JP2018143160A - Device and method for evaluating lodging degree of crops - Google Patents

Abstract

PROBLEM TO BE SOLVED: To increase accuracy for evaluating lodging degrees of crops.SOLUTION: Provided is a device for evaluating lodging degrees of crops using a harvesting agricultural machine including a position measurement part. The evaluation device includes: an each-position speed data acquisition part which acquires the speeds of the harvesting agricultural machine at the positions measured by the position measurement part; and a standardization processing part which standardizes the speed of the harvesting agricultural machine based on a reference value of the speed of the harvesting agricultural machine acquired in advance and uses it as an index of the lodging degrees of crops.SELECTED DRAWING: Figure 4

Description

  The present invention relates to a technique for evaluating the lodging level of a crop.

  In crop production, the goal is to obtain high quality and high yield. Since lodging such as crops decreases the workability, yield and quality of harvesting, cultivation management that does not allow lodging is necessary.

  For example, in rice cultivation, in order to cope with the increase in scale, a combiner that can automatically measure the yield of each field section by a machine maker and a system for mapping the data are provided. It is used to increase the amount of fertilizer applied.

  However, low yields include those caused by lodging, and in that case, it is necessary to reduce the amount of fertilization. Moreover, when it is lying down even if it is a high yield, it is necessary to reduce the amount of fertilization similarly. Conventionally, there have been few techniques that can automatically record the degree of lodging (hereinafter referred to as “the degree of lodging”).

  Although it is possible to grasp the lodging location in the field by aerial photography etc. from a high altitude, it is difficult to know the degree of lodging at the lodging location, and the latitude and longitude of the lodging location are unknown, so it can be applied to work with GPS-equipped work machines Difficult to do.

  The lodging level is usually different from place to place even within one field. Therefore, in order to evaluate the lodging level of each field, it is necessary to look around the entire field.

  However, in a large-compartment field, labor is required to see the whole, and it is difficult to accurately grasp the ratio of the lodging places.

  If the lodging level of each field can be grasped, it becomes possible to perform fertilization design for the next year more accurately by combining with the yield data.

  In addition, lodging is also affected by unevenness of geological force due to topographical features and soil unevenness before foundation maintenance. Yield combines that can measure the yield distribution in the field have been developed for research purposes. If the distribution of the lodging level in the field can be grasped at the same time as the yield, a more appropriate fertilization map for variable fertilization using a GPS-equipped fertilizer can be created.

  For example, Patent Document 1 discloses a determination criterion for selecting an actual field to be investigated from an image of an investigation area accumulated in the past and attribute information of the field and an aerial image obtained by photographing the field to be investigated. In order to reduce the burden of the survey as much as possible, the candidates for the actual field should be concentrated as much as possible. Select. Also, by analyzing the time series pattern of weather data for each growth stage, a parameter group correlated with the growth situation is calculated, and yield estimation is performed using image feature values, field attribute information, and the parameter group as explanatory variables. To do.

  Moreover, patent document 2, 3 uses a combine which has arrange | positioned the grain balance sensor, and extracts lodging. The grain scale sensor includes a transmitter that scans the cereals in front of the machine with a beam of ultrasonic waves or laser light, and a receiver that receives reflected waves and reflected light from the cereals. Based on the overall level change of light, the level change in the raster, the distance between the cereal and the cereal sensor, etc., whether the cereal in front of the machine is upright or overlaid, The planting state of whether it is partially lying down or the presence or absence of cereals in front is detected.

JP-A-2015-49 JP-A-11-155340 Japanese Patent Laid-Open No. 11-137062

  However, Patent Document 1 estimates the yield with high accuracy, but cannot consider the lodging level.

  In Patent Documents 2 and 3, the cereals in front of the machine are upright from the overall level change of the reflected wave and reflected light, the level change in the raster, the distance between the cereal and cereal sensor, etc. It is detected by an optical sensor or the like whether there is a planting state whether it is lying down, lying down over the whole surface, or partly lying down, and whether there is a forward cereal. Therefore, it is necessary to use an expensive sensor.

