Management system, management device, management method, and computer program

Abstract

To provide a technology that can reduce workload.SOLUTION: A management system 1 disclosed herein is a management system for multiple trees T lined up in a row direction. The management system 1 includes a quality measurement device 2 that is provided on an agricultural machine 6 that moves along the row direction and acquires measurement information of the fruits of the multiple trees T, a positioning device 4 that is provided on the agricultural machine 6 and acquires position information of the agricultural machine 6, a shape detection device 5 that detects the shape of a target tree Ta, and a management server 8. The management server 8 includes a processing unit 22 that executes a first identification process that identifies the target tree Ta from among the multiple trees T based on the position information, and a second identification process that identifies the target tree Ta based on the detection result of the shape detection device 5 if the target tree Ta cannot be identified by the first identification process.SELECTED DRAWING: Figure 3

Description

Technical Field

[0001] The present disclosure relates to a management system, a management device, a management method, and a computer program.

Background Art

[0002] Patent Document 1 discloses a measuring device that irradiates an object to be measured, such as a fruit, with light and obtains quality values such as the sugar content and acidity of the object to be measured by spectroanalyzing the transmitted light.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] Generally, it is preferable to measure the quality of fruits cultivated in a field for each tree. In order to perform quality control of fruits for each tree, it is conceivable to assign identification information (ID) to each tree.

[0005] In this case, an operator who performs quality measurement in the field needs to identify the ID of the tree to be measured and then perform the quality measurement of the fruit. Here, in order for the operator to identify the ID of the tree, a method is conceivable in which an information tag with identification information such as RFID, a barcode, or a QR code (registered trademark) is attached to each tree, and the operator reads these information tags before measurement to obtain the identification information of the tree to be measured.

[0006] However, in the method of identifying a tree using an information tag, on the operator side, in addition to measuring the quality of the fruit, the operation of obtaining the identification information from the information tag must be performed. On the other hand, on the administrator side, it is necessary to prepare information tags and attach the information tags to each tree. Thus, in the method for identifying trees using information tags, there is a problem that the work load increases on both the worker side and the administrator side.

Means for Solving the Problems

[0007] The management system disclosed herein is a management system for a plurality of plants arranged along a column direction. This management system is provided on a moving body that moves along the column direction, and includes a measuring device that acquires measurement information of fruits of the plurality of plants, a positioning device that is provided on the moving body and acquires position information of the moving body, and a management device that executes a first specifying process for specifying a target plant having the fruits measured by the measuring device from among the plurality of plants. In the first specifying process, the target plant is specified based on the position information.

Advantages of the Invention

[0008] According to the present disclosure, the work load can be reduced.

Brief Description of the Drawings

[0009]

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DETAILED DESCRIPTION OF THE INVENTION

[0010] First, the contents of the embodiment will be listed and described. [Overview of the Embodiment]

[0011] (1) The management system disclosed herein is a management system for a plurality of plants arranged along a column direction. This management system is provided on a moving body that moves along the column direction, and includes a measuring device that acquires measurement information of fruits of the plurality of plants, a positioning device that is provided on the moving body and acquires position information of the moving body, a shape detection device that is provided on the moving body and detects the shape of a target plant to which the fruit measured by the measuring device is attached, and a management device that identifies the target plant. The management device includes a processing unit that executes a first specific process of identifying, from among the plurality of plants, the target plant to which the fruit measured by the measuring device is attached based on the position information, and a second specific process of identifying the target plant based on the detection result of the shape detection device when the target plant cannot be identified by the first specific process.

[0012] According to the above configuration, a positioning device is provided on a moving body provided with a measuring device. Therefore, if the positions of a plurality of plants are grasped in advance, the plant closest to the moving body can be specified based on the position information acquired by the positioning device. That is, among the plurality of plants, the plant closest to the moving body can be specified as the target plant. Therefore, on the side of the operator who performs the measurement, there is no need to read the information tag, and on the side of the administrator, there is no need to prepare the information tag. As a result, the work load on both the operator side and the administrator side can be reduced. Further, when the target plant cannot be specified by the first specifying process, the management device can further execute a second specifying process for specifying the target plant based on the detection result of the shape detection device. Therefore, even when the target tree cannot be specified based on the position information, the target plant can be specified using the detection result of the shape detection device.

[0013] (2) In the management system of (1) above, the second specifying process preferably includes a process of acquiring shape information of the target plant based on the detection result, and a process of specifying the target plant from among the plurality of plants based on a comparison between the shape information of the target plant and the shape information of the plurality of plants acquired in advance.

[0014] (3) In the management system of (1) or (2) above, the shape detection device may include at least one of LIDAR and a camera. When the shape detection device is LIDAR, the shape information can be acquired as point cloud data. Also, in the case of a camera, the shape information can be acquired as image data.

[0015] (4) Further, in the management system of (1) above, the first specifying process may include a comparison process of comparing the distance between the reference position of the plurality of plants and the position of the position information with a predetermined threshold value, and a process of specifying the target plant based on the result of the comparison process. In this case, among the plurality of plants, the plant closest to the moving body can be specified as the target plant based on the distance between the reference position and the position of the position information. Also, by comparing the distance between the reference position and the position of the position information with a predetermined threshold value, the distance to be specified for the target plant can be adjusted. For example, it can be configured to specify in consideration of the error included in the position information.

[0016] (5) Further, in the management system of (1) above, the first specifying process preferably includes a process of defining non-overlapping areas around the reference positions of the plurality of plants, and a process of specifying, as the target plant, the plant corresponding to the one area among the plurality of plants when the position of the position information is within one of the plurality of areas. In this case, the plant having the reference position closest to the moving body can be specified as the target plant.

[0017] (6) Here, there are cases where the branch part of the plant is made to extend in both directions along the column direction with respect to the trunk, and cases where it is made to extend in one direction. When the branch part extends in one direction with respect to the trunk, when the moving body is located between adjacent trunks, the plant having the trunk closest to the moving body is not necessarily the target plant. Therefore, in the management system of (5) above, when the first specifying process further includes a process of obtaining the extension direction of the branch part extending along the column direction from the reference position in the plurality of plants, the area is preferably set to different ranges according to the extension direction. In this case, by varying the area according to the extension direction of the branch part, the target plant can be appropriately specified.

[0018] (7) Also, in any one of the management systems according to (1) to (6) above, when the target plant cannot be identified by the first specific process, the processing unit further executes a process of acquiring the extension direction of the branch portion extending along the column direction from the trunks of the plurality of plants, and a third specific process of identifying the target plant based on the position information and the extension direction.

