1 to adjust the amount of photosynthesis of the cultivated plant Q.

[0048] The horticultural facility 1 is equipped with a carbon dioxide amount control unit 14A and a carbon dioxide generation device 14B. The carbon dioxide amount control unit 14A transmits an instruction signal to the carbon dioxide generation device 14B based on data on the growth state determined by the growth determination unit 26. The carbon dioxide generation device 14B is provided in the horticultural facility 1, and is configured to be able to generate carbon dioxide by, for example, combustion. Upon receiving the instruction signal from the carbon dioxide amount control unit 14A, the carbon dioxide generation device 14B increases the amount of carbon dioxide in the horticultural facility 1, thereby increasing the amount of photosynthesis of the cultivated plant Q.

[0049] In addition to the above-mentioned devices, the horticultural facility 1 is equipped with a heat storage device, a sterilization device, etc. These devices may be configured to be driven based on data on the growth status determined by the growth determination unit 26.

[0050] In addition, at least one of the irrigation control unit 11A, fertilization control unit 12A, solar radiation control unit 13A, and carbon dioxide amount control unit 14A may be provided in the management computer 2, and instruction signals may be transmitted to various devices in the horticultural facility 1 via a wide area communication network WAN.

[0051] [About the calculation of stem diameter by the stem diameter calculation unit] The method by which the stem diameter calculation unit 22 calculates the stem diameter D2 of the cultivated plant Q will be described with reference to Figures 4 and 5. The recognition unit 21 recognizes the main stem 51, branches and leaves 52, inflorescence 53, fruit cluster 54, etc. of the cultivated plant Q. The data recognized by the recognition unit 21 includes distance measurement data D1 measured by the distance measurement device 3B. Therefore, it is possible to calculate the distances and sizes of the main stem 51, branches and leaves 52, inflorescence 53, fruit cluster 54, etc. based on the distance measurement data D1.

[0052] The main stem 51 extends vertically, and the stem diameter D2 varies depending on the vertical position of the main stem 51. In this embodiment, the stem diameter calculation unit 22 calculates the stem diameter D2 at a portion of the main stem 51 that is a preset length Lh below the stem apex. The set length Lh is, for example, 10 to 20 centimeters. The set length Lh may be calculated appropriately depending on the type of cultivated plant Q, environmental conditions, etc.

[0053] The shoot apex is recognized by the recognition unit 21. However, the location recognized as the shoot apex often varies depending on the difference in the lushness of the branches and leaves 52 in the cultivated plant Q. For this reason, in this embodiment, if the uppermost inflorescence 53 is present among the branches and leaves 52 and the inflorescence 53 differentiated from the main stem 51, the inflorescence 53 serves as a landmark for the shoot apex. As a landmark, the reference height position Rh is recognized below.

[0054] The recognition unit 21 is configured to be able to recognize an inflorescence portion 53 differentiated from an upper portion of a main stem 51. When an inflorescence portion 53 is present at the uppermost position among the branch and leaf portions 52 and inflorescence portions 53 differentiated from the main stem 51, the inflorescence portion 53 serves as a landmark. In other words, when the recognition unit 21 recognizes an inflorescence portion 53 at the upper portion of the cultivated plant Q, the stem diameter calculation unit 22 recognizes the position of the inflorescence portion 53 as the reference height position Rh. Note that when the recognition unit 21 recognizes multiple flowers in the upper inflorescence portion 53 of the cultivated plant Q, the stem diameter calculation unit 22 recognizes the position of the tallest flower as the reference height position Rh (see FIG. 4).

[0055] If the inflorescence part 53 is not present at the top among the branches and leaves 52 and the inflorescence part 53 differentiated from the main stem 51, the upper end part of the main stem 51 becomes the landmark. In other words, if the inflorescence part 53 is not recognized at the top of the cultivated plant Q by the recognition part 21, the stem diameter calculation part 22 recognizes the position of the upper end part of the main stem 51 as the reference height position Rh (see FIG. 5).

