Strawberry plant information acquisition system

Abstract

To accurately calculate a petiole length of each strawberry plant.SOLUTION: An information acquisition system of a strawberry plant comprises: a blowing device which blows a strawberry plant from above; an imaging device which captures an image of the plant from above; a control device which controls the imaging device in the state of blowing from the blowing device at a predetermined speed, and captures a first image of the plant from above; a measuring device which measures height information of a predetermined leaf of the plant; and a calculation device which calculates a value of a petiole length of the predetermined leaf from a measurement result of the measuring device and the image captured by the imaging device, where the calculation device specifies a first distance (Dm) from the center of the plant in the first image to a petiole tip of the predetermined leaf, and calculates a petiole length (L) of the predetermined leaf on the basis of height information (hm) of the predetermined leaf when the first image was captured, which is measured by the measuring device, and the first distance (Dm).SELECTED DRAWING: Figure 6

Description

[Technical Field]

[0001] The present invention relates to a strawberry plant information acquisition system. [Background technology]

[0002] Image measurement is known as an effective method for measuring the biometrics of plants, as it is non-destructive, allows for wide-area measurement, and is labor-saving. When the plant being measured is a strawberry, the measurement targets include petiole length, leaf area, and leaf light reception. These measurement targets are important factors in growth diagnosis and yield prediction, so it is desirable to be able to measure them accurately.

[0003] Conventionally, there is known a technique for determining the growth state of a plant (stem thickness) by capturing an image of the plant using a photographing unit while a fan is blowing air onto the plant and processing the image (see, for example, Patent Document 1). There is also known a technique for monitoring the growth state of a plant (such as harvest time) based on the time-series transition of images (see, for example, Patent Document 2). [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Laid-Open No. 2016-29940 [Patent Document 2] Japanese Patent Application Publication No. 2019-37225 Summary of the Invention [Problem to be solved by the invention]

[0005] However, the above-mentioned petiole length, leaf area, and light-receiving position of the leaf cannot be measured even using the above-mentioned Patent Documents 1 and 2. For example, since the petiole is located below the leaf blade (leaflet) and is difficult to see from the outside, it is difficult to measure the petiole length using an image. Furthermore, since leaf blades often overlap each other, it is also difficult to measure the leaf area with high accuracy.

[0006] Therefore, an object of the present invention is to provide a strawberry plant information acquisition system that can accurately calculate strawberry plant information. [Means for solving the problem]

[0007] The strawberry plant information acquisition system of the present invention comprises a blowing device that blows wind onto strawberry plants from above, a photographing device that takes images of the plants from above, a control device that controls the photographing device to take a first image of the plants from above while wind is blown from the blowing device at a predetermined speed, a measuring device that measures height information of a specified leaf of the plants, and a calculation device that calculates the value of the petiole length of the specified leaf from the measurement results of the measuring device and the image taken by the photographing device, wherein the calculation device identifies a first distance from the center of the plant to the tip of the petiole of the specified leaf in the first image, and calculates the petiole length of the specified leaf based on the height information of the specified leaf measured by the measuring device when the first image was taken and the first distance. [Effects of the Invention]

[0008] The strawberry plant information acquisition system of the present invention has the effect of being able to accurately calculate strawberry plant information. [Brief explanation of the drawings]

[0009] [Figure 1] 1 is a diagram illustrating a schematic configuration of an information acquisition system according to an embodiment. [Figure 2] FIG. 2 is a diagram illustrating a hardware configuration of a control device and an information processing device. [Figure 3] FIG. 2 is a functional block diagram of a control device and an information processing device. [Figure 4] Figures 4(a) and 4(b) show the experimental setup. [Figure 5]Figure 5(a) is an image of a strawberry plant taken by a camera in the experimental apparatus of Figure 4(a) when the blower was not operating and the wind speed was 0 m, and Figure 5(b) is an image of a strawberry plant taken by a camera when wind was blown from the blower at a specified wind speed. [Figure 6] FIG. 6(a) is a diagram schematically showing the state of the petiole and leaf blade in the first and second states, and FIG. 6(b) is a diagram for explaining the position of the tip of the petiole. [Figure 7] FIG. 7(a) is a graph showing the relationship between wind speed and wind load per unit leaf area, and FIG. 7(b) is a graph showing the relationship between the drag coefficient of the leaf blade and wind speed. [Figure 8] Figures 8(a) to 8(e) are graphs showing the results of actual measurements of the horizontal projection movement MP of the petiole of each of the first to fifth leaves of a strawberry plant against wind speed v, obtained using the experimental apparatus 200 of Figure 4(a). [Figure 9] 9(a) to 9(e) are diagrams showing examples of approximations of the actual measurement values ​​of FIG. 8(a) to FIG. 8(e). [Figure 10] FIG. 10 is a schematic diagram for explaining approximate formula 2. [Figure 11] FIG. 10 is a schematic diagram for explaining approximate formula 3. [Figure 12] 10 is a flowchart showing the processing of the control device. [Figure 13] 10 is a flowchart showing processing by the information processing device. [Figure 14] 14(a) to 14(c) are diagrams for explaining a method for detecting the center of a stock. [Figure 15] 15(a) to 15(h) are diagrams (part 1) for explaining an example of determining the petiole length L and the leaf area A using approximation formula 1. FIG. [Figure 16] 16(a) to 16(h) are diagrams (part 2) for explaining an example of determining the petiole length L and the leaf area A using approximation formula 1. FIG. [Figure 17] 17(a) to 17(h) are diagrams for explaining an example of determining the petiole length L using approximation formula 2. FIG. [Figure 18] FIG. 10 is a diagram for explaining an example of calculating leaf area A using approximate formula 2. [Figure 19] 19(a) to 19(h) are diagrams for explaining an example of determining the petiole length L using approximation formula 3. FIG. [Figure 20] FIG. 10 is a diagram for explaining an example of calculating leaf area A using approximate formula 3. DETAILED DESCRIPTION OF THE INVENTION

[0010] Hereinafter, a strawberry plant information acquisition system according to one embodiment will be described in detail.

[0011] FIG. 1 shows a schematic configuration of an information acquisition system 100 according to one embodiment. In this embodiment, the information acquisition system 100 is a system that calculates and records the petiole length and leaf area of ​​each strawberry plant cultivated in an elevated cultivation bed 12 as shown in FIG. 1. The distance (height) from the ground to the upper surface of the cultivation bed 12 is H1 (H1 is, for example, 1000 mm). The strawberry plants do not have to be cultivated in the cultivation bed 12, but may be planted in the ground in a ridge, for example.

