JP2019095937A - Farm crops growth supporting system, information collector, growth supporting server, and farm crops sales supporting system - Google Patents

Abstract

To provide a technique for supporting a farming family by efficiently acquiring information on farm crops.SOLUTION: The farm crops growth supporting system includes: an information collector 12; and a growth supporting server 14, the information collector 12 having: a movement control unit for controlling movement in a farmland; an information acquisition unit for acquiring growth information on the growth of farm crops in the process of movement; and an information output unit for outputting the growth information, and the growth supporting server 14 having: an information inputting unit for receiving the input of the growth information; an analysis processing unit for analyzing the growth information; and a result outputting unit for outputting support information on the support of the farm crops as the result of the analysis.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a system for supporting cultivation and sales of agricultural products.

  In recent years, the decline in the agricultural population, the aging of agricultural workers, and the increase in fallow land are advancing. In order to revive agriculture, in addition to revitalization of full-time farmers, detailed support is also necessary for farmers who are not necessarily skilled in agricultural technology such as part-time farmers and small-scale farmers. As a technology for supporting such a farmer, there is known a technology for analyzing data collected by a sensor installed on a farmland and providing farm product growth support information to the farmer (see, for example, Patent Document 1).

JP, 2006-042721, A

  However, in the technology of Patent Document 1, in order to collect detailed data, it is necessary to fixedly install a large number of sensors over a wide area of farmland, which requires a large amount of equipment investment and time for installation.

  The present invention has been made in view of these problems, and an object thereof is to provide a technology for effectively acquiring information on crops and assisting farmers.

  In order to solve the above problems, a crop cultivation support system according to an aspect of the present invention is a system including an information collection device and a breeding support server, and the information collection device is configured to cultivate crop cultivation information in the process of movement on farmland. It has an information acquisition part to acquire, and an information output part which outputs training information. The breeding support server includes an information input unit to which breeding information is input, an analysis processing unit that analyzes the breeding information, and a result output unit that outputs, as a result of analysis, support information on the breeding of crops.

  The above-mentioned technology can support farmers by effectively acquiring information on crops.

BRIEF DESCRIPTION OF THE DRAWINGS It is a figure which shows typically the basic composition of a crop rearing sales support system. It is a figure showing typically the appearance example of an information gathering device. It is a functional block diagram showing functional composition of an information gathering device. It is a functional block diagram showing functional composition of a training support server. It is a functional block diagram showing a functional configuration of a sales management server. It is a figure of the example of a screen which sets the movement range of a mobile vehicle. It is a figure which shows typically the route of the mobile vehicle in farmland. It is a figure which shows typically the relationship between the position and operation | movement of the ridge of a farmland, a gutter low part, and a mobile vehicle. It is a figure of the example of a screen displayed on the terminal for producers. It is a figure of the example of a screen displayed on the terminal for consumers. It is a figure which shows typically division | segmentation of the route in a 1st modification. It is a figure which shows typically the determination method of the observation point position in a 2nd modification. It is a figure of the appearance example of the mobile vehicle in 2nd Embodiment. It is a bottom view of the mobile vehicle in 2nd Embodiment. It is a figure which shows typically the weed removal in an anther and an intercostal low part.

First Embodiment
FIG. 1: is a figure which shows typically the basic composition of the crop rearing sales support system 10. As shown in FIG. The producer 21 prepares the soil 36 in the farmland 38, cultivates, cultivates and harvests the crop 34. The producer 21 sells the harvested crop 34 as a commodity to the consumer 23 (or retailer).

  The crop cultivation and sales support system 10 includes an information collection device 12, a cultivation support server 14, and a sales management server 16. The information collection device 12, the training support server 14, and the sales management server 16 are connected via the network 18. The network 18 is, for example, the Internet. The breeding support server 14 is a server that implements a function to mainly support the crop producer 21. The sales management server 16 is a server that implements a function to support sales to the consumers 23 who mainly purchase agricultural products. The information collection device 12 is, for example, an autonomous mobile robot, and is a device that self-travels in the farmland 38 and acquires the state of the crop 34 and the soil 36. Specifically, the information collection device 12 captures the appearance of the crop 34 with a camera to acquire an image, and observes the soil 36 with a predetermined sensor to acquire environmental information. The information acquired by the information collection device 12 is transmitted to the training support server 14 and the sales management server 16.

  The producer 21 operates the producer's terminal 20 to access the breeding support server 14 via the network 18, obtains useful support information for breeding the crop 34, and utilizes it for breeding. The consumer 23 operates the consumer terminal 22, accesses the sales management server 16 via the network 18, checks the breeding information of the crop 34, grasps the quality of the crop 34, and uses it as a reference for purchase . The consumer 23 who has purchased the crop 34 can operate the consumer terminal 22 to input the evaluation of the product, and the information of the evaluation is sent to the sales management server 16 and the breeding support server 14 via the network 18, It is fed back to the cultivation of crops 34.

  The crop cultivation and sales support system 10 is intended for use not only by full-time farmers but also by small scale farmers such as part-time farmers, and compared to full-time farmers with farmers who lack knowledge and know-how on cultivation of crops, and time spent on cultivation. We can especially support poor producers. The crop cultivation and sales support system 10 not only observes crops and farmland on behalf of the producer but also provides support information for instructing the producer about techniques for cultivation. The farmland 38 may be not only a single farmer's land, but also a farmland in which a plurality of farmers and a plurality of kitchen gardens are gathered, or a loan for dividing one land into a plurality of sections and lending it to a plurality of producers. It may be the farmland of a farm. This makes it possible to cultivate agricultural products efficiently with as little effort and knowledge as possible, and for example, utilization of fallow land, reduction of production risk, and improvement of production rate can be expected. The information collection device 12 may be one that is lent to the farmer and maintained by a specialized service representative, and is also suitable for the farmer who does not want to perform troublesome work such as maintenance of the information collection device 12 by itself. For consumers, it is possible to efficiently grasp better quality crops and purchase safe and secure crops. In addition, by linking training support and sales management, it is possible to feed back the evaluation from the consumer to the improvement of the training method.

<Moving car, appearance example of charge base>
FIG. 2 schematically shows an example of the appearance of the information collection device 12. The information collection device 12 includes a mobile vehicle 42 traveling autonomously on the farmland 38 and a charging base 44 for supplying power to the mobile vehicle 42 connected thereto. In the information collection device 12 of the present embodiment, the combination of the mobile vehicle 42 and the charging base 44 is used as the information collecting device 12, but in the modification, the configuration (mainly the mobile vehicle 42) excluding the charging base 44 is collected The device 12 may be used. The moving vehicle 42 mainly has a camera 46, an arm 48, a touch panel 140, and a battery 160, photographs a crop 34 while autonomously traveling on the farmland 38, and measures environmental information on the farmland 38. The camera 46 is, for example, a camera capable of omnidirectional imaging, and captures still or moving images of fruits and leaves of the crop 34 as breeding information of the crop 34, and also determines the traveling direction of the moving vehicle 42 Take pictures of terrain and obstacles. The arm 48 is constructed by connecting an extendable long member having a camera 46 installed at its tip to a base material, and freely changing the position of the camera 46 by operations such as tilting operation, extension operation and rotation operation. Can. The touch panel 140 receives information input by the touch operation of the user, and displays the information on the screen. Under the touch panel 140, a camera 46, a motor, an actuator, the touch panel 140, and a battery 160 for supplying power to communication devices are installed. The touch panel 140 displays settings relating to control of the moving vehicle 42 and the remaining amount of the battery, and also displays operation buttons and an emergency stop button. Behind the mobile vehicle 42, a plug 52 for power supply is provided. The wheels of the moving vehicle 42 may be normal wheels or an endless track.

