JP2010231733A - Farm work support device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a farm work support device capable of supporting thinning work. <P>SOLUTION: The farm work support device 1 includes: a camera 17 for imaging a plurality of seedlings of crop; an imaging range decision means for determining the imaging range of the camera 17 such that at least one seedling to be thinned is included in a captured image; an imaging unit control means for controlling the camera 17 so as to image a plurality of seedlings within the imaging range determined by the imaging range decision means; a thinning object specifying means for specifying a seedling to be thinned among the plurality of seedlings in the captured image obtained by the camera 17 according to control by the imaging unit control means; and a thinning object information output means for output of thinning object information about the seedling to be thinned, specified by the thinning object specifying means. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention relates to a farm work support apparatus for supporting farm work, and more particularly to a farm work support apparatus for supporting thinning work.

  In order to sufficiently grow crops such as vegetables, so-called thinning work is widely performed in which seedlings are removed and sparse. This thinning operation is performed by selecting a thinning target seedling from among a plurality of seedlings, and extracting the selected seedling using a farming tool such as a hand or a basket.

  Various devices have been proposed so far for supporting the thinning operation. For example, in Patent Document 1, the embryonic axis diameters of three budding individuals are discriminated by a semiconductor laser discrimination sensor, and among them, a budding individual having the largest hypocotyl diameter (a budding individual considered to be in a good growth state) is used. A thinning device capable of specifying a budding individual as a thinning target is disclosed.

The semiconductor laser discrimination sensor includes a laser beam projecting unit and a light receiving unit, and the light projecting unit and the light receiving unit are provided with a budding individual in between. By using the time during which the laser beam projected from the light projecting unit is blocked by the embryonic axis of the budding individual, the thinning device discriminates the magnitude relationship between the diameters of the three budding individual's hypocotyls. Based on the result, the budding individual to be thinned is identified.
According to this thinning device, it is possible to automatically select the budding individual to be thinned out, so that the thinning work is facilitated.

  Further, Patent Document 2 discloses a working robot that can identify the position of a target portion of various work including thinning work based on data regarding colors in a color image obtained using a camera. Yes. This work robot can also automatically select the thinning target.

Patent No. 2500342 JP 2007-230309 A

  However, in the thinning device of Patent Document 1, there is a problem that the embryonic axis diameter of the budding individual cannot be accurately determined depending on the positional relationship between the semiconductor laser discrimination sensor and the budding individual. That is, for example, when a plurality of budding individuals are overlapped between the light projecting unit and the light receiving unit provided in the semiconductor laser discrimination sensor, it is impossible to determine the hypocotyl diameter of each budding individual. If the hypocotyl diameter of the budding individual cannot be accurately determined in this way, there is a high possibility that the thinning target will be unsuitably specified.

  On the other hand, in the case of the working robot of Patent Document 2, it is possible to obtain an image in which a plurality of seedlings do not overlap by installing a camera so that the ground is imaged from above. Inconveniences such as a device can be avoided. However, in the case of this working robot, there is a problem that it is impossible to determine how much the thinning target is present or not in the acquired image. Therefore, even if it is possible to identify a seedling having a relatively poor growth state from among a plurality of seedlings in the image based on the data on the color, it is not known whether the seedling should be thinned out. The inconvenience of not occurring.

  This invention is made | formed in view of such a situation, The main objective is to solve the said subject by determining the imaging range of an imaging part so that the seedling used as the thinning out object may be included in a captured image. An object of the present invention is to provide an agricultural work support apparatus capable of performing the above.

  In order to solve the above-described problem, a farm work support apparatus according to one aspect of the present invention includes an imaging unit that images a plurality of seedlings of a crop, and at least one seedling target seedling included in the captured image. An imaging range determining unit that determines an imaging range of the imaging unit, an imaging unit control unit that controls the imaging unit so as to capture a plurality of seedlings in an imaging range determined by the imaging range determining unit, and the imaging unit A thinning target specifying means for specifying a thinning target seedling from a plurality of seedlings in the captured image obtained by the imaging unit according to control by the control means, and a thinning target for the thinning target seedling specified by the thinning target specifying means Thinning target information output means for outputting information.

  The farm work support apparatus according to the above aspect further includes a storage unit that stores imaging range information regarding the imaging range of the imaging unit determined for each type of crop, and the imaging range determination unit is stored in the storage unit. The imaging range of the imaging unit may be determined based on imaging range information.

