JP2019033720A - Method and program for determining reaping schedule - Google Patents

Abstract

To properly determine a reaping timing of plants, improve gain and efficiently utilize a reaping facility.SOLUTION: When determining a reaping schedule of plants grown in plural fields, a vacant period of a reaping facility, growth information of plants (number of stalk, plant height, ear information, grade or the like) and weather prediction information are taken, then based on the growth information of plants and weather prediction information, a reaping possible period for every field is predicted, then based on a vacant period of the reaping facility and reaping possible period for every field, reaping dates for plural fields are determined, then a reaping schedule indicating the reaping dates for plural fields is output. Then, when determining the reaping dates, based on at least one of an area of each field, breed, number of stalk, plant height, ear information and grade, priority for the plural fields is set, then, the reaping date is determined for the fields in the order of having higher priority in the vacant period of the reaping facility and in the reaping possible period for every field.SELECTED DRAWING: Figure 6

Description

  The present invention relates to a mowing schedule determination method and a mowing schedule determination program, and more particularly, to a mowing schedule determination method and a mowing schedule determination program for determining a mowing schedule for plants growing in a plurality of fields.

  When growing a plant such as rice, it is required to harvest the plant in a state of sufficient growth to maximize profits. So far, we have taken into account the past rules of experience such as the previous year, taking into account the availability of mowing facilities such as mowing machines, ginger drying facilities and storage facilities, the shade of the ears and the weather conditions prior to the date of mowing. The timing was determined. For example, the following Patent Document 1 proposes a cutting time determination method for measuring the moisture value and the blue wrinkle mixing rate of a ginger sample and determining whether the cutting time is early or late.

  However, such a method for measuring a ginger sample can acquire growth information of individual rice, but cannot efficiently acquire growth information of a wide area such as a plurality of fields. Therefore, in recent years, a method for determining the harvesting timing by optically measuring the degree of growth of a plant has been proposed. As an apparatus therefor, for example, Patent Document 2 below discloses sunlight reflected by a plant. A first light-receiving unit that measures the reflection intensity of light of two or more types of specific wavelengths, and directly enters sunlight to separate the light into the same wavelength as the first light-receiving unit, A second light receiving unit that measures the received light intensity as reference light, and the reflection intensity of the specific wavelength detected by the first light receiving part is corrected based on the received light intensity of the reference light detected by the second light receiving part. Based on the corrected reflection intensity, the measured plant leaf color (SPDA value), plant height, dry weight, (plant height x number of stems), {plant height x leaf color (SPDA value)} and {plant height x number of stems x leaf color (SPDA) Value)}, and an arithmetic unit for obtaining at least one of Growth measurement apparatus is disclosed.

JP 2000-201528 A Japanese Patent No. 4243014

  By using the above-mentioned apparatus, it is possible to efficiently acquire the growth information of a wide area such as a plurality of fields, but the cutting timing of the plants growing in the plurality of fields is also based on past empirical rules. Therefore, it is difficult to set the harvesting timing so that the profit is maximized, and it is difficult to effectively use the harvesting facilities such as a mower, a drying facility, and a storage facility.

  The present invention has been made in view of the above-mentioned problems, and its main purpose is to appropriately determine the cutting timing of a plant to improve profits and to effectively use a cutting facility. To provide a schedule determination method and a cutting schedule determination program.

  One aspect of the present invention is a mowing schedule determination method in an apparatus for determining a mowing schedule of a plant growing in a plurality of fields, wherein the apparatus includes an empty period of the mowing facility, the growth information of the plant, and weather prediction information. Based on the input process to be taken in, the growth information of the plant and the weather prediction information, the period prediction process for predicting the harvestable period for each field, the empty period of the harvesting facility, and the harvestable period for each field And a date determination process for determining the harvest date and time for the plurality of fields and an output process for outputting a harvest schedule that clearly shows the harvest date and time for the plurality of fields.

  One aspect of the present invention is a mowing schedule determination program that operates with an apparatus that determines a mowing schedule of plants that grow in a plurality of fields, the apparatus including an empty period of mowing equipment, growth information of the plant, and weather prediction. Based on the input process for capturing information, the plant growth information and the weather prediction information, the period prediction process for predicting the harvestable period for each field, the empty period of the harvesting equipment, and the harvestable period for each field And a date determination process for determining the harvest date and time of the plurality of fields, and an output process for outputting a harvest schedule that clearly shows the harvest date and time of the plurality of fields.

  According to the mowing schedule determination method and the mowing schedule determination program of the present invention, it is possible to appropriately determine the mowing timing of plants, thereby improving profits and effectively using mowing facilities.

  The reason for this is that when deciding the harvesting schedule for plants that grow on multiple fields, the vacant period of the harvesting equipment, the growth information of the plants, and the weather prediction information are taken in, and each field is selected based on the growth information and the weather prediction information. Control that predicts the harvesting period of each field, determines the harvesting date / time for multiple fields based on the free period of the harvesting equipment and the harvestable period for each field, and outputs a harvesting schedule that clearly shows the harvesting date / time for multiple fields It is because it performs.

It is a schematic diagram which shows an example of the plant growth parameter | index measurement system which concerns on one Example of this invention. It is a schematic diagram which shows the other example of the plant growth parameter | index measuring system which concerns on one Example of this invention. It is a schematic diagram which shows the other example of the plant growth parameter | index measuring system which concerns on one Example of this invention. It is a block diagram which shows the structure of the plant growth parameter | index measuring system which concerns on one Example of this invention. It is a perspective view which shows the external appearance structure of the sunlight measuring part which concerns on one Example of this invention. It is a flowchart figure which shows operation | movement (a mowing schedule determination process) of the control part which concerns on one Example of this invention. It is a flowchart figure which shows the operation | movement (growth information calculation process) of the control part which concerns on one Example of this invention. It is a figure explaining the mowing schedule determination method which concerns on one Example of this invention. It is a schematic diagram which shows the usage example of a plant growth parameter | index measurement system. It is a figure which shows the correlation with a thermal image and the number of spikes. It is a figure which shows the correlation with a thermal image and plant height.

  As shown in the background art, when growing a plant such as rice, it is necessary to carry out cutting in a sufficiently grown state in order to maximize profits. A method is used in which the moisture value and the blue wrinkle contamination rate are measured to determine the early or late cutting time. However, since the method for measuring a ginger sample cannot efficiently acquire the growth information of a wide area such as a plurality of fields, the growth degree of the plant is optically measured as in Patent Document 2. A device has been proposed.

