JP2018143114A - Field traveling device and field management system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a field traveling device and a field management system in which the accuracy of a position in a field obtaining crops can be improved easily.SOLUTION: A field traveling device 2 is provided for traveling in a field 6 installing multiple node units 3 with RFID provided with ID for use in identifying an own machine and performing wireless transmission of the ID of the own machine by a short-range communication system having a communication range being equal to or less than a predetermined distance L. The field traveling device includes: a loading unit 13 capable of loading a harvested material of a field 6; a weight sensor 24 for detecting that the harvested material is loaded on the loading unit 13; a short distance communication unit 22 for receiving the ID from the node units 3 in the field 6; and an association processing unit 212 for performing processing to associate at least one of the received ID and the ID received right before the received ID is received with information concerning detection results detected by the weight sensor 24, according to the timing of receiving the ID by the short distance communication unit 22.SELECTED DRAWING: Figure 1

Description

  The present invention relates to an agricultural field traveling device for traveling on an agricultural field, and an agricultural field management system using the agricultural field traveling device.

  2. Description of the Related Art Conventionally, a mobile crop harvesting device that harvests crops while moving in a field is known (see, for example, Patent Document 1). The mobile crop harvesting device described in Patent Literature 1 includes a GPS (Global Positioning System), and can create a crop quality yield map based on position information detected by the GPS.

JP 2004-283133 A

  However, in GPS, the limit of position accuracy is about 3 m, whereas the distance between field ridges is often about 80 cm. Therefore, there was a need to acquire the position of the field from which the crop was obtained with higher accuracy.

  An object of the present invention is to provide an agricultural field traveling apparatus and an agricultural field management system that can easily improve the positional accuracy of an agricultural field from which agricultural products are obtained.

  The field travel device according to the present invention is provided with identification information for identifying the own device, and wirelessly transmits the identification information of the own device by a short-range communication method in which the communication distance is equal to or less than a preset set distance. A field traveling device for traveling in a field provided with a plurality of node units provided with a node-side short-range communication unit, the loading unit capable of loading a harvest of the field, and the harvest on the loading unit According to the loading detection unit that detects loading, the short-range communication unit that receives the identification information from the node unit in the field, and the timing at which the identification information is received by the short-range communication unit, A process of associating at least one of the received identification information and the identification information received immediately before the identification information is received with information related to the detection result detected by the stack detection unit. And a correspondence processing section that performs.

  According to this configuration, the short-range communication unit is configured such that when the field traveling device enters a communication distance range equal to or less than a preset distance set for the node unit, that is, at a position where the node unit is installed. Since the identification information of the node unit is received when the traveling device is located, the timing at which the identification information of the node unit is received means that the agricultural field traveling device was located in the vicinity of the installation position of the node unit. . Therefore, at least one of the received identification information and the identification information received immediately before the identification information is received according to the timing at which the identification information is received by the short-range communication unit by the association processing unit. It is easy to improve the position detection accuracy of the field from which the harvest is obtained by performing a process of associating the detection result related to the load of the harvest detected by the load detection unit.

  Further, the loading detection unit detects the weight of the load loaded on the loading unit as the detection result, and the field traveling device relates to a harvest amount from which the harvest is harvested based on the detection result. It is preferable to further include a loading information acquisition unit that acquires harvest information.

  According to this configuration, since the load detection unit detects the weight of the load loaded on the load unit, it is possible to acquire harvest information related to the harvest amount of the harvest from the detection result.

  Further, the loading unit is configured to be able to load a pesticide spraying device for spraying pesticides, and the association processing unit is further adapted to the timing at which the identification information is received by the short-range communication unit. Acquiring pesticide spraying information related to the amount of pesticide spraying based on the weight measured by the loading detection unit, and at least one of the received identification information and the identification information received immediately before the identification information is received It is preferable to perform processing for associating the agricultural chemical application information.

  According to this configuration, when the pesticide spraying device is loaded on the loading unit and the pesticide spraying is performed, the pesticide spraying device becomes lighter by the amount of the pesticide spraying, so by measuring the loading weight of the loading unit at the loading detection unit, Know the amount of pesticide sprayed. By associating the agricultural chemical application information obtained in this way with the received identification information, that is, position information, it is possible to grasp the distribution of the agricultural chemical application amount according to the position of the field.

  Further, the loading unit is configured to be able to load a fertilizer application device for applying fertilizer, and the association processing unit is further adapted to the timing at which the identification information is received by the short-range communication unit. Acquiring fertilizer application information related to the fertilizer application amount based on the weight measured by the load detection unit, and at least one of the received identification information and the identification information received immediately before the identification information is received It is preferable to perform processing for associating the fertilizer application information.

  According to this configuration, when the fertilizer spraying device is loaded on the loading unit and the fertilizer spraying is performed, the fertilizer spraying device becomes lighter by the amount of fertilizer spraying, so by measuring the loading weight of the loading unit by the loading detection unit, You can know the fertilizer application amount. By associating the fertilizer application information thus obtained with the received identification information, that is, position information, it is possible to grasp the distribution of the fertilizer application amount according to the position of the field.

  In addition, in order to perform sampling of the harvest, a sampling position storage unit that stores, as sampling position information, identification information of node units of the sampling number for sampling among the plurality of node units, and the short-range communication unit A sampling guidance notifying unit for notifying a user of guidance for harvesting for sampling when the identification information received by the user matches any of the identification information stored in the sampling position storage unit. Is preferred.

  According to this configuration, the user can perform sampling at the same position any number of times by performing the harvesting for sampling at the timing when the guidance for prompting the harvesting for sampling is notified.

  In addition, each node unit further includes a sensor unit that detects soil information related to the soil in the field where each node unit is installed, and the node-side short-range communication unit further transmits the soil information, and the short-range The communication unit further receives the soil information from the node unit, and the association processing unit further identifies the node unit that has transmitted the soil information when the soil information is received by the short-range communication unit. It is preferable to perform processing that associates the information with the soil information to obtain soil component distribution information.

