JP2021106532A - Field water management device - Google Patents

Abstract

To make it possible to easily assist an agricultural machine that can work in a field.SOLUTION: A field water management device has: an actuator for opening and closing a mechanism that, by opening and closing, either supplies water to a field or discharges waste water from the field; a housing for housing the actuator; and a first positioning device that performs positioning based on a signal from a positioning satellite.SELECTED DRAWING: Figure 6

Description

The present invention relates to a field water management device that manages field water.

Conventionally, Patent Document 1 is known as a technique for supplying irrigation water to a field.
The water supply device of Patent Document 1 includes an opening / closing part that is provided in an irrigation pipeline that supplies water to the field and controls water supply to the field, and an electric actuator that opens / closes the opening / closing part, and the main body case of the electric actuator opens / closes. In the installation structure of the water supply device provided on the portion, a support member is provided which is erected on the ground around the opening / closing portion and supports the main body case.

JP-A-2019-165661

Although the water supply device of Patent Document 1 can efficiently supply water to the field, the actual situation is that it is not possible to assist the agricultural machinery while installing it in the field.
Therefore, in view of the above problems, the present invention provides a field water management device capable of easily assisting an agricultural machine capable of performing work in the field by installing a positioning device in or around the field. The purpose is to provide.

The technical means of the present invention for solving this technical problem is characterized by the following points.
The water management device in the field is an actuator that performs the opening / closing operation of a mechanism that performs either the water supply to the field or the drainage discharged from the field by the opening / closing operation, an accommodating body accommodating the actuator, and a positioning satellite. It includes a first positioning device that performs positioning based on a signal.

The first positioning device includes a communication device that transmits information about the positioned position to a mobile station moving in or around the field.
The communication device transmits information regarding the installation position of any of the housing, the actuator and the mechanism, and the position to the mobile station.
The communication device transmits the correction information obtained by receiving the signal from the positioning satellite to the mobile station provided with the second positioning device that performs positioning based on the signal from the positioning satellite.

The mobile station is an agricultural machine that works in the field, and the second positioning device corrects the position positioned by the second positioning device based on the correction information.
It is provided with a mounting portion for detachably attaching the first positioning device.

According to the present invention, by installing a positioning device in or around a field, it is possible to easily assist an agricultural machine capable of performing work in the field.

It is a schematic diagram of the water management system of a field. It is a figure which shows an example of a plurality of fields. It is a figure which shows an example of a plurality of fields. It is a figure which shows an example which installed a plurality of water management devices in a field. It is a figure which shows the relationship between the device identification information of a water management apparatus, and the field identification information of a field. It is a side view which attached the water management device to the water supply side and the drainage side. It is a figure which shows the inside of the water management device on the water supply side. It is a figure which shows the inside of the water management device on the drainage side. It is a detailed view of the water management system of the field in 1st Embodiment. It is a top view which attached the observation camera to the outside. It is a vertical cross-sectional view which attached the observation camera to the outside. It is a top view of the inside with the observation camera attached inside. It is a vertical cross-sectional view which attached the observation camera inside. It is a horizontal cross-sectional view which provided the window part for an observation camera. It is a vertical cross-sectional view which provided the window part for an observation camera. It is an external view which provided the window part for an observation camera. It is a horizontal cross-sectional view which provided the moving mechanism which moves an observation camera horizontally in the management apparatus of FIG. 7B and FIG. 7C. It is a vertical cross-sectional view which provided the moving mechanism which moves an observation camera horizontally in the management apparatus of FIG. 7B and FIG. 7C. It is a figure which shows the position change mechanism which inclines the imaging range of an observation camera. It is a figure which shows the position change mechanism which moves an observation camera in the vertical direction. It is a figure which shows the vertical sectional view when the 2nd cylinder is attached and detached. It is explanatory drawing which attaches a plurality of observation cameras. It is a figure which shows an example of the setting screen M1. It is a figure which shows an example of the setting screen M2. It is a figure which shows the control width F1 and the change of a water level. It is a figure which shows the relationship between the water management time and the control width. It is a figure which shows the state which imaged the crop from the side. It is a figure which shows an example of the observation data. It is a figure which shows observation data different from FIG. 12A. It is a figure which displayed the vegetation index for each field. It is the figure which displayed the thermography for each field. It is the figure which displayed the plant height for each field. It is the figure which displayed the wilt for each field. It is a figure which shows the condition of the water surface of a field. It is a figure which shows the observation data at the time of observing the water surface and the like. It is a figure which shows observation data different from FIG. 15A when observing a water surface and the like. It is a side view of a tractor. It is a control block diagram of a tractor. It is a figure which shows an example of the theft setting screen M3. It is a figure which shows an example of the machine registration screen M4. It is a figure which shows an example of the monitoring screen M5. It is a figure which shows an example of an intruder. It is a figure which shows an example of the monitoring screen M6. It is a figure which shows the state which the field B was selected as the field to be monitored. It is a figure which shows the imaging direction of the observation camera of the water management apparatus installed in the field B. It is a detailed view of the water management system of the field in 2nd Embodiment. It is a vertical sectional view of the water management apparatus in 2nd Embodiment. It is a detailed view of the water management system of the field in 3rd Embodiment. It is a front view of the water management apparatus in 3rd Embodiment. It is a top view of the water management apparatus in 3rd Embodiment. It is a figure which shows the 1st modification of a drone station. It is a figure which shows the 2nd modification of a drone station. It is a figure which shows an example of the camera setting screen M8. It is a figure which shows the camera setting screen M8 different from FIG. 29A.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
[First Embodiment]
FIG. 1 shows a field water management system. The field water management system includes a field water management device 1. For convenience of explanation, the water management device 1 in the field is referred to as "water management device 1".
<Overview of pipeline>
As shown in FIGS. 2A and 3, a pipeline 100 through which irrigation water flows is installed around the field H1 in which the crop is cultivated, and the water management device 1 is connected to the pipeline 100.