[0012] The information acquisition system 100 includes a monitoring device 10 and an information processing device 90 as a calculation device. The monitoring device 10 moves near a cultivation bed 12 and acquires images of strawberry plants photographed from above. The information processing device 90 is communicably connected to the monitoring device 10 and calculates the petiole length and leaf area of ​​each strawberry plant planted in the cultivation bed 12 based on the images and position information acquired from the monitoring device 10. The information processing device 90 and the monitoring device 10 may be connected via a wired LAN (Local Area Network) or the like, or wirelessly via Wi-Fi or the like. The information processing device 90 may also be mounted on the monitoring device 10. In this embodiment, the extension direction of the cultivation bed 12 is defined as the X-axis direction, the direction perpendicular to the X-axis direction in a horizontal plane is defined as the Y-axis direction, and the vertical direction is defined as the Z-axis direction.

[0013] 1, the monitoring device 10 is installed on a rail 14 laid along the X-axis direction below (on the ground) the cultivation bed 12. The monitoring device 10 is movable along the rail 14 in the X-axis direction.

[0014] The monitoring device 10 includes a housing 20, wheels 22, a camera 24 as a photographing device, a blower 26 as a spraying device, a motor 28, a position detection device 29, and a control device 30. The housing 20 has a substantially rectangular frame shape. A ceiling panel 20a of the housing 20 extends above the cultivation beds 12 and the strawberry plants, and the lower surface (-Z surface) of the ceiling panel 20a and the strawberry plants are vertically opposed to each other.

[0015] The wheels 22 are driven to rotate on the rails 14 by a motor 28. The rotation of the motor 28 is controlled by a control device 30. That is, in this embodiment, a configuration including the wheels 22 that run on the rails 14 and the motor 28 is adopted as a moving mechanism for moving the monitoring device 10. However, without being limited to this, the moving mechanism may also be configured to include a running unit such as a wheel or crawler that runs on the ground, and a drive unit (such as a motor) that drives the running unit.

[0016] The camera 24 and blower 26 are mounted on the underside of the ceiling panel 20a of the housing 20. The camera 24 is positioned at a distance (height) H2 (e.g., 1000 mm) from the cultivation bed 12. The camera 24 photographs the strawberry plants from above. In this embodiment, the camera 24 is a stereo camera having multiple image sensors. Images simultaneously captured by the camera 24 can be used to measure the distance between the camera 24 and an object in the image. Furthermore, the distance information obtained from the images can be used to calculate the height of each leaf (height of the petiole from the medium) from the top surface of the cultivation bed 12. The blower 26 blows air downward onto the strawberry plants. The speed of the air blown by the blower 26 is adjustable and controlled by the control device 30. The control device 30 uses the camera 24 to photograph the plants from above, with or without the blower 26 blowing air onto the plants. The images captured by the camera 24 are transmitted to the control device 30, which then transmits the captured images to the information processing device 90. The control device 30 also transmits to the information processing device 90 information on the speed of the wind blown onto the plants from the blower 26 when capturing the images.

[0017] The position detection device 29 may be, for example, a position detection device having an RFID reader capable of communicating with multiple RFID (radio frequency identifier) ​​tags installed near the cultivation bed 12, a position detection device having a camera capable of photographing markers installed near the cultivation bed 12, a position detection device that detects the position from the amount of rotation of the wheels 22 or the motor 28, or an RTK-GNSS (Real Time Kinematic-Global Navigation Satellite System). The position detection device 29 detects the XY position of the camera 24. From the XY position of the camera 24, the XY position of each point in the captured image (capture range) can be identified. In addition, the detection result of the position detection device 29 is transmitted to the control device 30.

[0018] The control device 30 controls the motor 28 based on the detection result of the position detection device 29 to adjust the position of the monitoring device 10 (the shooting location of the camera 24). The control device 30 also transmits to the information processing device 90 the image captured by the camera 24, its position information (XY position), and information on the speed of the wind blown from the blower 26 when the image was captured. FIG. 2 shows the hardware configuration of the control device 30. As shown in FIG. 2, the control device 30 includes a CPU (Central Processing Unit) 190, a ROM (Read Only Memory) 192, a RAM (Random Access Memory) 194, a storage unit (such as an HDD (Hard Disk Drive) or an SSD (Solid State Drive)) 196, a network interface 197, and a portable storage medium drive 199. These components of the control device 30 are connected to a bus 198. In the control device 30, the CPU 190 executes a program stored in the ROM 192 or the storage unit 196, or a program read by the portable storage medium drive 199 from the portable storage medium 191, thereby realizing the functions of the units shown in Fig. 3. Note that the functions of the units shown in Fig. 3 may be realized by an integrated circuit such as an ASIC (Application Specific Integrated Circuit) or an FPGA (Field Programmable Gate Array), for example.

[0019] The information processing device 90 uses the location information transmitted from the control device 30 to identify the plant photographed in the image. The information processing device 90 also calculates the petiole length and leaf area of ​​each plant using the image and wind speed information. The information processing device 90 has the same hardware configuration as the control device 30 (see FIG. 2). In the information processing device 90, the CPU 190 executes a program to realize the functions of each unit shown in FIG. 3.

[0020] (Calculation formula for petiole length and leaf area) Here, we will explain the mathematical formulas used by the information processing device 90 (calculation unit 56 in FIG. 3, which will be described later) when calculating the petiole length and leaf area. In this embodiment, one of three types of formulas (approximation formulas 1 to 3), which will be described later, is used, but this is not limiting and other formulas can also be used.

[0021] 4(a) and 4(b) show schematic diagrams of an experimental apparatus 200 used to derive the formula. As shown in FIG. 4(a), a cultivation pot 202 containing a strawberry plant is installed in the experimental apparatus 200. The cultivation pot 202 is installed so that its upper end is positioned at a height H0 (e.g., 500 mm) above the ground. The experimental apparatus 200 also includes a hollow cylinder 204 with a height H2 (e.g., 1000 mm) that covers the strawberry plant. The diameter of the hollow cylinder 204 is, for example, 500 mm. In the experimental apparatus shown in FIGS. 4(a) and 4(b), the height H0 of the cultivation pot 202 is set equal to the diameter of the hollow cylinder 204 so that air passes through the hollow cylinder 204 (to straighten the airflow). Furthermore, a camera 24 and a blower 26 are installed at the upper end of the hollow cylinder 204. The camera 24 and the blower 26 in FIG. 4(a) are the same as the camera 24 and the blower 26 in FIG.

[0022] FIG. 5(a) is an image of a strawberry plant taken by camera 24 when blower 26 is not operating and the wind speed is 0 m. FIG. 5(b) is an image of a strawberry plant taken by camera 24 when wind is blown from blower 26 at a predetermined wind speed. As shown in FIG. 5(b), when wind is blown from above, the leaf blades are subjected to a force (wind load), and as can be seen by comparing with FIG. 5(a), the leaf petioles fall outward around the base (center of the plant (crown)). The leaf blades also fall outward, and the entire leaf moves outward.

