JP7030608B2 - Phosphorescent clip and plant cultivation system using phosphorescent clip - Google Patents

Description

Application of Article 30, Paragraph 2 of the Patent Law 1. Publisher name Chiba University Publication name Chiba University Graduate School of Horticulture Department of Environmental Horticulture Bioresource Science Course Biological Production Environmental Studies 2017 Master's Thesis Review Presentation Abstracts Publication Date 2018 2 14th of March 2. Meeting name Chiba University Graduate School of Horticulture Department of Environmental Horticulture Bioresource Science Course Biological Production Environmental Studies 2017 Master's Thesis Examination Presentation Venue Chiba University Matsudo Campus Room E Room 103 (648 Matsudo, Matsudo City, Chiba Prefecture) ) Date February 14, 2018 3. Publisher name Chiba University Publication name Chiba University Faculty of Horticulture Department of Horticulture 2017 Bioproduction Environmental Studies Program Graduation Thesis Presentation Abstracts Publication Date February 16, 2018 4. Meeting name Chiba University Faculty of Horticulture Department of Horticulture 2017 Bioproduction Environmental Studies Program Graduation Thesis Presentation Venue Chiba University Matsudo Campus Room E Room 103 (648, Matsudo, Matsudo City, Chiba Prefecture) Date February 16, 2018

The present invention relates to a clip attached to a cultivated plant and a plant cultivation system using the clip.

For example, Patent Document 1 discloses a clip (“base point label 8” in the literature) attached to a cultivated plant (“observation target plant 3” in the literature). The clip is provided with a reference point symbol (reference numeral "10" in the literature) as a mark.

JP-A-2015-202056

However, since the base point symbol of the clip becomes more difficult to visually recognize as the distance increases, the observation based on the visual recognition of the clip tends to be a partial observation as the cultivated plant grows. Further, when the branches and leaves of the cultivated plant become overgrown with the growth of the cultivated plant, the base point symbol of the clip becomes more difficult to see. From this, when observing the whole cultivated plant, it becomes more difficult to observe the cultivated plant using the clip as the cultivated plant grows.

In view of the above-mentioned circumstances, the present invention is to provide a clip that is easily recognized even from a distant distance while being attached to a cultivated plant.

The clip according to the present invention
A clip attached to a cultivated plant, which has a phosphorescent property on at least a part of the surface of the main body and is engaged to both the stem of the cultivated plant and the attractant for attracting the stem. It is characterized by being.

According to the present invention, since the clip has a phosphorescent property, the clip emits light in a state where the cultivated plant does not receive light. Therefore, even when the distance is long or the branches and leaves of the cultivated plant are overgrown, it is easier to see than the clip having no phosphorescent property. From this, even if the cultivated plant grows, it becomes easy to observe the whole cultivated plant based on the visual recognition of the clip. As a result, a clip that can be easily recognized even from a distance is realized while being attached to a cultivated plant.
Further, in the present invention, since the purpose of the phosphorescent clip is also used as the attracting clip, the manager of the cultivated plant attaches the clip to the cultivated plant as compared with the case where the phosphorescent clip has a different configuration from the attracting clip. The time and effort to install is simplified.

In the configuration of the clip according to the present invention
It is preferable that at least a part of the surface of the main body is composed of a phosphorescent body.

In this configuration, since the main body is mixed with a phosphorescent substance, the phosphorescent property is maintained for a long period of time as compared with the configuration in which the phosphorescent material is coated.

In the configuration of the clip according to the present invention
It is preferable that at least a part of the surface of the main body is covered with a phosphorescent material.

With this configuration, for example, since the main body is coated with a coating film of a phosphorescent paint, a phosphorescent clip can be easily configured.

The phosphorescent clip according to the present invention can also be applied to a plant cultivation system using the phosphorescent clip, and the plant cultivation system in that case is
Multiple phosphorescent clips that are attached near the fruit clusters of cultivated plants and have phosphorescent properties on at least a part of the surface of the main body.
An irradiator that irradiates the cultivated plant containing the phosphorescent clip with irradiation light,
An imaging means for imaging the cultivated plant including the phosphorescent clip, and
A detector capable of detecting the position of the phosphorescent clip in the cultivated plant is provided.
The phosphorescent clip is phosphorescent by the irradiation of the irradiator.
The imaging means is characterized in that the cultivated plant is imaged in a state where the irradiation of the irradiating body is completed and in a state where the phosphorescent clip is phosphorescent.

According to the present invention, the phosphorescent clip is attached in the vicinity of the fruit bunch, and the phosphorescent clip is phosphorescentized by the illuminating body. Therefore, the image is taken in a state where the phosphorescent clip emits light, and the position of the phosphorescent clip can be detected. Further, since the phosphorescent clip does not emit light by electricity, it is not necessary to manage the power source of a battery or the like, and it is easy to install and maintain it on a cultivated plant. As a result, the position of the fruit cluster of the cultivated plant can be detected as a system, and the position of the fruit cluster in the plant cultivation system can be observed.
Further , according to the present invention , since the phosphorescent clip emits light when the irradiation of the irradiator is completed, the imaging means can image the phosphorescent clip brighter than the cultivated plant or the fruit bunch. This facilitates position detection of the phosphorescent clip.

The plant cultivation system of the present invention is
Multiple phosphorescent clips that are attached near the fruit clusters of cultivated plants and have phosphorescent properties on at least a part of the surface of the main body.
An irradiator that irradiates the cultivated plant containing the phosphorescent clip with irradiation light,
An imaging means for imaging the cultivated plant including the phosphorescent clip, and
A detector capable of detecting the position of the phosphorescent clip in the cultivated plant is provided.
The imaging means captures a plurality of the cultivated plants and obtains images.
A plurality of the phosphorescent clips are attached to the cultivated plant so as to have the same emission color for each of the cultivated plants, and the emission color is different from the phosphorescence clips attached to the adjacent cultivated plants. It is characterized by being composed of.

According to the present invention, the phosphorescent clip is attached in the vicinity of the fruit bunch, and the phosphorescent clip is phosphorescentized by the illuminating body. Therefore, the image is taken in a state where the phosphorescent clip emits light, and the position of the phosphorescent clip can be detected. Further, since the phosphorescent clip does not emit light by electricity, it is not necessary to manage the power source of a battery or the like, and it is easy to install and maintain it on a cultivated plant. This makes it possible to detect the position of the fruit cluster of the cultivated plant as a system, and to observe the position of the fruit cluster in the plant cultivation system.
Further, according to the present invention , since the phosphorescent clips having different emission colors are attached to each strain of the cultivated plant, the detection unit can discriminate the phosphorescent clips for each of a plurality of strains. In addition, since the phosphorescent clips of the same emission color are attached to the same strain, it is possible to detect the positional relationship between the fruit bunches in the same strain and to detect the positional relationship between the fruit bunches in a plurality of strains at once. It will be possible.

The plant cultivation system of the present invention is
Multiple phosphorescent clips that are attached near the fruit clusters of cultivated plants and have phosphorescent properties on at least a part of the surface of the main body.
An irradiator that irradiates the cultivated plant containing the phosphorescent clip with irradiation light,
An imaging means for imaging the cultivated plant including the phosphorescent clip, and
A detector capable of detecting the position of the phosphorescent clip in the cultivated plant is provided.
Among the cultivated plants, a growth diagnosis unit for calculating a growth index of the cultivated plant is further provided based on the separation distance of each of the phosphorescent clips attached in the vicinity of the fruit bunch . ..

According to the present invention, the phosphorescent clip is attached in the vicinity of the fruit bunch, and the phosphorescent clip is phosphorescentized by the illuminating body. Therefore, the image is taken in a state where the phosphorescent clip emits light, and the position of the phosphorescent clip can be detected. Further, since the phosphorescent clip does not emit light by electricity, it is not necessary to manage the power source of a battery or the like, and it is easy to install and maintain it on a cultivated plant. This makes it possible to detect the position of the fruit cluster of the cultivated plant as a system, and to observe the position of the fruit cluster in the plant cultivation system.
Further , according to the present invention , the degree of vegetative growth and reproductive growth can be calculated based on the length between fruit clusters. Therefore, it is possible to predict the yield of cultivated plants with high accuracy.

It is a top view which shows the whole inside of a cultivation facility. It is a side view which shows the whole inside of a cultivation facility. It is a top view which shows the imaging of the wide area imaging area of a cultivation facility. It is a side view which shows the imaging of the wide area imaging area of a cultivation facility. It is a top view which shows the imaging of the community imaging area of a cultivation facility. It is a side view which shows the imaging of the community imaging area of a cultivation facility. It is a block diagram which shows the structure of a plant cultivation system. It is a perspective view which shows the calibration of the distance between two points. It is a figure which shows the calibration corresponding to the growth stage. It is a top view which shows the coverage. It is a perspective view which shows the inclined coverage. It is a figure which shows the flowchart of calculation of the plant height of a cultivated plant. It is explanatory drawing which shows the coordinate transformation of an image data and the calculation of a plant height. It is a graph which shows the histogram of the calculation of the plant height. It is a top view which shows the irradiation of the irradiation body in a cultivation facility. It is a side view which shows the irradiation of the irradiation body in a cultivation facility. It is a perspective view which shows the structure of an irradiator. It is a side view which shows the fruit cluster of a cultivated plant and a phosphorescent clip. It is a front view which shows the structure of the clip for cultivation. It is a figure which shows the flowchart of calculation of the distance between fruit clusters. It is a figure which shows the flowchart of the calculation of a leaf area index. It is a side view of a cultivated plant which shows the area divided by the calculation of a leaf area index. It is a figure which shows the time chart of the calculation item according to a growth stage. It is a block diagram which shows the structure of a water stress calculation part. It is a graph which shows the transition of the index of a water stress state in time series. It is explanatory drawing which shows the index of the water stress state based on the leaf area. It is explanatory drawing which shows the index of the water stress state based on the spread of a leaf. It is explanatory drawing which shows the index of the water stress state based on a high frequency component. It is explanatory drawing which shows the index of the water stress state based on the position and shape of a branch and a leaf. It is explanatory drawing which shows the index of the water stress state based on the curvature of a stem and a branch. It is explanatory drawing which shows the index of the water stress state based on the plant height of the aggregate of cultivated plants. It is explanatory drawing which shows the index of the water stress state based on the height position of a fruit bunch. It is a graph for demonstrating another embodiment of a phosphorescent clip.