Specifically, the pipeline 100 includes a supply pipe 100a, a branch pipe 100b that branches from the supply pipe 100a and extends toward the field H1, and an on-off valve 100c attached to the branch pipe 100b. The supply pipe 100a reaches the irrigation canal and the irrigation water of the irrigation canal flows. The branch pipe 101b is arranged at a predetermined interval from the supply pipe 100a, and when there are a plurality of fields H1, for example, each field H1 is connected to the supply pipe 100a.

As shown in FIGS. 3 and 4, the on-off valve 100c has a tubular main body 101 through which water can pass, a valve body 102 provided inside the main body 101, and a valve shaft 103 connected to the valve body 102. And the bearing portion 104 provided in the main body 101. The valve shaft 103 is rotatably supported by the bearing portion 104, and the valve shaft 103 rotates to move the valve body 102 in the vertical direction, thereby opening and closing the valve shaft 103. Specifically, a female screw is formed on the valve shaft 103, and a male screw is formed on the inner circumference of the bearing portion 104. As the valve shaft 103 rotates, the valve shaft 103 moves in the vertical direction to form the valve body 102. Moves. A through hole 105 is formed in the circumferential direction of the main body 101 to penetrate the main body 101 in the thickness direction, and the through hole 105 is a supply port through which water flows toward the field H1. That is, the valve body 102 is a mechanism (adjustment mechanism) for adjusting the supply of water. The on-off valve 100c is an example and is not limited.
<Overview of water management device: Water supply side>
As shown in FIG. 4, the water management device 1 includes an actuator 10. The actuator 10 opens and closes the valve body 102 that supplies either water supplied to the field H1 (water supply) or drainage discharged from the field H1. The actuator 10 has an electric motor 10a and a rotating shaft 10b that is rotated by driving the electric motor 10a.

A gear 14 that rotates with the rotation of the motor shaft 12 is attached to the motor shaft 12 of the electric motor 10a. The gear 14 is meshed with a gear 15 that is rotatably supported by a bearing 16 provided inside the housing 11 and movably supports the rotating shaft 10b in the vertical direction. Specifically, a key groove 15a is formed on the inner surface side of the gear 15, and a convex sliding portion 17 provided on the rotating shaft 10b is fitted in the key groove 15a. The gear 15 and the rotating shaft 10b may be connected by a spline, and are not limited to the above-described configuration.

The lower end of the rotating shaft 10b is connected to the upper end of the valve shaft 103. For example, a coupling portion 18 is formed at the lower end portion of the rotating shaft 10b, and a coupling portion 19 formed at the upper end portion of the valve shaft 103 is connected to the coupling portion 18.
As described above, according to the actuator 10, the gears 14 and 15 and the rotating shaft 10b can be rotated by rotating the electric motor 10a. Therefore, the valve body 102 can be opened and closed by moving the valve shaft 103 connected to the rotating shaft 10b in the vertical direction while rotating.

Further, the water management device 1 includes an accommodating body 11. The accommodating body 11 has a three-dimensional structure in which an accommodating space for accommodating an apparatus such as an actuator 10 is formed long in the vertical direction. The accommodating body 11 includes a plurality of tubular bodies 11a, 11b, and 11c. Each of the cylinders 11a, 11b, and 11c is arranged vertically and connected to each other.
Specifically, the lower end of the tubular body 11a is attached to a mounting base 115 attached to the main body 101 of the on-off valve 100c by a fastener such as a bolt. The tubular body 11a stands up so as to extend upward while being attached to the mounting base 115.

A tubular connecting member 25 is provided between the upper end of the tubular body 11a and the lower end of the tubular body 11b. The connecting member 25 has a peripheral wall portion 25a, a flange portion 25b protruding outward from the peripheral wall portion 25a, and a support wall 25c provided on the upper end side of the peripheral wall portion 25a. The upper end of the tubular body 11a is brought close to the flange portion 25b, the lower end of the tubular body 11b is brought close to the flange portion 25b, the upper end of the tubular body 11a and the peripheral wall portion 25a are fastened with fasteners such as bolts, and the tubular body 11b By fastening the lower end and the peripheral wall portion 25a with fasteners such as bolts, the upper end of the tubular body 11a and the tubular body 11b are integrated.

The support wall 25c is formed with a through hole through which the rotating shaft 10b penetrates. By attaching the structure 27 to which the bearing 16 and the like are attached to the support wall 25c, the electric motor 10a, the rotating shaft 10b, and the gear 15 are supported by the support wall 25c. That is, the cylinders 11a and 11b form a first cylinder for accommodating the actuator 10.
The tubular body 11b is formed in a T shape having an intermediate wall 33 provided between the lower wall portion 31, the upper wall portion 32, and the lower wall portion 31 and the upper wall portion 32. The intermediate wall 33 has a protruding wall 34 protruding in the outward diameter direction. The protruding wall 34 is circular, and an operation panel 43 is attached to the protruding wall 34. Further, the inner diameter of the upper wall portion 32 of the tubular body 11b is smaller than the inner diameter of the intermediate wall 33, and the step portion 35 is formed. In other words, the step portion 35 of the tubular body 11b projects in the inward direction, and the support portion for attaching the lower portion of the tubular body (second tubular body) 11c, that is, the lower portion of the tubular body (second tubular body) 11c is inserted. It is a department.