  The moving vehicle 42 may be provided with a light emitting for the purpose of pest protection and a speaker for emitting a sound of the pest avoidance on the moving vehicle 42. In addition, for the purpose of crime prevention such as theft or mischief to mobile car 42, function to emit warning sound indicating that it was lifted from speaker or biometric authentication such as password authentication or face authentication to cancel output of warning sound A required function, and a function of automatically photographing the face and appearance of a suspicious person may be provided. In addition, a detector such as a load sensor or an acceleration sensor that detects that it has been lifted may be provided. For example, when the own weight to be detected by the load sensor is not detected, it is determined that the mobile vehicle 42 is lifted, and when the acceleration sensor detects an acceleration although the mobile vehicle 42 is not moving, It may be determined that the car 42 has been lifted.

  The charging base 44 rapidly charges the moving vehicle 42 when the moving vehicle 42 is connected via the plug 52 and is in a standby state. The charging base 44 is installed in a place where there is a power supply facility, such as the vicinity of a home of the producer 21 on the premises of the farmer 39. The mobile vehicle 42 moves to the location of the charging base 44 autonomously, connects to the charging base 44 autonomously, and charges. The mobile vehicle 42 moves from the location of the charging base 44 to the agricultural land in the charging completion state, and after traveling around the moving path in the agricultural land, automatically returns to the location of the charging base 44 and connects to the charging base 44 Charge again. The charging base 44 is preferably installed at a roofed place so that the charging base 44 and the mobile vehicle 42 do not get wet in rainy weather. Whether the mobile vehicle 42 starts moving to and from a farmland and when it starts may be determined based on weather information acquired via the Internet.

  In this embodiment, an example in which one farmland 38 is observed by one set of mobile vehicles 42 and charging base 44 will be described, but in the modification, one farmland 38 is set by multiple sets of mobile cars 42 and charging base 44. It may be configured to share and observe. In the present embodiment, an autonomous traveling vehicle is illustrated as the information collecting apparatus 12, but the information collecting apparatus 12 in the modification can be used not only by an autonomous walking robot, a field but also an orchard, a vast forest, and a meadow. It may be an autonomous mobile robot or an autonomous mobile body that collects information from the surroundings, such as an autonomous flight type multicopter (drone), an autonomous navigation type boat mainly used in a paddy field. Alternatively, any device that can move in the farmland may be used, and it is not limited to a device that moves autonomously, and can be guided by a device that automatically moves a predetermined route, or by tracing rails and fiducial marks laid in advance. Devices may be used.

<Function of mobile car>
FIG. 3 is a functional block diagram showing a functional configuration of the information collection device 12. The information collection device 12 comprises a mobile vehicle 42 and a charging base 44. The mobile vehicle 42 includes an information acquisition unit 100, a control unit 110, an information input unit 120, an information output unit 130, a touch panel 140, a communication unit 150, a battery 160, a wheel drive motor 162, an actuator 164, a position acquisition unit 170, a data storage unit It has 180. The control unit 110 includes an image analysis unit 111, a movement control unit 112, and a function control unit 114. The data storage unit 180 includes an image storage unit 182 and an information storage unit 184.

  In terms of hardware, each block can be realized by an electronic element such as a CPU of a computer, or a mechanical component, and in software, it can be realized by a computer program or the like. It is drawing a functional block. Therefore, it is understood by those skilled in the art that these functional blocks can be realized in various forms by a combination of hardware and software.

  The information acquisition unit 100 includes an image acquisition unit 102 and an environmental information acquisition unit 104, and acquires growth information of the crop 34 along the movement path of the farmland 38. The cultivation information of the crop 34 includes an image of the crop 34 and environmental information of the farmland 38. The image acquisition unit 102 includes a camera 46, and photographs the crop 34 to acquire a still image or a moving image as breeding information, and also photographs surrounding terrain and obstacles. The camera provided as the image acquisition unit 102 may be configured by one camera, or may be configured by a plurality of cameras installed at different places for different purposes. The captured image captured by the image acquisition unit 102 is stored in the image storage unit 182, and the live video captured by the image acquisition unit 102 is sent to the image analysis unit 111. As a modification, the image acquiring unit 102 may acquire an image of heat distribution by analyzing infrared rays like a thermograph, instead of a normal still image or moving image which can be photographed by a camera, or may use a color sensor. The color information may be acquired, or the information of the obstacle may be acquired by infrared rays, a laser, ultrasonic waves or the like.

  The environmental information acquisition unit 104 measures environmental information of the farmland 38 as training information. The environmental information acquisition unit 104 includes a surrounding measurement unit 105 that measures surrounding environmental information, and a soil measurement unit 106 that measures environmental information on the surface of the soil 36 or in the ground. For example, the ambient measurement unit 105 may be a thermometer that measures the ambient temperature, a measurement meter that measures the ambient humidity, or a pyranometer that measures the amount of solar radiation including illuminance and sunshine time. The soil measuring unit 106 is, for example, a thermometer that measures the temperature of the surface of the soil 36 or the temperature in the soil, a soil moisture meter that measures the amount of water in the soil of the soil 36, and a soil acidity that measures the acidity (pH value) of the soil 36 It may be a measure. Information on temperature, humidity, solar radiation amount, soil temperature, soil water content, and soil acidity acquired by the environmental information acquisition unit 104 is stored in the information storage unit 184.

  The image analysis unit 111 analyzes the live video and the captured image sent from the image acquisition unit 102. The image analysis unit 111 analyzes the topography of the surroundings from the live video obtained by imaging the surroundings, recognizes the positional relationship between the eyebrows and the lower eyebrows, recognizes the direction to go between the lower eyebrows as a moving path, and analyzes The result is sent to the movement control unit 112.

  The movement control unit 112 controls the movement of the mobile vehicle 42 so as to pass through the recognized movement path. Specifically, the movement control unit 112 controls the movement of the moving vehicle 42 by controlling the driving force and the movement direction of the wheel drive motor 162. The movement control unit 112 may control the moving direction of the moving vehicle 42 by separately driving the left and right wheels, or may control the moving direction of the moving vehicle 42 by controlling the steering angle of the wheels. Good.

  The position acquisition unit 170 acquires the position information of the mobile vehicle 42 on the moving path when acquiring the breeding information. The position acquisition unit 170 receives three-dimensional position information of the current position from a positioning satellite (for example, GPS, GLONASS, MICHIBIKI, etc.). The position information may include not only plane coordinates but also coordinates indicating the height of a predetermined portion such as the tip position of the arm 48. As a modification, beacon transmitters may be installed at predetermined intervals along farmland 38, for example, along a ridge, and the relative position of mobile vehicle 42 may be recognized based on signals received from the beacon transmitters. . The position acquisition unit 170 may recognize or correct the position information based on the information of the acceleration sensor or the compass.

  The movement control unit 112 controls the movement of the mobile vehicle 42 along the movement path within the range of farmland set in advance, based on the position information acquired by the position acquisition unit 170 and the analysis result of the image by the image analysis unit 111. Do. The movement control unit 112 records information of the moved route in the information storage unit 184 as a history of the movement result of the moving vehicle 42. The information on the route recorded in the information storage unit 184 may be read as route information indicating the basic course of the mobile vehicle 42 from the next time, and may be referred to by the movement control unit 112. The movement control unit 112 determines the rough movement direction and the movement distance of the moving vehicle 42 based on the route information stored in the information storage unit 184. Then, the unevenness and obstacles of the surrounding topography recognized by the image analysis unit 111 are avoided, and the route information is corrected according to the change of the topography due to the weather and the passage of time. In addition, the movement control unit 112 may correct the route by optimizing the route by finding an efficient route with less duplicate traffic by learning, with regard to the route information in which the same route is duplicated and passed many times. . Alternatively, the movement control unit 112 may determine the movement direction while confirming the route based on the beacon signal received from the surroundings while determining only the rough movement direction based on the route information. The movement control unit 112 may change the traveling direction and the order according to the day, or may change the traveling area according to the day, such as daily patrol of a part of the farmland.

