Control device and transport system

Abstract

To irradiate an appropriate amount of light according to the degree of individual growth of a plant.SOLUTION: A control device that individually controls conveyance of each seedling of a plant set at a position of each of a plurality of sections provided in order along a conveyance direction of a conveyance lane, the control device including a light source installed above each seedling set at a position of each section of the conveyance lane, a distance from a reference plane of each seedling being different for each section, the distance increasing stepwise along the conveyance direction, A detection means for receiving a detection result from a sensor for detecting the degree of growth of each seedling set at the position of each section of the conveyance lane and detecting a seedling grown to a predetermined growth stage corresponding to each section, and a control means for controlling the conveyance lane and conveying the detected seedling to the position of the next section.SELECTED DRAWING: Figure 3

Description

[Technical Field]

[0001] The present invention relates to a control device for controlling the transportation of plant seedlings, and a transportation system. [Background technology]

[0002] Due to future population growth and global warming, it is expected that demand for plant factories capable of stable production of vegetables and other crops will increase. However, the initial investment and running costs are barriers to entry, and plant factories have not become widespread. A major factor in running costs is the electricity bill for lighting the plants. In many plant factories, the distance between the plants and the lighting is fixed regardless of the plant's growth state. As a result, when the plants are immature, the distance from the lighting is too great and the amount of light is insufficient, while when the plants are fully grown, the distance from the lighting is too close and the amount of light is too great, which can cause leaf burn. As a technique for adjusting the distance between the lighting and the plants without adjusting the amount of light, Patent Document 1 describes a technique for adjusting the illuminance according to the growth of the seedlings by tilting the lighting in the direction in which the seedlings are transported. Furthermore, Patent Document 2 describes changing the height of the lighting in response to changes in the weight of the plants as they grow. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2001-95383 [Patent Document 2] U.S. Patent No. 9,226,454 Summary of the Invention [Problem to be solved by the invention]

[0004] However, in Patent Document 1, all seedlings are moved in the same way, meaning that the plants are transported without detecting the growth rate of each individual plant, which can result in unnecessary distance between the plants and the lighting. Also, in Patent Document 2, the height of the lighting itself is changed based on the predicted height of the plants from their weight, which can lead to discrepancies with the actual height of the plants, resulting in unnecessary distance between the plants and the lighting.

[0005] Therefore, an object of the present invention is to irradiate plants with an appropriate amount of light according to the individual growth level of the plants. [Means for solving the problem]

[0006] The control device of the present invention is a control device that individually controls the transportation of each plant seedling set at each position in a plurality of sections arranged in sequence along the transport direction of a transport lane, and is characterized in that a light source is installed above each seedling set at a position in each section of the transport lane, and the distance from the reference plane of each seedling varies for each section, and the distance increases gradually along the transport direction, and the control device has a detection means that receives detection results from a sensor that detects the growth state of each seedling set at a position in each section of the transport lane, and detects seedlings that have grown to a predetermined growth stage corresponding to each section, and a control means that controls the transport lane and transports the detected seedlings to the position of the next section. [Effects of the Invention]

[0007] According to the present invention, it is possible to irradiate plants with an appropriate amount of light depending on the level of growth of each plant. [Brief explanation of the drawings]

[0008] [Figure 1] FIG. 1 is a diagram illustrating an example of the configuration of a transport system. [Figure 2] FIG. 2 illustrates an example of the configuration of a server. [Figure 3] 4A to 4C are explanatory diagrams illustrating the operation of the transport system according to the first embodiment. [Figure 4]4 is a flowchart showing a transport control process according to the first embodiment. [Figure 5] 10 is an explanatory diagram of the operation of the transport system according to the second embodiment. FIG. [Figure 6] 10 is a flowchart showing a transport control process according to the second embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0009] Hereinafter, an embodiment of the present invention will be described in detail with reference to the accompanying drawings. Note that the embodiment described below is an example for realizing the present invention, and should be appropriately modified or changed depending on the configuration of the device to which the present invention is applied and various conditions, and the present invention is not limited to the following embodiment.