  According to this configuration, since the soil information detected by the sensor unit included in the node unit can be transmitted by the node-side short-range communication unit for transmitting the identification information, another transmission is performed to transmit the soil information. There is no need to provide means. As a result, it becomes easy to reduce the cost of the node unit. In addition, the identification information of the node unit and the soil information detected by the sensor unit included in the node unit are associated with each other to form soil component distribution information, while the information regarding the load of the harvest also corresponds to the identification information of the node unit. Therefore, the information on the position of the field, the soil component at the position, and the harvest at the position can be linked using the identification information as a key.

  The soil information includes pesticide concentration information on the pesticide concentration of soil, the loading unit is capable of loading a pesticide spraying device for spraying pesticides, and the field traveling device is configured to distribute the soil component distribution. Based on the pesticide concentration distribution indicated by the information, a spraying control unit that adjusts the amount of the pesticide sprayed by the pesticide spraying device loaded on the loading unit so as to make the pesticide concentration distribution in the field uniform while traveling in the field It is preferable to further comprise.

  According to this configuration, since the soil information includes the agricultural chemical concentration information regarding the agricultural chemical concentration of the soil, the agricultural chemical concentration distribution can be obtained from the soil component distribution information. And since the agrochemical spraying amount is adjusted by the spraying control unit so that the agricultural chemical concentration distribution in the field is made uniform while traveling in the field, the agricultural chemical concentration distribution in the field can be made uniform.

  Further, the soil information includes fertilizer concentration information relating to soil fertilizer concentration, the loading unit is capable of loading a fertilizer spraying device for spraying fertilizer, and the field traveling device is configured to distribute the soil component distribution Based on the fertilizer concentration distribution indicated by the information, a spraying control unit that adjusts the fertilizer spraying amount by the fertilizer spraying device loaded on the loading unit so as to make the fertilizer concentration distribution in the field uniform while traveling in the field It is preferable to further comprise.

  According to this configuration, since the soil information includes the fertilizer concentration information regarding the fertilizer concentration of the soil, the fertilizer concentration distribution can be obtained from the soil component distribution information. And since the amount of fertilizer application | coating is adjusted by the application | coating control part so that the fertilizer density | concentration distribution in a farm field may be equalize | distributed, running in the field, the fertilizer density distribution in a farm field can be made uniform.

  In addition, it is preferable that the information processing apparatus further includes a storage unit that stores information, and the association processing unit performs a process of storing the associated information in the storage unit as the association process.

  According to this configuration, the information associated with the association processing unit is stored in the field traveling device.

  In addition, the field traveling device according to the present invention detects a loading unit that can load a harvested product from the field, a loading detection unit that detects that the harvested product is loaded on the loading unit, and position information of the own device. A position information detection unit that performs the process of associating the position information detected by the position information detection unit with the information related to the detection result detected by the stacking detection unit.

  According to this configuration, the correspondence processing unit associates the position information detected by the position information detection unit with the information related to the detection result detected by the load detection unit, so the harvest amount according to the position of the field You can get information about.

  Moreover, the agricultural field management system which concerns on this invention is provided with the above-mentioned agricultural field traveling apparatus and said several node unit.

  According to this configuration, it is possible to improve the position detection accuracy of the field from which the harvest is obtained.

  Moreover, the agricultural field management system according to the present invention includes the above-described agricultural field traveling device, the plurality of node units, and a server device including a storage unit that stores information, and each of the node units includes each of the node units. A sensor unit that detects soil information related to the soil of the field in which is installed, and a node-side transmission unit that transmits the soil information detected by the sensor unit and identification information of the own device to the server device, The server device further includes a storage processing unit that stores in the storage unit the information transmitted by the node side transmission unit and the information subjected to the association processing by the association processing unit.

  According to this configuration, the soil information at the position where each node unit is installed is stored in the server device in association with the identification information of each node unit.

  The field traveling device further includes a long-distance transmission unit having a communication distance longer than the set distance, and the association processing unit transmits information on the association process to the server by the long-distance transmission unit. It is preferable to store in the storage unit by transmitting to the apparatus.

  According to this structure, it becomes easy to memorize | store the information obtained with the agricultural field traveling apparatus in the memory | storage part of a server apparatus.

  The field traveling device and the field management system configured as described above can improve the position accuracy of the field from which the crop is obtained.

It is a block diagram which mainly shows an example of an electrical structure of the agricultural field management system provided with the agricultural field traveling apparatus which concerns on one Embodiment of this invention. It is a perspective view which shows an example of the external appearance of the agricultural field traveling apparatus shown in FIG. It is a perspective view which shows an example of the external appearance of the node unit shown in FIG. It is explanatory drawing for demonstrating an example of arrangement | positioning of the node unit shown in FIG. It is a flowchart which shows an example of operation | movement of the agricultural field traveling apparatus shown in FIG. It is a flowchart which shows an example of the agrochemical spraying operation | movement by the agricultural field traveling apparatus shown in FIG. It is a flowchart which shows an example of operation | movement of the agricultural field traveling apparatus in the case of spraying agrochemicals based on soil distribution information. It is a flowchart which shows an example of operation | movement of the agricultural field traveling apparatus in the case of sampling a crop.

  Embodiments according to the present invention will be described below with reference to the drawings. In addition, the structure which attached | subjected the same code | symbol in each figure shows that it is the same structure, The description is abbreviate | omitted. FIG. 1 is a block diagram mainly showing an example of an electrical configuration of an agricultural field management system including an agricultural field traveling apparatus according to an embodiment of the present invention. A field management system 1 shown in FIG. 1 includes a field traveling device 2, a plurality of node units 3, a gateway 4, and a server device 5.

  FIG. 2 is a perspective view illustrating an example of the appearance of the farm field traveling device 2 illustrated in FIG. 1. FIG. 3 is a perspective view showing an example of the appearance of the node unit 3 shown in FIG. The field traveling device 2 shown in FIG. 2 includes a main body 11, an endless track 12 </ b> L disposed on the lower left side of the main body 11, an endless track 12 </ b> R disposed on the lower right side of the main body 11, and an upper portion of the main body 11. Arranged and substantially plate-shaped stacking portion 13 capable of stacking crops and the like in the field, lifting mechanism 14 for raising and lowering the stacking portion 13, handle 15 projecting upward from the main body portion 11, and preventing the entrainment of the endless tracks 12R and 12L Guard 16, a short-range communication unit 22 provided so as to protrude downward from the bottom of the main body 11, a weight sensor 24 built in the stacking unit 13, a display 25 disposed in front of the main body 11, and A speaker 26 and two laser sensors 27, 27 disposed near the left and right ends in front of the main body 11 are provided.

