Growth management system

Abstract

To provide a growth management system that enables precise calculation of data regarding key portions of a cultivated plant.SOLUTION: A growth management system comprising: an imaging device for capturing an image of a cultivated plant Q; a recognition part configured to recognize, in a main stem 51 of the cultivated plant shown in the captured image obtained by the imaging device, nodes 55 which are positions where a flower cluster part 53 and a branch-leaf part 52 differentiate from the main stem 51, and internode parts 56 which are main stem portions 51 located between two adjacent nodes 55 among the plurality of nodes 55; and a stem diameter calculation part configured to calculate a stem diameter D2 at the internode part 56 recognized by the recognition part.SELECTED DRAWING: Figure 6

Description

[Technical Field]

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

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

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2011-19438 Summary of the Invention [Problem to be solved by the invention]

[0004] To understand the growth status of cultivated plants, it is desirable to recognize the key parts of the cultivated plants. The configuration disclosed in Patent Document 1 measures the growth status near the growing point. The appearance and shape of the area near the growing point tend to change more drastically than the key parts of the cultivated plants, making it difficult to understand the growth status of cultivated plants based on the condition near the growing point. The main stem is a particularly useful key part of cultivated plants, and identifying the main stem is useful for building a useful growth management system.

[0005] The present invention provides a growth management system that can accurately calculate data relating to the main parts of cultivated plants. [Means for solving the problem]

[0006] The growth management system of the present invention is characterized by comprising an imaging device that images cultivated plants, a recognition unit that recognizes nodes on the main stem of the cultivated plant that are locations where inflorescences and branch and leaf sections differentiate from the main stem, as captured in the image acquired by the imaging device, and internodes that are the main stem between two adjacent nodes among the plurality of nodes, and a stem diameter calculation unit that calculates the stem diameter at the internodes recognized by the recognition unit.

[0007] According to the present invention, the recognition unit recognizes the main stem, and further recognizes the nodes and internodes of the main stem. The main stem is a key part of a cultivated plant that serves as a criterion for determining the growth status. The stem diameter of the internode between two nodes of this key part, the main stem, is then calculated. This allows the main stem to be calculated with high accuracy, making it easier to determine the growth status of the cultivated plant based on the stem diameter. In this way, the present invention realizes a growth management system that can accurately calculate data related to key parts of a cultivated plant.

[0008] In the present invention, it is preferable that the recognition unit is configured to identify a reference point on the main stem that is located a predetermined length below a reference height of the cultivated plant, and to recognize as the node a first node adjacent to the upper side of the reference point, a second node adjacent to the lower side of the reference point, and a first internode located between the first node and the second node.

[0009] The main stem extends vertically, and the stem diameter of the main stem varies depending on the vertical position. With this configuration, a reference height for the cultivated plant is set. The first internode is recognized at a portion of the main stem located a predetermined length below the reference height, and the stem diameter of the first internode is calculated. This allows the stem diameter of the reference portion of the main stem to be calculated, making it even easier to understand the growth status of the cultivated plant.

[0010] In the present invention, the recognition unit is preferably configured to recognize as the node a third node adjacent to the upper side of the first node, a fourth node adjacent to the lower side of the second node, a second internode located between the first node and the third node, and a third internode located between the second node and the fourth node, and the stem diameter calculation unit is preferably configured to calculate the average stem diameter of each of the first internode, the second internode, and the third internode.

[0011] With this configuration, the stem diameters of the second and third internodes adjacent above and below the first internode are also calculated. Therefore, even if the stem diameter of the main stem varies among internodes, the degree of variation can be reduced by calculating the average stem diameters of the first, second, and third internodes.

[0012] In the present invention, it is preferable that the stem diameter calculation unit is configured to calculate an approximate curve of the main stem recognized by the recognition unit and calculate the stem diameter in the normal direction or approximately normal direction of the approximate curve.

[0013] 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.

[0014] In the present invention, it is preferable that a distance measuring device is provided that acquires distance data in three-dimensional coordinates for the cultivated plant imaged by the imaging device, and the stem diameter calculation unit is configured to calculate the stem diameter at the internode recognized by the recognition unit based on the three-dimensional coordinates.

[0015] This configuration improves the accuracy of calculating the stem diameter.

