Seedling transplantation system and transplantation method used therein

Abstract

To provide a seedling transplanting system that can transplant seedlings while removing bad ones, and a transplanting method for use therein.SOLUTION: A seedling transplanting system has: a transplant device that separates seedlings from a seedbed for each unit and put them into a hydroponic panel to secure larger distance between each seedling; a first camera that captures an image of the hydroponic panel including the transplanted seedlings; and a transplanter that locates the coordinates of the hydroponic panel and the coordinates of transplanted seedlings in the hydroponic panel by image processing based on an image captured by the first camera, diagnoses the state of the seedlings in the hydroponic panel based on the located coordinates, and performs transplanting based on the results of the diagnosis.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a seedling transplanting system that separates grown seedlings from a seedbed and transplants them into a hydroponic panel that ensures greater spacing between seedlings. [Background technology]

[0002] In conventional hydroponic cultivation, seeds are sown and germinated in beds where the seedlings are planted. The seedlings are planted in beds that are divided into vertical and horizontal sections. When the seedlings grow large, they are transplanted to hydroponic panels using a transplanting device to ensure sufficient spacing between the seedlings.

[0003] Prior art in this technical field is found in Patent Document 1. Patent Document 1 discloses a seedling transplanting device that is unlikely to injure seedlings when transplanting unit seedbeds, and includes a seedling tray supported by a frame that supports a seedbed in which unit seedbeds are arranged in two directions on a plane, a hydroponic panel that is supported by the frame and into which the unit seedbeds on the seedling tray are transplanted and has holes formed therein into which the unit seedbeds fit, and a holding member that is supported by the frame so as to be rotatable about a vertical axis and able to move up and down, and that holds the unit seedbeds on the seedling tray separately from the seedbeds and inserts and removes the unit seedbeds held in the holes in the hydroponic panel, and the holding member holds unit seedbeds arranged on the outermost periphery of the seedbeds and having sides to which unit seedbeds are not adjacent from the seedbeds in the width direction, thereby separating them from the seedbeds. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] International Publication No. 2019 / 230408 Summary of the Invention [Problem to be solved by the invention]

[0005] Due to various conditions, seedlings grown in a unit seedbed may grow normally, grow poorly, or not germinate or grow at all, so it is not easy to grow seedlings in a completely uniform manner.

[0006] In Patent Document 1, the automatic transplanting device simply transplants unit seedbeds to predetermined locations, but does not consider the need to eliminate and transplant poor seedlings or those that have not germinated, making it difficult to do so. Furthermore, in order to increase cultivation efficiency and yield, it is necessary to replace poor seedlings or non-germinated unit seedbeds with good seedlings, but currently, this is done manually, which is a time-consuming process.

[0007] In view of the above problems, the present invention provides a seedling transplanting system and a transplanting method for use therewith that can eliminate defective seedlings and transplant them. [Means for solving the problem]

[0008] One example of the present invention is a seedling transplanting system that includes a transplanting device that separates seedlings from a seedbed into individual seedbeds and transplants them into hydroponic panels that ensure greater distances between seedlings, a first camera that photographs the hydroponic panel with the transplanted seedlings, and a transplanting machine that uses image processing to set coordinates for the position of the hydroponic panel and the position of the transplanted seedlings within the hydroponic panel from the image taken by the first camera, diagnoses the condition of the seedlings within the hydroponic panel based on the set coordinates, and transplants the seedlings based on the results of the diagnosis. [Effects of the Invention]

[0009] According to the present invention, it is possible to provide a seedling transplanting system and a transplanting method used therefor that can eliminate defective seedlings and transplant them. [Brief explanation of the drawings]

[0010] [Figure 1] FIG. 1 is a schematic diagram of a seedling transplanting system according to an embodiment. [Figure 2] FIG. 2 is an enlarged schematic diagram of the transplant device in FIG. 1. [Figure 3] FIG. 2 is an enlarged schematic diagram of the coordinate setting camera portion in FIG. 1. [Figure 4] FIG. 2 is an enlarged schematic diagram of the transplanting machine portion in FIG. 1. [Figure 5] 1 is a flowchart showing a process for transplanting seedlings in an embodiment. [Figure 6] FIG. 10 is another schematic diagram of the transplant device according to the embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0011] Hereinafter, an embodiment of the present invention will be described with reference to the drawings. [Example]

[0012] Fig. 1 is a schematic diagram of the seedling transplanting system in this embodiment. In Fig. 1, the seedling transplanting system mainly comprises a hydroponic panel 10, a transplanting device 20, a coordinate setting camera 30, and a transplanting machine 40.

