Image capture system and image capture system control method

Abstract

To provide an imaging system capable of adjusting both a cultivation environment and an imaging environment of a plant in a narrow closed environment which are in a trade-off relation.SOLUTION: An imaging system (1) comprises: a moving part (11) which moves an imaging part (12) in a closed environment; two or more imaging parts (12) which image a plant from a plurality of directions; and a developing part (13) which develops a background for imaging such that a background for imaging becomes a developed state in the opposite region while the imaging parts (12) image the plant.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to an imaging system and a control method for an imaging system. [Background technology]

[0002] When conducting plant breeding and cultivation tests, there are an increasing number of cases where plants are cultivated in closed environments (e.g., artificial climate chambers and plant factories) where environmental values ​​such as temperature, humidity, carbon dioxide concentration, and light conditions (e.g., light exposure period, light intensity, and light quality) can be changed.

[0003] There are two needs for plant breeding and cultivation tests in closed environments. The first need is to make breeding and cultivation tests more efficient. The second need is to frequently capture images of plants with a wide imaging range, such as panoramic images, measure the images of the plants in chronological order, record plant information, and evaluate the plant growth status in detail.

[0004] There is a trade-off between the closed cultivation environment required to meet the two needs mentioned above and the imaging environment.

[0005] For example, in terms of space in a closed environment, from the viewpoint of prioritizing breeding tests and cultivation tests, it is necessary to secure a large cultivation space and increase the number of plants in order to increase the number of plants. On the other hand, from the viewpoint of prioritizing image measurement of plants, it is necessary to secure a wide imaging range in order to secure installation space for the imaging device while ensuring an imaging distance. Therefore, for example, if breeding tests and cultivation tests are prioritized, in a small, closed environment such as an artificial weather chamber or a plant factory, the installation space for the imaging device is limited, the distance between the imaging device and the plants is short, and the imaging area per imaging unit is limited.

[0006] Furthermore, from the perspective of prioritizing breeding tests and cultivation tests, the interior of closed-environment facilities and the like are required to provide a suitable plant cultivation environment, such as by incorporating reflective materials into the walls of the closed environment, reducing and uniforming spatial variations in light intensity, and creating a closed-environment facility suitable for plant cultivation. On the other hand, from the perspective of prioritizing plant image measurement, it is required to provide a suitable imaging environment, such as by installing a blue imaging background on the inner walls (interior walls) of the artificial weather chamber to prevent reflections and enable chromakey processing, making the equipment suitable for imaging in closed environments. Therefore, for example, if a closed-environment facility is used to prioritize breeding tests and cultivation tests, reflected light will appear in the captured image during imaging.

[0007] Therefore, in small, enclosed environments, there is a demand for an imaging system that can adjust the imaging environment, such as the imaging range, within a range that does not interfere with the plant cultivation environment, such as the plant cultivation space.

[0008] Here, examples of conventional imaging systems include an image processing device as disclosed in Patent Document 1 and a drone as disclosed in Non-Patent Document 1.

[0009] Patent document 1 discloses an image processing device for generating a panoramic image by performing a synthesis process on still images such as multiple frame images obtained by capturing images from one direction while moving one imaging unit.

[0010] Non-Patent Document 1 discloses a drone that captures images of a plant from above and from the side of the plant to obtain images of the plant captured from above and images of the above-ground parts of the plant. [Prior art documents] [Patent documents]

[0011] [Patent Document 1] Japanese Patent Application Laid-Open No. 2013-228896 [Non-patent literature]

[0012] [Non-Patent Document 1] "Basic research on big data collection methods for crop communities," Satoshi Yamamoto, Akita Prefectural University Web Journal, B, 2018, vol.5, pp.85-90, https: / / core.ac.uk / download / pdf / 228437723.pdf Summary of the Invention [Problem to be solved by the invention]

[0013] However, conventional imaging systems such as those described above cannot provide both a plant cultivation environment and an imaging environment, which are in a trade-off relationship, in a small, enclosed environment. One aspect of the present invention aims to provide an imaging system and related techniques that can provide both a plant cultivation environment and an imaging environment, which are in a trade-off relationship, in a small, enclosed environment. [Means for solving the problem]

[0014] In order to solve the above problem, an imaging system according to one embodiment of the present invention includes a moving unit that moves an imaging unit in a closed environment, two or more imaging units that image plants in the closed environment from multiple directions while moving, and a deployment unit that deploys the imaging background so that the imaging background is deployed in an opposing area facing one or more of the imaging units across the plant while the imaging units are imaging the plant.

