JP2003083956A - Observation apparatus for soil characteristics - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an observation apparatus for soil characteristics, capable of efficiently obtaining data of high accuracy related to the distribution of soil characteristics in a field to collectively control the same. SOLUTION: The observation apparatus for soil characteristics is equipped with the pedestal connected to the rear part of a tractor, the control part (computer) placed on the pedestal and the soil cutting part 50 attached to the lower part of the rear end of the pedestal and drawn by a vehicle such as the tractor or the like to observe the distribution of soil characteristics in the field in a real time. A GPS antenna is attached to the head of the control part. The soil cutting part 50 is equipped with the shank 51 supported on and connected to the lower part of the pedestal and the sensing part 52 fixed to the lower part of the shank 51 and almost advancing through soil at a predetermined depth. The control part 30 forms a group of data corresponding to the same soil sample with respect to the soil characteristics to be detected or the detection signals of various sensors 57, 58, 61, 62, 63, 64 or the like different in arrangement.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a soil characteristic observation apparatus for measuring soil characteristics, and more particularly to a soil characteristic observation apparatus for collecting information on spatial soil characteristic distribution in a field.

[0002]

2. Description of the Related Art In recent years, from the viewpoints of environmental protection and improvement of profitability, precision farming methods have been used to minimize the input amount of agricultural materials, fertilizers, feeds, etc. per unit area of field used for the production of agricultural products. The introduction of has become popular.

In the precision farming method, a relatively large-scale field is divided into a plurality of sections, and the soil characteristics (variation in soil characteristics) that differ from section to section are taken into consideration, and then optimal for each section regarding fertilization and pesticide application. Manage.

In carrying out such a precision farming method, it is necessary to acquire information that accurately reflects the variation of each section regarding soil characteristics.

For example, the device described in US Pat. No. 5,044,756 is pulled by a vehicle or the like and moves substantially horizontally in soil of a predetermined depth. Then, while moving, illuminate the clay with a specific wavelength and detect the reflected light,
Based on the characteristics of the reflected light, organic matter and water contained in soil can be qualitatively and quantitatively observed in real time.

The information corresponding to each section is compared with, for example, data information accumulated in the past or data information about other geographically different fields, so that the optimum management suitable for the soil characteristics of each section is obtained. It will be used to find out the method (setting of fertilizer application amount and pesticide application amount, etc.). For this reason, the data information corresponding to each section is standardized (standardized) so that it can be compared with the data information on soil characteristics acquired from different regions temporally and geographically. Is desirable. When standardizing data information, for example, use multiple parameters (variables) that reflect the physical and chemical characteristics of the soil and formulate it (function), and use it as an index for evaluating the properties of the soil. Can be considered. Here, for example, when soil characteristics are evaluated from the viewpoint of superiority for agricultural production, as an indispensable parameter for an index for defining the soil characteristics, the organic matter content and water content observed by the device described in the above publication are used. In addition to (water content), clay content, soil density, etc. may be mentioned.

[0007]

By the way, parameters such as clay content and soil density are largely reflected in physical properties of soil (for example, soil hardness and electrical conductivity), and their quantification is also performed optically. Since it is difficult to carry out by a conventional analysis method, it is necessary to separately employ a sensor having a function of detecting soil hardness and electric conductivity.

However, when a sensor having a different detection principle is adopted to detect a plurality of parameters in real time,
Due to the restriction of the mounting position, each sensor detects various characteristics related to soil at positions separated from each other. Therefore, there was no guarantee that the various properties detected were for the same sample.

In addition, when grasping the distribution of soil characteristics in a field, including the apparatus described in the above publication, when applying an apparatus configuration in which a parameter reflecting soil characteristics is directly measured (detected) on site, Disturbances tend to occur in the relationship between the detection element and the sample (soil). For example, in the detection mode in which the detection element is brought into contact with the soil, fluctuations in contact pressure between the detection element and the soil, on the other hand, in the detection mode performed while the detection element is separated from the soil, the distance between the detection element and the soil is Fluctuations are likely to occur, and these disturbances reduce the accuracy and reproducibility of acquired data.

The present invention has been made in view of the above circumstances, and an object thereof is to efficiently obtain highly accurate data information regarding the distribution of soil characteristics in a field and collectively manage the information. It is to provide a soil characteristic observation device capable of performing.

[0011]

In order to achieve the above object, the apparatus according to the present invention is a soil characteristic observing apparatus for observing a two-dimensional distribution of soil characteristics, while cutting soil of an arbitrary depth. Soil cutting means for advancing, and a soil characteristic detecting means provided in the rear part of the soil cutting means for detecting the characteristics of the cut soil through a predetermined observation space between the cutting surface of the soil, and the soil. Distance recognition means for recognizing the distance between the cutting surface and the detection means, and distance correspondence means for performing attitude control of the soil cutting means and information processing regarding the detected soil characteristics according to the recognized distance. It is a gist to have.

According to this structure, the recognized distance is optimized by controlling the posture of the soil cutting means.
Alternatively, it becomes possible to group the data information obtained under the condition that the perceived distances are equal (in the optimum range). Therefore, the characteristics of the soil detected by the soil characteristic detecting means (a characteristic that the distance between the detection element and the detection object is important as a condition that determines the analysis accuracy thereof, such as a spectral spectrum of reflected light from the soil. It is possible to acquire data information with high accuracy and reproducibility.

Further, it is preferable that the distance corresponding means has a feedback control means for feedback-controlling the posture of the soil cutting means so that the recognized distance converges to a target value.

According to this structure, the attitude control of the soil cutting means, that is, the optimization of the recognized distance, can be performed more finely through the feedback control.

Further, the distance correspondence means recognizes the unevenness state of the cutting surface of the soil based on the recognized distance, and the detected unevenness state based on the recognized unevenness state. It is preferable to have a grouping processing means for grouping information relating to the soil characteristics.

Here, the grouping of information relating to the soil characteristic is performed by using the information obtained when the irregularity state is advantageous as a soil characteristic detecting condition by the soil characteristic detecting means. It may be a process of selecting (extracting) as a high group.

Further, when the distance is recognized a predetermined number of times in a predetermined section including the soil characteristic observation point, the average value, variance (or standard deviation) of the recognized distance, or the recognition is performed. Applying an index such as the asymmetry of the unevenness evaluated from the variation of the distance, any of these indexes,
Alternatively, the information may be grouped in consideration of all.

According to this structure, it becomes possible to group and handle the information about the soil characteristics detected on the soil surface having a similar uneven surface or the preferable soil surface having an uneven surface. Characteristics of soil detected by (the characteristic that the distance between the detection element and the detection target is important as a condition that determines the analysis accuracy)
For, it becomes possible to acquire data information with higher accuracy and reproducibility.

Further, it is preferable that the detected soil characteristics include optical characteristics based on light reflected from the cut surface of the soil.

An apparatus according to another invention is a soil characteristic observing apparatus for observing a two-dimensional distribution of soil characteristics, which is a blade-shaped soil cutting means for advancing while cutting soil of an arbitrary depth, and the soil cutting. The gist is to have a strain amount detection means for detecting the strain amount on the surface of the means.

According to this construction, the load applied by the soil existing in front of the cutting means to the cutting surface of the cutting means, in other words, the earth pressure (resistance) is detected through the amount of strain on the surface of the cutting means. You can Further, this earth pressure has a high correlation with the hardness of the soil. That is, as the soil cutting means progresses, the hardness of the soil existing in the front can be sequentially detected.

The earth pressure (resistance) received from the soil in front
Unlike the diaphragm-type pressure-sensitive element that directly detects, it is not necessary to dispose the sensor element on the cutting surface of the cutting means or in the vicinity of the cutting surface (surface) when detecting the earth pressure. In other words, a relatively thick wall is formed between the cutting surface of the cutting means and the detection element of the strain amount detection means.
Sufficient durability can be ensured against impact on the cutting surface of the cutting means due to contact with soil and abrasion of the cutting surface.