[0013] The transplanting device 20 separates seedlings germinated from seeds or grown seedlings from a seedbed (not shown) into individual seedlings and transplants them into the hydroponic panel 10 to ensure greater spacing between seedlings.

[0014] The coordinate setting camera 30 is placed in a position where it can photograph the entire hydroponic panel 10 with the transplanted seedlings, in order to set the coordinates of the hydroponic panel position and the seedling position.

[0015] The transplanting machine 40 is a multi-axis robot that uses a diagnostic camera attached to the hand to diagnose the detailed condition of the seedlings through image processing, eliminates defective seedlings, and transplants them.

[0016] The seedling transplanting system of this embodiment will be described in detail below.

[0017] Fig. 2 is an enlarged schematic diagram of the transplanting device 20 in Fig. 1. In Fig. 2, the transplanting device 20 has a holding member 21 supported by a frame (not shown), gripping claws 22 for gripping seedlings, and a transplanting camera 23. The transplanting device 20 uses a control device (not shown) to process images taken by the transplanting camera 23 to determine the position of the hydroponic panel 10 to which the seedlings are to be transplanted and the position of the hole 11 on the hydroponic panel 10 to which the seedlings are to be transplanted, which will be described later, and then transplants the seedlings from the seedbed to the hydroponic panel 10.

[0018] Figure 3 is a schematic diagram showing an enlarged view of the coordinate-setting camera 30 in Figure 1. In Figure 3, the seedling transplantation system has a support member 15 that supports the coordinate-setting camera 30, which moves on the support member 15 as shown by the arrow, photographing a certain area of ​​the hydroponic panel 10 in blocks or photographing each seedling individually. Images taken by the coordinate-setting camera 30 are processed by a control device (not shown) to set coordinates for the position of the hydroponic panel 10 and the positions of multiple unit seedlings within the hydroponic panel 10. Note that the coordinate-setting camera 30 does not need to move or photograph in blocks as long as it can photograph the entire hydroponic panel 10 in one go.

[0019] Figure 4 is a schematic diagram showing an enlarged view of the transplanting machine 40 in Figure 1. In Figure 4, the transplanting machine 40 is a multi-axis robot that uses a diagnostic camera 41 attached to its hand to capture detailed images of the seedlings in the unit seedbeds 12 transplanted into the holes 11 on the hydroponic panel 10, based on the coordinate positions of the hydroponic panel and the seedlings.

[0020] As shown in Figure 4, the seedling conditions include normal seedling A, poorly grown seedling B, no seedling C, and improperly planted seedling D, such as seedlings at an angle or protruding from holes 11. Therefore, the transplanting machine 40 uses a control device (not shown) to process images taken by the diagnostic camera 41 and diagnose the detailed conditions of the seedlings as described above. In order to diagnose the condition of the seedlings, for example, multiple image data showing the condition of the seedlings are prepared in advance, and by referring to this image data, the control device diagnoses whether the seedling is normal, defective, etc.

[0021] Figure 5 is a flowchart of the seedling transplantation process in this embodiment. In Figure 5, first, in step S11, the position of the hydroponic panel 10 is set to a predetermined position where the coordinate-setting camera 30 can capture an image of the entire panel. Then, in step S12, the coordinate-setting camera 30 captures an image that identifies the hydroponic panel 10 and the positions of the multiple unit seedlings within the hydroponic panel 10, as an image for coordinate setting. Then, in step S13, the image captured by the coordinate-setting camera 30 is processed by the control device to obtain image data, and the position of the hydroponic panel 10 and the positions of the multiple unit seedlings within the hydroponic panel 10 are set as coordinates.

[0022] Next, in step S14, the diagnostic camera 41 of the transplanter 40 photographs the condition of each seedling based on the coordinate positions of the hydroponic panel and the seedling's location to diagnose the seedlings. Then, in step S15, the control device processes the images taken by the diagnostic camera 41 to obtain image data, and the condition of the seedlings is diagnosed, for example, by comparing this image data with image data showing the condition of the seedlings prepared in advance. Note that it is also possible to analyze the acquired image data and diagnose the shape of the seedlings without comparing it with the prepared image data.

[0023] In step S16, processing is assigned according to the seedling diagnosis results, and if the seedling is normal, the processing ends without replanting.