[0010] [Embodiment 1] FIG. 1 shows an example of the configuration of a transport system according to this embodiment. In this embodiment, a case where the transport system is applied to a plant factory will be described. The transport system according to this embodiment includes a transport device 101 that transports plant seedlings, a sensor 105 that detects the growth level of the seedlings, light sources 107 to 110 that irradiate the seedlings with light, and a server 100 that is connected to the transport device 101 and the sensor 105. In the following drawings, the left-right direction of the transport device 101 is shown as the X-axis direction, the front-rear direction of the transport device 101 as the Y-axis direction, and the up-down direction as the Z-axis direction, as appropriate. The X-axis direction, Y-axis direction, and Z-axis direction are all perpendicular to each other.

[0011] In this embodiment, the conveying device 101 is described as being installed so that the Z-axis direction is parallel to the vertical direction, but depending on the direction of travel of the production line, it may be installed so that the X-axis direction is parallel to the vertical direction or so that the Y-axis direction is parallel to the vertical direction. For example, the conveying device may be installed on a wall surface and convey seedlings facing downward.

[0012] FIG. 1(a) shows a plan view of the transport system. The server 100 is a server device such as an information processing device, and communicates with the transport device 101 to control the operation of the transport device 101. The server 100 is an example of a control device. The server 100 and the transport device 101 may be connected directly or via a network. The transport device 101 has multiple transport lanes 103, 104 arranged side by side along the Y-axis direction (front-rear direction). The transport lane 103 transports seedlings 111-114. The transport lane 104 transports seedlings 115-118.

[0013] The conveying device 101 has a length that allows multiple seedlings to be lined up and set along the conveying direction 106. The number of seedlings that can be set in each conveying lane can be changed as needed, but the following description will assume four. The conveying direction 106 is parallel to the X-axis direction. The conveying device 101 is a belt conveyor or roller-type conveying device that can convey each seedling individually. For example, when seedling 111 is conveyed to the position of seedling 112, it is configured so that seedlings 113 and 114, which were placed earlier in the conveying direction 106, are not conveyed at the same time. Under the control of the server 100, the conveying device 101 individually conveys seedlings 111 to 114 lined up in the conveying lane 103 and seedlings 115 to 118 lined up in the conveying lane 103 along the conveying direction 106. The number of conveying lanes that the conveying device has may be one or three or more.

[0014] The positions of the multiple seedlings arranged in order in the transport lanes 103 and 104 are equidistant along the transport direction 106 and are consistent between lanes. In the transport lanes 103 and 104, seedlings 111 and 115 are placed in the first position counting from the upstream side of the transport direction 106, seedlings 112 and 116 are placed in the second position, seedlings 113 and 117 are placed in the third position, and seedlings 114 and 118 are placed in the fourth position. Hereinafter, the Nth (N≧1) seedling position in each lane will be referred to as the Nth section. For example, the position where the first seedling is set will be referred to as the first section, and the position where the second seedling is set will be referred to as the second section. Each seedling can be identified by the lane number and section number of the transport lane in which it is set. The seedlings 111 to 118 in FIG. 1(a) are represented by the size of the circle, which indicates the size (growth level) of the plant seedling. The size of the circle increases toward the transport direction 106.

[0015] The sensor 105 detects whether the seedlings have exceeded a predetermined height. The sensor 105 communicates with the server 100 and outputs the detection result to the server 100. The server 100 and the sensor 105 may be connected directly or via a network. The sensor 105 is installed in accordance with the position of each section of the transport lanes 103 and 104. The sensor 105 is also configured as a pair of sensors and is installed so as to sandwich the seedlings in the same section of the transport lanes 103 and 104. The sensor 105 detects whether each seedling has exceeded a predetermined height. The configuration of the sensor 105 is not limited to this, and it may be configured as an imaging device that can detect whether each seedling has exceeded a predetermined size by image analysis of an image of each seedling, as long as it is a device that can detect that each seedling has reached a predetermined growth stage.