[0056] In this way, the stem diameter calculation unit 22 calculates the stem diameter D2 of the part of the main stem 51 that is the set length Lh below the reference height position Rh of the cultivated plant Q. The stem diameter calculation unit 22 may calculate the average or median of the stem diameters D2 of multiple cultivated plants Q as the stem diameter D2.

[0057] The stem diameter calculation unit 22 generates an approximation curve 61 of the main stem 51, and identifies a portion that is a set length Lh away downward from the reference height position Rh along the approximation curve 61 as a calculation point 61A. Then, a tangent line 62 that touches the approximation curve 61 at the calculation point 61A is calculated, and a normal line perpendicular to the tangent line 62 is calculated.

[0058] The normal line crosses the main stem 51. The stem diameter D2 of the main stem 51 recognized by the recognition unit 21 can be calculated from three-dimensional coordinates based on the distance measurement data D1. For this reason, the stem diameter calculation unit 22 calculates the length of the part of the normal line that overlaps with the main stem 51 from three-dimensional coordinates based on the distance measurement data D1. In other words, the stem diameter calculation unit 22 calculates an approximation curve 61 of the main stem 51 recognized by the recognition unit 21, and calculates the stem diameter D2 in the normal direction (or approximately normal direction) of the approximation curve 61.

[0059] [About determining tree vigor] The calculation point 61A specified by the stem diameter calculation unit 22 is stored in the memory unit 25 together with the characteristics of the calculation point 61A and the characteristics of the area around the calculation point 61A. As shown in FIG. 6, the stem diameter calculation unit 22 calculates the stem diameter D2 at the calculation point 61A for the first time, and then calculates the stem diameter D2 at the calculation point 61A again at a timing when a preset period has elapsed. Normally, the stem diameter D2 calculated for the second time at the calculation point 61A is thicker than the stem diameter D2 calculated for the first time at the calculation point 61A. Based on the magnitude of the change in the stem diameter D2 at this calculation point 61A, it is possible to judge the tree vigor of the cultivated plant Q. The period between the first calculation timing of the stem diameter D2 and the second calculation timing of the stem diameter D2 is, for example, two weeks. It is also possible to judge the tree vigor of the cultivated plant Q based on the stem diameter D2 at any timing (one timing) without comparing the stem diameter D2 with the past.

[0060] In an environment favorable for the growth of the cultivated plant Q, the stem diameter D2 becomes thicker and the vigor of the cultivated plant Q becomes stronger. When the vigor of the cultivated plant Q becomes stronger, the main stem 51 extends and the branches and leaves 52 become lush. When the vigor of the cultivated plant Q is too strong, the so-called vine fading and end rot tend to occur, resulting in a reduced yield and a distorted fruit shape.

[0061] If the stem diameter D2 is not thickened, the plant Q will lose its vigor and tend to grow reproductively, with the fruit cluster 54 growing vigorously. If the stem diameter D2 is too thin, the branches and leaves 52 and the inflorescence 53 will become small, resulting in a reduced yield.

[0062] When the cultivated plant Q has a strong tree vigor, the cultivated plant Q grows fast. In this case, the stem diameter D2 rapidly thickens. Therefore, the growth balance determination unit 26A quantifies the tree vigor of the cultivated plant Q with a tree vigor discrimination value Gc based on the degree of change in the stem diameter D2 at the two timings. That is, the growth balance determination unit 26A expresses the growth state with a tree vigor discrimination value Gc indicating the speed of growth of the main stem 51 and the branch and leaf part 52. In this embodiment, the larger the tree vigor discrimination value Gc, the stronger the tree vigor of the cultivated plant Q. Note that the smaller the tree vigor discrimination value Gc, the stronger the tree vigor of the cultivated plant Q may be configured. In addition, the growth balance determination unit 26A may be configured to quantify the tree vigor of the cultivated plant Q with the tree vigor discrimination value Gc based on the stem diameter D2 at any timing (one timing) instead of the above two timings.