  While moving vehicle 42 is moved by the control of movement control unit 112, after temporarily stopping at a predetermined interval (a predetermined distance interval or a predetermined time interval), information acquisition unit 100 acquires environmental information of farmland, and according to the image analysis result The information acquisition unit 100 acquires the image of the crop by adjusting the position so as to approach the crop. As described above, one mobile vehicle 42 moves at a plurality of locations by movement control of the movement control unit 112 and acquires an image of the crop 34 and environmental information of the farmland 38. As a result, equipment investment can be reduced and installation time can be reduced compared to the conventional method in which sensors are fixedly installed at a large number of locations over a wide area of farmland. Also, unlike fixed-point observation from a fixed position, it can respond dynamically to changes in the shape and position of agricultural products 34 due to growth, and to changes in the topography of agricultural land 38 due to weather, etc., making the detailed data more stable. Can be collected.

  In a modification, the route information may be set in advance by an operation input to the touch panel 140 by the user or an operation input via the terminal 20 for the producer and the network 18. In that case, the movement control unit 112 controls the movement, the movement direction, and the movement distance of the moving vehicle 42 based on the route information set in advance. The route information is information in which position information of passing points determined to connect the lower end of the farmland 38 is connected as the movement route of the mobile vehicle 42 in the farmland 38 and is stored in advance in the information storage unit 184. The route information explicitly set by the producer 21 is not limited to the method set via the touch panel 140 or the terminal 20 for the producer, for example, the mobile vehicle 42 is moved by remote control by the producer 21 to route the route The route information may be created by recording as information, carrying the moving vehicle 42 to a plurality of points to be passed in the farmland, operating the touch panel 140 for each point, and recording its position information in order . As a modification, a beacon transmitter or a marker may be placed in the vicinity of the point to be passed, and the route information may be recognized by sequentially recognizing them.

  The function control unit 114 controls the execution of various functions of the moving vehicle 42. In addition, the function control unit 114 also detects location information and shooting date and time of locations where crops were shot by the image obtaining unit 102, location information and obtaining date and time of locations where environment information of farmland has been obtained by the environment information obtaining unit 104. The information storage unit 184 is made to correspond to the photographed image and the environment information. The movement control unit 112 initially pauses and adjusts the position at predetermined intervals along the movement path to acquire information, and the history of the position information stored in the information storage unit 184 after the second time Based on the above, information may be acquired by pausing and adjusting at the same position as the previous time. Thus, unlike in the case where cameras and sensors are fixedly installed in various places of farmland and fixed point observation is carried out, the observation positions are dynamically optimized according to the actual planting position of crops and changes in stock geometry. Be done.

  The function control unit 114 controls the extension, inclination, and rotation of the arm 48 by the actuator 164. The function control unit 114 causes the camera 48 to approach the direction of the crop 34 in order to obtain a detailed image of the crop 34 when the crop 34 is detected by the analysis of the live video by the image analysis unit 111. Control the movement of

  The information output unit 130 outputs the training information acquired by the information acquisition unit 100 to the charging base 44 or the training support server 14 and the sales management server 16 via the communication unit 150, along with the corresponding position information and date and time information. When the communication unit 150 has a wireless LAN or mobile phone communication function, data is transmitted from the communication unit 150 to the training support server 14 or the sales management server 16 via the network 18, and the communication unit 150 is Bluetooth (registered trademark). In the case where only the communication unit 230 is connected by short distance wireless communication such as, or communication means such as wireless LAN, the data is once transmitted to the charging base 44.

<Function of charge base>
The charge base 44 includes an information input unit 200, an information output unit 210, a touch panel 220, a communication unit 230, a function control unit 240, a charge control unit 250, and a data storage unit 260. The data storage unit 260 includes an image storage unit 262 and an information storage unit 264.

  The communication unit 230 is connected to the communication unit 150 of the mobile vehicle 42 by near field communication or wireless LAN, and transmits and receives data. The communication unit 230 transmits and receives data to and from the training support server 14 and the sales management server 16 via the network 18 such as a wireless LAN, a cellular phone communication, the Internet, and the like. In the modification, the communication unit 230 of the mobile vehicle 42 is not provided with the charge base 44, and the communication unit 150 of the mobile vehicle 42 communicates with the training support server 14 or the sales management server 16 via the network 18 such as a wireless LAN or mobile phone communication. Data may be transmitted and received between. Alternatively, data may be transmitted and received between the communication unit 150 and the communication unit 230 by near field communication or wire communication, and communication may be performed only while the mobile vehicle 42 is connected to the charging base 44 and charging. In that case, while the moving vehicle 42 is moving, in principle, it does not communicate with the communication unit 230 to reduce power consumption, accumulate the acquired image and environmental information in the data storage unit 180, It becomes a system of transferring to the charging base 44.

  In the case where the communication unit 150 is always connected to the communication unit 230 by wireless communication while the mobile vehicle 42 is moving, the function is performed when the communication is interrupted or when the communication interruption time exceeds a predetermined time. The control unit 240 notifies the training support server 14 that the communication is interrupted. In that case, the information output unit 210 transmits the image immediately before the communication interruption to the training support server 14 because the image transferred to the charging base 44 at the time of connection may have the cause of the suspicious person or the trouble. This makes it possible to inform the producer 21 of the possibility of troubles such as theft, breakdown, immobility, and battery exhaustion.

  The information input unit 200 inputs, to the function control unit 240, data sent from the mobile vehicle 42 through the communication unit 230. The touch panel 220 receives an information input by a user's touch operation, and the information input unit 200 inputs the information input to the touch panel 220 to the function control unit 240. The information output unit 210 causes the touch panel 220 to display setting information of the moving vehicle 42 and the remaining amount of the battery. The information output unit 210 transmits setting information and route information of the moving vehicle 42 to the moving vehicle 42 via the communication unit 230.

  The function control unit 240 performs program control to cause each function of the charging base 44 to be exhibited. The function control unit 240 temporarily stores the captured image received from the moving vehicle 42 in the image storage unit 262 until it is transmitted to the training support server 14 or the sales management server 16 together with corresponding position information and date and time information. The function control unit 240 temporarily stores the environment information received from the moving vehicle 42 in the information storage unit 264 until it is transmitted to the training support server 14 or the sales management server 16 together with the corresponding position information and date and time information.

  The charge control unit 250 supplies power to the battery 160 of the moving vehicle 42 and charges it while detecting the connection of the plug 52 of the moving vehicle 42. The function control unit 240 acquires information indicating the charge status of the battery 160 via the charge control unit 250.

<Nurturing support server>
FIG. 4 is a functional block diagram showing a functional configuration of the training support server 14. The training support server 14 includes an information management unit 300, an analysis processing unit 320, an information input unit 330, a result output unit 332, and a communication unit 334. The information management unit 300 includes an image storage unit 302, an information storage unit 304, a training result storage unit 306, an analysis condition storage unit 308, and an analysis result storage unit 310. The analysis processing unit 320 includes an image analysis unit 322, a training situation analysis unit 326, an environment analysis unit 324, and a support information determination unit 328.

  In terms of hardware, each block can be realized by an electronic element such as a CPU of a computer, or a mechanical component, and in software, it can be realized by a computer program or the like. It is drawing a functional block. Therefore, it is understood by those skilled in the art that these functional blocks can be realized in various forms by a combination of hardware and software.

  The information input unit 330 receives the training information, the position information, and the date and time information transmitted from the information collection device 12 via the communication unit 334. The photographed image of the crop 34 received as the breeding information is stored in the image storage unit 302 together with the position information and the information on the photographing date and time. The environmental information received as the breeding information is stored in the information storage unit 304 together with the position information and the information on the measurement date and time. In the breeding result storage unit 306, evaluation information of the crop 34 from the consumer 23 received from the sales management server 16 described later is stored. The evaluation information of the crop 34 is corresponded to the breeding information of the sold crop 34.