Moreover, the general calculation of the lodging level was performed as follows.
1) Create a digital elevation map from aerial photographs taken with a digital camera with GPS. A plurality of aerial photographs with different shooting points are prepared, and an elevation map of the field is created from the positional information of the shooting points and the image shift using digital elevation map creation software.
2) Take aerial shots with a digital camera. For example, a digital camera is mounted on a drone to take an aerial photo of the entire field.
3) For example, walking behind the harvesting combine, recording the lodging situation and position with a digital camera with GPS, and creating data on the degree of lodging for each place in the field.
4) Opportunity: Walk around the outside and inside of the field and evaluate the area ratio according to the degree of lodging. The lodging level of the field is calculated by summing the lodging level x area ratio.
5) In addition, as disclosed in Patent Documents 2 and 3, there is a method of creating a lodging map while harvesting with an optical sensor attached to a combine.

However, the conventional techniques have the following problems.
1) Acquisition of aerial photographs for creating digital elevation maps that can measure height differences of about 20 cm requires expensive equipment and technology and work time, such as drones, or charges when commissioned. In order to create a digital elevation map, expensive specialized software is required and manual work is also required, so technology and work time are required. Automation and addition to the field management system is difficult.
2) A drone and its operation skills are required. For example, an imaging time of 5 to 10 minutes per field is required.
Although the location of lodging is known from aerial photographs, the degree of lodging is unknown. In addition, it is difficult to obtain position information of the lodging location. It takes time to process and organize photos. Automation and addition to the field management system is difficult.
3) It is necessary to walk for a long time and take a picture. Depending on the direction of lodging, it is difficult to judge the degree of lodging based on photographs. It is difficult to automate and add to the field management system to judge the lodging level from the photograph.
4) In order to improve accuracy, it is necessary to walk all over the field, which is labor intensive. Since it is difficult to objectively evaluate the area ratio by lodging level, it is difficult to improve accuracy. Automation and addition to the field management system is difficult.
5) An expensive optical sensor or the like is required.

  An object of this invention is to raise the precision for evaluating the lodging degree of agricultural products. Moreover, it aims at reducing the cost for evaluating the lodging level.

  According to an aspect of the present invention, there is provided an apparatus for evaluating the degree of lodging of a crop using a harvesting agricultural machine including a position measuring unit, the position at which the speed of the harvesting agricultural machine at a position measured by the position measuring unit is acquired. Another speed data acquisition unit, and a standardization processing unit that standardizes the speed of the harvesting agricultural machine based on a reference value of the speed of the harvesting agricultural machine that has been obtained in advance and uses it as an index of the lodging level of the crop An apparatus for evaluating the level of lodging of a crop is provided.

The standardized harvesting speed itself can be used as an evaluation index for lodging.
Based on the speed of the harvesting farm machine standardized by the standardization processing unit and the relationship between the standardized speed of the harvesting farm machine and the lodging level of the crop, which has been obtained in advance, the lodging level of the crop is estimated. And a lodging level estimation unit.

  Furthermore, it has a filtering process part which excludes the speed data classified by position acquired by the speed data acquisition part classified by position based on the upper limit, the lower limit, and the advancing direction of the speed of the harvesting agricultural machine.

  Data that exceeds the upper limit of the harvesting speed of the harvesting agricultural machine and the lower limit of the common-sense harvesting speed is estimated not to be the normal harvesting speed. Further, when the traveling direction is a direction that is not parallel to the shore, for example, it is estimated that harvesting is not performed, and the data is excluded.

  The reference value of the speed of the harvesting agricultural machine is obtained based on an average value of the speed of the harvesting agricultural machine in a non-overlapped field or a non-overlapped portion.

  By standardizing the speed with the reference value of the speed of the harvesting agricultural machine, the influence of the difference between the harvesting agricultural machine and the worker can be excluded.

  The lodging level estimation unit estimates the lodging level based on the relationship between the standardized speed of the harvesting agricultural machine and the lodging level of the crop in each of a plurality of fields.

  If the reference value of the speed of the harvesting agricultural machine is obtained based on the statistical value of the speed of only the uncovered field or the uncovered portion, the degree of lodging can be estimated with high accuracy.

  The lodging level estimation unit estimates the level of lodging based on the positional relationship between the standardized speed of the harvesting agricultural machine and the level of lodging of the crop.