[0063] [Determination of the flowering state of the inflorescence by the flowering state determination unit] As described above, the flowering state discrimination unit 24 discriminates the flowering state of the inflorescence portion 53 of the cultivated plant Q into a plurality of stages. As shown in Fig. 7, the flowering state is divided into stages #0 to #4.

[0064] Stage #0 indicates a state in which inflorescence 53 is an unopened bud.

[0065] Stage #1 indicates a state where the sepals of inflorescence 53 are beginning to split and the inner petals are beginning to become visible. The duration of stage #1 is about half a day to a day, which is shorter than stages #0, #3, and #4.

[0066] Stage #2 indicates a state in which the sepals of inflorescence 53 are completely split and the inner petals come out and begin to bloom. The duration of stage #2 is about half a day to a day, which is shorter than stages #0, #3, and #4.

[0067] Stage #3 shows a state in which inflorescence 53 is blooming. In stage #3, the sepals and petals of inflorescence 53 repeatedly curl and elongate. When the sepals and petals are elongated in stage #3, the shape of inflorescence 53 is similar to that in stage #2.

[0068] Stage #4 shows a state where a fruit cluster 54 is formed on the inflorescence portion 53. In stage #4, the flowers in the inflorescence portion 53 gradually wither, and the fruit cluster 54 gradually grows.

[0069] Thus, in this embodiment, the flowering state discrimination unit 24 discriminates the flowering state into stages from stage #0 to stage #4. The discrimination result of the flowering state discrimination unit 24 is used for the discrimination of the growth balance determination unit 26A.

[0070] [Determination of growth status by growth balance determination unit] In this embodiment, the growth balance determination unit 26A determines the growth condition of the cultivated plant Q based on the stem diameter D2 of the cultivated plant Q and the main stem length L between the upper end of the main stem 51 and the inflorescence portion 53.

[0071] The recognition unit 21 is configured to be able to recognize a state in which the main stem 51 is differentiated from the upper part and the inflorescence portion 53 is in bloom. The inflorescence portion 53 in bloom is in a blooming state in stages #1 to #3. The flowering position calculation unit 23 calculates the length of the main stem 51 between the upper end of the main stem 51 and the branching point of the inflorescence portion 53 in the bloomed state from the main stem 51, that is, the main stem length L. The growth balance determination unit 26A then determines the growth state based on the main stem length L. The flowering position calculation unit 23 may calculate the average or median of the main stem lengths L of multiple cultivated plants Q as the main stem length L.

[0072] In an environment favorable for the growth of the cultivated plant Q, the main stem 51 grows, and the main stem length L tends to become long. At this time, the state of the cultivated plant Q tends to be vegetative growth, and the cultivated plant Q extends the main stem 51, spreads new branches and leaves 52, and spreads the roots. If the cultivated plant Q is too biased toward vegetative growth, it becomes prone to so-called vine fading and end rot, which reduces the yield and distorts the shape of the fruit.

[0073] If the environment is not conducive to the growth of the cultivated plant Q, the main stem length L tends to become shorter. At this time, the state of the cultivated plant Q tends to be reproductive growth in which the fruit cluster 54 grows actively. If the cultivated plant Q is too biased towards reproductive growth, it becomes difficult for new branches and leaves 52 to spread, which makes it difficult for new inflorescences 53 and fruit clusters 54 to be produced, resulting in a reduced yield.

[0074] Figure 9 shows a graph relating to stem diameter D2 and main stem length L. An index range G is indicated at the center of this graph. Index range G is the portion at the center of the graph that is not shaded. The growth balance determination unit 26A determines the growth status based on the stem diameter D2 and main stem length L, and transmits instruction signals based on the growth status data to the various control units of the horticultural facility 1. The various control units of the horticultural facility 1 then control the various devices so that the stem diameter D2 and main stem length L are plotted within the index range G.