The tubular body (second tubular body) 11c is supported by the first tubular body (cylinder body 11a, tubular body 11b), and can accommodate a device different from the actuator 10. The outer diameter of the tubular body (second tubular body) 11c is smaller than the inner diameter of the tubular body 11b, and the tubular body (second tubular body) 11c can be fitted. A mounting plate 37 is attached to the lower end of the tubular body 11c. The tubular body 11c is attached to the tubular body 11b by being inserted into the upper wall portion 32 of the tubular body 11b and the lower surface of the mounting plate 37 abuts on the stepped portion 35. A top plate 39 is attached to the upper end of the tubular body 11c, and the upper end of the tubular body 11c is closed by the top plate 39.
<Outline of water management device: drainage (falling water) side>
In the above-described embodiment, the water management device 1 is provided on the water supply side of the pipeline 100, but as shown in FIG. 3, it is provided on the drainage side (waterfall side) for discharging the supplied water (irrigation water). You may be.

One end of the drainage pipe 121 is connected to the drainage channel 120, and the other end of the drainage pipe 121 is connected to the drainage basin 122. The drainage basin 122 is provided with a waterfall unit 123, and a water management device 1 is connected to the upper part of the waterfall unit 123.
As shown in FIG. 5, the water falling portion 123 has a partition portion 125 and a partition portion 125 that can be repositioned into a state in which water does not fall (closed state) and a state in which water falls (open state) by moving in the vertical direction. Is provided with a moving mechanism 126 that moves the vehicle in the vertical direction. The moving mechanism 126 includes a pedestal 127, a guide rod 128 whose upper end is fixed to the pedestal 127 and extends downward, a moving body 130 through which the guide rod 128 is inserted and movable along the guide rod 128, and a through hole of the pedestal 127. It has a first shaft 129 inserted into the shaft and a second shaft 132 that rotates with the rotation of the first shaft 129. The upper end of the first shaft 129 is connected to the rotating shaft 10b by a coupling or the like. The second axis 132 is inserted into the moving body 130, and the moving body 130 is configured to move by the rotation of the second axis 132. For example, a male screw is formed on the second shaft 132, a female screw is formed inside the moving body 130, and when the second shaft 132 rotates, the moving body 130 moves in the vertical direction.

The partition portion 125 is attached to a bracket 131 or the like attached to the moving body 130, and the height is changed by the vertical movement of the moving body 130. The partition portion 125 has a tubular shape, and is in a closed state in which water does not fall when the upper end of the partition portion 125 is higher than the water surface of the field H1, and in an open state in which water falls when the upper end is lower than the water surface. Become.
As described above, even when the water management device 1 is attached to the drainage side, the moving body 130 (partition portion 125) can be opened and closed by operating the actuator 10. That is, the partition portion 123 is a mechanism (adjustment mechanism) for adjusting drainage.

That is, the water management device 1 has a mechanism (valve body 102 or partition 125) that performs either the water supply to the field H1 or the drainage discharged from the field H1 by an opening / closing operation.
<Water management device>
As shown in FIGS. 4, 5 and 6, the water management device 1 includes a solar panel 40 and a power storage device 41. The solar panel 40 is a panel that generates electric power that operates at least the actuator 10. The solar panel 40 is attached to the upper part of the housing body 11, that is, the upper part of the tubular body 11c. Specifically, the bracket 38 is attached to the top plate 39 of the tubular body 11c, and the solar panel 40 is attached to the bracket 38. The power storage device 41 is housed in the housing body 11 and stores the electric power generated by the solar panel 40. The power storage device 41 is housed in a cylinder (second cylinder) 11c.

As shown in FIG. 6, the water management device 1 includes a detection device 50, a control device 60, and a communication device 70. The detection device 50 is a sensor that detects the state (environment) of the field H1, and detects the water level detection device (water level sensor) 50a, the water temperature detection device (water temperature sensor) 50b, and the air temperature. An air temperature sensor 50c, a humidity sensor 50d for detecting humidity, a soil temperature sensor 50e for detecting soil temperature, and the like. The water management device 1 does not need to include all of the water level sensor 50a, the water temperature sensor 50b, the air temperature sensor 50c, the humidity sensor 50d, and the soil temperature sensor 50e, and can be combined as appropriate.

The communication device 70 is a communication module that communicates between the water management device 1 and the outside, and can output various information to the outside. The communication device 70 includes, for example, Wi-Fi (Wireless Fidelity, registered trademark), BLE (Bluetooth (registered trademark) Low Energy), LPWA (Low Power, Wide Area), LPWAN (Low) of the IEEE802.11 series, which are communication standards. -Wireless communication can be performed by (Power Wide-Area Network) etc. Further, the communication device 70 can perform wireless communication by, for example, a mobile phone communication network or a data communication network.

The control device 60 is a device that performs various controls of the water management device 1. The control device 60 is composed of an electric, electronic circuit, a CPU, and the like. The control device 60 commands the operation of the actuator 10 (electric motor 10a) based on an external command or a detection value (water level, water temperature, air temperature, humidity, soil temperature, etc.) detected by the detection device 50. , Controls the opening and closing of the valve bodies 102 and 125. The control device 60 and the communication device 70, which are one of the devices different from the actuator 10, are housed in the tubular body (second tubular body) 11c.
<Observation camera>
As shown in FIG. 6, the water management device 1 includes an observation camera 80. The observation camera 80 is a CCD camera, a CMOS camera, and an infrared camera. The observation camera 80 is supplied with the power of the power storage device 41 via the power supply line L1, and the observation camera 80 is operated by the power of the power storage device 41, that is, the power generated by the solar panel 40. The observation camera 80 may be directly connected to the solar panel 40 via the power supply line L1.