  Further, the present invention is a method for evaluating the degree of lodging of a crop using a harvesting agricultural machine provided with a position measuring unit, wherein the position-specific speed data for acquiring the speed of the harvesting agricultural machine at the position measured by the position measuring unit An acquisition step, and a standardization processing step that standardizes the speed of the harvesting agricultural machine based on a reference value of the speed of the harvesting agricultural machine that has been obtained in advance, and uses it as an index of the lodging level of the crop. This is a method for evaluating the lodging level of crops.

  Based on the speed of the harvesting farm machine standardized by the standardization processing unit and the relationship between the standardized speed of the harvesting farm machine and the lodging level of the crop, which has been obtained in advance, the lodging level of the crop is estimated. And a lodging level estimation step.

  It is preferable that the lodging degree estimation step obtains the lodging degree of the crop based on the positional relationship between the standardized speed of the harvesting agricultural machine and the lodging degree of the crop.

  A step to define the field range by specifying the latitude and longitude of the apex of each field, and automatically determine which field the speed data by position consisting of position, speed and direction was acquired by GPS Then, based on the step of adding the field data to the data after the determination and the data to which the field data is added, the average for each field or the lodging level for each point may be estimated.

  The method further includes the step of further reflecting the field average lodging degree obtained by the lodging degree estimation step on the relationship between the standardized speed of the harvesting farm machine and the lodging degree of the crop obtained in advance. .

  The present invention may be a program for causing a computer to execute any one of the above-described lodging evaluation methods.

  ADVANTAGE OF THE INVENTION According to this invention, the precision for evaluating the lodging degree of a crop can be raised. Moreover, the cost for evaluating the lodging level can be reduced.

Fig.1 (a) is a functional block diagram which shows one structural example of the agricultural machine for harvesting by the 1st Embodiment of this invention, for example, a combine. FIGS. 1B and 1C are functional block diagrams showing a configuration example in the system configuration of the combine and the server device according to the modification of FIG. FIG. 2 is a functional block diagram illustrating a configuration example of the data processing unit. FIG. 3A is a functional block diagram showing one configuration example of the storage unit 7, and FIG. 3B is a diagram showing the relationship between the standardization speed and the lodging level for each field, and FIG. ) Is a diagram showing the relationship between the standardization speed and the lodging level for each position in one field. FIG. 4 is a flowchart showing a flow of processing for obtaining the average lodging degree in the field. FIG. 5 is a diagram showing the relationship between the speed of the standardized combine and the lodging level of the field average. FIG. 6 is a diagram illustrating the criteria for determining the lodging level and the determination method. FIG. 7 is an aerial photograph in which the estimated lodging levels by field are superimposed. FIG. 8: is a flowchart figure which shows the flow of the process in the lodging evaluation technique of the crop by the 2nd Embodiment of this invention. FIG. 9 is a diagram showing the relationship between the speed of the standardized combine and the degree of lodging according to position. FIG. 10 is an aerial photograph in which the estimated lodging levels by position are superimposed. Fig.11 (a) is a figure which shows an example of the visible image of a paddy field, and a light-colored part is a part with a high lodging degree. FIG.11 (b) is a figure which shows the lodging degree created based on the photograph image | photographed with the digital camera with GPS. A lodging level of 5 is complete lodging, and a lodging level of 0 is no lodging. FIG. 12 is a diagram showing the estimated lodging by position according to the present embodiment. The field indicated by the yellow frame is the field from which the reference value used for calculating the standardization speed in FIG. 5 was measured. The farm field indicated by a red frame is the same farm field as FIG. FIG. 13 is a flowchart showing the flow of processing according to the third embodiment of the present invention.

  Hereinafter, a technique for evaluating a lodging level according to an embodiment of the present invention will be described in detail with reference to the drawings.

(First embodiment)
First, a first embodiment of the present invention will be described. Fig.1 (a) is a functional block diagram which shows the example of 1 structure of the agricultural machine for harvesting by this Embodiment, for example, a combine. The combine A according to the present embodiment stores a general combine main body 1, a position measuring unit 3 such as a GPS logger, a data processing unit 5 that performs data processing for obtaining the lodging degree, and data. And a storage unit 7.