  In addition to the harvest, the loading unit 13 can load a pesticide spraying device for spraying agricultural chemicals and a fertilizer spraying device for spraying fertilizer.

  With reference to FIG. 1, the agricultural field traveling apparatus 2 includes a control unit 21, a short-range communication unit 22 (position information detection unit), a long-distance communication unit 23, a weight sensor 24 (loading detection unit), a display 25, a speaker 26, A laser sensor 27, a right motor 28R, and a left motor 28L are provided.

  The short-range communication unit 22 is a short-range communication type wireless communication circuit that communicates with a short-range communication circuit 32 of the node unit 3 described later at a communication distance equal to or less than a preset set distance L. The set distance L is 50 cm or less, for example, a distance of about 20 cm. The short-range communication unit 22 receives the ID (identification information) of the node unit 3. The short-range communication unit 22 receives the ID of the node unit 3 when the node unit 3 enters the set distance L of the field traveling device 2, and therefore the ID of the node unit 3 is the position information of the field traveling device 2. It has significance as. Therefore, the short-range communication unit 22 corresponds to an example of a position information detection unit.

  The long-range communication unit 23 is a wireless communication circuit for performing wireless communication with the server device 5 via the gateway 4. The long-distance communication unit 23 uses a wireless communication method having a longer communication distance than the short-range communication unit 22. As the long-distance communication unit 23, for example, a communication system such as a wireless local area network (LAN) or mobile communication can be used.

  The weight sensor 24 measures the weight of an object loaded on the loading unit 13 and outputs the measured weight to the control unit 21. When the harvested product is loaded on the loading unit 13, the measured weight of the weight sensor 24 increases. Therefore, the measured weight of the weight sensor 24 includes information indicating that the harvested product is loaded. Accordingly, the weight sensor 24 corresponds to an example of a load detection unit that detects that a harvested product is loaded on the load unit 13.

  Note that the load detection unit is not necessarily limited to the one that measures the weight of the harvest, and for example, detects whether the harvest is loaded on the load unit 13 with a detection switch or an optical sensor that is turned on with a constant weight. It may be.

  As the display 25, for example, a display device such as a liquid crystal display panel or an EL (Electro-Luminescence) panel can be used.

  The laser sensors 27, 27 scan the front of the main body 11 with laser light and detect the reflected light, thereby detecting the position of a person in front of the agricultural field traveling device 2. The right motor 28R drives the endless track 12R according to the control signal from the control unit 21, and the left motor 28L drives the endless track 12L. The control unit 21 can drive the field traveling device 2 forward, backward, change course, rotate, and the like by controlling the driving of the left motor 28L and the right motor 28R, respectively.

  The control unit 21 includes, for example, a CPU (Central Processing Unit) that executes predetermined arithmetic processing, a RAM (Random Access Memory) that temporarily stores data, a flash memory that stores a predetermined control program, and an HDD (Hard Disk). Drive) and the like, a real-time clock, and peripheral circuits thereof.

  The control unit 21 executes, for example, the above-described control program as an association processing unit 212, a stacking information acquisition unit 213, a dispersion control unit 214, a travel control unit 215, a sampling guidance notification unit 216, and a sampling processing unit 217. Function. The control unit 21 includes a sampling position storage unit 218 configured by, for example, a RAM or a nonvolatile storage device.

  The correspondence processing unit 212 is configured to select at least one of the received ID and the ID received immediately before the ID is received and the weight sensor 24 according to the timing at which the ID is received by the short-range communication unit 22. A process of associating the information related to the detection result detected by the above is performed.

  The loading information acquisition unit 213 acquires the weight of the load on the loading unit 13 detected by the weight sensor 24, that is, the weight of the harvest as harvest information.

  When the pesticide spraying device is loaded on the loading unit 13, the spraying control unit 214 determines the amount of the pesticide sprayed by the pesticide spraying device loaded on the loading unit 13 based on the pesticide concentration distribution indicated by the soil component distribution information. Adjust the pesticide concentration distribution in the field to be uniform while traveling in the field. In addition, when the fertilizer application device is loaded on the loading unit 13, the application control unit 214 uses the fertilizer application device loaded on the loading unit 13 based on the fertilizer concentration distribution indicated by the soil component distribution information. Is adjusted so that the fertilizer concentration distribution in the field becomes uniform while traveling in the field.

  The traveling control unit 215 controls the rotation of the endless track 12R, the rotation of the left motor 28L and the right motor 28R so as to follow the rear of the user in front of the field traveling device 2 detected by the laser sensors 27, 27. 12L is driven. As a result, the user simply walks in front of the agricultural field traveling device 2 and the agricultural field traveling device 2 follows the rear of the agricultural field traveling device 2, thereby improving convenience.

  In the sampling position storage unit 218, the ID of the node unit 3 having a sampling number for sampling among the plurality of node units 3 is stored in advance as sampling position information in order to perform sampling of the harvest. In the sampling position storage unit 218, for example, the ID of the node unit 3 to which a reference symbol P shown in FIG. 4 described later is attached is stored as sampling position information.

  When the ID received by the short-range communication unit 22 matches any of the IDs stored in the sampling position storage unit 218, the sampling guidance notification unit 216 performs sampling of the user with the display 25, the speaker 26, and the like. To prompt for harvesting.

  The sampling processing unit 217 associates the sampling position ID, which is an ID corresponding to the sampling position, and the sampling weight, which is the weight of the sampled harvested product, and transmits them to the server device 5.

  Referring to FIG. 3, the node unit 3 includes, for example, a flat, substantially cylindrical node body 31, a near field communication circuit 32 disposed on the upper surface of the node body 31, and a cable extending from the lower surface of the node body 31. A sensor unit 33 attached to the tip, a node control unit 34 housed in the node body 31, and a long distance communication circuit 35 (node side transmission unit) housed in the node body 31 are provided. The sensor unit 33 is embedded in the soil G, and the node main body 31 is installed on the field so as to be exposed on the ground surface.