Further, the strain amount detecting means may be provided with a pair of strain detecting elements having their respective strain detecting surfaces facing each other and being substantially parallel to the cutting surface of the soil cutting means.

In the above structure, when the soil cutting means is regarded as a beam, the cutting surface of the soil cutting means corresponds to the side surface on the tension side of the beam. According to the configuration, one strain element of the pair of strain detection elements detects strain on the side surface on the tension side of the beam, and the other strain element detects strain on the side surface on the compression side. Therefore, if a function (for example, the sum of both) using the detected values (distortion amount) of both as variables is used,
It becomes possible to cancel the tensile stress and the compressive stress, and to accurately quantify the bending stress of the soil cutting means with respect to the earth pressure.

It is preferable to provide a strain amount limiting means for limiting the strain amount of the surface of the soil cutting means.

According to the above construction, even if the soil contacting the cutting surface of the soil cutting means applies an excessive load to the cutting surface, the soil cutting means is not overloaded. Therefore, the durability of the soil cutting means is improved.

Further, the communication means for acquiring information on the current position of the soil characteristic observing device as external communication information, the acquired current position of the soil characteristic observing device and the observed soil characteristic, The gist is to have a processing means for processing as mutually related data information.

According to this configuration, it becomes possible to efficiently acquire and manage the data information regarding the soil characteristics obtained at each observation point as the information corresponding to the accurate position in the field.

The above configurations can be combined as much as possible.

[0030]

BEST MODE FOR CARRYING OUT THE INVENTION (First Embodiment) A first embodiment of the soil characteristic observing apparatus of the present invention will be described below with reference to the drawings.

[Outline of Observation System] FIG. 1 shows an outline of an observation system according to the present embodiment.

As shown in FIG. 1, the observation system 1 is
A soil characteristic observation device 10 that is towed by a vehicle 2 such as a tractor and moves in a field 3 cultivated to produce agricultural products.
And a GPS (Grobal Positioning System) satellite for grasping the exact position of the soil characteristic observation device 10. The soil characteristic observing device 10 is equipped with a GPS antenna 11, and the soil characteristic observing device 10 receives a position information (information regarding the position of the soil characteristic observing device 10 on the ground surface) signal from the GPS satellite 200 through this GPS antenna 11. Then, you will recognize your current position. As shown by the broken line in FIG.
Is virtually divided into multiple plots, and the management of the information obtained regarding soil characteristics and the determination of the inputs of fertilizers, pesticides, etc. to produce agricultural products will be done independently for each plot. .

[Structure and Function of Soil Characteristic Observation Device] Next, the structure and function of the soil characteristic observation device will be described.

FIG. 2 is a side view schematically showing the structure of the soil characteristic observation device 10 towed by the vehicle (tractor) 2.

As shown in FIG. 2, the soil characteristic observation device 1
0 is a pedestal 13 connected to the rear part of the tractor 2 via the support frames 12a, 12b, 12c, 12d, a control unit (including a computer) mounted on the pedestal 13,
The soil cutting part 50 attached to the lower part of the rear end of the pedestal 13 is provided. The GPS antenna 11 is attached above the control unit 30. The soil cutting unit 50
The shank 51 is supported and connected to the lower part of the pedestal 13, and the sensing part 52 is fixed to the lower part of the shank 51 and moves substantially horizontally to a predetermined depth in the soil (under the ground surface). The tip of the shank 51 in the traveling direction has a V-shape to reduce the resistance received from the soil, and the sensor portion has a chisel blade (chisel portion) 53 for excavating the soil at the tip thereof.
In addition, various sensors (not shown) for observing soil characteristics are built in. The halogen lamp 40 attached to the outside of the soil cutting unit 50 is the sensing unit 5
In an observation space (not shown) formed in 2, it functions as a light source for illuminating an observation target (soil) of various sensors (not shown) described later. The support arm 14 attached to the side portion of the pedestal 13 has the support frame 12 by grounding a gauge wheel 15 provided at the tip of the support arm 14.
Together with a, 12b, 12c, and 12d, the pedestal 13 is held in a horizontal state with the ground surface. Further, the distance between the gauge wheel 15 and the pedestal 13 can be adjusted, and by adjusting this distance, the position (depth) of the sensing unit 52 in the soil can be adjusted. Similarly, in a predetermined portion 13a on the side of the pedestal 13 and in front of the support arm 14, the swing arm 16 swingably attached around the portion 13a is provided with a depth measurement provided at its tip. The free rolling wheel 17 is grounded. A potentiometer (rotation angle sensor) 18 that outputs a signal according to the rotation phase of the swing arm 16 with respect to the pedestal 13 is attached to the mounting portion of the swing arm 16. Rotation angle sensor 18
On the basis of the output signal of the depth measurement free wheel 17, the distance D1 between the ground contact surface of the free wheel 17 for depth measurement and the pedestal 13, and the sensing unit 52.
The distance between the bottom surface (observed soil surface) and the ground surface L1, that is, the depth D2 of the observed soil surface L2 is obtained. Further, the coulter 19 provided at the tip portion of the pedestal 13 cuts the ground surface in front of the soil cutting portion 50, and thereby the force required to guide the sensing portion 52 below the ground surface (the soil cutting portion 50 moves from the soil). Reduce the resistance received. Also,
It also has a function of cutting straws or weeds and preventing them from being entangled in the shank 51. The display operation unit 20 attached to the tractor 2 is electrically connected to the control unit 30 and communicates with the control unit 30 by an operator's input work or automatically, and data information stored in the control unit 30. Etc. are displayed appropriately.

[Structure of Sensing Section] FIG. 3 is a side sectional view schematically showing the internal structure of the sensing section.

As shown in FIG. 3, the sensing unit 52
Is a chisel portion 53 corresponding to the tip portion along the traveling direction.
And the optical sensor housing portion 60 corresponding to the rear end portion. The chisel portion 53 advances while cutting the front soil up and down by its blade edge, and forms an observation soil surface L2 that is horizontal to the ground surface L1 at the rear thereof. The optical sensor housing 60 includes a visible light collecting optical fiber (visible light sensor) 61, a near infrared collecting optical fiber (infrared light sensor) 62, and a CCD (Charge Coupled Device) camera 6
3, temperature sensor 64 and optical fiber 65A for illumination,
65B is accommodated. In addition, these members 61 to 65
Is provided so as to be separated from the observation soil surface L2, and a predetermined observation space S1 is formed between each member 61 to 65 and the observation soil surface L2.

Here, the optical fibers for illumination 65A, 65
B is a specific wavelength region (for example, 400 nm to 2400) of the light supplied from the halogen lamp 40 (see FIG. 2).
light of approximately nm) is selectively transmitted, and this light is applied to the observation soil surface L2. The visible light sensor 61 includes a visible light wavelength region (for example, 40 nm) in the reflected light of the light irradiated on the observation soil surface L2 by the illumination optical fibers 65A and 65B.
Light from 0 nm to 900 nm) is selectively collected. The infrared light sensor 62 is the same as the illumination optical fibers 65A, 65.
In the reflected light of the light irradiated to the observation soil surface L2 by B, the wavelength region of near infrared light (for example, 900 nm to 1700)
nm) light is selectively collected. CCD (Charge Coupl
ed Device) camera 63 images the observed soil surface L2. The temperature sensor 64 detects the temperature (radiant heat) of the observed soil surface L2.

Further, the visible light sensor 61 and the infrared light sensor 6
2, CCD camera 63 and optical fiber 65A for illumination,
The front surface (surface facing the observation soil surface) of 65A is covered with an optical window (for example, quartz glass) 66. Dry air is constantly blown to the optical window 66 through the blower pipe 67. By the action of this dry air, the optical window 66
Fogging is prevented. Further, in the front of the observation space S1, the flat plate 68 protruding from the bottom surface of the sensing unit 52 smoothes the unevenness of the cutting surface (the surface facing the sensing unit 52) of the soil formed behind the chisel unit 53. The observation soil surface L2 maintains a flat surface shape.