[0023] In Fig. 6(a), the state of the entire leaf in a state where the wind speed is 0 m or a wind of a first speed (weak wind) is blowing against the leaf blade (first state) as in Fig. 5(a) is shown by a thick solid line. Also, in Fig. 6(a), the state of the entire leaf in a state where the wind of a second speed (medium wind or strong wind) is blowing against the leaf blade (second state) as in Fig. 5(b) is shown by a thick dashed line. In Fig. 6(a), the horizontal difference M between the position of the tip of the petiole in the first state and the position of the tip of the petiole in the second state is P is the horizontal projection movement of the petiole M P The position of the tip of the petiole shown in Figure 6(a) is actually the base (see symbol S) of the petiole (the thin petiole connecting the petiole and the leaf blade) shown in Figure 6(b).

[0024] Next, an experimental apparatus 200′ shown in FIG. 4(b) will be described. The experimental apparatus 200′ in FIG. 4(b) is an improved version of the experimental apparatus 200 in FIG. 4(a). In the experimental apparatus 200′ in FIG. 4(b), a load cell 206 is installed at a height H0 (e.g., 500 mm) from the ground, and a leaf blade 210 is installed on a fixture 208 connected to the load cell 206. The height of the upper surface of the leaf blade 210 is set to approximately the same height as the height of the leaf blade of the strawberry plant in FIG. 4(a) (e.g., 581 mm from the ground). In addition, an anemometer 212 is installed near the leaf blade 210. This experimental apparatus 200′ can measure the wind speed near the leaf blade and the wind force (wind load) acting on the leaf blade when the propeller of the blower 26 is rotated at a predetermined rotation speed.

[0025] FIG. 7(a) shows the relationship between the wind velocity (Air velocity) v (m / s) and the wind load per unit leaf area (Load / Leaf area) (N / m 2 ) and the relationship between the drag coefficient C of the leaf blade. d 10 is a graph showing the relationship between wind speed v (m / s) and

[0026] 8(a) to 8(e) show the horizontal projection movement M of the petiole of each of the first to fifth leaves of a strawberry plant relative to the wind speed v, obtained using the experimental device 200. P The results of actual measurements are shown.

[0027] (About approximation formula 1) This approximation formula 1 is based on the actual measurements in Fig. 8(a) to Fig. 8(e) and is calculated by the wind speed v and horizontal projection displacement M P This is an example in which the relationship between is approximated as shown by the broken lines in FIGS. 9(a) to 9(e).

[0028] Here, the following formula (1) is known as a general formula for wind load.

[0029]

number

[0030] In the above equation (1), P (N) is the wind load, ρ (kg / m 3 ) is the air density, A(m 2 ) is the pressure-receiving area (leaf area), v (m / s) is the wind speed, C d is the drag coefficient.

[0031] Here, the drag coefficient of the leaf blade, C d is expressed as the following equation (2) using wind speed v.

[0032]

number

[0033] Note that m and n are coefficients.

[0034] Also, the horizontal projection movement amount M P The proportionality of is expressed by the following equation (3) using the proportionality coefficient k to the wind load P, and the petiole length L (mm) is expressed by the following equation (4) using the proportionality coefficient k.

[0035]

number

[0036] The above equation (4) is a modified equation of k=aL+b, and a and b in equation (4) are coefficients that need to be calculated in advance.

[0037] Furthermore, as shown in Figure 6(a), if the inclination angle (petiole angle) of the petiole relative to the medium (horizontal plane) when subjected to wind pressure is δ, the height of the leaf when subjected to pressure (height of the petiole from the medium) is hm, and the distance from the center of the plant to the petiole when subjected to wind pressure is Dm, the relationship between the following equations (5) and (6) holds. tanδ=hm / Dm …(5) L=hm / sinδ …(6)

[0038] In this approximation formula 1, the petiole length L and leaf area A can be calculated by using the above formulas (1) to (6).

[0039] (Approximate formula 2) Next, we will explain Approximation Formula 2. Approximation Formula 2 is calculated based on the actual measurement values ​​of Fig. 8(a) to Fig. 8(e) by calculating the wind speed v and the horizontal projection movement amount M P This is an example in which the relationship between is approximated as shown by the solid lines in FIGS. 9(a) to 9(e).

[0040] FIG. 10 is a schematic diagram for explaining approximation formula 2. In FIG. 10, the state of the entire leaf in the first state (when the wind speed is 0 m or the first wind speed (weak wind)) is shown by a thick solid line, and the state of the entire leaf in the second state (when the second wind speed (medium wind or strong wind)) is shown by a thick dashed line. In FIG. 10, the petiole angle (the angle between the direction in which the petiole extends and the horizontal plane) in the first state is θ (rad), and the petiole angle in the second state is δ (rad). Note that θ can be said to be the value of the petiole angle when the leaf is attached. Furthermore, the actual movement amount of the petiole tip between the first state and the second state is M (mm), and the horizontally projected movement amount is M P (mm).

[0041] Based on the knowledge that the wind load on the leaf blade is proportional to the square of the wind speed (v) and the pressure-receiving area (A), we decided to use the following equation (7), where l is the proportionality coefficient.

[0042]

number

[0043] In addition, we assumed that when the petiole falls outward from the base of the plant, the tip of the petiole moves in a circular motion around the base, and defined the inclination angle (petiole angle) δ of the petiole with respect to the medium (horizontal plane) when subjected to wind pressure as shown in the following equation (8).

[0044]

number

[0045] Furthermore, the formula for converting the length of petiole inclination into a projection value was defined as follows: (9)

[0046]

number

[0047] In this approximation formula 2, the petiole length L and the leaf area A can be calculated by using the above formulas (7) to (9) and (5) and (6). Furthermore, by substituting the height hn of the petiole from the medium in the first state (when the wind speed is 0 m or the first wind speed (weak wind)) and the distance Dn from the center of the plant in the first state to the petiole as hm and Dm in the above equation (5), the following equation (5') can be obtained to calculate the petiole angle θ at the time of attachment. θ=arctan(hn / Dn) …(5') Therefore, in this approximation formula 2, the petiole angle θ at the time of attachment can be obtained by using the above formula (5').

[0048] (Approximate formula 3) Next, we will explain Approximation Formula 3. Approximation Formula 3 is calculated based on the actual measurement values ​​of Fig. 8(a) to Fig. 8(e) by calculating the wind speed v and the horizontal projection movement amount M P This is an example of the case where the relationship between the angle δ and the leaf stem is approximated as shown by the thin solid lines in Figures 9(a) to 9(e). Figure 11 is a schematic diagram for explaining approximation formula 3. Approximation formula 3 expresses that the angle δ returns from the state shown by the dashed line due to bending of the petiole, as shown in Figure 11.

[0049] Specifically, the following equation (10) was used.

[0050]

number

[0051] In addition, (θ-M / L) in the above equation (10) means almost the same as the right side of the above equation (8). Also, p is the advance angle coefficient, and (v 4 / p) expresses the fact that the angle returns to its original position due to the bending of the petiole.