2A and 2B show the arrangement of the water management device 1 when the water management device 1 having the observation camera 80 is installed in the field H1.
Since the observation camera 80 may be provided inside and / or outside the water management device 1, the observation camera 80 is not shown in FIGS. 2A and 2B. Further, FIG. 2A shows a state in which the water management device 1 on the water supply side is arranged with respect to the field H1, and FIG. 2B shows a state in which the water management device 1 on the water supply side and the drainage side is arranged with respect to the field H1. Shows the state of The water management device 1 installed in the field H1 and the field H1 are associated with each other, and as shown in FIG. 2D, the device identification information (name, model number, serial number, serial code) of the water management device 1 Etc.) and the field identification information (name, control number, etc.) of the field H1 are associated and stored in the support device 201A described later. Further, the installation position (latitude, longitude) of the water management device 1 is also associated with the identification information of the field H1 or the installation position (latitude, longitude) of the field H1 and is stored in the support device 201A described later.

As shown in FIGS. 2A and 2B, in the water management device 1 installed in each field H1, the imaging direction X1 of the observation camera 80 is directed to the field H1 to be supplied with water and / or drained. The observation camera 80 is connected to an output unit provided in the water management device 1, and can output the observation data captured by the observation camera 80 from the output unit to the outside. The output unit is a device that outputs observation data to the outside.

As shown in FIGS. 7A and 7B, the observation camera 80 is attached to the outside of the housing 11. For example, the observation camera 80 is provided between the solar panel 40 and the housing 11. More specifically, the camera mounting bracket (mounting portion) 150 is fixed to the top plate 39 of the tubular body 11c located above the housing body 11, and the observation camera 80 is mounted on the camera mounting bracket 150. The camera mounting bracket (mounting portion) 150 is a bracket to which the observation camera 80 can be attached and detached, and is a bracket 150a fixed to the top plate 39, a male screw 150b penetrating the bracket 150a, and a knob portion attached to the male screw 150b. Includes 150c and. The observation camera 80 can be fixed to the bracket 150a by screwing the male screw 150b into the female screw formed in the housing of the observation camera 80. Further, the observation camera 80 can be removed by rotating the knob portion 150c in the direction of loosening the male screw 150b.

The observation camera 80 is located directly below the solar panel 40, and the observation camera 80 and the solar panel 40 overlap in the vertical direction and the width direction. In other words, the observation camera 80 is installed in the area where the solar panel 40 is installed in a plan view. Therefore, the solar panel 40 can prevent rainwater from above from splashing on the observation camera 80.

As shown in FIGS. 7C and 7D, the observation camera 80 may be mounted inside the housing 11 instead of outside. For example, the observation camera 80 is housed in the cylinder (second cylinder) 11c that accommodates the power storage device 41 among the plurality of cylinders 11a, 11b, and 11c. That is, the observation camera 80 is housed in the tubular body (second tubular body) 11c that does not accommodate the actuator 10 among the plurality of tubular bodies 11a, 11b, and 11c. The entire cylinder (second cylinder) 11c accommodating the observation camera 80 is made of, for example, a transparent resin (acrylic pipe), and imaging is possible from the inside of the cylinder 11c.

More specifically, the mounting plate 37 of the tubular body (second tubular body) 11c is provided with a camera mounting bracket (mounting portion) 151, and the observation camera 80 is fixed to the camera mounting bracket 151. The camera mounting bracket 151 has the same configuration as the camera mounting bracket 150, and includes a bracket 151a, a male screw 151b penetrating the bracket 150a, and a knob portion 151c attached to the male screw 151b. In the case of FIGS. 7C and 7D, the bracket 151a is fixed to the upper surface of the mounting plate 37. The observation camera 80 can be fixed to the bracket 151a by screwing the male screw 151b into the female screw formed in the housing of the observation camera 80. Further, the observation camera 80 can be removed by rotating the knob portion 151c in the direction of loosening the male screw 151b.

The observation camera 80 is located at a position where the imaging boundary L2a set by the vertical angle of view (vertical angle of view) θ of the observation camera 80 is above the upper end of the cylinder 11b and L2b is below the top plate 39. The vertical position is set.
In the above-described embodiment, the tubular body (second tubular body) 11c is made transparent, but instead of this, as shown in FIGS. 7E to 7G, a part of the tubular body (second tubular body) 11c is used. A window portion 153 may be provided, and the observation camera 80 may monitor through the window portion 153.

The tubular body (second tubular body) 11c is provided with a window portion 153 facing the imaging direction X1 of the observation camera 80. The window portion 153 is formed of a transparent member and is capable of transmitting light.
Specifically, the tubular body (second tubular body) 11c extends in the axial direction (vertical direction) of the tubular body (second tubular body) 11c and in the circumferential direction of the tubular body (second tubular body) 11c. A through hole 154 is formed. A window portion 153 is attached to the inner surface or the outer surface of the tubular body (second tubular body) 11c so as to close the through hole 152. Like the through hole 154, the window portion 153 also extends in the axial direction (vertical direction) of the tubular body (second tubular body) 11c and extends in the circumferential direction of the tubular body (second tubular body) 11c. The axial length L10 of the window portion 153 and the circumferential width W10 of the window portion 153 are set according to the angle of view of the observation camera 80 and are larger than the angle of view.

In the above-described embodiment, the observation camera 80 is immovably fixed by the camera mounting bracket 151, but instead of this, the observation camera 80 may be movable.
As shown in FIGS. 7H and 7I, the water management device 1 includes a position changing mechanism 159A. The position change mechanism 159A can change the observation camera 80 in the horizontal direction, for example. The position changing mechanism 159A has a turntable 160 and an electric motor 162. A camera mounting bracket 151 is fixed to the turntable 160. In the case of FIGS. 7H and 7I, the bracket 151a of the camera mounting bracket 151 is fixed to the upper surface of the turntable 160. The camera mounting bracket 151 of FIGS. 7H and 7I has the same configuration except for the bracket 151a.