  Moreover, the farm work support apparatus according to the above aspect further includes a storage unit that stores imaging range information related to the imaging range of the imaging unit that is determined for each sowing time of the crop, and the imaging range determination unit stores the imaging range in the storage unit. The imaging range of the imaging unit may be determined based on the imaging range information that has been set.

  In the farm work support apparatus according to the aspect described above, the imaging range determination unit may be configured to determine the imaging range of the imaging unit based on the state of the soil where the seedling is grown.

  Further, the farm work support device of the above aspect further includes a humidity measuring unit that measures the humidity of the soil in which the seedling is grown, and the imaging range determining unit is configured to store the imaging unit based on a measurement result by the humidity measuring unit. The imaging range may be determined.

  The farm work support apparatus of the above aspect may further include imaging range determination information output means for outputting imaging range determination information indicating the imaging range of the imaging unit determined by the imaging range determination means.

  In the farm work support apparatus of the above aspect, the imaging range determination unit may be configured to determine the imaging range of the imaging unit so that only one seedling that is not a thinning target is included.

  According to another aspect of the present invention, there is provided a farm work support apparatus that includes: an imaging range determining unit that determines an imaging range of an imaging unit that captures a plurality of seedlings of a crop; and an imaging range of the imaging unit that is determined by the imaging range determining unit. Imaging range determination information output means for outputting the imaging range determination information shown, wherein the imaging range determination means determines the imaging range of the imaging unit so that at least one thinning target seedling is included in the captured image It is structured to do.

  The farm work support apparatus according to the above aspect further includes a storage unit that stores imaging range information regarding the imaging range of the imaging unit determined for each type of crop, and the imaging range determination unit is stored in the storage unit. The imaging range of the imaging unit may be determined based on imaging range information.

  Moreover, the farm work support apparatus according to the above aspect further includes a storage unit that stores imaging range information related to the imaging range of the imaging unit that is determined for each sowing time of the crop, and the imaging range determination unit stores the imaging range in the storage unit. The imaging range of the imaging unit may be determined based on the imaging range information that has been set.

  In the farm work support apparatus of the above aspect, the imaging range determination unit may be configured to determine the imaging range of the imaging unit so that only one seedling that is not a thinning target is included.

  According to the farm work support device according to the present invention, it is possible to easily obtain an appropriate imaging range of a captured image acquired for the purpose of specifying a thinning target seedling.

The block diagram which shows the structure of the agricultural-work assistance apparatus which concerns on Embodiment 1 of this invention. The figure which shows an example of the data structure of the imaging range definition data which the agricultural-work assistance apparatus which concerns on Embodiment 1 of this invention has memorize | stored. The conceptual diagram which shows the mode of a change of an imaging range. The figure which shows an example of the data structure of the weather data which the agricultural-work assistance apparatus which concerns on Embodiment 1 of this invention has memorize | stored. The flowchart which shows an example of the flow of operation | movement of the agricultural-work assistance apparatus which concerns on Embodiment 1 of this invention. The flowchart which shows the procedure of the thinning | decimation target specific process which the agricultural-work assistance apparatus which concerns on Embodiment 1 of this invention performs. The flowchart which shows the procedure of the correction process of the captured image which the agricultural-work assistance apparatus which concerns on Embodiment 1 of this invention performs. The block diagram which shows the structure of the agricultural-work assistance apparatus which concerns on Embodiment 2 of this invention. The figure which shows an example of the data structure of the imaging range definition data which the agricultural-work assistance apparatus which concerns on Embodiment 2 of this invention has memorize | stored. The flowchart which shows an example of the flow of operation | movement of the agricultural-work assistance apparatus which concerns on Embodiment 2 of this invention. The block diagram which shows the structure of the agricultural-work assistance apparatus which concerns on Embodiment 3 of this invention. The flowchart which shows an example of the flow of operation | movement of the farm work assistance apparatus which concerns on Embodiment 3 of this invention.

  The farm work support device of the present invention is for supporting a thinning operation for thinning out some seedlings of a plurality of seedlings. Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings.

(Embodiment 1)
The farm work support apparatus according to Embodiment 1 is mounted on an agricultural machine such as a field cultivator that can perform a thinning work by cutting a stem of a thinning target seedling or pulling out the seedling. .