  When managing the growth of a plant using the above device, for example, as shown in FIG. 9, it is installed in a flying vehicle that autonomously navigates using remote control or GPS (Global Positioning System), and is located below the flying vehicle. A field is photographed by an installed image pickup unit to measure the leaf color and the number of stems, and a NDVI (Normalized Difference Vegetation Index) image is generated by correcting sunlight with a measuring device installed on the upper side of the flying object. Then, NDVI images taken at different positions are pasted together to create a growth variation map indicating the growth state of each part of the field, and using these growth variation maps, fertilizer application maps (variable basic fertilization map and variable topdressing map) And applying fertilizer using a tractor, helicopter, etc. based on the fertilization amount map, and managing so that the plants grow uniformly in the field.

  By using the above-described apparatus, it is possible to efficiently acquire the growth information of a wide area such as a plurality of fields, but the cutting timing of the plants growing on the plurality of fields is determined based on past empirical rules. Therefore, it is difficult to set the mowing timing so that the profit is maximized, and it is difficult to effectively use the mowing facility.

Figure 10 shows the results of analyzing the thermal image acquired from a plurality of fields by using the apparatus described above, (referred to as m ² number of ears.) Growth number of ears per 1 m ² as the information to calculate the . The regions surrounded by circles in FIGS. 10A and 10B show regions where the temperature of the rice leaves is high and the number of m ² spikes has decreased due to reduction failure, and the region where the number of m ² spikes is small has the number of spikes. Although it is required to carry out mowing when it increases, it is difficult to increase profits and make effective use of the mowing facility because it is determined based on past experience rules when mowing is necessary. FIG. 11 shows a result of calculating the rice height as growth information by analyzing thermal images acquired from a plurality of fields using the above-described apparatus. The area shown by hatching in FIG. 11 (b) shows the area where the temperature of the rice leaves is high and the rice plant height is lowered due to the reduction failure, and the area where the rice plant height is low is trimmed when the rice plant height becomes high. However, it is difficult to increase the profits and make effective use of the mowing facility because it is determined on the basis of past empirical rules when mowing is necessary.

  Therefore, in one embodiment of the present invention, the harvesting date and time is automatically set / adjusted based on various types of information so that profits can be maximized and the harvesting facility can be used effectively. Specifically, when determining the harvesting schedule for plants growing in multiple fields, the free period of the harvesting facility (available days), plant growth information (variety, number of stems, plant height, ear information, grade, etc.) Incorporating weather forecast information, predicting the harvestable period (period in which plants can be harvested in an optimal state with sufficient growth) for each field based on plant growth information and weather forecast information, and harvesting facilities Based on the vacant period and the harvestable period for each field, the cutting date and time of a plurality of fields are determined, and a cutting schedule that clearly indicates the cutting date and time of the plurality of fields is output. In addition, when deciding the date and time of harvesting, priorities of a plurality of fields are set based on a plurality of parameters (at least one of field area, variety, number of stems, plant height, ear information, grade) (revenue is relatively The priority of the field estimated to be higher is set relatively high), and the date and time of cutting is determined from the field with the higher priority within the vacant period of the mowing facility and within the mowing period of the field. In addition, when drainage information for each field is taken in and a field with the same harvesting date is generated when the harvesting date is determined, the harvesting date is adjusted by shifting the draining date of the field with a relatively low priority.

  Thereby, it is possible to appropriately determine the harvesting timing of the plant, thereby improving profits and effectively using the harvesting facility.

  In order to describe the above-described embodiment of the present invention in further detail, a mowing schedule determination method and a mowing schedule determination program according to an embodiment of the present invention will be described with reference to FIGS. FIGS. 1 to 3 are schematic diagrams showing an example of the plant growth index measurement system of the present embodiment, FIG. 4 is a block diagram showing the configuration of the plant growth index measurement system of the present embodiment, and FIG. It is a perspective view which shows the external appearance structure of a light measurement part. FIGS. 6 and 7 are flowchart diagrams showing the operation of the control unit of the present embodiment, and FIG. 8 is a schematic diagram for explaining a mowing schedule determination method of the present embodiment.

  As shown in FIG. 1, the plant growth index measurement system used in the determination of the mowing schedule according to the present embodiment uses the first wavelength and the reflected light of the measurement target having a plurality of leaves at a second wavelength different from the first wavelength. Reflected light measurement device 11 that measures light intensity, solar light measurement device 12 that measures the light intensity of sunlight at a fourth wavelength different from the third wavelength and the third wavelength, and light intensity information of the reflected light of the measurement target And a control device 13 for obtaining a growth index to be measured based on the light intensity information of the sunlight, and these are used for a flying object such as a remote control or an autonomous multicopter or an unmanned aircraft (so-called drone). Installed and configured.

  1 illustrates a system in which the reflected light measurement device 11, the sunlight measurement device 12, and the control device 13 are mounted on the flying object, but as shown in FIG. 2, the reflected light measurement device 11 and the sunlight It is good also as a system by which the measuring apparatus 12 is mounted in a flying body and the control apparatus 13 is comprised as an independent apparatus. In the case of the configuration of FIG. 2, the reflected light measurement device 11 measures the light intensity of the reflected light to be measured based on an instruction from the control device 13, and the solar light measurement device 12 measures the sun based on the instruction from the control device 13. The light intensity of the light is measured, and the control device 13 acquires the reflected light intensity information of the measurement target from the reflected light measurement unit 20 and also acquires the sunlight intensity information from the solar light measurement unit 30 and measures using these. The target growth index is calculated.

  Moreover, as shown in FIG. 3, it is good also as a system by which the reflected light measuring device 11, the sunlight measuring device 12, and the control apparatus 13 are comprised as a separate apparatus. In the case of the configuration of FIG. 3, the reflected light measurement device 11 is mounted on the flying object, the light intensity of the reflected light of the measurement target is measured based on an instruction from the control device 13, and the solar light measurement device 12 is installed on the ground. The light intensity of the sunlight is measured based on an instruction from the control device 13 (preferably measured so that the sunlight can be separated into a directly achieved component and a scattering component). Further, the control device 13 acquires the reflected light intensity information of the measurement target from the reflected light measurement unit 20, acquires the sunlight intensity information from the solar light measurement unit 30, and calculates the growth index of the measurement target using these. To do.

