JP2010000019A - Fertilizer apparatus - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide fertilization according to the soil characteristics, and to provide fertilization to be carried out efficiently. <P>SOLUTION: A fertilizer apparatus includes traveling means for traveling on a paddy field, measuring means for measuring the soil characteristics of the mud part thereof, and fertilizing means for applying fertilizer to the mud part. The measuring means includes depth-measuring means, electrical conductivity-measuring means and hardness-measuring means. The fertilizer apparatus (101) acquires "electrical conductivity of the mud part: EC", "depth of the mud part: D" and "hardness of the mud part: H" so as to be related to "position information: P" obtained by the traveling of the traveling means, (107, 108) determines "fertilizing amount: Y" so as to be 0 when "hardness: H" of the mud part is soft, (109) calculates "fertility degree: F" from "electrical conductivity of the mud part: EC" and "depth of the mud part: D", and (111) further calculates "fertilizing amount: Y" based on "fertility degree: F". <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a fertilizer application, and more particularly, to a fertilizer application apparatus including travel means for traveling in a mud, measurement means for measuring soil characteristics of the mud, and fertilizer for applying fertilizer to the mud.

2. Description of the Related Art Conventionally, there is known a fertilizer application device that includes a traveling means that travels in a paddy field and a fertilizer means that applies fertilizer to the paddy field.
As such a fertilizer, what is equipped with a paddy depth detection device that detects the distance from the hard disk layer of the paddy field to the paddy surface is known, and when the depth of the paddy field becomes deeper, the amount of fertilizer is reduced to a small amount (Patent Document 1)
There is also known a fertilizer application device that stores soil data and its measurement position in advance using a soil sampling vehicle or the like, and performs fertilization while changing the fertilization amount according to the measurement result (Patent Document 2).
Japanese Patent Publication No. 7-99973 Japanese Patent Laid-Open No. 2002-17128

Here, the fertilizer application of the said patent document 1 is in order to prevent that a wheel slips and driving speed becomes slow when the depth of a paddy field becomes deep, and the amount of fertilization of that part will increase relatively, The purpose is to reduce the amount and to fertilize evenly throughout the paddy field.
However, depending on the paddy field, the soil characteristics may be different from place to place, and when uniformly fertilized, depending on the place, there may be over fertilization and lodging or rice quality may be reduced. There was a problem that variations occurred.
Moreover, in the fertilizer application apparatus of patent document 2, soil data had to be collected in advance by a soil sampling vehicle or the like, and it was impossible to perform fertilization by measuring soil characteristics in real time.
In view of such problems, the present invention provides a fertilizer application apparatus that can perform fertilization according to soil characteristics and can efficiently perform fertilization.

That is, the fertilizer application device according to claim 1 includes traveling means for traveling in the mud on the hard board layer, measuring means for measuring soil properties of the mud, and fertilizing means for applying fertilizer to the mud. In fertilizer application equipment,
The measuring means includes depth measuring means for measuring the depth of the mud as soil characteristics, and electrical conductivity measuring means for measuring the electrical conductivity of the mud as soil characteristics,
Further, the present invention is characterized in that a fertilizer is obtained from the depth and electrical conductivity of the mud and control means is provided for controlling the fertilization amount by the fertilizer according to the fertility.

  According to the above invention, the fertility is obtained from the depth and electrical conductivity of the mud, and the amount of fertilization is controlled according to the fertility, so that an appropriate amount of fertilizer is applied according to different soil characteristics for each place be able to. Moreover, soil measurement and fertilization can be performed simultaneously, and efficient fertilization can be performed.