〔overall structure〕
An embodiment of the present invention will be described with reference to the drawings. In the present embodiment, the horticultural facility 1 as shown in FIG. 1 is provided with ridges A (1) to A (8) for planting cultivated plants arranged vertically and horizontally. Between each ridge A, there is a passage that can be passed by the manager of the cultivated plant. The horticultural facility 1 may be, for example, a vinyl house or a solar-powered plant factory. Each ridge A is composed of, for example, a non-porous hydrophilic film, and for example, tomato is planted in each ridge A as a cultivated plant. As shown in FIGS. 1 and 2, eight fixed-point cameras Ca as imaging means, six irradiators L, and six irradiators L above the ridge A where the cultivated plants are planted in the horticultural facility 1. Is provided hanging from the ceiling. Each fixed-point camera Ca has, for example, a CCD element or a CMOS element, and is configured to be able to capture visible light that can be visually recognized by the naked eye, and generates imaging data V as an imaging image. Further, each fixed point camera Ca is configured so that the imaging angle can be rotatably changed. The number of fixed-point cameras Ca and the number of irradiators L can be changed as appropriate.

Although not shown, the horticultural facility 1 is also provided with an environment sensor, side windows, blackout curtains, heat pump type air conditioning equipment, irrigation equipment, and the like. The dotted line Gh is a reference position where the plant height of the cultivated plant is the maximum height, and an attracting string for attracting the stem of the cultivated plant hangs down from the vicinity of the height of the dotted line Gh. Each fixed-point camera Ca and each irradiator L are provided at positions higher than the dotted line Gh. The height positions of the respective irradiators L are substantially the same. The fixed-point cameras Ca (1), Ca (2), Ca (3), and Ca (6) are more in the gardening facility 1 than the fixed-point cameras Ca (4), Ca (5), Ca (7), and Ca (8). It is provided closer to the center side and is provided at a position higher than the fixed point cameras Ca (4), Ca (5), Ca (7), and Ca (8).

A fixed point camera Ca (2) is provided in the substantially center of a group of ridges A (1) to A (4) arranged in parallel on one side of the gardening facility 1. Further, a fixed point camera Ca (1) is provided in the substantially center of a group of ridges A (5) to A (8) arranged in parallel on the other side of the gardening facility 1. As shown in FIGS. 3 and 4, a group of ridges A (1) to A (4) located on one side of the gardening facility 1 are set as the wide area imaging area P1, and the wide area imaging area P1 is the gardening facility. The image is taken by the fixed point camera Ca (1) provided on the other side of 1. From this, a group of cultivated plants of the ridges A (1) to A (4) is projected on the imaging data V of the wide area imaging region P1. Further, although not shown, a group of ridges A (5) to A (8) located on the other side of the gardening facility 1 are set as a wide area imaging area P1b different from the wide area imaging area P1. The wide area imaging region P1b is imaged by the fixed point camera Ca (2) provided on one side of the gardening facility 1. From this, the aggregate of the cultivated plants of the group of ridges A (5) to A (8) is projected on the image pickup data V imaged by the fixed point camera Ca (2). That is, the fixed-point cameras Ca (1) and Ca (2) are provided at positions sufficiently higher than the height of the dotted line Gh, respectively. Therefore, the fixed-point camera Ca (1) can take an image from a bird's-eye view of the cultivated plants of the group of ridges A (1) to A (4), and the fixed-point camera Ca (2) has a group of ridges A (5) to A ( It is possible to take an image from a bird's-eye view of the cultivated plants in 8). After this description, the description regarding the wide area imaging region P1 is similarly applicable to the wide area imaging region P1b.

As shown in FIGS. 5 and 6, fixed point cameras Ca (7) and Ca (8) are provided near the wall of the horticultural facility 1. The fixed-point cameras Ca (7) and Ca (8) each cover the community imaging region P2 of the end of the ridge A (6) in the longitudinal direction on the side of the ridge A (6) on the side near the wall of the ridge A (6). Take an image from the wall of the wall. The imaging data V acquired by imaging the fixed-point cameras Ca (7) and Ca (8), respectively, is a perspective view of the cultivated plant in the community imaging region P2. Further, the fixed point cameras Ca (4) and Ca (5) are provided near the wall of the gardening facility 1 on the side opposite to the side where the fixed point cameras Ca (7) and Ca (8) are located (Fig.). 1 and FIG. 2). Although not shown, the fixed-point cameras Ca (4) and Ca (5) capture the canopy of the end of the longitudinal end of the ridge A (2) on the side near the wall of the horticultural facility 1. The area P3 is imaged from the wall of the gardening facility 1. The imaging data V acquired by imaging the fixed-point cameras Ca (4) and Ca (5), respectively, is a perspective view of the cultivated plant in the community imaging region P3.

The positions of the fixed-point cameras Ca (4), Ca (5), Ca (7), and Ca (8) are set lower than the positions of the fixed-point cameras Ca (1) and Ca (2), and the fixed-point cameras Ca ( The cultivated plants in the community imaging regions P2 and P3, which are closer to the imaging targets of 1) and Ca (2), are targeted for imaging. That is, the fixed-point cameras Ca (1) and Ca (2) capture the entire aggregate of cultivated plants in the plurality of ridges A, whereas the fixed-point cameras Ca (4), Ca (5) and Ca In (7) and Ca (8), several strains of cultivated plants in a part of the ridge A in a row are imaged at a close distance as a target community. The fixed-point cameras Ca (4), Ca (5), Ca (7), and Ca (8) can also change the angle to capture an entire image of a cultivated plant over a plurality of ridges A. For example, when the angles of the fixed point cameras Ca (4) and Ca (5) are changed in the horizontal direction, a group of ridges A (1) to A (4) are imaged by the fixed point cameras Ca (4) and Ca (5). It will be possible. Similarly, when the angles of the fixed point cameras Ca (7) and Ca (8) are changed in the horizontal direction, a group of ridges A (5) to A (8) are moved by the fixed point cameras Ca (7) and Ca (8). Imaging is possible.

The fixed-point camera Ca (3) is provided directly above the community imaging region P3 at the end of the longitudinal end of the ridge A (2) on the side near the wall of the horticultural facility 1. The fixed-point camera Ca (3) images the cultivated plants in the community imaging region P3 from directly above in a plan view. Further, although not shown in FIGS. 5 and 6, the fixed point camera Ca (6) (see FIGS. 1 and 2) is located near the wall of the gardening facility 1 among the longitudinal ends of the ridges A (6). It is provided directly above the community imaging region P2 at the end on the positioned side. The fixed-point camera Ca (6) images the cultivated plants in the community imaging region P2 from directly above in a plan view.

As described above, the cultivated plants in the community imaging region P2 are imaged from three directions by the fixed point cameras Ca (6), Ca (7), and Ca (8), and the cultivated plants in the community imaging region P3 are captured by the fixed point cameras Ca (3). ), Ca (4), and Ca (5) are imaged from three directions.

〔Device configuration〕
As shown in FIG. 7, in the gardening facility 1, the image pickup data V imaged by the fixed point camera Ca and the environment state data E in which the environment state measured by the environment detection unit 10 is converted into data are included in the wide area communication network. It is transmitted to the management computer 2 via WAN (Wide Area Network). Although not shown in particular, each of the horticultural facility 1 and the management computer 2 is provided with a communication means capable of accessing the wide area communication network WAN.

The solar radiation amount sensor 10A, the temperature sensor 10B, the humidity sensor 10C, and the carbon dioxide concentration sensor 10D are connected to the environment detection unit 10 of the gardening facility 1. The solar radiation sensor 10A measures the amount of sunlight falling on the cultivated plants in the horticultural facility 1. The temperature sensor 10B measures the air temperature in the room where the cultivated plant is cultivated in the horticultural facility 1. The humidity sensor 10C measures the humidity in the room where the cultivated plants are cultivated in the horticultural facility 1. The carbon dioxide concentration sensor 10D measures the carbon dioxide concentration in the room where the cultivated plant is cultivated in the horticultural facility 1. That is, the environment detection unit 10 is configured to be able to measure the environment of the horticultural facility 1 in which the cultivated plants are cultivated.

The horticultural facility 1 is provided with a management notification unit 11, and the management notification unit 11 is configured to be able to transmit information on human cultivation management for cultivated plants in the horticultural facility 1 to the management computer 2. Examples of human cultivation management for cultivated plants include irrigation work, hanging work, leaf picking work, and the like. That is, by operating the management notification unit 11 before the administrator performs these operations or after performing these operations, information regarding these operations is transmitted to the management computer 2.

