JP2003125623A - Processor and program for soil property data, storage medium having the program recorded thereon and method for processing the soil property data - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a processor and a program for soil property data with which precise data of the distribution of soil properties in a field can be effectively obtained, and they are collectively managed so that the data obtained in a field or in a plurality of fields can be easily compared with each other, and to provide a storage medium for memorizing the program. SOLUTION: A soil property observation apparatus comprises a stand linked to the rear part of a tractor, a computer 150 placed on the stand and a soil cutting device attached on the lower part of the rear end of the stand. It is pulled by a vehicle such as a tractor and performs real time observation on the distribution of the soil properties in the field. The computer 150 calculates standardized soil hardnesses, which are generalized data as an indicator for soil properties at observation points, and it produces a map showing the distribution of the standardized soil hardnesses in the field.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a soil characteristic information processing apparatus, a program and a recording medium having such a program recorded therein for processing data information relating to the soil characteristic in a field and its distribution. For creating and managing a large number of data information that are standardized comparably in.

[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 soil characteristics (variation in soil characteristics) that differ from section to section are taken into consideration, and then the selection of agricultural products, tillage work, fertilization, etc. Optimal management for each partition.

For example, there is a concept of soil hardness as an environmental parameter known to be closely related to the growth of crops in fields. The soil hardness is used as an index for soil hardness. Higher soil hardness in the field hinders the growth of the root system of the crop and tends to reduce the yield of the crop. Therefore, by grasping the soil hardness in each plot in the field and comparing it with the data obtained in the past and the data obtained in other plots, we will find the optimal management method that suits the soil characteristics of each plot. You can do it like this. 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. As described above, in order to standardize the data acquired for the soil in each section as the information on the soil hardness of each section, for example, a method of grasping the soil hardness as one function including a plurality of parameters can be considered.

[0005]

However, when the soil hardness is regarded as a single function consisting of a plurality of parameters, this function takes many parameters such as soil type, specific gravity, water content ratio, composition, and clay content. In addition, most of these parameters vary greatly depending on the sample analysis method and the collection conditions. For this reason, it has been difficult to perform highly reliable data analysis on samples collected in fields that are geographically wide or separated, or samples that are acquired in time series.

The present invention has been made in view of the above circumstances, and an object of the present invention is to efficiently obtain highly accurate data information regarding the distribution of soil characteristics in a field, and further to obtain the same field. A soil characteristic data processing device, a program, and such a program that facilitates the collective management of the data acquired in the same area or the data acquired in a plurality of fields as data information that can be easily compared. It is to provide a storage medium to be stored or a method of processing soil characteristic data.

[0007]

In order to achieve the above object, the apparatus according to the present invention uses the soil hardness characteristics and other characteristics related to the hardness characteristics as data corresponding to a plurality of soil samples. A soil characteristic data processing device for processing, wherein among data corresponding to a plurality of soil samples, hardness parameters standardized for some or all of the data, the other parameters relating to soil characteristics are constant. The gist of the present invention is to provide an estimating means for estimating hardness characteristics and a processing means for processing the estimated standardized soil hardness in association with at least one of an acquisition position and an acquisition time of each data.

Here, the hardness characteristic of soil broadly means a characteristic relating to the hardness of soil. Further, the data corresponding to the soil sample means not only the data obtained by analyzing the sample collected from the field but also the data obtained by observing the soil distributed in the field in the field. . Further, a part of data means not only a plurality of grouped data but also one data. Note that the data referred to here also includes data that has been observed and held in the past regarding the field.

The other parameters relating to soil characteristics may be one kind of parameter or plural kinds of parameters. Further, when the other parameters are made constant, it may be assumed that one kind of the parameters is made constant when there are a plurality of other parameters, or when the plurality of parameters are made constant. May be assumed. Furthermore, it is possible to envisage the case where all other parameters are constant.