A rotation shaft of an electric motor 162 that rotates the turntable 160 is attached to the turntable 160. The electric motor 162 is fixed to the support base 157. In this case, the tubular body (second tubular body) 11c is transparent on the entire circumference, or is provided with a plurality of window portions 153 shown in FIGS. 7E to 7G at predetermined intervals in the circumferential direction. By rotating the turntable 160, the observation camera 80 rotates in the horizontal direction, and as shown in FIG. 7H, the imaging direction X1, that is, the horizontal imaging range G1 can be changed.

As shown in FIG. 7J, the position changing mechanism 159B may be a mechanism that inclines the imaging range G1 of the observation camera 80 in the vertical direction, that is, a mechanism that inclines the imaging direction X1 in the vertical direction. The position change mechanism 159B includes a turntable 160, a bracket 165 that swingably supports the observation camera 80 around the horizontal axis 166, a rocking plate 167 having an arc portion fixed to the observation camera 80, and an electric motor 168. And is included. A gear-shaped unevenness is formed on the rocking plate 167, and a gear 169 provided on the rotating shaft of the electric motor 168 meshes with the unevenness of the rocking plate 167. As shown in FIG. 7J, the imaging range G1 (imaging direction X1) can be tilted upward or downward by rotating the electric motor 168. In FIG. 7J, the observation camera 80 may be detachable by attaching the members (bracket 165, rocking plate 167 and electric motor 168) provided on the turntable 160 to the camera mounting bracket (mounting portion) 151. ..

As shown in FIG. 7K, the position changing mechanism 159C may be a mechanism for moving the imaging range G1 of the observation camera 80 in the vertical direction, that is, a mechanism for moving the imaging direction X1 in the vertical direction. In FIG. 7K, the control device 60 is not shown for convenience of explanation.
The position changing mechanism 159C includes brackets 170 and 171 fixed to the tubular body (second tubular body) 11c, a moving member 172 penetrating the brackets 170 and 171, and an electric motor 173. Through holes are formed in the brackets 170 and 171, and female threads are formed in the through holes. The moving member 172 is a rod-shaped member having a male screw formed on the outer peripheral surface thereof and is fitted into the female screw of the brackets 170 and 171. The observation camera 80 is attached to the moving member 172 via a camera mounting bracket (mounting portion) 151 or the like. The gear provided on the rotation shaft of the electric motor 173 is fitted in the moving member 172, and by rotating the electric motor 173, the observation camera 80 moves in the vertical direction in accordance with the movement of the moving member 172. .. That is, by rotating the electric motor 173, the imaging range G1 (imaging direction X1) can be moved in the vertical direction.

The position changing mechanism has a configuration in which the observation camera 80 is moved in the horizontal direction and the vertical direction and / or the downward direction, that is, a configuration in which the horizontal direction and the vertical direction and / or the downward direction may be combined and the observation camera 80 is moved in the vertical direction. May be combined with.
<Second cylinder (height change)>
By the way, in the above-described embodiment, the cylinder body (second cylinder body) 11c is attached to the first cylinder body (cylinder body 11a, cylinder body 11b), but the first cylinder body (cylinder body 11a, cylinder body 11b) As shown in FIG. 7L, the axial length (different height) H10 of the tubular body (second tubular body) 11c may be detachably attached to the body. In FIG. 7L, for convenience of explanation, the devices (power storage device 41, observation camera 80, control device 60, communication device 70) housed in the tubular body (second tubular body) 11c are omitted.

As shown in FIG. 7L, the housing body 11 includes a support portion 180. The support portion 180 is a portion that detachably supports the axial length (different height) H10 of the tubular body (second tubular body) 11c. The support portion 180 is provided at the step portion (insertion portion) 35, the first through hole 181 provided at the lower part of the tubular body (second tubular body) 11c, and the upper portion of the first tubular body (cylinder body 11b). A fastener 183 for fastening the tubular body (second tubular body) 11c and the first tubular body (cylindrical body 11b) via the second through hole 182 and the first through hole 181 and the second through hole 182. Have. A female screw is formed on the peripheral wall forming the first through hole 181 and the second through hole 182 so that a fastener 183 such as a bolt can be fastened.

Here, when the tubular body (second tubular body) 11c having a short length L10 is referred to as "short tubular body 11c1" and the tubular body (second tubular body) 11c having a long length L10 is referred to as "long tubular body 11c2". The short cylinder body 11c1 and the long cylinder body 11c2 can be freely replaced by the support portion 180. Each of the short cylinder 11c1 and the long cylinder 11c2 has a shape as shown in FIGS. 7A to 7K, and as devices to be housed therein, a power storage device 41, an observation camera 80, a control device 60, a communication device 70, and the like. The position change mechanism 159A, 159B, 159C, and the camera mounting bracket (mounting portion) 151 can be accommodated. In particular, when the observation camera 80 and the position change mechanism 159 are provided on the long cylinder 11c2, the height observed by the observation camera 80 can be increased.

The attachment of the first cylinder (cylinder 11a, cylinder 11b) to the cylinder (second cylinder) 11c is described by using bolts as an example, but the cylinders are engaged with each other. Alternatively, it may be configured to be fitted, or a screw hole may be formed in the cylinder to be bolted, and the mounting method is not limited.
When the support portion 180 is provided and the short cylinder body 11c1 and the long cylinder body 11c2 are made transparent, the upper wall portion 32 of the cylinder body 11b is provided in each of the short cylinder body 11c1 and the long cylinder body 11c2. It is not necessary to make the portion overlapping with the transparent part, or it may be made transparent.