  FIG. 2 is a functional block diagram illustrating a configuration example of the data processing unit 5. FIG. 3A is a functional block diagram showing one configuration example of the storage unit 7, and FIG. 3B is a diagram showing the relationship between the standardization speed and the lodging level for each field, and FIG. ) Is a diagram showing the relationship between the standardization speed and the lodging level for each position in one field. FIG. 4 is a flowchart showing a flow of processing for obtaining the average lodging degree in the field. FIG. 5 is a diagram showing the relationship between the speed of the standardized combine and the lodging level of the field average. FIG. 6 is a diagram illustrating the criteria for determining the lodging level and the determination method. FIG. 7 is a diagram illustrating the estimated lodging level by field. The lodging degree is estimated from the harvest speed standardized using the fastest value of combine A as a reference value. In addition, the numerical value in a figure is an estimated value of the lodging degree by visual observation.

  As shown in FIG. 1A, the combine A according to the present embodiment includes a combine main body 1, a position measuring unit 3 such as a GPS, a data processing unit 5 that performs arithmetic processing such as a lodging degree, and the like. And a storage unit 7 for storing data to be used and data processing results.

FIG. 2 is a functional block diagram illustrating a configuration example of the data processing unit 5. As shown in FIG. 2, the data processing unit 5 includes a position-specific velocity data acquisition unit 5-1, a filtering processing unit 5-2, an average value calculation unit 5-3, a standardization processing unit 5-4, and a farm field. And another lodging degree estimation unit 5-5.
Note that another configuration in the region surrounded by the broken line will be described in the second embodiment.
In addition, it has a speed reference value calculator 5-7.

  FIG. 3A is a functional block diagram illustrating a configuration example of the storage unit 7. The storage unit 7 includes a position-specific speed data storage unit 7-1, a filtering condition storage unit 7-2, a standardization processing condition storage unit 7-3, a speed reference value storage unit 7-4, a field-specific, and a position-specific. The standardized speed-inclination degree conversion processing condition storage unit 7-5, the field-specific and position-specific lodging degree storage unit 7-6, and the other field data storage unit 7-7.

  FIG. 3B shows field-specific data stored in the field-specific and position-specific lodging storage units 7-6, and FIG. 3C shows data for each field position.

  FIG. 6 is a diagram illustrating the criteria for determining the lodging level and the determination method. For example, when the rice stock 33 with the ears 35 is planted in the soil 31, an approximate inclination is represented by θ.

  Here, the determination of the lodging level can be performed as shown in the upper right table of FIG. For example, the lodging level of the paddy field can be obtained based on the lower right expression in FIG.

  FIG. 4 is a flowchart showing a flow of processing in which the data processing unit 5 calculates the field average lodging degree. FIG. 5 is a diagram showing the relationship between the standardized combine speed of the field average and the lodging level, which has been obtained in advance. One point in FIG. 5 corresponds to one field. The relationship is obtained in advance at the time of use. As shown in FIG. 5, it has been found that the standardization speed has a correlation represented by a lodging function and a simple function represented by the formula in the figure.

  In FIG. 4, first, a process for obtaining the field average lodging degree is started (Start). In step S1, the position measurement unit (GPS) 3 measures the current position (x, y) of the combine. In step S2, the position-specific speed data acquisition unit 5-1 obtains position-specific speed data. If a GPS receiver is used, these processes can be performed simultaneously. As shown in FIG. 4, a configuration in which these processes are performed independently may be employed.

  In step S3, the filtering processing unit 5-2 performs the filtering process stored in the filtering condition storage unit 7-2. In the filtering process, for example, based on a lower limit speed for eliminating corner cutting, speed data equal to or lower than the lower limit speed is excluded from the subsequent arithmetic processing. Further, based on the upper limit speed for eliminating simple movement instead of harvesting, speed data equal to or higher than the upper limit speed is excluded from the subsequent calculation processing. Further, in order to exclude the turning motion, speed data whose traveling direction is not parallel to the heel is excluded. In step S3, in order to extract only data at the time of general harvesting work from the recorded GPS data, filtering is performed based on the speed upper limit, the lower limit, and the traveling direction.

  In step S4, the average value calculation unit 5-3 obtains an average value (statistical value) of the speed data of the field after the filtering process.

  On the other hand, in step S7, the average speed value is obtained from the average value for each field of the uncovered field stored in the other field data storage unit 7-7. In step S8, the speed reference value calculation unit 5-7 calculates a standardized speed reference value from the speed average value of the unfallen field or the uncovered portion determined in step S7. The speed reference value is, for example, a fastest value, an average value of five fastest points, or the like. This is stored in the speed reference value storage unit 7-4.