[0019] (8) Also, in any one of the management systems according to (1) to (7) above, when the management device identifies the target plant, the management device may be further configured to execute a process of associating and storing the identification information assigned to the target plant and the measurement information. In this case, the measurement information and the identification information of the plant can be managed in association with each other, and the management of the measurement information becomes easy.

[0020] (9) Also, in any one of the management systems according to (1) to (7) above, the fruit may include grapes. In this case, the quality of the grapes can be appropriately managed for each tree.

[0021] (10) In the management system according to (9) above, the measurement information may include at least any one of the sugar content, the acidity, the pH, and the polyphenol content. In this case, numerical values suitable as the quality of the grapes can be managed.

[0022] (11) Further, from another perspective, the present disclosure is a management device for a plurality of plants arranged along a row direction. This management device includes a process of acquiring measurement information of fruits of the plurality of plants by a measurement device provided on a moving body that moves along the row direction, a process of acquiring position information of the moving body by a positioning device provided on the moving body, a process of acquiring a detection result of a target plant with the fruits measured by the measurement device by a shape detection device provided on the moving body, a first specifying process of specifying the target plant from among the plurality of plants based on the position information, and a second specifying process of specifying the target plant based on the detection result when the target plant cannot be specified by the first specifying process.

[0023] (12) From another perspective, the present disclosure is a management method for a plurality of plants arranged along a row direction. This management method includes a step of acquiring measurement information of fruits of the plurality of plants by a measurement device provided on a moving body that moves along the row direction, a step of acquiring position information of the moving body by a positioning device provided on the moving body, a step of acquiring a detection result of a target plant with the fruits measured by the measurement device by a shape detection device provided on the moving body, a first specifying step of specifying the target plant from among the plurality of plants based on the position information, and a second specifying step of specifying the target plant based on the detection result when the target plant cannot be specified by the first specifying step.

[0024] (13) From another perspective, the present disclosure is a computer program for causing a computer to execute management processes for a plurality of plants arranged along a row direction. This computer program causes the computer to perform steps of: acquiring measurement information of fruits of the plurality of plants by a measuring device provided on a moving body that moves along the row direction; acquiring position information of the moving body by a positioning device provided on the moving body; acquiring a detection result of a target plant bearing the fruit measured by the measuring device by a shape detection device provided on the moving body; a first specifying step of specifying the target plant from among the plurality of plants based on the position information; and a second specifying step of specifying the target plant based on the detection result when the target plant cannot be specified by the first specifying step.

[0025] [Details of Embodiment] Hereinafter, preferred embodiments will be described with reference to the drawings. Note that at least a part of each of the embodiments described below may be arbitrarily combined.

[0026] 〔Regarding the overall configuration of the management system〕 FIG. 1 is a diagram showing an example of the overall configuration of a management system according to an embodiment. In FIG. 1, a management system 1 has a function of managing plants cultivated in a farm F. The farm F in the present embodiment is, for example, a vineyard for cultivating grapes as raw materials for wine. Thus, a plurality of trees T are cultivated in the farm F as plants. The plurality of trees T are fruit trees and are grape trees. The plurality of trees T are arranged in a plurality of rows. The management system 1 has a function of measuring values related to the quality of grapes that bear fruit on the trees T. More specifically, the management system 1 acquires measurement values related to the quality of the fruit using sensors and measuring devices. The measurement values include sugar content, acidity, pH, polyphenol content, and the like. The management system 1 assigns identification information (tree ID) to a plurality of trees T, and manages by associating the identification information with measurement values. Thereby, the management system 1 manages measurement values for each tree.

[0027] The management system 1 includes a quality measurement device 2, a positioning device 4, a shape detection device 5, an agricultural machine 6, a management server 8, and a management terminal 10. The quality measurement device 2, the positioning device 4, and the shape detection device 5 are mounted on the agricultural machine 6. The quality measurement device 2 is a device that measures the quality of the above-mentioned fruits. The shape detection device 5 is a device for detecting the shape of the tree on which the measurement related to the quality of the fruit is performed.

[0028] The agricultural machine 6, the management server 8, and the management terminal 10 are communicably connected to each other via a public network NW such as the Internet. The agricultural machine 6 has, for example, a communication function by a mobile communication system. The agricultural machine 6 is connected to the public network NW via a radio base station BS of the mobile communication system.

[0029] The management server 8 has a function of managing measurement values for each tree T. The management terminal 10 is a terminal operated by an operator 14 of the management system 1. The management terminal 10 has a function of receiving an operation on the management system 1 by the operator 14, and a function of outputting measurement values and the like managed by the management server 8 to the operator 14.

[0030] The agricultural machine 6 is a moving body that moves within the farmland F. The agricultural machine 6 is, for example, a tractor. The agricultural machine 6 can travel within the farmland F. The agricultural machine 6 can travel between rows of a plurality of trees T in the farmland F and approach all the trees T in the farmland F. The agricultural machine 6 can also travel through the farmland F by manual driving by an operator's operation, or can travel within the farmland F by automatic driving based on a control command from the management server 8 or a control command from the management terminal 10 based on an input from the operator 14.

[0031] FIG. 2 is a block diagram showing an in-vehicle network of the agricultural machine 6. The agricultural machine 6 has an in-vehicle network 6a compliant with a communication standard such as CAN (Controller Area Network). The in-vehicle network 6a includes a control device 18, an input / output device 19, and a communication device 20.

[0032] The communication device 20 has a function as a mobile terminal in a mobile communication system. Therefore, the communication device 20 performs wireless communication with a radio base station BS. The control device 18 is an ECU (Electronic Control Unit) that controls the running system and the working system of the agricultural machine 6. The control device 18 controls each part of the agricultural machine 6 based on the driving operation of the operator. The control device 18 is connected to a public network NW via the communication device 20. Therefore, the control device 18 is communicably connected to the management server 8 and the management terminal 10. The control device 18 exchanges necessary information with the management server 8 and the management terminal 10 via the public network NW. When the agricultural machine 6 is capable of autonomous driving, the control device 18 controls a camera, sensors, a drive system, and a steering system that grasp the surroundings of the agricultural machine 6 based on a control command or the like from the management server 8 or the management terminal 10, and performs processing for executing autonomous driving. The input / output device 19 has a function of receiving an operation of the operator and a function of outputting information or the like to the operator.