Hereinafter, the illustrated embodiment will be described. FIG. 1 shows a fertilizer applying apparatus 1 according to the present invention, a traveling means 2 that travels in a paddy field F, a planting means 3 that plants a seedling R in the paddy field F, and a paddy field F. And fertilizer application means 4 for applying fertilizer to the rice field, and measuring means 5 for measuring the soil characteristics of the paddy field F. These are connected to the control means 6.
The paddy field F is in a state in which a mud portion Fb is formed on the hard disk layer Fa on which the traveling means 2 travels, and the traveling means 2 travels on the hard disk layer Fa while being submerged in the mud portion Fb. It has become. In the present embodiment, the water on the upper part of the mud Fb that is normally stretched is previously removed.
According to the fertilizer application apparatus 1, when the traveling means 2 travels on the paddy field F, the soil characteristics of the mud Fb where the measuring means 5 travels are measured, and the control means 6 determines the fertility of the mud Fb. At the same time, the fertilizer 4 is controlled to fertilize an appropriate amount of fertilizer according to the soil characteristics, and the seedling R is planted by the planting means 3.
By doing in this way, the soil characteristic of the whole paddy field F can be made uniform, and since the seedling R can be planted simultaneously with the measurement of the soil characteristic, stable harvest can be expected and efficient. Agricultural work can be done.

A conventionally known tractor can be used as the traveling means 2, and a conventionally known rice planting machine comprising the traveling means 2 and the planting means 3 can be used. In addition to the traveling means provided with the illustrated driver's seat and steering wheel, conventionally known traveling means having other configurations can be used.
Although the said planting means 3 is conventionally well-known and detailed description is abbreviate | omitted, while planting the seedling R at equal intervals in the width direction of the traveling means 2, it is seedling at predetermined intervals according to the traveling speed of the traveling means 2. R is planted.
The traveling means 2 is provided with a position measuring means 7 for measuring the position of the traveling means 2 and a speed measuring means 8 for measuring the absolute speed of the traveling means 2.
The position measuring means 7 can be a GPS (Global Positioning System). When the traveling means 2 travels on the paddy field F, the position information of the traveling means 2 is sequentially acquired.
The speed measuring means 8 is a sensor for measuring the absolute speed of the traveling means 2 with respect to the surface of the paddy field F, such as an ultrasonic speedometer. In the speedometer provided in the traveling means 2, the wheel is idled by the mud Fb. Since an accurate speed cannot be measured, the absolute speed by the speed measuring means 8 is measured.

The fertilizer application means 4 comprises a tank 11 containing granular fertilizer, a delivery means 12 for delivering a predetermined amount of fertilizer from the tank 11, and a nozzle 13 for spraying the fertilizer, and the control means 6 provides the delivery means 12. It is possible to adjust the amount of fertilization by controlling.
Such fertilizing means 4 is provided according to the number of rows of seedlings R planted by the planting means 3, and the nozzle 13 sprays fertilizer toward the position where the seedlings R are planted.
Further, in this embodiment, the nozzle 13 is provided in front of the planting means 3, and when the traveling means 2 travels, the fertilizer is first sprayed from the nozzle 13, and then the planting means 3 receives fertilizer. The seedling R is planted at the sprayed position.
The nozzle 13 may be positioned in the vicinity of the planting position of the planting means 3 and fertilized at the same time as planting. The fertilizer to be fertilized by the fertilizer 4 is not limited to granular but may be liquid.

The measuring means 5 includes a depth measuring means 14 for measuring the depth of the mud Fb, an electric conductivity measuring means 15 for measuring the electric conductivity of the mud Fb, and a hardness measuring means for measuring the hardness of the mud Fb. 16.
The depth measuring means 14 is provided at a first potentiometer 14a provided on the lower surface of the traveling means 2, a first rod 14b rotatably provided on the first potentiometer 14a, and a tip of the first rod 14b. And the float 14c.
The float 14c floats on the surface of the mud Fb, and moves up and down relative to the traveling means 2 when the depth of the mud Fb changes and the position of the traveling means 2 fluctuates up and down. It is like that.
When the float 14c moves up and down with respect to the traveling means 2, the first rod 14b rotates around the first potentiometer 14a, and the first potentiometer 14a is mud Fb based on the rotation angle of the first rod 14b. Measure changes in depth.