[Configuration of Farm Work Support Device 1]
FIG. 1 is a block diagram illustrating a configuration of a farm work support apparatus according to Embodiment 1 of the present invention. As shown in FIG. 1, the farm work support apparatus 1 includes a CPU 11, a main storage device 12, an auxiliary storage device 13, an input / output interface (I / F) 14, and an image output interface (I / F) 15. The CPU 11, the main storage device 12, the auxiliary storage device 13, the input / output I / F 14 and the image output I / F 15 are connected by a bus.

  The CPU 11 executes a computer program stored in the auxiliary storage device 13. As a result, the farm work support apparatus 1 can perform operations as described below.

  The main storage device 12 is configured by SRAM, DRAM, or the like, and is used for reading a computer program stored in the auxiliary storage device 13. The main storage device 12 is also used as a work area for the CPU 11 when the CPU 11 executes a computer program.

  The auxiliary storage device 13 is configured by a nonvolatile storage device such as a flash memory or a hard disk, and stores various computer programs to be executed by the CPU 11 and data used for executing the computer program.

  As shown in FIG. 1, the auxiliary storage device 13 stores imaging range definition data 131, weather data 132, and growth progress data 133. Details of each of these data will be described later.

  The input / output I / F 14 is an interface device for communicating with various input / output devices. The input / output I / F 14 includes an input unit 16 composed of a keyboard, a camera 17 composed of an image sensor such as a CCD (Charge Coupled Device) or a CMOS (Complementary Metal Oxide Semiconductor), and the camera 17 up and down. A moving unit 18 having a moving mechanism for moving in the direction is connected.

  The camera 17 is fixed at an angle at which the ground on which a plurality of seedlings are grown can be imaged from above, and is installed so as to be movable up and down by the moving unit 18. The moving unit 18 moves the camera 17 in the vertical direction according to the imaging range determined as described later. By this vertical movement, the imaging range of the camera 17 is enlarged and reduced.

  As described above, in the present embodiment, the imaging range of the camera 17 is adjusted by moving the camera 17 in the vertical direction. However, the present invention is not limited to this mode, and a zoom mechanism or the like is used, for example. Thus, the imaging range of the camera 17 may be adjusted.

  The image output I / F 15 is an interface device for communicating with a display 19 constituted by an LCD or the like, and outputs a video signal corresponding to image data given from the CPU 11 to the display 19. The display 19 displays an image according to the input video signal.

Next, the imaging range definition data 131, the weather data 132, and the growth progress data 133 will be described.
FIG. 2 is a diagram illustrating an example of a data structure of the imaging range definition data 131 stored in the farm work support apparatus 1 according to the first embodiment. As shown in FIG. 2, the imaging range definition data 131 includes a type field 131A in which the type name of the crop is stored, and a first field in which the size of the imaging range in the first thinning operation performed 10 days after the sowing date is stored. The imaging range field 131B, the second imaging range field 131C in which the size of the imaging range in the second thinning operation performed after 20 days is stored, and the imaging range in the third thinning operation also performed after 30 days It is composed of a third imaging range field 131D in which the size is stored.

  The size of the imaging range is defined such that a plurality of seedlings are included and only one seedling that is not a thinning target is included therein. Therefore, the farm work support apparatus 1 can identify other seedlings as thinning targets by selecting one seedling that is not a thinning target from among a plurality of seedlings included in the imaging range.

  In the present embodiment, it is assumed that the imaging range is represented by a square, and the imaging range definition data 131 indicates the length of one side of the square. Therefore, for example, “10 cm” in FIG. 2 indicates that the imaging range is a 10 cm square.

  In the example shown in FIG. 2, the size of the imaging range for radish, eggplant, cucumber, and tomato is determined for each thinning operation. Thus, in the imaging range definition data 131, an imaging range is defined for each type of crop and sowing time. In general, since the range to be thinned out varies depending on the type of crop, it is preferable that the imaging range is defined for each crop as described above.

  In this embodiment, as described above, the imaging range is defined for each type of crop and sowing time. However, the imaging range is not limited to this, and only the imaging range is defined for each type of crop. Therefore, the sowing time may not be considered, and the imaging range may be defined only for each sowing time, and the type of crop may not be considered. In addition, the imaging range may be defined using information (for example, region / soil quality) other than the type of crop and the sowing time.