As shown in FIG. 7M, the camera mounting brackets (mounting portions) 150 and 151 may have a structure in which a plurality of observation cameras 80 are detachably attached. That is, in FIGS. 7A to 7L described above, the camera mounting brackets (mounting portions) 150 and 151 may be configured so that a plurality of observation cameras 80 can be mounted. In this case, the camera mounting bracket (mounting portion) 150 includes a plurality of male screws 150b on the upper surface of the bracket 150a and a knob portion 150c attached to each of the plurality of male screws 150b.

The camera mounting bracket (mounting portion) 151 also includes a plurality of male screws 151b on the upper surface of the bracket 151a and a knob portion 150c attached to each of the plurality of male screws 151b.
Further, the communication device 70 includes a housing 70a and a plurality of connectors 70b provided in the housing 70a. Cables (communication lines) provided for each of the plurality of observation cameras 80 can be connected to the plurality of connectors 70b. Therefore, when a plurality of observation cameras 80 are attached to the camera mounting brackets (mounting portions) 150 and 151, the communication device 70 can transmit the observation data observed by the plurality of observation cameras 80. In this embodiment, a plurality of observation cameras 80 having different frequency bands for imaging are attached to the camera mounting brackets (mounting portions) 150 and 151. Specifically, in each of the camera mounting brackets (mounting portions) 150 and 151, the observation camera 80 is a visible light camera 80a that performs imaging in the visible light frequency band and infrared rays that perform imaging in the infrared frequency band. The camera 80b is connected.

In FIG. 7M, a plurality of observation cameras 80 are mounted in the same direction, but may be fixed in different directions. In this case, by attaching the visible light camera 80a to the field side and the opposite side, it is possible to observe the peripheral portion including the field. Further, the visible light camera 80a can be mounted on the field side and infrared rays can be mounted in a direction different from the field, for example, toward the mountain side where wild animals often invade at night.

The observation camera 80 can be operated in cooperation with the equipment provided in the water management device 1. For example, when the adjustment mechanism is operated by operating the actuator 10, the observation camera 80 is operated when power is being generated by the solar panel 40, or the amount of electricity stored (charged amount) of the electricity storage device 41 is predetermined. It can also be operated when the above is the case. It can also be operated during the time when the water management device 1 is operating. The observation camera 80 and the equipment (actuator 10, power generation of the solar panel 40, charging / discharging of the power storage device 41, adjustment mechanism) can be operated independently.

Further, even if the observation camera 80 and the position change mechanism are operated according to the field water management system (irrigation mode, growth monitoring mode, water monitoring mode, theft monitoring mode, intruder monitoring mode, field monitoring mode). Alternatively, the operation may be performed remotely by operating the external device 201 (support device 201A, external terminal 201B).
<Field water management system>
As shown in FIG. 6, the field water management system includes a relay station 200 and an external device 201. The external device 201 includes a support device 201A and an external terminal 201B that can be connected to the support device 201A. The support device 201A is a server, and the external terminal 201B is a mobile terminal such as a fixed personal computer, a smartphone, a tablet, a notebook computer, or a PDA.

The relay station 200 is a communication unit that relays communication between the communication device 70 of the water management device 1 and the support device 201A, or communication between the communication device 70 of the water management device 1 and the external terminal 201B. The relay station 200 transmits various information from the water management device 1 to the support device 201A, and transmits various information from the support device 201A to the communication device 70. Alternatively, the relay station 200 transmits various information from the water management device 1 to the external terminal 201B, or transmits various information from the external terminal 201B to the communication device 70. In this embodiment, the field water management system is provided with a relay station 200 to perform indirect communication, but the communication device 70 of the water management device 1 and the support device 201A may directly communicate with each other. However, the communication device 70 of the water management device 1 and the external terminal 201B may directly communicate with each other, and the communication method is not limited.

The field water management system has an irrigation mode, a growth monitoring mode, a water monitoring mode, a theft monitoring mode, an intruder monitoring mode, and a field monitoring mode. The field water management system does not have to have all of the irrigation mode, growth monitoring mode, water monitoring mode, theft monitoring mode, intruder monitoring mode, and field monitoring mode, and all combinations are possible. ..
When the external terminal 201B is connected to the support device 201A and performs a predetermined operation, it can be set to any one of the irrigation mode, the growth monitoring mode, the water monitoring mode, the theft monitoring mode, the intruder monitoring mode, and the field monitoring mode. .. It is also possible to set two or more modes at the same time in the field water management system. It is possible to set both the irrigation mode and the water monitoring mode at the same time, or to set the theft monitoring mode and the intruder monitoring mode at the same time.
<Irrigation mode>
When the irrigation mode is set by operating the external terminal 201B, the support device 201A displays the setting screen M1 on the external terminal 201B as shown in FIG. 8A. On the setting screen M1, the unit selection unit 210 for inputting the irrigation unit (control unit), the irrigation selection unit 211, the water level setting unit 212, the detailed setting button 213, and the time setting unit 214 are displayed.

The unit selection unit 210 is a part for inputting whether to set in a field unit (each of the fields H1) or in a predetermined group of a plurality of fields H1. When the field unit is selected, irrigation can be performed in the field H1 unit, and when a group is set, irrigation can be performed in a plurality of field H1 groups. The irrigation selection unit 211 can select constant flooding, flushing, stopping, and the like. In constant flooding, irrigation (water supply) is performed when the water level falls below the control range from the set water level, and irrigation (water supply) is stopped when the water level exceeds the set water level. Flushing is a setting for irrigation (water supply) regardless of the setting. Stop is a setting to stop irrigation (water supply) regardless of the setting. The water level setting unit 212 is a part for setting an upper limit value (upper limit water level) of the water level.