FIG. 4 is a top view showing the appearance of the chisel portion 53. As shown in FIGS. 3 and 4, the chisel portion 53
A surface electrode 55 is embedded on the upper surface of the. Surface electrode 5
An insulating member 56 for separating the electrode 55 and the chisel portion 53 is provided around the outer edge of the electrode 5. Surface electrode 5
5 is the upper surface 5 of the chisel portion 53 made of a conductive material.
An electrical characteristic sensor 57 that forms a counter electrode with 3a and that simultaneously detects the electrical conductivity and the dielectric constant of soil that contacts the upper surface 53a (including the surface electrode 55) of the chisel portion 53 is formed. Further, a strain gauge (soil hardness sensor) 58 is built in a portion slightly rearward of the surface electrode 55. The soil hardness sensor 58 is attached to the inner wall of the cylindrical accommodation space S2 formed in the chisel portion 53. A part of the cylindrical space S2 communicates with the outside through a slit S3 formed on the bottom surface 53b side of the chisel portion 53. A steel stopper 58a is provided in the slit S3. The accommodation space S2 and the slit S including the stopper 58a
The space formed by 3 and 3 is filled with an elastic resin for preventing soil and moisture from entering the space. In the soil hardness sensor 58, the chisel portion 53 is soil (chisel portion 53
Detects the mechanical resistance (earth pressure) received from the soil that it cuts open. As the earth pressure received by the chisel portion 53 increases, a moment generated around the node P (for example, the chisel portion 5
The force acting on the upper surface 53a of No. 3 in the direction of the arrow finger Q1) becomes large, and the strain amount of the soil hardness sensor (strain gauge) 58 also becomes large. That is, the soil hardness sensor 58 measures the magnitude of the soil load applied to the upper surface 53a of the chisel portion 53,
It is detected as the magnitude of the load applied to each point of the cantilever (chisel portion 53) (the magnitude of the strain that the load causes near the supporting point (node P) of the beam).

If various conditions such as the traveling speed of the sensing section 52 in the soil are constant, the chisel section 53
The soil pressure received from the soil has a high correlation with the hardness (soil hardness) of the soil.

By the way, in the present embodiment, the inner wall of the storage space S2 for storing the soil hardness sensor 58 has a curved surface (that is, is formed in a cylindrical shape), so that the soil acting on the upper surface 53a of the chisel portion 53 can be treated. With respect to the pressure, sufficient strength and durability are secured in the region near the node (center of moment) P. Further, even when the amount of strain of the soil hardness sensor 58 (accommodation space S2) becomes larger than a certain amount, the stopper 5
Due to the presence of 8a, the width of the slit S3 will not become narrower than a predetermined value.

[Electrical Configuration of Computer and its Peripheral Equipment] FIG. 5 is a block diagram showing the electrical configuration of the computer and its peripheral equipment incorporated in the control unit 30.

The computer 150 has a central processing unit (CPU), a read only memory (ROM), a random access memory (RAM), and a backup RAM therein.
34, a timer counter, etc., and these units are connected by a bus to form a logical operation circuit.

Computer 150 configured in this way
Is the visible light sensor 6 provided in the optical sensor housing 60.
1 and the detection signals from the infrared light sensor 62 are input through the spectroscopic unit, and these signals are processed. The spectroscopic section 70 includes a visible light spectroscopic section 71 and a near infrared spectroscopic section 72. The spectroscopic units 71 and 72 are multi-channel spectroscopes equipped with a photodiode linear array, and the spectroscopic unit 71 for visible light has a wavelength range of 400 nm to 900 nm.
The near-infrared light spectroscopic unit 72 has 6 channels and 900 nm-
Intensity of light having a wavelength corresponding to 128 channels can be individually detected at high speed in the wavelength region of 1700 nm. In addition, the computer 150 also includes the optical sensor housing portion 6
0 detection signal from the temperature sensor 64 and CCD
Image pickup data from the camera 63 is input and these data information (signals) are processed. Also, the computer 150
Receives the detection signals from the electric characteristic sensor 57 and the soil hardness sensor 58 provided in the chisel portion 53, and processes these signals. The computer 150 also receives a detection signal from the rotation angle sensor 18 attached to the swing arm 16 and processes this signal. In addition, the computer 150 transmits the signal transmitted from the GPS satellite 200 to the GP.
Input through the S antenna 11 and process this signal.

The computer 150 processes the signals (data information) input from these units in accordance with a command signal from the display operation unit 20, or automatically.
The processing status, data information, etc. are displayed on the screen of the display / operation unit 20 as appropriate. In addition, in response to a command signal from the display operation unit 20, or automatically, the result of the above processing is stored in the external storage device (for example, card memory) 75 as recording data information.

[Basic Configuration of Electric Conductivity and Permittivity Detection Circuit] FIG. 6 shows a signal proportional to the electric conductivity and permittivity of soil contacting the upper surface 53 a of the chisel portion 53 of the electric characteristic sensor 57. Computer 15 is used as a detection signal individually.
The functional block diagram of the detection circuit which outputs to 0 is shown.

As shown in FIG. 6, in the electric conductivity detecting circuit 57a, an AC voltage having a frequency of 4 kHz is applied to the electrodes 55 and 53a from a variable amplitude transmitter. Each electrode 5
By inputting a predetermined amplitude control voltage to the oscillator while detecting the voltage amplitudes of the electrodes 55, 53a.
The output voltage of the oscillator is controlled so that the amplitude of the applied voltage is constant. The computer 150 stores the voltage effective value (proportional to the electrical conductivity of the soil) across the resistor R after averaging for a predetermined period.

Here, when the detection circuit is constructed by using the DC voltage, the product of the chemical reaction (electrode reaction) is deposited on the surface of the electrode, and it becomes difficult to perform the measurement with high stability for a long period of time. . Further, even when adopting the AC voltage as described above, the inventors have confirmed that it is desirable to make the voltage amplitude as small as possible in order to minimize the influence of the electrode reaction.

Further, when a structure in which a constant current is applied to both electrodes is adopted, the voltage applied to both electrodes changes depending on the magnitude of the electrical conductivity of the soil, so that the electrode reaction There is a concern that the degree may change, and in this case too, it is difficult to measure highly stable electrical conductivity.
Confirmed by the inventors.

On the other hand, a high-frequency AC voltage is applied to the dielectric constant detecting circuit 57b separately from the low-frequency AC voltage applied to the electrical conductivity detecting circuit 57a and superimposed on the low-frequency AC voltage. In the circuit 57b, the electrodes 55 and 53a are regarded as the electrode plates of the capacitor, and the dielectric constant of the soil in contact with both electrodes 55 and 53a is detected.

The high frequency cut filter prevents high frequency from entering the electric conductivity detecting circuit 57a, and the low frequency cut capacitor prevents low frequency from entering the dielectric constant detecting circuit 57b.

In the present embodiment, the AC voltage is applied to detect the soil electric conductivity, but a voltage having a waveform pattern in which positive and negative voltages are repeatedly applied, such as a square wave or a triangular wave, is used. You may apply the apparatus structure which detects soil electrical conductivity through application. However, in the embodiment in which the electric conductivity and the permittivity of soil are detected through the same electrode, that is, the device configuration in which the electric conductivity detection circuit and the dielectric constant detection circuit share the same electrode, an AC voltage is applied. It is preferable to use.

Next, what control logic is used by the soil characteristic observation apparatus 10 having the above hardware configuration to acquire the data information on the soil characteristic in the field 3 and manage the information? Details will be described.