According to this configuration, for example, by estimating the standardized hardness characteristics of a plurality of data obtained from an arbitrary field, the hardness characteristics peculiar to the soil of the field are set as numerical values (standardized soil hardness). It will be possible to understand and compare it with the hardness characteristics (standardized soil hardness for other fields) specific to soils in other fields. Therefore, it becomes easy to find the optimum crop species and farming method that match the soil hardness characteristics of the field. Further, for example, if one kind or a plurality of kinds of other parameters are selected and the hardness characteristics are estimated when the selected parameters are constant, among the hardness characteristics peculiar to the soil of the field, It becomes possible to accurately grasp the spatial distribution of the elements that change due to the influence of a specific soil characteristic (for example, water content). Therefore, even when the soil characteristics are unevenly distributed in a specific field, it is possible to perform optimum farmland management according to the soil characteristics at each point.

Further, in the soil characteristic data processing device, the other parameters relating to the characteristic of the soil include a parameter relating to the water content of the soil, a parameter relating to the texture of the soil, and an acquisition condition of each of the parameters. Is preferred.

Here, the parameters relating to the water content of the soil are not only the parameters directly related to the water content of the soil such as the water content and water content of the soil, but also the electric conductivity and the dielectric constant of the soil. It also includes parameters indirectly related to the water content of the soil, such as. Further, the acquisition condition of each parameter means a working condition at the time of collecting a sample or an on-site observation, a sample analyzing condition, or the like.

Further, in the soil characteristic data processing device, it is preferable that the other parameters relating to the characteristic of the soil include a parameter relating to the density of the soil.

According to the above configuration, of the main parameters that determine the hardness characteristics of the soil, such as the water content, texture, and density, the hardness characteristics of the soil (standardized soil hardness) as a function excluding the influence of specific parameters. And its spatial distribution can be grasped. Therefore,
It will be possible to find an effective method of farmland management by grasping the distribution of soil hardness characteristics in the field from various aspects.

Further, in the soil characteristic data processing device, at least one of the other parameters relating to the soil characteristic of the soil sample and the hardness of each soil sample of the soil sample are set at an arbitrary depth in a predetermined field. It is preferable to obtain the result as an observation result of a soil characteristic observing device that has a soil cutting means that advances while cutting the soil and continuously observes the characteristics of the soil cut by the soil cutting means.

According to this structure, it becomes possible to efficiently use a large amount of data obtained at any observation point as information on soil characteristics through the soil characteristic observation device, and to collect soil data over a wide area. The hardness characteristics can be efficiently managed.

The program according to the present invention is a computer-readable program that causes a computer to process the hardness characteristics of soil and other characteristics related to the hardness characteristics as data corresponding to a plurality of soil samples. In, among the data corresponding to a plurality of soil samples, as the hardness characteristics standardized for some or all of the data, an estimation procedure for estimating the hardness characteristics when other parameters relating to the characteristics of the soil are constant, The gist is to execute a processing procedure of processing the estimated standardized soil hardness in association with at least one of an acquisition position and an acquisition time of each data.

Here, the computer-readable program includes other parameters relating to the characteristics of the soil, parameters relating to the water content of the soil, parameters relating to the texture of the soil, and acquisition conditions for the respective parameters. Is preferred.

Further, it is preferable that the computer-readable program includes a parameter relating to soil density in addition to the other parameters relating to soil characteristics.

Further, the computer-readable program sets at least one of the other parameters relating to the soil characteristics of the soil sample and the hardness of each soil sample of the soil sample at an arbitrary depth in a predetermined field. It is preferable to obtain the result as an observation result of a soil characteristic observing device that has a soil cutting means that advances while cutting the soil and continuously observes the characteristics of the soil cut by the soil cutting means.

The storage medium according to the present invention is a storage medium of a computer-readable program for causing a computer to process the hardness characteristics of soil and other characteristics related to the hardness characteristics as data corresponding to a plurality of soil samples. Then, of the data corresponding to a plurality of soil samples, as a standardized hardness characteristic for some or all of the data, an estimation procedure for estimating the hardness characteristic when other parameters related to the soil characteristic are fixed. ,
The gist of the present invention is to store a program for executing the processing procedure of processing the estimated standardized soil hardness in association with at least one of the acquisition position and the acquisition time of each data.

Here, in the computer-readable storage medium of the program, other parameters relating to the characteristics of the soil include parameters relating to the water content of the soil, parameters relating to the texture of the soil, and acquisition conditions for the respective parameters. The main point is to include and.