[0016] Figure 1(b) is a front view (viewpoint A in Figure 1(a)) of the conveying lane 103 of the conveying system shown in Figure 1(a). Figure 1(b) shows a state in which the second seedling 112 is larger than the first seedling 111, and a state in which the third seedling 113 is larger than the second seedling 112 from the left. Also, a state in which the fourth seedling 114 is larger than the third seedling 113 from the left. In this way, the size of the plants increases along the conveying direction 106.

[0017] The light sources 107-110 are lights, such as LED lights, that illuminate the seedlings 111-114. The light sources 107-110 are installed at different heights so that the distance from the reference surface of the seedlings to the light sources increases in stages in the transport direction 106. The light sources 107-110 are also installed above the seedlings in the transport lanes 103 and 104, aligned with the position of each section.

[0018] Next, the configuration of the server 100 will be described. 2(a) is a diagram showing the hardware configuration of the server 100. The server 100 has a CPU 201, a RAM 202, a ROM 203, and a communication I / F 204. The CPU 201 controls the entire server 100. The CPU 201 may cause a GPU to execute part or all of the processing. The CPU 201 implements the processing shown in the flowchart described below by loading a program stored in the ROM 203 into the RAM 202 and executing it.

[0019] The RAM 202 is used as a working area for expanding programs read from the ROM 203 and as a buffer memory for temporarily storing various types of information. The ROM 203 stores programs and data necessary for various processes. The communication I / F 204 is a communication interface for communicating with external devices such as the conveying device 101 and the sensor 105 via a wired or wireless communication path. The server 100 may also have an input unit for inputting user operations and a display unit for displaying various types of information.

[0020] 2(b) is a diagram showing the functional configuration of the server 100. The server 100 functions as a detection unit 210 and a transport control unit 211 by executing a program stored in a ROM 203. The detection unit 210 receives detection results from the sensor 105 via the communication I / F 204, detects seedlings (target seedlings) that have exceeded the growth stage (predetermined height) corresponding to the section handled by the sensor 105, and provides the detection results to the transport control unit 211. The transport control unit 211 controls the operation of the transport device 101 based on the detection results provided by the detection unit 210. In this embodiment, the transport control unit 211 is configured to increase the distance between the seedlings and the light source along the transport direction 106. The transport control unit 211 transports the target seedlings in the transport direction 106 to prevent the distance between the seedlings and the light source from becoming too close.

[0021] Next, the operation of the conveying system according to this embodiment will be described. FIG. 3(a) is a plan view of the conveying system as seen from above. FIG. 3(b) is a front view of the conveying lane 341 of the conveying system shown in FIG. 3(a) as seen from the front (perspective B in FIG. 3(a)). FIG. 3(c) is a side view of the conveying system shown in FIG. 3(a) as seen from the left (perspective C in FIG. 3(a)). Here, an example is shown in which the conveying device 310 has four conveying lanes 341 to 344. The conveying lane 341 conveys seedlings 302, 312, 322, and 332. The conveying lane 342 conveys seedlings 302, 313, 323, and 333. The conveying lane 343 conveys seedlings 304, 314, 324, and 334. The conveying lane 344 conveys seedlings 305, 315, 325, and 335. The conveying direction 300 is parallel to the X-axis direction.

[0022] Here, seedlings 302 to 305 are set in the first section of transport lanes 341 to 344, seedlings 312 to 315 are set in the second section, seedlings 322 to 325 are set in the third section, and seedlings 332 to 335 are set in the fourth section. Seedling growth varies from one seedling to another, resulting in variations in size. In the first section, seedling 304 is shown to have grown better and been larger than seedlings 302, 303, and 305. Similarly, in the second section, seedling 313 is shown to have grown better and been larger than seedlings 312, 314, and 315. Similarly, in the third section, seedling 322 is shown to have grown better and been larger than seedlings 323, 324, and 325. Similarly, in the fourth section, seedling 335 is shown to have grown better and been larger than seedlings 332, 333, and 334.