[0015] A control method for an imaging system according to one embodiment of the present invention includes a moving step in which a moving unit of the imaging system moves an imaging unit in a closed environment; an imaging step in which two or more imaging units of the imaging system image plants in the closed environment from multiple directions while moving; and a deployment step in which a deployment unit of the imaging system deploys an imaging background in an opposing area facing one or more of the imaging units across the plant while the imaging units are imaging the plant.

[0016] The imaging system according to each aspect of the present invention may be realized by a computer. In this case, the control program for the imaging system that causes the computer to operate as each part (software element) of the imaging system to realize the imaging system, and the computer-readable recording medium on which the control program is recorded, also fall within the scope of the present invention. [Effects of the Invention]

[0017] According to one aspect of the present invention, it is possible to realize an imaging system and a control method for an imaging system that can adjust both the plant cultivation environment and the imaging environment, which are in a trade-off relationship, in a small, closed environment. [Brief explanation of the drawings]

[0018] [Figure 1] 1 is a block diagram showing an example of the configuration of an imaging system according to a first embodiment. [Figure 2] 4 is a flowchart showing an example of a control method for the imaging system according to the first embodiment. [Figure 3] FIG. 1 is a schematic diagram illustrating an example of an imaging system according to a first embodiment. [Figure 4] FIG. 2 is a diagram illustrating an example of a captured image. [Figure 5] FIG. 10 is a block diagram showing an example of the configuration of an imaging system according to a second embodiment. [Figure 6] FIG. 10 is a flowchart showing an example of a control method for the imaging system according to the second embodiment. [Figure 7] FIG. 10 is a diagram illustrating an example of generating a panoramic image. DETAILED DESCRIPTION OF THE INVENTION

[0019] <Embodiment 1> The first embodiment will be described with reference to Figures 1 to 3. Figure 1 is a block diagram showing an example of the configuration of an imaging system according to the first embodiment.

[0020] [Imaging System 1] The imaging system 1 is a system that captures images of plants in a closed environment. A closed environment refers to a closed environment in which environmental values ​​such as temperature and humidity, carbon dioxide concentration, and light conditions (e.g., light irradiation period, light intensity, and light quality) can be changed, and examples include artificial weather chambers and plant factories. As shown in FIG. 1, the imaging system 1 includes an imaging device 10, a development unit 13, a display unit 15, and a storage unit 16.

[0021] [Imaging device 10] The imaging device 10 is a device that captures images of plants in a closed environment. In the example shown in Fig. 1, the imaging device 10 includes a moving unit 11, an imaging unit 12, and a control unit 14. However, in this embodiment, the imaging device 10 does not necessarily have to be configured such that the moving unit 11 and the imaging unit 12 are integrated.

[0022] (Mobile part 11) The moving unit 11 moves the imaging unit 12 in a closed environment. The moving unit 11 is not particularly limited as long as it can move the imaging unit 12, and may be equipped with a slide table, wheels, or wings. Examples of the moving unit 11 include an electric slide table, an imaging robot equipped with wheels, and a small drone equipped with wings.

[0023] (Image capture unit 12) The imaging unit 12 captures images of the plants in the enclosed environment from multiple directions while moving. There are no particular limitations on the imaging unit 12 as long as it can capture images of the plants in the enclosed environment from multiple directions while moving, and examples include a panoramic camera and a video camera that can ensure a wide imaging range within a limited installation range of the imaging unit 12. In the example shown in Fig. 1, the imaging unit 12 includes a first imaging unit (imaging unit) 121 and a second imaging unit (imaging unit) 122.