[0052] In this approximation formula 3, the petiole length L can be calculated from the leaf area A by using formulas (7), (9), (10) and the above formulas (5) and (6). Also, in this approximation formula 3, as in approximation formula 2, the petiole angle θ at the time of attachment can be calculated by using the above formula (5').

[0053] (Functions of the control device 30 and the information processing device 90) Returning to FIG. 3, the functions of the control device 30 and the information processing device 90 will be described.

[0054] (Functions of the control device 30) As shown in FIG. 3, the control device 30 has the functions of a position control unit 40, a wind speed control unit 41, an imaging control unit 42, and an image acquisition and transmission unit 44.

[0055] The position control unit 40 controls the motor 28 based on the detection result of the position detection device 29, and adjusts the position of the monitoring device 10 (the shooting location of the camera 24). For example, the position control unit 40 moves the monitoring device 10 so that each plant falls sequentially within the shooting range of the camera 24.

[0056] When one stalk falls within the shooting range of camera 24, wind speed control unit 41 controls blower 26 to put the stalk into a first state. Here, the first state is a state in which blower 26 blows wind at a first speed (weak wind). However, the first state may also be a state in which blower 26 is not blowing wind. Furthermore, when one stalk falls within the shooting range of camera 24, wind speed control unit 41 controls blower 26 to put the stalk into a second state. Here, the second state is a state in which blower 26 blows wind at a second speed (moderate wind or strong wind) that is faster than the first speed.

[0057] The photography control unit 42 photographs the plant in the first state from above using the camera 24. The photography control unit 42 also photographs the plant in the second state from above using the camera 24. After photographing the plant in the first state and the plant in the second state, the photography control unit 42 notifies the position control unit 40 of this. Upon receiving this notification, the position control unit 40 adjusts the position of the monitoring device 10 so that the next plant falls within the photography range of the camera 24.

[0058] The image acquisition / transmission unit 44 acquires the image captured by the camera 24 and transmits the acquired image to the information processing device 90 together with the position information (XY position) at the time of image capture obtained from the position control unit 40 and the wind speed information at the time of image capture obtained from the wind speed control unit 41.

[0059] (Functions of information processing device 90) As shown in FIG. 3, the information processing device 90 includes an image acquisition unit 52, an image analysis unit 54, a calculation unit 56, a data management unit 58, and an output unit 60.

[0060] The image acquisition unit 52 acquires an image of the stock photographed in a first state, information on the photographing location of the image and information on the wind speed, and an image of the stock photographed in a second state, information on the photographing location of the image and information on the wind speed.

[0061] The image analysis unit 54 analyzes the image captured by the image acquisition unit 52 and passes the analysis results to the calculation unit 56 .

[0062] The calculation unit 56 calculates the petiole length and leaf area of ​​the strawberry based on the analysis results of the image analysis unit 54, predetermined coefficients, and information input by the user.

[0063] The data management unit 58 acquires the calculation results (petiole length and leaf area) from the calculation unit 56 and manages them in association with the location information of the plant.

[0064] The output unit 60 outputs the information managed by the data management unit 58 .

[0065] (Regarding the processing of the control device 30) FIG. 12 is a flowchart showing the processing of the control device 30.

[0066] 12 starts, first in step S10, the position control unit 40 controls the motor 28 based on the detection result of the position detection device 29, and moves the monitoring device 10 to a position where the strawberry plants can be photographed using the camera 24. Note that the approximate position of each plant on the cultivation bed 12 is assumed to be known in advance.

[0067] Next, in step S12, the wind speed control unit 41 turns off the blower 26 or controls the wind speed from the blower 26 to be a first wind speed (weak wind) (i.e., so that the stumps are in a first state). Here, the first state is assumed to be a windless state. When step S12 is performed, if the blower 26 is in the OFF state, the wind speed control unit 41 does not control the blower 26 and maintains the state as it is.

[0068] Next, in step S14, the photography control unit 42 uses the camera 24 to photograph the strawberry plant from above.

[0069] In step S16, the image acquisition / transmission unit 44 acquires the image (second image) taken in step S14 from the camera 24, and transmits the image, information on the position when the image was taken, obtained from the position control unit 40, and information on the wind speed of the blower 26 when the image was taken, obtained from the wind speed control unit 41, to the information processing device 90.

[0070] Next, in step S18, the wind speed control section 41 controls the speed of the wind from the blower 26 to be a second wind speed (medium wind or strong wind) (that is, so that the stalks are in a second state).

[0071] Next, in step S20, the photography control unit 42 uses the camera 24 to photograph the strawberry plant from above.

[0072] Next, in step S22, the image acquisition / transmission unit 44 acquires the image (second image) taken in step S20 from the camera 24, and transmits the image, information on the position when the image was taken, obtained from the position control unit 40, and information on the wind speed of the blower 26 when the image was taken, obtained from the wind speed control unit 41, to the information processing device 90.

[0073] Thereafter, the process returns to step S10. Note that the wind speed control unit 41 may stop the operation of the blower 26 before returning to step S10. When the process returns to step S10, the position control unit 40 moves to photograph the next stalk. Then, in steps S12 to S22, the control device 30 performs processing such as photographing an image of the next stalk.

[0074] Although details will be described later, steps S18, S20, and S22 in FIG. 12 may be repeated multiple times with different second wind speeds.

[0075] 12, the monitoring device 10 is moved (S10), images are captured at a first wind speed (S12, S14), images are captured at a second wind speed (S18, S20), and the monitoring device 10 is moved again (S10). However, the present invention is not limited to this. For example, images of multiple plants may be captured while the monitoring device 10 is moved with the blower 26 turned off or maintained at a first wind speed, and then images of multiple plants may be captured while the monitoring device 10 is moved with the blower 26 maintained at a second wind speed. The image acquisition / transmission unit 44 may then associate images captured at the same location (i.e., first and second images of the same plant) and transmit them to the information processing device 90 along with location information and wind speed information.

[0076] (Regarding the processing of the information processing device 90) Next, the processing of the information processing device 90 will be described with reference to the flowchart of FIG.

[0077] When the processing of FIG. 13 starts, first in step S30, the image acquisition unit 52 acquires the image, position information, and wind speed information transmitted from the image acquisition / transmission unit 44 of the control device 30.