  The analysis processing unit 320 analyzes the breeding information of the crop identified by the position information and the date and time information by processing based on the predetermined data analysis condition stored in the analysis condition storage unit 308. The image analysis unit 322 analyzes the captured image, and extracts images of fruits, leaves, flowers, and weeds of the crop 34 from the captured image. The image analysis unit 322 analyzes a real outline, a real size (area), a real color, a flower size, and the like from the real image. The image analysis unit 322 analyzes the outline of the leaf, the size (area) of the leaf, the color of the leaf, and the like from the image of the leaf. The image analysis unit 322 extracts an image of an insect from images of fruits, leaves, and flowers, and analyzes the size (area) of the insect, the type of the insect, and the like. The image analysis unit 322 extracts the image of the weed that has grown at the root of the crop 34, and analyzes the outline of the weed, the size (area) of the weed, the color of the weed, the type of weed, and the like. The image analysis unit 322 analyzes the difference in the degree of growth of the crop and the difference in the occurrence of insects in each place of the farmland based on the photographed image and the position information, and the breeding situation is compared with other parts even in the same farmland. If there is a place that is inferior, an analysis result indicating that is given. For example, places where growth of crops is slower or places with fewer fruits, places with poor color and shape of fruits and leaves, places with high incidence of insects, places with many weeds, etc. are detected as compared to other places. The image analysis unit 322 stores the analysis result in the training result storage unit 306.

  The environmental analysis unit 324 analyzes environmental information of farmland to observe environmental changes around crops and soil. A change in environmental information is analyzed based on the history of environmental information stored in the information storage unit 304 for each farmland, every section, every stock, every real, every brand, and every kind of breed. The environment analysis unit 324 analyzes the difference in the environment of each place in the farmland based on the environment information and the position information, and even if it is the same farmland, there is a place where the state indicated by the environment information is inferior to other parts In the case, an analysis result indicating that is given. For example, a place where the amount of solar radiation is low, a place where sunlight is short, a place where the temperature of the soil is low, and a place where the amount of moisture in the soil is low are detected. The environment analysis unit 324 stores the analysis result in the training result storage unit 306.

  The breeding situation analysis unit 326 determines the breeding situation for each crop based on the analysis result of the photographed image of the crop and the analysis result of the environmental information and the analysis condition stored in the analysis condition storage unit 308, and the quality and harvest time for each crop. , Predict the risk of abnormal occurrence, etc. Based on the analysis results by the image analysis unit 322 and the environment analysis unit 324, the breeding situation analysis unit 326 divides one farmland into a plurality of regions based on the goodness of the crop and the breeding environment, and classifies each by rank.

  The analysis condition storage unit 308 stores analysis conditions used by the image analysis unit 322, the environment analysis unit 324, and the breeding situation analysis unit 326. The analysis conditions stored in the analysis condition storage unit 308 are conditions such as crop seed, leaves, flower outline, size, color, etc., environmental temperature (underground or above ground), preset for each crop type. Conditions such as humidity, solar radiation amount, water content, acidity (pH value) and the like are stored. These conditions are correlated with the evaluation of agricultural products and statistically analyzed at any time, and the evaluation of final products can be predicted by analyzing the growth situation and environment of agricultural products. As well as accumulating the cultivation information of the crop in the cultivation result storage unit 306, analysis conditions of the image of the crop and environmental information may be generated by supervised machine learning or deep learning based on the evaluation information. In this way, even if analysis conditions are not necessarily defined in detail in line with the breeding method that has been considered ideal for each breed, learning based on feedback from consumers is It can be expected that an optimized breeding method will be defined without getting caught up in

  Data on the relationship between crop growth status and environmental information on farmland and evaluation is not only collected for each producer, but also collected in various units such as for each crop type, breed, and region. More accurate analysis results can be obtained by analyzing not only data by producer but also data sets of larger scale. In that case, since the scale of production varies depending on the farmer, the degree of contribution of each producer to the data set differs depending on the size of the amount of data collected in the data set of a specific unit. Therefore, in order to give the producer an incentive for data collection cooperation, for example, only when cooperating in data collection in a specific unit, a mechanism may be provided to obtain an analysis result of a data set of the collection destination. Alternatively, for example, the usage fee of the crop cultivation and sales support system 10 may be reduced according to the degree of contribution to the data set. The size of the data may be calculated based on the data capacity, the number of images, the moving image time, the number of shares, and the like.

  The support information determination unit 328 determines the support information based on the analysis result of the image, the analysis result of the environment, and the analysis result of the breeding situation. For example, when it is determined that the water is insufficient from the analysis of the image and the analysis of the water content of the soil, the content that encourages the producer to water, such as “water shortage” or “please do watering”. To determine the output of support information. For example, if it is determined that the fertilizer is insufficient from the analysis of the pH value of the soil, the support information in the content that urges the producer to sow the fertilizer, such as "insufficient fertilizer" or "please pour fertilizer". Determine the output of For example, when the same kind of crop is continuously grown in the same place, and there is a decrease in soil nutrients for each crop harvest, the output of support information indicating the possibility of continuous crop failure is determined. For example, as a result of analysis, it is determined output of support information that presents timing or the number suitable for thinning recommendation or thinning to the crucible 30 or the stock for which thinning is determined to be necessary. For example, in the case where the crop 34 that has reached the harvest time and the crop 34 that has not reached the harvest time are mixed in the same stock, the output of support information indicating how many crops 34 can be harvested is determined for each stock. Do. For example, if it is analyzed that there is a place where there is a big difference in the environment, such as farmland divided into a place with high solar radiation amount and a place with low solar radiation, what kind of kind Determine the output of supporting information that recommends effective seeding methods, such as whether it is desirable to sow seeds. Alternatively, depending on the analysis result of the environment, the output of support information is determined by the content of teaching the desirable cultivation method in the case of cultivating the growth target which is considered to be relatively difficult to cultivate fixed species (native species) etc. You may As described above, the support information determination unit 328 can determine the support information for the items that can be determined based on the combination of the image analysis, the analysis of the environment information, and the analysis of the breeding situation. The result output unit 332 transmits, via the communication unit 334, support information on the cultivation of the crop 34.

<Sales management server>
FIG. 5 is a functional block diagram showing a functional configuration of the sales management server 16. The sales management server 16 includes an information management unit 400, a sales processing unit 420, an information input unit 430, an information output unit 432, and a communication unit 434. The sales processing unit 420 includes a commodity display unit 422, a transaction processing unit 424, a settlement processing unit 426, and an evaluation processing unit 428, and processes display, data input / output, and the like of sales sites of agricultural products that are commodities. The information management unit 400 includes an image storage unit 402, an information storage unit 404, a product information storage unit 406, a transaction storage unit 408, and an evaluation storage unit 410, and stores information input / output at a crop sales site.

  In terms of hardware, each block can be realized by an electronic element such as a CPU of a computer, or a mechanical component, and in software, it can be realized by a computer program or the like. It is drawing a functional block. Therefore, it is understood by those skilled in the art that these functional blocks can be realized in various forms by a combination of hardware and software.

  The information input unit 430 acquires cultivation information of crops from the information collection device 12 or the cultivation support server 14 via the communication unit 434, stores an image of the crop in the image storage unit 402, and information on the cultivation status of the crops It is stored in the storage unit 404. The product information storage unit 406 stores information on agricultural products to be sold as a product, and corresponds to an image during cultivation for each crop and information on the breeding status stored in the image storage unit 402 and the information storage unit 404. The relationship is stored in the product information storage unit 406. Product information of agricultural products stored in the product information storage unit 406 includes, for example, types of agricultural products, varieties, production areas, names of producers, dates of harvest or estimated dates, dates of shipment, prices, quantities, etc. It contains information that is helpful for consumer purchases. The information on the cultivation status of the crop stored in the information storage unit 404 includes, for example, the size, shape, and color characteristics of the crop, rank, breeding conditions such as fertilizer and pesticide, sugar content, individual differences and quality of crop It contains information that consumers can use to make a guess.