As shown in FIG. 2, in this embodiment, the imaging range definition data is set so that the imaging range becomes larger as the elapsed time from the sowing date becomes longer. This is illustrated in FIG.
FIG. 3 is a conceptual diagram showing how the imaging range changes. In FIG. 3, the imaging range is indicated by a broken line. In the example shown in FIG. 3, the imaging range in the first thinning operation is 10 cm square, the imaging range in the second thinning operation is 20 cm square, and the imaging range in the third thinning operation is 30 cm square. As described above, the range in which the thinning operation is performed generally increases with the growth of the crop, and the degree of increase is often different depending on the crop. Therefore, it can be said that it is difficult to grasp an appropriate range for thinning out work for many crops, but in this embodiment, imaging range definition data that defines an imaging range for each type of crop and sowing time is used. By using it, it is possible to automatically guide an appropriate range for performing the thinning operation.

  FIG. 4 is a diagram illustrating an example of a data structure of the weather data 132 stored in the farm work support apparatus 1 according to the first embodiment. As shown in FIG. 4, the weather data 132 includes a location field 132A in which information indicating the location is stored, and a weather field 132B in which information indicating the weather at the location is stored. In the example illustrated in FIG. 4, information that the weather of “A prefecture a city” is “sunny” and the weather of “A prefecture b city” is “cloudy” is illustrated.

  The weather data 132 may be generated by the farm work support apparatus 1 using information acquired from an external apparatus via the Internet or the like, or may be input by the user using the input unit 16.

  In the example shown in FIG. 4, only data for one day is shown. However, the weather data 132 may include data for the past several days, and data for the next several days (weather forecast). Data) may be included.

  The growth progress data 133 is composed of a plurality of image data obtained by imaging each of a plurality of predetermined sections with the camera 17. These image data are obtained by repeatedly imaging each section at a predetermined time interval. Therefore, by referring to these image data, it is possible to confirm the change with time of the seedlings existing in each section, that is, the progress of growth. It is also possible to predict how the soil will grow in the future by using information such as soil nutrients. The above-mentioned growth progress confirmation and future growth prediction may be performed by the user based on the image data, and predetermined processing (for example, extracting the contour of the seedling in the image data) is performed on the image data. The farm work support apparatus 1 may automatically perform the calculation by executing the calculation of the size of the seedling.

[Operation of the farm work support apparatus 1]
Next, operation | movement of the agricultural-work assistance apparatus 1 comprised as mentioned above is demonstrated, referring a flowchart.
During the thinning operation, the user operates an agricultural machine such as a field cultivator on which the agricultural work support device 1 is mounted to move it to a field or the like where the crop to be thinned is grown. Then, the user uses the input unit 16 to input the type and sowing date of the crop to be thinned out.

  FIG. 5 is a flowchart illustrating an example of an operation flow of the farm work support apparatus 1 according to the first embodiment. As shown in FIG. 5, when the farm work support apparatus 1 receives input of the type of crop and the seeding date (S101), the farm work support apparatus 1 refers to the imaging range definition data 131 stored in the auxiliary storage device 13 (S102).

  Next, the farm work support apparatus 1 extracts the size of the imaging range specified by the input crop type and the sowing date from the sizes of the plurality of imaging ranges indicated in the imaging range definition data 131, An imaging range is determined based on the size (S103). Specifically, for example, when the implementation date of the thinning work is “March 31”, and the input crop type is “radish” and the sowing date is “March 12”, the implementation date Is 19 days after the sowing date, the farm work support apparatus 1 performs the thinning work performed this time for the second thinning work performed 20 days after the nearest 20 days after 20 days, 30 days later. It is determined that it corresponds, and the data related to “radish” stored in the second imaging range field 131C, that is, “20 cm” is acquired, and the imaging range is determined to be 20 cm square.

  The farm work support apparatus 1 that has determined the imaging range in step S103 displays imaging range determination information representing the imaging range on the display 19 (S104). As this imaging range determination information, for example, character information such as “shooting in a 20 cm square range” can be cited.

  Next, the agricultural work support apparatus 1 adjusts the imaging range of the camera 17 by moving the camera 17 up and down by the moving unit 18 in order to perform imaging within the imaging range determined in step S103 (S105). . Specifically, when the size of the imaging range is large, the camera 17 is moved upward, and when the size is small, the camera 17 is moved downward to adjust the imaging range of the camera 17.