Further, it is a summary that in the computer-readable storage medium of the program, the other parameters relating to the characteristics of the soil include parameters relating to the density of the soil.

Further, in the computer-readable storage medium of the program, at least one of the other parameters relating to the soil characteristics of the soil sample and the hardness of each soil sample of the soil sample are set to a predetermined field. In g., It is possible to obtain as an observation result of a soil characteristic observation device that has a soil cutting means that advances while cutting soil of an arbitrary depth and continuously observes the characteristics of the soil cut by the soil cutting means. To do.

The method according to the present invention is a method for processing soil characteristic data in which the hardness characteristic of soil and other characteristics related to the hardness characteristic are processed as data corresponding to a plurality of soil samples. Of the data corresponding to the soil sample, as a hardness characteristic standardized for some or all of the data, a procedure for estimating the hardness characteristic when other parameters relating to the soil characteristic are constant, and the estimated standardization. The summary is to include a procedure of processing the soil hardness in association with at least one of the acquisition position and the acquisition time of each data.

Here, in the processing method of soil characteristic data, the other parameters relating to the characteristic of the soil are:
It is preferable that a parameter regarding the water content of the soil, a parameter regarding the texture of the soil, and an acquisition condition of each of the parameters are included.

Further, in the above-described method for processing soil characteristic data, it is preferable that the other parameters relating to the characteristic of the soil include a parameter relating to the density of the soil.

Further, in the method for processing soil characteristic data, at least one of the other parameters relating to the soil characteristic of the soil sample,
About the soil sample, the hardness of each soil sample,
Obtained as an observation result of a soil characteristic observation device that has a soil cutting means that advances while cutting soil of an arbitrary depth in a predetermined field and continuously observes the characteristics of the soil cut by the soil cutting means. Is preferred.

The above configurations can be combined as much as possible.

[0030]

BEST MODE FOR CARRYING OUT THE INVENTION An embodiment in which the present invention is applied to an observation system for observing the distribution of soil characteristics in a field and processing and managing the data information acquired as an observation result will be described below.

[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 (Global Positioning System) satellite for grasping the accurate 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.
Has a chisel blade (chisel portion) 53 for excavating soil at its tip, and also incorporates various sensors (not shown) for observing soil characteristics. Soil cutting part 50
The halogen lamp 40 attached to the outside of the is an observation target (soil) of various sensors (not shown) described later in an observation space (not shown) formed in the sensing unit 52.
Function as a light source for illuminating. The support arm 14 attached to the side portion of the pedestal 13 is grounded together with the support frame 12a, 12b, 12c, 12d by grounding a gauge wheel 15 provided at the tip of the pedestal 13.
To keep the ground level with the ground surface. Also, gauge wheel 15
The distance between the pedestal 13 and the pedestal 13 can be adjusted, and the position (depth) of the sensing unit 52 in the soil can be adjusted by adjusting this distance. Similarly, it is a side portion of the pedestal 13 and a predetermined portion 13 in front of the support arm 14.
In a, the swing arm 16 that is swingably attached around the portion 13a grounds the free wheel 17 for depth measurement provided at the tip thereof. 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. Based on the output signal of the rotation angle sensor 18, the free wheel for depth measurement 1
The distance D1 between the ground contact surface of No. 7 and the pedestal 13 and the distance between the bottom surface (observation soil surface) of the sensing unit 52 and the ground surface L1, in other words, the depth D2 of the observation soil surface L2 are obtained. In addition, the coulter 19 provided at the tip of the pedestal 13
By cutting the ground surface in front of the soil cutting unit 50,
The force required to guide the sensing unit 52 below the ground surface (resistance that the soil cutting unit 50 receives from the soil) is reduced.
It also has a function of cutting straws or weeds and preventing them from getting 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 imaging data acquired by the CCD camera 63 is used as information for grasping the rough classification and texture of the soil. 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 (soil resistance) received from the soil it cuts open. As the soil resistance received by the chisel portion 53 increases, the moment generated around the node P (for example,
The force acting on the upper surface 53a of the chisel portion 53 in the direction of the arrow finger Q1) becomes large, and the soil hardness sensor (strain gauge) 5
The distortion amount of 8 also becomes large. That is, the soil hardness sensor 5
8 indicates the magnitude of the load of soil applied to the upper surface 53a of the chisel portion 53, the magnitude of the load applied to each point of the cantilever beam (chisel portion 53) (the load is in the vicinity of the support point (node P) of the beam). The magnitude of the distortion that occurs in (1) is detected. In addition, if various conditions such as the traveling speed of the sensing unit 52 in the soil are constant, the resistance received by the chisel unit 53 from the soil (soil resistance) has a high correlation with the hardness of the soil (soil hardness). .