  The commodity display unit 422 is for each commodity of commodity information of agricultural products stored in the commodity information storage unit 406, an image of agricultural products stored in the image storage unit 402, and information on the cultivation situation of agricultural products stored in the information storage unit 404. Generate a screen for a product sales site to display on. The information output unit 432 is used for the consumer via the communication unit 434 in the form of a screen of a commodity sales site as a response to a browse request from the consumer terminal 22 such as commodity information, images, and cultivation status of agricultural products. Transmit to terminal 22. The consumer 23 can browse the merchandise sales site via the network 18 using the consumer terminal 22. The transaction processing unit 424 processes a commodity sales transaction with the consumer terminal 22. For example, sales information such as the name of an ordered item from the consumer terminal 22, the number of orders, the address and name of the consumer 23, the settlement method, the delivery method, etc. is processed. The information input unit 430 and the information output unit 432 exchange sales information of goods with the consumer terminal 22 through the communication unit 434. As a modification, the transaction processing unit 424 may process a transaction using an external online shopping server (not shown). Order information from the consumer 23 is stored in the transaction storage unit 408. The settlement processing unit 426 processes an electronic settlement for an order of goods. However, the settlement processing unit 426 may process settlement using an external settlement server (not shown).

  The evaluation processing unit 428 acquires the evaluation information of the crop transmitted from the consumer terminal 22 via the communication unit 434 and the information input unit 430, and stores the information in the evaluation storage unit 410. The evaluation information of the crop is an evaluation from the consumer 23 who purchased the crop as a product, and for example, the response of the consumer 23 to a plurality of evaluation items related to the quality of the crop is included in the form of multistage evaluation. The information output unit 432 transmits the evaluation information of agricultural products to the training support server 14 or the terminal 20 for producers via the communication unit 434. The producer 21 can operate the producer terminal 20 to receive evaluation information from the consumer, which encourages the producer 21 and leads to an improvement in the motivation for cultivating agricultural products. The breeding support server 14 uses the evaluation of the crop as feedback to the breeding method of the crop. Specifically, the breeding support server 14 can identify a breeding method and breeding conditions of crops whose high evaluation can be easily obtained, by learning the relationship between the breeding information and the evaluation of the crops. As described above, since the evaluation by the consumer who purchased the crop is directly fed back also to the method of cultivating the crop, the consumer can expect to obtain the crop with better quality, or more stable and better quality. We can expect to get crops.

<Setting of movement range>
FIG. 6 is a view of an example of a screen for setting a moving range of a moving vehicle. The figure is, for example, an aerial photograph or a map taken from above the farmhouse 39, and is an image including the site and its surrounding roads and adjacent lands. Such an image is displayed on the touch panel 140 of the moving vehicle 42, the touch panel 220 of the charging base 44, or the screen of the terminal 20 for producers, and the producer 21 designates the place of "site", "farmland", "base". For example, the outer edge of the “site”, that is, the entire edge of the land owned by the producer 21 is traced with a thick broken line, and this is set as the maximum range in which the moving vehicle 42 can move. In addition, the outer edge of the “farmland” is traced with a thick solid line, and this is set as a range in which the moving vehicle 42 acquires the breeding information. Further, the location of the “base” is designated by a hatched rectangle, and it is set as a charging location of the mobile vehicle 42, that is, a departure and return location during operation and a standby location during non-operation. These settings are stored not only in the information storage unit 404 but also in the information storage unit 184 and the information storage unit 264. In addition, when the "base" is apart from the "farmland", a passing route from the "base" to the "farmland" may be designated.

<Route of moving car>
FIG. 7 schematically shows the route of the mobile vehicle 42 in the farmland 38. As shown in FIG. In the figure, an example of a portion in which five ridges 30 formed in the farmland 38 are arranged in parallel is drawn, and the gap between the ridges 30 and 30 is relatively lower than the ridge 30. 32 are formed. Crops 34a to 34f are grown in the pot 30a, crops 34g to 34l are grown in the pot 30b, crops 34m to 34r are grown in the pot 30c, and crops 34s to 34x are grown in the pot 30d. The moving vehicle 42 passes along the lower part 32 between the ridges 30a and 30b, between the ridges 30b and 30c, between the ridges 30c and 30d, and between the ridges 30e of the ridges 30d. . In the example of this figure, first, the moving vehicle 42 moves from the position of the “base” or charging base 44 designated in FIG. 6 to the position at the upper right of this figure, and from left to right, downward, rightward, downward Pass along the zig-zag shaped route 33 so as to draw the letter S continuously in one stroke in the order of leftward, downward, rightward. After traveling through all the low heel portions 32, the position of the charging base 44 is returned.

  The crop 34 mentioned here is, for example, a crop having a plurality of fruits in one strain such as tomato, and a plurality of crops 34a, 34b and 34c are planted at predetermined intervals. Each fruit comes. The harvest time may be slightly different because the growth rate is not always constant even if the plurality of fruits are contained in the same strain. The moving vehicle 42 sequentially captures a plurality of crops 34 with the camera 46 while moving along the route 33 while moving the intercostal low part 32 to acquire an image, and acquires environmental information of the farmland 38. In the figure, for convenience, although the crops 34a, 34b, 34c, etc. are depicted as being separated from each other, in actuality, the distance between the crops 34 is not increased, and in particular, the growth of the crops 34 advances and leaves As the number of crops increases, the boundaries between the crops become unclear and the interval between crops 34 becomes continuous.

  In the example of this figure, the mobile vehicle 42 starts the movement in the farmland 38 from the upper right of the figure. When the information collection device 12 is used for the first time on this farmland 38, the start position may be specified by the producer 21 by manually transporting the mobile vehicle 42 to the start position on the upper right of the figure. In the range setting of the farmland 38 shown in FIG. 6, the position of the corner of the farmland 38 may be designated as the observation start position. Or the specification which moves to the corner of the agricultural land 38 autonomously based on the position information which the position acquisition part 170 acquires in the range setting of FIG. 6, and it determines as a start position may be sufficient. In the live image captured by the camera 46 at the start position, the topography of the eyelid 30a and the eyelid lower portion 32 is recognized, and the traveling direction is selected along the eyelid lower portion 32.

  In the image analysis at the start of movement in the farmland 38, when the ridges 30 are formed on one side on the left and right in the advancing direction of the ridge-to-bottom portion 32, the image acquisition unit 102 is centered on the ridge 30 side. Shoots the crop 34. When the ridges 30 are formed on the left and right sides of the low ridge portion 32, it is determined which side of the crop 34 is to be photographed according to the relative positional relationship between the farmland 38 and the moving vehicle 42. For example, when moving is started from the right end of the farmland 38, shooting is performed centering on the ridge on the right side in the traveling direction, and when moving is started from the left end of the farmland 38, shooting is performed centering on the left ridge in the traveling direction. In the example of this figure, the example which starts imaging | photography centering on the eyelid on the right side is shown. At this time, the camera 46 is brought close to the crop on the right side by extending the arm 48 and rotating or tilting it to the right. The movement control unit 112 pauses at a predetermined interval along the route 33, and captures a crop every time a crop (for example, a red fruit in the case of tomato) is detected from a live image captured by the camera 46. , Crop 34a, Crop 34b, Crop 34c in that order. Further, the position information at the time of photographing of the crop 34 is associated with the photographed image, and the position information is recorded as photographing positions as observation points 35a, 35b, 35c. Thus, the crops 34a, 34b, 34c, 34d, 34e, 34f are photographed, and positional information of the observation points 35a, 35b, 35c, 35d, 35e, 35f is recorded. In addition, although acquisition of environmental information is also performed in the same position with imaging | photography of a crop at each observation point, description of acquisition of environmental information is abbreviate | omitted for convenience of explanation below.