[0075] If the cultivated plant Q has a strong tree vigor, the stem diameter D2 will be thicker and outside the index range G. Also, if the cultivated plant Q is biased towards vegetative growth, the main stem length L will be longer and outside the index range G.

[0076] In Fig. 9, the stem diameter D2 is expressed by multiple stages of stem diameter discrimination values ​​Ga according to the thickness. In Fig. 9, the stem diameter discrimination values ​​Ga are shown as +Ga1, +Ga2, and +Ga3 as discrimination values ​​when the stem diameter D2 is outside the index range G and is thick. The stem diameter discrimination values ​​Ga indicate that the stem diameter D2 becomes thicker in the order of +Ga1, +Ga2, and +Ga3.

[0077] In addition, in Fig. 9, the stem diameter discrimination values ​​Ga are shown as -Ga1, -Ga2, and -Ga3 as discrimination values ​​when the stem diameter D2 is thin and outside the index range G. The stem diameter discrimination values ​​Ga indicate that the stem diameter D2 becomes thinner in the order of -Ga1, -Ga2, and -Ga3.

[0078] The growth balance judgment unit 26A represents the growth status as a first discrimination value (+Ga1, +Ga2, +Ga3) indicating vegetative growth in which the main stem 51 and branches and leaves 52 grow, and a second discrimination value (-Ga1, -Ga2, -Ga3) indicating reproductive growth in which the fruit clusters 54 grow.

[0079] The method of determining the stem diameter discrimination value Ga will be described based on the flowchart in Figure 10. The stem diameter calculation unit 22 recognizes the reference height position Rh (step #11), calculates the stem diameter D2 at a part below the reference height position Rh by a set length Lh (step #12), and determines the stem diameter discrimination value Ga based on the graph shown in Figure 9 (step #13). The growth balance determination unit 26A compares the past stem diameter D2 with the immediately preceding stem diameter D2 calculated in step #12 to determine the tree vigor discrimination value Gc (step #14). Note that in step #14, the growth balance determination unit 26A may be configured to determine the tree vigor discrimination value Gc based on the immediately preceding stem diameter D2 calculated in step #12 without reading out the past stem diameter D2.

[0080] In Fig. 9, the main stem length L is expressed by multiple stages of main stem length discrimination values ​​Gb according to the length. In Fig. 9, the main stem length discrimination values ​​Gb are shown as +Gb1, +Gb2, and +Gb3 as discrimination values ​​when the main stem length L is long and outside the index range G. The main stem length discrimination values ​​Gb indicate that the main stem length L increases in the order of +Gb1, +Gb2, and +Gb3.

[0081] In addition, in Fig. 9, the main stem length discrimination values ​​Gb are shown as -Gb1, -Gb2, -Gb3 as discrimination values ​​when the main stem length L is short and outside the index range G. The main stem length discrimination values ​​Gb indicate that the main stem length L becomes shorter in the order of -Gb1, -Gb2, -Gb3.

[0082] The first discrimination value may be +Gb1, +Gb2, or +Gb3. The second discrimination value may be -Ga1, -Ga2, or -Ga3. In this embodiment, the growth balance determination unit 26A expresses the growth state by a plurality of discrimination values ​​including the first discrimination value, the second discrimination value, and a third discrimination value (index range G between the first discrimination value and the second discrimination value).

[0083] The first discrimination value includes a plurality of stages (+Ga1 to +Ga3 and +Gb1 to +Gb3), but the first discrimination value may be composed of only one value. The second discrimination value includes a plurality of stages (-Ga1 to -Ga3 and -Gb1 to -Gb3), but the second discrimination value may be composed of only one value. The growth balance determination unit 26A may be configured to express the growth status in three stages, namely, a first discrimination value having a single value, a second discrimination value having a single value, and a third discrimination value (index range G between the first discrimination value and the second discrimination value). Alternatively, the growth balance determination unit 26A may be configured to express the growth status in two stages, namely, a first discrimination value having a single value and a second discrimination value having a single value.