[0033] In addition, a quality measurement device 2, a positioning device 4, and a shape detection device 5 are connected to the in-vehicle network 6a. The quality measurement device 2, the positioning device 4, and the shape detection device 5 are connected to the public network NW by the communication device 20. Therefore, the quality measurement device 2, the positioning device 4, and the shape detection device 5 are communicably connected to the management server 8 and the management terminal 10. Thereby, the quality measurement device 2, the positioning device 4, and the shape detection device 5 can provide necessary information to the management server 8 and the management terminal 10. In addition, the quality measurement device 2, the positioning device 4, and the shape detection device 5 can be controlled by the management server 8 and the management terminal 10.

[0034] The positioning device 4 is a device that measures the position of the host vehicle by GNSS positioning. Specifically, it is a multi-GNSS receiver that supports multiple types of satellite positioning systems. In addition to GPS, the positioning device 4 communicates with satellites of at least one of the following systems to measure the position of the host vehicle. Examples of satellite positioning systems other than GPS: Russia's "GLONASS", the European Commission's "Galileo", China's "BeiDou", Japan's "Michibiki (QZSS)", India's "IRNSS", the United States' "WAAS", Europe's "EGNOS", Japan's "MSAS", and India's "GAGAN", etc.

[0035] The positioning method of the positioning device 4 may be either single-point positioning or relative positioning. However, since high accuracy is required in field operations, it is preferable to adopt relative positioning. Therefore, the positioning device 4 may be a mobile station of RTK (Real-Time Kinematics)-GNSS. In this case, the mobile station wirelessly receives correction information from a reference station installed at a location with known coordinates, and corrects the detected position based on the received correction information. Therefore, the position of the host vehicle can be measured with higher accuracy compared to the case without correction.

[0036] The quality measurement device 2 is a device that measures the quality of fruits by spectroscopic analysis using near-infrared light. The quality measurement device 2 takes in light within a predetermined measurement range and performs spectroscopic analysis. The quality measurement device 2 has a function of splitting the light from the fruits included in the measurement range and acquiring spectral information in the near-infrared region. The spectral information in the near-infrared region includes information indicating the quality value of the fruits. Therefore, the quality measurement device 2 outputs the spectral information in the near-infrared region as measurement information. The quality measurement device 2 provides the measurement information to the management server 8. Based on the measurement information, the management server 8 obtains measurement values such as sugar content, acidity, pH, and polyphenol content.

[0037] The quality measurement device 2 includes, for example, a device that mainly spectroscopically analyzes reflected light from fruits and a device that mainly spectroscopically analyzes transmitted light from fruits. Devices that measure using reflected light from fruits include spectroscopic cameras such as multi-spectral cameras and hyper-spectral cameras. In addition, devices that measure using transmitted light from fruits include devices equipped with a light projection unit and a light reception unit arranged close to the fruit.

[0038] The shape detection device 5 is a device that detects the shape of the tree to which the fruit measured by the quality measurement device 2 is attached. The shape detection device 5 of the present embodiment is, for example, LIDAR (Light Detection and Ranging, Laser Imaging Detection and Ranging). The detection range by the shape detection device 5 is set to include the measurement range by the quality measurement device 2. Therefore, the shape detection device 5 detects the presence or absence of an object, the position, and the shape of the object within the measurement range of the quality measurement device 2. Thereby, the shape detection device 5 detects the shape of the tree to which the measured fruit is attached. The detection result is given to the management server 8. The management server 8 acquires point cloud data based on the detection result of the shape detection device 5. The point cloud data is shape information. The point cloud data indicates the three-dimensional coordinates of each position in the object included in the detection range of the shape detection device 5.

[0039] 〔Regarding the management server 8〕 FIG. 3 is a block diagram showing a configuration example of the management server 8. As shown in FIG. 3, the management server 8 (management device) is a type of information processing device having a processing unit 22, a storage unit 24, and a communication device 26. The communication device 26 is a communication interface capable of communicating with an external device via the public network NW. The processing unit 22 is various processors suitable for computer control, such as a CPU (Central Processing Unit), a GPU (Graphics Processing Unit), a DSP (Digital Signal Processor), an FPGA (Field Programmable Gate Array), etc.

[0040] The storage unit 24 is, for example, a flash memory, a hard disk, a ROM (Read Only Memory), a RAM (Random Access Memory), etc. In the storage unit 24, a computer program for causing the processing unit 22 to execute and necessary information are stored. The processing unit 22 realizes various processing functions that the processing unit 22 has by executing a computer program stored in a computer-readable non-transitory recording medium such as the storage unit 24.

[0041] Also, in the storage unit 24, a position / shape information database 28, a measurement information database 30, and a tailoring information database 32 are stored. These databases 28, 30, 32 may be stored in a storage device (not shown) connected to the management server 8. These databases 28, 30, 32 will be described in detail later.

[0042] As described above, the processing unit 22 has a function of acquiring measurement values such as sugar content, acidity, pH, and polyphenol content based on the measurement information given from the quality measurement device 2. Also, the processing unit 22 acquires point cloud data based on the detection result from the shape detection device 5. Furthermore, the processing unit 22 executes processes such as a first specific process and a second specific process, and has a function of managing measurement values for each tree. These processes will be described in detail later.

[0043] 〔Regarding the quality measurement of fruits in the field F〕 FIG. 4 is a plan view showing an example of the field F. In FIG. 4, the vertical direction of the paper surface is the north-south direction, and the horizontal direction of the paper surface is the east-west direction. The quality measurement of the fruits is performed by running the agricultural machine 6 in the field F. In the field F shown in FIG. 4, for example, a plurality of trees T (eight in the illustrated example) are cultivated. The trees T are arranged so as to form rows arranged in the north-south direction. The trees T form two rows. One row includes four trees T. The interval between the two rows (interval in the east-west direction) is assumed to be wider than the interval between a pair of adjacent trees T within the row (interval in the north-south direction). The agricultural machine 6 runs between the two rows.

[0044] Each of the eight trees T cultivated in the field F is given a tree ID as identification information. An integer from 1 to 8 is given as the tree ID to the eight trees T. The tree T of the present embodiment is made into a hedge.

[0045] FIG. 5 is a diagram for explaining the shaping method. In FIG. 5, the upper part is a schematic diagram of double-sided shaping. In the upper diagram of FIG. 5, the tree T is made into a hedge. Therefore, the branch part B extends horizontally from the tree trunk S. Also, in double-sided shaping, the branch part B extends to both sides of the tree trunk S. Double-sided shaping refers to such a shaping method of extending the branch part B to both sides of the tree trunk S and the shape of the tree T with the branch part B extended to both sides of the tree trunk S.