[0024] If the seedling diagnosis in step S16 indicates a defective seedling, the process proceeds to step S17, where one of the multiple gripping claws 43 on the rotary support member 42 attached to the hand of the multi-axis robot of the transplanter 40 removes the defective seedling from the hydroponic panel 10. In step S18, the defective seedling is collected on a disposal pallet. Next, in step S19, normal seedlings for transplanting are removed from the individual normal seedling pallets using the gripping claw 43 attached to the hand of the multi-axis robot. In step S20, the location of the defective seedling on the hydroponic panel from which it was removed is determined based on its coordinate position, and the normal seedling is replanted. Note that steps S18 and S19 may be reversed, and normal seedlings may be grasped and removed with a gripping claw other than the one that removed the defective seedling before discarding it. In this case, the gripping claw is switched by rotating the rotary support member 42 or by sliding the sliding support member 45 shown in FIG. 4.

[0025] Also, in step S16, if the seedling diagnosis shows that there are no seedlings in the holes 11 on the hydroponic panel 10, normal seedlings for transplanting are taken out from the individual normal seedling pallets in step S19, and the normal seedlings are transplanted in step S20.

[0026] Furthermore, in step S16, if the seedling diagnosis shows that the seedling has not been planted properly, i.e., the seedling has been planted at an angle or has protruded from the hole 11, then in step S21, the tilt, etc. is corrected using the gripping claws 43 so that the seedling is planted properly, and the process is terminated.

[0027] In the above embodiment, the processing of the transplanting device 20 and the transplanting machine 40 are explained separately, but the transplanting machine 40 may be provided with a function to transplant seedlings from the seedbed in the transplanting device 20 to the hydroponic panel 10, and when transplanting, the transplanting machine 40 may simultaneously perform the above seedling diagnosis and transplant the seedlings based on the seedling diagnosis results.

[0028] Furthermore, the coordinate setting camera 30 and the diagnostic camera 41 may be used together, so that one camera has two functions.

[0029] Furthermore, the control device that performs image processing for setting coordinates and the control device that performs image processing for diagnosis may be separate or integrated, and they may be provided in the transplanting machine 40 or may be provided within the seedling transplanting system separately from the transplanting machine 40.

[0030] Furthermore, the transplanting device 20 may diagnose the seedlings when transplanting them from a seedbed to the hydroponic panel 10, and transplant only normal seedlings to the hydroponic panel 10. That is, as shown in FIG. 6 , the transplanting device 20 has a holding member 21 supported by a frame and a plurality of gripping claws 22 for gripping seedlings, and the plurality of gripping claws 22 grip a plurality of seedlings from the seedbed. The holding member 21 passes in front of a transplant diagnosis camera 24, and the gripping claws 22 for gripping the seedlings are moved one by one in front of the transplant diagnosis camera 24 to diagnose the grasped seedlings. Based on the diagnosis, defective seedlings are removed and only normal seedlings are transplanted to the hydroponic panel 10. The transplant diagnosis camera 24 may also be used as the transplant camera 23.

[0031] Thus, according to this embodiment, by using a multi-axis robot and image processing to diagnose seedlings and transplant them, a seedling transplantation system can be provided that can eliminate defective seedlings and transplant them in a normal condition.

[0032] Although the embodiments have been described above, the present invention is not limited to the above-described embodiments and includes various modifications. For example, the above-described embodiments have been described in detail to clearly explain the present invention, and the present invention is not necessarily limited to those having all of the described configurations. [Explanation of symbols]

[0033] 10: Hydroponic panel, 11: Hole, 12: Unit seedbed, 15: Support member, 20: Transplanting device, 21: Holding member, 22: Grasping claw, 23: Transplanting camera, 30: Coordinate setting camera, 40: Transplanting machine, 41: Diagnostic camera, 42: Rotating support member, 43: Grasping claw, 45: Sliding support member, A: Normal seedling, B: Defective seedling, C: No seedling, D: Improperly planted state

Claims

1. A transplanting device that separates the seedlings from the seedbed into individual seedbeds and transplants them into hydroponic panels that ensure greater spacing between seedlings; A first camera for photographing the hydroponic panel having the transplanted seedlings; A seedling transplanting system characterized by having a transplanting machine that sets coordinates for the position of the hydroponic panel and the position of the transplanted seedlings within the hydroponic panel by image processing from the image taken by the first camera, diagnoses the condition of the seedlings in the hydroponic panel based on the set coordinates, and transplants the seedlings based on the results of the diagnosis.

2. In the seedling transplantation system according to claim 1, The transplanter has a second camera; The diagnosis is performed by photographing the seedlings in the hydroponic panel using the second camera based on the set coordinates, and diagnosing the condition of the seedlings using image processing of the photographed image.