[0023] Sensors 301 and 306 correspond to the pair of sensors in sensor 105 in FIG. 1(a) and detect whether the seedlings have exceeded a predetermined height. Sensors 301 and 306 detect the height of seedlings 302 to 305 in the first section. Similarly, sensors 311 and 316 detect the height of seedlings 312 to 315 in the second section. Similarly, sensors 321 and 326 detect the height of seedlings 322 to 325 in the third section. Similarly, sensors 331 and 336 detect the height of seedlings 332 to 335 in the fourth section. In other words, sensors 301, 311, 321, and 331 correspond to section numbers.

[0024] As shown in Figure 3(c), the sensors 301 and 306 in the first section are installed facing each other and detect whether the seedlings 302 to 305 in the first section placed between them have exceeded a predetermined height. The sensors 301 and 306 are, for example, optical distance sensors, and can measure the distance to seedlings that have exceeded the predetermined height. In other words, the sensors 301 and 306 can detect which transport lane the seedlings set in have exceeded the predetermined height.

[0025] The sensors 301, 306 in the first section detect seedlings that are lower in height than the sensors 311, 316 in the second section. The sensors 311, 316 in the second section detect seedlings that are lower in height than the sensors 321, 326 in the third section. The sensors 321, 326 in the third section detect seedlings that are lower in height than the sensors 331, 336 in the fourth section. In this way, the sensors 301, 311, 321, 331 are installed so that the height of the seedlings they detect increases in the conveying direction 300. In this embodiment, the sensors 301, 311, 321, 331 are installed so that the height (growth stage) of the seedlings they detect increases stepwise as the corresponding section number increases.

[0026] In FIG. 3(c), in the first section, the seedling 304 is larger than the other seedlings 302, 303, and 305, so the sensors 301 and 306 in the first section detect that the height of the seedling 304 exceeds a predetermined height. Also, Figure 3(c) shows that light sources 361 to 364 are installed above seedlings 302 to 305 in the first section at the same height as transport lanes 341 to 344. Also, Figure 3(b) shows that light sources 361, 371, 381, and 391 in transport lane 341 are installed above seedlings 302, 312, 322, and 332 in transport lane 341 so that the distance from the seedlings increases in stages as the section number increases.

[0027] In this embodiment, the detection unit 210 of the server 100 detects the lane number of the transport lane in which the seedlings that have exceeded a predetermined height are set, based on the detection results received from the sensor 105. The transport control unit 211 of the server 100 then controls the transport lane with the detected lane number, and transports the seedlings with the section number corresponding to the sensor 105 that received the detection result to the position of the next section number.

[0028] In Figure 3(a), the detection unit 210 of the server 100 detects the transport lane 343 in which the seedlings 304 that have exceeded a predetermined height are set, based on the detection results received from the sensors 301 and 306. The transport control unit 211 of the server 100 then controls the detected transport lane 343 to transport the seedlings 304 in the first section, which is the section number corresponding to the sensors 301 and 306, to the position of the second section.

[0029] Similarly, the detection unit 210 of the server 100 detects the transport lane 342 in which the seedlings 313 that have exceeded a predetermined height are set, based on the detection results received from the sensors 311 and 316. The transport control unit 211 of the server 100 then controls the detected transport lane 342 to transport the seedlings 313 in the second section, which is the section number corresponding to the sensors 311 and 316, to the position of the third section.

[0030] Similarly, the detection unit 210 of the server 100 detects the transport lane 341 in which the seedlings 322 that have exceeded a predetermined height are set, based on the detection results received from the sensors 321 and 326. The transport control unit 211 of the server 100 then controls the detected transport lane 341 to transport the seedlings 322 in the third section, which is the section number corresponding to the sensors 321 and 326, to the position of the fourth section. In this way, when the server 100 receives a detection result from the sensor 105 indicating that the seedling has grown and exceeded a predetermined height, it controls the transport lane in which the seedling that has exceeded the predetermined height (the target seedling) is set, and transports the target seedling to the position of the next section.