[Basic Routine for Acquiring Data Information Regarding Soil Properties] FIG. 7 shows data information based on detection signals from various sensors provided in the sensing unit 52, the position at which the data information was acquired, and the observation. It is a flowchart which shows the basic routine for recording with the depth of the soil surface. This routine is executed by the computer 150 every predetermined time after the computer 150 is activated.

When the processing shifts to this routine, the computer 150 first determines in step S101 whether or not there is a data information acquisition request. That is, the computer 150 stores in advance conditions such as the time when the data information regarding the soil should be acquired or the position in the field, and determines whether or not the present time is the timing that meets such conditions. . Further, when the operator manually inputs a predetermined command signal (information acquisition start signal) to the display input operation unit, the computer 150 may determine that there is a data information acquisition request. If the determination in step S101 is negative, the computer 150 once exits this routine.

On the other hand, if the determination in step S101 is positive, the computer 150 determines that the GPS satellite 200
The soil characteristic observation device 1 based on the signal transmitted from
The position of 0 is grasped (step S102), and subsequently, various sensors 61, 62, 63, 6 in the optical sensor accommodating portion 60.
4. The data information based on the detection signals of the various sensors 57 and 58 in the chisel unit 53 is acquired, and these are arithmetically processed (for example, integrated or averaged) (step S103). Further, the arithmetically processed data information is collated with the history of the data information already acquired through the routine up to the previous time, and processed (step S104).

For example, assume that this routine is executed at intervals of 0.05 seconds. In this case, if the control logic is configured to acquire the data information for 1 second after the interval of 3 seconds each time, about 100 pieces of data information will be acquired in this 1 second. Computer 150
Performs an averaging process on the 100 pieces (groups) of data information to process and manage them into one piece (groups) of data information.

Thereafter, the computer 150 uses the data information obtained in step S104 as the GPS satellite 20.
Data is stored in the external storage device 75 as data information corresponding to the position information from 0 and the depth of the observed soil surface L2 (step S105), and the processing of this routine is once ended.

Soil characteristic observation apparatus 1 according to the present embodiment
0 basically acquires and stores data information regarding soil characteristics in each section of the field 3 in accordance with such control logic.

Next, of the processes in the basic routine, the process in step S104, that is, the process of processing the data information obtained by calculating the detection signals of various sensors will be described in detail.

[Fusion of Data Based on Signals of Various Sensors] FIG. 8 is a schematic diagram conceptually explaining how output signals of various sensors provided in the sensing unit 52 are processed.

As shown in FIG. 8, a computer 150
Is a means for detecting the optical characteristics of the soil, that is, the data information obtained through the visible light sensor 61 and the infrared light sensor 62 is processed, and the soil organic matter SOM (Soil Organic) is processed.
matter), pH, nitrate nitrogen (NO3-N), electric conductivity ECa, water content (moisture content), and the like as a first estimating means.

Similarly, the computer 150 processes the data information obtained through the detection means for detecting the electrical or mechanical characteristics of the soil, that is, the electrical characteristic sensor 57 and the soil hardness sensor 58, to obtain the electrical conductivity ECa and the water content. It has a function as a second estimating means for estimating (moisture content) and the like.

Here, for example, the electric conductivity ECa and the water content (water content) of the soil can be obtained through a detecting means for detecting the optical characteristics of the soil, and also the electric or mechanical characteristics can be detected. It can also be obtained through detection means. In the soil characteristic observation device 10 according to the present embodiment,
For data information related to the same observation item (for example, electric conductivity ECa and moisture content) obtained through different detection means, the data information is compared with each other and the most reliable data information is adopted. Perform fusion processing.

[Fusion Processing of Information on Soil Light Spectrum and Soil Electric Conductivity] FIG. 9 shows a specific procedure of the fusion processing of information on the soil light spectrum and the soil electric conductivity in the processing of the data information on the soil characteristics. It is a flowchart which shows a (routine). In addition, the processing procedure according to the said flowchart is as a part of the process performed by the computer 150 of the soil characteristic observation apparatus 10,
For example, step S1 in the above basic routine (FIG. 7)
Included in 04.

When the processing shifts to the routine, the computer 150 first selects the latest data information acquired for the soil at any observation point in the field 3 as the data information to be subjected to the fusion processing in step S201. Then, the water content of the soil at each observation point is estimated based on the detection signals of the visible light sensor 61 and the infrared light 62 provided in the optical sensor storage unit 60, while the electrical characteristic sensor 57 (dielectric constant detection circuit The water content of soil at each observation point is separately estimated based on the detection signal of 57b).

In step S202, the water content (hereinafter referred to as the water content based on the optical characteristics) WP estimated based on the detection signals of the visible light sensor 61 and the infrared light 62 is calculated.
And the water content of the soil at each observation point (hereinafter referred to as the water content based on the electrical characteristics) WE based on the detection signal of the electrical characteristic sensor 57, and the water content of the soil at each observation point is more reliable. A high water content (hereinafter referred to as the applied water content) WM is calculated.

An example of the method of calculating the applied water content WM will be described below.

That is, if the deviation between the water content WP based on the optical characteristics and the water content WE based on the electrical characteristics is within a predetermined range, the average of both values WP and WE is adopted as the applied water content WM. On the other hand, when the deviation exceeds a predetermined value, the applicable water content WM is calculated by using the data information (water content WP, WE) obtained at another observation point geographically closest to the observation point. To do.

In the following step S203, the soil solution electric conductivity ECw is estimated based on the electric conductivity ECa and the applied water content WM obtained in step S202. The electric conductivity ECa is calculated by the electric characteristic sensor 57.
The calculation is performed based on the detection signal of (electrical conductivity detection circuit 57a).

After passing through the above step S203, the computer 150 once ends the processing in this routine.

After the processing of this routine is completed, the computer 150 may, for example, execute step 10 in FIG.
By returning the treatment to 5, the applicable water content W obtained this time
The M and the soil solution electric conductivity ECw are stored in the external storage device 75 as data information for creating a map showing the distribution state of these parameters WM and ECw in the field 3.

Incidentally, instead of the above processing routine (FIG. 9),
After the observation in the field 3 is completed, for example, a process independent from the basic routine (FIG. 7) may be performed according to the process routine shown in FIG.

The processing routine of FIG. 10 will be described below. It should be noted that this routine may be executed through the computer 150 or may be executed through another control device based on the data information stored in the external storage device 75. Prior to the execution of this routine, soil samples are actually collected from n (n <N) observation points among N observation points in the field 3 and the It is assumed that the conductivity and the water content are measured in advance using an analytical instrument in the laboratory and stored as standard data information in, for example, the external storage device 75.

In this routine, for example, the computer 150 first sets N in the field 3 in step S301.
The data information acquired at the location is selected as the data information to be used in the fusion process.

In step S302, the visible light sensor 61 and the infrared light 6 provided in the optical sensor housing 60 are
In addition to estimating the water content of soil at each observation point based on the detection signal of 2, etc., the water content of soil at each observation point is separately calculated based on the detection signal of the electrical characteristic sensor 57 (dielectric constant detection circuit 57b). presume.

In step S303, the visible light sensor 61 and the data group acquired at the same position as the sampling position of the soil sample from which the standard data information is acquired among the N data groups to be subjected to the fusion process Water content (hereinafter referred to as water content based on optical characteristics) WP estimated based on detection signals of infrared light 62 and the water content of soil at each observation point (hereinafter referred to as “water content based on optical characteristics”) It is tested which has a higher correlation with WE (which is called water content based on electrical characteristics). Then, of the water content WP based on the optical characteristics and the water content WE based on the electrical characteristics, the water content (hereinafter, referred to as standard (reference) data information
It is determined that the data information showing a higher correlation with WS (referred to as standard water content) is adopted as the water content (adopted water content) of soil in the field.