[0078] Next, in step S32, the image analysis unit 54 detects the center of the plant from either the image in the first state or the image in the second state. Specifically, the image analysis unit 54 performs deep learning using, for example, a large number of images showing the shape of the plant and its center as training data, and can detect the center of the plant present in the acquired image (the image in the first state or the image in the second state) using the resulting training model. The image analysis unit 54 can also detect the center of the plant using a method other than deep learning. For example, as shown in FIG. 14(a), the image analysis unit 54 can detect multiple petioles from the second image and detect the intersection of their extensions as the center of the plant. By using this method, the center of the plant can be accurately detected even when it is hidden by leaves of other plants, as shown in FIG. 14(b). Furthermore, as shown in Figure 14(c), strawberries typically have three leaflets connected to one petiole, so the image analysis unit 54 may, for example, perform a process of drawing a straight line (see the dashed line in Figure 14(c)) multiple times in the longitudinal direction of the middle leaflet out of the three leaflets, and determine the intersection of these lines as the center of the plant. Note that the image analysis unit 54 may preferentially perform detection of the plant center using deep learning, and if the plant center cannot be detected by deep learning, may detect the plant center using the method of Figure 14(a), Figure 14(b), or Figure 14(c).

[0079] Next, in step S34, the image analysis unit 54 detects petioles from the image in the first state. Here, the image analysis unit 54 detects leaf blades in the order of the first leaf, second leaf, third leaf, and so on, and detects the petioles of each leaf. For example, the image analysis unit 54 performs deep learning using a large amount of learning data correlating leaf images with the degree of unexpandedness to obtain a learning model. Then, the image analysis unit 54 uses the obtained learning model to detect unexpanded leaves of the plant from within the image and designate the detected unexpanded leaf as the first leaf. Alternatively, the image analysis unit 54 may detect leaves from the image and determine the smallest leaf among the detected leaves as the first leaf. Alternatively, the image analysis unit 54 may detect leaves from the image and determine the lightest leaf among the detected leaves as the first leaf. Furthermore, the image analysis unit 54 may detect leaves from the image and designate the leaf closest to the center of the plant among the detected leaves as the first leaf. The image analysis unit 54 may preferentially apply a method for identifying the first leaf using deep learning, and if the first leaf cannot be identified using this method, it may identify the first leaf using one of the other methods described above. Alternatively, the image analysis unit 54 may identify the first leaf using multiple of the methods described above and combine the results of the multiple identifications to identify the first leaf. Furthermore, the image analysis unit 54 detects the angle of the line connecting the first leaf and the center of the plant relative to a reference line, and identifies the leaf located approximately 144° from the center of the plant relative to the direction of the first leaf's growth as the second leaf, the leaf located approximately 144° from the center of the plant relative to the direction of the second leaf's growth (approximately 288° from the direction of the first leaf's growth) as the third leaf, and so on. The image analysis unit 54 then detects the petioles connected to the identified first leaf, second leaf, and so on. Deep learning may be used as a method for detecting petioles. However, the present invention is not limited to this, and the connecting point between the petiole and one leaf blade may be detected, or the position where the longitudinal directions of three leaf blades intersect may be regarded as the petiole.

[0080] Next, in step S36, the image analysis unit 54 measures the distance Dn (see Figure 6(a)) from the center of the plant to the petiole using the image in the first state. The distance Dn may be measured for each of the first leaf, second leaf, etc., or may be measured only for specific leaves that require measurement. When using the above approximation formulas 2 and 3, the image analysis unit 54 detects the height hn (see Figure 6(a)) of the petiole from the surface of the medium using the image in the first state. In this case, the calculation unit 56 can calculate the petiole angle θ (light-receiving position of the leaf) at the time of attachment by substituting the height hn and the distance Dn into the above formula (5').

[0081] Next, in step S38, the image analysis unit 54 detects petioles from the image in the second state. The process in step S38 is the same as that in step S34 described above.

[0082] Next, in step S39, the image analysis unit 54 detects the height hm of the petiole from the surface of the medium using the image in the second state. Note that because the image in the second state is an image captured using a stereo camera, the image analysis unit 54 can detect the height hm of the petiole from the surface of the medium from the image. Note that in this embodiment, the image analysis unit 54 and the camera 24 are included to realize the function of a measuring device that measures leaf height information of strawberry plants.

[0083] Next, in step S40, the image analysis unit 54 measures the distance Dm (see FIG. 6(a)) from the center of the plant to the petiole using the image in the second state. Note that the distance Dm may be measured for each of the first leaf, second leaf, ..., or may be measured only for a specified leaf that requires measurement.

[0084] Next, in step S42, the calculation unit 56 calculates the horizontal projection movement amount M P Specifically, the horizontal projection movement amount M P Calculate. M P =Dm-Dn …(11)

[0085] Next, in step S44, the calculation unit 56 calculates the petiole angle δ of each leaf under pressure using one of the approximation formulas 1 to 3 (formula (5) above), and calculates the petiole length L of each leaf using the calculated δ and the distance hm (formula (6) above).

[0086] Next, in step S46, the calculation unit 56 calculates the leaf area A of each leaf using the petiole length L and any one of approximation formulas 1 to 3. The data management unit 58 manages the petiole length L and the leaf area A in association with the position.

[0087] Next, in step S48, the output unit 60 determines whether an output request has been input. If the determination in step S48 is negative, the process returns to step S30, but if the determination is affirmative, the process proceeds to step S50.

[0088] When the process proceeds to step S50, the output unit 60 outputs the data for which an output request has been made. After that, the process returns to step S30, and the above processing is repeated.

[0089] (Example) Next, the processing of steps S44 and S46 in FIG. 13 will be described using an example.

[0090] (Example of calculating petiole length L and leaf area A using approximation formula 1) 15(a) to 15(h) are diagrams for explaining an example of determining the petiole length L and the leaf area A using approximation formula 1. In this example, as described above, the following formulas (1) to (6) are used.

[0091]

number

[0092] 15(a) shows an example of coefficients m, n, a, and b that need to be calculated in advance when using approximate formula 1. m and n are coefficients of formula (2), and a and b are coefficients of formula (4).

[0093] 15(b) shows an example of a wind speed (first wind speed) v1 in a first state and a wind speed (second wind speed) v2 in a second state. The difference between the second wind speed v2 and the first wind speed v1 is v in equations (1) and (2).

[0094] The calculation unit 56 calculates the drag coefficient Cd by substituting the coefficients m (= 1.34) and n (= -0.34) in Figure 15(a) and the value v (= v2 - v1 = 3.0 m / s) calculated from Figure 15(b) into equation (2). The value of Cd calculated by this calculation is shown in Figure 15(c).

[0095] Fig. 15(d) shows an example of the distance D1 from the center of the plant to the petiole obtained from the image in the first state, and the distance D2 from the center of the plant to the petiole obtained from the image in the second state. Fig. 15(e) shows the horizontal projection shift M obtained from the difference between the distance D2 and the distance D1 in Fig. 15(d) (see equation (11) above). P The dimensions in Figures 15(d) and 15(e) are the dimensions in the images (unit: pixel) converted from the distance between the camera 24 and the culture medium (unit: mm).

[0096] FIG. 15(f) also shows the value of the height h2 of the petiole from the surface of the medium obtained from the image in the second state.