[0084] The main stem length L increases over time as the cultivated plant Q grows. Then, when the next inflorescence part 53 differentiates from the main stem 51 and blooms (the blooming state changes from stage #0 to stage #1), the inflorescence part 53 targeted for calculation by the blooming position calculation unit 23 changes, and the main stem length L changes to a shorter value. Even if the cultivated plant Q is growing appropriately, there may be cases where the growth balance determination unit 26A represents the growth state with a first discrimination value outside the index range G simply because the main stem length L increases over time. For this reason, the growth balance determination unit 26A weights and converts the main stem length L according to the blooming stage of the inflorescence part 53.

[0085] As shown in FIG. 7, the weighting coefficient α is used according to the flowering state of the inflorescence 53. When the flowering state of the inflorescence 53 is stage #1, the main stem length L is converted to a value of "L×α2". When the flowering state of the inflorescence 53 is stage #2, the main stem length L is converted to a value of "L×α3". When the flowering state of the inflorescence 53 is stage #3, the main stem length L is converted to a value of "L×α4". When the flowering state of the inflorescence 53 is stage #4, the main stem length L is converted to a value of "L×α5". Then, the main stem length L converted based on the weighting coefficient α is plotted on the graph shown in FIG. 9. That is, the growth balance determination unit 26A performs weighting conversion according to the stage of the flowering state of the inflorescence 53 to determine the growth state of the cultivated plant Q. When the flowering states of the multiple flowers in the inflorescence 53 are different, weight conversion is performed according to the proportion of flowers in stage #1, the proportion of flowers in stage #2, the proportion of flowers in stage #3, and the proportion of flowers in stage #4. For example, in one inflorescence 53, if the proportion of flowers in stage #1 is 25%, the proportion of flowers in stage #2 is 35%, the proportion of flowers in stage #3 is 30%, and the proportion of flowers in stage #4 is 10%, the main stem length L is weight converted, for example, using the following formula. 『L×(α2×0.25+α3×0.35+α4×0.3+α5×0.1)』

[0086] The method of determining the main stem length discrimination value Gb will be described with reference to the flowchart in Fig. 11. The flowering position calculation unit 23 calculates the main stem length L (step #21), and the flowering state discrimination unit 24 discriminates the flowering stage of the inflorescence portion 53 (step #22). Then, the growth balance determination unit 26A converts the main stem length L with a weighting coefficient α corresponding to the flowering stage (step #23), and determines the main stem length discrimination value Gb based on the graph shown in Fig. 9 (step #24).

[0087] In this way, the growth balance determination unit 26A determines the growth status of the cultivated plant Q based on the states of the main stem 51 and the inflorescence portion 53. The growth balance determination unit 26A then transmits the stem diameter discrimination value Ga, the main stem length discrimination value Gb, and the tree vigor discrimination value Gc to the irrigation control unit 11A, the fertilization control unit 12A, the solar radiation control unit 13A, the carbon dioxide amount control unit 14A, etc. The stem diameter discrimination value Ga, the main stem length discrimination value Gb, and the tree vigor discrimination value Gc are numerical values ​​of the growth status of the cultivated plant Q.

[0088] The irrigation control unit 11A controls irrigation based on the growth state of the cultivated plant Q. When at least one of the following applies: the stem diameter D2 is thick, the main stem length L is long, or the cultivated plant Q has strong vigor, the irrigation control unit 11A controls the irrigation device 11B and the spray device 11C to reduce the amount of irrigation water for the cultivated plant Q.

[0089] When at least one of the following conditions is met: the stem diameter D2 is thin, the main stem length L is short, or the cultivated plant Q has weak vigor, the irrigation control unit 11A controls the irrigation device 11B and the spray device 11C to increase the amount of irrigation water applied to the cultivated plant Q.