  Hereinafter, the operation of each part of the plant growth index measurement system 10 will be described based on the configuration of FIG. As shown in FIG. 4, the plant growth index measurement system 10 of the present embodiment includes a reflected light measurement unit 20, a GPS unit 21, an azimuth meter 22, an inclinometer 23, a sunlight measurement unit 30, and a control unit. 40, a storage unit 50, a clock unit 60, an I / F unit 70, a display operation unit 80, a power supply unit 90, and the like.

  The reflected light measurement unit 20 is connected to the control unit 40, and is a device that measures the light intensity of the reflected light to be measured at different first and second wavelengths according to the control of the control unit 40. Output to the control unit 40. The first wavelength and the second wavelength can be appropriately set according to the plant growth index to be obtained. For example, when obtaining the NDVI value, the wavelength of visible light near 650 nm and the wavelength of infrared light of 750 nm or more are used. can do.

  Specifically, the reflected light measurement unit 20 includes a first visible imaging unit that generates a visible light image (visible image), and a first infrared imaging unit that generates an infrared light image (infrared image). . The first visible imaging unit is a so-called visible camera or the like, for example, a first bandpass filter that transmits light in a relatively narrow band having a wavelength of 650 nm as a center wavelength, and a visible object to be measured that has passed through the first bandpass filter. A first imaging optical system that forms an optical image of light on a predetermined imaging surface; and a light-receiving surface that coincides with the first imaging surface, and the optical image of the visible light to be measured is electrically A first image sensor that converts the signal into a signal, a first digital signal processor (DSP) that performs known image processing on the output of the first image sensor to generate first image data Rv in visible light, and the like. The first image data Rv is output to the control unit 40. The second infrared imaging unit is a so-called infrared camera or the like, for example, transmitted through a second band-pass filter and a second band-pass filter that transmit light in a relatively narrow band centered at a wavelength of 800 nm. A second image-forming optical system that forms an optical image of the infrared light to be measured on a predetermined image-forming surface, and is arranged so that the light-receiving surface coincides with the second image-forming surface; A second image sensor that converts an optical image into an electrical signal, a second DSP that performs known image processing on the output of the second image sensor to generate second image data Ri with infrared light, and the like. The second image data Ri is output to the control unit 40.

  In the above description, the reflected light measurement unit 20 includes the first visible imaging unit and the first infrared imaging unit. However, the reflected light measurement unit 20 receives the R pixel that receives red light and the green light. An image sensor (RGBIr image sensor) having a unit arrangement in which G pixels that receive light, B pixels that receive blue light, and IR pixels that receive infrared light are arranged in 2 rows and 2 columns, or white light is received. Image sensor (WYRIr image sensor) having a unit arrangement in which W pixels, Y pixels that receive yellow light, R pixels that receive red light, and IR pixels that receive infrared light are arranged in 2 rows and 2 columns, etc. It is good also as a structure provided with one imaging part. The reflected light measurement unit 20 may include a spectroscope.

  The GPS unit 21 is connected to the control unit 40 and, according to the control of the control unit 40, the position of the plant growth index measurement system 10 (see FIGS. 2 and 3) by a satellite positioning system for measuring the current position on the earth. In the case of the configuration, it is a device that measures the position of the reflected light measuring device 11) and outputs the positioning result (latitude X, longitude Y, altitude Z) to the control unit 40. The GPS unit 21 may be a GPS having a correction function for correcting errors such as DGSP (Differential GSP).

  An azimuth meter (compass) 22 is connected to the control unit 40, and measures the azimuth in the measurement direction of the plant growth index measurement system 10 by measuring the azimuth based on geomagnetism or the like under the control of the control unit 40. The measured azimuth φC is output to the control unit 40. This azimuth φC is expressed as 0 degrees north, 90 degrees east, 180 degrees south, and 270 degrees west.

  The inclinometer 23 is a device that is connected to the control unit 40 and measures the angle in the measurement direction of the plant growth index measurement system 10 by measuring the inclination in accordance with the control of the control unit 40. Output to the control unit 40.

  The sunlight measuring unit 30 is connected to the control unit 40 and is a device that measures the light intensity of sunlight at a third wavelength and a fourth wavelength different from each other according to the control of the control unit 40, and the measurement result is displayed on the control unit 40. Output to. The third wavelength and the fourth wavelength can be appropriately set according to the desired plant growth index. In this embodiment, the third wavelength is the first wavelength, and the fourth wavelength is the second wavelength. Yes. Further, the sunlight measuring unit 30 includes a second visible imaging unit having a configuration similar to that of the first visible imaging unit of the reflected light measuring unit 20 and a first configuration having the same configuration as that of the first infrared imaging unit of the reflected light measuring unit 20. A second infrared imaging unit, wherein the second visible imaging unit generates third image data Sv in visible light and outputs the third image data Sv to the control unit 40, and the second infrared imaging unit is in infrared light. Fourth image data Si is generated and output to the control unit 40.

  When the sunlight measuring unit 30 is installed on the ground as shown in FIG. 3, the light intensity of sunlight can be separated into a directly achieved component and a scattered component as a structure as shown in FIG. Specifically, the sunlight measuring unit 30 scatters and reflects incident sunlight (preferably has an ideal Lambertian reflection characteristic), and is installed at a predetermined position with respect to the scattering reflector 31. Light receiving unit 32 (second visible imaging unit and second infrared imaging unit), a light shielding unit 33 that can shield sunlight incident on the scattering reflector 31, and a housing that holds them 34 and the support | pillar 35 etc. are provided. The scattering reflection plate 31 is supported by the casing 34, and the light receiving unit 32 is supported by the support column 35, and these are opposed to each other so that the central axes coincide (the respective surfaces are arranged to be horizontal). Further, the light shielding part 33 (two opposing parts) is supported by the casing 34 and the support column 35 so as to be rotatable about the central axes of the scattering reflector 31 and the light receiving part 32 as the rotation axis. The motor is rotated at a constant speed by an arranged motor (not shown) (preferably 180 ° forward / reverse rotation is repeated).