The management computer 2 includes a determination unit 21 as a detection unit, a water stress calculation unit 22, a growth diagnosis unit 23, and a storage unit 24. When the cultivated plant is imaged by the fixed point camera Ca, the regions of branches and leaves and stems are determined by the determination unit 21 based on the color information of the image pickup data V and the like. The determination of the branch / leaf or stem region may be performed based on RGB data or may be performed based on YUV data. However, in the present embodiment, in order to cope with changes in light and darkness due to changes in weather and time zone, it is desirable that the determination of the regions of branches and leaves and stems is performed based on YUV data. In the imaged data V, the region having branches and leaves and stems is determined to be the overgrowth region of the cultivated plant, that is, the covering region. Further, the information transmitted by the management notification unit 11 is taken into the determination unit 21, and information such as irrigation work, hanging work, and defoliation work is added to the image pickup data V.

It is known to those skilled in the art that when the cultivated plant is, for example, tomato, a tomato having a high sugar content can be harvested by applying water stress to the cultivated plant. The water stress given to the cultivated plants is managed by the water stress calculation unit 22. The water stress calculation unit 22 indexes the water stress state WS of the cultivated plant based on a plurality of visual features of the cultivated plant, the environmental state data E received from the environmental detection unit 10, and the weather information 3. .. Here, a plurality of visual features in the cultivated plant are analyzed from the image pickup data V of the cultivated plant captured by the fixed point camera Ca. The weather information 3 is electronic information of the weather obtained from, for example, a meteorological organization or a meteorological information company via a wide area communication network WAN.

In the present embodiment, the water stress state WS refers to a state in which branches and leaves and stems wither due to a decrease in water contained in the cultivated plant. That is, the degree of wilting of the cultivated plant and the probability of progress of wilting are quantified as the water stress state WS. The growth diagnosis unit 23 diagnoses the growth degree of the cultivated plant by calculating the growth index Gi of the cultivated plant based on the ratio of the covering region in the image pickup data V imaged by the fixed point camera Ca. The storage unit 24 is, for example, a RAM (Random Access Memory) or a hard disk, and is configured to be able to store image pickup data V, environmental state data E, analysis results, diagnosis results, and the like.

The horticultural facility 1 is provided with an irrigation control unit 14 for irrigating cultivated plants and an irrigation device 15. The data of the water stress state WS indexed by the water stress calculation unit 22 is transmitted to the irrigation control unit 14 via the wide area communication network WAN, and the irrigation control unit 14 is the irrigation device 15 based on the data of the water stress state WS. Ir is transmitted to the irrigation instruction signal Ir. Upon receiving the irrigation instruction signal Ir of the irrigation control unit 14, the irrigation device 15 opens an irrigation valve (not shown) to supply water to the cultivated plant. The irrigation instruction signal Ir of the irrigation control unit 14 may be a voltage value or a current value. Further, the irrigation control unit 14 may be provided in the management computer 2 and the irrigation instruction signal Ir may be transmitted to the irrigation device 15 via the wide area communication network WAN.

Further, the horticultural facility 1 is provided with a fertilizer application control unit 17 and a fertilizer application device 18. The data of the growth index Gi calculated by the growth diagnosis unit 23 is transmitted to the fertilization control unit 17 via the wide area communication network WAN, and the fertilization control unit 17 sends a fertilizer application instruction signal to the fertilizer application device 18 based on the data of the growth index Gi. Send Fr. When the fertilizer application device 18 receives the fertilizer application instruction signal Fr of the fertilizer application control unit 17, the fertilizer application valve (not shown) is opened to supply fertilizer. The fertilizer may be supplied in a state of being mixed with water supplied to the cultivated plant by, for example, the irrigation device 15. With this configuration, it is possible to adjust the amount of fertilizer applied based on the fertilizer application instruction signal Fr of the fertilizer application control unit 17. In addition, fertilizer mainly contains nitrogen. The component of the fertilizer is not limited to nitrogen, and may contain phosphoric acid, potassium, calcium, magnesium and the like. Further, the fertilizer application control unit 17 may be provided in the management computer 2, and the fertilizer application instruction signal Fr may be transmitted to the irrigation device 15 via the wide area communication network WAN.

The horticultural facility 1 is provided with a facility environment device control unit 19 and a plurality of facility environment devices 19A, 19B, 19C, 19D. The plurality of facility environmental devices 19A, 19B, 19C, 19D are, for example, skylights, side windows, carbon dioxide generators, ventilation fans and circulation fans, heat pump air conditioners, heat storage devices, sterilizers, and the like. Further, the facility environment devices 19A, 19B, 19C, and 19D are not limited to four, and may be composed of a single device or a plurality of devices as needed. The facility environment equipment control unit 19 transmits an arbitrary instruction signal to each of the facility environment equipments 19A, 19B, 19C, and 19D based on the data of the growth index Gi. As a result, the facility environment devices 19A, 19B, 19C, 19D exemplified above are properly operated, and the temperature, humidity, etc. of the horticultural facility 1 are appropriately controlled. Further, the facility environment equipment control unit 19 may be provided in the management computer 2, and the instruction signals for the facility environment equipment 19A, 19B, 19C, 19D may be transmitted via the wide area communication network WAN.

The gardening facility 1 is provided with an output notification unit 16. The output notification unit 16 is connected so that signals can be received from the irrigation control unit 14, the fertilization control unit 17, and the facility environment equipment control unit 19. For example, the water stress state WS and the growth index Gi are notified to the manager of the cultivated plant by the output notification unit 16. The output notification unit 16 may be a buzzer or voice guidance provided in the gardening facility 1, displayed on a screen, or may be lighting or blinking of an LED alarm. Further, the output notification unit 16 may be configured to be transmitted to the terminal 4, and the terminal 4 may be, for example, a mobile phone, a mobile personal computer, an in-vehicle terminal, a smart watch, or the like.

As shown in FIG. 7, in the growth diagnosis unit 23, the coverage Br and the gradient coverage Cr calculated based on the overgrowth of the cultivated plant, the plant height of the cultivated plant, and the fruits of each flower set on the cultivated plant. The leaf area index LAI based on the distance between the bunches and the leaf area of the region divided by the fruit bunches of the cultivated plant is calculated as an element of the growth index Gi. In this embodiment, since the plant height of the cultivated plant and the distance between the fruit bunches are calculated from the imaging data V, the following calibration process is performed so that the distance between the two points can be calculated.

[Calibration process]
A calibration jig 5 as shown in FIG. 8 is used for calibrating the distance between two points based on the image pickup data V. The calibration jig 5 is provided with a pair of vertical pillar portions 51 extending in the vertical direction and a horizontal portion 52 horizontally laid over the pair of vertical pillar portions 51. In the present embodiment, the vertical pillar portion 51 is set to a length of 200 cm, and the horizontal portion 52 is set to a length of 60 cm. A reference marker 53 is provided on the vertical column portion 51 and the horizontal portion 52 at intervals of, for example, 20 cm. The lengths of the vertical column portion 51 and the horizontal frame portion 52 can be appropriately changed, and the interval at which the reference marker 53 is provided can also be appropriately changed.

When the calibration jig 5 is arranged, for example, in the community imaging region P3 of the ridge A (2), the community imaging region P3 is imaged by the fixed point cameras Ca (4) and Ca (5). The calibration jig 5 is displayed in the image pickup data V of the community image pickup region P3, and the distance between the two points in the image pickup data V is based on the reference markers 53a, 53b, 53c, 53d at the four corners included in the calibration jig 5. Distances are defined respectively. Further, when the calibration jig 5 is arranged in the community imaging region P2 of the ridge A (6), the community imaging region P2 is imaged by the fixed point cameras Ca (7) and Ca (8). Then, the calibration jig 5 is displayed in the image pickup data V of the community image pickup region P2, and the two in the image pickup data V are based on the reference markers 53a, 53b, 53c, 53d at the four corners included in the calibration jig 5. The distance between the points is defined respectively. This completes the calibration of the distance between the two points based on the imaging data V.

Since the shape of plant cultivation differs depending on the growth stage, calibration is performed corresponding to a plurality of growth stages. In this embodiment, calibration is performed corresponding to three stages: an early stage of growth, a middle stage of growth, and a late stage of growth. In this embodiment, tomato is exemplified as a cultivated plant. From this, as shown in FIG. 9, in the initial stage of growth, the calibration process is performed with the calibration jig 5 standing directly above the ridge A on the premise that the stem extends upward from the ridge A. Will be done. In the middle stage of growth, the stem of the cultivated plant is attracted to the attracting string 54 as an attracting body.

In the present embodiment, since the attracting string 54 is displaced from the ridge A to the aisle side, the cultivated plant attracted by the attracting string 54 is inclined toward the aisle side. Therefore, the calibration jig 5 is attached to the attract string 54, and the calibration process is performed in a state where the calibration jig 5 is tilted over the ridge A and the attract string 54. Further, in the late stage of growth, the cultivated plants attracted to the attracting string 54 are hung down. Therefore, the calibration process is performed in a state where the calibration jig 5 hangs down from the attract string 54 and the lower end of the calibration jig 5 is located outside the ridge A.

In this way, since the calibration process of a plurality of patterns is performed corresponding to the growth stage, the accuracy of the distance between the two points based on the imaging data V is improved even if the growth stage changes. It is desirable that the above-mentioned calibration process is performed before the cultivated plant is planted in the ridge A.

[Calculation of coverage and slope coverage]
Based on the determination of the branch / leaf region by the determination unit 21, the range in which the cultivated plant is located is set in the imaging data V. As shown in FIG. 10, a range surrounded by four sides is set as an area where the branches and leaves of the cultivated plant are projected, and the range surrounded by the four sides is set as the measurement area B, and the area of the measurement area B is set. Bs is calculated. The area Bs can be calculated by counting the number of dots (minimum unit of pixels in the imaging data V) in the measurement area B in the imaging data V. The leaf area B1 can be calculated by counting the number of dots in the covering area determined as the area having branches and leaves in the area Bs of the measurement area B. Then, the ratio of the leaf area B1 to the area Bs is calculated as the coverage Br by the following mathematical formula.