In step S304, step S
The adopted water content (WP or W)
The calculation method for calculating the accurate water content from E) is
For each piece of data information, it is established by comparing the adopted moisture content with the standard moisture content (for example, a regression equation showing the relationship between the two may be adopted as the calculation formula).

In the following step S305, the adopted moisture content (WP or WE) obtained by the estimation method similar to the moisture content estimation method established in step S303 is applied to the N pieces of data information selected this time in step S301. ) Is adopted as the water content (applied water content) WM of the soil at each observation point.

In step S306, the soil solution electric conductivity ECw is estimated based on the electric conductivity ECa and the applied water content WM. The electrical conductivity ECa is calculated based on the detection signal of the electrical characteristic sensor 57 (electrical conductivity detection circuit 57a).

After passing through the above step S306, the computer 150 once ends the processing in this routine.

After the processing of this routine is completed, the computer 150 may, for example, execute step 10 in FIG.
By returning the treatment to 5, the applicable water content W obtained this time
The M and the soil solution electric conductivity ECw are stored in the external storage device 75 as data information for creating a map showing the distribution state of these parameters WM and ECw in the field 3. (Figure 9)
Is the same as.

Not only the electric conductivity of the soil solution but also other parameters contained in the soil such as the content of organic substances and the content of specific inorganic salts are controlled in the same manner as in the above routine (FIG. 9 or FIG. 10). By applying the structure, it can be separately estimated from the electrical characteristics and the optical characteristics of the soil. Then, by comparing the respective estimation results with each other, it is possible to obtain an effect equivalent to, or equivalent to, the present embodiment that highly reliable data information regarding the distribution of specific soil characteristics in the field can be acquired. You can

As described above, according to the soil characteristic observing apparatus 10 of the present embodiment, the soil cutting unit 50 effectively cuts the soil while being pulled by the tractor 2, and the observation space is behind it. To form S1 (observed soil surface L2). Then, the chisel portion 53 provided in the front portion of the soil cutting portion 50 passes through the cutting surface of the soil cut by itself to obtain the electrical characteristics of the soil (for example, soil electric conductivity and dielectric constant). A strain gauge provided at the rear end of the chisel portion 53 by a predetermined length such as a mechanical characteristic (for example, earth pressure or soil hardness) directly through an electric characteristic sensor 57 provided at the front end portion of the chisel portion 53. It has a function of efficiently detecting through 58.

On the other hand, the sensing section 52 provided at the rear of the soil cutting section 50 has optical characteristics of soil (for example,
It has a function of detecting near-infrared light spectrum, visible light spectrum, imaging) and thermodynamic characteristics (for example, temperature of soil surface). With such a configuration, the soil characteristic observing apparatus can observe various characteristics of substantially the same soil sample almost simultaneously and continuously. Also,
Since various characteristics of these same soil samples will be managed together with information from GPS satellites, an accurate distribution of various soil characteristics in the field can be efficiently acquired,
It can be used to create maps, etc.

Further, in the soil characteristic observation apparatus 10 according to the present embodiment, the soil characteristic (for example, water content WP) obtained by the chisel portion (first detecting means) 53 and the sensing portion (second detecting means). ) 52 based on the soil characteristics (for example, water content WE), a single (same) parameter regarding soil characteristics (for example, soil solution electric conductivity or organic matter content) is to be individually estimated. Therefore, by comparing the parameters obtained individually with each other, it is possible to obtain more reliable data information regarding a single parameter regarding the soil characteristic.

(Second Embodiment) Next, a second embodiment of the soil characteristic observation apparatus of the present invention will be described.
The differences from the first embodiment will be mainly described.

The basic hardware configuration of the soil characteristic observing apparatus according to the second embodiment is substantially the same as that of the first embodiment. Therefore, the same names and reference numerals are used for the constituent members having the same structure and function, and the duplicated description here is omitted.

The soil characteristic observing apparatus according to the present embodiment is also basically the same as the control logic (applied to the apparatus according to the first embodiment regarding the fusion processing of various data information regarding soil characteristics). (See FIGS. 7, 9, and 10)) is applied.

However, the soil characteristic observing apparatus according to the second embodiment is provided with a soil displacement sensor for measuring the distance between various sensors and the soil observing surface in the sensing portion (optical sensor storage portion) thereof. This is different from the first embodiment in that the distance between various sensors and the observation surface in the soil is reflected when the data information regarding the soil characteristics is created.

[Structure of Sensing Section] FIG. 11 is a side sectional view schematically showing the internal structure of the sensing section of the soil characteristic observing apparatus according to the present embodiment.

In FIG. 11, the soil characteristic observing apparatus 1
An infrared light sensor 62 is provided in the optical sensor housing 60 of 0 '.
A soil displacement sensor (laser range finder) 69 is provided between the lighting optical fiber 65B. The soil displacement sensor 69 irradiates a laser light of a specific wavelength (for example, 780 nm) toward the measurement target (soil observation surface L2), and a light receiving portion 69b that detects reflected light from the soil observation surface L2. And has a function of measuring the distance D3 between the laser light irradiation unit 69a and the soil observation surface L2 by the principle of triangulation. The soil displacement sensor 69 is electrically connected to the computer 150 (see FIG. 5) in the control unit, similarly to the other sensor members 61 to 64 in the optical sensor storage unit 60, and is a slight variation in the distance D3, in other words, in other words. For example, a signal corresponding to the change of the soil observation surface L2 is continuously output to the computer 150. The computer 150 indexes the unevenness state of the soil observation surface L2 based on the output signal of the soil displacement sensor 69, and determines the reliability as data information corresponding to the observation point where the signal is obtained.

In this embodiment, the laser range finder 69 is adopted as the soil displacement sensor.
Instead of this, it is also possible to apply another rangefinder having a function of measuring a distance to an object, such as a rangefinder using an LED as a light source or an ultrasonic rangefinder.

[Electrical Configuration of Signal Processing Unit of Soil Displacement Sensor] FIG. 12 is a function for explaining the electrical configuration and function of the signal processing unit for indexing the output signal of the soil displacement sensor 69 and transmitting it to the computer 150. It is a block diagram.

As shown in FIG. 12, the soil displacement sensor 6
The output signal of 9 has its high-frequency component (noise) removed through a noise cut filter, is digitized as three types of indexes (average distance, unevenness index 1, unevenness index 2), and is then transmitted to the computer 150. .

Here, the average distance is the observation period (for example, 1
It corresponds to the average value (average distance) of the distances D3 detected during (second). In order to generate a signal corresponding to the average distance, the output signal (noise-removed) of the soil displacement sensor 69 is integrated and A / D converted during the observation period.

The unevenness index 1 is the soil displacement sensor 69.
Corresponds to the number of irregularities (relatively large irregularities) corresponding to the frequency component of the output signal of 1 Hz to 10 Hz (the number detected on the soil observation surface as the measurement target). In order to generate a signal corresponding to the unevenness index 1, the output signal (noise-removed) of the soil displacement sensor 69 having a frequency component of 1 Hz to 10 Hz is taken out during the observation period and rectified. After that, integration is performed and A / D conversion is performed.

The unevenness index 2 is the soil displacement sensor 69.
Of the output signal of (1) corresponds to the number of irregularities (relatively small irregularities) corresponding to the frequency component of which is 10 Hz or more (the number detected on the soil observation surface as the measurement target). In order to generate the signal corresponding to the unevenness index 2, the output signal (noise-removed) of the soil displacement sensor 69 having a frequency component of 10 Hz or more was taken out during the observation period and rectified. Later integrated, A / D
Do the conversion.

Note that the output of the soil displacement sensor 69 is directly A / D converted in place of the mode in which A / D conversion is performed after completion of a series of processes such as noise removal, extraction of a specific frequency component, rectification and integration. , Then computer 1
You may apply the structure which calculates | requires each parameter | index in the aspect which calculates in 50.