[0024] (Control unit 14) The control unit 14 controls the moving unit 11 , the imaging unit 12 , the developing unit 13 , the display unit 15 and the storage unit 16 .

[0025] [Development 13] While the imaging units 12 are capturing images of the plants, the unfolding unit 13 unfolds the imaging background so that the imaging background is unfolded in an opposing area facing the one or more imaging units 12 across the plant. The imaging background refers to an imaging background that is unfolded in an opposing area facing the one or more imaging units 12 across the plant and is appropriate as a background for the captured image, and examples of such an imaging background include a blue, light-blocking roller blind. The unfolding unit 13 is not particularly limited as long as it can unfold the imaging background so that the imaging background is unfolded in the opposing area during imaging, and examples of such an imaging background include a reel-up or curtain-type unfolding unit that reels up the imaging background.

[0026] [Display section 15] The display unit 15 displays the captured image (captured image information) of the plant captured by the imaging unit 12. In the example shown in Fig. 1, the imaging system 1 includes the display unit 15, but in this embodiment, the imaging system 1 does not include the display unit 15, and the captured image may be displayed on an external display unit.

[0027] [Storage section 16] The captured images are stored in the storage unit 16. In the example shown in Fig. 1, the imaging system 1 includes the storage unit 16, but in this embodiment, the imaging system 1 does not include the storage unit 16, and the captured images may be stored in an external storage unit.

[0028] [Control method S1 of imaging system 1] The control method S1 of the imaging system 1 according to the first embodiment will be described with reference to Figures 2 and 3. Figure 2 is a flow chart showing an example of the control method S1 of the imaging system 1 according to the first embodiment.

[0029] As shown in FIG. 2, the control method S1 of the imaging system 1 includes a developing step S11, a moving step S12, an imaging step S13, and a display step S14.

[0030] [Development process S11] In the unfolding step S11, the unfolding unit 13 of the imaging system 1 unfolds the imaging background so that the imaging background is unfolded in an opposing area facing one or more imaging units 12 across the plant while the imaging units 12 are imaging the plant.

[0031] (An example of the development step S11) An example of the unfolding step S11 will be described with reference to Fig. 3. Fig. 3 is a schematic diagram showing an example of the imaging system 1 according to the first embodiment.

[0032] As shown in the normal state diagram in Figure 3, during normal times other than when imaging is being performed, such as during cultivation, the deployment section 13 provided on the inner wall surface W of the closed environment 123 does not deploy the imaging background B in the opposing area R facing the second imaging section 122 across the plant P.

[0033] In the unfolding step S11, the unfolding unit 13 of the imaging system 1 unfolds the imaging background B in the y-axis direction in the normal view of FIG. 3 before the imaging step S13 (for example, immediately before imaging) so that the imaging background B is unfolded in the opposing region R while the imaging unit 12 is imaging the plant P. That is, in the unfolding step S11, before the imaging unit 12 images the plant P, the background in the opposing region R, such as the wall surface W of the enclosed environment 123 suitable for growing the plant P, is switched to the imaging background B. This makes it possible to prevent backlight, reflected light, the plant P reflected on the wall surface W, and the like from appearing in the captured image during imaging.

[0034] 3, of the wall surfaces W inside the closed environment 123, at least the wall surface W facing the second imaging unit 122 across the plant P is provided with a retractable deployment unit 13 that retracts an imaging background B such as a light-blocking roller blind. Furthermore, while the imaging unit 12 is capturing an image of the plant P, the deployment unit 13 is deployed in a facing region R of a portion of the wall surface W.

[0035] However, in this embodiment, the unfolding section 13 may be curtain-shaped. By using a retractable or curtain-type unfolding section 13, the imaging background B can be stored while the imaging section 12 is not imaging the plant P, and the amount of light received by the plant P can be increased without blocking the reflected light from the wall surface W or the light from the light source, and spatial unevenness in the amount of light can be reduced and made uniform. As a result, by using such an unfolding section 13, the cultivation environment for the plant can be improved.