  The short-range communication circuit 32 is a short-range communication type wireless communication circuit that communicates with the short-range communication unit 22 of the agricultural field traveling device 2 at a communication distance equal to or less than the set distance L. As the short-range communication circuit 32, for example, RFID (Radio Frequency IDentification) may be used, and an RFID reader may be used as the short-range communication unit 22 of the agricultural field traveling device 2.

  The long distance communication circuit 35 is a wireless communication circuit for performing wireless communication with the server device 5 via the gateway 4. The long distance communication circuit 35 uses a wireless communication system having a communication distance longer than that of the short distance communication circuit 32. As the long-distance communication circuit 35, for example, a communication method such as a wireless LAN or mobile communication can be used.

  The sensor unit 33 is a soil sensor that detects soil information related to soil. The soil information includes, for example, soil water content, temperature, pH, EC (Electro Conductidity) value, agrochemical component concentration (agrochemical concentration information), and the like. Since the EC value and the nitrogen concentration have a strong correlation and the nitrogen concentration and the fertilizer concentration have a strong correlation, the EC value can be used as an example of fertilizer concentration information. In addition, the sensor part 33 does not necessarily need to detect these soil information with a single sensor, and the sensor part 33 may be configured by combining a plurality of sensors.

  The node control unit 34 includes, for example, a CPU that executes predetermined arithmetic processing, a RAM that temporarily stores data, a nonvolatile storage element such as a flash memory that stores a predetermined control program, a timer circuit, and these A peripheral circuit is provided. Each node unit 3 is given ID (IDentification) which is identification information for identifying the own device. The ID of each node unit 3 is stored in advance in a storage element of each node control unit 34, for example. When an RFID is used as the short-range communication circuit 32, an ID may be stored in the RFID.

  The node control unit 34 causes the short distance communication circuit 32 to transmit the ID of the own device to the field traveling device 2 by executing a predetermined control program. In addition, the node control unit 34 executes the predetermined control program so that the soil information detected by the sensor unit 33 is periodically transmitted through the gateway 4 by the long distance communication circuit 35, for example, every 30 minutes. It is transmitted to the server device 5.

  FIG. 4 is an explanatory diagram for explaining an example of the arrangement of the node units 3 shown in FIG. In the field 6 shown in FIG. 4, a plurality of ridges 61 are formed substantially parallel to each other at intervals. A plurality of node units 3 are arranged at predetermined intervals along the longitudinal direction of the ridge 61 in each ridge 61, and the sensor unit 33 of each node unit 3 is embedded in the ridge 61.

  In the example shown in FIG. 4, each node unit 3 is disposed at a position (lower side in FIG. 4) shifted to one side from the center in the width direction of the flange 61. Thereby, when the field traveling device 2 passes between the two ridges 61, only the node unit 3 disposed on the ridge 61 on one side of the ridges 61 on both sides of the field traveling device 2 is the field traveling device. Two short-range communication units 22 are within the communication distance.

  In addition, the node unit 3 arrange | positioned at the cage | basket 61 of the both sides of the agricultural field traveling apparatus 2 may be made to enter into the communication distance of the short distance communication part 22 of the agricultural field traveling apparatus 2, and a user is the The harvested product from 61 may be placed on the loading unit 13. In this case, when the field traveling device 2 passes between the two vines 61, the field traveling device 2 receives the ID from the node units 3 of the vines 61 on both sides of the field traveling device 2, and harvests from any vine 61. It is not possible to distinguish what was done. However, even in this case, since the position can be specified by the IDs of the node units 3 on both sides thereof, only the node unit 3 arranged on the ridge 61 on one side can communicate with the short-range communication unit 22 of the field traveling device 2. Although the position detection accuracy is lower than that in the case where the distance is within the distance, a certain position detection accuracy can be obtained.

  At one corner of the field 6, a gateway 4 is disposed at a position where the long distance communication circuit 35 of each node unit 3 can communicate. The gateway 4 relays communication between each node unit 3 and the server device 5. Through the gateway 4, each node unit 3 can transmit soil information to the server device 5 disposed far away. Note that the gateway 4 is not necessarily provided, and each node unit 3 and the server device 5 may be configured to be directly communicable.

  The server device 5 is a storage device such as a CPU that executes predetermined arithmetic processing, a RAM that temporarily stores data, an HDD (Hard Disk Drive), an SSD (Solid State Drive), or the like that stores predetermined control programs. A real-time clock, a timer circuit, and peripheral circuits thereof. The storage device also functions as the storage unit 52. The server device 5 functions as the storage processing unit 51 by executing a predetermined control program.

  The storage processing unit 51 causes the storage unit 52 to store the position information such as the start position ID and the end position ID transmitted from the agricultural field traveling device 2 and the harvest amount in association with each other. In addition, the storage processing unit 51 stores the soil distribution information corresponding to the ID of each node unit 3 transmitted from each node unit 3 in the storage unit 52.

  FIG. 5 is a flowchart showing an example of the operation of the field traveling device 2 shown in FIG. First, referring to FIG. 4, when the user walks along the route A between the fence 61 and the fence 61, the traveling control unit 215 controls the movement of the endless tracks 12R and 12L to follow the back of the user. The field traveling device 2 is caused to run so as to run. Thereby, the agricultural field traveling device 2 travels along the route A. In the example shown in FIG. 4, it is assumed that the user harvests from the straw 61 on the side (upper side in FIG. 4) where the node unit 3 is close to the farm traveling device 2 among the straws 61 on both sides of the farm traveling device 2.

  Next, when the field traveling device 2 passes near the first node unit 3 along the route A, the node unit 3 enters the communication distance of the short-range communication unit 22, and the short-range communication circuit 32 of the node unit 3. Is received by the short-range communication unit 22 (YES in step S1). Then, the association processing unit 212 stores the received ID as a start position ID in a RAM or the like (step S2).