[0031] Figure 4 shows a flowchart of the transport control process executed by the server 100 of the transport system according to this embodiment. The process shown in the flowchart in Figure 4 is realized by the CPU 201 of the server 100 reading a program stored in the ROM 203 or the like into the RAM 202 and executing it. In the following explanation, each process (step) is represented by adding an S to the beginning, and the process (step) is notated. When the flowchart in Figure 4 starts, seedlings are set on the transport device 310.

[0032] In S401, the CPU 201 receives the detection result from the sensor 105 and determines whether or not there are any seedlings that have exceeded a predetermined height. If the CPU 201 determines that there are any seedlings that have exceeded the predetermined height, the process proceeds to S402. If the CPU 201 determines that there are no seedlings that have exceeded the predetermined height, the process returns to S401. In S402, the CPU 201 detects the lane number of the transport lane in which the seedling (target seedling) that has exceeded a predetermined height is set from the detection result received in S401. Then, the CPU 201 controls the transport lane with the detected lane number to transport the seedling (target seedling) with the section number corresponding to the sensor 105 that received the detection result to the position of the next section number.

[0033] In S403, the CPU 201 determines whether or not there are seedlings set on the transport device 310. If the CPU 201 determines that there are seedlings set on the transport device 310, the process returns to S401. If the CPU 201 determines that there are no seedlings set on the transport device 310, the transport control process shown in FIG. 4 ends.

[0034] According to the above-described embodiment 1, the seedlings can be transported under lighting whose height is gradually changed according to the individual growth condition of the seedlings, thereby ensuring that the amount of light for the seedlings is kept appropriate.

[0035] [Embodiment 2] In the first embodiment, transportation may be delayed if there are other seedlings in the destination section. Therefore, in the second embodiment, a transportation system is described that adds an area where seedlings transported to each section can temporarily wait. Explanations of the same parts as in the first embodiment will be omitted, and the explanation will focus on the parts that are different from the first embodiment.

[0036] The operation of the conveyance system according to this embodiment will be described. FIG. 5(a) is a plan view of the conveyance system as seen from above. FIG. 5(b) is a front view of a conveyance lane 541 of the conveyance system shown in FIG. 5(a) as seen from the front (perspective B in FIG. 5(a)). FIG. 5(c) is a side view of the conveyance system shown in FIG. 5(a) as seen from the left (perspective C in FIG. 5(a)). Here, as in the first embodiment, an example is shown in which the conveyance device 510 has four conveyance lanes 541 to 544. The conveyance lanes 541 to 544 correspond to the conveyance lanes 341 to 344. The sensors 501 and 506 correspond to the sensors 301 and 306, the sensors 511 and 516 correspond to the sensors 311 and 316, the sensors 521 and 526 correspond to the sensors 321 and 326, and the sensors 531 and 536 correspond to the sensors 331 and 336. The conveyance direction 500 is parallel to the X-axis direction.

[0037] In this embodiment, an area (hereinafter referred to as a buffer area) for temporarily waiting seedlings transported from the first section to the second section is provided between seedlings 502-505 in the first section and seedlings 512-515 in the second section. In other words, the second section is made up of a buffer area (areas 562-565) provided downstream of the seedlings 502-505 in the first section, and an area (hereinafter referred to as a sensor area) provided downstream of the buffer area where the height of the seedlings is detected by sensors 511, 516.

[0038] Similarly, the third section is made up of a buffer area (areas 572-575) provided to the right of the seedlings 512-515 in the second section, and a sensor area provided to the right of that, where the height of the seedlings is detected by sensors 521 and 526. Similarly, the fourth section is made up of a buffer area (areas 582-585) provided to the right of the seedlings 522-525 in the third section, and a sensor area provided to the right of that, where the height of the seedlings is detected by sensors 531 and 536.