When the detailed setting button 213 is selected, the support device 201A displays the setting screen M2 on the external terminal 201B as shown in FIG. 8B. On the setting screen M2, the control width input unit 215 and the valve opening degree input unit 216 are displayed. The control width input unit 215 is a portion for inputting the control width F1, and is a numerical value indicating the width from the upper limit water level as shown in FIG. By setting the control width F1, the lower limit value (lower limit water level) of the water level is determined. When the input control width F1 is input to a very small value such as less than 1 cm in the control width input unit 215, a warning is displayed on the setting screen M2 and a very small value is input to the control width input unit 215. Encourage not to. The valve opening degree input unit 216 is a portion for inputting the opening degree C1 of the on-off valve 100c (valve body 102).

The time setting unit 214 is a part for setting whether or not to perform irrigation according to the time, and when "ON" is selected, it is possible to set the irrigation start time and the irrigation end time. When "OFF" is selected, irrigation is performed based on the irrigation setting information regardless of the time.
As described above, the irrigation setting information (field unit, group unit, constant flooding, flushing, stop, upper limit water level, control width F1, irrigation start time, irrigation end time) set by the setting screens M1 and M2 , It is stored in the storage device 203 provided in the support device 201A. The support device 201A connects the communication device 70 of the water management device 1 with irrigation setting information (field unit, group unit, constant inundation, flushing, stop, upper limit water level, control width F1, opening C1, irrigation start time, irrigation. End time) is sent.

Further, the support device 201A transmits to the water management device 1 that the irrigation mode is set when the irrigation mode is set. Upon receiving that the communication device 70 of the water management device 1 is in the irrigation mode, the control device 60 performs an operation corresponding to the irrigation mode. In the irrigation mode, the control device 60 controls to supply water to the field H1.
As shown in FIG. 6, the control device 60 of the water management device 1 includes a water level control unit 60A and a water level width changing unit 60B.

As shown in FIG. 9, the water level control unit 60A controls the actuator 10 so that the water level (detected water level) F2 detected by the water level detection device 50a falls within the control width F1. The water level control unit 60A sets the actuator 10 to the opening degree C1 set by the irrigation setting information when the detected water level F2 drops and approaches the lower limit water level when a constant flooding is set, and the field is fielded. Irrigation is performed to supply water to H1. On the other hand, the water level control unit 60A operates the actuator 10 so that the valve body 102 is fully closed when the detected water level F2 rises and approaches the upper limit water level, and stops irrigation (water supply). The water level control unit 60A does not use the water level detected by the water level detection device 50a until the water surface stabilizes. For example, the actuator 10 controls the water level (detected water level) for a predetermined time (water level stop time) after water is supplied. The water level detection device 50a may not measure the water level immediately after the valve body 102 is opened. The water level stop time may be set according to the season. For example, when the ear of rice is large, the water level detection device 50a is measured after the start of water supply, but the detected value after a lapse of a certain time (the lapse of the water level stop time) may be detected as the actual water level.

Further, when the constant flooding is set and the irrigation start time and the irrigation end time are set (constant flooding with a time zone), the water level control unit 60A has a time zone between the irrigation start time and the irrigation end time. In, when the detected water level F2 drops and approaches the lower limit water level, the actuator 10 is set to the opening degree C1 set by the irrigation setting information to perform irrigation to supply water into the field H1. On the other hand, the water level control unit 60A operates the actuator 10 so that the valve body 102 is fully closed when the detected water level F2 rises and approaches the upper limit water level, and stops irrigation (water supply). That is, in the case of constant flooding with a time zone, the valve body 102 is repeatedly opened and closed during the time zone.

When the opening / closing operation of the valve body 102 exceeds a predetermined number of times within a predetermined time (for example, one day), the water level control unit 60A sends the communication device 70 to the support device 201A "the opening / closing operation is performed a predetermined number of times". Notify that it has become "above". The support device 201A notifies that "the opening / closing operation has reached a predetermined number of times or more" within a predetermined time.
The water level width changing unit 60B changes (corrects) the control width F1 of the irrigation setting information. As shown in FIG. 10, as shown in FIG. 10, the control device 60 corresponds to deep water, shallow water, intermittent, medium-dried, intermittent, low-temperature irrigation, shallow water, intermittent, and falling water in order from seedling transplantation (water). Management time) is remembered. Further, the control device 60 stores the numerical values A1, A2, and A3 of the control width F1 corresponding to the water management time. The control device 60 stores the opening degrees A4, A5, and A6 corresponding to the water management time.

The water level width changing unit 60B is, for example, when the control width (setting control width) F1 indicated by the irrigation setting information matches the numerical value A1 in the case of deep water, shallow water, and intermittent period T1 after transplanting the seedlings. , The setting control width F1 is not changed. On the other hand, in the case of the period T1, the water level width changing unit 60B changes (corrects) the control width F1 in the period T1 to the numerical value A1 when the set control width F1 and the numerical value A1 do not match.

Further, for example, in the case of the period T1, the water level width changing unit 60B does not change the set opening degree C1 when the opening degree (set opening degree) C1 indicated by the irrigation setting information matches the numerical value A4. On the other hand, in the case of the period T1, the water level width changing unit 60B changes (corrects) the opening degree C1 in the period T1 to the numerical value A4 when the set opening degree C1 and the numerical value A4 do not match.
The water level width changing unit 60B does not change the set control width F1 when the set control width F1 matches the numerical value A2 in the case of the period T2 of medium drying, interruption, and low temperature irrigation. On the other hand, in the case of the period T2, the water level width changing unit 60B changes (corrects) the control width F1 in the period T2 to the numerical value A2 when the set control width F1 and the numerical value A2 do not match.