[0046] Also, in FIG. 5, the lower part is a schematic diagram of single-sided shaping. Also in the lower diagram of FIG. 5, the tree T is made into a hedge. In single-sided shaping, the branch part B extends only to one side of the tree trunk S. Single-sided shaping refers to such a shaping method of extending the branch part B to one side of the tree trunk S and the shape of the tree T with the branch part B extended to one side of the tree trunk S. Generally, the shaping methods of a plurality of trees T cultivated in one field are the same.

[0047] As shown in FIG. 4, it is assumed that the tree T of the present embodiment is double-sided shaped. Also, it is assumed that the branch part B of the tree T of the present embodiment extends in the north-south direction. The agricultural machine 6 travels along the extension direction of the branch part B of the tree T. The quality measurement device 2 is provided on the side of the agricultural machine 6. The quality measurement device 2 is generally directed in a direction orthogonal to the extension direction.

[0048] The quality measurement operation of the fruits in the field F is performed for all 8 trees T in the field F. The quality measurement may be performed by the operation of the operator driving the agricultural machine 6, or may be performed by remote control based on an instruction from the operator 14. When the quality measurement is performed by the operator, the agricultural machine 6 is manually operated by the operator. Further, the quality measurement by the quality measurement device 2 is performed by the manual operation of the operator. When the quality measurement is performed by remote control based on an instruction from the operator 14, the agricultural machine 6 travels by automatic driving, and the quality measurement device 2 performs quality measurement by control based on an instruction from the operator 14. In this embodiment, the case where the operator driving the agricultural machine 6 performs the quality measurement will be described.

[0049] The operator gets on the agricultural machine 6 and travels along the side of a plurality of rows of trees T in the field F along the dashed line in FIG. 4. The agricultural machine 6 approaches each tree T in order from the tree T with tree ID = 1, and the quality measurement is performed. When the operator approaches each tree T and reaches the side of each tree T, the operator stops the agricultural machine 6 and performs the quality measurement by the quality measurement device 2. Thereby, the quality measurement of the fruits attached to each tree T is performed.

[0050] FIG. 6 is a sequence diagram showing the process when the management system 1 performs the quality measurement. In FIG. 6, the case where the operator stops the agricultural machine 6 on the side (west side) of the tree T with tree ID = 1 and measures the fruits of the tree T with tree ID = 1 as shown in FIG. 4 will be described.

[0051] In FIG. 6, first, the operator transmits a start notification indicating the start of the measurement operation and the field ID of the field F to be worked on to the management server 8 (step S1 in FIG. 6). The management server 8 manages a plurality of farms F. Each of the plurality of farms F is set with a farm ID as identification information. The management server 8 can recognize the farm F to be worked on by receiving the farm ID. The operator may transmit a start notification and a farm ID using the input / output device 19 of the agricultural machine 6, or may transmit a start notification and a farm ID using a mobile terminal connectable to the mobile communication system owned by the operator.

[0052] The management server 8 that has received the start notification and the farm ID acquires the tailoring information corresponding to the received farm ID (step S2 in FIG. 6). The management server 8 refers to the tailoring information database 32 and acquires the tailoring information.

[0053] FIG. 7 is a diagram showing an example of the contents of the tailoring information database 32. The tailoring information is information indicating the content of the tailoring of the tree T for each farm F. The tailoring information includes "tailoring method" and "extension direction". The "tailoring method" is information indicating either double-sided tailoring or single-sided tailoring. Therefore, either "double-sided" or "single-sided" is registered in the "tailoring method" column in the tailoring information database 32. The "extension direction" is information indicating the direction in which the branch of the tree T extends.

[0054] In the tailoring information database 32, the farm ID and the tailoring information are registered in association with each other. The management server 8 refers to the tailoring information database 32 and acquires the tailoring information corresponding to the received farm ID.

[0055] On the other hand, the operator who has transmitted the start notification and the farm ID moves the agricultural machine 6 near the tree T to be measured. Here, the operator moves the agricultural machine 6 to the side of the tree T with tree ID = 1 and stops it (see FIG. 4). Next, the operator acquires measurement information and position information (step S3 in FIG. 6).

[0056] The operator operates the quality measurement device 2 to measure the fruits attached to the tree T with ID = 1 by including them in the measurement range. FIG. 8 is a diagram showing an example of the measurement range when measuring the quality of the fruits of the tree T. As shown in FIG. 8, the operator uses the quality measurement device 2 to measure the fruit K, which is a grape, attached to the tree T.

[0057] FIG. 8 shows a case where the quality measurement device 2 is a spectroscopic analyzer that spectroscopically analyzes the transmitted light from the grapes. As shown in FIG. 8, the quality measurement device 2 includes a light transmitting / receiving unit 2a and a main body unit 2b. The light transmitting / receiving unit 2a is attached to an arm (not shown) that extends and retracts in a direction orthogonal to the traveling direction of the agricultural machine 6 from the side of the agricultural machine 6. The light transmitting / receiving unit 2a has a function of projecting near-infrared light onto the nearby fruit K. The light transmitting / receiving unit 2a also has a function of receiving the transmitted light from the fruit K. The transmitted light is the light after the near-infrared light projected from the light transmitting / receiving unit 2a passes through the fruit K. The main body unit 2b spectroscopically analyzes the transmitted light and acquires spectral information. The main body unit 2b provides the spectral information to the management server 8 as measurement information. Therefore, the measurement range of the quality measurement device 2 is a part of the fruit K irradiated with near-infrared light. When the quality measurement device 2 is a spectroscopic camera, the measurement range is the imaging range of the spectroscopic camera.

[0058] During quality measurement, the operator extends the arm to bring the light transmitting / receiving unit 2a close to the fruit K. Next, the operator irradiates the fruit K with near-infrared light and receives the transmitted light with the light transmitting / receiving unit 2a. Thereby, the operator causes the quality measurement device 2 to acquire measurement information.

[0059] In addition, the positioning device 4 acquires position information indicating the current position of the agricultural machine 6. The positioning device 4 always acquires position information. Therefore, the position information acquired by the positioning device 4 also includes the position information of the agricultural machine 6 when the fruit K is measured by the quality measurement device 2.

[0060] The acquired measurement information is transmitted to the management server 8 (step S4 in FIG. 6). The measurement information is transmitted to the management server 8 by the quality measurement device 2. Also, the position information is transmitted to the management server 8 by the positioning device 4. The position information transmitted to the management server 8 is the position information when the measurement information is acquired or when the measurement information is transmitted.