[0036] Furthermore, in this embodiment, the unfolding unit 13 may be unfolded in an area facing the second imaging unit 122 across the plant P, and this area may be a partition or the like provided in the space between the plant P and the wall W in Fig. 3. Even with this unfolding unit 13, it is possible to prevent backlight, reflected light, the plant P projected onto the wall W, and the like from appearing in the captured image during imaging.

[0037] 3, the moving unit 11 of the imaging device 10 includes an electric slide base and is connected to rod-shaped portions that extend in different directions and have the imaging unit 12 at their ends, but in this embodiment, the moving unit 11 may include wheels or wing portions instead of the slide base. By including the slide base, wheels, or wing portions in the moving unit 11, a wide imaging range can be ensured within the limited installation range of the imaging unit 12.

[0038] 3, the number of imaging units 12 may be two. A configuration with two imaging units 12 is excellent in cost performance because it minimizes the number of imaging units 12 while maximizing the cultivation environment for the plant P in the small, closed environment 123 and also providing an imaging environment.

[0039] The number of imaging units 12 may also be three or more. For example, the imaging units 12 may use technology such as SfM (Structure from Motion), and a three-dimensional model of the plant may be constructed from images from multiple viewpoints. In this case, the more viewpoints corresponding to the number of installed imaging units 12, the more occlusion areas, which are areas not visible from the imaging units 12, are reduced, allowing for more precise construction of the constructed model. Furthermore, by using SfM for the imaging units 12, it is not necessary to increase the installation space for the imaging units 12 in a small, closed environment 123. This allows for the imaging environment, such as the imaging area, to be prepared without impairing the cultivation environment, such as the cultivation space for the plant P.

[0040] 3, the inner wall surface W of the enclosed environment 123 is made of stainless steel, which is a reflective material, but in this embodiment, the wall surface W of the enclosed environment 123 may include at least one of a high-brightness material (e.g., a high-brightness material that is close to white) and a light source (e.g., a fluorescent lamp or an LED light source) instead of or in addition to the reflective material. This allows the wall surface W to increase and uniform the amount of light received by the plant P while the imaging unit 12 is not capturing an image of the plant P, thereby creating a better cultivation environment for the plant W.

[0041] 3, the closed environment 123 is an artificial weather chamber, but in this embodiment, the closed environment 123 may be a plant factory. The imaging system 1 can be effectively applied to small, closed environments that are suitable for cultivating plants, such as artificial weather chambers and plant factories.

[0042] 3 may be blue. By using blue imaging background B, it is possible to perform image processing such as chromakey processing on the captured image or panoramic image. The panoramic image will be described in detail in the second embodiment.

[0043] [Moving process S12] In the moving step S12, the moving unit 11 of the imaging system 1 moves the imaging unit 12 in the closed environment.

[0044] (An example of the moving step S12) An example of the moving step S12 will be described with reference to Fig. 3. During imaging, the moving unit 11 in the imaging device 10 of the imaging system 1 moves the imaging unit 12 in the x-axis direction (for example, the horizontal direction) shown in the diagram during imaging in Fig. 3. In the example shown in Fig. 3, the moving unit 11 and the imaging unit 12 are integrated, so the moving unit 11 moves in the x-axis direction shown in the diagram of the imaging unit in Fig. 3, thereby moving the imaging unit 12 from a movement start point X0 to a movement end point X1.

[0045] [Imaging step S13] In the imaging step S13, the imaging unit 12, which includes two or more imaging units of the imaging system 1, captures images of the plants in the closed environment from a plurality of directions while moving.

[0046] (An example of the imaging step S13) An example of the imaging step S13 will be described with reference to Figures 3 and 4. Figure 4 is a diagram showing an example of captured images I1 and I2.

[0047] The first imaging section 121 and the second imaging section 122 in the imaging unit 12 of the imaging device 10 of the imaging system 1 capture images of the plant P in the closed environment 123 from multiple directions while moving in the x-axis direction shown in the diagram at the time of imaging in Fig. 3. In the example shown in Fig. 3, the imaging section 12 continuously captures video from a movement start point X0, but in this embodiment, the timing of capturing images by the imaging section 12 is not particularly limited, and may be, for example, for each unit movement amount of the moving section 11.