[0097] The calculation unit 56 calculates the petiole angle δ under pressure by substituting the height h2 and D2 into the above formula (5). Figure 15(g) shows the calculation result of the petiole angle δ under pressure.

[0098] Next, the calculation unit 56 calculates the petiole length L by substituting the calculated petiole angle δ and height h2 under pressure into the above equation (6). Figure 15(h) shows the calculation result of the petiole length L. In the example of Figures 15(a) to 15(h), the petiole length L is calculated to be 115.5628 mm, which indicates that a value close to the true value of 115 mm can be derived.

[0099] The calculation unit 56 also calculates the coefficient k by substituting the petiole length L and the coefficients a and b into the formula (4). P By substituting and into the above equation (3), the wind load P is calculated. Figure 15(h) shows the calculation results of the coefficient k and the wind load P.

[0100] Furthermore, the calculation unit 56 adds the wind load P (FIG. 15(h)) and air density ρ (kg / m 3 ), velocity v (= v2 - v1) (Fig. 15(b)), drag coefficient C d (Fig. 15(c)) is substituted to calculate the leaf area A. Fig. 15(h) shows the calculation results for leaf area A. In the example of Fig. 15(a) to Fig. 15(h), the leaf area A is calculated to be 7278.502 mm, which shows that a value close to the true value of 9353 mm can be derived.

[0101] Figures 16(a) to 16(h) show the calculation results when the second wind speed v2 was set to 4.503 m / s and 5.253 m / s. When the second wind speed v2 was set to 4.503 m / s, the petiole length L was calculated to be 115.4725 mm. When the second wind speed v2 was set to 5.253 m / s, the petiole length L was calculated to be 115.771 mm. These calculated petiole lengths L were close to the true value of 115 mm. When the second wind speed v2 was set to 4.503 m / s, the leaf area A was 7116.071 mm. 2 In addition, if the second wind speed v2 is set to 5.253 m / s, the leaf area A is 7166.055 mm 2 These calculated petiole lengths A were close to the true value of 9353 mm.

[0102] (Example of calculating petiole length L and leaf area A using approximation formula 2) 17(a) to 17(h) and 18 are diagrams for explaining an example of calculating the petiole length L and the leaf area A using approximation formula 2. In this example, as described above, the following formulas (7) to (9) and formulas (5), (6), and (5') are used.

[0103]

number

[0104] 17(a) shows an example of the coefficient l that needs to be calculated in advance when using approximate formula 2. l is the coefficient of formula (7).

[0105] 17(b) shows an example of wind speed (first wind speed) v1 in the first state and wind speeds (second wind speeds) v2 to v8 in the second state. The difference between these second wind speeds v2 to v8 and the first wind speed v1 is v in equation (7). In this embodiment, two or more images (seven in FIG. 17(b)) in the second state are taken while varying the speed of the wind blown from the blower 26.

[0106] Figure 17(c) shows the values ​​of the distances D1 to D8 from the center of the plant to the petiole obtained from an image taken in the first state (wind speed v1) and an image taken in the second state (wind speeds v2 to v8).

[0107] FIG. 17(d) shows the horizontal projection movement amount M calculated from the image captured in the first state (wind speed v1) and the images captured in the second state (wind speeds v2 to v8). P The values ​​of M P 2 is the difference between the distance D2 from the center of the plant to the petiole obtained at wind speed v2 and the distance D1 from the center of the plant to the petiole obtained at wind speed v1. P 3 is the difference between the distance D3 from the center of the plant to the petiole obtained at wind speed v3 and the distance D1 from the center of the plant to the petiole obtained at wind speed v1. M P 4~M P 8. In this way, in this embodiment, for each combination of an image in the first state and an image in the second state, the horizontal projection movement amount M P Calculate.

[0108] FIG. 17(e) shows the values ​​of petiole heights h1 to h8 obtained from the image in the first state (wind speed v1) and the images in the second state (wind speeds v2 to v8).

[0109] The calculation unit 56 calculates the petiole angle θ at the time of attachment by substituting the value of the distance D1 in Figure 17(c) and the value of the petiole height h1 in Figure 17(e) into the above equation (5'). Figure 17(f) shows the calculated value of the petiole angle θ at the time of attachment.

[0110] The calculation unit 56 also calculates the petiole angle δ2 under pressure by substituting the value of distance D2 in Figure 17(c) and the value of petiole height h2 in Figure 17(e) into the above equation (5). Similarly, the calculation unit 56 calculates the petiole angles δ3 to δ8 under pressure by substituting the values ​​of distances D3 to D8 and the values ​​of petiole heights h3 to h8 into the above equation (5), respectively. Figure 17(g) shows the values ​​of petiole angles δ2 to δ8 under pressure.

[0111] The calculation unit 56 then calculates the petiole length L2 by substituting the petiole angle δ2 under pressure and the petiole height h2 into the above formula (6). The calculation unit 56 also calculates the petiole lengths L3 to L8 by substituting the petiole angles δ3 to δ8 under pressure and the petiole heights h3 to h8 into the above formula (6), respectively. Figure 17(h) shows the calculated petiole lengths L2 to L8. In the example of Figures 17(a) to 17(h), it can be seen that values ​​approximating the true value of 115 mm can be derived for the petiole lengths L2 to L8. The calculation unit 56 may calculate any one of the petiole lengths L2 to L8 as the petiole length. Alternatively, multiple petiole lengths may be calculated as shown in Figure 17(h), and a representative value, such as the average or median, of the calculated petiole lengths may be output as the petiole length of the photographed strawberry plant.

[0112] Furthermore, the calculation unit 56 converts M in equation (8) into M (=Av 2In the following equation (8') into which θ, v, l, and L3 to L8 (FIG. 17(h)) are substituted, a provisional value is set for leaf area A, and θ (FIG. 17(f)), v (v2-v1 in FIG. 17(b)), l (FIG. 17(a)), and L2 (FIG. 17(h)) are substituted to calculate the petiole angle δ2' under pressure (see FIG. 18). Similarly, the calculation unit 56 calculates the petiole angles δ3' to δ8' under pressure by substituting the provisional value of leaf area A, θ, v, l, and L3 to L8 (FIG. 17(h)) into the following equation (8') (see FIG. 18).

number

[0113] Then, the calculation unit 56 calculates the error (actually, the square of the error = (δ' - δ)) between the petiole angle δ' (Fig. 18) when pressure is applied and the petiole angle δ (Fig. 17(g)) when pressure is applied. 2 ) sum ((δ2'-δ2) 2 +(δ3'-δ3) 2 +…+(δ8'-δ8) 2 ) is smaller than a predetermined value. In the example of Figure 18, the leaf area A is set to 8078.957 mm 2 Therefore, in this example, the leaf area A is set to 8078.957 mm 2 This value is the true value = 9353 mm 2 It was approximated as follows.