[Selection of Index Regarding Soil Displacement State and Selection of Data Information] FIG. 13 shows an example of histograms of the average distance, unevenness index 1 and unevenness index 2 obtained at a plurality of observation points.

Soil characteristic observation apparatus 1 according to the present embodiment
In 0 ', a predetermined analysis area is set on the horizontal axis (size of each index) of these histograms, and the average distance and the unevenness index 1 are set.
And the unevenness index 2 shows only soil information (optical characteristics) obtained at observation points within the analysis area on each histogram (data information obtained through the visible light sensor 61, the infrared light sensor 62, etc.). ) Is selected as data information for performing a more detailed analysis (spectral spectrum analysis), and is stored in the external storage device 75.

Here, the analysis area (A1) on the histogram for the average distance can be set in a predetermined range around the average value of all data (average distance), for example. Further, the analysis area (B1) on the histogram for the unevenness index 1 can be set in a predetermined range with the minimum value of the unevenness index 1 being “0”. Also,
The analysis area (C1) on the histogram for the unevenness index 1 is preferably set in a predetermined range with the minimum value of the unevenness index 1 being a value slightly larger than “0”. When the unevenness index 2 is “0”, it means that the soil observation surface L2 is in a state approximate to a substantially mirror surface without having even minute unevenness. Therefore, in such a state, the soil observation surface L2 is
This is because the reflected light of the illumination light in 3 does not diffuse and is not suitable for spectral spectrum analysis.

FIG. 14 is a processing procedure for selecting the data information to be used for the spectrum analysis based on the three types of indices (average distance, unevenness index 1, unevenness index 2) of the soil displacement state at each observation point. It is a flowchart which shows a (routine).

This routine is executed by the computer 15 after the soil characteristics are observed at a predetermined number of observation points.
Implemented by 0.

When the processing shifts to this routine, first, in step S401, the computer 150 performs soil observation on all data information to be processed (for example, data information obtained at all observation points that have been observed up to the present time). Introducing the average distance of the surface, unevenness index 1, unevenness index 2,
Create a histogram.

Then, as described with reference to FIG.
For each histogram, the analysis area is set (step S402), and the average distance of the soil observation surface, the unevenness index 1, and the unevenness index 2 are all data information (soil) obtained at the observation points within the analysis area on each histogram. Of the optical characteristics of) is regarded as sufficiently reliable, and stored in the external storage device 75 (step S40).
3), for more detailed analysis.

[Other Processing Modes for Selecting Index of Soil Displacement State] In the second embodiment, histograms are created for three types of indexes, such as the average distance, the unevenness index 1 and the unevenness index 2. The data information (visible light sensor 61 or infrared light sensor 6) obtained at each observation point depends on whether or not the index is within a predetermined analysis region on the histogram.
It was decided to determine the reliability of the data information obtained through 2).

On the other hand, a histogram is created for another index, and based on this, the data information (data information obtained through the visible light sensor 61, the infrared light sensor 62, etc.) obtained at each observation point is calculated. The reliability can also be determined.

Hereinafter, another example of processing modes applicable to the soil characteristic observation apparatus 10 'will be described.

In the other example of the processing mode, the data information obtained in each period at each observation point is the average displacement m, the variance v of the displacement, and the asymmetry as three kinds of indicators related to the displacement state of the soil. Introduce a concept such as s. Note that these indexes can be obtained, for example, by analyzing a time series signal of soil displacement recorded in the data recorder shown in FIG.

First, the difference between the optimum value of the distance D3 and the actual distance D3 is defined as the displacement d. Average displacement m
Means the average value of the displacements obtained during the observation period at each observation point. The displacement variance v is the displacement variance obtained during the observation period at each observation point. The asymmetry s is expressed as a function proportional to the cube of the difference between the average displacement m and the displacement d, that is, “α · (m−d) 3, where α is a constant”.

FIG. 15 shows an example of the histogram created by the average displacement m, the displacement variance v, and the asymmetry s obtained at a plurality of observation points.

The analysis area (A2) on the histogram for the average displacement is set in a predetermined range around the average value of all data. Further, the analysis area (B2) on the histogram of the displacement variance v is preferably set in a predetermined range with the minimum value of the displacement variance v being slightly larger than “0”. When the displacement variance v is “0”, it means that the soil observation surface L2 is in a state of being approximated to a substantially mirror surface without even having minute irregularities. Therefore, in such a state, illumination on the soil observation surface L2 is performed. This is because the reflected light of light does not diffuse and is not suitable for spectroscopic spectrum analysis. The optimum value (minimum value) of the analysis area (C2) on the histogram for the asymmetry s is set to "0" and set in a predetermined range.

Thus, the average displacement m, the displacement variance v,
Even when the asymmetry s is applied as an index of the soil displacement state, all of the indexes m, v, and s are analyzed on each histogram according to the control logic substantially similar to that according to the processing routine described in FIG. Data information (related to the optical properties of soil) obtained at the observation points inside
Only those are considered to be sufficiently reliable and are stored in the external storage device 75 for further detailed analysis.

As described above, according to the soil characteristic observing apparatus 10 'of the present embodiment, the soil optical characteristic or thermodynamic characteristic is reliable regardless of the variation of the unevenness of the soil observing surface. It becomes possible to obtain highly stable data information stably and continuously.

(Third Embodiment) Next, a third embodiment of the soil characteristic observing apparatus of the present invention will be described.
The differences from the second embodiment will be mainly described.

The basic hardware configuration of the soil characteristic observing apparatus according to the third embodiment is substantially the same as that of the second embodiment. That is, the soil characteristic observation apparatus according to the third embodiment also
A soil displacement sensor is provided in the optical sensor storage portion, and the distance between various sensors provided in the optical sensor storage portion and the soil observation surface can be measured. Also, the third
The soil characteristic observing device according to the embodiment of the present invention is basically the same as the control logic (applicable to the device according to the first and second embodiments, regarding the fusion processing of various data information regarding the soil characteristic. (See FIGS. 7, 9, and 10)) is applied.

However, the soil characteristic observing apparatus according to the third embodiment has a function of feedback controlling the approach angle of the sensing unit (chisel blade) with respect to the soil based on the output signal of the soil displacement sensor. This is different from the first and second embodiments.

FIG. 16 is a schematic diagram schematically showing a soil cutting portion forming a part of the soil characteristic observing apparatus according to the present embodiment and its peripheral portion together with a computer.

As shown in FIG. 16, the soil characteristic observing apparatus according to the third embodiment has a drive device 80 on the lower surface of the pedestal 13. The drive device 80 operates based on a command signal from the computer 150, and freely reciprocates the bar 81 whose one end is supported by the shank 51, so that the drive device 80 can swing about the shaft 50a with respect to the pedestal 13. It is possible to drive and control the constructed soil cutting unit 50 and adjust the approach angle β of the sensing unit 52 (chisel blade 53) with respect to the soil. The computer 150 operates the drive device 80 based on the output signal of the soil displacement sensor (laser range finder) 69 provided in the optical sensor storage unit 60,
Feedback control is performed so that the distance between the light receiving portion of the sensor 69 and the soil observation surface L2 (distance between the various sensors 61 and 62 detecting the optical characteristics of the soil and the soil observation surface L2) D3 maintains an optimum value. I do.

As described above, the soil characteristic observing apparatus 10 ″ according to the present embodiment also has a high reliability regarding the optical characteristics or thermodynamic characteristics of the soil regardless of the variation of the unevenness of the soil observation surface. It becomes possible to obtain high data information stably and continuously.

In the apparatus configuration shown in FIG. 16, the distance D is adjusted by adjusting the approach angle β of the sensing section 52.
However, the distance D3 may be optimized by using a driving device or the like capable of variably controlling the distance between the pedestal 13 and the ground surface L1.

The drive system of the drive unit 80 is as follows.
Various drive methods such as a hydraulic drive method and a motor drive method can be adopted.