[0090] The solar radiation control unit 13A controls the amount of solar radiation based on the growth status of the cultivated plant Q. When at least one of the following applies: the stem diameter D2 is thick, or the cultivated plant Q has strong vigor, the solar radiation control unit 13A drives the curtain opening / closing device 13B so that the light-shielding curtain blocks sunlight. This suppresses the photosynthesis of the cultivated plant Q, and the vigor of the cultivated plant Q is reduced.

[0091] When at least one of the following conditions is met: the stem diameter D2 is thin, or the vigor of the cultivated plant Q is weak, the solar radiation control unit 13A drives the curtain opening / closing device 13B to open the shading curtain. This promotes photosynthesis of the cultivated plant Q, and the vigor of the cultivated plant Q increases.

[0092] The fertilization control unit 12A controls the amount of fertilization based on the growth status of the cultivated plant Q. The carbon dioxide amount control unit 14A controls the amount of carbon dioxide based on the growth status of the cultivated plant Q. When at least one of the following conditions is met: the stem diameter D2 is thick and the cultivated plant Q has strong vigor, the fertilization control unit 12A does not operate the fertilizer applicator 12B. When at least one of the following conditions is met: the stem diameter D2 is thick and the cultivated plant Q has strong vigor, the carbon dioxide amount control unit 14A does not operate the carbon dioxide generator 14B.

[0093] When at least one of the cases where the stem diameter D2 is thin and the vigor of the cultivated plant Q is weak, the fertilization control unit 12A operates the fertilizer application device 12B. When at least one of the cases where the stem diameter D2 is thin and the vigor of the cultivated plant Q is weak, the carbon dioxide amount control unit 14A operates the carbon dioxide generation device 14B.

[0094] [Determination of future growth conditions by growth prediction determination unit] In this embodiment, the management computer 2 is provided with a growth prediction determination unit 26B. The growth prediction determination unit 26B determines the future growth state of the branches and leaves 52 based on the stem diameter D2 of the main stem 51.

[0095] 12, at the timing when the branches and leaves 52 start to differentiate from the main stem 51, a small branch and leaf 52 (hereinafter referred to as a "first branch and leaf 52A") is imaged by the imaging device 3A, and the first branch and leaf 52A is further recognized by the recognition unit 21. The recognition unit 21 recognizes the first branch and leaf 52A that has started to differentiate from the upper part of the main stem 51, among the multiple branches and leaves 52 present in the cultivated plant Q.

[0096] The inflorescence 53 flowers, the inflorescence 53 bears fruit clusters 54, and the fruit clusters 54 are harvested when they grow to an appropriate size. The branches and leaves 52 in the vicinity of the inflorescence 53 from which the fruit clusters 54 have been harvested are defoliated. The growth prediction determination unit 26B acquires the stem diameter D2 calculated by the stem diameter calculation unit 22 at the timing when the first branch and leaf 52A begins to be recognized by the recognition unit 21. The growth prediction determination unit 26B then determines the growth state at the time when the first branch and leaf 52A is defoliated based on the stem diameter D2. The time when the first branch and leaf 52A is defoliated is usually about five weeks after the first branch and leaf 52A begins to differentiate from the upper part of the main stem 51. FIG. 12 shows the second branch and leaf 52B at the time when it is defoliated.

[0097] The growth prediction determination unit 26B predicts the leaf length at the time when the first branch and leaf portion 52A is to be defoliated as the future growth state of the first branch and leaf portion 52A. The leaf length is the length from an arbitrary part at the base of each leaf in the first branch and leaf portion 52A to the leaf tip. The leaf length may be the maximum value of the leaf lengths of the multiple leaves in the first branch and leaf portion 52A, or may be the average value or median value of the leaf lengths of the multiple leaves in the first branch and leaf portion 52A.