[0114] 18, the leaf area A is optimized from multiple petiole angles δ and δ' under pressure, but the present invention is not limited to this. For example, the leaf area A may be calculated using one petiole angle δ under pressure by expanding cosine using a Fourier transform or the like.

[0115] In this embodiment, the petiole angle θ at the time of attachment is calculated from the above formula (5′), but this is not limiting. For example, the above formula (9) may be calculated by adding M P2 (Fig. 17(d)), L2 (Fig. 17(h)), and δ2 (Fig. 17(g)). The value of the petiole angle θ at the time of attachment may be prepared in advance. In this case, θ may be measured in advance, or if the relationship between the leaf position and the petiole angle θ is known in advance, the petiole angle θ may be calculated using this relationship. When the value of θ is prepared in advance, the horizontal projection shift amount M P You don't have to ask for it.

[0116] (Example of calculating petiole length L and leaf area A using approximate formula 3) 19(a) to 19(h) and 20 are diagrams for explaining an example of calculating the petiole length L and leaf area A using approximation formula 3. Note that this example is the value for the first leaf of a strawberry plant. Note that in this example, as described above, the following formulas (7), (9), (10) and formulas (5), (6), and (5') are used.

[0117]

number

[0118] 19(a) shows an example of coefficients l and p (advance angle coefficients) that need to be calculated in advance when using approximate equation 3. l is a coefficient in equation (7), and p is a coefficient in equation (10).

[0119] 19(b) shows an example of wind speed (first wind speed) v1 in the first state and wind speeds (second wind speeds) v2 to v8 in the second state. The difference between these second wind speeds v2 to v8 and the first wind speed v1 is v in equations (7) and (10). In this embodiment, two or more images (seven in FIG. 19(b)) in the second state are taken while varying the speed of the wind blown from blower 26.

[0120] Figure 19(c) shows the values ​​of the distances D1 to D8 from the center of the plant to the petiole obtained from an image taken in the first state (wind speed v1) and an image taken in the second state (wind speeds v2 to v8).

[0121] FIG. 19(d) shows the horizontal projection movement amount M calculated from the image captured in the first state (wind speed v1) and the images captured in the second state (wind speeds v2 to v8). P The value of (M P 2~M P 8) is shown.

[0122] Figure 19(e) also shows the values ​​of petiole heights h1 to h8 obtained from images taken in the first state (wind speed v1) and images taken in the second state (wind speeds v2 to v8).

[0123] The calculation unit 56 calculates the petiole angle θ at the time of attachment by substituting the value of the distance D1 in Figure 19(c) and the value of the petiole height h1 in Figure 19(e) into the above equation (5'). Figure 19(f) shows the calculated value of the petiole angle θ at the time of attachment.

[0124] Similarly to the case of approximation formula 2, the calculation unit 56 calculates the petiole angles δ2 to δ8 under pressure by substituting the values ​​of the distances D2 to D8 in FIG. 19(c) and the values ​​of the petiole heights h2 to h8 in FIG. 19(e) into the above formula (5), respectively. FIG. 19(g) shows the values ​​of the petiole angles δ2 to δ8 under pressure. Similarly to the case of approximation formula 2, the calculation unit 56 calculates the petiole lengths L2 to L8 by substituting the values ​​of the petiole angles δ2 to δ8 under pressure and the petiole heights h2 to h8 into the above formula (6), respectively. FIG. 19(h) shows the calculated values ​​of the petiole lengths L2 to L8. In the example of FIGS. 19(a) to 19(h), it can be seen that values ​​approximating the true value of 115 mm can be derived for the petiole lengths L2 to L8. The calculation unit 56 may calculate any one of the petiole lengths L2 to L8 as the petiole length. Alternatively, as shown in Figure 19(h), multiple petiole lengths may be calculated, and a representative value such as the median or average of the multiple calculated petiole lengths may be output as the petiole length of the photographed strawberry plant.

[0125] Furthermore, the calculation unit 56 converts M in equation (10) into M (=Av 2 In the following equation (10') into which θ, v (v2-v1 in Figure 19(b)), l (Figure 19(a)), and L2 (Figure 19(h)) are substituted, a provisional value is set for leaf area A, and the calculation unit 56 calculates the petiole angle δ2' under pressure (see Figure 20) by substituting θ (Figure 19(f)), v (v2-v1 in Figure 19(b)), l (Figure 19(a)), and L2 (Figure 19(h)). Similarly, the calculation unit 56 calculates the petiole angles δ3' to δ8' under pressure by substituting the provisional value of leaf area A, θ, v, l, and L3 to L8 (Figure 19(h)) into the following equation (10') (see Figure 20).

number

[0126] Then, the calculation unit 56 calculates the error (actually, the square of the error = (δ' - δ)) between the petiole angle δ' (Fig. 20) when pressure is applied and the petiole angle δ (Fig. 19(g)) when pressure is applied. 2 ) sum ((δ2'-δ2) 2 +(δ3'-δ3) 2 +…+(δ8'-δ8) 2 ) is smaller than a predetermined value. In the example of Figure 20, the leaf area A is set to 9138.422 mm 2 Therefore, in this example, the leaf area A is set to 9138.422 mm 2 This value is the true value = 9353 mm 2 It was approximated as follows.

[0127] 20, the leaf area A is optimized from multiple petiole angles δ and δ' under pressure, but the present invention is not limited to this. For example, the leaf area A may be calculated using one petiole angle δ under pressure by expanding cosine using a Fourier transform or the like.

[0128] In this embodiment, the petiole angle θ at the time of attachment is calculated from the above formula (5′), but this is not limiting. For example, the above formula (9) may be calculated by adding M P2 (Fig. 19(d)), L2 (Fig. 19(h)), and δ2 (Fig. 19(g)). The value of the petiole angle θ at the time of attachment may be prepared in advance. In this case, θ may be measured in advance, or if the relationship between the leaf position and the petiole angle θ is known in advance, the petiole angle θ may be calculated using this relationship. When the value of θ is prepared in advance, the horizontal projection shift amount M P You don't have to ask for it.

[0129] As described above in detail, in this embodiment, the control device 30 controls the camera 24 to capture an image of the plant from above while the blower 26 blows air toward the plant at a predetermined speed. The image analysis unit 54 of the information processing device 90 detects the height hm of the petiole of the plant at the time the image was captured by the camera 24 and calculates the distance Dm from the center of the plant to the petiole. The calculation unit 56 of the information processing device 90 then calculates the petiole length L using the height hm and the distance Dm according to the above equations (5) and (6). This allows accurate calculation of the petiole length L even when the petiole is located below the leaf blade (leaflet) and is difficult to see from the outside (see FIGS. 15(h), 16(h), 17(h), and 19(h)).