As shown in FIG. 3, the electric conductivity measuring means 15 includes two disk-like electrodes 15a provided inside the wheels 2a (for example, front wheels) of the traveling means 2, and an electric current is not shown for applying an electric current to these electrodes 15a. The electric conductivity is calculated from the current generating means, the unillustrated subsidence sensor for measuring the amount of subsidence of the electrode 15a into the mud Fb, the unillustrated voltage measuring means for measuring the voltage between the electrodes 15a, and the above subsidence amount and voltage. It is comprised from the electrical conductivity calculation means to calculate.
The electrode 15a is fixed to the wheel 2a in an insulated state with respect to the traveling means 2, and its outer diameter is substantially the same as or slightly smaller than the wheel 2a. For this reason, a part of the electrode 15a is always sunk in the mud Fb, and the sunk amount is measured by the sunk sensor.
As described above, the electrical conductivity measuring means 15 of this embodiment includes the two electrodes 15a, and measures electrical conductivity by a so-called two-terminal method.
Specifically, when the current generating means applies a current to one electrode 15a, the current flows to the other electrode 15a via the mud Fb, and the voltage measuring means is a voltage between the two electrodes 15a and 15a. Measure.
Then, the electrical conductivity calculating means calculates the electrical conductivity of the mud Fb from the sinking amount of the electrode 15a by the sinking sensor, the current value flowing between the two electrodes 15a and 15a, and the voltage measured by the voltage measuring means. Is calculated.
If the wheel 2a is a conductor as the electrode 15a, the wheel 2a can be used as it is instead of the electrode 15a.

The hardness measurement means 16 is composed of a second potentiometer 16a provided on the lower surface of the traveling means 2 and a second rod 16b provided rotatably on the second potentiometer 16a.
The second rod 16b is provided downward from the second potentiometer 16a, and the lower end of the second rod 16b is inserted into the mud Fb while being urged forward in the traveling direction of the traveling means 2. Yes.
With such a configuration, when the traveling means 2 travels, the lower end of the second rod 16b is pushed rearward by the resistance of the mud Fb, whereby the second rod 16b rotates relative to the second potentiometer 16a. The 2 potentiometer 16a measures the change in the hardness of the mud Fb based on the rotation angle of the second rod 16b.
Instead of the second potentiometer 16a, a strain sensor or a load cell may be provided, and the change in hardness may be measured by detecting the stress applied to the second rod 16b by the resistance of the mud Fb. .

As shown in FIG. 2, the control means 6 includes a signal processing unit 21 that receives a signal related to soil characteristics and the like from the measurement means 5, and a fertilization amount calculation unit 22 that calculates a fertilization amount from the measured soil characteristics. , A fertilizing means control unit 23 for controlling the fertilizing means 4 according to the fertilizing amount, a planting means control unit 24 for controlling the planting means 3, a storage unit 25 for storing the fertilizing amount and soil characteristics, And an input display means 26 for performing a setting operation by an operator.
The signal processing unit 21 respectively receives the position information and absolute velocity of the traveling unit 2 from the position measuring unit 7, velocity measuring unit 8, depth measuring unit 14, electrical conductivity measuring unit 15 and hardness / softness measuring unit 16, and the mud Fb. Information on the depth, the electrical conductivity of the mud Fb, and the hardness of the mud Fb is input and processed.
In the fertilizer application amount calculation unit 22, the fertilizer application amount is calculated for each position of the paddy field F from the data on each soil characteristic measured by the depth measurement means 14, the electrical conductivity measurement means 15, and the hardness measurement means 16 in the procedure described later. It is supposed to be.
The fertilizing means control unit 23 controls the sending means 12 of the fertilizing means 4 and controls the fertilizing amount by the fertilizing means 4 according to the fertilizing amount calculated by the fertilizing amount calculation unit 22.
The planting means controller 24 controls the operation of the planting means 3 so that the seedlings R are planted at equal intervals based on the absolute speed of the traveling means 2 by the speed measuring means 8. Yes.
The storage unit 25 stores the position information measured by the position measuring means 7 as well as the soil property data and fertilizer amount related to the position information, and each constant used for calculating the fertilizer amount described below. In addition, the measurement data of past soil characteristics and the amount of fertilization are stored.
The input display means 26 registers a monitor for displaying the measurement result by the measurement means 5 and the fertilization amount calculated by the fertilization amount calculation unit 22, and each constant used for calculating the fertilization amount in the storage unit 25. The input means for doing is provided.