  After reaching observation point 35f, when it approaches near the boundary of farmland 38, it turns to the lower direction (left toward the direction of travel) and proceeds, and when you recognize the inter-gutter low 32 between ridges 30b and 30c Turn to the right (to the left in the direction of travel) Since the eyelid to be photographed next is switched to the left in the traveling direction, the arm 48 is rotated to the left to bring the camera 46 closer to the left crop. It pauses at a predetermined interval along the route 33, and shoots each time when the next crop is detected, and shoots the crops 34g, 34h, 34i, 34j, 34k, 34l, and also observation points 35g, 35h, 35i , 35j, 35k, 35l position information is recorded. After reaching observation point 35l, when approaching near the boundary of farmland 38, turn downward in the figure (right in the direction of travel) and proceed, and when you recognize the gutter bottom 32 between weir 30c and weir 30d Turn to the left (toward the direction of travel) Since the eyelid to be photographed next is switched to the right in the traveling direction, the arm 48 is rotated to the right to bring the camera 46 closer to the crop on the right. It pauses at a predetermined interval along the route 33 and shoots every time when the next crop is detected, so that the crops 34m, 34n, 34o, 34p, 34q, 34r are shot and the observation points 35m, 35n, 35o , 35p, 35q, 35r position information is recorded. After reaching observation point 35r, when it approaches near the boundary of farmland 38, it turns to the lower direction of the figure (left toward the direction of movement) and proceeds, and when you recognize the inter-gutter low part 32 between ridges 30c and ridges 30d Turn to the right (to the left in the direction of travel) Since the eyelid to be photographed next is switched to the left in the traveling direction, the arm 48 is rotated to the left to bring the camera 46 closer to the left crop. The agricultural plants 34s, 34t, 34u, 34v, 34w, 34x are photographed by pausing at predetermined intervals along the route 33 and photographing every time when the next crop is detected, and observation points 35s, 35t, 35u. , 35v, 35w, 35x position information is recorded. In this manner, the entire farmland 38 is patrolled to photograph all the crops 34, and environmental information is acquired.

<Arm control>
FIG. 8 is a view schematically showing the relationship between the position and the operation of the weir 30 of the farmland 38, the weir low part 32 and the moving vehicle 42. As shown in FIG. This figure shows a state immediately after the mobile vehicle 42 starts observation in the farmland 38, the weir 30a is formed on the right side in the traveling direction, the weir 30b is formed on the left side, and between the weir 30a and weir 30b It travels along the intercostal lower part 32 formed. At this time, by analyzing the live image captured by the camera 46, the topography of the weir 30a and the weir 30b and the topography of the weir low portion 32 are recognized, and the weir low portion 32 is advanced based on the recognition result. The moving vehicle 42 pauses at a predetermined distance or at a predetermined time interval, extends the arm 48 and rotates or inclines to the right to bring the camera 46 closer to the crop 34 a on the right, and the crop 34 with the camera 46 in that state. Take a picture. The arm 48 may be controlled to switch between high angle and low angle, and the front and back of the leaf may be photographed sequentially, and a plurality of high angle and low angle cameras may be provided as the camera 46, The front and back of the leaf may be taken at the same time.

  The crop 34 is photographed by the camera 46, and environmental information such as the temperature (humidity) and the amount of solar radiation of the surroundings (ground) is acquired by the circumference measurement unit 105 provided on the arm 48. The interval at which the moving vehicle 42 pauses may be changed according to the growth of the crop 34. For example, the interval between pauses of the mobile vehicle 42 may be shortened as the crop 34 grows. In addition, one or more soil sensors (for example, a thermometer, a soil moisture meter, a soil acid meter, etc., as the soil measuring unit 106) are projected from the bottom of the moving vehicle 42, inserted into the soil 36, infrared rays, electrical resistance, etc. The temperature, water content, acidity (pH value) and the like of the soil 36 are measured by the above to acquire various environmental information. Note that the interval for photographing the crop 34 with the camera 46 and the interval for measuring the environment information may be different distance intervals or different time intervals. The measurement interval of the environmental information does not necessarily have to be the same as the cultivation interval or the imaging interval of the crop 34, and the measurement interval of the environmental information may be longer. Rather, it may be sufficient to measure environmental information at several locations in one farmland 38, and may be determined according to the size of the farmland. Further, acquisition of environmental information by the surrounding measurement unit 105 may be constantly measured even while moving since there is no need to temporarily stop the moving vehicle 42. Also, depending on the type of agricultural product, the imaging interval may be determined according to the type of agricultural product, as it may be sufficient to photograph only a few places in one farmland 38 because there are few individual differences in growth depending on the type of agricultural product. It is also good. Crops may be photographed continuously as a moving image, and a still image trimmed for each crop extracted from the moving image by image analysis may be stored.

  As a modification, instead of sticking out the soil sensor as the soil measuring unit 106, a sampling piece for scooping the soil is put into the soil 36 to collect the soil, and the temperature, water content, pH value, etc. in the ground from the sampled soil Environmental information may be acquired. As another modified example, a plurality of soil sensors are stored, and the soil sensors are inserted into a plurality of places of the soil 36 to leave the place once. The moving vehicle 42 may sequentially collect a plurality of soil sensors inserted into the soil 36 by passing through the same route after a predetermined time has elapsed, and may acquire environmental information measured by the soil sensors.

  FIG. 9 is a view of an example of a screen displayed on the producer terminal 20. A producer terminal screen 500 as illustrated is displayed on the producer terminal 20, and various information useful for cultivating crops is presented to the producer 21. In the producer terminal screen 500, a breeding status column 502, a support information column 504, and an image display column 506 are provided.

  In the rearing situation column 502, a layout map of firewood in the farmland 38 is displayed, and a point where environmental information is acquired, a point where a matter to be notified to a producer, a point where an environmental problem occurs The locations of points where environmental issues need to be improved are shown in the layout. For example, a point at which a pest is occurring in farmland 38, a point at which water or fertilizer is unforeseen, a point at harvest time, a point at which the amount of solar radiation is small, a point at which abnormality occurs in fruits or leaves, weeds Many points are shown in the layout. In the breeding status column 502, information on the ground temperature, humidity, solar radiation amount, soil temperature, soil moisture content, soil acidity and the like as environmental information stored in the breeding result storage unit 306, and the analysis result storage unit 310. Problems and improvements in the stored various environment information may be displayed in a sentence.

  In the support information column 504, the support information stored in the analysis result storage unit 310 is displayed in a sentence. For example, sentences such as "Please harvest," "Dry water," "Pure fertilizer," and "Please thin out," such as the sentences of the contents and instruction of the cultivation method, etc. The information that becomes is displayed in sentences.

  In the image display column 506, in addition to the photographed images of agricultural products stored in the image storage unit 302, for example, pictures of fruits and leaves, images of insects attached to agricultural products and images of weeds grown at the roots of agricultural products are also displayed . In the image display column 506, the outline, size, color, flower size, outline of leaf, size, color, size and type of insect, and outline of weed of crops stored in the breeding result storage unit 306 Information such as size, color and type is displayed.

  As described above, even for producers whose knowledge and know-how on agriculture are not always sufficient, know-how that was vague in the past can be transmitted finely using images and numerical values, reducing the burden on producers and improving technology. It is possible to achieve both.