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 (is formed into a cylindrical shape), so that the resistance acting on the upper surface 53a of the chisel portion 53 is increased. On the other hand, 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 therein a central processing unit (CPU), a read-only memory (ROM), a random access memory (RAM), and a backup RAM.
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 each of these sections in response to a command signal from the display / operation section 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 Structure of Electric Conductivity and Permittivity Detection Circuit] FIG. 6 shows a signal proportional to the electric conductivity and the permittivity of soil contacting the upper surface 53 a of the chisel portion 53 of the electric characteristic sensor 57. The computer 15 is individually used as a detection signal.
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 electrode surface, and it becomes difficult to carry out 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 detection circuit 57b separately from the low frequency AC voltage applied to the electrical conductivity detection 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 this 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.

In this embodiment, the same electrode is shared to detect the electric conductivity and the permittivity, but a separate dedicated electrode is provided to detect each of them. May be.

[Basic Routine for Acquiring Data Information Regarding Soil Properties] Next, the soil property observing device 10 having the above hardware configuration relates to the soil properties in the field 3 according to what control logic. Details of how to obtain the data information and manage the information will be described.

FIG. 7 shows a basic routine for recording data information based on detection signals from various sensors provided in the sensing section 52 together with the position where the data information was acquired and the depth of the observed soil surface. It is a flowchart. This routine is executed by the computer 150 (a program stored in the computer 150) every predetermined time after the computer 150 is started.

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 3-second intervals. In this case, if the control logic is configured such that data information is acquired at 0.05-second intervals after a 3-second interval, about 20 sensors (5 In the case of types, a total of 100 pieces of data information will be acquired. The computer 150 has two sensors per type.
The averaging process is performed on 0 pieces of data information (step S103) and processed into one set of data information (step S10).
4) Manage.

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) amount, pH, nitrate nitrogen (NO ₃ —N), soil solution electric conductivity ECw, water content (water content ratio) and the like, and has a function as a first estimation means.

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

Here, for example, soil solution electric conductivity ECw
The water content (moisture content ratio) can be obtained through a detection unit that detects the optical characteristics of the soil, or can be obtained through a detection unit that detects the electrical or mechanical characteristics. In the soil characteristic observation device 10 according to the present embodiment, regarding data information regarding the same observation item (for example, soil solution electric conductivity ECw or water content ratio) obtained through different detection means, those data information are compared with each other. Data information fusion processing such as adopting the most reliable data information is performed.

[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). The processing procedure according to the flowchart is included in, for example, step S104 in the basic routine (FIG. 7) described above as a part of the processing executed by the computer 150 (a program stored in the computer) of the soil characteristic observation device 10.

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 ratio 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 housing 60, while the electrical characteristic sensor 57 (dielectric constant detection circuit The water content of the soil at each observation point is separately estimated based on the detection signal of 57b).

In step S202, the water content ratio (hereinafter referred to as the water content ratio 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 ratio of the soil at each observation point (hereinafter referred to as the water content ratio based on the electrical characteristics) WE based on the detection signal of the electric characteristic sensor 57 to obtain a more reliable water content ratio of the soil at each observation point. A high water content ratio (hereinafter referred to as the applied water content ratio) WM is calculated.