  Next, when the harvested product harvested by the user is placed on the loading unit 13, the weight is measured by the weight sensor 24, and the loading information acquisition unit 213 stores the measured weight as a start position weight in a RAM or the like. (Step S3).

  When the field traveling device 2 further travels and passes the vicinity of the next node unit 3, the node unit 3 enters the communication distance of the near field communication unit 22 and is transmitted from the near field communication circuit 32 of the node unit 3. ID is received by the short-range communication unit 22 (YES in step S4). Then, the association processing unit 212 stores the received ID in the RAM or the like as the end position ID (step S5).

  Next, the weight of the harvested product loaded on the loading unit 13 is measured by the weight sensor 24, and the loading information acquisition unit 213 stores the measured weight in the RAM or the like as the end position weight (step S6).

  Next, the stacking information acquisition unit 213 calculates the harvest amount by subtracting the start position weight from the end position weight (step S7). This harvest amount corresponds to the harvest amount harvested while the field traveling device 2 travels between two adjacent node units 3. That is, it is the harvest amount of the crop harvested in the region between the arrangement position of the node unit 3 identified by the start position ID and the arrangement position of the node unit 3 identified by the end position ID.

  Therefore, the association processing unit 212 associates the start position ID, the end position ID, and the harvest amount with each other, and causes the long-distance communication unit 23 to transmit to the server device 5 (step S8). In the server device 5, when the start position ID, the end position ID, and the harvest amount are received, the storage processing unit 51 stores the received start position ID, end position ID, and harvest amount in association with each other in the storage unit 52. .

  Each node unit 3 is arranged in the field 6, and when the field traveling device 2 passes through the vicinity of the node unit 3, the ID of the node unit 3 is received by the field traveling device 2, and the timing when the ID is received is This means that it is the time when the field traveling device 2 passes through the vicinity of the node unit 3 identified by the ID.

  Thereby, the harvest amount of the harvested product in the region between the arrangement position of the node unit 3 identified by the start position ID and the arrangement position of the node unit 3 identified by the end position ID is stored. It can be stored in the unit 52.

  The correspondence processing unit 212 has shown an example in which both the start position ID and the end position ID are transmitted to the server apparatus 5, but only one of the start position ID and the end position ID is transmitted to the server apparatus 5. It is good also as composition to do. Even when only one of the start position ID and the end position ID is selected, the harvest position can be specified.

  Next, the association processing unit 212 confirms whether or not the ID reception from all the node units 3 provided in the farm 6 has been completed (step S9). If IDs have been received from all the node units 3 (YES in step S9), the process ends. If there are any node units 3 that have not received IDs (NO in step S9), the association processing unit 212 determines the end position ID. Is the new start position ID, and the end position weight is the new start position weight (step S10). Then, the processes in steps S4 to S9 are repeated again.

  As a result, for all the node units 3 arranged in the field 6, the harvest amount harvested between the adjacent node units 3 is associated with the ID of the node unit 3 as position information and stored in the server device 5. The data is stored in the storage unit 52 by the processing unit 51.

  As mentioned above, since the information of the position where the crop was harvested can be obtained based on the timing at which the ID of the node unit 3 installed in the field is received by the processing of steps S1 to S10, the harvesting position is detected using GPS. It is possible to improve the position accuracy of the field from which the crop is obtained, compared to the case of doing so.

  On the other hand, in the server device 5, the storage processing unit 51 stores the ID transmitted from each node unit 3 and the soil information in association with each other in the storage unit 52. The yield at that position and the soil information at that position can be known from the information stored in the storage unit 52. In addition, since the ID of the node unit 3 that acquired the soil information is used as the position information of the position where the harvested product is harvested, the position where the soil information is detected and the amount of harvest at that position are accurately determined. It becomes possible to make it correspond.

  In addition, although the short-range communication part 22 was shown as an example of a positional information detection part, and the example which acquired ID received from the node unit 3 as positional information was shown, for example, GPS (Global Positioning System) or a quasi-zenith satellite system (QZS) Known position detection means such as system, QZSS) may be used as the position information detection unit. In this case, the agricultural field traveling device 2 may not include the short-range communication unit 22, and the node unit 3 may not transmit the identification information. Position detection means such as GPS may be used in place of ID as position information for pesticide application, fertilizer application, and sampling, which will be described later.

  In this case, instead of receiving the ID in steps S1 and S4, the position information detected by the position information detection unit in step S1 is used as the start position information, and the position detected by the position information detection unit in step S4 after traveling a predetermined distance. The information may be the end position information, and the start position information and the end position information may be used instead of the start position ID and the end position ID in step S8.

  In addition, the correspondence processing unit 212 determines the received ID and the ID received immediately before the ID is received according to the timing (steps S1 and S4) at which the ID is received by the short-range communication unit 22. The example which performs the process (step S2, S3, S5-S8) which matches at least one and the information regarding the detection result detected by the weight sensor 24 was shown.

  However, the association processing unit 212 determines whether the received ID and the ID received immediately before the ID is received or not according to the timing at which the ID is received by the short-range communication unit 22 and the weight. What is necessary is just to perform the process which matches the information regarding the detection result detected by the sensor 24, and is not limited to steps S1 to S8. For example, when the time difference between the timing at which the ID is received and the timing at which the detection result by the weight sensor 24 is increased is equal to or less than a preset determination time, the ID and information on the detection result detected by the weight sensor 24 are displayed. The configuration may be such that the information is transmitted to the server device 5 in association with each other.

  Note that the node unit 3 does not include the long-distance communication circuit 35, the node control unit 34 transmits soil information to the field traveling device 2 by the short-range communication circuit 32, and the association processing unit 212 is transmitted by the short-range communication unit 22. When soil information is received, it is good also as a structure which makes ID of the node unit 3 which transmitted the soil information, and the soil information match, makes soil component distribution information, and transmits to the server apparatus 5. In this case, since the node unit 3 does not need to include the long-distance communication circuit 35, the cost of the node unit 3 can be reduced.