  After adjusting the imaging range of the camera 17 as described above, the farm work support apparatus 1 acquires a captured image (S106). Specifically, the CPU 11 instructs the camera 17 to take an image, and the camera 17 that receives the instruction executes an imaging operation. As a result, a captured image is output from the camera 17 to the CPU 11 via the input / output I / F 14.

  Next, the farm work support apparatus 1 extracts a contour from the captured image, recognizes that the extracted contour has an elliptical shape as a leaf that the seedling has, and thereby extracts the contour from the captured image. A plurality of seedlings are specified (S107). Here, when a plurality of leaves are present close to each other, it is determined that the leaves are one seedling.

  The farm work support apparatus 1 that has identified a plurality of seedlings in step S107 executes a thinning target specifying process for specifying a thinning target seedling from among the seedlings (S108).

  FIG. 6 is a flowchart illustrating a procedure of the thinning target specifying process executed by the farm work support apparatus 1 according to the first embodiment. As illustrated in FIG. 6, the farm work support apparatus 1 first calculates the area of leaves (elliptical figures) included in each of the plurality of seedlings identified in step S107 (S201). And the farm work assistance apparatus 1 specifies the seedling which has a leaf with the largest area (S202). Thus, since the seedling having the leaf having the largest area is considered to have the best growth state, it is determined that the seedling is excluded from the thinning target.

  In addition to determining the growth state of the seedling based on the leaf area as described above, the growth state of the seedling may be determined based on, for example, the color of the leaves and the number of leaves. If it is based on the color of the leaves, it is determined that the darker the green color, the better the growing state, and if it is based on the number of leaves, it may be determined that the larger the number of leaves, the better the growing state. .

  Further, the degree of future growth may be predicted based on image data constituting the growth progress data 133, and seedlings predicted to grow most in the future may be excluded from the thinning target. In addition, the degree of growth so far may be confirmed based on the image data constituting the growth progress data 133, and the seedling having the highest degree may be excluded from the thinning target. In these cases, the current leaf size or the like may or may not be considered.

  Next, the farm work support apparatus 1 identifies seedlings other than the seedlings identified in step S202 as thinning target seedlings (S203). As described above, since the size of the imaging range is defined so as to include only one seedling that is not a thinning target, the seedlings other than the seedlings that are identified as the seedlings that are not the thinning target in step S202 are the thinning targets. can do.

  Returning to FIG. 5, the farm work support apparatus 1 displays on the display 19 thinning target information indicating the thinning target seeds identified by the thinning target identifying process in step S108 (S109). The thinning target information includes, for example, image information in which the thinning target seedling is colored in a specific color, or image information in which the thinning target seedling blinks. In addition, the image information in which the seedlings that are not to be thinned out (the seedlings identified in step S202) are colored in a specific color, the image information that the seedlings are blinking, and the like are also included in the thinning target information. Can be. In this case, seedlings other than seedlings that are colored in a specific color or displayed blinking are indicated as thinning targets.

  The user can know which seedling should be thinned out by referring to the thinning target information displayed on the display 19. Therefore, it is not necessary to select the seedlings to be thinned out by themselves, and by appropriately thinning out the seedlings automatically selected by the farm work support apparatus 1 with the agricultural machine on which the farm work support apparatus 1 is mounted, appropriate thinning work is performed. It can be carried out. Accordingly, for example, even a user who has relatively little experience in farm work can easily perform appropriate thinning work.

  When the thinning operation of the seedling is performed by the agricultural machine, the agricultural machine may automatically detect the position of the seedling identified as the thinning target by the agricultural work support device 1 and thin the seedling. You may make it confirm the position of the said seedling visually and make an agricultural machine perform thinning of the seedling.

  By the way, when it is easy to associate the seedling on the screen with the actual seedling, it is easy for the user to visually confirm the position of the thinning target seedling, but when the imaging range is relatively large It is also conceivable that it is not easy to associate the seedling on the screen with the actual seedling. In such a case, the size of the imaging range is confirmed by referring to the imaging range determination information output in step S104, thereby associating the seedlings on the screen with the actual seedlings. It can be made easier.