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

That is, if the deviation between the water content ratio WP based on the optical characteristics and the water content ratio 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 ratio WM. On the other hand, when the deviation exceeds the predetermined value, the applicable water content ratio WM is calculated by using the data information (water content ratio 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 ratio 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 ratio 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. Note that this routine may be performed through the computer 150 (a program stored in the computer), or based on the data information stored in the external storage device 75, another control device (stored in the control device). Program). Prior to the execution of this routine, among the N observation points in the field 3,
Soil samples were actually collected from n (n <N) observation points, and the electrical conductivity and water content of these soil samples were measured in advance using an analytical instrument in the laboratory to obtain standard data information. As an example, it is stored in 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 the soil at each observation point based on the detection signal of 2, etc., the water content of the 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 The water content ratio (hereinafter referred to as water content ratio based on optical characteristics) WP estimated based on the detection signal of the infrared light 62 and the water content ratio of soil at each observation point (hereinafter, referred to as “water content ratio based on optical characteristics”). It is tested which has a higher correlation with WE, which is called water content ratio based on electrical characteristics. Then, of the water content ratio WP based on the optical characteristics and the water content ratio WE based on the electrical characteristics, the water content ratio (hereinafter, referred to as standard (reference) data information
It is determined that data information showing a higher correlation with WS (referred to as standard water content ratio) is adopted as the water content ratio (adopted water content ratio) of soil in the field.

In step S304, step S
The adopted water content ratio (WP or W)
The calculation method for calculating the accurate water content ratio from E) is
Established by comparing the adopted water content with the standard water content for each piece of data information.

In the subsequent step S305, the adopted water content ratio (WP or WE) obtained by the same estimation method as the water 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 ratio (applied water content ratio) 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 ratio 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 ratio 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.

[Standardized Soil Hardness] As an index showing the soil characteristics at each observation point, the inventors introduce the concept of standardized soil hardness as data information that can be easily compared with each other.
The standardized soil hardness is estimated based on the data information acquired based on the basic routine (FIG. 7), that is, a plurality of parameters reflecting the soil characteristics of each observation point at a specific time.

The nature of standardized soil hardness and the basic principle of the calculation procedure will be described below.

In the present embodiment, the standardized soil hardness is
It is an index showing the soil characteristics at each observation point, and among other soil characteristics (parameters related to soil characteristics) acquired for the soil, water content W, electric conductivity Ec, and observation conditions for these parameters (work condition parameters) ) Is an estimated value when α is assumed to be a specific value (assuming it is constant).

The water content ratio W referred to here is the same as in FIG.
It is synonymous with the applied water content ratio WM acquired at each observation point in the basic routine of. The electric conductivity Ec is synonymous with the soil solution electric conductivity ECw acquired at each observation point in the basic routine shown in FIG. Also,
The work condition parameter α is the pulling speed of the soil cutting unit 50 or the observed soil surface L2 at the acquisition time of the detection signal regarding each parameter WM, ECw through the soil cutting unit 50.
Is a function that reflects the depth of.

Here, FIG. 11 shows the relationship between the water content ratio, the electric conductivity, and the working condition parameters and the soil hardness (hereinafter, simply referred to as soil hardness) recognized based on the detection signal from the soil cutting section 50. It is the system model shown and is a premise for calculating the standardized soil hardness according to the present embodiment.

In the present embodiment, the soil hardness F is assumed to be a function of the water content ratio W, the electric conductivity Ec, and the working condition parameters.

Further, the water content ratio W (x) and the electric conductivity Ec
(X), a multi-input, one-output linear system is assumed with the work condition parameter α (x) as input and the soil hardness F (x) as output. However, the code x is a variable corresponding to the position information (coordinates) from the GPS satellite 200. It is also assumed that the inputs are independent of each other.

Then,

[Equation 1] The relationship is established. Here, each of F1, F2, and F3 is a component that determines the soil hardness F, and in particular, F1
Is the water content ratio W (x), F2 is the electric conductivity Ec (x),
It can be said that F3 is a variable dependent on the work condition parameter α (x).

For example, each variable F1, F2, F3 is

[Equation 2]

[0093]

[Equation 3]

[0094]

[Equation 4] (However, a, a ', a ", b, b', b", c, c ', c "are constants, and the regression equations h1, h2, h3 may be approximated.

Since these regression equations are peculiar to the soil in the field 3, for example, the water content ratio W (x), the electric conductivity Ec (x), the work condition parameter α ( Even if any of the data in x) is missing for some reason, the missing data can be interpolated with high accuracy based on the corresponding regression equation.