  Further, the farm field management system 1 does not necessarily include the server device 5, and the farm field traveling device 2 may include the storage processing unit 51 and the storage unit 52. Moreover, the agricultural field traveling apparatus 2 does not include the long-distance communication unit 23 but includes the storage processing unit 51 and the storage unit 52, and stores information stored in the storage unit 52 via a storage medium such as a wired communication unit or a memory card. You may make it memorize | store in the server apparatus 5. FIG.

  Next, agricultural chemical spraying and fertilizer spraying by the field traveling device 2 will be described. FIG. 6 is a flowchart showing an example of the agricultural chemical spraying operation by the farm field traveling device 2 shown in FIG. In the following flowcharts, the same operation is given the same step number and its description is omitted. The flowchart shown in FIG. 6 differs from the flowchart shown in FIG. 5 in the operations of steps S7a and S8a.

  The agricultural field traveling device 2 can perform agricultural chemical spraying and fertilizer spraying by substantially the same operation as the flowchart shown in FIG. When spraying agricultural chemicals, the user loads an unillustrated agricultural chemical spraying device for spraying agricultural chemicals on the loading unit 13, and sprays the agricultural chemicals on the loading unit 13 with the agricultural chemical spraying device while using the field traveling device 2. Drive along route A.

  Next, steps S1 to S3 are executed, the weight of the agricultural chemical spraying device is measured by the weight sensor 24, and the loading information acquisition unit 213 stores the measured weight in the RAM or the like as the start position weight (step S3). ). The agricultural chemical spraying device includes a tank in which agricultural chemicals are stored. At this time, the weight sensor 24 measures the weight of the agricultural chemical spraying device including the weight of the agricultural chemical stored in the tank.

  Next, Steps S4 and S5 are executed, the weight of the agricultural chemical spraying device loaded on the loading unit 13 is measured by the weight sensor 24, and the loading information acquisition unit 213 uses the measured measured weight as the end position weight in the RAM or the like. (Step S6).

  Next, in step S7a, the loading information acquisition unit 213 subtracts the end position weight from the start position weight to calculate the pesticide application amount (pesticidal application information) (step S7a). This agricultural chemical application amount corresponds to the agricultural chemical application amount applied while the field traveling device 2 travels between two adjacent node units 3. That is, the amount of the agricultural chemical sprayed is the amount of the agricultural chemical sprayed in the region between the position of the node unit 3 identified by the start position ID and the position of the node unit 3 identified by the end position ID. It becomes.

  Then, the correspondence processing unit 212 associates the start position ID, the end position ID, and the agricultural chemical application amount with each other, and causes the long-distance communication unit 23 to transmit to the server device 5 (step S8a). When the server device 5 receives the start position ID, the end position ID, and the agricultural chemical application amount, the storage processing unit 51 associates the received start position ID, end position ID, and agricultural chemical application amount with the storage unit 52. Remember.

  Thereby, the amount of the agricultural chemical sprayed in the region between the arrangement position of the node unit 3 identified by the start position ID and the arrangement position of the node unit 3 identified by the end position ID is stored in the storage unit. 52 can be stored.

  Next, steps S9 and S10 are executed, and the processes of steps S4 to S9 are repeated. As a result, for all the node units 3 arranged in the field 6, the agricultural chemical application amount distributed between the adjacent node units 3 is associated with the ID of the node unit 3 as the position information, and the server device 5 The data is stored in the storage unit 52 by the storage processing unit 51.

  As a result, the amount of the agricultural chemical sprayed according to the position of the field 6 is stored in the storage unit 52. Accordingly, by checking the distribution of the agricultural chemical application amount stored in the storage unit 52, the user can additionally apply the agricultural chemical only to the portion where the agricultural chemical application amount is small, or the previous agricultural chemical application amount was large at the time of the next agricultural chemical application. By reducing the amount of the pesticide sprayed on the place, it becomes possible to make the amount of the pesticide sprayed uniform, or to efficiently spray the pesticide on the shortage of the pesticide.

  Further, the user may travel the field traveling device 2 by loading a fertilizer spraying device that sprays liquid or powder fertilizer on the loading unit 13 instead of the agricultural chemical spraying device. In this case, the fertilizer application amount (fertilizer application information) is calculated instead of the agricultural chemical application amount in step S7a, the fertilizer application amount is transmitted instead of the agricultural chemical application amount in step S8a, and the storage unit 52 is located at the position of the field 6. The amount of fertilizer sprayed in response is stored.

  Accordingly, by checking the distribution of the fertilizer application amount stored in the storage unit 52, the user can additionally apply fertilizer only at the portion where the fertilizer application amount is small, or the previous fertilizer application amount was large at the time of the next fertilizer application. By reducing the amount of fertilizer applied to the locations, it becomes possible to equalize the amount of fertilizer applied or to efficiently apply the fertilizer to the locations where the fertilizer is insufficient.

  The field traveling device 2 may perform the operations of steps S7a and S8a when a spraying instruction for instructing a spraying operation of agricultural chemicals or fertilizer is received by an operation receiving unit such as an unillustrated operation switch, for example. . Alternatively, the field traveling device 2 may calculate the absolute value of the difference between the end position weight and the start position weight in step S7, and use this value as the harvest amount, the agricultural chemical application amount, and the fertilizer application amount.

  In addition, the measured weights are transmitted to the server device 5 in steps S3 and S6, respectively. In the server devices 5 in steps S7 and S7a, the difference between the measured weights transmitted in steps S3 and S6 is calculated. It is good also as a structure calculated as fertilizer application amount. In this case, the measured weight corresponds to an example of harvest information, agricultural chemical application information, and fertilizer application information.

  Next, the operation of the field traveling device 2 when pesticide spraying or fertilizer spraying is performed based on the soil distribution information will be described. FIG. 7 is a flowchart showing an example of the operation of the field traveling device 2 when applying agricultural chemicals based on the soil distribution information. The farm field travel device 2 performs the operation shown in FIG. 7 when a spraying instruction for instructing a spraying operation of the agricultural chemical or the fertilizer based on the soil distribution information is received by an operation receiving unit such as an operation switch (not shown), for example. It may be.