Coverage Br = Leaf area B1 / Area Bs

FIG. 11 shows image data V, which is a perspective view of a cultivated plant and is imaged by a fixed-point camera Ca (1), Ca (2), Ca (4), Ca (5), Ca (7), Ca (8). As shown, a range surrounded by a hexagonal shape such as the outline of a box in an oblique direction is set in the measurement area C, and the area Cs of the measurement area C can be calculated. Further, among the area Cs of the measurement area C, the leaf area C1 can be calculated by counting the number of dots in the covering area determined as the area having branches and leaves from the inclined viewpoint, that is, the inclined covering area. The leaf area C1 and the area Cs can be calculated by counting the number of corresponding dots in the image pickup data V in the same manner as the calculation in the image pickup data V in the plan view described above. Then, the ratio of the leaf area C1 to the area Cs is calculated as the inclined coverage Cr by the following mathematical formula.

Inclined coverage Cr = leaf area C1 / area Cs

The gradient coverage Cr based on the imaging data V of the wide area imaging region P1 is calculated as an index of the overall overgrowth of a large number of cultivated plants in the plurality of ridges A, and the inclination based on the imaging data V of the community imaging regions P2 and P3. The coverage Cr is calculated as an index of the canopy overgrowth in a single ridge A.

[Calculation of plant height]
The growth height of the cultivated plant, that is, the plant height is calculated based on the flowchart of FIG. First, the image pickup data V of the community image pickup region P3 is imaged by the fixed point cameras Ca (4) and Ca (5). Further, the image pickup data V of the community image pickup region P2 is imaged by the fixed point cameras Ca (7) and Ca (8). As a result, the cultivated plants in the community imaging region P2 and the community imaging region P3 are imaged from diagonally upward by the fixed point camera Ca as a target community of several strains (step # 1).

The imaged data V captured by the fixed point camera Ca is subjected to viewpoint conversion, that is, coordinate conversion of the image data as shown in FIG. 12 (step # 2). The calibration process described above defines the reference markers 53a, 53b, 53c, 53d (see FIG. 8) at the four corners. In the pre-conversion image of FIG. 12, the four sides drawn based on the reference markers 53a, 53b, 53c, 53d at the four corners have a perspective. On the other hand, in the converted image of FIG. 12, of the four sides drawn based on the reference markers 53a, 53b, 53c, 53d at the four corners, the two opposite sides are parallel to each other. That is, the cultivated plant of the imaging data V is in the state of the projection drawing as shown in the pre-conversion image of FIG. 12, but the reference markers 53a, 53b, 53c, 53d at the four corners defined by the above-mentioned calibration process. Based on, the image of the projection drawing is pseudo-converted to the image of the side viewpoint.

In the image pickup data V pseudo-converted to the side view image, a range surrounded by four sides is set as an area in which the branches and leaves of the cultivated plant are reflected, as in the case of the above-mentioned calculation of the coverage Br, and these four sides are set. The range surrounded by is set in the measurement area B (step # 3). As shown in FIG. 13, the measurement area B is composed of a horizontal X-axis and a vertical Y-axis. Of the measurement areas B, the branches and leaves are extracted (step # 4), and the maximum height Ym of the branches and leaves for each X-axis is calculated (step # 5). Then, as shown in FIG. 14, a histogram of the maximum height Ym is constructed. Among the histograms of the maximum height Ym, the data discrete from the region where the value of the maximum height Ym is high and the frequency is high is determined to be a noise region and is removed from the calculation of the plant height. Then, 10 points in the area having a high maximum height Ym value among the frequently used areas are extracted, and the plant height of the cultivated plant in the target community is calculated from the average value of these 10 points (step # 6). Based on the calculated plant height of the cultivated plant, a plant height line HG is set near the upper end of the target community. The score of the value of the maximum height Ym extracted for the calculation of the plant height line HG is not limited to 10 points and can be changed as appropriate.

When the plant height of the cultivated plant is calculated in step # 6, the calculation result of the plant height of the cultivated plant is saved (step # 7). The calculation result is stored, for example, in the storage unit 24 of the management computer 2 shown in FIG. 7 as an image data file of CSV (Comma Separated Value). It should be noted that the configuration may be such that steps # 1 to step # 6 are repeated a preset number of times, and the average value of the calculation results is saved in step # 7.

The cultivated plant of the ridge A (2) or the ridge A (6) is projected on the image pickup data V imaged in step # 1 of FIG. However, when the cultivated plant grows, for example, the upper end of the cultivated plant of the ridge A (2) overlaps with the cultivated plant of the ridge A (1) or the ridge A (3) adjacent to the ridge A (2). It may be reflected in the image pickup data V. Further, the upper end of the cultivated plant of the ridge A (6) can be projected on the imaging data V in a state of overlapping with the cultivated plant of the ridge A (5) or the ridge A (7) adjacent to the ridge A (6). There is sex. In such a case, there is a risk that the plant height of the cultivated plant cannot be calculated accurately. In order to avoid this inconvenience, the image of the target community by the fixed point camera Ca is performed at night, and the cultivated plants are irradiated as follows.

As shown in FIGS. 1, 2, 15, and 16, the irradiation bodies L (1), L (2), and L (3) are provided in the vicinity of the fixed point cameras Ca (4) and Ca (5). , The irradiation bodies L (4), L (5), L (6) are provided in the vicinity of the fixed point cameras Ca (7) and Ca (8). The irradiators L (1), L (2), and L (3) irradiate only a few target communities in the community imaging region P3 from above, respectively. Further, the irradiating bodies L (4), L (5), and L (6) irradiate only the target communities of several strains in the community imaging region P2 from above, respectively. The irradiators L (1), L (2), and L (3) are arranged on the side where the fixed point camera Ca (4) is located with respect to the target community. Further, the irradiating bodies L (4), L (5), and L (6) are arranged on the side where the fixed point camera Ca (7) is located with respect to the target community.

The target communities of several strains in the community imaging region P3 are irradiated from three directions by the irradiators L (1), L (2), and L (3). Similarly, the target communities of several strains in the community imaging region P2 are also irradiated from three directions by the irradiators L (4), L (5), and L (6). That is, each irradiating body L is arranged so that the fixed point camera Ca can take an image in a state where the irradiation light is evenly applied to the target community. As a result, when the target community irradiated by the irradiating body L is imaged by the fixed point camera Ca, the image of the imaging data V becomes an image in which the target community irradiated by the irradiating body L is reflected on a dark background.

A floodlight as shown in FIG. 17 is used as the illuminating body L. The irradiator L is, for example, a flood light and has a light emitting surface 61, a mounting portion 62, and a limiting portion 63. LEDs (Light Emitting Diodes) are used as the light source of the light emitting surface 61. The mounting portion 62 of the irradiating body L is mounted near the ceiling of the horticultural facility 1 as shown in FIG. 2, and the mounting portion 62 is angle-adjusted to irradiate the target community of the light emitting surface 61. The limiting portion 63 is a flat plate-shaped member that covers the front surface of the light emitting surface 61. In the present embodiment, two limiting portions 63 are provided, and the limiting portion 63 covers the light emitting surface 61 from the left and right ends of the light emitting surface 61 toward the left and right center of the light emitting surface 61. As a result, the irradiation body L is configured so that the irradiation light is suppressed from diffusing in the left-right direction from the light emitting surface 61 and the irradiation light is not irradiated to the cultivated plants other than the target community.

[Calculation of distance between fruit clusters]
In this embodiment, tomato is exemplified as a cultivated plant. As shown in FIG. 18, it is known that tomatoes form a fruit cluster at the branches branching from the main stem of the tomato strain, and flowers bloom in the fruit cluster to produce tomato fruits. Multiple fruit clusters Fl are formed on the tomato strain at different heights. In the present embodiment, the fruit cluster Fl in the tomato strain has a first fruit cluster Fl1, a second fruit cluster Fl2, a third fruit cluster Fl3, and a fourth fruit cluster Fl4 in order from the lowest position.

Based on the imaging data V imaged by the fixed-point cameras Ca (4), Ca (5), Ca (7), and Ca (8), the position of each fruit cluster Fl is specified, and between each fruit cluster Fl. Distance is calculated. However, since each fruit bunch Fl is often hidden in the branches and leaves or assimilated with the branches and leaves, it is difficult to specify the position of the fruit bunch Fl based on the imaging data V. Therefore, in the present embodiment, the phosphorescent clip 7 is attached to the branch or stem in the vicinity of each fruit bunch Fl.

As shown in FIG. 19, the phosphorescent clip 7 is provided with a main body portion 7A and an urging portion 7B. The main body 7A is composed of a pair of left and right holding portions 77, and a swing shaft core 77a is formed at the center of the holding portion 77 in the longitudinal direction. The sandwiching portion 77 may be made of resin or may be made of metal. Further, a locking portion 77c is formed between the swinging shaft core 77a and the lower end portion 77b of the holding portion 77, respectively, and the end portion of the urging portion 7B is inserted. Of the sandwiched portion 77, a portion extending over the swing shaft core 77a and the lower end portion 77b is formed in an arc shape. The upper end portion 77d of each of the sandwiching portions 77 is configured so that the left and right separation distances are separated from each other so as to be located on the upper side of the swing shaft core 77a.