[0098] The growth prediction determination unit 26B predicts the leaf area at the time of defoliation of the first branch-leaf portion 52A in addition to the leaf length as the future growth state of the first branch-leaf portion 52A. The leaf area is the area of ​​the lush region of the first branch-leaf portion 52A. That is, the growth prediction determination unit 26B calculates the area of ​​the future lush region of the branch-leaf portion 52 based on the stem diameter D2. The area of ​​the lush region may be the total area of ​​the surface areas of the multiple leaves in the first branch-leaf portion 52A, or may be the average or median of the surface areas of the multiple leaves in the first branch-leaf portion 52A. Since the area of ​​the lush region (including the leaf area) is an important element in grasping the growth amount and management state of the plant, for example, it becomes easier for an operator or a manager to manage the cultivated plant Q by using the area of ​​the lush region as a judgment criterion. The growth prediction determination unit 26B is configured to calculate the number of future leaves in the branch-leaf portion 52 based on the calculated area of ​​the future lush region of the branch-leaf portion 52.

[0099] The growth prediction determination unit 26B is configured to calculate at least one of the number of leaves and the number of fruits to be removed based on the determined number of future leaves in the branch and leaf portion 52. The number of leaves is, for example, the number of leaves appropriate for removing leaves at the time when the first branch and leaf portion 52A is removed. The number of fruits is, for example, the appropriate number of fruits to be removed in the inflorescence portion 53 near the first branch and leaf portion 52A. At least one of the number of future leaves, the number of leaves, and the number of fruits to be removed in the branch and leaf portion 52 is displayed on, for example, a known display monitor provided in the management computer 2. For this reason, for example, the manager can appropriately manage the cultivated plant Q based on the number of leaves, the number of leaves, and the number of fruits displayed on the display monitor.

[0100] In addition, the growth prediction determination unit 26B may calculate, as the future growth condition of the first branch / leaf portion 52A, the distribution degree, degree of dispersion, standard deviation, skewness, kurtosis, and the like, of the leaf length and leaf area of ​​the first branch / leaf portion 52A of each of the plurality of cultivated plants Q. Furthermore, the growth prediction determination unit 26B may be configured to calculate, for example, the harvest yield of the fruit bunch 54 in the vicinity of the branch / leaf portion 52 such as the first branch / leaf portion 52A, as the future growth condition of the first branch / leaf portion 52A.

[0101] Then, similarly to the case where data is sent from the growth balance determination unit 26A, the air temperature control unit 15A, humidity control unit 16A, irrigation control unit 11A, fertilization control unit 12A, solar radiation control unit 13A, and carbon dioxide amount control unit 14A, etc., perform control based on the future growth conditions. The air temperature control unit 15A performs temperature control based on the future growth conditions. The humidity control unit 16A performs humidity control based on the future growth conditions. The irrigation control unit 11A performs irrigation control based on the future growth conditions. The solar radiation control unit 13A controls the amount of solar radiation based on the future growth conditions. The fertilization control unit 12A controls the amount of fertilizer based on the future growth conditions. The carbon dioxide amount control unit 14A controls the amount of carbon dioxide based on the future growth conditions.

[0102] [Another embodiment] The present invention is not limited to the configurations exemplified in the above-described embodiments, and other representative embodiments of the present invention will be described below.

[0103] (1) In the above-described embodiment, the stem diameter calculation unit 22 calculates the approximation curve 61 of the main stem 51 recognized by the recognition unit 21, but the stem diameter calculation unit 22 may be configured not to calculate the approximation curve 61. In this case, the stem diameter calculation unit 22 may be configured to calculate the stem diameter D2 based on at least one of the imaging data V and the distance measurement data D1.