  Then, the light shielding unit 33 is installed so that one part thereof is substantially on the north side, and the light reflected by the scattering reflector 31 is imaged by the light receiving unit 32 while the light shielding unit 33 is rotated. Specifically, with respect to each of the third wavelength and the fourth wavelength, the amount of sunlight A incident on the light receiving unit 32 in a state where the sunlight incident on the scattering reflector 31 is shielded by the light shielding unit 33 and The amount of sunlight B incident on the light receiving unit 32 in a state where the sunlight incident on the scattering reflector 31 is not shielded by the light shielding unit 33 is measured. Here, when a value obtained by subtracting the light amount A from the light amount B is a light amount C, the light amount A becomes a scattering component of the light amount incident on the light receiving unit 32, and the light amount C is the light amount incident on the light receiving unit 32. Directly achieved.

  The control unit 40 obtains a growth index by controlling each part of the plant growth index measurement system 10. The control unit 40 includes, for example, a CPU (Central Processing Unit) (not shown) and its peripheral circuits. When the control program is executed by the CPU, the control unit 40 includes an input unit 41, a period prediction unit 42, Functions as a date determination unit 43, an information acquisition unit 44, a sun angle calculation unit 45, a sun direction calculation unit 46, a diffusivity calculation unit 47, a leaf density calculation unit 48, and a growth index calculation unit 49. In particular, when the mowing schedule determination program is executed by the CPU, the control unit 40 functions as the input unit 41, the period prediction unit 42, and the date / time determination unit 43.

  The input unit 41 captures various types of information used for prediction of a harvestable period, determination of a mowing date and time, and a draining date and time. Specifically, the storage unit 50 (field information storage unit) stores basic information (field information) on the field such as the field area and drainage information (the time required for draining each field), the type of plant growing in the field, and the planting date. 51). In addition, a free period of a facility (such as a mower, a drying facility, or a storage facility) used for harvesting is taken from the storage unit 50 (facility information storage unit 52) or the like. Further, growth information such as plant varieties, number of stems, plant height, ear information (number of pods, scarlet color, etc.) and grade is taken from the growth index calculation unit 49, the storage unit 50 (growth information storage unit 53), and the like. Further, weather forecast information such as future weather is fetched from an external server, the storage unit 50 (weather information storage unit 54), or the like.

  The period prediction unit 42 predicts a harvestable period for each farm field by estimating the growth state of the plant based on the growth information and the weather prediction information. In addition, the mowable period is a period during which the plant can be mowed in an optimal (highest market value) state in which the plant is sufficiently grown. For example, the number of stems, the plant height, and the number of pods exceed a predetermined threshold. Or a period in which the dark blue color is estimated to fall within a predetermined color range.

  The date and time determination unit 43 determines the date and time for cutting a plurality of farm fields based on the empty period of the harvest facility and the harvestable period for each field. For example, based on a plurality of parameters (at least one of the field area, plant variety, number of stems, plant height, ear information, grade), the priority order of a plurality of fields is set (it is estimated that the profit will be relatively high). The priority of the farm field is set relatively high), and the harvest date and time is determined from the farm field having the relatively high priority within the vacant period of the harvesting equipment and within the harvestable period of the farm field. At that time, if there is a field where the harvesting date and time overlap, adjust the harvesting date and time by shifting the draining date and time of one of the fields (for example, shifting the draining date and time of the field with relatively low priority) To do. In addition, based on the total yield of multiple fields, the processing capacity of the mowing facility per day, and the vacant period of the mowing facility, the number of days required for mowing the fields is calculated, and based on the number of days required. The initial date of mowing can be determined, and when the field where the mowing date and time is out of the mowing possible period occurs, the initial date of mowing can be advanced so that the mowing is not delayed. Then, a mowing schedule that clearly shows the mowing date and time (if necessary, draining date and time) of a plurality of fields is displayed on the display operation unit 80 and notified to the user, or via an I / F unit 70 to an external device. Output (for example, output to an image forming apparatus and print it).

  The information acquisition unit 44 acquires the first image data Rv with visible light and the second image data Ri with infrared light from the reflected light measurement unit 20. Further, the information acquisition unit 44 acquires the third image data Sv with visible light and the fourth image data Si with infrared light from the sunlight measurement unit 30. At that time, when the sunlight measuring unit 30 has the structure shown in FIG. 5, the information acquiring unit 44 makes the light intensity of each pixel of the third image data Sv and the fourth image data Si incident on the scattering reflector 31. The amount of sunlight A incident on the light receiving unit 32 in a state where the sunlight is shielded by the light shielding unit 33 and the sunlight incident on the scattering reflector 31 are incident on the light receiving unit 32 without being shielded by the light shielding unit 33. To obtain the light quantity B of sunlight.

  The sun angle calculation unit 45 uses a known method based on the latitude X and longitude Y acquired by the GPS unit 21 and the year / month / day / hour / minute (referred to as date / time information T) measured by the clock unit 60. Find the angle α. For example, first, θ0 is obtained from the number of consecutive days dn from January 1 by θ0 = 2π (dn−1) / 365. Next, the solar declination δ is obtained by the following equation 1, and the equality difference Eq is obtained by the equation 2. Next, the sun hour angle h is obtained from the Japan Standard Time JST by Equation 3. And the solar height A is calculated | required by Formula 4, and the solar angle (alpha) is calculated | required from the solar angle (alpha) = (pi) / 2-solar height A. FIG.

δ = 0.006918−0.399912 cos (θ0) +0.070257 sin (θ0) −0.006758 cos (2θ0) −0.000907 sin (2θ0) −0.002697 cos (3θ0) −0.001480 sin (3θ0) (Formula 1) )
Eq = 0.000075 + 0.001868cos (θ0) + 0.032077sin (θ0) −0.0014615cos (2θ0) −0.040849sin (2θ0) (Equation 2)
h = (JST-12) π / 12 + longitude difference from standard meridian + equal time difference Eq (Equation 3)
A = arcsin [sin (Y) sin (δ) + cos (Y) cos (δ) cos (h)] (Formula 4)

  The sun direction calculation unit 46 obtains the sun azimuth φ1 by a known method based on the latitude X and longitude Y acquired by the GPS unit 21 and the date / time information T measured by the clock unit 60. Specifically, the sun azimuth φ1 is obtained by the following formula 5. Based on the obtained solar orientation φ1 and the orientation φC in the measurement direction of the reflected light measurement unit 20 obtained by the orientation meter 22, the solar direction φ is obtained. Specifically, the sun direction calculation unit 46 obtains the sun direction φ as a difference between the direction φC measured by the direction meter 22 and the sun direction φ1 obtained from Expression 5 (φ = φ1-φC).