[0039] In this embodiment, a buffer area and a sensor area are provided at the position of each section. Note that, although an example is shown in which the buffer area of ​​each lane can hold one seedling, it may be configured to be able to hold two or more seedlings.

[0040] Furthermore, buffer areas 582-585 of the fourth section are the destinations for seedlings 522-525 in the sensor area of ​​the third section. For example, suppose that sensors 521 and 526 in the sensor area of ​​the third section detect that the height of seedling 522 exceeds a predetermined height. In this case, server 100 controls transport lane 541 in which seedling 522 is set, and transports seedling 522 from the third section to buffer area 582 of the fourth section.

[0041] FIG. 5(b) differs from FIG. 3(b) in that buffer regions 562, 572, 582 and light sources 576, 586, 596 have been added between seedling 502 and seedling 512, between seedling 512 and seedling 522, and between seedling 522 and seedling 532, respectively.

[0042] To explain this in more detail using FIG. 5(b), light source 576 that illuminates buffer area 562 of the second section is installed at the same height as light source 571 that is installed above seedling 512 of the second section. Similarly, light source 586 that illuminates buffer area 572 of the third section is installed at the same height as light source 581 that is installed above seedling 522 of the third section. Similarly, light source 596 that illuminates buffer area 582 of the fourth section is installed at the same height as light source 591 that is installed above seedling 532 of the fourth section. Also, as in embodiment 1, light sources 561, 571, 581, 591 are installed so that the distance from the seedling's reference plane increases stepwise as the section number increases.

[0043] In this embodiment, the detection unit 210 of the server 100 detects the lane number of the transport lane in which the seedlings exceeding a predetermined height are set based on the detection results received from the sensor 105. The transport control unit 211 of the server 100 then controls the transport lane with the detected lane number to transport the seedlings with the section number corresponding to the sensor 105 that received the detection result to the position of the buffer area for the next section number. As a result, for example, if seedling 523 in the third section of transport lane 542 has not yet grown to the predetermined height and seedling 513 in the second section of the same lane exceeds the predetermined height, seedling 523 will not be transported in conjunction with seedling 513. This allows seedling 523 to continue to be exposed to light from the light source at the height of the third section. Note that the configurations in Figures 5(c) and 3(c) are similar.

[0044] In this way, when transporting a seedling (first seedling) that has exceeded a predetermined height to the position of the next section, the server 100 can transport the first seedling to the buffer area of ​​the destination section. This prevents the second seedling from being transported to the next stage while still below the predetermined height, which would otherwise cause a domino effect, even if the second seedling is growing slowly and has not yet reached the predetermined height in the destination section, and allows the second seedling to be irradiated with an appropriate amount of light.

[0045] 6 shows a flowchart of the transport control process executed by the server 100 of the transport system according to this embodiment. At the start of the flowchart in FIG. In S601, the CPU 201 receives the detection result from the sensor 105 and determines whether or not there are any seedlings that have exceeded a predetermined height. If the CPU 201 determines that there are any seedlings that have exceeded the predetermined height, the process proceeds to S602. If the CPU 201 determines that there are no seedlings that have exceeded the predetermined height, the process returns to S601.

[0046] In S602, the CPU 201 detects the lane number of the transport lane in which the seedlings (target seedlings) that have exceeded a predetermined height are set from the detection result received in S601. Then, the CPU 201 controls the transport lane with the detected lane number to transport the seedlings (target seedlings) with the section number corresponding to the sensor 105 that received the detection result to the buffer area with the next section number.

[0047] In S603, the CPU 201 controls the transport lane of the detected lane number to transport the seedlings in the buffer area of ​​the section number before the target seedling is transported to the sensor area of ​​the same section number.

[0048] In S604, the CPU 201 determines whether or not there are seedlings set on the transport device 510. If the CPU 201 determines that there are seedlings set on the transport device 510, the process returns to S601. If the CPU 201 determines that there are no seedlings set on the transport device 510, the transport control process shown in FIG. 6 ends.