The urging portion 7B is formed in a C-shaped ring shape, and both ends of the urging portion 7B are locked to the respective locking portions 77c. At this time, since stress acts on the side where the ring of the urging portion 7B expands in diameter, the urging force acts in the direction in which the left and right lower end portions 77b abut against each other. As a result, of the sandwiching portion 77, a space S closed in a circular shape is formed over the swing shaft core 77a and the lower end portion 77b. At this time, the left and right upper end portions 77d are separated from each other, and a lever force can be applied to the swing shaft core 77a. That is, when a pressing force is applied in a direction in which the left and right upper end portions 77d approach the urging portion 7B and the pair of left and right holding portions 77 swing around the swing shaft core 77a, the left and right lower end portions 77b separates from side to side. As a result, the left and right lower end portions 77b are configured to be openable and closable. That is, the phosphorescent clip 7 is attached to the stem or branch of the cultivated plant by opening the left and right lower end portions 77b and closing the left and right lower end portions 77b so that the stem or branch of the cultivated plant is located inside the space S. Can be done. The stems and branches of the cultivated plant may be sandwiched by the sandwiching portion 77, or the stems and branches of the cultivated plant may not be sandwiched by the sandwiching portion 77 and simply penetrate the space S. May be.

The phosphorescent clip 7 has a property of storing visible light or ultraviolet light irradiated by the sun, a light emitting surface 61, or the like, and continuing to emit light only for a while after the irradiation of visible light or ultraviolet light is completed, that is, the main body portion. It has at least a part of the surface of 7A. The surface of the main body 7A may be formed of a phosphorescent body or may be covered with a phosphorescent material. The stems and branches of tomatoes, which are cultivated plants, are attracted to the attracting string 54, and the stems and branches of tomatoes and the attracting strings 54 are locked by the phosphorescent clip 7. Therefore, the phosphorescent clip 7 is also an attracting clip. In order to distinguish from the adjacent strains, the emission color of the phosphorescent clip 7 is configured to be the same emission color in one strain and different from the emission color in the adjacent strains. As the type of phosphorescent material or phosphorescent body, for example, the type of aluminate-based phosphorescent body, silicic acid-based phosphorescent body, or the like can be appropriately selected.

The phosphorescent clip 7 is attached at the timing when each fruit bunch Fl is flowered. Therefore, a plurality of phosphorescent clips 7 are attached in one strain corresponding to each fruit bunch Fl. Since at least the first fruit cluster Fl1 and the second fruit cluster Fl2 are required to calculate the distance between the fruit clusters, the second fruit cluster Fl2 is flowered and the phosphorescent clip 7 is attached to the second fruit cluster Fl2. After that, the calculation of the distance between the fruit clusters is started.

The calculation of the distance between the fruit bunches is performed at night based on the flowchart shown in FIG. First, the irradiating body L is turned on to irradiate the target community with the irradiating light (step # 11). It is desirable that the irradiation of the irradiation light is continued for, for example, about 10 minutes so that the phosphorescence of the phosphorescent clip 7 is sufficiently performed. Therefore, the above-mentioned plant height calculation process of the cultivated plant may be performed during the irradiation of the irradiation light. When the phosphorescence of the phosphorescent clip 7 is completed by the irradiation of the irradiation light, the irradiation body L is turned off (step # 12). After that, the image pickup data V of the community image pickup region P3 is imaged by the fixed point cameras Ca (4) and Ca (5). Further, the image pickup data V of the community image pickup region P2 is imaged by the fixed point cameras Ca (7) and Ca (8). As a result, the target community in the community imaging region P2 and the community imaging region P3 is imaged from diagonally above by the fixed point camera Ca (step # 13).

The imaged data V captured by the fixed point camera Ca is subjected to coordinate conversion of the image data as shown in FIG. 12 in the same manner as the calculation of the plant height of the cultivated plant described above, and the imaged data V is obtained from the image of the projection drawing on the side surface. Pseudo-conversion to the viewpoint image (step # 14). The coordinate conversion method is the same as the coordinate conversion process in step # 2 described above.

Since the imaging in step # 13 is performed after the irradiating body L is turned off, the imaging data V is an image of substantially darkness at night. After the irradiator L is turned off, the phosphorescent clip 7 emits light for a while in the dark, so that the light of the phosphorescent clip 7 is projected in the imaging data V in which the darkness is projected, and the phosphorescent clip 7 is scattered. Detection processing is performed (step # 15). Then, the coordinate position of the place where the phosphorescent clip 7 is detected is specified. The emission color of the phosphorescent clip 7 is configured to be the same emission color in one strain and different emission color from the adjacent strains. Therefore, a process of discriminating the strain based on the emission color of each phosphorescent clip 7 is performed (step # 16). That is, even in the imaging data V in which the strains of the target community are not projected in substantially darkness, the emission color of the phosphorescent clip 7 differs between the adjacent strains, so that the strains of the target community are based on the emission color of the phosphorescent clip 7. It has a structure that can be discriminated.

Each phosphorescent clip 7 in the same strain is located at a different height, corresponding to the height of each fruit bunch Fl. That is, the phosphorescent clips 7 having the same emission color are reflected on the image pickup data V in different heights within a certain width range. From this, the distance between the fruit clusters in the same strain is calculated by calculating the vertical separation distance of the phosphorescent clips 7 having the same emission color. The calculation of the distance between the fruit clusters is performed for a plurality of strains, and in each strain, the distance between the fruit clusters H1 of the first fruit cluster Fl1 and the second fruit cluster Fl2 and the fruit of the second fruit cluster Fl2 and the third fruit cluster Fl3. The interbundle distance H2 and the interbundle distance H3 of the third fruit cluster Fl3 and the fourth fruit cluster Fl4 are calculated (step # 17).

Since the values of the interfruit distances H1, H2, and H3 vary from strain to strain, the average value H1a of the interfruit distance H1 for each strain and the average value H2a of the interfruit distance H2 for each strain are used. , The average value H3a of the distance between fruit clusters H3 for each strain is calculated. The respective community imaging regions P2 and P3 are located near the end of the ridge A, and among the target communities, the strain located closest to the end of the ridge A has a different degree of growth than the other strains. There is. In this case, the values of the interfruit-bundle distances H1, H2, and H3 in the strain located closest to the end of the ridge A may be significantly different from the values of the interfruit-bundle distances H1, H2, and H3 in the other strains.

The average values H1a, H2a, and H3a of the interfruit distances H1, H2, and H3 are used for diagnosing the overall growth index Gi of a large number of cultivated plants in the horticultural facility 1. In order to improve the diagnostic accuracy of the growth index Gi, in the calculation of the average values H1a, H2a, H3a of the interfruit distances H1, H2, H3, the strain located closest to the end of the ridge A is the average value H1a, H2a, The configuration may be excluded from the strains to be calculated for H3a. For example, among the interfruit bunch distances H1, H2, and H3 for each strain calculated based on the imaging data V, the strain located at any corner of the left and right ends of the imaging data V, that is, the strain located at the left and right ends. It is also possible that the strain to be used is out of the preset range as compared with the interfruit bunch distances H1, H2, H3 of other strains. In such a case, the strains located at the left and right ends may be excluded from the strains for which the average values H1a, H2a, and H3a are to be calculated.

When the average values H1a, H2a, and H3a of the interfruit distances H1, H2, and H3 are calculated in step # 17, the calculation result of the plant height of the cultivated plant is saved (step # 18). The calculation result is stored, for example, in the storage unit 24 of the management computer 2 shown in FIG. 7 as a CSV image data file. It should be noted that the configuration may be such that steps # 11 to step # 17 are repeated a preset number of times, and the average value of the calculation results is stored in step # 18.

[Calculation of leaf area index]
In the target community, the ratio of the overgrown state for each height region divided in advance is calculated as a leaf area index LAI (Leaf Area Index). The leaf area index LAI is calculated based on the image data used to calculate the plant height of cultivated plants and the image data used to calculate the distance between fruit clusters, and the leaf area index LAI is a simulation of yield prediction, etc. Used for. For this reason, it is desirable that the plant height calculation process of the cultivated plant and the distance calculation process between the fruit bunches are performed before the leaf area index LAI is calculated.

First, as shown in FIG. 21, the image pickup data V captured by the above-mentioned plant height calculation process of the cultivated plant is read out from the storage unit 24 of the management computer 2 shown in FIG. 7 (step # 21). The image pickup data V is the image pickup data V whose coordinates have been transformed in step # 2 (see FIG. 12) described above. Further, the plant height data of the cultivated plant in the target community is read from the storage unit 24, and the plant height line HG corresponding to the plant height of the cultivated plant is set in the image pickup data V (step # 22). Further, the position coordinates of each phosphorescent clip 7 are read out from the storage unit 24, and the position coordinates of the phosphorescent clip 7 are plotted on the imaging data V in which the branches and leaves are reflected (step # 23). In addition, the average value H1a of the interfruit distance H1 for each strain, the average value H2a for the interfruit distance H2 for each strain, and the average value H3a for the interfruit distance H3 for each strain are read out. Is done. Then, the reference horizontal lines HL (1) to HL (4) are set in the imaging data V, respectively, based on the average values H1a, H2a, and H3a of the interfruit distances H1, H2, and H3 (step # 24). The reference horizontal line HL is set as an index of the height at which the fruit cluster Fl is located.