  φ1 = arctan [cos (Y) cos (δ) sin (h) / [sin (Y) sin (α) −sin (δ)]] (Formula 5)

  The diffusivity calculating unit 47 obtains the diffusivity W based on the measurement result of the sunlight measuring unit 30. For example, the diffusivity calculating unit 47 obtains the standard deviation σsv of the third image data Sv with visible light generated by the second visible image capturing unit, and divides the predetermined coefficient K by this standard deviation σsv to thereby determine the diffusivity W Ask for. Alternatively, for example, the diffusivity calculating unit 47 obtains the standard deviation σsi of the fourth image data Si with the infrared light generated by the second infrared imaging unit, and divides the predetermined coefficient K by this standard deviation σsi. To obtain the diffusivity W. The predetermined coefficient K is a coefficient for normalization so that the diffusivity W is 0 when clear and there is no cloud, and the diffusivity W is 1 when it is cloudy. Further, for example, the diffusivity calculating unit 47 acquires the shutter speed (for example, the shutter speed of the first visible imaging unit) ss of the reflected light measuring unit 20 from the reflected light measuring unit 20, and uses the shutter speed ss as it is as the diffusivity W. It can also be. When the sunlight measuring unit 30 has the structure shown in FIG. 5, the diffusivity calculating unit 47 enters the light receiving unit 32 in a state where sunlight incident on the scattering reflector 31 is shielded by the light shielding unit 33. The amount of sunlight A is subtracted from the amount of light B using the amount of sunlight A and the amount of sunlight B incident on the light receiving unit 32 in a state where the sunlight incident on the scattering reflector 31 is not shielded by the light shielding unit 33. The amount of light C is obtained. The light amount A is a scattering component of the light amount incident on the light receiving unit 32, the light amount C is a direct achievement of the light amount incident on the light receiving unit 32, and the diffusivity W is the light amount A / light amount B or the light amount A / The amount of light C.

  The leaf density calculation unit 48 obtains the leaf density based on the growth information stored in the growth information storage unit 53 described later. For example, when the growth information is information indicating the correspondence between the number of days since planting (for example, rice planting) and the leaf density L, the leaf density calculation unit 48 uses the planting information acquired via the I / F unit 70. The leaf density corresponding to the number of days is obtained from the growth information stored in the growth information storage unit 53.

  The growth index calculation unit 49 is the light intensity information of reflected light of the first wavelength and the second wavelength acquired by the information acquisition unit 44, the light intensity information of sunlight of the third wavelength and the fourth wavelength, and the sun angle calculation unit 45. Based on the obtained solar altitude A or sun angle α, a growth index representing the degree of growth in the measurement object is obtained. Preferably, the growth index calculation unit 49 further measures based on the solar direction φ obtained by the sun direction calculation unit 46, the measurement angle β obtained by the inclinometer 23, and the leaf density L obtained by the leaf density calculation unit 48. A growth index representing the degree of growth in the subject is obtained.

In the case where the solar light measuring unit 30 has the structure shown in FIG. 5, the growth index calculating unit 49 calculates the reflected light based on the direct achievement and the scattering component (or the diffusivity W calculated by the diffusivity calculating unit 47). A growth index can also be calculated by correcting the light intensity information. For example, when obtaining NDVI as a growth index,
NDVI = (infrared reflectance-visible reflectance) / (infrared reflectance + visible reflectance) (Expression 6)
Reflectivity = reflected light intensity / incident light intensity (Formula 7)
Than,
NDVI = (Ri / Si-Rv / Sv) / (Ri / Si + Rv / Sv)
= (Ri−Rv × Si / Sv) / (Ri + Rv × Si / Sv) (Equation 8)
It becomes.

here,
Si = direct achievement Sid + scattering component Sis (Equation 9)
Sv = directly achieved component Svd + scattering component Svs (Equation 10)
So, using the solar altitude A,
NDVI = (Ri−Rv × (Sid × A + Sis) / (Svd × A + Svs)) / (Ri + Rv × (Sid × A + Sis) / (Svd × A + Svs)) (Formula 11)
It becomes.

  The storage unit 50 is connected to the control unit 40 and stores various programs and various data under the control of the control unit 40. The various programs include, for example, a control program that controls each part of the plant growth index measurement system 10, a cutting schedule determination control program that determines a cutting schedule, a growth index calculation program that calculates a growth index to be measured, and the like. . The various data includes field information, facility information, growth information, weather prediction information, and the like. The storage unit 50 includes, for example, a ROM (Read Only Memory) that is a nonvolatile storage element, an EEPROM (Electrically Erasable Programmable Read Only Memory) that is a rewritable nonvolatile storage element, and the like. In addition, the storage unit 50 includes a RAM (Random Access Memory) that serves as a working memory of the control unit 40 and stores data generated during the execution of the program. The storage unit 50 may include a relatively large capacity HDD (Hard Disk Drive), SSD (Solid State Drive), or the like.

  The storage unit 50 functionally includes an agricultural field information storage unit 51, a facility information storage unit 52, a growth information storage unit 53, and a weather information storage unit 54 in order to store the information. The field information is basic information about the field such as the area of the field and drainage information (the time required for draining each field), the type of plant growing in the field, and the planting date, and is input using the display operation unit 80 or the like. It is stored in the field information storage unit 51. The facility information is a free period of a mowing facility such as a mower, a drying facility, or a storage facility, and is input using the display operation unit 80 or the like and stored in the facility information storage unit 52. The growth information is information such as plant varieties, number of stems, plant height, ear information (number of pods, scarlet color, etc.), grade, etc., and is calculated by the growth index calculation unit 49 and stored in the growth information storage unit 53. The The weather prediction information is information regarding future weather, and is acquired from, for example, the Meteorological Agency or a company server that provides weather information via a communication network and stored in the weather information storage unit 54.

  The clock unit 60 is connected to the control unit 40, measures the year / month / date / time according to the control of the control unit 40, and outputs the measured current date / time information T to the control unit 40.