(Fourth Embodiment) Next, a fourth embodiment of the soil characteristic observing apparatus of the present invention will be described.
The difference from the first, second or third embodiment will be mainly described.

FIG. 17 is an enlarged side view showing the chisel portion of the soil characteristic observation apparatus according to this embodiment. Note that the chisel portion of the soil characteristic observing apparatus according to the present embodiment is also provided with the electric characteristic sensor 57 (see FIG. 3 and the like) having the same function as that of each of the above-described embodiments. Its illustration is omitted in FIG.

The soil characteristic observing apparatus according to the fourth embodiment has a soil hardness sensor (strain gauge) 58 applied in each of the above-described embodiments as a mechanism for detecting the earth pressure received by the chisel portion from the soil. Two strain gauges having equivalent functions are provided. The first strain gauge 58 ′ is arranged at the same position as the strain gauge 58 according to each of the above-described embodiments. On the other hand, the second strain gauge 58 ″ is closer to the upper surface 53a side of the chisel portion 53 than the first strain gauge 58 ′ is.
As opposed to the first strain gauge 58 ', the chisel portion 5
It is attached to the recess S4 formed in the upper surface 53a 'of 3'. The recess S4 has a curved surface having substantially the same shape as the curved surface of the inner wall of the accommodation space S2 in which the first strain gauge 58 ′ is provided.
A plate-shaped cover 58b covers the recess S4 and forms a part of the upper surface 53a of the chisel portion 53.

The force received from the soil by the chisel portion 53 '(the upper surface 53a' including the tip portion 53c ') acts in the direction (arrow Q direction) opposite to the traveling direction of the chisel portion 53'. The force acting in the direction of the arrow finger Q is a component force acting in the direction perpendicular to the upper surface 53a 'of the chisel portion 53' (direction of the arrow finger Q1) and its rearward (arrow finger Q2) along the upper surface 53a 'of the chisel portion 53'. Direction)). Here, in order to obtain highly reproducible data as a parameter that reflects the physical property of soil (for example, hardness), a direction perpendicular to the upper surface 53a 'of the chisel portion 53' (direction of the arrow finger Q1).
It is preferable to selectively detect only the force (component force) acting on.

In the soil characteristic observing apparatus according to the present embodiment, the value obtained by adding the detection value of the first strain gauge 58 ′ and the detection value of the second strain gauge 58 ″ is used as the soil pressure (soil hardness). ) As data information.

Here, the magnitude of the load of the soil applied in the vertical direction (direction of the arrow Q1) with respect to the upper surface 53a 'of the chisel portion 53' is the magnitude of the load applied to each point of the cantilever (chisel portion 53) ( Assuming that the load is the amount of strain that occurs near the support point (node P) of the beam), the force acting in the direction of the arrow finger Q2 corresponds to the force acting in the longitudinal direction of the beam. Therefore, as shown in FIG. 17, if the detection values of a pair of strain gauges 58 ′, 58 ″ that are substantially equidistant from the support point (node P) (on both side surfaces in the longitudinal direction of the beam) are added, The strain components in the longitudinal direction of the beam are canceled out, and the data information having a high correlation only with the magnitude of the load of the soil applied in the direction of the arrow finger Q1 can be obtained.

Note that, for example, the chisel portion 53 '' shown in FIG.
As described above, a pair of strain gauges 58 ′ and 58 ″ are attached to the inner wall of the cylindrical accommodation space S2 ′ formed inside the chisel portion so as to face each other, and the upper surface 53a of the chisel portion 53 ″ is attached. '' Even if the device configuration that detects the magnitude of the load of the soil applied in the vertical direction (direction of the arrow Q1) is applied, the same effect as or equivalent to the present embodiment can be obtained.

(Fifth Embodiment) Next, a fifth embodiment of the soil characteristic observing apparatus of the present invention will be described.
The differences from the first to fourth embodiments will be mainly described.

The basic hardware configuration of the soil characteristic observing apparatus according to the fifth embodiment is substantially the same as that of each of the above embodiments. Further, the soil characteristic observing apparatus according to the third embodiment is basically the same control logic as that applied to the apparatus according to each of the above-described embodiments, also regarding the fusion processing of various data information regarding soil characteristics. (See FIG. 7, FIG. 9, FIG. 10, etc.) is applied.

The soil characteristic observation apparatus according to each of the embodiments of the present invention, including the fifth embodiment, has a plurality of sensors arranged in different arrangements along the soil observation surface in order to obtain data information regarding soil characteristics. The device configuration is applied such that these sensors individually output detection signals relating to various soil characteristics.

Here, the detection signals individually output by the various sensors at an arbitrary time do not actually correspond to the same site on the soil observation surface.

For example, the distance between the electric characteristic sensor and the infrared light sensor on the soil observation surface L2 is 60 cm,
It is assumed that the traveling speed of the sensing unit is maintained at 30 cm / sec. In this case, the soil observation surface corresponding to the detection signal output by the infrared light sensor at an arbitrary time is the soil observation surface corresponding to the detection signal output by the electrical characteristic sensor 2 seconds (60 cm / 30 cm / second) before. There will be.

Therefore, in the soil characteristic device according to the present embodiment, the positional relationship between the various sensors provided in the device (to be exact, the positional relationship between the soils to be detected by the various sensors).
By calculating the difference between the acquisition timings of various data information acquired for the same soil sample, based on the traveling speed of the sensing unit, various information about the same soil sample (data information about soil characteristics) Data information is grouped so that data is managed collectively.

The specific procedure of the data information grouping process as described above will be described below with reference to a flowchart.

FIG. 19 is a flow chart showing a processing procedure (routine) for performing a fusion process of soil characteristic information acquired by various sensors based on detection signals. In addition,
The processing procedure according to the flowchart is included in, for example, step S104 of the basic routine (FIG. 7) described above as a part of the processing executed by the computer 150 such as the soil characteristic observation device 10.

When the processing shifts to this routine, the computer 150 first introduces the data information based on the detection signals of the various sensors of the optical sensor housing 60 in step S501.

In step S502, the time lag of the acquired data information is calculated based on the positional relationship between the optical sensor housing portion 60 and the chisel portion 53 and the traveling speed of the sensing portion.

In step S503, the time calculated in step S502 is taken into consideration, and from the history of data information based on the detection signals of the electrical characteristic sensor 57 and the soil hardness sensor 58, the various sensors in the optical sensor storage unit 60 are detected. The one corresponding to the data information based on the detection signal is extracted. Then, both pieces of data information are grouped as data information regarding the same soil sample and collectively managed.

As described above, due to the difference in the arrangement of the sensor elements or the soil surface (for example, the difference between the soil cutting surface and the soil observation surface L2) to be actually detected,
Even if the soil sample (observation target) detected at any timing is different, it is possible to reliably acquire and collectively manage the data corresponding to substantially the same soil sample as a set of data information regarding each soil characteristic. Like

Instead of the control structure according to the above routine, a control structure for adjusting the data acquisition start timing of each sensor is applied so that various sensors having different relative distances observe the same soil sample. May be.

Further, instead of the configuration of the electrical characteristic sensor 57 according to each of the above-described embodiments in which the upper surface 53a of the chisel portion 53 is used as an electrode, as shown in the top view of the chisel portion in FIG. Two types of electrodes 55a and 55b surrounding an insulating member may be provided on the upper surface 53a, and a device configuration for detecting the electric conductivity or the dielectric constant of soil between these electrodes may be applied.

Similarly, as shown in a top view of the chisel portion in FIG. 21, four types of electrodes 55c, 55d, 55e, which surround an insulating member on the upper surface 53a of the chisel portion 53, are provided.
55f is provided, and a pair of electrodes is used as a voltage detection terminal (for example, electrodes 55c and 55d) and another pair of electrodes is used as a current detection terminal (for example, electrodes 55e and 55f), whereby the electrical characteristics of soil are measured by the four-terminal method. It may be detected.