[0016] In the present invention, it is preferable that the recognition unit is configured to be able to detect the inflorescence portion that has differentiated from the upper part of the main stem and is in a bloomed state, and is equipped with a growth determination unit that determines a discriminant value of the growth status that indicates whether the cultivated plant is tending toward vegetative growth in which the main stem grows, or reproductive growth in which the inflorescence portion differentiated from the main stem grows, based on the length of the main stem between the upper end of the main stem and the inflorescence portion in a bloomed state.

[0017] With this configuration, the growth assessment unit can determine whether the cultivated plant is prone to nutrient deficiency 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. [Brief explanation of the drawings]

[0018] [Figure 1] FIG. 2 is a plan view showing the entire interior of the horticultural facility. [Figure 2] FIG. 2 is a side view showing the entire interior of the horticultural facility. [Figure 3] FIG. 2 is a block diagram showing the configuration of a growth management system. [Figure 4] FIG. 1 is a flowchart showing the calculation of the stem diameter of a cultivated plant. [Figure 5] This is a graph showing the stem diameter at each internode of the main stem. [Figure 6] FIG. 10 is a diagram showing an example of calculation of stem diameter of a cultivated plant. [Figure 7] FIG. 10 is a diagram showing an example of calculation of stem diameter of a cultivated plant. DETAILED DESCRIPTION OF THE INVENTION

[0019] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described with reference to the drawings.

[0020] [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. Passages are provided between each ridge A so that managers of the cultivated plants Q (including operators, etc.) can pass through. The horticultural facility 1 may be, for example, a greenhouse or a solar-powered plant factory.

[0021] Each furrow A is made of, for example, a non-porous hydrophilic film, and a cultivated plant Q, for example, a tomato, is planted in each furrow A.

[0022] The cultivation system SY is equipped with 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 status of the cultivated plants Q. In this embodiment, the horticultural facility 1 is equipped with a fixed sensing unit 30 and a mobile sensing unit 31 as the visual sensing units 3.

[0023] 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 the main stem 51 (see FIGS. 6 and 7), the branches and leaves 52 and inflorescence 53 (see FIGS. 6 and 7) differentiated from the main stem 51, and the fruit cluster 54 (see FIGS. 6 and 7) growing from the inflorescence 53, etc., of the cultivated plant Q.

[0024] The mobile sensing unit 31 captures images of the cultivated plant Q from a side view while traveling along paths between parallel rows 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, branches and leaves 52, inflorescence 53, fruit cluster 54, etc. of the cultivated plant Q from a side view.

[0025] The imaging device 3A has, for example, a CCD element or a CMOS element, and is configured to be able 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 cluster 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 also captures images of the main stem 51, branches and leaves 52, inflorescence 53, fruit cluster 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 over time to the recognition unit 21 (see FIG. 3).

[0026] The distance measuring device 3B is, for example, a three-dimensional scanning Lidar, and measures the distance to the cultivated plant Q using, for example, a ToF (Time of Flight) measurement method. When the distance measuring device 3B irradiates the cultivated plant Q with a light beam, such as an infrared laser beam, the light waves of the light beam propagate through the air and are reflected by the surface of the cultivated plant Q. 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 by the surface of the cultivated plant Q as a reflected signal. The distance measuring device 3B then 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.

[0027] As described above, the cultivation system SY includes an imaging device 3A that captures images 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 be configured without the distance measuring device 3B. In this case, the visual sensing unit 3 may be configured to include a stereo camera as the imaging device 3A.

[0028] Although not shown, the horticultural facility 1 is also equipped with environmental sensors, side windows, and heat pump air conditioning equipment. Also, as shown in FIG. 3, the facility is equipped with an irrigation device 11B, a spray device 11C, a fertilizer applicator 12B, a curtain opening / closing device 13B for shading curtains, a carbon dioxide generator 14B, and the like. The dashed line Gh in FIG. 2 indicates the reference position where the height of the cultivated plant Q is at its maximum, and a guide string for guiding the stems of the cultivated plant Q hangs down from near the height of the dashed line Gh. The fixed sensing unit 30 is installed at a position higher than the dashed line Gh. The fixed sensing unit 30 may also be installed at a position lower than the dashed line Gh.