  The I / F unit 70 is connected to the control unit 40, and is connected to an external device (in the case of the configuration of FIG. 2, the reflected light measurement device 11, the solar light measurement device 12, and the control device 13) under the control of the control unit 40. 3 is a circuit that inputs and outputs data between the reflected light measurement device 11 and the control device 13 and between the solar light measurement device 12 and the control device 13. For example, an RS232C interface circuit that is a serial communication system, an interface circuit that uses the Bluetooth (registered trademark) standard, an interface circuit that performs infrared communication such as the IrDA (Infrared Data Association) standard, and the USB (Universal Serial Bus) standard are used. Interface circuit and the like. The I / F unit 70 is a communication card or the like that communicates by wire or wireless, and enables communication with an external device via a communication network such as an Ethernet (registered trademark) environment, for example.

  The display operation unit 80 is a resistive film type or a capacitive type in which electrodes are arranged in a lattice pattern on a display unit such as a liquid crystal display (LCD) or an organic EL (electroluminescence) display. It is a touch panel equipped with an operation unit such as a touch sensor that detects and inputs the operation position, and displays various screens (Web screen, mowing schedule notification screen, etc.) and various operations (e.g., mowing schedule confirmation operation). To. Although the display operation unit 80 in which the display unit and the operation unit are integrated is illustrated here, the display unit and the operation unit may be separate devices.

  The power supply unit 90 is a circuit that supplies power to each unit of the plant growth index measurement system 10 at a voltage corresponding to each unit.

  1 to 5 show an example of the plant growth index measurement system 10 according to the present embodiment, and the configuration and control thereof can be changed as appropriate.

  Next, operation | movement of the control part 40 (in the case of the system structure of FIG.2 and FIG.3, control apparatus 13) of the plant growth parameter | index measurement system 10 of a present Example is demonstrated. The CPU of the control unit 40 expands and executes a control program (including a mowing schedule determination program) stored in the storage unit 50 (ROM, EEPROM, HDD, SSD, etc.) in the storage unit 50 (RAM). The processing of each step shown in the flowcharts of FIGS. 6 and 7 is executed.

[Mowing schedule decision processing]
First, when the power switch of the plant growth index measurement system 10 is turned on by the user (operator), the control unit 40 executes necessary initialization of each unit. And by execution of a photography schedule determination control program, control part 40 functions as input part 41, period prediction part 42, and date determination part 43, and operates as follows.

  As shown in FIG. 6, the control unit 40 (input unit 41) captures basic field information (area, drainage information, variety, planting date, etc.) from the storage unit 50 (field information storage unit 51) or the like (S101). ). Next, the control unit 40 (input unit 41) takes in an empty period of the mowing facility from the storage unit 50 (facility information storage unit 52) or the like (S102). Next, the control unit 40 (input unit 41) fetches rice growth information (variety, number of stems, plant height, ear information, grade, etc.) from the storage unit 50 (growth information storage unit 53) or the like (S103). Next, the control unit 40 (input unit 41) takes in the weather prediction information from the storage unit 50 (weather information storage unit 54) or the like (S104).

  Next, the control unit 40 (period prediction unit 42) calculates a harvestable period for each field based on the growth information and the weather prediction information (S105). Next, the control unit 40 (the date and time determination unit 43) includes a plurality of fields so that the profit is maximized based on at least one of the field area, plant variety, number of stems, plant height, ear information, and grade. Is determined (S106). In determining the priority, any of the following parameters may be used: field area, plant variety, number of stems, plant height, ear information, and grade, but parameters indicating quality (variety, plant height, scarlet color, grade) Etc.) and parameters representing the amount (field area, number of stems, number of eaves, etc.) can be appropriately estimated.

  Next, the control unit 40 (date and time determination unit 43) determines the cutting date and time within the vacant period of the reaping equipment and the reaperable period of the field from the relatively high priority field (S107). It is determined whether the date and time of harvesting the field is within the harvestable period (S108). When there is a field where the harvesting date and time is out of the harvestable period (No in S108), the process returns to S105 and the harvesting date and time is determined by changing the prediction condition of the harvestable period in S105 and the priority setting condition in S106. Try again. If there are fields where the date and time of cutting is outside the mowing period even after changing the prediction conditions and priority setting conditions for the mowing period, exclude certain fields or advance the initial date of mowing, You can make sure that you don't get late.

  On the other hand, if the harvesting date / time of all the fields is within the harvestable period (Yes in S108), the control unit 40 (date determination unit 43) determines each date based on the harvesting date / time determined in S107 and the drainage information captured in S101. The date and time for draining the field is determined (S109).

  Next, the control unit 40 (date determination unit 43) determines whether or not there is a field where the cutting date and time determined in S107 overlap (S110). If there is a field where the cutting date and time overlap, the priority is relatively low. The cutting date is adjusted by shifting the draining date of the farm (S111). Thereafter, the control unit 40 (date and time determination unit 43) creates and outputs a mowing schedule that describes the mowing date and time and the draining date and time of each field (S112). For example, the mowing schedule is displayed on the display operation unit 80 to notify the user, or the mowing schedule is output to the image forming apparatus and printed.

  FIG. 8 shows an example of the above mowing schedule. For each field, field information (area, drainage information, variety, planting date), weather information (past weather, future weather prediction), and growth information (number of stems) , Plant height, ear information, grade), the date and time of cutting (scheduled date of trimming, date of trimming adjustment) determined from these pieces of information, and the date of starting draining are described. Here, the plantation of the field A is carried out five days before the field B, but the past weather of the field A was not so good, so the growth was delayed, and as a result, the scheduled cutting date was the same day. In this case, the cutting date is adjusted so as not to be the same day by shifting the draining start date of the field (here, field A) having a relatively low priority by one day. In addition, the field C and the field D have the same planting date and the same weather in the past, so the scheduled cutting date is also the same day. In this case, the date of cutting is adjusted so as not to be the same day by shifting the draining start date of the field (here, field C) having a relatively low priority by two days.

[Growth information calculation process]
Next, the procedure for calculating the growth information captured in S103 will be described. By executing the control program, the control unit 40 functions as an information acquisition unit 44, a sun angle calculation unit 45, a sun direction calculation unit 46, a diffusivity calculation unit 47, a leaf density calculation unit 48, and a growth index calculation unit 49. Behaves like In the following, the solar light measurement unit 30 has a structure as shown in FIG. 5, and the light amount in the state where the sunlight is shielded by the light shielding unit 33 and the light amount in the state where the sunlight is not shielded by the light shielding unit 33. And shall be measured.