[0048] Here, Patent Document 1 only describes generating a panoramic image by combining pixels of images captured from one direction while moving one imaging unit, and does not describe capturing images of plants from multiple directions while moving two imaging units.

[0049] Furthermore, Non-Patent Document 1 assumes that a plant will be imaged from above and from the side outdoors using a drone, and does not assume that a trade-off relationship between the plant cultivation environment and the imaging environment, which are in a closed environment, will be resolved by adjusting both. Furthermore, Non-Patent Document 1 does not describe deploying an imaging background in a closed environment so that the imaging background is deployed in an opposing area facing one or more imaging units across the plant while the imaging unit is imaging the plant.

[0050] In contrast, the imaging system 1 saves space by imaging the plant P while moving the first imaging unit 121 and the second imaging unit 122, and can capture an image of a wide imaging range while ensuring a cultivation space for the plant P. Furthermore, the imaging system 1 can capture an image of an area of ​​the plant P that is difficult to image with a single imaging unit by using the first imaging unit 121 and the second imaging unit 122 to image the plant P from multiple directions.

[0051] Furthermore, the imaging system 1 may deploy the imaging background B in the opposing region R during imaging, but may not deploy the imaging background B at times other than imaging. This prevents backlight, reflected light, and plants P projected onto the wall W from appearing in the captured image during imaging, while providing a background suitable for cultivation at times other than imaging.

[0052] As described above, the imaging system 1 can prepare both a plant cultivation environment and an imaging environment, which are in a trade-off relationship, in a small, closed environment, and achieve both.

[0053] 3, two of the two or more imaging units 12, namely, the first imaging unit 121 and the second imaging unit 122, may capture images of the plant P from directions perpendicular to each other. This makes it possible to capture images of areas of the plant P that are difficult to capture with a single imaging unit.

[0054] However, in this embodiment, the angle formed by two of the two or more imaging units 12 is not limited to 90° and may be any angle, such as 45°, and two of the two or more imaging units 12 may capture an image of the plant P from a direction depending on the plant P. In the example shown in Fig. 3, the angle formed by the two imaging units can be adjusted by rotating the rod-shaped portion.

[0055] As shown in Fig. 3, the first imaging unit 121 and the second imaging unit 122 may capture images of the top and side of the plant P from above and from the side, respectively. This makes it possible to capture images of areas of the plant P that are difficult to capture with a single imaging unit, as shown in the top view and side view of the plant P in Fig. 4. Furthermore, it is possible to obtain both planar information and depth information of the plant P.

[0056] At least one of the first imaging unit 121 and the second imaging unit 122 may capture an image of the fruit portion (sink portion) and the leaf and stem portion (source portion) of the plant P. For example, as shown in the top view of Fig. 4, the first imaging unit 121 may acquire a captured image I1 of the fruit portion F of the plant P, and as shown in the side view of Fig. 4, the second imaging unit 122 may acquire a captured image I2 of the fruit portion F and the leaf and stem portion LS of the plant P.

[0057] As a result, the first imaging unit 121 and the second imaging unit 122 not only obtain both planar information and depth information of the plant P, but also effectively obtain captured images of characteristic parts of the plant P, allowing the user to recognize the characteristics of the plant P. Furthermore, the control unit 14 obtains captured images of the fruit part F and the leaf-stem part LS from the imaging unit 12, and can evaluate the amount of movement and accumulation of photosynthetic products in the plant P based on the captured images.

[0058] 4, the plant P is a strawberry, but in this embodiment, the plant P is not limited to strawberries and is not particularly limited as long as it can be used for breeding tests and cultivation tests in a closed environment such as an artificial weather chamber or a plant factory and can be imaged, and may be, for example, any crop. Also, in the example shown in FIG. 4, the number of seedlings of the plant P is three, but in this embodiment, the number of seedlings of the plant P is not particularly limited and may be any number depending on the closed environment 123.

[0059] 4, the captured images I1 and I2 are moving images captured along the x-axis direction, which is the movement direction of the imaging unit 12. However, in this embodiment, the captured images are not limited to moving images, and may be, for example, panoramic images as shown in embodiment 2. Both captured images can ensure a wide imaging range within the limited installation range of the imaging unit 12.