As shown in FIG. 22, in the process of step # 25, the region between the reference horizontal line HL (1) and the reference horizontal line HL (2) is set to the lower layer region LL, and the reference horizontal line HL (2) is set. The region between the reference horizontal line HL (3) and the reference horizontal line HL (3) is set in the middle layer region ML, and the region between the reference horizontal line HL (3) and the reference horizontal line HL (4) is set in the upper layer region UL. Further, in the process of step # 25, the region between the reference horizontal line HL (3) and the plant height line HG is set to the uppermost layer region MUL. Then, the above-mentioned coverage Br is calculated for each of the lower layer region LL, the middle layer region ML, the upper layer region UL, and the uppermost layer region MUL. Then, the leaf area indexes LAI (1) to LAI (4) are calculated based on the respective coverage Br. The leaf area index LAI (1) corresponds to the lower layer region LL, the leaf area index LAI (2) corresponds to the middle layer region ML, the leaf area index LAI (3) corresponds to the upper layer region UL, and the leaf area index LAI ( 4) corresponds to the uppermost layer area UL. The relationship between the leaf area index LAI and the coverage Br does not necessarily have linearity, and the leaf area index LAI may have a configuration calculated by, for example, an operation of a neural network.

In general, as the growth of the cultivated plant progresses, the lower branches and leaves of the cultivated plant become overgrown, so that the coverage Br in the lower layer region LL and the middle layer region ML becomes less likely to change gradually. Further, in this state, the lower branches and leaves of the cultivated plant may be plucked, which makes it difficult to accurately calculate the growth index Gi based on the coverage Br in the lower layer region LL and the middle layer region ML. On the other hand, the coverage Br in the upper layer region UL and the uppermost layer region UL is more likely to change with the growth of the plant as compared with the coverage Br in the lower layer region LL and the middle layer region ML. Therefore, as the growth stage of the cultivated plant progresses, the coverage Br in the upper layer region UL and the uppermost layer region MUL is usefully used for calculating the growth index Gi.

[Diagnosis for each growth stage]
The time chart of FIG. 23 shows the details of the calculation items according to the growth stage. After planting the cultivated plant, the fruit bunches Fl are flowered in the cultivated plant in the order of the first fruit bunch Fl1, the second fruit bunch Fl2, the third fruit bunch Fl3, and the fourth fruit bunch Fl4. The first stage shown in FIG. 23 is the growth stage during the period in which the fruit cluster Fl is sequentially flowered, and the cultivated plant has a vegetative growth stage in which the stem grows, new branches and leaves spread, and the root spreads. It is a stage. After the flowering of the fourth fruit bunch Fl4, the upper end of the stem is pinched, and the growth of the cultivated plant shifts to the second stage. The second stage is the stage in which the reproductive growth in which the fruit bunch Fl grows becomes active, and the cultivated plants are defoliated and hung down. In the present embodiment, the manager operates the management notification unit 11 when hanging down or removing leaves. Therefore, for example, the growth diagnosis unit determines the transition from the first stage to the second stage at the timing when the information on hanging and defoliation is first transmitted from the management notification unit 11 to the management computer 2. 23 may be configured.

The calculation of the coverage Br and the gradient coverage Cr is continuously performed in the first step and the second step. The coverage Br and the gradient coverage Cr are roughly calculated from a large number of cultivated plants in the wide area imaging region P1. In the first stage, the growth diagnosis unit 23 calculates an index of the leaf area in the aggregate of cultivated plants based on the coverage Br and the gradient coverage Cr, and uses the calculated leaf area index to calculate the growth index Gi. Then, the growth diagnosis unit 23 mainly calculates the degree of adjustment of the nitrogen amount in the fertilization control unit 17 based on the growth index Gi. Further, in the second stage, the growth diagnosis unit 23 mainly diagnoses the degree of defoliation of the cultivated plant based on the coverage Br and the gradient coverage Cr.

A large number of cultivated plants in the wide area imaging region P1 imaged by the fixed point cameras Ca (1) and Ca (2) are in a prosperous state in the second stage. Therefore, in order to calculate the growth index Gi of a large number of cultivated plants, in the second stage, the sampling area of the inclined covering region, that is, the calculated region of the inclined covering ratio Cr is the upper region of the overgrown region. The configuration may be changed to. That is, in the second stage, in the lower part and the middle part of the overgrown area, many branches and leaves are often overlapped, and further defoliation is performed. Therefore, the lower part and the middle part of the overgrown area in the second stage are areas where it is difficult to calculate the growth index Gi of the cultivated plant with high accuracy. Therefore, by changing the calculation region of the inclined coverage Cr to the upper region of the overgrown region, the growth index Gi of a large number of cultivated plants can be calculated accurately. This configuration is particularly useful after the drawstring 54 has been hung down.

The calculation of the plant height of the cultivated plant is continuously performed in the first stage and the second stage. The plant height of the cultivated plant is roughly calculated from the target communities in the community imaging region P2 and the community imaging region P3. In the first stage, changes in stem length in the target community are calculated. Then, the growth diagnosis unit 23 uses the calculated plant height for the calculation of the growth index Gi, and further, based on the growth index Gi, the degree of adjustment of the nitrogen amount mainly in the fertilization control unit 17 and the irrigation in the irrigation control unit 14. Calculate the degree of adjustment of the amount. In the second stage, the apparent plant height after hanging in the target community is calculated.

The calculation of the distance between the fruit bunches is performed only after the flowering of the second fruit bunches Fl2 and before the transition to the second stage. At the stage before flowering of the third fruit cluster Fl3, the distance H1 between the fruit clusters of the first fruit cluster Fl1 and the second fruit cluster Fl2 is calculated. At the stage before flowering of the fourth fruit cluster Fl4, in addition to the inter-fruit cell distance H1, the inter-fruit cell distance H2 of the second fruit cluster Fl2 and the third fruit cluster Fl3 is calculated. At the stage after flowering of the fourth fruit cluster Fl4, in addition to the inter-fruit cell distance H1 and the inter-fruit cell distance H2, the inter-fruit cell distance H3 of the third fruit cluster Fl3 and the fourth fruit cluster Fl4 is calculated.

The average values H1a, H2a, and H3a of the interfruit distances H1, H2, and H3 are used to calculate the growth index Gi. If the distance between the fruit bunches is too long, the growth index Gi indicates a state of excessive vegetative growth. In addition, if the distance between the fruit bunches is too short, the growth index Gi indicates a state of excessive reproductive growth. Then, the growth diagnosis unit 23 calculates the degree of adjustment of the nitrogen amount in the fertilization control unit 17 and the degree of adjustment of the irrigation amount in the irrigation control unit 14 based on the growth index Gi. Since the distance between the fruit bunches changes depending on the weather and the season, the weather and the season may be taken into consideration in the calculation of the growth index Gi.

The leaf area index LAI is calculated after flowering of the second fruit cluster Fl2. The leaf area index LAI (1) of the lower region LL is calculated at the stage before flowering of the third fruit cluster Fl3. At the stage before flowering of the fourth fruit cluster Fl4, the leaf area index LAI (2) of the middle layer region ML is calculated in addition to the leaf area index LAI (1) of the lower layer region LL. At the stage after flowering of the fourth fruit cluster Fl4, in addition to the leaf area index LAI (1) of the lower layer region LL and the leaf area index LAI (2) of the middle layer region ML, the leaf area index LAI (3) of the upper layer region UL. Is calculated. In addition, the leaf area index LAI (4) of the uppermost layer region MUL extending over the fourth fruit cluster Fl4 and the upper end of the cultivated plant is further calculated at the stage after the flowering of the fourth fruit cluster Fl4. As the growth of the cultivated plant progresses in the first stage, the growth diagnosis unit 23 diagnoses the overgrowth state of the cultivated plant based on the leaf area index LAI in the region near the upper end of the cultivated plant. Then, the growth diagnosis unit 23 calculates the degree of adjustment of the nitrogen amount in the fertilization control unit 17 and the degree of adjustment of the irrigation amount in the irrigation control unit 14 based on the diagnosed overgrowth state.

As described above, the setting of the lower layer region LL, the middle layer region ML, the upper layer region UL, and the uppermost layer region MUL is performed based on a plurality of reference horizontal lines HL having different height positions. The height position of the reference horizontal line HL changes in response to a change in the height position of the phosphorescent clip 7. From this, in the first stage, the regions of the lower layer region LL, the middle layer region ML, the upper layer region UL, and the uppermost layer region MUL change in response to the change in the height position of the phosphorescent clip 7. When the growth stage of the cultivated plant is switched from the first stage to the second stage, the regions of the lower layer region LL, the middle layer region ML, the upper layer region UL, and the uppermost layer region MUL are immediately before switching to the second stage. It is configured to hold the area of. That is, in the second stage, the regions of the lower layer region LL, the middle layer region ML, the upper layer region UL, and the uppermost layer region MUL are fixed. In the second stage, the growth diagnosis unit 23 diagnoses the degree of defoliation of the cultivated plant mainly based on the lower layer region LL, the middle layer region ML, and the leaf area index LAI. Further, in the second stage, the growth diagnosis unit 23 calculates the growth index Gi of the cultivated plant mainly based on the upper layer region UL, the uppermost layer region UL, and the leaf area index LAI. That is, in the second stage, the growth diagnosis unit 23 focuses on collecting the upper layer region UL and the uppermost layer region UL and calculates the leaf area index LAI. That is, by diagnosing the overgrowth state, the leaf-picking state, and the like of the cultivated plant based on the leaf area index LAI, it is possible to accurately simulate the yield prediction in the growth diagnosis unit 23.