  As shown in FIG. 7, the control unit 40 (information acquisition unit 44) acquires light intensity information from the reflected light measurement unit 20 and the sunlight measurement unit 30 (S201). Specifically, the control unit 40 (information acquisition unit 44) causes the reflected light measurement unit 20 to measure the light intensity of the reflected light to be measured, and the first image data Rv in visible light from the reflected light measurement unit 20 and Second image data Ri with infrared light is acquired. In addition, the control unit 40 (information acquisition unit 44) causes the solar light measurement unit 30 to measure the light intensity of sunlight, and from the solar light measurement unit 30, the third image data Sv in visible light and the first in infrared light. 4 image data Si is acquired. At that time, the control unit 40 (information acquisition unit 44) shields the sunlight incident on the scattering reflector 31 by the light shielding unit 33 as the light intensity of each pixel of the third image data Sv and the fourth image data Si. The amount of sunlight A incident on the light receiving unit 32 in a state where the light is incident and the amount of sunlight B incident on the light receiving unit 32 without being blocked by the light shielding unit 33 are acquired. To do.

  Next, the control unit 40 (information acquisition unit 44) acquires various types of information from the GPS unit 21, the azimuth meter 22, and the inclinometer 23 (S202). Specifically, the control unit 40 (information acquisition unit 44) acquires the latitude X and the longitude Y from the GPS unit 21. Further, the control unit 40 (information acquisition unit 44) acquires the direction φC from the direction meter 22. In addition, the control unit 40 (information acquisition unit 44) acquires the measurement angle β from the inclinometer 23.

  Next, the control unit 40 (information acquisition unit 44) acquires the date information T from the clock unit 60 (S203).

  Next, the control unit 40 (information acquisition unit 44) includes a light amount A of sunlight incident on the light receiving unit 32 in a state where the sunlight incident on the scattering reflection plate 31 is blocked by the light shielding unit 33, and the scattering reflection plate. And calculating the light amount C obtained by subtracting the light amount A from the light amount B using the light amount B of the sunlight incident on the light receiving unit 32 in a state in which the sunlight incident on 31 is not shielded by the light shielding unit 33. The image data Sv and the fourth image data Si are separated into a directly achieved component (Svd, Sid) and a scattering component (Svs, Sis) (S204).

  Next, the control part 40 (diffusivity calculating part 47) calculates | requires the diffusivity W (S205). Specifically, the control unit 40 (diffusivity calculating unit 47) obtains the diffusivity W by dividing the light amount A by the light amount B or dividing the light amount A by the light amount C.

  Next, the control unit 40 (sun angle calculation unit 45) calculates the solar altitude A or the sun angle α based on the latitude X and longitude Y acquired by the GPS unit 21 and the date / time information T measured by the clock unit 60. Obtain (S206).

  Next, the control unit 40 (solar direction calculation unit 46), if necessary, based on the direction φC measured by the direction meter 22 and the date / time information T measured by the clock unit 60, the relative direction of the sun and the camera. φ is obtained (S207).

  Next, the control unit 40 (leaf density calculation unit 48), as necessary, from planting based on the growth information G stored in the growth information storage unit 53 and the date and time information T measured by the clock unit 60. The leaf density L corresponding to the number of days is calculated (S208).

  Next, the control unit 40 (growth index calculation unit 49) calculates the reflected light intensity of the measurement object acquired in S201, the direct achievement of the sunlight intensity obtained in S204, and the scattering component (or the diffusivity W calculated in S205). A growth index is calculated based on the solar altitude A (or sun angle α) obtained in S206 and, if necessary, the relative direction φ of the sun and camera calculated in S207 and the leaf density L calculated in S208. (S209). For example, according to Expression 11, the growth index can be calculated using the directly achieved portion of the reflected light intensity and the sunlight intensity to be measured, the scattering component, and the solar altitude A.

  Next, the control unit 40 (growth index calculation unit 49) stores the growth index calculated in S209 in the storage unit 50 (growth information storage unit 53) in association with the date / time information T acquired in S203 (S210).

  In the above flow, the direct achievement of the reflected light intensity and the sunlight intensity of the measurement object, the scattering component (or diffusivity W), the solar altitude A (or the sun angle α), and the relative direction φ and the leaf of the sun and the camera as necessary. Although the growth index is calculated based on the density L, the method of calculating the growth index is not limited to the above description. For example, based on the light intensity of the third and fourth wavelengths of sunlight measured by the sunlight measurement unit 30, the ratio of the light intensity of the reflected light of the first and second wavelengths measured by the reflected light measurement unit 20 Is determined to be a predetermined value, and based on each light intensity of the reflected light of the first and second wavelengths measured by the reflected light measurement unit 20, a growth index before correction is obtained, and the sun angle, the sun direction, and The growth index before correction may be corrected with a correction value corresponding to the diffusivity W. Moreover, each light intensity of the reflected light of the 1st and 2nd wavelength measured with the reflected light measurement part 20, a solar angle, a solar direction, and each light of the 3rd and 4th wavelength sunlight measured with the sunlight measuring part 30 The growth index may be obtained based on the intensity, the diffusivity, the measurement angle, and the leaf density. Further, the ratio of the light intensities of the reflected light of the first and second wavelengths measured by the reflected light measuring unit 20 based on the light intensities of the third and fourth wavelengths of sunlight measured by the sunlight measuring unit 30. Is determined to be a predetermined value, and based on each light intensity of the reflected light of the first and second wavelengths measured by the reflected light measurement unit 20, a growth index before correction is obtained, the sun angle, the sun direction, The growth index before correction may be corrected with correction values corresponding to the diffusivity, the measurement angle, and the leaf density.

  As described above, in this embodiment, when determining the harvesting schedule of plants growing in a plurality of fields, the free period of the harvesting equipment, the growth information and the weather prediction information are taken in, and the growth information and the weather prediction information are converted into the growth information and the weather prediction information. Based on this, the mowing period for each field is predicted, and the mowing date / time for multiple fields is determined based on the mowing period of the mowing facility and the mowing period for each field. By outputting a mowing schedule clearly indicating the above, it is possible to appropriately determine the mowing timing of the plant, thereby improving profits and effectively using the mowing facility.