Next, a function for correcting a captured image using weather data will be described.
A user who desires to execute the correction processing of the captured image uses the input unit 16 to input location information (herein referred to as a city name) indicating a location where the thinning operation is performed.
FIG. 7 is a flowchart illustrating a procedure of a captured image correction process executed by the farm work support apparatus 1 according to the first embodiment. As shown in FIG. 7, when the farm work support apparatus 1 receives the input of the location information (S301), the farm work support apparatus 1 refers to the weather data 132 stored in the auxiliary storage device 13 (S302).

  Next, the farm work support apparatus 1 acquires the weather associated with the place indicated by the place information from the weather data 132, and corrects the luminance value of the captured image according to the weather (S303). Various correction processes can be considered. For example, it is assumed that overexposure occurs when the weather is “sunny”, and underexposure occurs when the weather is “rain”, and the weather acquired from the weather data 132 is assumed. If “Sunny”, the gamma correction is performed using a gamma curve used when overexposure is performed. If “Rain”, the gamma correction is performed using a gamma curve used when underexposure is performed.

  By performing the correction process on the captured image in this way, the leaf extraction process of the seedling can be more accurately performed, so it is possible to more appropriately identify the thinning target seedling. become.

(Embodiment 2)
Unlike the case of the first embodiment, the farm work support device of the second embodiment is a device that adjusts the imaging range of the camera based on the humidity of the soil where the seedling is grown. The configuration and operation will be described below.

[Configuration of Farm Work Support Device 2]
FIG. 8 is a block diagram showing a configuration of a farm work support apparatus according to Embodiment 2 of the present invention. As shown in FIG. 8, the farm work support apparatus 2 includes a humidity measuring unit 21 that can measure the humidity of soil in which seedlings are grown, and an auxiliary storage device 23. Since the configuration of the farm work support apparatus 2 other than the humidity measuring unit 21 and the auxiliary storage device 23 is the same as that in the first embodiment, the same reference numerals are given and description thereof is omitted.

The humidity measuring unit 21 includes a soil receiving unit that can receive soil from the outside, and a humidity measuring meter that measures the humidity of the soil received by the soil receiving unit, and is connected to the input / output I / F 14. Has been. The measured value obtained by this humidity meter is given to the CPU 11 via the input / output I / F 14.
The configuration of the humidity measuring unit 21 is not limited to this. For example, a configuration in which the humidity of the soil is measured by inserting a humidity meter into the soil without including the soil receiving unit may be used. .

  The auxiliary storage device 23 is configured by a non-volatile storage device like the auxiliary storage device 13 in the first embodiment, and stores various computer programs to be executed by the CPU 11 and data used for executing the computer programs. In addition, imaging range definition data 231, weather data 132, and growth progress data 133 are stored.

  FIG. 9 is a diagram illustrating an example of a data structure of the imaging range definition data 231 stored in the farm work support apparatus 2 according to the second embodiment. As shown in FIG. 9, the imaging range definition data 231 includes a humidity field 231A in which the soil humidity range is stored, and an imaging range field 231B in which the size of the imaging range in the thinning operation is stored. Here, the size of the imaging range stored in the imaging range field 231B is such that a plurality of seedlings are included and only one seedling that is not a thinning target is included in the same size as in the first embodiment. Is defined.

  In the present embodiment, it is assumed that the imaging range is represented by a square, and the imaging range definition data 131 indicates the length of one side of the square. Therefore, for example, “30 cm” in FIG. 9 indicates that the imaging range is a 30 cm square.

  As shown in FIG. 9, in the imaging range definition data 231, an imaging range is defined for each humidity range, but in addition to this, imaging is performed for each type of crop and / or sowing time as in the first embodiment. A range may be defined.

  If the soil contains a lot of moisture or nutrients, that is, if the humidity is high, the growth state of the seedling is considered to be improved, so the range of thinning work may be small. On the other hand, if the soil does not contain much water or nutrients, that is, if the humidity is low, it is considered that the growth state of the seedlings is likely to deteriorate, so it is necessary to increase the range of the thinning operation. Therefore, in the example shown in FIG. 9, the size of the imaging range is defined so that the imaging range becomes smaller as the soil humidity becomes higher, and conversely, the imaging range becomes larger as the soil humidity becomes lower. .