[0061] Upon receiving the measurement information and the position information, the management server 8 executes a first specifying process (step S5 in FIG. 6). The management server 8 uses the position information received at the same timing as the measurement information for the first specifying process. The first specifying process is a process of specifying, based on the position information, the tree T bearing the fruit K measured by the quality measurement device 2 from among the eight trees T in the field F. In other words, the first specifying process is a process of specifying, based on the position information, which of the eight trees T in the field F is the tree T bearing the fruit K measured by the quality measurement device 2. Hereinafter, the tree T bearing the fruit K measured by the quality measurement device 2 and specified is also referred to as the target tree Ta. In the first specifying process, the management server 8 specifies the tree ID of the target tree Ta. The first specifying process is a process of specifying the tree ID of the target tree Ta based on the position information.

[0062] FIG. 9 is a flowchart showing an example of the first specifying process. As shown in FIG. 9, the management server 8 determines whether the layout of the field F to be worked on is a double-sided layout (step S21 in FIG. 9). If the layout of the field F to be worked on is a double-sided layout, the management server 8 proceeds to step S22, performs specification by the first area, and returns to step S5 in FIG. 6. On the other hand, if the layout of the field F to be worked on is a single-sided layout, the management server 8 proceeds to step S23, performs specification by the second area, and returns to step S5 in FIG. 6. The first area and the second area are areas for identifying the target tree Ta based on the position information of the positioning device 4.

[0063] Here, first, the identification by the first area (step S22 in FIG. 9) will be described. In the identification by the first area, the management server 8 first refers to the position and shape information database 28. FIG. 10 is a diagram showing an example of the content of the position and shape information database 28. A plurality of position and shape information databases 28 are stored in the storage unit 24. The plurality of position and shape information databases 28 correspond to a plurality of fields F. The management server 8 refers to the position and shape information database 28 of the field F that is the work target among the plurality of position and shape information databases 28.

[0064] As shown in FIG. 10, in the position and shape information database 28 (hereinafter also referred to as the position and shape DB28), the tree ID, the tree position information, the area information, and the reference point cloud data are registered in association with each other. The tree ID is identification information assigned to the eight trees T in the field F as described above. The tree position information includes the latitude and longitude of the tree trunk S of the tree T. In the present embodiment, the reference position indicating the position of the tree T is the position of the tree trunk S. The tree position information is the position information of the tree trunk S of the tree T. That is, the tree trunk position information is information indicating the reference position of the tree T. The tree position information is registered in the position and shape information database 28 by measuring each tree T in advance.

[0065] The area information is information necessary for setting the first area and the second area. The reference point cloud data is point cloud data obtained by scanning each tree T in advance by LIDAR. Therefore, the reference point cloud data is data indicating the three-dimensional coordinates of the positions of the respective parts constituting the tree T. The reference point cloud data is data representing the three-dimensional shape of the tree T and is reference shape information indicating the reference shape of the tree T.

[0066] The management server 8 refers to the position and shape information database 28, obtains the distance D between the position of each of the eight trees T (the position indicated by the tree position information) and the position of the position information, and identifies the tree T with the smallest distance D from among the eight trees T. Here, the agricultural machine 6 is stopped on the side of the tree T with tree ID = 1, and it is assumed that the tree T with the smallest distance D is the tree T with tree ID = 1. Therefore, the management server 8 identifies that the tree T with the smallest distance D is the tree T with tree ID = 1.

[0067] Next, the management server 8 determines whether the distance D is less than or equal to the threshold value X set for the tree T with tree ID = 1. The threshold value X is registered in the position and shape information database 28 as area information. When it is determined that the distance D is less than or equal to the threshold value X, the management server 8 identifies that the target tree Ta is the tree T with tree ID = 1. When it is determined that the distance D is greater than the threshold value X, the management server 8 determines that the tree ID of the target tree Ta cannot be identified. In this way, in the first identification process, the management server 8 performs a comparison process of comparing the distance D between the position of the tree trunks S of the plurality of trees T and the position indicated by the position information with the threshold value X, and a process of identifying the target tree Ta based on the result of the comparison process.

[0068] The threshold value X is determined by the distance between the tree T with tree ID = 1 and the surrounding trees T. FIG. 11 is a diagram for explaining how to obtain the threshold value X. In FIG. 11, the point P1 is the point indicating the tree trunk S of the tree T with tree ID = 1. The point P2 is the point indicating the tree trunk S of the tree T with tree ID = 2. The point P8 is the point indicating the tree trunk S of the tree T with tree ID = 8. The point P7 is the point indicating the tree trunk S of the tree T with tree ID = 7.

[0069] First, the management server 8 identifies the tree T at the closest position among the other trees T adjacent to the tree T with tree ID = 1. As described above, the interval between the two columns (east-west interval) is wider than the interval between a pair of adjacent trees T within the column (north-south interval). Therefore, the tree T with tree ID = 2 (point P2) is closer to the tree T with tree ID = 1 (point P1) than the trees T with tree IDs = 7 and 8 (points P7 and P8). That is, the tree T with tree ID = 2 is the closest to the tree T with tree ID = 1.

[0070] Based on the relationship between the point P2 of the tree T with tree ID = 2 and the point P1, the management server 8 obtains the threshold value X. The management server 8 obtains the threshold value X based on the following formula. Threshold value X = ((W1) / 2) - Y

[0071] In the above formula, W1 is the distance between the point P1 and the point P2. The point PC is the midpoint between the point P1 and the point P2. Y is the error occurring in the positioning device 4. The threshold value X is the value obtained by subtracting the error Y from the value of 1 / 2 of the distance W1 (the distance between the point P1 and the point PC). In FIG. 11, the center of the dashed circle is the point P1, and the radius of the dashed circle is the threshold value X. Therefore, when the point PN, which is the position indicated by the position information, is inside the dashed circle, the distance D is less than or equal to the threshold value X. That is, the area surrounded by the dashed circle is the first area A1. Since the first area A1 is determined based on the point P2 of the tree T closest to the point P1, it does not overlap with the first areas similarly set at other points P2 or P8.

[0072] In this embodiment, the threshold value X is registered in the position and shape information database 28, but the management server 8 may sequentially obtain the threshold value X when executing the first specific process. Also, the management server 8 may register the threshold value X obtained once in the position and shape information database 28 and reuse it.