  In step S5, the standardization processing unit 5-4 eliminates the standardization processing conditions stored in the standardization processing condition storage unit 7-3, for example, the combine type difference or the operator difference, based on the reference value obtained in step S8. Perform the process.

  Here, in order to reduce the influence of the speed difference between the combine model and the operator, the harvesting speed of the reference field is calculated, and the raw data is standardized using the speed. In addition, in order to exclude the influence on the harvesting speed other than lodging, overhumid fields, wet crops, weedy fields, etc. are excluded from the application conditions.

  It is also possible to use the standardized harvesting speed itself as an evaluation index for lodging. The obtained value may be stored in the storage unit 7. Yield and quality can be grasped by other means, and the negative impact of lodging can be grasped as a whole by measuring the decline in harvest efficiency.

In step S6, the lodging degree estimation unit 5-5 stores the standardized combine speed and lodging of the field average as shown in FIG. 5, which is stored in the standardized speed-inclination degree conversion processing condition storage unit 7-5. Based on the degree relationship, for example, a simple relational expression in the figure, the standardized speed is converted into the lodging degree. The converted data is stored in the field-specific lodging storage unit 7-6.
Thus, the process ends (End). The obtained value may be stored in the storage unit 7.

  FIG. 7 is an aerial photograph in which the estimated lodging levels for each field are superimposed. As shown in the legend, the lodging level for each field was determined by the above method. On the other hand, the numerical values shown in FIG. 7 indicate the degree of lodging by visual observation.

The lodging level for each field determined by the present embodiment showed good agreement with the visual value.
From this, it can be seen that the lodging degree can be estimated easily and accurately by the technique for evaluating the lodging degree of the crop according to the present embodiment.

  FIG. 1B is a functional block diagram showing a configuration example in the system configuration of the combine and the server device according to the modification of FIG.

  As shown in FIG.1 (b), the combine main body 1, the position measurement part 3, and the communication part 9a are provided in the combine A side, the communication part 9b, the data processing part 5, and the memory | storage part 7 are provided. It may be provided on the server B side. If data is exchanged between the communication unit 9a and the communication unit 9b, remote data processing and processing load distribution are possible. Further, the server B can collectively manage a plurality of combines.

  Further, as shown in FIG. 1C, the combine main body 1, the position measuring unit 3, the communication unit 9a, and the first storage unit 7a are provided on the combine A side, and the communication unit 9b and the data processing unit 5 are provided. And the second storage unit 7b may be provided on the server B side. If data is exchanged between the communication unit 9a and the communication unit 9b, remote data processing and processing load distribution are possible. In addition, the first storage unit 7a stores the relationship between the position and speed at a certain timing, and at a certain timing, the storage data is sent to the server B side and stored in the second storage unit 7b. Also good. The relationship in FIG. 5 is more accurate by performing the processing of the flowchart shown in FIG. 4 repeatedly (reflecting the result of step S6 in FIG. 5).

(Second Embodiment)
As shown in FIG. 2, the present embodiment includes a standardization processing unit 5-4 and a position-specific lodging estimation unit 5-6 (in a region surrounded by a broken line).

  FIG. 8: is a flowchart figure which shows the flow of the process in the lodging evaluation technique of the crop by the 2nd Embodiment of this invention. Steps S11 to S13 are the same as steps S1 to S3 in FIG. In FIG. 4, the averaging process is performed in step S4, but in FIG. 8, the averaging process is not performed. Further, when obtaining the speed reference value used in the standardization process, in steps S7 and S8 in FIG. 4, the speed reference value calculation unit 5-7 calculates the speed from the average value of each unfallen field or the unfallen portion. The reference value is obtained.

  In the present embodiment, the position-specific lodging degree estimation unit 5-6 obtains the position-specific lodging degree in the field in step S15.

  In addition, it can be expected that the average value of the field with the higher speed is the average value of the field that is not lying down. As a simple method, the average value of the top 3 fields or 5 fields may be used.

In FIG. 8 as well, a speed average value is obtained from the data of the unfallen field or the data of the unfallen place in step S16, and based on that, the speed reference value is obtained in step S17.
In step S14, standardization processing is performed based on the speed reference value in step S17.