Further, by substituting a specific value (arbitrarily determined value) for each variable (parameter) W, Ec, α included in each regression equation (2), (3), (4), F1, F2, Soil hardness F calculated by obtaining F3 and further according to the above equation (1)
Is the soil hardness peculiar to the field 3 (standardized soil hardness F '.
Can be treated as.

Further, for example, F1, F2 and F3 are obtained by substituting specific values only for the water content ratio W or only the electric conductivity Ec, and the soil hardness F calculated according to the above equation (1).
Can be treated as a soil hardness peculiar to the soil at each observation point (hereinafter, referred to as a semi-standardized soil hardness F ″) when the influence of the variation of the water content ratio W or the electric conductivity Ec is excluded.

[Processing Routine for Calculating Standardized Soil Hardness] Hereinafter, a flowchart will be described with respect to a specific procedure for estimating the standardized soil hardness unique to the field 3 and the semi-standardized soil hardness unique to each observation point. It will be described with reference to FIG.

In FIG. 12, the standardized soil hardness peculiar to the soil of the field 3 and the quasi-standardized soil hardness of each soil sample are calculated based on the data information acquired by the basic routine of FIG. A processing routine is shown.

This routine is executed manually or automatically through the computer 150 (a program stored in the computer) after the soil characteristic observing device 10 has completed one observation work in the field 3. It

In this routine, the computer 150
First, in step S401, the water content W, the electric conductivity Ec, and the working condition parameter α are acquired from the external storage device 75 as data corresponding to each soil sample (data corresponding to each observation point in the field 3).

In subsequent step S402, the computer 150 inputs the water content ratio W, the electric conductivity Ec and the work condition parameter α, and inputs the soil hardness F (soil hardness F1, F2, F3 depending on each parameter W, Ec, α). Three regression equations h1, h2, h3 that output is calculated.
The soil hardness may be a relative value with respect to a predetermined reference value. For example, the soil resistance received by a portion (for example, the soil cutting portion 50, the coulter 19 or the like) of the soil characteristic observing apparatus 10 related to soil cutting in relation to the water content W, the electric conductivity Ec, and the value of the work condition parameter α is standard. It can also be expressed as an index with respect to the soil resistance that the soil cut portion having a specific shape receives. The soil resistance referred to here is the soil characteristic observation device 1
It refers to the resistance received by the soil cutting portion 50 when 0 progresses (the resistance received by the shank 51 and the earth pressure received by the chisel portion 53 in resistance conversion). In addition, the traction resistance is a general term of resistance received by a portion related to soil cutting when the soil characteristic observation device 10 advances.

In step S403, the computer 1
The reference numeral 50 substitutes a specific value into each regression equation obtained in step S402 to calculate F1, F2 and F3, and further calculates a standardized soil hardness F ′ peculiar to the field 3 as the sum thereof. Moreover, F1, F2, and F3 are calculated by substituting specific values only for the water content ratio W or the electric conductivity Ec and substituting the observed values for the other parameters, and further, as a sum of them, each observation in the field 3 is performed. A semi-standardized soil hardness F ″ corresponding to the point is calculated.

In step S404, the computer 1
50 creates a map showing the spatial variation (planar distribution) in the field 3 for the semi-standardized soil hardness F ″.

After that, the computer 150 uses the map created in step S404 as the data information acquired in the field 3 at the specific date and time in the external storage device 75.
(Step S405), and the processing of this routine is once ended.

As described above, according to the observation system of the present embodiment, the hardness standardized for all data among the data corresponding to the soil samples obtained from a plurality of observation points in the field 3 is obtained. By estimating the characteristics, the hardness characteristic peculiar to the soil of the field 3 is grasped as a numerical value (standardized soil hardness F ′), and this is compared in time series, and the hardness characteristic peculiar to the soil of other fields is calculated. It becomes extremely easy to compare with (standardized soil hardness F ′ for other fields). Therefore, it becomes possible to easily find the optimum crop species and farming method for the soil hardness characteristics of the field 3.

Further, of the hardness characteristics peculiar to the soil of the field 3, it is possible to accurately grasp the spatial distribution of the elements that change due to the influence of specific soil characteristics (for example, water content). Become. Therefore, even when the soil characteristics are unevenly distributed in a specific field, it is possible to perform optimum farmland management according to the soil characteristics at each point.