[0073] When the point PN is inside the first area A1, the management server 8 specifies that the tree T with tree ID = 1 is the target tree Ta. Conversely, when the point PN is outside the first area A1, the distance D becomes larger than the threshold value X. Therefore, the management server 8 determines that the target tree Ta cannot be specified.

[0074] As described above, the first specific process uses the threshold value X set for each of the eight trees T, and defines non-overlapping first areas A1 around the trunks S of each of the eight trees T, and when the position of the position information is within one of the plurality of first areas A1, among the eight trees T, the tree T corresponding to one first area A1 is specified as the target tree Ta. In addition, in the first specific process, since the threshold value X is obtained based on the above formula, the target tree Ta can be specified while considering the error of the positioning device 4.

[0075] As shown in FIG. 6, after finishing the first specific process (step S5 in FIG. 6), the management server 8 proceeds to step S6. If the target tree Ta cannot be specified as a result of the first specific process, the management server 8 proceeds to step S7 and sends a shape acquisition command to the agricultural machine 6 (step S7 in FIG. 6).

[0076] The agricultural machine 6 that has received the shape acquisition command outputs the shape acquisition command to the operator via the input / output device 19. In this way, the management server 8 outputs the shape acquisition command to the operator via the agricultural machine 6. The operator who recognizes that the shape acquisition command has been output uses the shape detection device 5 to detect the shape of the target tree Ta (step S8 in FIG. 6). At this time, the detection range of the shape detection device 5 is set to include the measurement range by the quality measurement device 2 as described above. Therefore, the detection result of the shape detection device 5 includes information regarding the shape of the target tree Ta. The detection result of the shape detection device 5 is transmitted to the management server 8 (step S9 in FIG. 6). The detection result is transmitted to the management server 8 by the shape detection device 5.

[0077] When receiving the detection result of the shape detection device 5, the management server 8 acquires the point cloud data of the target tree Ta based on the detection result and executes the second specific process (step S10 in FIG. 6). The second specific process is a process of specifying the tree ID of the target tree Ta based on the point cloud data that is the shape information of the target tree Ta. The management server 8 identifies the tree ID of the target tree Ta based on the comparison between the point cloud data (shape information) of the target tree Ta and the reference point cloud data (shape information) registered in the position and shape information database 28.

[0078] As comparison targets for the point cloud data of the target tree Ta, the management server 8 selects the tree T with tree ID = 1, which is the tree closest to the position indicated by the position information, and the tree T with tree ID = 2, which is adjacent to it in the column direction. The management server 8 compares the point cloud data of the target tree Ta with the reference point cloud data of the tree T with tree ID = 1. Also, the management server 8 compares the point cloud data of the target tree Ta with the reference point cloud data of the tree T with tree ID = 2.

[0079] FIG. 12 is a diagram schematically showing an example of how to compare point cloud data. The comparison of point cloud data by the management server 8 is performed by extracting the feature points of the tree T from the point cloud data and matching the feature points. Therefore, the management server 8 extracts the feature points of the tree T based on each point cloud data. In FIG. 12, a plurality of feature points of each tree are schematically shown within a rectangular frame. The management server 8 performs matching between the feature points of the target tree Ta and the feature points of the tree T with tree ID = 1 to obtain the similarity. Also, the management server 8 performs matching between the feature points of the target tree Ta and the feature points of the tree T with tree ID = 2 to obtain the similarity. The management server 8 determines that the tree T with a high similarity to the feature points of the target tree Ta is the same tree T as the target tree Ta. In this embodiment, the management server 8 identifies the tree T with tree ID = 1 as the target tree Ta.

[0080] In this embodiment, as a comparison target for the point cloud data of the target tree Ta, when the tree T with tree ID = 1, which is the tree closest to the position indicated by the position information in the first specific process, and the tree T with tree ID = 2 adjacent to it in the column direction are selected as examples, if there are trees T on both sides of the tree T with tree ID = 1 in the column direction, the trees T on both sides in the column direction may be used as comparison targets. In this case, among the plurality of trees T, it is possible to perform identification using the point cloud data by narrowing down to the tree T with a high possibility of being the target tree Ta.

[0081] As shown in FIG. 6, when the second specific process (step S10 in FIG. 6) is completed, the management server 8 proceeds to step S11 and registers the measurement information (step S11 in FIG. 6). Also, when the management server 8 can identify the target tree Ta in step S5, it proceeds to step S11 via step S6 and registers the measurement information (step S11 in FIG. 6). The management server 8 registers the measurement information transmitted in step S4 in FIG. 6 in the measurement information database 30.

[0082] FIG. 13 is a diagram showing an example of the content of the measurement information database 30. A plurality of measurement information databases 30 are stored in the storage unit 24. The plurality of measurement information databases 30 correspond to a plurality of fields F. The management server 8 refers to the measurement information database 30 of the field F that is the work target among the plurality of measurement information databases 30.

[0083] As shown in FIG. 13, in the measurement information database 30 (hereinafter also referred to as the measurement information DB30), the tree ID and the measurement information are registered in association with each other. The measurement information is registered in the measurement information DB30 together with the date and time when the measurement was performed.

[0084] The management server 8 registers the measurement information together with the measurement date and time in the column corresponding to the tree ID of the identified target tree Ta. Here, the management server 8 registers the measurement information and the measurement date and time in the column with tree ID = 1. Note that the measurement date and time is provided to the management server 8 by the quality measurement device 2 adding information indicating the measurement date and time to the measurement information. Also, the measurement date and time may be set to the date and time when the measurement information is received by the management server 8.

[0085] As shown in FIG. 6, after registering the measurement information, the management server 8 transmits a movement command to the agricultural machine 6 (step S12 in FIG. 6). The agricultural machine 6 that has received the movement command outputs the movement command to the operator via the input / output device 19. In this way, the management server 8 outputs the movement command to the operator via the agricultural machine 6. The operator who recognizes that the movement command has been output drives the agricultural machine 6 and moves the agricultural machine 6 to the next tree T (step S13 in FIG. 6).

[0086] After that, the operator sequentially performs quality measurement work on each tree T, and the management server 8 registers the measurement information in the measurement information database 30 while identifying the target tree Ta according to the quality measurement work.