  FIG. 10 is a diagram of an example of a screen displayed on the consumer terminal 22. As shown in FIG. A consumer terminal screen 510 as shown in the figure is displayed on the consumer terminal 22, and information necessary for selling agricultural products and various information useful for the consumer 23 in purchasing are presented. On the consumer terminal screen 510, a first commodity column 512, a second commodity column 514, and the like are displayed as a plurality of commodity columns. In each product column, product information for describing the content of the product and information useful to the consumer regarding the product are displayed. Specifically, the image of the crop and the information on the shooting date and time are displayed, and as information used as a reference for purchasing, the producer, the planned shipping date, the type, the use presence and type of pesticides, the type of fertilizer, the price, etc. Is displayed. The image of the crop is displayed after harvesting, in addition to displaying the image of the harvested crop, and an image during breeding before harvesting can be displayed, and the consumer 23 goes back during breeding by its own operation. You can browse the In addition, since images of crops before harvest are stored, crops can be exhibited before harvest. Therefore, by receiving an order before harvesting, it is possible to deliver promptly from harvesting, and it is possible to deliver crops to consumers 23 more fresh. Even in such a case, since the consumer 23 can confirm the state of the crop before harvest, the breeding state, and the expected harvest date at any time via the consumer terminal 22, it is possible to purchase the commodity with peace of mind.

<Observation point determination method, modification 1>
In the first modification, the route along the lower ridge 32 is divided into a plurality of sections and divided into a plurality of sections as a method of determining the photographing position of the agricultural product 34 and the acquisition of the environmental information in the moving process in the farmland 38. The photographing of the crop 34, the acquisition of environmental information, and the acquisition of positional information are executed for each section.

  FIG. 11 is a diagram schematically showing the division of the route in the first modification. In the route information set in advance in the "farmland" area set as shown in FIG. 6, a plurality of dividing lines 31a to 31g are assumed in a direction orthogonal to the plurality of weirs 30 and the low space portion 32 arranged in parallel. The ridges 30 and the intercostal space 32 are divided into a plurality of sections by the lines. The traveling vehicle 42 travels on the basis of the route information so as to patrol a plurality of set sections, and temporarily stops for each section and photographs each of the crops 34 as observation points 35a to 35x, and environmental information Execute acquisition and acquisition of location information. Also according to this aspect, farmland breeding information can be efficiently obtained.

<Observation point determination method, modification 2>
In the second modification, the amount of solar radiation is constantly measured while moving along the furrow lower part 32 as a method of determining the position of the observation point at which the crop 34 is captured and environmental information is acquired in the moving process in the farmland 38, A point where a change in the amount of solar radiation exceeds a predetermined threshold is determined as an observation point, and photographing of the crop 34, acquisition of environmental information, and acquisition of positional information are executed.

  FIG. 12 is a diagram schematically showing a method of determining the observation point position in the second modified example. In the figure, about 3/4 on the right side is sunshine and about 1⁄4 on the left side is shaded at a certain date and time. An area in a sunlit state, that is, an area having a relatively large amount of solar radiation is referred to as a sunlit area 40, and an area having a shading state, that is, an area having a relatively small amount of solar radiation is referred to as a shade area 41. First, the mobile vehicle 42 starts moving along the route 33 of the intercostal low part 32, and the photographing of the crop 34, acquisition of environmental information, and acquisition of positional information are executed at the observation point 35a immediately after the start which is the sunny area 40. . Thereafter, the moving vehicle 42 moves while constantly observing the amount of solar radiation by the ambient measurement unit 105, and it is detected that the decrease in the amount of solar radiation has exceeded a predetermined threshold when entering the shaded region 41 from the sunlit area 40 Is determined to be the next observation point 35b, and photographing of the crop 34, acquisition of environmental information, and acquisition of positional information are executed. After moving along the route 33 again, it is detected that the increase in the amount of solar radiation exceeds a predetermined threshold when entering from the shaded area 41 to the sunlit area 40, and this point is determined to be the next observation point 35c and agricultural crops 34 shooting, acquisition of environmental information, acquisition of positional information are executed. In this manner, photographing of the crop 34, acquisition of environmental information, and acquisition of positional information are performed at each of a plurality of observation points 35b, 35c, 35d, 35e that sandwich the boundary between the sunlit area 40 and the shaded area 41.

  In the example of this figure, the specification to set the threshold on the premise that farmland 38 is divided into two areas, such as sunlit area 40 and shade area 41, was explained, but there are places where sunlight is blocked by surrounding trees and buildings. Except for a certain farmland, the difference in the amount of solar radiation depending on the place is not necessarily remarkable, and there is not always a boundary where the amount of solar radiation changes rapidly. Therefore, instead of reducing the threshold value of the solar radiation amount change, the specification may be divided into three or more areas according to the difference of the solar radiation amount. In addition, the locations and boundaries of the sun area 40 and the shade area 41 change depending on the date and time, so acquiring more images by repeating the daily acquisition of the image of the crop 34 and the environmental information of the farmland is more The impact can be analyzed accurately. According to this aspect, it is possible to acquire images of crop 34 and environmental information around the boundary of areas with different sunshine conditions, and it can be expected to analyze in more detail the effects on crops due to differences in sunshine conditions.

Second Embodiment
The moving vehicle 42 in this embodiment is different from the moving vehicle 42 of the first embodiment in that it has a weeding function. Hereinafter, differences from the first embodiment will be mainly described, and the description of the common points will be omitted.

  FIG. 13 is a view of an example of the appearance of a mobile vehicle 42 in the second embodiment. On the left and right sides near the upper end of the arm 48 of the movable wheel 42, two long weeding arms 62a and 62b which can extend and contract the whole are provided. The tips of the weeding arms 62a and 62b are formed in a fork shape branched into a plurality of thin rods. The actuator 164 extends and retracts the arm 48 and the weeding arms 62a and 62b and causes the ends of the weeding arms 62a and 62b to entangle with the weeds when weeds are detected at heights such as weeds and ridges 30 having a height around them. While turning the weeds twist off. In the state of the drawing, weeds on both the left and right sides can be removed in the traveling direction of the moving vehicle 42, but it is also possible to remove weeds in front of the moving vehicle 42 and diagonally forward by rotating the arm 48.

  FIG. 14 is a bottom view of the mobile vehicle 42 in the second embodiment. At the bottom of the moving wheel 42, weeding rotary blades 60a and 60b are provided for removing the weed that has grown below the moving wheel 42. The actuator 164 cuts the weeds grown below the moving wheel 42 into short pieces by rotating the weeding rotary blades 60a and 60b with a motor. A bottom camera 58 is provided between the weeding rotary blades 60 a and 60 b on the bottom of the moving wheel 42. The bottom camera 58 images the weeding rotary blades 60a and 60b passing through the angle of view, and the image analysis unit 111 analyzes the images to monitor the state such as the presence or absence of the chipping of the weeding rotary blades 60a and 60b. A soil measurement unit 106 is further provided on the bottom of the moving vehicle 42.

  FIG. 15 is a view schematically showing weed removal in the weirs and the intercostal areas. In the figure, the moving vehicle 42 is shown from the side, and the moving vehicle 42 moves through the intercostal low part 32, and the ridge 30 is formed at a depth higher than the interspecifical low part 32 on the back side of the figure. As shown in the drawing, while the moving vehicle 42 travels through the lower space 32, the weeding rotary blade 60 provided on the bottom of the moving vehicle 42 cuts the weed 64 that has grown below the moving vehicle 42. The weeding arms 62a and 62b twist off the weed 64 grown on the weir 30 at a higher position. While weeding by the weeding rotary blade 60 is always possible even while the moving vehicle 42 is moving, weeding by the weeding arm 62 is, for example, while the moving vehicle 42 is temporarily stopped for photographing the crop 34 and acquiring environmental information. Alternatively, the arm 48 may be extended and retracted, inclined and rotated, and the weeding arm 62 may be extended and retracted to remove the surrounding weed 64. In addition, as a modification, you may install the rake-like member for collecting the weeds which were cut off.