[0049] According to the second embodiment described above, when a seedling reaches the growth stage of a given section, the seedling is transported to the next section, even if the seedlings in the next section have not yet reached that stage. The seedlings transported to the next section can then be temporarily placed on standby until the seedlings already in the destination section reach the growth stage of that section. This allows the amount of light to be increased for fast-growing individuals when they reach a predetermined growth stage, while slow-growing individuals can be irradiated with the amount of light necessary to reach the predetermined growth stage. In other words, the appropriate amount of light can be irradiated in stages according to the individual growth of each plant seedling.

[0050] (Other embodiments) The present invention can also be realized by supplying a program that realizes one or more functions of the above-described embodiments to a system or device via a network or a storage medium, and having one or more processors in the computer of the system or device read and execute the program.The present invention can also be realized by a circuit (e.g., ASIC) that realizes one or more functions.

[0051] The disclosure of this embodiment includes the following configuration, method, and program. (Configuration 1) A control device that individually controls the transport of each plant seedling set at each position in a plurality of sections arranged in order along the transport direction of the transport lane, Above each seedling set at a position in each section of the transport lane, a light source is installed at a different distance from the reference plane of each seedling for each section, and the distance increases stepwise along the transport direction; a detection means for receiving detection results from sensors that detect the growth state of each seedling set at the position of each section of the conveying lane, and detecting seedlings that have grown to a predetermined growth stage corresponding to each section; a control means for controlling the transport lane to transport the detected seedling to a position in the next section; A control device comprising: (Configuration 2) The sensors are provided in correspondence with each section of the transportation lane, the detecting means detects a section number corresponding to the sensor that detected the seedling that has grown to the predetermined growth stage; The control device according to configuration 1, wherein the control means transports the seedlings corresponding to the detected section number to a position corresponding to the next section number. (Configuration 3) The plurality of transport lanes are arranged in a row in order so that the positions of the sections coincide with each other, The sensor detects the growth state of each seedling set at the position of each section in the plurality of conveying lanes, the detection means detects the lane number of the transport lane onto which the seedlings that have grown to the predetermined growth stage are set; 3. The control device according to configuration 2, wherein the control means controls the transportation lane having the detected lane number. (Configuration 4) Each section is provided with a first area and a second area where seedlings can be placed, the first region is located downstream of the second region in the transport direction, the detection means detects seedlings that have grown to the predetermined growth stage and are to be set in the first area; 4. The control device according to any one of configurations 1 to 3, wherein the control means transports the detected seedlings to the second area in the next section. (Configuration 5) The control device described in configuration 4 is characterized in that after the control means transports the detected seedlings to the second area in the next section, the control means transports the seedlings set in the second area in the previous section to the first area in the previous section. (Configuration 6) a conveying device that conveys each plant seedling set at a position in each of a plurality of sections that are provided in order along the conveying direction of the conveying lane; A light source is installed above each seedling set at the position of each section of the transport lane so that the distance from the reference plane of each seedling increases stepwise for each section along the transport direction; A sensor for detecting the growth state of each seedling set at the position of each section of the transport lane; A control device that individually controls the transport of each seedling set at a position in each section of the transport lane; A conveying system having: a detection means for receiving the detection results from the sensors and detecting seedlings that have grown to a predetermined growth stage corresponding to each section; a control means for controlling the transport lane to transport the detected seedling to a position in the next section; A transport system comprising: (Configuration 7) 7. The conveying system according to configuration 6, wherein the conveying direction of the conveying lane is parallel to the vertical direction. (method) A control device that individually controls the transport of each plant seedling set at each position in a plurality of sections arranged in order along the transport direction of the transport lane, Above each seedling set at a position in each section of the transport lane, a light source is installed at a different distance from the reference plane of each seedling for each section, and the distance increases stepwise along the transport direction; a detection step of receiving detection results from sensors that detect the growth state of each seedling set at the position of each section of the conveying lane and detecting seedlings that have grown to a predetermined growth stage corresponding to each section; a control step of controlling the transport lane to transport the detected seedlings to a position in the next section; A control method comprising: (program) A program for causing a computer to function as each means of the control device according to any one of configurations 1 to 5. [Explanation of symbols]