[0087] According to the above configuration, the positioning device 4 is provided on the agricultural machine 6 (mobile body) provided with the quality measurement device 2. In advance, the tree position information of a plurality of trees T is registered in the position / shape information database 28. Therefore, based on the position information acquired by the positioning device 4, the plant closest to the agricultural machine 6 can be identified. That is, among the plurality of trees T, the tree T closest to the agricultural machine 6 can be identified as the target tree Ta. Therefore, on the operator side for performing the measurement, it is not necessary to read an information tag or the like, and on the administrator side, it is not necessary to prepare an information tag or the like to be provided on the tree T. That is, if the operator performs the quality measurement work and performs the shape detection work as necessary, the measurement values obtained by the quality measurement work are managed for each tree T by the tree ID. Therefore, the operator does not need to perform work related to the management of the measurement values. As a result, the work loads on both the operator side and the administrator side can be reduced.

[0088] Also, in the present embodiment, even when the target tree Ta cannot be specified based on the position information, the target tree Ta can be specified using the detection result of the shape detection device 5. In addition, the first specifying process of the present embodiment includes a comparison process of comparing the distance D between the position of the trunk S of the plurality of trees T and the position indicated by the position information with a threshold value X, and a process of specifying the target tree Ta based on the result of the comparison process. Therefore, based on the distance D, among the plurality of trees T, the tree T closest to the agricultural machine 6 can be specified as the target tree Ta. Also, by comparing the distance D with the threshold value X, the distance to be specified as the target tree Ta can be adjusted. For example, it can be configured to perform the specification in consideration of the error of the positioning device 4 included in the position information.

[0089] Returning to FIG. 9, in step S21 of the first specifying process, when it is determined that it is not double-sided trimming (but single-sided trimming), the management server 8 proceeds to step S23 and performs the specification by the second area. For example, assume that the trimming method of the farmland F is single-sided trimming and the extending direction of the branch part B is the south direction. In the specification by the second area, the management server 8 refers to the position / shape information database 28 and sets the second area.

[0090] FIG. 14 is a diagram showing an example of the second area. In FIG. 14, the second area A2 is set between the point P1 and the point P2. In FIG. 14, the point P1 is a point indicating the trunk S of the tree T with tree ID = 1. The point P2 is a point indicating the trunk S of the tree T with tree ID = 2.

[0091] The second area A2 has a rectangular shape with each side along the north-south direction and the east-west direction. In FIG. 14, W1 is the distance between the point P1 and the point P2. The north-south distance W2 of the second area A2 is a value obtained by subtracting the error Y from the distance W1. The error Y is the error generated in the positioning device 4. The east-west distance W3 of the second area A2 is the same as the distance W1.

[0092] In FIG. 14, since the tailoring method is single-sided tailoring and the extending direction of the branch part B is the south direction, the branch part B of the tree T with tree ID = 1 extends to the vicinity of point P2 as shown in FIG. 14. Therefore, in this case, the management server 8 sets the second area A2 to be set for the tree T with tree ID = 1 between point P1 and point P2.

[0093] In the same manner, the management server 8 sets the second area A2 for each of the eight trees T. When the position of the position information is within one of the plurality of second areas A2, the management server 8 specifies, as the target tree Ta, the tree T corresponding to the one second area A2 among the eight trees T.

[0094] Note that the distance required to define the second area A2 is registered in the position and shape information database 28. The management server 8 refers to the position and shape information database 28 to acquire and use the distance required to define the second area A2. Further, the management server 8 may sequentially obtain the distances required when executing the first specifying process. Also, the management server 8 may register the values obtained once in the position and shape information database 28 and reuse them.

[0095] In the first specifying process using the second area A2, when the target tree Ta cannot be specified, the management server 8 proceeds to steps S7 - S10 in FIG. 6 and executes the second specifying process. The second specifying process is as described above.

[0096] For example, in FIG. 14, even if the point PN indicating the position of the agricultural machine 6 is located closer to point P2 than point P1, on the side surface side of the agricultural machine 6, the branch part B of the tree T with tree ID = 1 having the tree trunk S at point P1 is located. As described above, there are two ways to process the branch part B of the tree T: bilateral processing in which it is processed to extend in both directions along the column direction with respect to the tree trunk S, and unilateral processing in which it is processed to extend in one direction. In the case of unilateral processing, when the agricultural machine 6 is located between adjacent tree trunks S, the tree T having the tree trunk S closest to the agricultural machine 6 is not necessarily the target tree Ta.

[0097] Therefore, the first specific process of this embodiment further includes a process of acquiring the extension direction of the branch part B extending along the column direction from the tree trunk S in a plurality of trees T, and areas (first area A1 and second area A2) having different ranges are set according to the extension direction. In this way, by varying the range of the area according to the extension direction of the branch part, the target tree Ta can be appropriately specified.

[0098] 〔Others〕 It should be considered that all aspects of the embodiments disclosed this time are illustrative and not restrictive. For example, in the above embodiment, the case where the shape detection device 5 is a LIDAR is illustrated, but a camera may be used instead of the LIDAR. When the shape detection device 5 is a camera, the management server 8 acquires image data based on the detection result from the shape detection device 5. Further, the management server 8 specifies the imaging part of the target tree Ta in the image data, and extracts the feature points of the target tree Ta based on this imaging part.

[0099] Also, in the above embodiment, the quality measurement by the quality measurement device 2 performed by the operator's operation (step S3 in FIG. 6) and the shape detection by the shape detection device 5 performed by the operator's operation (step S8 in FIG. 6) can also be performed without the operator's operation by the management server 8 remotely controlling the quality measurement device 2 and the shape detection device 5.

[0100] In addition, in the above-described embodiment, although the case where the quality measurement device 2, the positioning device 4, and the shape detection device 5 are mounted on the agricultural machine 6 which is a moving body has been exemplified, instead of the agricultural machine 6, the quality measurement device 2, the positioning device 4, and the shape detection device 5 may be carried by an operator. In this case, the operator himself / herself is the moving body, and the operator moves on foot to perform quality measurement of the fruits attached to the tree T.

[0101] Further, in the above-described embodiment, the case where the field F is a vineyard and the tree T is a grape tree has been exemplified, but the present invention is not limited thereto, and the tree T may be a climbing fruit tree other than grapes. Further, the field F may be one that cultivates plants other than trees.

[0102] In addition, when the target tree Ta cannot be specified based on the position information of the agricultural machine 6, the target tree Ta may be specified based on the trimming information. FIG. 15 is a sequence diagram showing a modification of the process when performing quality measurement. It is a modification of FIG. 6. In FIG. 15, when the same reference numerals are used, the same processes as those in FIG. 6 are executed.