By applying the quasi-standardized soil hardness F ″ as a function excluding the influence of specific parameters among the main parameters that determine the hardness characteristics of the soil such as the water content W and the electric conductivity Ec, the soil It is also possible to grasp the spatial distribution within the field 3 of specific factors related to the hardness of the field 3. Therefore, by grasping the distribution of soil hardness characteristics within the field 3 from multiple perspectives, effective management of farmland can be performed. You will be able to find a method.

In particular, it becomes possible to efficiently use the data acquired through the system such as the soil characteristic observation device 10, that is, the large amount of data obtained at any observation point as the information regarding the soil characteristic. Effective management of soil hardness characteristics over a wide area becomes possible.

Of the data obtained from the field 3, not only the standardized soil hardness F ′ and the quasi-standardized soil hardness F ″ are calculated for the data obtained from all the observation points, but some data are grouped. , The standard soil hardness or the semi-standardized soil hardness may be estimated for this grouped data.

When calculating the standardized soil hardness F ′ and the quasi-standardized soil hardness ″, the soil texture (for example, the image picked up by the CCD camera 63) is used as a factor that determines the soil hardness instead of or in addition to the water content ratio and the electric conductivity. (Which can be recognized based on data), density, etc. may be applied.

Each regression equation (system function) is calculated based on the water content W as the observation data on the input side, the electric conductivity Ec, the work condition parameter α, and the soil hardness F as the observation data on the output side. The following method can be illustrated as a method of calculating.

In the system model shown in FIG. 11,
If each regression formula h _i (x) is a weighting function, each component F _i (x) of soil hardness in the above formula (1) is

[Equation 5]

Alternatively, the Laplace transform (Fourier transform)
do it,

[Equation 6] Becomes z _i , Z _i are the water content, electrical conductivity, data value of the work parameter and its Fourier transform (two dimensions are also possible),
H _i (f) is a transfer function (transfer function for spatial variation) of each parameter. f means spatial frequency. Here the unknowns are F _i and H _i .

The relational expression of the mutual spectrum is

[Equation 7]

Here, S _ij (f) is a mutual spectral density function, which can be calculated from measured data. Since the above equation (7) expresses the mutual spectral density function of one parameter and soil resistance, three simultaneous equations are obtained and the transfer function of each parameter can be calculated.

For example, the relationship between the texture and soil resistance (transfer function) is

[Equation 8] It is obtained by the following equation.

[0118]

[Equation 9] Using this, the soil hardness, which is affected only by electrical conductivity, can be calculated in principle.

[0119]

[Equation 10] Similarly, it is possible to calculate the soil hardness affected only by the effects of the water content ratio and the work parameters.

That is,

[Equation 11]

[0121]

[Equation 12] Laplace inverse transformation (Fourier inverse transformation) of equations (10) to (12)
Then, a map of soil hardness affected by each parameter in spatial coordinates can be obtained. Further, the characteristic of spatial frequency variation (corresponding to a semivariogram) can be illustrated based on each equation.

Here, if the water content ratio and the electric conductivity are kept constant, a map of the quasi-standardized soil hardness F ″ ′ including the density effect can be obtained.

[0123]

[Equation 13] This may be calculated for each segment, the observed value may be corrected, and a map showing the spatial distribution of the quasi-soil hardness may be created by Kriging or the like.

[0124]

As described above, according to the present invention,
By estimating the standardized hardness characteristics for multiple data obtained from any field, the hardness characteristics peculiar to the soil of the field are grasped as numerical values (standardized soil hardness),
It will be possible to compare the hardness characteristics specific to other field soils (standardized soil hardness for other fields).
Therefore, it becomes easy to find the optimum crop species and farming method for the soil hardness characteristics of the field.

If one kind or a plurality of kinds of other parameters are selected and the hardness characteristics are estimated when the selected parameters are constant, the hardness characteristics unique to the soil of the field are estimated. Thus, it becomes possible to accurately grasp the spatial distribution of the elements that change due to the influence of specific soil characteristics (for example, water content). Therefore, even when the soil characteristics are unevenly distributed in a specific field, it is possible to perform optimum farmland management according to the soil characteristics at each point.