  It is also possible to use the standardized harvesting speed itself as an evaluation index for lodging. The obtained value may be stored in the storage unit 7. Yield and quality can be grasped by other means, and the negative impact of lodging can be grasped as a whole by measuring the decline in harvest efficiency.

  Next, based on the relationship between the standardized combine speed for each position and the degree of lodging for each position as shown in FIG. 9, the degree of lodging is obtained from the standardized speed. As shown in FIG. 9, it was found that the standardization speed has a correlation represented by a lodging function and a simple function represented by the formula in the figure.

  Although FIG. 9 is created with two fields, one field data or a plurality of field data may be used. One point in FIG. 9 corresponds to data at one point in the field. Since the mowing can be done only once at the same point, the data are all at different positions.

  The reason why the number of data in FIG. 9 is large is that the survey effort per point is less than one field, indicating that many surveys were completed in a short time.

  Note that the variation in data is estimated to be due to the fact that the speed measurement point and the lodging degree survey point do not completely match.

  In step S15, the position-specific lodging degree calculation unit 5-7 can obtain the position-specific lodging degree.

  Note that the relationship of FIG. 9 is more accurate by performing the processing of the flowchart shown in FIG. 8 repeatedly (the result of step S15 is reflected in FIG. 9).

  FIG. 10 is an aerial photograph in which the estimated lodging levels by position are superimposed. The arrows indicate the positions of the photographs in FIGS.

  Fig.11 (a) is a figure which shows an example of the visible image of a paddy field, and a light-colored part is a part with a high lodging degree. FIG.11 (b) is a figure which shows the lodging degree investigated visually. A lodging level of 5 is complete lodging, and a lodging level of 0 is no lodging. It can be seen that FIG. 11 (a) and FIG. 11 (b) also agree well. FIG. 12 is a diagram showing the estimated lodging by position according to the present embodiment. The field indicated by the yellow frame is the field from which the reference value was measured. The farm field indicated by a red frame is the same farm field as FIG.

  The estimated lodging level by location (Fig. 12) corresponds well with the lodging portion of the aerial photograph (Fig. 11 (a)) and the lodging map created using a GPS digital camera (Fig. 11 (b)). I understand.

  The degree of lodging for each position determined by the present embodiment showed good agreement with the actually measured value by visual observation or the like.

  From this, it can be seen that the lodging degree by position can be estimated easily and accurately by the technique for evaluating the lodging degree of crops according to the present embodiment.

From the above, the following advantages are obtained.
1) The prepared lodging map can be used for the fertilization design of the next fiscal year by paddy rice farmers to grasp the lodging level. In the future, it can be used to create a fertilization map for a variable fertilizer by combining it with a yield map.
2) In addition, it is considered that lodging can be applied to wheat using self-decomposing combine and other field crops using ordinary combine because the harvesting speed decreases.
3) By installing it in the yield combiner and incorporating it into the field management software, it is possible to automatically create a lodging map.

  As a problem, it is considered that the estimation accuracy can be further improved by taking into consideration the state of the machine such as the height of the combine cutting blade.

(Third embodiment)
For example, the lodging degree data may be automatically divided for each field by using field section information such as GIS software.

A third embodiment of the present invention will be described.
The processing in FIG. 13 is started (Start), and in step S21, the field range is defined by designating the latitude and longitude of the apex of each field in advance with GIS software or the like (A). Thereby, it is possible to automatically determine in which field the position-specific speed data obtained by GPS is acquired (step S22: B).

  In step S23, the attribute “field” is added to the data after discrimination such as “north latitude, east longitude, speed, direction, field”.

  In step S24, a field to be processed is determined, and in step S25, filtering processing, averaging processing, standardization processing, and conversion to lodging are performed for each field designated in step S24. That is, the processing after step S3 in FIG. 4 and step S13 in FIG. 8 is performed.

  By such processing, data acquisition, storage, transmission, and processing can be performed continuously and automatically without manually storing, transmitting, and processing data for each field.

  In the above-described embodiment, the configuration and the like illustrated in the accompanying drawings are not limited to these, and can be appropriately changed within a range in which the effect of the present invention is exhibited. In addition, various modifications can be made without departing from the scope of the object of the present invention.