[Structure of Water Stress Calculation Department]
Hereinafter, the water stress calculation unit 22 will be described. As shown in FIGS. 7 and 24, the image pickup data V imaged by the fixed point camera Ca and the environmental state data E detected by the environment detection unit 10 are input to the water stress calculation unit 22. Two types of data, planar imaging data V1 and ridge horizontal imaging data V2, are extracted from the imaging data V. The plane image pickup data V1 is the image pickup data V imaged by the fixed point camera Ca (3) or the fixed point camera Ca (6), and the ridge horizontal image pickup data V2 is the fixed point camera Ca (4), the fixed point camera Ca (5), and the fixed point camera Ca (5). It is the image pickup data V taken by the fixed point camera Ca (7) or the fixed point camera Ca (8) and spanning a plurality of ridges A. Then, the plane image pickup data V1 and the ridge horizontal image pickup data V2 are input to the water stress calculation unit 22. The cultivated plants in the plan view in the community imaging region P2 or the community imaging region P3 are projected on the plane image pickup data V1. Further, a set of cultivated plants as shown in FIGS. 29 to 32 is projected on the ridge horizontal imaging data V2. The plane image pickup data V1 and the ridge horizontal image pickup data V2 are still images captured by the fixed point camera Ca, but may be moving images. Further, the image projected on the ridge horizontal imaging data V2 does not have to be an image of the cultivated plants in the ridges A (1) to A (8) from a horizontal viewpoint, and the viewpoint slightly overlooking the upper end of the cultivated plants or a little. These cultivated plants may be imaged from the viewpoint of looking up.

Image analysis is performed on a plurality of items based on the plane imaging data V1 and the ridge horizontal imaging data V2, and numerical data is calculated from the analysis results. A plurality of plane imaging data V1 constitutes one time-series data VT1, and a plurality of ridge-horizontal imaging data V2 constitutes one time-series data VT2. The time-series data VT1 and the time-series data VT2 may be configured to be stored in the storage unit 24. In this embodiment, based on the time-series data VT1 composed of a plurality of plane imaging data V1, the leaf area, the spread of the branches and leaves, and the high-frequency component that can be detected from the shape of the branches and leaves are image-analyzed, and the cultivated plant is cultivated. Numerical data indicating the degree of wilting is calculated. In addition, based on the time-series data VT2 composed of the ridge horizontal imaging data V2, the positions of the branches and leaves, the shapes of the branches and leaves, the curvatures of the stems and branches, the plant height of the cultivated plants, and the height positions of the fruit bunches. Is image-analyzed, and numerical data indicating the degree of wilting of the cultivated plant is calculated. A weighting coefficient α is assigned to the numerical data calculated in each analysis item. That is, each numerical data is multiplied by each weight coefficient α and used for indexing processing of the water stress calculation unit 22. Each weighting factor α has a different value depending on the importance of the analysis item. The value of each weighting factor α can be changed as appropriate.

If the cultivated plant remains unirrigated, the cultivated plant is exposed to water stress and gradually withers. The fixed-point camera Ca captures images of cultivated plants at intervals of, for example, about 10 minutes. Therefore, the appearance of the cultivated plant withering, that is, the change in the visual characteristics of the cultivated plant is imaged over time, and the plane imaging data V1 and the ridge horizontal imaging data V2 are output to the water stress calculation unit 22 over time. .. The plane imaging data V1 and the ridge horizontal imaging data V2 output to the water stress calculation unit 22 are composed of the time series data VT1 composed of the plurality of plane imaging data V1 and the ridge horizontal imaging data V2. It is summarized in time series data VT2.

The state in which a cultivated plant is subjected to water stress greatly differs depending on the environmental distribution information such as the amount of solar radiation, temperature, and humidity, and the withering speed of the cultivated plant also changes depending on the difference in the environmental distribution information. Therefore, the environmental state data E detected by each of the solar radiation amount sensor 10A, the temperature sensor 10B, the humidity sensor 10C, and the carbon dioxide concentration sensor 10D is transmitted to the water stress calculation unit 22 via the environment detection unit 10. Is output over time. A weighting coefficient β is provided for each item of the amount of solar radiation, temperature, humidity, and carbon dioxide concentration in the environmental condition data E, and the value of each item is multiplied by the weighting coefficient β for indexing processing of the water stress calculation unit 22. It may be the configuration used.

Further, the weighting coefficient β in the environmental state data E may be changed based on the information obtained by the weather information 3. For example, if the weather forecast is obtained from the weather information 3 in the early morning and the weather forecast is fine, it is judged that the cultivated plants are likely to wither, and the value of the weighting coefficient β in the environmental condition data E increases. Is also good. Further, if the weather forecast is rainy, it is determined that the probability that the cultivated plant will wither is low, and the value of the weighting coefficient β in the environmental condition data E may be reduced.

The water stress calculation unit 22 includes numerical data calculated by image analysis of the plane imaging data V1 and the ridge horizontal imaging data V2, environmental state data E based on the environment detection unit 10, and information obtained by the weather information 3. Based on this, the water stress state WS is indexed. FIG. 25 shows a graph of the index of the water stress state WS. The water stress state WS data indexed by the water stress calculation unit 22 is transmitted to the irrigation control unit 14 via the wide area communication network WAN. Then, when the index of the water stress state WS exceeds the preset threshold value W, the irrigation control unit 14 transmits the irrigation instruction signal Ir to the irrigation device 15, and the irrigation operation by the irrigation device 15 is performed.

Further, the irrigation device 15 may be configured so that the irrigation instruction signal Ir is not transmitted. For example, instead of the irrigation instruction signal Ir for the irrigation device 15, the irrigation control unit 14 notifies the administrator via the output notification unit 16, and the administrator performs the irrigation work using the irrigation device 15. Is also good. Further, both the irrigation instruction signal Ir for the irrigation device 15 and the notification via the output notification unit 16 may be performed by the irrigation control unit 14. In addition, the notification by the output notification unit 16 includes not only the notification regarding irrigation but also the notification for urging the administrator to open and close the side window of the gardening facility 1 and the notification for urging the administrator to operate the blackout curtain of the gardening facility 1. Good.

In FIG. 25, the timing at which the irrigation instruction signal Ir is output is the irrigation timing by the irrigation device 15, and the index of the water stress state WS immediately after the irrigation timing decreases to a substantially zero value, and thereafter, with the passage of time. The index of water stress state WS rises. The rise of the index of water stress state WS is not uniform, and the speed of rise changes greatly depending on the weather, the amount of solar radiation, temperature and humidity.

[Index of water stress state based on leaf area]
As shown in FIG. 26, the leaf area B1 of the branches and leaves is calculated over time by the water stress calculation unit 22. When the branches and leaves wither, the spread of the leaf tips becomes smaller. That is, if the cultivated plant is not irrigated continuously, the leaf area B1 of the branches and leaves in the plan view reflected in the time series data VT1 decreases with the passage of time. From this, the index of the water stress state WS increases as the leaf area B1 of the branches and leaves decreases.

Further, the coverage Br may be calculated based on the plane image pickup data V1, and the water stress state WS may be indexed based on the decrease in the coverage Br. In the above-mentioned calculation of the coverage Br, the measurement area B is set based on the area where the branches and leaves of the cultivated plant are projected, and the area Bs of the measurement area B is calculated. However, in the indexing of the water stress state WS, the area Bs of the measurement area B is fixed to the area Bs before the cultivated plant begins to wither even when the area where the branches and leaves are reflected gradually narrows. desirable. That is, among the time-series data VT1, it is desirable to have a configuration in which the coverage Br is calculated over time by changing only the leaf area B1 while keeping the area Bs calculated based on the first plane imaging data V1.

[Index of water stress state based on leaf spread]
As shown in FIG. 27, the water stress calculation unit 22 calculates the spread state of branches and leaves over time. When the branches and leaves wither, the spread of the leaf tips becomes smaller. That is, if the cultivated plant continues to be unirrigated, the area of the branches and leaves in the plan view reflected in the time series data VT1 decreases with the passage of time. Specifically, based on the plane imaging data V1, a measurement area B surrounded by four sides is set as an area in which the branches and leaves of the cultivated plant are projected, as in the case shown in FIG. 10, and the measurement area is set. The area Bs of B is calculated. In FIG. 27, in the measurement area B, the measurement width Bx2 is smaller than the measurement width Bx1 before the cultivated plant begins to wither. Then, the water stress state WS is calculated based on the time-dependent decrease in the area Bs. From this, the index of the water stress state WS increases as the spread of branches and leaves decreases.

[Index of water stress state based on high frequency components]
As shown in FIG. 28, a high frequency component is detected by setting three-dimensional coordinates in the plane imaging data V1 and performing a Fourier transform on the region where branches and leaves are detected in the three-dimensional coordinates as if it were a waveform. The X-axis is set in the horizontal direction of the planar imaging data V1, the Y-axis is set in the vertical direction of the planar imaging data V1, and the Z-axis is set in the depth direction of the planar imaging data V1. Since the X-axis, the Y-axis, and the Z-axis are orthogonal to each other, the X-axis, the Y-axis, and the Z-axis form three-dimensional coordinates.

The branches and leaves reflected in the plane image pickup data V1 have shades of color based on the values of the RGB data and the values of the YUV data. Then, a three-dimensional waveform based on the branches and leaves is generated by generating a waveform having an amplitude in the Z-axis direction based on the shading of the region where the branches and leaves are detected in the plane image pickup data V1. The distribution of the angular frequency ω can be obtained by the Fourier transform process based on this three-dimensional waveform. Further, the distribution of the angular frequency ω can be acquired by the Fourier transform process based on the two-dimensional waveform of the XZ axis or the YZ axis without being limited to the three-dimensional waveform.

As shown in FIG. 28, the branches and leaves reflected in the time-series data VT1 change from a state in which large branches and leaves overlap to a state in which many small branches and leaves are scattered, as compared with the branches and leaves before the branches and leaves wither. That is, the size of each branch and leaf becomes smaller. The branches and leaves of each plane imaging data V1 included in the time-series data VT1 are converted into waveforms, and the distribution of the angular frequency ω corresponding to each plane imaging data V1 is shown in FIG. 28 by Fourier transform processing based on each waveform. It is shown.
In the distribution of the angular frequency ω in the state where the branches and leaves are withered, a higher angular frequency component is detected than the distribution of the angular frequency ω before the branches and leaves are withered. From this, when a large number of high-frequency components are detected based on the distribution of the angular frequency ω, the index of the water stress state WS rises.