[0103] As shown in FIG. 15, when the target tree Ta cannot be specified based on the position information (No in S32 in FIG. 15), the management server 8 proceeds to step S33 and acquires the trimming information of the field F (step S33 in FIG. 15). The management server 8 that has acquired the trimming information performs a third specifying process (step S34 in FIG. 15).

[0104] In the third specifying process, when the trimming method of the field F indicated by the trimming information is one-sided trimming, the management server 8 specifies the target tree Ta in the third specifying process (Yes in step S35 in FIG. 15). That is, in one-sided trimming, since the branch portion B extends only to one side of the tree trunk S, the management server 8 can specify the target tree Ta by referring to the direction in which the branch portion B extends.

[0105] On the other hand, in the specific process, when the tailoring method of the field F indicated by the tailoring information is double-sided tailoring, since the branch part B extends to both sides of the tree trunk S, the management server 8 determines that the target tree Ta cannot be identified in the third specific process (in FIG. 15, step S35, No). As a result of the third specific process, when the target tree Ta cannot be identified (in FIG. 15, step S35, No), the management server 8 proceeds to step S7 and sends a shape acquisition command to the agricultural machine 6 (in FIG. 15, step S7). Then, based on the detection result, the management server 8 acquires the point cloud data of the target tree Ta, executes the second specific process, and based on the point cloud data, which is the shape information of the target tree Ta, in the second specific process, identifies the tree ID of the target tree Ta.

[0106] As described above, in this modification example, when the management server 8 cannot identify the target tree Ta by the first specific process, it can acquire the tailoring information and identify the target tree Ta based on the position information and the tailoring information. Further, when the management server 8 cannot identify the target tree Ta even from the tailoring information, it can also identify the target tree Ta by its shape.

[0107] The scope of the present invention is not as described above, but is indicated by the claims, and is intended to include meanings equivalent to the claims and all modifications within the scope.

Explanation of reference numerals

[0108] 1 Management system 2 Quality measurement device 4 Positioning device 5 Shape detection device 6 Agricultural machine 6a On-vehicle network 8 Management server 10 Management terminal 14 Operator 18 Control device 19 Input / output device 20 Communication device 22 Processing unit 24 Storage unit 26 Communication device 28 Shape information database 30 Measurement information database 32 Tailoring information database A1 First area A2 Second area B Branch part BS Wireless base station D Distance DB28 Shape DB30 Measurement information F Field GNSS Multi ID Tree K Fruit M Measurement range NW Public network S Trunk T Tree Ta Target tree

Claims

1. A management system for a plurality of plants arranged along a column direction, comprising: a measuring device provided on a moving body that moves along the column direction, for acquiring measurement information of fruits of the plurality of plants; a positioning device provided on the moving body, for acquiring position information of the moving body; a shape detection device provided on the moving body, for detecting the shape of a target plant bearing the fruit measured by the measuring device; a management device for identifying the target plant; The management system is provided with: The management device: a first identification process for identifying, from among the plurality of plants, the target plant bearing the fruit measured by the measuring device based on the position information; a second identification process for identifying the target plant based on the detection result of the shape detection device when the target plant cannot be identified by the first identification process; The management system includes a processing unit that executes the above processes. Management system.

2. The second identification process includes: a process for acquiring shape information of the target plant based on the detection result; a process for identifying the target plant based on a comparison between the shape information of the target plant and the shape information of the plurality of plants acquired in advance. The management system according to claim 1. The management system according to claim 1.

3. The shape detection device includes at least one of LIDAR and a camera. The management system according to claim 1. The management system according to claim 1.

4. The first identification process includes: a comparison process for comparing the distance between the reference position of the plurality of plants and the position of the position information with a predetermined threshold value; a process for identifying the target plant based on the result of the comparison process. The management system according to claim 1. The management system according to claim 1.

5. The first identification process includes: a process for defining non-overlapping areas around the reference positions of the plurality of plants respectively; when the position of the position information is within one of the plurality of areas, a process for identifying, as the target plant, the plant corresponding to the one area among the plurality of plants. The management system according to claim 1. The management system according to claim 1.

6. The first identification process further includes a process for acquiring the extension direction of a branch portion extending along the column direction from the trunk in the plurality of plants, and the areas are set in different ranges according to the extension direction. The management system according to claim 5. The management system according to claim 5.

7. The processing unit: when the target plant cannot be identified by the first identification process, a process for acquiring the extension direction of a branch portion extending along the column direction from the trunk in the plurality of plants; Based on the position information and the extension direction, further execute a third specifying process for specifying the target plant. The management system according to claim 1.

8. The management device When specifying the target plant, further execute a process of associating and storing the identification information assigned to the target plant and the measurement information. The management system according to any one of claims 1 to 7.

9. The fruit includes grapes. The management system according to any one of claims 1 to 7.

10. The measurement information includes at least any one of the sugar content, acidity, pH, and polyphenol content rate. The management system according to claim 9.

11. A management device for a plurality of plants arranged along a row direction, A process of acquiring measurement information of fruits of the plurality of plants by a measurement device provided on a moving body that moves along the row direction, A process of acquiring position information of the moving body by a positioning device provided on the moving body, A process of acquiring a detection result of a target plant to which the fruit measured by the measurement device is attached by a shape detection device provided on the moving body, A first specifying process of specifying the target plant from among the plurality of plants based on the position information, A second specifying process of specifying the target plant based on the detection result when the target plant cannot be specified by the first specifying process, A management device comprising a processing unit that executes

12. A management method for a plurality of plants arranged along a row direction, A step of acquiring measurement information of fruits of the plurality of plants by a measurement device provided on a moving body that moves along the row direction, A step of acquiring position information of the moving body by a positioning device provided on the moving body, A step of acquiring a detection result of a target plant to which the fruit measured by the measurement device is attached by a shape detection device provided on the moving body, A first specifying step of specifying the target plant from among the plurality of plants based on the position information, Including a second specifying step of specifying the target plant based on the detection result when the target plant cannot be specified by the first specifying step. Management method.

13. A computer program for causing a computer to execute a management process for a plurality of plants arranged along a row direction, On the computer A step of obtaining measurement information of fruits of the plurality of plants by a measuring device provided on a moving body that moves along the column direction; A step of obtaining position information of the moving body by a positioning device provided on the moving body; A step of obtaining a detection result of a target plant bearing the fruit measured by the measuring device by a shape detection device provided on the moving body; A first specifying step of specifying the target plant from among the plurality of plants based on the position information; When the target plant cannot be specified by the first specifying step, a second specifying step of specifying the target plant based on the detection result is executed. A computer program.

Images