[Operation of the farm work support apparatus 2]
Next, the operation of the farm work support apparatus 2 configured as described above will be described with reference to a flowchart.
During the thinning operation, the user operates the agricultural machine on which the agricultural work support device 2 is mounted to move it to a field where the crop to be thinned is grown, and then uses a shovel or the like to store a predetermined amount of soil. And is put into a soil receiving unit provided in the humidity measuring unit 21.

  FIG. 10 is a flowchart illustrating an example of an operation flow of the farm work support apparatus 2 according to the second embodiment. As shown in FIG. 10, the farm work support apparatus 1 measures the humidity of the soil received by the soil receiving unit using a humidity meter provided in the humidity measuring unit 21 (S401).

  Next, the farm work support apparatus 2 extracts the size of the imaging range associated with the measurement value obtained by the humidity meter from the sizes of the plurality of imaging ranges indicated in the imaging range definition data 231. Then, the imaging range is determined based on the size (S402). Specifically, for example, when the measured value obtained by the thermometer is “8%”, data related to “6 to 10%” stored in the imaging range field 231B, that is, “25 cm” is acquired. Then, the imaging range is determined to be 25 cm square.

  The operations of the farm work support apparatus 2 after step S402 are the same as steps S104 to S109 in the first embodiment shown in FIG.

  Even in the farm work support apparatus 2 of the present embodiment, as in the case of the first embodiment, since the seedlings to be thinned out are automatically selected, even if the user is relatively inexperienced in farm work, Appropriate thinning work can be easily performed.

  In the present embodiment also, the captured image correction process may be performed according to the weather in the same manner as in the first embodiment. In this case, the weather data 132 may be used, but the weather is predicted based on the measurement result by the humidity measuring unit 21 (when the measured value of soil humidity is low, it is predicted as “sunny”, and when it is high, it is “rain”. Prediction).

(Embodiment 3)
Unlike the first and second embodiments, the farm work support apparatus according to the third embodiment is an apparatus that does not include a camera and determines the imaging range of a camera installed in another apparatus. Note that the farm work support apparatus 3 of the present embodiment is not mounted on an agricultural machine such as a field cultivator as in the case of the first embodiment, and is carried by a user who performs thinning work. The configuration and operation will be described below.

[Configuration of Farm Work Support Device 3]
FIG. 11: is a block diagram which shows the structure of the farm work assistance apparatus which concerns on Embodiment 3 of this invention. As shown in FIG. 11, the farm work support apparatus 3 includes an audio output interface (I / F) 31 and a speaker 32 connected to the audio output interface 31. Since the configuration of the farm work support apparatus 3 other than the audio output I / F 31 and the speaker 32 is the same as that of the first embodiment, the same reference numerals are given and description thereof is omitted.

  The audio output I / F 31 is an interface device for communicating with the speaker 32, and outputs an audio signal corresponding to the audio data given from the CPU 11 to the speaker 32. The speaker 32 performs audio output according to the input audio signal.

[Operation of Farm Work Support Device 3]
Next, the operation of the farm work support apparatus 3 configured as described above will be described with reference to a flowchart.
A user carries the farm work support apparatus 3 and moves to a field or the like where the crop to be thinned is growing. Then, the user uses the input unit 16 to input the type of crop to be thinned and the sowing date.

  FIG. 12 is a flowchart showing an example of the operation flow of the farm work support apparatus 3 according to the third embodiment. As shown in FIG. 12, when the agricultural work support apparatus 3 receives input of the type of crop and the seeding date (S501), it refers to the imaging range definition data 131 stored in the auxiliary storage device 13 (S502).

  Next, as in the case of the first embodiment, the farm work support apparatus 3 identifies the input crop type and seeding date from the sizes of the plurality of imaging ranges indicated in the imaging range definition data 131. The size of the captured imaging range is extracted, and the imaging range is determined based on the size (S503).

  The farm work support apparatus 3 that has determined the imaging range in step S503 outputs the imaging range determination information representing the imaging range using the speaker 32 (S504). As this imaging range determination information, for example, audio information such as “Please shoot within a 20 cm square range” is cited.

  The user operates a camera provided in a device different from the farm work support device 3 to obtain a captured image in the imaging range indicated by the imaging range determination information. The captured image obtained in this way is given to a device that performs the same processing as Steps S107 to S109 in Embodiment 1 shown in FIG. 5 or other appropriate processing, and as a result, is subject to thinning. Seedlings are automatically selected.