[Brief description of drawings]

FIG. 1 is a schematic diagram showing a schematic configuration of an observation system according to an 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 system model showing a relationship assumed to be established between the water content ratio, the electrical conductivity, the work condition parameter, and the soil hardness in the same embodiment.

FIG. 12 is a flowchart showing a procedure for calculating a standardized soil hardness unique to a field in which an observation regarding soil characteristics is performed or a quasi-standardized soil hardness of each soil sample in the present embodiment.

[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 Display operation unit 30 control unit (an example of a storage medium) 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 (an example of a storage medium) 150 computers 200 GPS satellites L1 ground surface L2 observation soil surface S1 observation space

   ─────────────────────────────────────────────────── ─── Continued front page    (72) Inventor Sakae Shibusawa             3-11-30 Harumi-cho, Fuchu-shi, Tokyo (72) Inventor Atsushi Otomo             2081 Tawara, Tahara, Mashiki-machi, Kamimashiki-gun, Kumamoto Prefecture               Kumamoto Techno Industry Foundation (72) Inventor Shinichi Hirako             Shiokyo-ku, Kyoto-shi, Kyoto Prefecture             Kudo-cho 801 OMRON LIFE SAY CO., LTD.             Inside the Institute F-term (reference) 2B052 BA03 BA06 BA08

Claims (7)

[Claims] 1. A soil characteristic data processing device for processing soil hardness characteristics and other characteristics related to the hardness characteristics as data corresponding to a plurality of soil samples, which corresponds to a plurality of soil samples. Among the data, as the hardness characteristics standardized for some or all of the data, an estimation means for estimating the hardness characteristics when other parameters relating to the characteristics of the soil are constant, and the estimated standardized soil hardness, A soil characteristic data processing apparatus comprising: a processing unit that processes at least one of an acquisition position and an acquisition time of each data. 2. The soil characteristic data processing apparatus according to claim 1, wherein the other parameters relating to the characteristic of the soil, the parameters relating to the water content of the soil, the parameters relating to the texture of the soil, and the acquisition conditions for the respective parameters. A soil characteristic data processing device comprising: 3. The soil characteristic data processing device according to claim 2, wherein the other parameter relating to the characteristic of the soil includes a parameter relating to the density of the soil. 4. The soil property data processing device according to claim 1, wherein at least one parameter of other parameters related to the soil property of the soil sample and each soil sample of the soil sample. An observation result of a soil characteristic observing device for continuously observing the hardness and the characteristic of the soil cut by the soil cutting means having a soil cutting means that advances while cutting the soil of an arbitrary depth in a predetermined field. A soil characteristic data processing device characterized by being acquired as. 5. A computer-readable program for causing a computer to process soil hardness characteristics and other characteristics related to the soil characteristics as data corresponding to a plurality of soil samples, the computer comprising: Of the data corresponding to the soil sample, as a standardized hardness characteristic for some or all of the data, an estimation procedure for estimating the hardness characteristic when other parameters related to soil characteristics are constant, and the estimated A computer-readable program that executes a processing procedure of processing the standardized soil hardness according to at least one of the acquisition position and the acquisition time of each data item. 6. A storage medium of a computer-readable program for causing a computer to process soil hardness characteristics and other characteristics related to the soil characteristics as data corresponding to a plurality of soil samples, the computer-readable storage medium comprising: Of the data corresponding to a plurality of soil samples, as a hardness characteristic standardized for some or all of the data, an estimation procedure for estimating the hardness characteristic when other parameters related to soil characteristics are constant, and the estimation A computer-readable storage medium of a program storing a processing procedure for processing the standardized soil hardness associated with at least one of an acquisition position and an acquisition time of each data, and a program for executing the processing procedure. 7. A method for processing soil characteristic data, which processes soil hardness characteristics and other characteristics related to the hardness characteristics as data corresponding to a plurality of soil samples, which corresponds to a plurality of soil samples. Among the data to be, as hardness characteristics standardized for some or all of the data, a procedure for estimating the hardness characteristics when other parameters relating to the characteristics of the soil are constant, and the estimated standardized soil hardness, A method of processing soil characteristic data, including a procedure of processing in association with at least one of an acquisition position and an acquisition time of each data.