[0104] (2) In the above-described embodiment, the horticultural facility 1 and the management computer 2 are connected via a wide area network WAN, but this is not limited to the above-described embodiment. The management computer 2 may be provided in the horticultural facility 1, and devices such as the visual sensing unit 3 in the horticultural facility 1 may be connected to the management computer 2 via a network within the facility. The network within the facility may be a wired connection or a wireless connection.

[0105] (3) In the above-described embodiment, the cultivated plant Q is exemplified as a tomato, but is not limited to a tomato and may be a strawberry, melon, cucumber, eggplant, gourd, bitter melon, paprika, green pepper, etc. Also, is not limited to a cultivated plant Q inside the horticultural facility 1 and may be an outdoor cultivated plant Q. Furthermore, the ridges A do not have to be a nonporous hydrophilic film and may be cultivated soil.

[0106] (4) The above-mentioned growth assessment unit 26 is capable of outputting statistical quantities that can grasp the growth status, including, but not limited to, the stem diameter discrimination value Ga, the main stem length discrimination value Gb, the tree vigor discrimination value Gc, and the future growth status of the branches and leaves 52, as growth status data.

[0107] The configurations disclosed in the above-described embodiment (including other embodiments, the same applies below) can be applied in combination with configurations disclosed in other embodiments, unless a contradiction occurs. Furthermore, the embodiments disclosed in this specification are merely examples, and the present invention is not limited to these embodiments, and can be modified as appropriate without departing from the scope of the present invention. [Industrial Applicability]

[0108] The present invention can be applied to a growth management system for managing the growth status of cultivated plants. [Explanation of symbols]

[0109] 3A: Imaging device 3B: Distance measuring device 21:Recognition part 22: Stem diameter calculation section 26:Growth Judgment Department 51: Main stem 52: Branches and leaves 53:Flower bunch 61: Approximate curve D1: Distance measurement data D2: Stem diameter L: Main stem length (length of main stem) Q: Cultivated plants Rh: Reference height position (reference height) Lh: Set length (predetermined length)

Claims

1. A growth management system for managing the growth status of cultivated plants, An imaging device for imaging the cultivated plant; a recognition unit that recognizes a main stem of the cultivated plant captured in an image acquired by the imaging device; A growth management system comprising: a stem diameter calculation unit that calculates the stem diameter of the main stem recognized by the recognition unit.

2. The growth management system according to claim 1 , wherein the stem diameter calculation unit is configured to calculate the stem diameter of a portion of the main stem that is a predetermined length below a reference height of the cultivated plant.

3. The recognition unit is configured to be able to recognize an inflorescence part differentiated from an upper part of the main stem, 3. The growth management system according to claim 2, wherein the stem diameter calculation unit is configured to define the position of the inflorescence part as the reference height when the recognition unit recognizes the inflorescence part at the top of the cultivated plant, and to define the position of the upper end of the main stem as the reference height when the recognition unit does not recognize the inflorescence part at the top of the cultivated plant.

4. The growth management system according to claim 3, wherein the stem diameter calculation unit is configured to define the position of the tallest flower as the reference height when the recognition unit recognizes a plurality of flowers in the inflorescence portion at the upper part of the cultivated plant.

5. A growth management system as described in any one of claims 1 to 4, wherein the stem diameter calculation unit is configured to calculate an approximation curve of the main stem recognized by the recognition unit, and to calculate the stem diameter in a normal direction or an approximately normal direction to the approximation curve.

6. a distance measuring device that obtains distance measurement data in three-dimensional coordinates for the cultivated plant imaged by the imaging device; The growth management system according to any one of claims 1 to 4, wherein the stem diameter calculation unit is configured to calculate the stem diameter of the main stem recognized by the recognition unit based on the three-dimensional coordinates.

7. The recognition unit is configured to detect an inflorescence part differentiated from an upper part of the main stem and in a bloomed state, A growth management system as described in any one of claims 1 to 4, further comprising a growth determination unit that determines the growth status based on the length of the main stem between the upper end of the main stem and the inflorescence portion in a bloomed state.

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