  The farm work support apparatus 3 according to the present embodiment does not include the image output I / F and the display as in the case of the first embodiment. However, by providing these apparatuses, the sound output or the sound output is possible. Instead of this, various types of information such as imaging range determination information may be output as an image.

(Other embodiments)
It is also possible to realize the agricultural work support apparatus of the present invention by a mobile phone with a camera. In that case, the user may adjust the imaging range of the camera by moving the mobile phone to an appropriate position, but the imaging range may be automatically adjusted by a zoom mechanism or the like.

  In each of the above embodiments, the shape of the imaging range of the camera 17 is a square. However, the present invention is not limited to this, and may be other shapes such as a rectangle, a triangle, and a circle. May be.

  The above embodiments can be combined as appropriate. Therefore, for example, it is possible to change the configuration of the farm work support apparatus according to the first or second embodiment so that various kinds of information such as imaging range determination information and thinning target information are output by voice.

  The farm work support device of the present invention is useful as a farm work support device that supports thinning work of vegetable seedlings.

1,2,3 Agricultural work support device 11 CPU
DESCRIPTION OF SYMBOLS 12 Main memory device 13 Auxiliary memory device 14 Input / output interface 15 Image output interface 16 Input part 17 Camera 18 Moving part 19 Display 131 Imaging range definition data 132 Weather data 133 Growth progress data 21 Humidity measurement part 23 Auxiliary storage device 31 Voice output interface 32 Speaker

Claims (11)

An imaging unit for imaging a plurality of seedlings of agricultural products;
Imaging range determining means for determining the imaging range of the imaging unit so that at least one seedling to be thinned out is included in the captured image;
An imaging unit control unit that controls the imaging unit to image a plurality of seedlings in an imaging range determined by the imaging range determination unit;
Thinning target specifying means for specifying a thinning target seedling from a plurality of seedlings in a captured image obtained by the imaging unit according to control by the imaging unit control means;
A farm work support apparatus comprising: thinning target information output means for outputting thinning target information relating to the thinning target seedling specified by the thinning target specifying means. A storage unit that stores imaging range information related to the imaging range of the imaging unit determined for each type of crop;
The farm work support apparatus according to claim 1, wherein the imaging range determination unit is configured to determine an imaging range of the imaging unit based on imaging range information stored in the storage unit. A storage unit for storing imaging range information related to the imaging range of the imaging unit determined for each sowing time of the crop;
The farm work support apparatus according to claim 1, wherein the imaging range determination unit is configured to determine an imaging range of the imaging unit based on imaging range information stored in the storage unit.   The farm work support device according to any one of claims 1 to 3, wherein the imaging range determination unit is configured to determine an imaging range of the imaging unit based on a state of soil where seedlings are growing. It further comprises a humidity measuring means for measuring the humidity of the soil where the seedling is growing,
The farm work support apparatus according to claim 4, wherein the imaging range determination unit is configured to determine an imaging range of the imaging unit based on a measurement result by the humidity measurement unit.   The farm work support apparatus according to claim 1, further comprising imaging range determination information output means for outputting imaging range determination information indicating the imaging range of the imaging unit determined by the imaging range determination means.   The farm work support apparatus according to any one of claims 1 to 6, wherein the imaging range determination unit is configured to determine an imaging range of the imaging unit so that only one seedling that is not a thinning target is included. . An imaging range determining means for determining an imaging range of an imaging unit that images a plurality of seedlings of crops;
Imaging range determination information output means for outputting imaging range determination information indicating the imaging range of the imaging unit determined by the imaging range determination means,
The farming support apparatus, wherein the imaging range determination unit is configured to determine an imaging range of the imaging unit so that at least one thinning target seedling is included in a captured image. A storage unit that stores imaging range information related to the imaging range of the imaging unit determined for each type of crop;
The farm work support apparatus according to claim 8, wherein the imaging range determination unit is configured to determine an imaging range of the imaging unit based on imaging range information stored in the storage unit. A storage unit for storing imaging range information related to the imaging range of the imaging unit determined for each sowing time of the crop;
The farm work support apparatus according to claim 8, wherein the imaging range determination unit is configured to determine an imaging range of the imaging unit based on imaging range information stored in the storage unit.   The farm work support device according to any one of claims 8 to 10, wherein the imaging range determination unit is configured to determine an imaging range of the imaging unit so that only one seedling that is not a thinning target is included. .

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