[0029] [Device configuration] 3, at the horticultural facility 1, imaging data V captured by an imaging device 3A, distance measurement data D1 measured by a distance measurement device 3B, and environmental condition data E obtained by digitizing the environmental condition measured by an environmental information acquisition unit 10 are transmitted to a management computer 2 via a wide area network WAN (Wide Area Network). Although not specifically shown, the horticultural facility 1 and the management computer 2 are each provided with communication means capable of accessing the wide area network WAN.

[0030] An insolation sensor 10A, a temperature sensor 10B, a humidity sensor 10C, and a carbon dioxide concentration sensor 10D are connected to the environmental information acquisition unit 10 of the horticultural facility 1. The insolation sensor 10A measures the amount of insolation received by the 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 can acquire environmental information about the horticultural facility 1 where the cultivated plant Q is cultivated.

[0031] The management computer 2 includes a recognition unit 21, a stem diameter calculation unit 22, a storage unit 25, and a growth determination unit 26.

[0032] When the image capture device 3A captures an image of the cultivated plant Q, the recognition unit 21 recognizes the main stem 51, branches and leaves 52, inflorescence 53, fruit cluster 54, etc. based on the color information, etc., of the image capture data V. A neural network capable of learning using deep learning is constructed in the recognition unit 21. Neural networks are known to be able to identify input-output relationships with nonlinear characteristics through 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 utilizing the neural network trained using deep learning. The determination of the color information, etc., of the image capture data V may be performed based on RGB data or YUV data. That is, the recognition unit 21 recognizes the main stem 51, branches and leaves 52, inflorescence 53, fruit cluster 54, etc. of the cultivated plant Q captured in the image captured by the image capture device 3A.

[0033] The distance measurement data D1 measured by the distance measuring device 3B is input into the recognition unit 21. The recognition unit 21 compares the imaging data V with the distance measurement data D1 to identify the distances of the main stem 51, branches and leaves 52, inflorescence 53, fruit cluster 54, etc., relative to the visual sensing unit 3. Of the cultivated plants Q recognized in the imaging data V, cultivated plants Q planted in ridges A farther away than the imaging target ridge A will have longer distance measurement data D1 than cultivated plants Q planted in the imaging target ridge A. Therefore, the recognition unit 21 recognizes the main stem 51, branches and leaves 52, inflorescence 53, fruit cluster 54, etc. of the cultivated plants Q planted in the imaging target ridge A by excluding those with longer distance measurement data D1 from the main stem 51, branches and leaves 52, inflorescence 53, fruit cluster 54, etc. recognized from the imaging data V.

[0034] 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. 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.

[0035] The flowering position calculation unit 23 calculates the length L of the main stem 51 between the upper end of the main stem 51 and the branch point from the main stem 51 at the inflorescence 53 in a flowered state. Note that the flowering position calculation unit 23 may calculate the length L as the average or median of the lengths L of the main stems 51 of multiple cultivated plants Q.

[0036] 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.

[0037] The weather information 4 is weather data information obtained from, for example, a meteorological agency or a weather information company via a wide area network WAN. The weather information 4 is stored in the storage unit 25 over time.

[0038] The growth determination unit 26 determines a discrimination value for the growth state of the cultivated plant Q based on the stem diameter D2 of the cultivated plant Q, the flowering state of the inflorescence 53, the length L of the main stem 51 between the upper end of the main stem 51 and the inflorescence 53, the environmental condition data E, the meteorological information 4, etc. The discrimination value for the growth state of the cultivated plant Q is a value that indicates whether the cultivated plant Q is prone to vegetative growth in which the main stem 51 grows, or reproductive growth in which the inflorescence 53 differentiated from the main stem 51 grows. The data on the growth state (discrimination value) determined by the growth determination unit 26 is transmitted to various control units, etc. of the horticultural facility 1 via the wide area communication network WAN.

[0039] The stem diameter D2 of the cultivated plant Q, the flowering state of the inflorescence 53, the length L of the main stem 51 between the top end of the main stem 51 and the inflorescence 53, the environmental condition data E, the weather information 4, and the growth status data can be displayed on a known display monitor, allowing a manager or operator to 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 mobile phone carried by the manager or operator. Furthermore, if there is an abnormality in at least one of the stem diameter D2, the flowering state of the inflorescence 53, the environmental condition data E, the weather information 4, and the growth status data, an alarm may be output using a known buzzer or voice guidance.