Hereinafter, the fertilization work to the paddy field F using the fertilizer applying apparatus 1 will be described with reference to FIG.
First, when the traveling means 2 enters the paddy field F by the operator's operation, the position measuring means 7 measures the position of the traveling means 2, and this “position information: P” is the signal processing unit 21 of the control means 6. Is acquired by the fertilizer application amount calculation unit 22.
At the same time, the depth measuring means 14, the electrical conductivity measuring means 15, and the hardness / softness measuring means 16 are “mud electrical conductivity: EC”, “mud depth: D”, and “mud hardness: H”, respectively. Is measured and obtained by the fertilizer application amount calculation unit 22 via the signal processing unit 21 (101).

Next, the fertilizer application amount calculation unit 22 searches the storage unit 25 for “past electrical conductivity: ECo” and “past depth: Do” in association with “position information: P” (102).
If these data are not stored in the storage unit 25, the process directly proceeds to the procedure (107) described later, and if these past data are stored, each of the fields in the paddy field F is based on this. “Past fertility: Fo” is calculated for each position (103). The calculation formula at this time is as follows.
Fo = ECo × Do (Formula 1)
Next, from the “past fertility: Fo” for each position in the paddy field F, the “average value of past fertility: Fa” and the “standard deviation of past fertility: Fd” of the entire paddy field F are calculated. Calculate (104).
Furthermore, the fertilizer application amount calculation unit 22 calls “Past hardness: Ho” associated with “Position information: P”, and also “Past hardness average value: Ha” and “Past hardness” of the entire paddy field F. Is calculated (105). Here, it is desirable to use the latest data as past data.
Then, the fertilizer application amount calculation unit 22 calculates “fertility reference value: Fs” (106). The calculation formula at this time is as follows.
Fs = Fa (1 + C) (Formula 2)
Here, C is an arbitrary constant and can be changed as appropriate, and is normally set to zero.
As for the above-mentioned “reference value of fertility: Fs”, it is also possible to use an estimated value from the soil characteristics of the paddy field F measured separately. Furthermore, the calculation time of the fertilizer application amount can be shortened by calculating these values in advance before work.

Next, the fertilizer application amount calculation unit 22 applies the current “mud hardness: H” measured by the hardness measurement means 16 corresponding to “position information: P” to the following conditional expression (107).
H> A × Ht (Formula 3)
Here, A is an arbitrary constant and can be appropriately changed, and is normally set to 1. Ht indicates a “threshold hardness threshold”, and is a parameter such as an experience value that can be individually set according to the soil characteristics of the paddy field F to be used.
If “the hardness of the mud portion: H” does not satisfy the above conditional expression, the fertilizer application amount calculation unit 22 sets “the fertilizer application amount: Y” to 0 (108).
That is, when the mud 15b is soft enough to fall below the set threshold, the rice grows high and tends to fall down, so that the growth is suppressed without fertilization. In this case, it is also possible to set the amount of fertilizer to be reduced without reducing it to 0 and to apply the minimum amount of fertilizer.

In step 107, “mud hardness: H” satisfies the above conditional expression (formula 3), and “mud electrical conductivity: EC” and “mud depth: D” were measured by the measuring means 5. In this case, the fertilizer application amount calculation unit 22 calculates “fertility: F” using the following equation (109).
F = EC × D (Formula 4)
According to the above equation 4, in this embodiment, the “mud portion electrical conductivity: EC” is calculated such that the fertility increases as the value increases, and the fertility decreases as the value decreases. It is calculated so that the fertility increases as the depth: D ”increases, and decreases as the depth decreases.

After calculating the “fertility: F”, the fertilization amount calculation unit 22 compares the “fertility: F” with the “fertility threshold: Ft” (110). Here, the “fertility threshold: Ft” is a value set in advance based on the components and experience of the fertilizer used.
When “fertility: F” exceeds “fertility threshold: Ft”, it is considered that the mud Fb at that position is sufficiently fertile. In this case, the fertilizer application amount calculation unit 22 does not cause excessive fertilization. “Fertilization amount: Y” is set to 0 (108).