[0060] [Display process S14] In the display step S14, the display unit 15 of the imaging system 1 displays the captured image of the plant captured by the imaging unit 12.

[0061] (An example of the display step S14) An example of the display step S14 will be described with reference to Fig. 4. The display unit 15 of the imaging system 1 displays the captured images I1 and I2 of the plant P captured by the imaging unit 12.

[0062] <Embodiment 2> The imaging system according to one aspect of the present invention may generate a panoramic image by combining a plurality of captured images, like the imaging system 1X according to the second embodiment.

[0063] 5 to 7, the second embodiment will be described. For convenience of explanation, the members having the same functions as those described in the first embodiment will be denoted by the same reference numerals, and the description thereof will be omitted.

[0064] [Imaging System 1X] Fig. 5 is a block diagram showing an example of the configuration of an imaging system 1X according to embodiment 2. As shown in Fig. 5, the imaging system 1X includes an imaging device 10X instead of the imaging device 10 in embodiment 1. Except for this, the imaging system 1X has the same configuration as the imaging system 1 according to embodiment 1.

[0065] [Imaging device 10X] The imaging device 10X includes an imaging unit 12X and a control unit 14X instead of the imaging unit 12 and the control unit 14 in the first embodiment. Except for this, the imaging device 10X has the same configuration as the imaging device 10 in the first embodiment.

[0066] (12x imaging unit) The imaging unit 12X includes a first imaging unit 121X and a second imaging unit 122X that capture multiple images by capturing images of plants while moving. Except for this, the imaging unit 12 is similar to the imaging unit 12 according to the first embodiment.

[0067] (Control unit 14X) The control unit 14X further includes a generation unit 141. Except for this, the control unit 14X has the same configuration as the control unit 14 in the first embodiment. The generation unit 141 generates a panoramic image by combining a plurality of captured images.

[0068] [Control method S2 of imaging system 1X] A control method S2 of the imaging system 1X according to the second embodiment will be described with reference to Figures 6 and 7. Figure 6 is a flow chart showing an example of the control method S2 of the imaging system 1X according to the second embodiment.

[0069] 6, the control method S2 of the imaging system 1X includes an unfolding step S21, a moving step S22, an imaging step S23, a generating step S24, and a displaying step S25. The unfolding step S21, the moving step S22, and the displaying step S25 are similar to the unfolding step S11, the moving step S12, and the displaying step S14 in the first embodiment, respectively.

[0070] [Imaging step S23] In the imaging step S23, the first imaging section 121X and the second imaging section 122X in the imaging section 12X acquire a plurality of images by capturing images of the plant while moving, thereby ensuring a wide imaging range within the limited installation range of the imaging section 12X.

[0071] (An example of the imaging step S23) An example of the imaging step S23 will be described with reference to Fig. 7. Fig. 7 is a diagram showing an example of generating a panoramic image by combining a plurality of captured images captured by the second imaging unit 122X. The second imaging unit 122X acquires a plurality of captured images by capturing an image of the plant P for each unit movement amount dX while moving from a movement start point X0 to a movement end point X1.

[0072] [Generation process S24] In the generating step S24, the generating unit 141 in the control unit 14X generates a panoramic image by combining the plurality of captured images captured in the imaging step S23.

[0073] (An example of the generating step S24) An example of the generating step S24 will be described with reference to FIG.

[0074] (Extraction of pixel imA from the captured image at the movement start point X0) First, from the captured image of the plant P captured by the second imaging unit 122X at the movement starting point X0 among the multiple captured images captured by the second imaging unit 122X in the imaging process S23, the generation unit 141 extracts pixel imA from the area opposite the x-axis direction, which is the movement direction of the second imaging unit 122X, out of the areas obtained by dividing the imaging range r into two in the x-axis direction, which is the movement direction of the second imaging unit 122X, and uses pixel imA to generate the panoramic image I3.