  In addition, this invention is not limited to the said Example, The structure and control can be changed suitably, unless it deviates from the meaning of this invention.

  For example, in the above embodiment, the case of harvesting rice is illustrated, but the method of the present invention can be similarly applied to the case of harvesting any plant that can grow on a field.

  Moreover, although the case where the cutting schedule was created using the plant growth index measurement system 10 was shown in the above embodiment, any device that can use the growth index acquired by the plant growth index measurement system 10 (for example, plant growth) The method of the present invention can be similarly applied to the case of creating a mowing schedule using a computer apparatus provided separately from the index measurement system 10.

  Moreover, in the said Example, although the case where NDVI value was calculated | required as a growth index was shown, RVI (Rati0 Vegetation Index, a specific vegetation index), DVI (Difference Vegetation Index, difference vegetation index), TVI (Transformed Vegetation Index), for example. The method of the present invention can be similarly applied to the case of obtaining IPVI (Infrared Percentage Vegetation Index).

  INDUSTRIAL APPLICABILITY The present invention can be used for a cutting schedule determination method for determining a cutting schedule for plants growing in a plurality of fields, a cutting schedule determination program, and a recording medium on which the cutting schedule determination program is recorded.

DESCRIPTION OF SYMBOLS 10 Plant growth index measurement system 11 Reflected light measuring device 12 Sunlight measuring device 13 Control device 20 Reflected light measuring unit 21 GPS unit 22 Direction meter 23 Inclinometer 30 Sunlight measuring unit 31 Scattering reflector 32 Light receiving unit 33 Light shielding unit 34 Case 35 Support 40 Control unit 41 Input unit 42 Period prediction unit 43 Date and time determination unit 44 Information acquisition unit 45 Solar angle calculation unit 46 Solar direction calculation unit 47 Diffusivity calculation unit 48 Leaf density calculation unit 49 Growth index calculation unit 50 Storage unit DESCRIPTION OF SYMBOLS 51 Farm information storage part 52 Facility information storage part 53 Growth information storage part 54 Weather information storage part 60 Clock part 70 I / F part 80 Display operation part 90 Power supply part

Claims (14)

A mowing schedule determination method in an apparatus for determining a mowing schedule of plants growing in a plurality of fields,
The device is
Input process to capture the free period of the mowing facility, the growth information of the plant and the weather prediction information,
Based on the growth information of the plant and the weather prediction information, a period prediction process for predicting a harvestable period for each field,
A date and time determination process for determining the date and time of harvesting of the plurality of fields based on an empty period of the mowing facility and a mowing possible period for each of the fields;
An output process for outputting a mowing schedule specifying the mowing date and time of the plurality of fields, and
A mowing schedule determination method characterized by the above. In the date and time determination process, priorities of the plurality of fields are set on the basis of a plurality of parameters, and from a field having a relatively high priority, the reaping equipment is within a vacant period and within the harvestable period of the field. Then, the date and time of cutting is determined.
The mowing schedule determination method according to claim 1. In the date and time determination process, based on at least one of the area of the field, the variety of the plant, the number of stems, the plant height, the ear information, and the grade, the priority order of the field that is estimated to be relatively high in profit is relatively To be high,
The mowing schedule determination method according to claim 2. In the input process, the drainage information for each field is captured,
In the date and time determination process, a draining date and time for each field is determined based on the harvesting date and time and the drainage information, and when there is a field where the cutting date and time overlap, the draining date and time of any field is shifted. Adjusting the mowing date and time,
The mowing schedule determination method according to any one of claims 1 to 3. In the output process, a mowing schedule specifying the mowing date and time and the draining date and time of the plurality of fields is output.
The mowing schedule determination method according to claim 4. In the date and time determination process, the number of days required for harvesting of the plurality of fields is calculated based on the total yield of the plurality of fields, the processing capacity of the harvesting facility per day, and the free period of the harvesting facility. Calculate and determine an initial date of mowing based on the required number of days;
The mowing schedule determination method according to any one of claims 1 to 5. In the date and time determination process, when there is a field in which the harvest date and time is out of the harvestable period, the initial date of the harvest is advanced so as not to delay the harvest.
The mowing schedule determination method according to claim 6. A cutting schedule determination program that operates with a device that determines a cutting schedule for plants growing in a plurality of fields,
In the device,
Input processing to capture the vacant period of the mowing facility, the growth information of the plant and the weather prediction information,
Based on the growth information of the plant and the weather prediction information, a period prediction process for predicting a harvestable period for each field,
Date and time determination processing for determining the harvest date and time of the plurality of fields based on the vacant period of the harvesting equipment and the harvestable period for each field.
An output process for outputting a mowing schedule specifying the mowing date and time of the plurality of fields is executed.
A mowing schedule determination program characterized by this. In the date and time determination process, priorities of the plurality of fields are set on the basis of a plurality of parameters, and from a field having a relatively high priority, the reaping equipment is within a vacant period and within the harvestable period of the field. Then, the date and time of cutting is determined.
The reap schedule determination program according to claim 8. In the date and time determination process, based on at least one of the area of the field, the variety of the plant, the number of stems, the plant height, the ear information, and the grade, the priority order of the field that is estimated to be relatively high in profit is relatively To be high,
The cutting schedule determination program according to claim 9, wherein: In the input process, the drainage information for each field is captured,
In the date and time determination process, a draining date and time for each field is determined based on the harvesting date and time and the drainage information, and when there is a field where the cutting date and time overlap, the draining date and time of any field is shifted. Adjusting the mowing date and time,
The cutting schedule determination program according to any one of claims 8 to 10, wherein the cutting schedule is determined. In the output process, a mowing schedule specifying the mowing date and time and the draining date and time of the plurality of fields is output.
The cutting schedule determination program according to claim 11, wherein In the date and time determination process, the number of days required for harvesting of the plurality of fields is calculated based on the total yield of the plurality of fields, the processing capacity of the harvesting facility per day, and the free period of the harvesting facility. Calculate and determine an initial date of mowing based on the required number of days;
The cutting schedule determination program according to any one of claims 8 to 12, characterized in that In the date and time determination process, when there is a field in which the harvest date and time is out of the harvestable period, the initial date of the harvest is advanced so as not to delay the harvest.
The cutting schedule determination program according to claim 13, wherein

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