If the “mud hardness: H” satisfies the above-mentioned conditional expression (formula 3) in the procedure 107 and the “fertility: F” does not exceed the “fertility threshold: Ft” in the procedure 110, fertilization The amount calculation unit 22 calculates “fertilization amount: Y” using the following equation (111).
Y = K [1-N {(F−Fs) / Fd}] (Formula 5)
Here, “fertilization amount: Y” is the fertilization amount per seedling, and N is a variable parameter for increasing / decreasing the fertilization amount and is a numerical value that can be arbitrarily set.
According to the above formula 5, in this embodiment, “fertilization amount: Y” is calculated so that the fertilization amount decreases as “fertility: F” increases, and the fertilization amount increases as it decreases. It has become.
In the above formula 5, “standard deviation of past fertility: Fd” may be set as “reference value of fertility: Fs”.

On the other hand, the “mud hardness: H” satisfies the above conditional expression (Formula 3) in the procedure 107, and the “fertility: F” does not exceed the “fertility threshold: Ft” in the procedure 110. However, when past data is not stored in the storage unit 25 in the above-described procedure 102, such as when fertilizer is applied to the paddy field F for the first time, the fertilizer application amount calculation unit 22 uses the following formula: “Fertilization amount: Y” is calculated (112).
Y = K [1-L {(D−Ds) / Ds}] (Formula 6)
Here, “the amount of fertilization: Y” is the amount of fertilization per seedling. Further, Ds is a design value or a target value of the depth of the mud 15b when raising and scraping. Furthermore, L is a variable parameter for increasing / decreasing the fertilizer application amount and is a numerical value that can be arbitrarily set. K is a conventional fertilizer amount per seedling (kg / 10a), which is the maximum fertilizer amount in consideration of strain density and environmental conservation.
As in the above equation 6, in this embodiment, the “fertilization amount: Y” is calculated so that the amount of fertilization is small when “depth of mud: D” is deep and the amount of fertilization increases when shallow. Yes.

Thus, when the fertilization amount calculation unit 22 calculates “fertilization amount: Y”, the storage unit 25 associates with “position information: P” and measures “electricity of mud portion: EC”, The “mud depth: D”, “mud hardness: H”, and the calculated “fertilization amount: Y” are stored (113).
Thereby, at the time of the next fertilization, these data memorize | stored in this memory | storage part 25 can be used, and the paddy field regarding the soil characteristic of the paddy field F and the fertilizer application amount using the data memorize | stored in the memory | storage part 25 is used. A map such as a distribution map for the entire F can be created, and analysis for efficient rice cultivation can be performed.

And the said fertilizer means control part 23 fertilizes fertilizer to the paddy field F by controlling the fertilizer means 4 according to the fertilizer amount computed by the said fertilizer amount calculation part 22, and the said planting means control part 24 is also combined. The planting means 3 is controlled to plant the seedling R in the paddy field F (114).
At this time, since the traveling means 2 may slip the wheel 2a by the mud Fb, if the fertilization or planting is performed based on the speed based on the rotation of the wheel 2a, the interval between them does not become constant.
For this reason, the fertilizing means control unit 23 uses the absolute speed of the traveling means 2 by the speed measuring means 8 to perform fertilization at equal intervals by the fertilizing means 4, and the planting means control unit 24 further applies the fertilizing means control unit 24. The seedling R is planted at the position where the means 4 is fertilized.

FIG. 5 shows another embodiment relating to the electrical conductivity measuring means 15, and four stays 31 provided at the lower part of the traveling means 2 and a disk-like electrode 32 provided rotatably at the lower end of each stay 31. And.
A part of the electrode 32 is inserted into the mud Fb. The electrode 32 rotates as the traveling means 2 travels, and the amount of settlement of the electrode 32 is measured by a settlement sensor (not shown).
Thus, the electrical conductivity measuring means 15 of the present embodiment includes the four electrodes 32, and measures the electrical conductivity by the so-called four-terminal method.
Specifically, the current generating means passes a current between the two electrodes 32 located outside, and the voltage measuring means measures the voltage between the two electrodes 32 located inside.
And the electrical conductivity calculation means 15 calculates the electrical conductivity of the mud part Fb from the sinking amount of the electrode 32 by the said sinking sensor, and the voltage which the voltage measurement means measured.
The disc-shaped electrode 32 is omitted, and the structure in which the tip portion of the stay 31 is directly inserted into the mud 15b as an electrode, or the two outer electrodes 32 are provided on both wheels 2a as in the first embodiment, It is good also as a structure provided in the front-end | tip of the two stays 31 which provided the inner two electrodes 32 between these.
Further, in the configuration using the stay 31 and the disk-shaped electrode 32, it is possible to configure the electrical conductivity measuring means 15 by the two-terminal method as in the first embodiment.
Further, the second rod 16 b of the hardness measurement means 16 can be used as the stay 31.