[0075] (Extraction of pixel imB from the captured image from the movement start point X0 to the movement end point X1) Next, the generation unit 141 extracts pixels imB corresponding to the unit movement amount dX of the second imaging unit 122X from each of the multiple captured images captured by the second imaging unit 122X while it moves from the start point X0 to the end point X1, and uses the pixels imB to generate the panoramic image I3.

[0076] (Extraction of pixel imC from the captured image at the movement end point X1) Next, from the image of the plant P captured by the second imaging unit 122X at the movement end point X1 among the multiple images captured by the second imaging unit 122X in the imaging step S23, the generation unit 141 extracts pixel imC on the same side as the X-axis direction from the area divided into two in the X-axis direction, and uses pixel imC to generate the panoramic image I3.

[0077] (Generation of panoramic image I3 by combining pixels imA, imB, and imC) Finally, the generation unit 141 combines the pixels imA, imB, and imC to generate a panoramic image I3. By combining the pixels imA and imC of the captured images that cannot be captured within the movement area of ​​the second imaging unit 122X, the generation unit 141 can ensure a wider imaging range within the limited installation range of the second imaging unit 122X, thereby improving the imaging environment. Furthermore, by combining the pixel imB captured from the front of the plant P, the generation unit 141 can generate a panoramic image I3 that is not affected by the angle of view and is free of distortion.

[0078] In FIG. 7, the generation unit 141 divides the imaging range r into two equal parts in the x-axis direction. However, in this embodiment, the generation unit 141 may divide the imaging range r into two parts in the x-axis direction so that the area on the opposite side of the x-axis direction is wider, and extract pixels imA from the area on the opposite side of the x-axis direction. Similarly, the generation unit 141 may divide the imaging range r into two parts in the x-axis direction so that the area on the same side as the x-axis direction is wider, and extract pixels imC from the area on the same side as the x-axis direction. This makes it possible to prevent a shortage of pixels when synthesizing the panoramic image I3.

[0079] In the example shown in FIG. 7, the panoramic image I3 is generated by combining the images captured by the second imaging unit 122X, but in this embodiment, the images captured by the first imaging unit 121X can also be combined in the same manner as in the example shown in FIG. 7 to generate a panoramic image.

[0080] In the above example, a panoramic image is generated by independently combining the images captured by the first imaging unit 121X and the second imaging unit 122X. However, in this embodiment, the images captured by the imaging units included in the imaging unit 12X may be combined, for example, by integrating the images. For example, if the imaging unit 12X includes three or more imaging units, the occlusion area can be reduced by combining the images captured by the three or more imaging units.

[0081] <Software implementation example> The functions of the imaging systems 1 and 1X can be realized by a program that causes a computer to function as the imaging systems 1 and 1X, and a program that causes a computer to function as each control block of the imaging systems 1 and 1X (particularly each part included in the control units 14 and 14X).

[0082] In this case, the imaging systems 1 and 1X include a computer having at least one control device (e.g., a processor) and at least one storage device (e.g., a memory) as hardware for executing the programs. The functions described in the above embodiments are realized by executing the programs using the control device and storage device.

[0083] The program may be non-transitory and may be recorded on one or more computer-readable recording media. The recording media may or may not be included in the imaging systems 1 and 1X. In the latter case, the program may be supplied to the imaging systems 1 and 1X via any wired or wireless transmission medium.

[0084] Furthermore, some or all of the functions of the control blocks can be realized by logic circuits. For example, an integrated circuit in which a logic circuit that functions as each of the control blocks is formed is also included in the scope of the present invention. In addition, the functions of the control blocks can also be realized by, for example, a quantum computer.

[0085] Furthermore, each process described in each of the above embodiments may be executed by AI (Artificial Intelligence). In this case, the AI ​​may be operated by the control device or by another device (for example, an edge computer or a cloud server).

[0086] <Additional Notes> The present invention is not limited to the above-described embodiments, and various modifications are possible within the scope of the claims. Embodiments obtained by appropriately combining the technical means disclosed in different embodiments are also included in the technical scope of the present invention.