[0040] 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 sends an instruction signal to the temperature control device 15B based on data on the growth status determined by the growth determination unit 26. The temperature control device 15B may be, for example, an opening and closing device for a skylight or a side window, a ventilation fan or a circulation fan, or an air conditioning device (e.g., a heat pump air conditioning device). Upon receiving the 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 skylight or side window, ventilating with the ventilation fan or circulation fan, operating the heat pump, etc.

[0041] The horticultural facility 1 is equipped with a humidity control unit 16A, a humidity control device 16B, and a spray device 11C that control the humidity in the horticultural facility 1. The humidity control unit 16A sends instruction signals to the humidity control device 16B and the spray device 11C based on data on the growth status determined by the growth determination unit 26. The humidity control device 16B is, for example, a humidifier or a dehumidifier. Upon receiving an instruction signal from the humidity control unit 16A, the humidity control device 16B operates to humidify or dehumidify. Furthermore, upon receiving an instruction signal from the humidity control unit 16A, the spray device 11C opens a valve (not shown) and increases the humidity in the horticultural facility 1 by spraying.

[0042] The horticultural facility 1 is equipped with an irrigation control unit 11A and an irrigation device 11B for irrigating cultivated plants 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 status 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 plants Q. The instruction signal from the irrigation control unit 11A may be a voltage value or a current value.

[0043] The horticultural facility 1 is also equipped 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 status 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 plants 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. Note that the components of the fertilizer are not limited to nitrogen, and may also include phosphoric acid, potassium, calcium, magnesium, etc.

[0044] 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 sends an instruction signal to the curtain opening / closing device 13B based on data on the growth status 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 the instruction signal from the solar radiation amount control unit 13A, the curtain opening / closing device 13B opens or closes the shading curtain of the horticultural facility 1 to adjust the amount of photosynthesis of the cultivated plants Q.

[0045] 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 sends an instruction signal to the carbon dioxide generation device 14B based on data on the growth status determined by the growth determination unit 26. The carbon dioxide generation device 14B is equipped 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 and increases the amount of photosynthesis of the cultivated plants Q.

[0046] In addition to the above-mentioned devices, the horticultural facility 1 is also equipped with a heat storage device, a sterilizer, etc. These devices may be configured to be driven based on data on the growth status determined by the growth determination unit 26.

[0047] 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.

[0048] The growth determination unit 26 determines a discrimination value for the growth status of the cultivated plant Q based on the stem diameter D2 of the main stem 51, the length L of the main stem 51, and the state of the inflorescence part 53, etc. Then, the growth determination unit 26 transmits a control signal together with the value of the stem diameter D2, etc. to the irrigation control unit 11A, the fertilization control unit 12A, the solar radiation amount control unit 13A, the carbon dioxide amount control unit 14A, etc., depending on the size of the stem diameter D2, etc.

[0049] In an environment favorable for the growth of cultivated plant Q, the stem diameter D2 tends to increase and the length L of the main stem 51 tends to increase. At this time, the state of cultivated plant Q tends to be vegetative, and cultivated plant Q extends the main stem 51, spreads new branches and leaves 52, and spreads roots. If cultivated plant Q is too biased towards vegetative growth, it becomes prone to vine shriveling and end rot, which reduces the yield and distorts the shape of the fruit.

[0050] In an environment that is difficult for the cultivated plant Q to grow, the main stem 51 tends to become thinner and the length L of the main stem 51 tends to become shorter. At this time, the state of the cultivated plant Q tends to be reproductive growth, with the fruit cluster 54 growing vigorously. 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.

[0051] The irrigation control unit 11A controls irrigation based on a control signal from the growth determination unit 26. When the stem diameter D2 is thick, 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. When the stem diameter D2 is thin, the irrigation control unit 11A controls the irrigation device 11B and the spray device 11C to increase the amount of irrigation water for the cultivated plant Q.

[0052] The solar radiation control unit 13A controls the amount of solar radiation based on a control signal from the growth determination unit 26. When the stem diameter D2 is thick, the solar radiation control unit 13A drives the curtain opening / closing device 13B so that the shading curtain blocks sunlight. This suppresses photosynthesis of the cultivated plant Q and reduces the vigor of the cultivated plant Q. When the stem diameter D2 is thin, 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 increases the vigor of the cultivated plant Q.