In each of the above embodiments, it is possible to measure the absolute speed of the traveling means 2 based on the change in the position information acquired by the position measuring means 7, and in this case, the speed measuring means 8 is unnecessary. The fertilizing means 4 and the planting means 3 can perform fertilization and planting based on the detection result by the position measuring means 7.
Moreover, it can replace with the said planting means 3, and may provide the sowing means to sow seeds in the paddy field F, and can be used not only for rice but also for other hydroponic crops.
Furthermore, although the said Example demonstrated the use in the state which drained water from the paddy field F, when using it in the state which watered the paddy field F, the front-end | tip of the nozzle 13 of the said fertilizer application means 4 is made into mud part Fb. Fertilization can be sufficiently performed on the mud Fb by performing fertilization in a state of being inserted inside.

The block diagram of the fertilizer application concerning a present Example. The figure which shows the structure of the control means of a fertilizer means. The figure explaining an electrical conductivity measurement means. The figure explaining the calculation procedure of fertilization amount. The figure explaining the other Example regarding an electrical conductivity measurement means.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Fertilizer 2 Traveling means 3 Planting means 4 Fertilizer means 5 Measuring means 14 Depth measuring means 15 Electrical conductivity measuring means 16 Hard / soft measuring means

Claims (8)

In a fertilizer application device comprising traveling means for traveling through the mud on the hard board layer, measuring means for measuring soil characteristics of the mud, and fertilizing means for applying fertilizer to the mud,
The measuring means includes depth measuring means for measuring the depth of the mud as soil characteristics, and electrical conductivity measuring means for measuring the electrical conductivity of the mud as soil characteristics,
Furthermore, a fertilizer applying device is provided, wherein a fertilizer is obtained from the depth and electrical conductivity of the mud, and control means is provided for controlling the fertilizer amount by the fertilizer according to the fertility. The fertility increases as the depth of the mud increases, increases as the electrical conductivity of the mud increases, decreases as the depth of the mud decreases, and increases the electrical conductivity of the mud. Is calculated to decrease as the value decreases,
The control means controls to reduce the fertilization amount by the fertilizing means as the fertility level increases, or to increase the fertilization amount as the fertility level decreases without applying fertilization. The fertilizer application device according to claim 1.   The measuring means comprises a softness measuring means for measuring the hardness of the mud as soil characteristics, and the control means controls the amount of fertilization by the fertilizer according to the hardness of the mud. The fertilizer application apparatus in any one of Claim 1 or Claim 2.   The fertilizer application device according to claim 3, wherein the control means reduces the fertilizer amount or does not fertilize when the mud portion is soft. Providing a position measuring means for measuring the position of the traveling means;
The control means stores, for each position measured by the position measurement means, the soil characteristics measured by the measurement means, and calculates the fertilization amount in consideration of past soil characteristics at the same position. The fertilizer application apparatus in any one of Claim 1 thru | or 4.   6. The electrical conductivity measuring means includes two electrodes inserted into the mud, and measures the electrical conductivity of the mud between the two electrodes. The fertilizer described.   The electrical conductivity measuring means includes four electrodes that are provided in the traveling means at predetermined intervals and inserted into the mud. The current flows between the two outer electrodes and the voltage between the two inner electrodes. The fertilizer according to any one of claims 1 to 5, wherein the fertilizer is measured to measure the electrical conductivity of the mud.   The planting means for planting seedlings or the sowing means for sowing seeds is provided in the traveling means, and seedlings are planted or seeded simultaneously with fertilization by the fertilizing means. The fertilizer application device according to claim 7.

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