[Index of water stress state based on the position and shape of branches and leaves]
As shown in FIGS. 29 to 32, the aggregate 70 of the cultivated plants in the horticultural facility 1 is projected on the ridge horizontal imaging data V2. The ceiling area 71 and the passage area 72 of the horticultural facility 1 are also projected on the ridge horizontal imaging data V2. The edge of the aggregate 70 is detected by the boundary between the aggregate 70, the ceiling area 71, and the passage area 72. From the edge between the aggregate 70 and the passage region 72, the determination branch / leaf 73 having the characteristics of the branch / leaf is detected.

The determination branch / leaf 73 is projected on the time-series data VT2 with a change in shape. As shown in FIG. 29, when the cultivated plant is not irrigated continuously, the height position of the determination branch / leaf 73 moves downward with the passage of time, and the shape of the determination branch / leaf 73 changes. It becomes vertically long with the passage of time. For this reason, the water stress calculation unit 22 uses the change in the shape of the determination branch / leaf 73 and the movement of the height position of the determination branch / leaf 73 for indexing the water stress state WS. The change in the shape of the determination branch / leaf 73 is calculated by detecting the change in the edge strength in the vertical direction from the edge between the determination branch / leaf 73 and the passage region 72. As the vertical edge strength increases, the index of water stress state WS increases. Further, the movement of the height position of the determination branch / leaf 73 is calculated by the optical flow process. The movement of the height position of the determination branch / leaf 73 may be calculated by background subtraction processing or inter-frame subtraction processing. When the determination branch / leaf 73 moves downward, the index of the water stress state WS rises.

[Index of water stress state based on the curvature of stems and branches]
The aggregate 70 of cultivated plants reflected in the ridge horizontal imaging data V2 has shades of color based on the values of RGB data and YUV data. For example, as shown in FIG. 30, the stem tip 74 of the cultivated plant is detected based on the shade of color in the aggregate 70 of the cultivated plant. The stem tip 74 is projected on the time-series data VT2 with a change in shape. If the cultivated plant is not irrigated for a long time, the stem tip 74 gradually hangs downward. For this reason, the water stress calculation unit 22 uses the degree of sagging of the stem tip 74 for indexing the water stress state WS.

In the present embodiment, the linear shape of the stem tip 74 is plotted on the graph, and the change over time of the linear shape of the stem tip 74 is overwritten on the graph. Then, the curvature of the linear shape shown in the graph is calculated, and as the curvature increases, the index of the water stress state WS increases. When the stem tip 74 is not reflected in the ridge horizontal imaging data V2, the degree of sagging of the stem tip 74 is not used for indexing the water stress state WS. Further, if a branch portion is imaged in the vicinity of the fixed point cameras Ca (4), Ca (5), Ca (7), and Ca (8) in addition to the stem tip 74, it is based on the degree of sagging of the branch portion. The configuration may be such that the water stress state WS is indexed.

[Index of water stress status based on plant height of cultivated plants]
As shown in FIG. 31, the ridge line 70a of the aggregate 70 is detected from the edge between the aggregate 70 and the ceiling region 71. If the cultivated plant is not irrigated continuously, the plant height of the cultivated plant is gradually lowered due to the hanging of the stem tip 74 and the height position of the ridge line 70a is also gradually lowered. Therefore, the water stress calculation unit 22 uses the change in the height position of the ridge line 70a for indexing the water stress state WS. As the height position of the ridge line 70a decreases, the index of the water stress state WS increases. The movement of the height position of the ridge line 70a is calculated by optical flow processing. The movement of the height position of the ridge line 70a may be calculated by background subtraction processing or inter-frame subtraction processing.

[Index of water stress status based on the height position of the fruit cluster]
For example, as shown in FIG. 32, the fruit cluster Fl of the cultivated plant is detected based on the shade of color in the aggregate 70 of the cultivated plant. If the cultivated plant is not irrigated for a long time, the height position of the fruit bunch Fl gradually becomes lower due to the hanging of the branch portion over the stem and the fruit bunch Fl. Therefore, the water stress calculation unit 22 uses the change in the height position of the fruit bunch Fl for indexing the water stress state WS. As the height position of the fruit cluster Fl decreases, the index of water stress state WS increases. When the fruit bunch Fl is not reflected in the ridge horizontal imaging data V2, the change in the height position of the fruit bunch Fl is not used for indexing the water stress state WS. Further, in addition to the fruit bunch Fl, for example, a phosphorescent clip 7 is attached to the branch tip of the fruit bunch Fl, and the water stress state WS is indexed based on the change in the height position of the phosphorescent clip 7. good.

[Another Embodiment]
The present invention is not limited to the configuration exemplified in the above-described embodiment, and the following will exemplify another typical embodiment of the present invention.

[1] In the above-described embodiment, the phosphorescent clip 7 is irradiated by the irradiating body L to store light, and after the irradiation of the irradiating body L is completed, an image is taken by the fixed-point camera Ca. Not limited to. As shown in FIG. 33, when the solar radiation weakens at sunset, the phosphorescent clip 7 emits light stronger than the solar radiation. Therefore, for example, the phosphorescent clip 7 may be phosphorescent by sunlight, and the image pickup by the fixed point camera Ca may be performed at sunset. With this configuration, irradiation by the irradiator L is not always necessary.

[2] In the above-described embodiment, the emission color of the phosphorescent clip 7 is the same emission color in one strain and different from the emission color in the adjacent strains. It is not limited to the form. For example, the emission color of the phosphorescent clip 7 may be distinguished by a different emission color for each fruit bunch Fl. That is, the first fruit cluster Fl1 in the plurality of strains has the same emission color, and the second fruit cluster Fl2 in the plurality of strains has the same emission color and the same emission color as the first fruit cluster Fl1. The third fruit bunch Fl3 and the fourth fruit bunch Fl4 in the plurality of strains also have the same emission color with different emission colors from the other fruit clusters Fl. Even with this configuration, it is possible to calculate the average values H1a, H2a, and H3 of the distances H1, H2, and H3 between the fruit clusters.

[3] In the above-described embodiment, the gardening facility 1 and the management computer 2 are connected via the wide area communication network WAN, but the present invention is not limited to the above-mentioned embodiment. The management computer 2 may be provided in the gardening facility 1, and a device such as a fixed-point camera Ca in the gardening facility 1 may be connected to the management computer 2 by a network in the facility. The network in the facility may be a wired connection or a wireless connection.

[4] In the above-described embodiment, the phosphorescent clip 7 is attached in the vicinity of the fruit cluster of the cultivated plant, but the phosphorescent clip 7 may be provided, for example, at the upper end of the cultivated plant. With this configuration, the phosphorescent clip 7 serves as a guide for detecting the plant height of the cultivated plant, and the growth diagnosis unit 23 can easily calculate the plant height of the cultivated plant.

[5] In the above-described embodiment, tomatoes are exemplified as cultivated plants, but the plants are not limited to tomatoes, and may be strawberries, melons, cucumbers, eggplants, melons, bitter melons, paprikas, peppers and the like. Further, the plant is not limited to the indoor cultivated plant inside the horticultural facility 1, and may be an outdoor cultivated plant. Further, the ridge A does not have to be a non-porous hydrophilic film, and may be soil.

[6] The phosphorescent clip 7 in the above-described embodiment may not be an attracting clip, and may be a clip different from the attracting clip.

The present invention is applicable to a clip attached to a cultivated plant and a plant cultivation system using the clip.

7: Luminescent clip 21: Judgment unit (detection unit)
23: Growth diagnosis unit Ca: Fixed point camera (imaging means)
L: Irradiator

Claims (3)

Multiple phosphorescent clips that are attached near the fruit clusters of cultivated plants and have phosphorescent properties on at least a part of the surface of the main body.
An irradiator that irradiates the cultivated plant containing the phosphorescent clip with irradiation light,
An imaging means for imaging the cultivated plant including the phosphorescent clip, and
A detector capable of detecting the position of the phosphorescent clip in the cultivated plant is provided.
The phosphorescent clip is phosphorescent by the irradiation of the irradiator.
The image pickup means is a plant cultivation system that images the cultivated plant in a state where irradiation of the irradiator is completed and in a state where the phosphorescent clip is phosphorescent. Multiple phosphorescent clips that are attached near the fruit clusters of cultivated plants and have phosphorescent properties on at least a part of the surface of the main body.
An irradiator that irradiates the cultivated plant containing the phosphorescent clip with irradiation light,
An imaging means for imaging the cultivated plant including the phosphorescent clip, and
A detector capable of detecting the position of the phosphorescent clip in the cultivated plant is provided.
The imaging means captures a plurality of the cultivated plants and obtains images.
A plurality of the phosphorescent clips are attached to the cultivated plant so as to have the same emission color for each of the cultivated plants, and the emission color is different from the phosphorescence clips attached to the adjacent cultivated plants. A plant cultivation system composed of. Multiple phosphorescent clips that are attached near the fruit clusters of cultivated plants and have phosphorescent properties on at least a part of the surface of the main body.
An irradiator that irradiates the cultivated plant containing the phosphorescent clip with irradiation light,
An imaging means for imaging the cultivated plant including the phosphorescent clip, and
A detector capable of detecting the position of the phosphorescent clip in the cultivated plant,
A plant cultivation system including a growth diagnosis unit that calculates a growth index of the cultivated plant based on the distance between the phosphorescent clips attached to the vicinity of the fruit bunch among the cultivated plants.

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