  When spraying pesticides based on the soil distribution information, the user loads an unillustrated pesticide spraying device for spraying pesticides on the loading unit 13 and sprays the pesticides on the loading unit 13 with the pesticide spraying device. Then, the agricultural field traveling device 2 is traveled along the route A. The agricultural chemical spraying device can adjust the agricultural chemical spraying amount in accordance with a control signal from the spraying control unit 214.

  And the dispersion | distribution control part 214 acquires the soil distribution information of an agricultural chemical component density | concentration by receiving from the server apparatus 5, for example, and memorize | stores it in RAM, for example (step S21).

  Next, when the ID of the node unit 3 is received as position information (YES in step S1), the spraying control unit 214 refers to the soil component distribution information and acquires the agricultural chemical component concentration corresponding to the received ID. (Step S23).

  Next, the spraying control unit 214 compares the preset reference concentration of the agricultural chemical with the acquired agricultural chemical component concentration (step S24). If the concentration of the agricultural chemical component is equal to or higher than the reference concentration (NO in step S24), it is not necessary to spray the agricultural chemical any further at that position, and thus the spray control unit 214 does not spray the agricultural chemical using the agricultural chemical spraying device. (Step S25) The process proceeds to step S9.

  On the other hand, when the agricultural chemical component concentration is less than the reference concentration (YES in step S24), the spray control unit 214 increases the difference between the agricultural chemical component concentration and the reference concentration according to the agricultural chemical spraying device in order to compensate for the insufficient agricultural chemical. The agricultural chemical application amount is increased (step S26), and the process proceeds to step S9.

  In step S9, if the IDs have been received from all the node units 3 (YES in step S9), the process ends. If there are any node units 3 that have not received the IDs (NO in step S9), the distribution control unit 214 The processes in steps S1 to S9 are repeated again.

  As described above, the processing of steps S21 to S9 allows the agricultural chemical component concentration contained in the soil of the field 6 to be close to the reference concentration and uniformized.

  Further, the user may travel the field traveling device 2 by loading a fertilizer spraying device that sprays liquid or powder fertilizer on the loading unit 13 instead of the agricultural chemical spraying device. In this case, the soil distribution information of the EC value is acquired instead of the soil distribution information of the agricultural chemical component concentration in step S21, the EC value is used instead of the agricultural chemical component concentration in steps S23 and S24, and fertilizer is not sprayed in step S25. In step S26, a process of increasing the fertilizer application amount as the difference between the EC value and the preset reference concentration of the fertilizer increases.

  Thereby, the fertilizer density | concentration (EC value) contained in the soil of the field 6 can be approximated to a reference | standard density | concentration, and can be made uniform.

  Next, operation | movement of the agricultural field traveling apparatus 2 in the case of sampling a crop is demonstrated. When cultivating crops in the field 6, in order to determine the growth status and harvest time of the crops, we want to sample and sample the crops several times at various locations in the field 6 and confirm the degree of growth. There is a case. When the weight of the crop is measured by sampling once, and the number of days is set again and the weight of the crop is measured again, the crop grows and increases in weight during the number of days. If such sampling is repeated several times, it is possible to confirm the growth status of the crop and to predict an appropriate harvest time.

  Even in the field 6, the degree of growth may vary depending on the location due to differences in sunlight and soil components. Therefore, in order to accurately determine the degree of growth, it is preferable to examine the change in weight between crops sampled at the same place. However, the operation of recording the sampling position and repeating the sampling at the same position is complicated.

  Therefore, the farm field traveling device 2 samples the ID of the node unit 3 disposed at the position to be sampled (for example, the ID of the node unit 3 to which the symbol P is attached in FIG. 4) in the sampling position storage unit 218. It can be stored as position information.

  FIG. 8 is a flowchart showing an example of the operation of the field traveling device 2 when sampling a harvested product. The farm field traveling device 2 may perform the operation illustrated in FIG. 8 when a sampling instruction for instructing sampling is received by an operation receiving unit such as an operation switch (not shown), for example.

  When sampling the harvested product, the user causes the farm field traveling device 2 to travel along the route A. When the agricultural field traveling device 2 reaches the vicinity of the first node unit 3 along the route A, the ID of the node unit 3 is received by the short-range communication unit 22 (YES in step S1).

  Then, the sampling guidance notification unit 216 refers to the sampling position storage unit 218 and confirms whether or not the received ID is included in the sampling position information (step S31). If the ID is not included in the sampling position information (NO in step S31), the process proceeds to step S4. If the ID is included in the sampling position information (YES in step S31), the sampling guidance notification unit 216 The ID is stored in the RAM or the like as the sampling position ID (step S32), and the display 25 or the speaker 26 is used to notify the user of guidance for urging the harvest for sampling (step S33).

  When the guidance for prompting the harvest is notified, the user harvests (samples) the crop at that position and loads it on the stacking unit 13. Thereby, the user can sample crops at the position where the node unit 3 having the ID set in the sampling position information is installed.

  Note that the notifying unit for notifying the guidance is not limited to the display 25 for notifying by image or the speaker 26 for notifying by sound, and for example, a light emitting device such as an LED (Light Emitting Diode) may be used. The unit 216 may notify by emitting an LED or the like.

  Next, the sampling processing unit 217 stores the measured weight of the weight sensor 24 in the RAM or the like as the sampling start weight (step S34).

  Next, in step S4, the sampling processing unit 217 confirms whether or not a new ID is received. When a new ID is received (YES in step S4), the sampling processing unit 217 acquires the measured weight of the weight sensor 24 as the sampling end weight and stores it in the RAM or the like (step S35).

  Next, the sampling processor 217 calculates the sampling weight by subtracting the sampling start weight from the sampling end weight (step S36). The sampling weight corresponds to the weight of the harvest sampled at the sampling location.

  Next, the sampling processing unit 217 associates the sampling position ID and the sampling weight and transmits them to the server device 5 (step S37). In the server device 5, when the correlated sampling position ID and the sampling weight are received, the storage processing unit 51 stores the received sampling position ID and the sampling weight in the storage unit 52 in association with each other.

  Next, step S9 is executed, and the processes of steps S1 to S9 are repeated. As a result, crops can be sampled at the positions where the node units 3 corresponding to all the IDs stored as sampling position information in the field 6 are installed, and the weight of the sampled crops is determined by the server device. 5 storage units 52.