[0087] Furthermore, the diagnostic devices according to each embodiment can improve productivity, ensure sustainable food production systems, and practice resilient agriculture, thereby contributing to the achievement of Goal 2 of the Sustainable Development Goals (SDGs), "Zero Hunger." [Industrial Applicability]

[0088] For manufacturers of artificial weather chambers and plant factories, the present invention can be used to develop new artificial weather chambers designed to measure plants using images in chronological order, and to develop systems for adding image measurement functions to artificial weather chambers and plant factories.For researchers in the fields of breeding and cultivation, the present invention can be used to measure plant traits in chronological order.For producers, the present invention can be used to manage products in plant factories.As such, the present invention can be used in a wide range of fields where plants are cultivated in small, closed environments. [Explanation of symbols]

[0089] 1. 1X imaging system 11 Moving section 12, 12X imaging unit 13 Development Section 121, 121X First imaging unit (imaging unit) 122, 122X Second imaging unit (imaging unit) 123 Closed environment 141 Generation part B. Background for imaging dX unit movement amount F. Fruit I1, I2 captured images I3 Panoramic Image imA, imB, imC pixels LS Leaf stem part P plant r Image capture range S1 Control method of imaging system 1 S2 Imaging System 1X Control Method S11, S21 Deployment process S12, S22 movement process S13, S23 imaging process S24 Generation process X0 Movement start point X1 Movement end point

Claims

1. a moving unit that moves the imaging unit in a closed environment; two or more imaging units that capture images of plants in the enclosed environment from a plurality of directions while moving; a deployment unit that deploys the imaging background so that the imaging background is deployed in an opposing area facing one or more of the imaging units across the plant while the imaging units are capturing images of the plant; Equipped with a wall surface of the enclosed environment includes at least one of a high-intensity material, a reflector, and a light source; The imaging system, wherein the deployment unit deploys the imaging background so as to cover the facing area of ​​the wall surface.

2. 2. The imaging system according to claim 1, wherein the number of the imaging units is two.

3. 3. The imaging system according to claim 1, wherein two of the two or more imaging units image the plant from directions perpendicular to each other.

4. The imaging system according to claim 3 , wherein the two imaging units capture images of the plant from above and from the side of the plant.

5. 5. The imaging system according to claim 3, wherein at least one of the two imaging units captures images of a fruit part and a leaf / stem part of the plant.

6. 6. The imaging system according to claim 1, wherein the moving unit comprises a slide base, wheels, or wings.

7. the imaging unit acquires a plurality of captured images by capturing images of the plant while moving; 7. The imaging system according to claim 1, further comprising a generating unit that generates a panoramic image by combining the plurality of captured images.

8. The imaging system according to claim 7, wherein the generation unit extracts pixels corresponding to a unit movement amount of the imaging unit from each of the plurality of captured images, and generates the panoramic image by synthesizing the pixels extracted from each of the plurality of captured images.

9. The generation unit generates, from among the plurality of captured images, extracting pixels from an area opposite to the movement direction of the imaging unit, out of two areas divided in the movement direction of the imaging unit from the captured image of the plant captured by the imaging unit at the movement start point; The imaging system according to claim 8, characterized in that the panoramic image is generated by extracting pixels on the same side as the movement direction of the imaging unit from an image of the plant captured by the imaging unit at the end point of its movement, out of an area divided into two in the movement direction of the imaging unit.

10. 10. The imaging system according to claim 1, wherein the deployment section is of a roll-up type or curtain type and is provided in the facing area of ​​the wall surface.

11. 11. The imaging system according to claim 1, wherein the closed environment is an artificial weather chamber or a plant factory.

12. 12. The imaging system according to claim 1, wherein the imaging background is blue.

13. a moving step in which a moving unit of the imaging system moves the imaging unit in a closed environment; an imaging step of imaging the plant; a deployment step in which a deployment unit of the imaging system deploys the imaging background so that the imaging background is deployed in an opposing area facing one or more of the imaging units across the plant while the imaging units are capturing images of the plant; Including, a wall surface of the enclosed environment includes at least one of a high-intensity material, a reflector, and a light source; a control method for an imaging system, wherein in the deploying step, the deploying unit deploys the imaging background so as to cover the facing area of ​​the wall surface.

Images