[0053] The fertilization control unit 12A controls the amount of fertilization based on a control signal from the growth determination unit 26. The carbon dioxide amount control unit 14A controls the amount of carbon dioxide based on the determination value of the growth status of the cultivated plant Q. If the stem diameter D2 is thick, the fertilization control unit 12A does not operate the fertilizer application device 12B. If the stem diameter D2 is thick, the carbon dioxide amount control unit 14A does not operate the carbon dioxide generation device 14B. If the stem diameter D2 is thin, the fertilization control unit 12A operates the fertilizer application device 12B. If the stem diameter D2 is thin, the carbon dioxide amount control unit 14A operates the carbon dioxide generation device 14B.

[0054] [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 to 7. 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.

[0055] The shoot apex is recognized by the recognition unit 21. However, the location recognized as the shoot apex often varies depending on the state of growth 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 mark for the shoot apex. This mark is recognized below as the reference height position Rh.

[0056] The recognition unit 21 is configured to be able to recognize the inflorescence portion 53 differentiated from the upper part of the main stem 51. For this reason, as shown in the flowchart of FIG. 4, the recognition unit 21 determines whether the inflorescence portion 53 has differentiated from the upper part of the main stem 51 (step #01). If the inflorescence portion 53 is located at the uppermost position among the branch and leaf portions 52 and the inflorescence portion 53 differentiated from the main stem 51, the inflorescence portion 53 serves as a landmark. That is, when the recognition unit 21 recognizes the inflorescence portion 53 at the upper part of the cultivated plant Q (step #01: Yes), the stem diameter calculation unit 22 recognizes the position of the inflorescence portion 53 as the reference height position Rh (step #02, see FIG. 6). 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.

[0057] If the inflorescence 53 is not present at the top of the branch and leaf parts 52 and inflorescence parts 53 differentiated from the main stem 51, the upper end part of the main stem 51 becomes the landmark. In other words, if the recognition unit 21 does not recognize the inflorescence part 53 at the top of the cultivated plant Q (step #01: No), the stem diameter calculation unit 22 recognizes the position of the upper end part of the main stem 51 as the reference height position Rh (step #03, see Figure 7).

[0058] The main stem 51 extends vertically, and the stem diameter D2 varies depending on the vertical position of the main stem 51. The inventors of the present application faced the following two problems when calculating the stem diameter D2.

[0059] As shown in Figures 6 and 7, nodes 55 are formed on the main stem 51 as branching points where branched leaves 52 or inflorescences 53 arise. The nodes 55 are formed to be thicker than the original stem diameter D2 of the main stem 51. Therefore, the first problem is that the stem diameter calculation unit 22 may calculate the diameter of the nodes 55 instead of the stem diameter D2 that should be measured. In Figures 6 and 7, the portions of the main stem 51 located between the nodes 55 are shown as internodes 56.

[0060] The inventors of this application also measured the stem diameter D2 of each internode 56 between two adjacent nodes 55 on the main stem 51. As a result, they discovered that, as shown by the triangles in Figure 5, the stem diameter D2 of one internode 56 out of three consecutive internodes 56 tends to be smaller than the stem diameters D2 of the other two internodes 56. In other words, when measuring the stem diameter D2 of each internode 56, one in three internodes 56 periodically has a smaller stem diameter D2. This leads to a second problem: the stem diameter calculation unit 22 may calculate the stem diameter D2 of the periodically smaller portion instead of the actual stem diameter D2. This increases the risk of variations in the calculation results of the stem diameter D2.

[0061] To address the above two problems, the stem diameter D2 is calculated as follows: The stem diameter calculation unit 22 generates an approximation curve 61 of the main stem 51 and identifies the reference point 60 as a portion that is a set length Lh downward along the approximation curve 61 from the reference height position Rh (step #04). The set length Lh is, for example, 10 to 20 centimeters. The set length Lh may also be calculated appropriately depending on the type of cultivated plant Q, environmental conditions, etc.