  In addition, since the crop can be sampled at the position corresponding to the ID stored in the sampling position storage unit 218, it is possible to sample at the same position even when the sampling is performed again after the number of days. Therefore, it is possible to compare the sampling results of a plurality of times with the sampling weights sampled at the same position, so it is easy to improve the accuracy of grasping the growth status of the crop based on the sampling results and the prediction accuracy of an appropriate harvest time. become.

DESCRIPTION OF SYMBOLS 1 Agricultural field management system 2 Agricultural field travel device 3 Node unit 4 Gateway 5 Server apparatus 6 Agricultural field 11 Main body part 12R, 12L Endless track 13 Loading part 14 Lifting mechanism 15 Handle 16 Guard 21 Control part 22 Short distance communication part 23 Long distance communication part 24 Weight sensor 25 Display 26 Speaker 27, 27 Laser sensor 28L Left motor 28R Right motor 31 Node body 32 Short range communication circuit 33 Sensor unit 34 Node control unit 35 Long range communication circuit 51 Storage processing unit 52 Storage unit 61 畝 212 Corresponding process Unit 213 loading information acquisition unit 214 spreading control unit 215 travel control unit 216 sampling guidance notification unit 217 sampling processing unit 218 sampling position storage unit A route G soil L set distance

Claims (13)

A plurality of node-side short-range communication units that are provided with identification information for identifying the self-device and wirelessly transmit the identification information of the self-device in a short-range communication method in which the communication distance is equal to or less than a preset set distance. An agricultural field traveling device for traveling an agricultural field in which the node unit is installed,
A loading section capable of loading the field harvest;
A load detection unit for detecting that the harvest is loaded on the load unit;
A short-range communication unit that receives the identification information from the node unit in the field;
Depending on the timing at which the identification information is received by the short-range communication unit, at least one of the received identification information and the identification information received immediately before the identification information is received, and the loading detection unit A farm field travel device provided with a correspondence processing part which performs processing which matches information about a detected detection result. The loading detection unit detects the weight of the load loaded on the loading unit as the detection result,
The field travel device according to claim 1, further comprising: a loading information acquisition unit configured to acquire harvest information related to a harvest amount from which the harvest is harvested based on the detection result. The loading unit is capable of loading a pesticide spraying device for spraying pesticides,
The correspondence processing unit further acquires pesticide spraying information on the amount of pesticide spraying based on the weight measured by the load detection unit according to the timing at which the identification information is received by the short-range communication unit, The field traveling device according to claim 2, wherein a process of associating at least one of the received identification information and the identification information received immediately before the identification information is received with the pesticide application information is performed. The loading section is configured to be able to load a fertilizer application device for applying fertilizer,
The association processing unit further acquires fertilizer application information related to the fertilizer application amount based on the weight measured by the loading detection unit according to the timing at which the identification information is received by the short-range communication unit, The field traveling device according to claim 2, wherein processing for associating at least one of the received identification information and the identification information received immediately before the identification information is received with the fertilizer application information is performed. In order to perform sampling of the harvest, a sampling position storage unit that stores, as sampling position information, identification information of the node unit of the sampling number for sampling among the plurality of node units;
Sampling guidance notifying unit for notifying the user of guidance for harvesting for sampling when the identification information received by the short-range communication unit matches any of the identification information stored in the sampling position storage unit The field traveling device according to any one of claims 1 to 4, further comprising: Each of the node units further includes a sensor unit that detects soil information related to the soil in the field where each of the node units is installed,
The node side near field communication unit further transmits the soil information,
The short-range communication unit further receives the soil information from the node unit,
Further, when the soil information is received by the short-range communication unit, the association processing unit associates the identification information of the node unit that transmitted the soil information with the soil information and sets the soil component distribution information. The agricultural field traveling device according to any one of claims 1 to 5, wherein the processing is performed. The soil information includes pesticide concentration information regarding the pesticide concentration of the soil,
The loading unit is capable of loading a pesticide spraying device for spraying pesticides,
The field traveling device calculates the agricultural chemical concentration distribution in the field while traveling on the field, based on the agricultural chemical concentration distribution indicated by the soil component distribution information, while the agricultural chemical spraying amount by the agricultural chemical spraying device loaded on the loading unit is The field traveling device according to claim 6, further comprising a spraying control unit that adjusts so as to be uniform. The soil information includes fertilizer concentration information related to soil fertilizer concentration,
The loading section is configured to be able to load a fertilizer application device for applying fertilizer,
Based on the fertilizer concentration distribution indicated by the soil component distribution information, the field traveling device calculates the fertilizer concentration distribution in the field while traveling the field, using the fertilizer application amount by the fertilizer application device loaded on the loading unit. The field traveling device according to claim 6, further comprising a spraying control unit that adjusts so as to be uniform. A storage unit for storing information;
The field travel device according to any one of claims 1 to 8, wherein the association processing unit performs a process of storing the associated information in the storage unit as the association process. A loading section capable of loading a field harvest;
A load detection unit for detecting that the harvest is loaded on the load unit;
A position information detector for detecting the position information of the own machine;
A field travel device comprising: an association processing unit that performs a process of associating position information detected by the position information detection unit with information related to a detection result detected by the stacking detection unit. The agricultural field traveling device according to any one of claims 1 to 10,
An agricultural field management system comprising the plurality of node units. The agricultural field traveling device according to any one of claims 1 to 8 and 10,
The plurality of node units;
A server device including a storage unit for storing information,
Each node unit is
A sensor unit for detecting soil information related to the soil in the field where each node unit is installed;
A node-side transmission unit that transmits the soil information detected by the sensor unit and the identification information of the own device to the server device;
The server device
A field management system further comprising a storage processing unit that stores in the storage unit information transmitted by the node side transmission unit and information subjected to the association processing by the association processing unit. The field traveling device is:
A long-distance transmission unit having a communication distance longer than the set distance;
The field management system according to claim 12, wherein the association processing unit causes the storage unit to store information on which the association processing has been performed, by causing the long-distance transmission unit to transmit the information to the server device.

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