3. In the seedling transplantation system according to claim 2, This seedling transplanting system is characterized in that the diagnosis is made by comparing image data obtained by image processing of the captured image with multiple image data showing the condition of the seedlings obtained in advance.

4. In the seedling transplantation system according to claim 2, The transplanter is a multi-axis robot, A seedling transplanting system characterized in that the second camera is attached to a hand portion of the multi-axis robot.

5. In the seedling transplantation system according to claim 2, A seedling transplanting system, characterized in that the first camera and the second camera are a single camera.

6. In the seedling transplantation system according to claim 1, The transplanter is a multi-axis robot, The seedling transplanting system is characterized in that the transplanting machine replants seedlings using a gripping claw attached to the hand portion of the multi-axis robot based on the results of the diagnosis.

7. In the seedling transplantation system according to claim 1, The seedling transplantation system is characterized in that the diagnosis is made by diagnosing whether the seedling is normal, defective, there is no seedling, or the seedling is not planted normally.

8. The seedling transplantation system according to claim 7, The transplanter is a multi-axis robot, If the result of the diagnosis is that the seedlings are not planted normally, The seedling transplanting system is characterized in that the transplanting machine corrects the seedlings so that they are planted normally using a gripping claw attached to the hand portion of the multi-axis robot.

9. The seedling transplantation system according to claim 7, The transplanter is a multi-axis robot, If the result of the diagnosis is that there are no seedlings, The seedling transplanting system is characterized in that the transplanting machine uses a gripping claw attached to the hand unit of the multi-axis robot to remove a normal seedling for transplanting from a normal seedling pallet, and transplants the normal seedling for transplanting into a position where there is no seedling based on the set coordinates.

10. The seedling transplantation system according to claim 7, The transplanter is a multi-axis robot, If the result of the diagnosis is poor seedlings, The seedling transplanting system is characterized in that the transplanting machine removes the defective seedlings with a gripping claw attached to the hand unit of the multi-axis robot, the defective seedlings are collected on a waste pallet, and normal seedlings for transplanting are removed from the normal seedling pallet with the gripping claw, and the normal seedlings for transplanting are planted at the position from which the defective seedlings were removed based on the set coordinates.

11. The seedling transplantation system according to claim 7, The transplanter is a multi-axis robot, If the result of the diagnosis is poor seedlings, The seedling transplanting system is characterized in that the transplanting machine removes the defective seedling with a first gripping claw attached to the hand unit of the multi-axis robot, removes a normal seedling for transplanting from a normal seedling pallet with a second gripping claw attached to the hand unit of the multi-axis robot, and transplants the normal seedling for transplanting at the position from which the defective seedling was removed based on the set coordinates.

12. The seedling transplantation system according to claim 11, The seedling transplanting system is characterized in that the transplanting machine has a plurality of gripping claws attached to the hand section of the multi-axis robot via a rotating support member, and the first gripping claw and the second gripping claw are switched by rotating the rotating support member.

13. The seedling transplantation system according to claim 11, The seedling transplanting system is characterized in that the transplanting machine has a plurality of gripping claws attached to the hand section of the multi-axis robot via a sliding support member, and the first gripping claw and the second gripping claw are switched by sliding the sliding support member.

14. A method for transplanting seedlings in a seedling transplanting system, which transplants seedlings from a seedbed to a hydroponic panel and replants the transplanted seedlings, comprising: Photographing the hydroponic panel with the transplanted seedlings; The position of the hydroponic panel and the position of the transplanted seedlings in the hydroponic panel are set as coordinates by image processing from the captured image; Diagnosing the state of the seedlings in the hydroponic panel based on the set coordinates; A transplanting method, characterized in that transplanting is carried out based on the results of said diagnosis.

15. The replanting method according to claim 14, The diagnosis method is characterized in that the seedlings in the hydroponic panel are photographed based on the set coordinates, and the condition of the seedlings is diagnosed from the photographed image by image processing.

16. In the seedling transplantation system according to claim 1, The transplanting device is a seedling transplanting system characterized in that it has a holding member with multiple holding claws for holding seedlings, and the holding member is passed in front of a third camera to diagnose the seedlings, and only normal seedlings are transplanted into the hydroponic panel.

17. The replanting method according to claim 14, The transplanting method is characterized in that when the seedlings are transplanted from the seedbed to the hydroponic panel, seedling diagnosis is performed and only normal seedlings are transplanted to the hydroponic panel.

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