  The embodiments of the present invention have been described above. It is understood by those skilled in the art that the above-described embodiments are merely examples, and that various modifications can be made to the combination of the respective components and processing processes, and such modifications are also within the scope of the present invention. It is about According to the above-mentioned embodiment, it is possible to effectively acquire information on crops to support farmers.

  A crop cultivation support system (10) according to an aspect of the present invention is a system including an information collection device (12) and a cultivation support server (14), wherein the information collection device (12) There is an information acquisition unit (100) for acquiring breeding information of crops (34) in the process, and an information output unit (130) for outputting breeding information, and the breeding support server (14) receives the breeding information. Information input unit (330), an analysis processing unit (320) for analyzing the breeding information, and a result output unit (332) for outputting support information on the breeding of the crop (34) as a result of the analysis.

  Here, the “information collection device” is an autonomous mobile robot or autonomous mobile body that collects information from the surroundings, such as an autonomous traveling car, an autonomous walking robot, an autonomous flying multicopter, an autonomous navigation boat, etc. And may include devices for charging and relaying communication. The “information collection device” may be any device that can move in the farmland, and is not limited to a device that moves autonomously, and may be a device that automatically moves a predetermined route. "Growth information on crops" may be visual information, numerical information, or detection information that can be acquired by the information acquisition unit from the periphery of the information collection device, for example, an image of a crop or environmental information on the surroundings, environmental information on soil, etc. It may be useful information to be a reference for the predetermined judgment for the producers or consumers of agricultural products. The “support information” may be information that is a reference for cultivating a crop for a producer of a crop, or may be information that is a reference for grasping the quality of a crop for a consumer of a crop.

  According to this aspect, it is possible to collect breeding information in a finely detailed manner effectively without installing a large number of fixed observation points on farmland, and effectively providing useful support information to farmers and consumers.

  The information collection device (12) may further include a position acquisition unit (170) that acquires position information of the information collection device (12) when acquiring the breeding information. The information output unit (130) further outputs position information, the information input unit (120) further inputs position information, and the analysis processing unit (320) analyzes the breeding information based on the position information. Good. The “position information” may be three-dimensional position information received from a positioning satellite, or may be relative position information based on beacon signals received from the surroundings or marker detection by various sensors. According to this aspect, it is possible to easily identify the individual of the crop by specifying the position at which the breeding information has been acquired, and it is possible to take measures to cultivate a finer crop.

  The information acquisition unit (100) may acquire a photographed image of a crop (34) as the breeding information. The "captured image" may be either a still image or a moving image. According to this aspect, an image can be finely collected within the observation range without setting many fixed observation points in farmland, and more useful information can be obtained through analysis of the image.

  The information acquiring unit (100) may measure environmental information of the farmland (38) as the breeding information. The “environmental information” may be information indicating an environment such as, for example, the ambient temperature and humidity, the amount of solar radiation, the temperature and moisture content of the soil, and the acidity. According to this aspect, it is possible to observe the condition of the farmland finely within the observation range without setting many fixed observation points on the farmland, and to carry out more detailed growth management.

  The information acquisition unit (100) may acquire the breeding information for each section obtained by dividing the movement path (33). For example, when a route is set in advance as the “route of movement”, the route may be divided according to a predetermined rule such as a predetermined distance or a predetermined area. According to this aspect, the burden of environmental information measurement by the information collection device can be suppressed as compared with the constant measurement.

  The information acquisition unit (100) may acquire the breeding information at predetermined intervals along the movement path (33). The "predetermined interval" may be a predetermined distance interval or a predetermined time interval. According to this aspect, the burden of environmental information measurement by the information collection device can be suppressed as compared with the constant measurement.

  Another aspect of the present invention is an information gathering device (12). This apparatus (12) is connected to an information acquisition unit (100) for acquiring breeding information of crops (34) in the process of movement in the farmland (38) and to a breeding support server (14) for analyzing breeding information via predetermined means. And an information output unit (130) for outputting the breeding information.

  Here, the “predetermined means” may be communication means such as short distance wireless communication or wireless LAN, or may be a device for charging the information collecting apparatus or relaying communication. According to this aspect, it is possible to finely collect breeding information within the observation range without setting many fixed observation points in farmland, and to provide useful information to farmers and consumers.

  Another aspect of the present invention is a training support server (14). The training support server (14) has an information input unit (120) to which training information outputted by the information collecting apparatus (12) for acquiring training information of crops (34) in the process of movement in the farmland (38) is input And an analysis processing unit (320) for analyzing the breeding information, and a result output unit (332) for outputting support information on the breeding of the crop (34) as a result of the analysis.

  According to this aspect, it is possible to finely collect breeding information within the observation range without setting many fixed observation points in farmland, and to provide useful information to farmers and consumers.

  Yet another aspect of the present invention is a crop sales support system (10). This crop sales support system (10) is a system provided with an information collection device (12) and a sales management server (16), and the information collection device (12) is a crop (34) in the process of moving on the farmland (38). And an information output unit (130) for outputting the breeding information, and the sales management server (16) is an information input unit (for receiving the breeding information). 430) and an information output unit (432) for outputting growth information and sales information of agricultural products.

  According to this aspect, it is possible to finely collect breeding information within the observation range without setting many fixed observation points in farmland, and to provide useful information to farmers and consumers.

  Note that arbitrary combinations of the above-described components, and components or expressions of the present invention mutually replaced by a method, an apparatus, a program, a temporary or non-temporary storage medium storing a program, a system, etc. Are also effective as an aspect of the present invention.

  10 agricultural crop rearing and sales support system, 12 information collecting device, 14 rearing support server, 16 sales management server, 34 agricultural crops, 38 agricultural land, 100 information acquisition unit, 110 control unit, 112 movement control unit, 120 information input unit, 130 information output Part, 170 position acquisition part, 200 information input part, 210 information output part, 320 analysis processing part, 330 information input part, 332 result output part, 430 information input part, 432 information output part.

Claims (9)

A system comprising an information collecting device and a training support server, wherein
The information collection device
An information acquisition unit for acquiring information on cultivation of crops in the process of movement on farmland,
An information output unit that outputs the training information;
Have
The training support server is
An information input unit to which the training information is input;
An analysis processing unit that analyzes the training information;
A result output unit that outputs support information on crop cultivation as a result of the analysis;
A crop cultivation support system characterized by having. The information collection device further includes a position acquisition unit for acquiring position information of the information collection device when acquiring the training information,
The information output unit further outputs the position information.
The information input unit further receives the position information.
The crop growing support system according to claim 1, wherein the analysis processing unit analyzes the breeding information based on the position information.   The crop cultivation support system according to claim 1 or 2, wherein the information acquisition unit acquires a photographed image of the crop as the cultivation information.   The crop cultivation support system according to claim 1 or 2, wherein the information acquisition unit measures environmental information on the farmland as the cultivation information.   The crop cultivation support system according to any one of claims 1 to 4, wherein the information acquisition unit acquires the breeding information for each section obtained by dividing the path of movement.   The crop cultivation support system according to any one of claims 1 to 4, wherein the information acquisition unit acquires the breeding information at predetermined intervals along a path of the movement. An information acquisition unit for acquiring information on cultivation of crops in the process of movement on farmland,
An information output unit that outputs the training information to a training support server that analyzes the training information via a predetermined unit;
An information gathering apparatus characterized by having. An information input unit to which the training information output by the information collecting apparatus for obtaining cultivation information of crops in the process of movement in the farmland is input;
An analysis processing unit that analyzes the training information;
A result output unit that outputs support information on crop cultivation as a result of the analysis;
The training support server characterized by having. A system comprising an information collection device and a sales management server, comprising
The information collection device
An information acquisition unit for acquiring information on cultivation of crops in the process of movement on farmland,
An information output unit that outputs the training information;
Have
The sales management server is
An information input unit to which the training information is input;
An information output unit that outputs the training information and sales information of agricultural products;
An agricultural product sales support system characterized by having.

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