[0052] 100: Server, 101, 310, 510: Conveyor device, 103, 104, 341 to 344, 541 to 544: Conveyor lane, 105, 301, 306, 311, 316, 321, 326, 331, 336, 501, 506, 511, 516, 521, 526, 531, 536: Sensor, 107~ 110,361~364,371,381,391,561~564,571,576,581,586,591,596: Light source, 111~118 ,302~305,312~315,322~325,332~335,502~505,512~515,522~525,532~535: Seedling

Claims

1. A control device that individually controls the transport of each plant seedling set at each position in a plurality of sections arranged in order along the transport direction of the transport lane, Above each seedling set at a position in each section of the transport lane, a light source is installed at a different distance from the reference plane of each seedling for each section, and the distance increases stepwise along the transport direction; a detection means for receiving detection results from sensors that detect the growth state of each seedling set at the position of each section of the conveying lane, and detecting seedlings that have grown to a predetermined growth stage corresponding to each section; a control means for controlling the transport lane to transport the detected seedling to a position in the next section; A control device comprising:

2. The sensors are provided in correspondence with each section of the transportation lane, the detecting means detects a section number corresponding to the sensor that detected the seedling that has grown to the predetermined growth stage; 2. The control device according to claim 1, wherein the control means transports the seedlings corresponding to the detected section number to a position corresponding to the next section number.

3. The plurality of transport lanes are arranged in a row in order so that the positions of the sections coincide with each other, The sensor detects the growth state of each seedling set at the position of each section in the plurality of conveying lanes, the detection means detects the lane number of the transport lane onto which the seedlings that have grown to the predetermined growth stage are set; 3. The control device according to claim 2, wherein the control means controls the transportation lane having the detected lane number.

4. Each section is provided with a first area and a second area in which seedlings can be placed, the first region is located downstream of the second region in the transport direction, the detection means detects seedlings that have grown to the predetermined growth stage and are to be set in the first area; 2. The control device according to claim 1, wherein the control means transports the detected seedlings to the second area in the next section.

5. The control device described in claim 4, characterized in that the control means transports the detected seedlings to the second area in the next section, and then transports the seedlings set in the second area in the previous section to the first area in the previous section.

6. a conveying device that conveys each plant seedling set at a position in each of a plurality of sections that are provided in order along the conveying direction of the conveying lane; A light source is installed above each seedling set at the position of each section of the transport lane so that the distance from the reference plane of each seedling increases stepwise for each section along the transport direction; A sensor for detecting the growth state of each seedling set at the position of each section of the transport lane; A control device that individually controls the transport of each seedling set at a position in each section of the transport lane; A conveying system having: a detection means for receiving the detection results from the sensors and detecting seedlings that have grown to a predetermined growth stage corresponding to each section; a control means for controlling the transport lane to transport the detected seedling to a position in the next section; A transport system comprising:

7. 7. The conveying system according to claim 6, wherein the conveying direction of the conveying lanes is parallel to the vertical direction.

8. A control device that individually controls the transport of each plant seedling set at each position in a plurality of sections arranged in order along the transport direction of the transport lane, Above each seedling set at a position in each section of the transport lane, a light source is installed at a different distance from the reference plane of each seedling for each section, and the distance increases stepwise along the transport direction; a detection step of receiving detection results from sensors that detect the growth state of each seedling set at the position of each section of the conveying lane and detecting seedlings that have grown to a predetermined growth stage corresponding to each section; a control step of controlling the transport lane to transport the detected seedlings to a position in the next section; A control method comprising:

9. A program for causing a computer to function as each means of the control device according to any one of claims 1 to 5.

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