[0130] In this embodiment, the image analysis unit 54 detects the height hm of a given leaf of the plant from an image captured by the camera 24 (stereo camera). This eliminates the need to provide a device for detecting the height of the leaves separately from the camera 24, thereby simplifying the system and reducing costs. However, this is not limiting, and a depth sensor, depth camera, or the like may be provided in addition to the camera 24 and used to detect the height hm. Furthermore, the camera 24 does not have to be a stereo camera. For example, the height hm of the petiole may be detected (moving measurement) using an image captured by the camera 24 at a first position and an image captured by the camera 24 at a second position different from the first position.

[0131] Furthermore, in this embodiment, when approximation formula 1 is used, the image analysis unit 54 of the information processing device 90 calculates the difference (horizontal projection movement amount M P ) is calculated. The calculation unit 56 of the information processing device 90 calculates the horizontal projection movement amount M P The leaf area A is calculated based on the difference in wind speed v and the petiole length L. Specifically, in approximation formula 1, M is added to formulas (1) to (4). P , v, and L to calculate the leaf area A. This allows you to calculate the leaf area A easily and accurately.

[0132] Furthermore, in this embodiment, when approximation formulas 2 and 3 are used, the calculation unit 56 of the information processing device 90 calculates the leaf area A based on the petiole angle when the plant is not affected by wind (petiole angle θ at the time of attachment), the difference in wind speed v, and the petiole length L. For example, when approximation formula 2 is used, θ, v, and L are substituted into formula (8') to calculate the leaf area A. Furthermore, when approximation formula 3 is used, θ, v, and L are substituted into formula (10') to calculate the leaf area A. This allows the leaf area A to be calculated simply and accurately.

[0133] Furthermore, in this embodiment, when approximation formulas 2 and 3 are used, the calculation unit 56 of the information processing device 90 calculates the petiole angle θ (light-receiving attitude) at the time of establishment from the above formula (5') using the distance Dn from the center of the plant to the petiole when the plant is not affected by wind and the petiole height hn when the plant is not affected by wind. This allows the petiole angle θ at the time of establishment to be determined easily and accurately. Furthermore, even if the petiole angle θ at the time of establishment is not prepared in advance, the leaf area A can be calculated easily and accurately.

[0134] In the above embodiment, when using approximation formulas 2 and 3, the petiole angle θ at the time of attachment is calculated to determine the leaf area A. The petiole angle θ at the time of attachment is an important value that indicates the light-receiving posture of the leaf. Therefore, in step S50 of Fig. 13, the petiole angle θ may be output along with the petiole length L and the leaf area A.

[0135] The wind speed distribution of the blower 26 is strongest directly below the blower 26 and becomes weaker at positions farther away from the blower 26. Therefore, when the monitoring device 10 is moved while the blower 26 is maintained in a constant state, the plants transition from a state in which they are exposed to weak wind (first state) to a state in which they are exposed to strong wind (second state). Therefore, in the above embodiment, images may be taken when the plants are located away from directly below the blower 26 (first state) and when they are located close to directly below the blower 26 (second state), and the processing of FIG. 13 may be performed using each image. In this case, the monitoring device 10 may have a first camera disposed away from the blower 26 in the X-axis direction to photograph the plants in the first state, and a second camera disposed near the blower 26 to photograph the plants in the second state. Alternatively, a single camera may be used to photograph the stock in the first state and the stock in the second state at different angles, and the images may be corrected to appear as if they were photographed from the same angle before being used in the processing shown in FIG. 13 above.

[0136] In the above embodiment, the monitoring device 10 moves on the ground, but this is not limiting. For example, an unmanned aerial vehicle (drone or multicopter) equipped with a camera 24, blower 26, position detection device 29, and control device 30 may be used as the monitoring device. In this case, the strength of the wind blowing on the plants can be adjusted by adjusting the height of the unmanned aerial vehicle and the relative positions of the unmanned aerial vehicle and the observation target. In this case, the blower 26 may be omitted. Note that adjusting the height of the unmanned aerial vehicle and the relative positions of the unmanned aerial vehicle and the observation target changes the relative positions of the camera 24 and the observation target, which changes the shooting distance and shooting angle. However, the above processing can be performed taking into account the relative positions of the unmanned aerial vehicle and the observation target.

[0137] The above-described embodiment is a preferred example of the present invention, but the present invention is not limited to this and can be modified in various ways without departing from the spirit of the present invention. [Explanation of symbols]

[0138] 24 Camera (part of the photographic device and measuring device) 26 Blower (spraying device) 30 Control device 54 Image analysis unit (part of the measuring device) 90 Information processing device (calculating device) 100 Information Acquisition System

Claims

1. A blowing device that blows air onto strawberry plants from above, a photographing device for photographing an image of the stock from above; a control device that controls the photographing device to photograph a first image of the plant from above while wind is blown from the blowing device at a predetermined speed; a measuring device for measuring height information of a predetermined leaf of the plant; a calculation device that calculates the value of the petiole length of the predetermined leaf from the measurement result of the measurement device and the image captured by the photographing device; Equipped with The calculation device determining a first distance from the center of the plant to the tip of the petiole of the given leaf in the first image; calculating a petiole length of the predetermined leaf based on height information of the predetermined leaf measured by the measuring device when the first image was captured and the first distance; A strawberry plant information acquisition system characterized by:

2. 2. The strawberry plant information acquisition system according to claim 1, wherein the measuring device measures the height information of the predetermined leaf from the first image captured by the photographing device.

3. the control device controls the photographing device to photograph a second image of the plant from above in a state in which wind is not blown from the blowing device to the plant or wind is blown from the blowing device at a speed slower than the predetermined speed; The calculation device determining a difference between a first distance from the center of the plant to the tip of the petiole of the specified leaf in the first image and a second distance from the center of the plant to the tip of the petiole of the specified leaf in the second image; calculating a leaf area of ​​the specified leaf based on a difference between the first distance and the second distance, a difference in speed of the wind blown from the blowing device to the plant when the first image was taken and when the second image was taken, and the petiole length of the specified leaf; 3. The strawberry plant information acquisition system according to claim 1 or 2.

4. the calculation device calculates the leaf area of ​​the specified leaf based on the direction in which the petiole of the specified leaf extends when the plant is not affected by wind, the difference between the speed of the wind blown from the blowing device to the plant when the first image is captured and the speed of the wind blown from the blowing device to the plant when the plant is not affected by wind, and the petiole length of the specified leaf.

3. The strawberry plant information acquisition system according to claim 1 or 2.

5. the control device controls the photographing device to photograph a second image of the plant from above in a state in which wind is not blown from the blowing device to the plant or wind is blown from the blowing device at a speed slower than the predetermined speed; The calculation device determining a second distance from the center of the plant to the tip of the petiole of the given leaf in the second image; calculating a direction in which the petiole of the specified leaf extends when the plant is not affected by wind, based on height information of the specified leaf measured by the measuring device when the second image was taken and the second distance; 5. The strawberry plant information acquisition system according to claim 4.

Images