Further, as shown in FIG. 22 as a partial side view of the shank, the insulating members 51a, 5a are arranged along the outer edge of the shank 51 (at different depths in the soil).
Electrodes 51e, 51f surrounding 1b, 51c, 51d,
You may employ | adopt the apparatus structure which detects the electric characteristic of the soil in a different depth by arranging multiple 51g and 51h and utilizing each electrode.

[0148]

As described above, according to the present invention,
A plurality of data obtained at arbitrary observation points as detected values relating to soil characteristics can be accurately and efficiently fused as information corresponding to the same soil sample. Therefore, in expressing the geographical distribution of soil characteristics over a wide area, it becomes possible to efficiently collect information useful for creating a highly universal data map.

[Brief description of drawings]

FIG. 1 is a schematic diagram showing a schematic configuration of an observation system according to a first embodiment of the present invention.

FIG. 2 is a side view schematically showing the soil characteristic observation device according to the same embodiment.

FIG. 3 is a side sectional view schematically showing the internal structure of the sensing unit of the soil characteristic observation apparatus according to the same embodiment.

FIG. 4 is a top view showing the outer appearance of a chisel portion which is a part of the sensing portion according to the embodiment.

FIG. 5 is a block diagram showing an electrical configuration of a control unit of the soil characteristic observation apparatus according to the same embodiment.

FIG. 6 is a functional block diagram of a detection circuit according to the same embodiment.

FIG. 7 is a flowchart showing a basic procedure for recording data information regarding soil characteristics together with the acquisition position and the depth of the observed soil surface in the embodiment.

FIG. 8 is a schematic diagram conceptually explaining how output signals of various sensors included in the sensing unit according to the embodiment are processed.

FIG. 9 is a flowchart showing a processing procedure for fusing information on a soil light spectrum and soil electrical conductivity in the embodiment.

FIG. 10 is a flowchart showing a processing procedure for fusing information on a soil light spectrum and soil electrical conductivity in the embodiment.

FIG. 11 is a side sectional view schematically showing the internal structure of the sensing unit according to the second embodiment of the invention.

FIG. 12 is a functional block diagram of a signal processing unit for indexing an output signal of a soil displacement sensor in the embodiment.

FIG. 13 is a histogram of three types of indicators related to soil displacement states obtained at a plurality of observation points in the same embodiment.

FIG. 14 is a flowchart showing a processing procedure for selecting data information to be used for spectrum analysis based on three types of soil displacement state indexes at each observation point in the same embodiment.

FIG. 15 is a histogram created by the average displacement, the variance of displacement, and asymmetry obtained at a plurality of observation points in the same embodiment.

FIG. 16 is a schematic diagram schematically showing a soil cutting portion and its peripheral portion according to a third embodiment of the present invention together with a computer.

FIG. 17 is an enlarged side view showing a chisel portion of the soil characteristic observation device according to the fourth embodiment of the present invention.

FIG. 18 is an enlarged side view showing a modified example of the chisel portion of the soil characteristic observation device according to the same embodiment.

FIG. 19 is a flowchart showing a processing procedure for merging data information based on detection signals of various sensors in the fifth embodiment of the invention.

FIG. 20 is a schematic diagram showing another embodiment of the soil characteristic observation device of the present invention.

FIG. 21 is a schematic view showing another embodiment of the soil characteristic observation device of the present invention.

FIG. 22 is a schematic view showing another embodiment of the soil characteristic observation device of the present invention.

[Explanation of symbols]

1 Observation system 2 vehicle (tractor) 3 fields 10 Soil characteristic observation device 11 antenna 12a, 12b, 12c, 12d Support frame 13 pedestal 13a predetermined part 14 Support arm 16 swing arm 17 Free wheel for depth measurement 18 Rotation angle sensor 19 Coulter 20 Appropriate display unit 20 Display operation unit 30 control unit 40 halogen lamp 50 Soil cutting section 51 shank 52 Sensing unit 53 Chisel part 53a top surface 55 Surface electrode 56 Insulating member 57 Electrical characteristic sensor 58 Soil hardness sensor (strain gauge) 60 Optical sensor housing 61 Visible light sensor 62 infrared light sensor 63 CCD camera 64 temperature sensor 65A, 65B Optical fiber for lighting 66 Optical window 67 air duct 70 Spectroscopic unit 71 Visible Light Spectroscopy 72 Near infrared spectroscopic unit 75 External storage device 150 computers 200 GPS satellites L1 ground surface L2 observation soil surface S1 observation space

─────────────────────────────────────────────────── ─── Continuation of the front page (51) Int.Cl. ⁷ Identification code FI theme code (reference) G01N 27/04 G01N 27/04 Z (72) Inventor Sakae Shibusawa 3-11-30 Harumi-cho, Fuchu-shi, Tokyo (72) Inventor Atsushi Otomo 2081 Tahara, Mashiki-machi, Kamimashiki-gun, Kumamoto Prefecture 10 Kumamoto Techno Industrial Foundation (72) Inventor Shinichi Hirako Higashiirinami Higashiiri Minamifudocho, Shimokoji, Kyoto City, Kyoto Prefecture OMRON Life Science Research Institute F-term (reference) 2G059 AA01 AA05 BB09 CC09 CC12 DD12 EE02 EE11 FF01 GG01 GG02 GG10 HH01 HH02 HH06 JJ01 JJ17 KK04 MM02 MM03 MM09 MM10 2G060 AA14 AC01 AC07 AF13 AF10 AF01 AD01 AD05 AD05 AD01 AD05 AD05 AD01 AD05 AD01 AD05 AD01 AD05 AD01 AD05 AD05 KA05 KA09

Claims (8)

[Claims] 1. A soil characteristic observing device for observing a two-dimensional distribution of soil characteristics, which comprises a soil cutting means for advancing while cutting soil of an arbitrary depth, and a soil cutting means provided at a rear portion of the soil cutting means. Soil characteristic detecting means for detecting the characteristics of the soil cut through a predetermined observation space between the cutting surface of the soil, distance recognizing means for recognizing the distance between the cutting surface of the soil and the detecting means, A soil characteristic observing device comprising: a distance correspondence unit that performs posture control of the soil cutting unit and information processing regarding the detected soil characteristic according to the recognized distance. 2. The soil characteristic observing device according to claim 1, wherein the distance correspondence means has feedback control means for feedback-controlling the posture of the soil cutting means so that the recognized distance converges to a target value. A soil characteristic observation device. 3. The soil characteristic observing device according to claim 1, wherein the distance correspondence unit recognizes an uneven state of a cutting surface of the soil based on the recognized distance, Grouping processing means for grouping the information relating to the detected soil characteristics based on the recognized unevenness state, and a soil characteristic observing device. 4. The soil property observation apparatus according to claim 1, wherein the detected soil property includes an optical property based on light reflected from a cutting surface of the soil. Soil property observation device. 5. A soil characteristic observing device for observing a two-dimensional distribution of soil characteristics, comprising a blade-shaped soil cutting means that advances while cutting soil of an arbitrary depth, and a strain amount on the surface of the soil cutting means. An apparatus for observing soil characteristics, comprising: strain amount detecting means for detecting. 6. The soil characteristic observing device according to claim 5, wherein the strain amount detecting means has a pair of strain detecting surfaces facing each other, and is substantially parallel to a cutting surface of the soil cutting means. A soil characteristic observation apparatus comprising a strain detecting element. 7. The soil characteristic observing device according to claim 5, further comprising a strain amount limiting means for limiting a strain amount on the surface of the soil cutting means. 8. The soil characteristic observing device according to claim 1, further comprising: a communication unit that acquires information regarding the current position of the soil characteristic observing device as communication information from the outside, and the acquired information. A soil property observing device, comprising: a processing unit that processes the current position of the soil property observing device and the observed soil property as mutually related data information.