  Each component of the present invention can be arbitrarily selected, and an invention having a selected configuration is also included in the present invention.

  The present invention can be used for a crop lodging level estimation device.

A ... Combine (harvesting machine)
DESCRIPTION OF SYMBOLS 1 ... Combine main body 3 ... GPS receiver (position measurement part)
5 ... Data processing unit 5-1 ... Position-specific velocity data acquisition unit 5-2 ... Filtering processing unit 5-3 ... Average value calculation unit 5-4 ... Standardization processing unit 5-5 ... Field-specific lodging level estimation unit 5-6 ... Position-specific lodging estimation section 5-7 ... Speed reference value calculation section 7 ... Storage section 7-1 ... Position-specific speed data storage section 7-2 ... Filtering condition storage section 7-3 ... Standardization processing condition storage section 7-4 ... Speed reference value storage unit 7-5 ... Standardized speed-lodging conversion condition storage unit (by field, by position)
7-6 ... Lodging level storage section 7-7 by field and position 7-7 ... Other field data storage section

Claims (11)

An apparatus for evaluating the lodging level of a crop using a harvesting agricultural machine equipped with a position measuring unit,
A position-specific speed data acquisition unit that acquires the speed of the harvesting agricultural machine at the position measured by the position measurement unit;
A standardization processing unit that standardizes the speed of the harvesting agricultural machine based on a reference value of the speed of the harvesting agricultural machine that has been obtained in advance, and has a standardization processing unit that serves as an index of the degree of lodging of the crop. Degree evaluation device. Based on the speed of the harvesting farm machine standardized by the standardization processing unit and the relationship between the standardized speed of the harvesting farm machine and the lodging level of the crop, which has been obtained in advance, the lodging level of the crop is estimated. The apparatus for evaluating the degree of lodging of a crop according to claim 1, further comprising:   Furthermore, it has a filtering process part which excludes the speed data classified by position acquired by the speed data acquisition part classified by position based on the upper limit of the speed of the harvesting agricultural machine, the lower limit, and the advancing direction. The apparatus for evaluating the lodging level of crops according to 2.   The reference value of the speed of the harvesting agricultural machine is obtained based on an average value of the speed of the harvesting agricultural machine in a non-overlapped field or a non-overlapped portion. The crop lodging evaluation apparatus according to Item 1. The lodging estimation unit is
The evaluation of the degree of lodging of a crop according to any one of claims 2 to 4, wherein the degree of lodging is estimated on the basis of the relationship between the standardized speed of the harvesting agricultural machine and the degree of lodging of the crop in each of a plurality of fields. apparatus. The lodging estimation unit is
The apparatus for evaluating the degree of lodging of a crop according to any one of claims 2 to 4, wherein the degree of lodging is estimated based on a positional relationship between the standardized speed of the harvesting agricultural machine and the degree of lodging of the crop. A method for evaluating the lodging level of a crop using a harvesting agricultural machine equipped with a position measuring unit,
Position-specific speed data acquisition step for acquiring the speed of the harvesting agricultural machine at the position measured by the position measuring unit;
A standardization processing step of standardizing the speed of the harvesting agricultural machine based on a reference value of the speed of the harvesting agricultural machine obtained in advance, and using the standardization processing step as an index of the degree of lodging of the crop. Degree evaluation method. Based on the speed of the harvesting farm machine standardized by the standardization processing unit and the relationship between the standardized speed of the harvesting farm machine and the lodging level of the crop, which has been obtained in advance, the lodging level of the crop is estimated. The method for assessing the level of lodging of a crop according to claim 7, further comprising a step of estimating a level of lodging. A step to define the field range by specifying the latitude and longitude of the apex of each field, and automatically determine which field the speed data by position consisting of position, speed and direction was acquired by GPS When,
Adding field data to the data after discrimination;
The method according to claim 7, wherein an average for each field or a level of lodging for each point is estimated based on data to which the field data is added.   The method further comprises the step of further reflecting the lodging degree of the crop obtained in the lodging degree estimating step in the relationship between the standardized speed of the harvesting agricultural machine and the lodging degree of the crop obtained in advance. Item 10. The method for assessing the lodging level of a crop according to any one of Items 8 or 9.   A program for causing a computer to execute the lodging evaluation method according to any one of claims 7 to 10.