[0062] The recognition unit 21 recognizes four nodes 55 in the main stem 51 near the reference point 60, which is located a set length Lh below the reference height position Rh on the cultivated plant Q (step #05). Specifically, the recognition unit 21 recognizes the node 55 (first node) closest to the reference point 60 by tracing the approximate curve 61 above the reference point 60, the second-closest node 55 (third node) by tracing the approximate curve 61 above the reference point 60, the node 55 (second node) closest to the reference point 60 by tracing the approximate curve 61 below the reference point 60, and the second-closest node 55 (fourth node) by tracing the approximate curve 61 below the reference point 60. As a result, the four nodes 55 in the vicinity of the reference point 60 are recognized along the approximate curve 61.

[0063] In addition, when a node 55 is positioned overlapping the reference point 60, the recognition unit 21 recognizes the node 55 that overlaps the reference point 60, the node 55 adjacent to the node 55 overlapping the reference point 60 on the top and bottom, and either the node 55 adjacent to the adjacent node 55 on the side opposite to the reference point 60 on the top or bottom.

[0064] That is, the recognition unit 21 is configured to recognize the first node 55 adjacent to the upper side of the reference point 60, the second node 55 adjacent to the lower side of the reference point 60, the third node 55 adjacent to the upper side of the first node, and the fourth node 55 adjacent to the lower side of the second node.

[0065] When the recognition unit 21 recognizes the four nodes 55 on the approximation curve 61, it recognizes three internodes 56 along the approximation curve 61 as the main stem 51 between two adjacent nodes 55. In other words, the recognition unit 21 recognizes the three internodes 56 located between the four nodes 55 (step #06).

[0066] That is, the recognition unit 21 is configured to recognize the first internode located between the first node and the second node as the internode 56, the second internode located between the first node and the third node as the internode 56, and the third internode located between the second node and the fourth node as the internode 56.

[0067] In this way, the recognition unit 21 recognizes the nodes 55, which are the points at which the inflorescence section 53 and the branch and leaf section 52 each differentiate from the main stem 51 of the cultivated plant Q captured in the image acquired by the imaging device 3A, and the internodes 56, which are the main stem 51 between two adjacent nodes 55 among the multiple nodes 55.

[0068] The stem diameter calculation unit 22 then calculates tangent lines 62 that contact the three internodes 56 at their longitudinal center points, and calculates normal lines that are perpendicular to these tangent lines 62. These normal lines cross 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. Therefore, 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, the recognition unit 21 recognizes the four nodes 55 and three internodes 56 along the approximation curve 61, and the stem diameter calculation unit 22 calculates the stem diameters D21, D22, and D23 in the normal direction (or approximately normal direction) of each of the three internodes 56 (step #07).

[0069] The stem diameter calculation unit 22 calculates the stem diameters D21, D22, and D23 of the three internodes 56. The stem diameter calculation unit 22 calculates the average value of the stem diameters D21, D22, and D23 of the three internodes 56 and regards this average value as the stem diameter D2 of the main stem 51 (step #08). This reduces the degree of variation in the calculation result of the stem diameter D2 of the main stem 51. As a result, the growth determination unit 26 can accurately determine the growth status data (discrimination value).

[0070] In this way, the stem diameter calculation unit 22 calculates the stem diameter D2 at the internode 56 recognized by the recognition unit 21.

[0071] [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 exemplified below.

[0072] (1) In the above-described embodiment, the recognition unit 21 recognizes four nodes 55 and three internodes 56 between the four nodes 55. However, without being limited to this embodiment, the recognition unit 21 may be configured to recognize nodes 55 from the upper end to the lower end of the main stem 51, for example, and to recognize the internode 56 between the upper node 55 and the lower node 55. That is, the recognition unit 21 recognizes the nodes 55 at which the inflorescence 53 and the branches and leaves 52 differentiate from the main stem 51 of the cultivated plant Q captured in the captured image acquired by the imaging device 3A, and the internode 56 that is the main stem 51 between two adjacent nodes 55 among the multiple nodes 55.

[0073] (2) In the above-described embodiment, the stem diameter calculation unit 22 is configured to calculate the average value of the stem diameters D21, D22, and D23 of the three internodes 56. However, without being limited to this embodiment, the stem diameter calculation unit 22 may be configured to regard the second largest or second smallest value among the stem diameters D21, D22, and D23 of the three internodes 56 as the stem diameter D2, rather than calculating the average value of the stem diameters D21, D22, and D23 of the three internodes 56.

[0074] (3) In the above-described embodiment, the stem diameter calculation unit 22 calculates the approximate 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 approximate 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.

[0075] (4) 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.

[0076] (5) In the above-described embodiment, tomatoes are exemplified as cultivated plants Q, but the cultivated plants Q are not limited to tomatoes and may be strawberries, melons, cucumbers, eggplants, gourds, bitter melons, paprika, green peppers, etc. Also, the cultivated plants Q are not limited to plants cultivated inside the horticultural facility 1 and may be plants cultivated outdoors. Furthermore, the ridges A do not have to be made of a non-porous hydrophilic film and may be cultivated soil.

[0077] (6) The growth determination unit 26 determines, as a discrimination value for the growth state, a value indicating whether the cultivated plant Q is in a tendency toward vegetative growth in which the main stem 51 grows, or reproductive growth in which the inflorescence portion 53 differentiated from the main stem 51 grows. Without being limited to this, the growth determination unit 26 can output a discrimination value for the stem diameter D2, a discrimination value for the length L of the main stem 51, a discrimination value for tree vigor, the future growth state of the branch and leaf portion 52, and statistics that enable the growth state to be grasped.

[0078] The configurations disclosed in the above-described embodiments (including other embodiments, the same applies hereinafter) can be applied in combination with the configurations disclosed in other embodiments, unless a contradiction arises. Furthermore, the embodiments disclosed in this specification are merely examples, and the present invention is not limited to these, and can be modified as appropriate within the scope of the present invention. [Industrial Applicability]

[0079] The present invention can be applied to a growth management system for managing the growth status of cultivated plants. [Explanation of symbols]

[0080] 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 55: Node (first joint, second joint, third joint, fourth joint) 56: Internodes (first internodes, second internodes, third internodes) 60: Reference point 61: Approximate curve D1: Distance measurement data D2: Stem diameter D21: Stem diameter D22: Stem diameter D23: Stem diameter L: Length of main stem Q: Cultivated plants Rh: Reference height position (reference height) Lh: Set length (predetermined length)

Claims

1. an imaging device for imaging cultivated plants; a recognition unit that recognizes nodes, which are locations at which inflorescences and branches and leaves differentiate from a main stem of the cultivated plant captured in an image acquired by the imaging device, and internodes, which are the main stem between two adjacent nodes among the plurality of nodes; a stem diameter calculation unit that calculates the stem diameter at the internode recognized by the recognition unit.

2. 2. The growth management system of claim 1, wherein the recognition unit is configured to identify a reference point on the main stem that is located a predetermined length below a reference height of the cultivated plant, and to recognize as the node a first node adjacent to the upper side of the reference point, a second node adjacent to the lower side of the reference point, and a first internode located between the first node and the second node.

3. the recognition unit is configured to recognize a third node adjacent to the first node on the upper side as the node, a fourth node adjacent to the second node on the lower side as the node, a second internode located between the first node and the third node as the internode, and a third internode located between the second node and the fourth node as the internode, 3. The growth management system according to claim 2, wherein the stem diameter calculation unit is configured to calculate the average value of the stem diameters of the first internode, the second internode, and the third internode.

4. A growth management system as described in any one of claims 1 to 3, wherein the stem diameter calculation unit is configured to calculate an approximate 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 approximate curve.

5. a distance measuring device that acquires distance measurement data in three-dimensional coordinates for the cultivated plant imaged by the imaging device; 4. A growth management system according to claim 1, wherein the stem diameter calculation unit is configured to calculate the stem diameter at the internode recognized by the recognition unit based on the three-dimensional coordinates.

6. The recognition unit is configured to be able to detect the inflorescence portion in a state where it has differentiated from the upper part of the main stem and has bloomed, 4. A growth management system as claimed in any one of claims 1 to 3, further comprising a growth determination unit that determines a discriminant value of the growth status indicating whether the cultivated plant is in a tendency towards vegetative growth in which the main stem grows or reproductive growth in which the inflorescence differentiated from the main stem grows, based on the length of the main stem between the upper end of the main stem and the inflorescence in a bloomed state.

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