Further, the water level width changing unit 60B does not change the set opening degree C1 when, for example, the set opening degree C1 matches the numerical value A5 in the case of the period T2. On the other hand, in the case of the period T2, the water level width changing unit 60B changes (corrects) the opening degree C1 in the period T2 to the numerical value A5 when the set opening degree C1 and the numerical value A5 do not match.
The water level width changing unit 60B does not change the set control width F1 when the set control width F1 matches the numerical value A3 in the case of the period T3 of shallow water, interruption, and falling water. On the other hand, in the case of the period T3, when the set control width F1 and the numerical value A3 do not match, the water level width changing unit 60B changes (corrects) the control width F1 in the period T2 to the numerical value A3.

Further, the water level width changing unit 60B does not change the set opening degree C1 when the set opening degree C1 matches the numerical value A6 in the case of the period T3, for example. On the other hand, in the case of the period T3, when the set opening degree C1 and the numerical value A6 do not match, the water level width changing unit 60B changes (corrects) the opening degree C1 in the period T2 to the numerical value A6.
That is, the water level width changing unit 60B has a set control width F1> A1, a set control width F1> A2, and a set control width F1> A3 in each of the periods T1, T2, and T3. The lower limit is limited. Further, the water level width changing unit 60B sets the set opening C1> A5, the set opening C1> A6, and the set opening C1> A6 in each of the periods T1, T2, and T3. It is restricted. Further, since the water level width changing unit 60B changes the opening degree C1 according to the control widths A1, A2, and A3, the opening / closing operation time, that is, the opening degree is changed according to the control widths A1, A2, and A3. A4, A5, and A6 are variable.

By the way, as shown in FIG. 2C, a plurality of water management devices 1 (1A, 1B, 1C) for supplying water to one field H1 may be installed. In such a case, the irrigation start time and the irrigation end time for performing the water management device 1 (1A, 1B, 1C) may be different, that is, the opening / closing timing of the valve body 102 may be different. In such a case, in the plurality of water management devices 1 (1A, 1B, 1C), among the plurality of water management devices 1 (1A, 1B, 1C), the detected water level F2 of the predetermined water management device 1 is the lower limit water level. When the support device 201A commands a plurality of water management devices 1 (1A, 1B, 1C) to irrigate at the same time, and the detected water level F2 of the predetermined water management device 1 approaches the upper limit water level. The support device 201A commands the plurality of water management devices 1 (1A, 1B, 1C) to finish irrigation at the same time. That is, when a plurality of water management devices 1 (1A, 1B, 1C) for supplying water to the field H1 are installed, the support device 201A synchronizes the irrigation operation.

By the way, in the above-described embodiment, the relationship between the period T1, T2, T3 and the control widths A1, A2, A3, the opening degree A4, A5, A6 is stored in the control device 60, and the periods T1, T2, T3 The control widths A1, A2, A3, the opening degrees A4, A5, and A6 were changed based on Alternatively, the openings A4, A5, and A6 may be changed.

As shown in FIG. 11, the observation camera 80 images the crop U1 such as rice from the side and images the growth of the crop U1. For example, the water level width changing unit 60B estimates the size (plant height (height)) X1 of the crop U1 from the observation data (captured image) captured by the observation camera 80, and deep water, shallow water, intermittent, medium-dried, intermittent, low temperature. The control widths A1, A2, A3, and the opening degrees A4, A5, and A6 are changed by determining whether the time corresponds to the time of irrigation, shallow water, intermittent water, or falling water. In other words, the water level width changing unit 60B determines the growth stage such as the survival stage, the tillering stage, the ear differentiation stage, the scion stage, the flowering stage, and the ripening stage from the state of the crop U1 in the captured image. , The control widths A1, A2, A3, and the opening degrees A4, A5, A6 are changed.

The water level width changing unit 60B increases the control widths A1, A2, and A3 as the crop U1 grows (the growth stage advances). The water level width changing unit 60B reduces the opening degrees A4, A5, and A6 as the crop U1 grows (the growth stage advances), for example. The control widths A1, A2, A3, openings A4, A5, and A6 described above are examples, and may be freely changed depending on the geology of the field H1, the regional system, the type (brand) of the crop U1, and the like. The numerical values of the widths A1, A2, A3, the opening degrees A4, A5, and A6 may be obtained by past achievements, simulations, and the like.
<Growth monitoring mode>
When the growth monitoring mode is set by operating the external terminal 201B, the support device 201A transmits to the water management device 1 that the growth monitoring mode is set. Upon receiving that the communication device 70 of the water management device 1 is in the growth monitoring mode, the control device 60 performs an operation corresponding to the growth monitoring mode. The control device 60 monitors the crop U1 in the field H1 in the growth monitoring mode.

As shown in FIG. 11, in the growth monitoring mode, the observation camera 80 images the crop U1 from the side (side) and transmits the imaged observation data to the support device 201A by the communication device 70.
The observation camera 80 images the range from the root side to the tip of the crop U1. When the crop U1 is imaged by the observation camera 80, the control device 60 adjusts the position of the observation camera 80 by any of the electric motors 162, 168, and 173 of the position changing mechanisms 159A, 159B, and 159C. , The range from the root side to the tip of the crop U1 is imaged. As shown in FIGS. 6 and 11, it is preferable that the water management device 1 includes a light (lighting device) 230 that irradiates a light source. The light (illumination device) 230 is turned on when the crop is imaged.

For example, when the observation camera 80 is a visible light camera 80a, the water management device 1 uses the device identification information, the imaging time, and the captured image (crop image) of the crop U1 captured by the visible light camera 80a as observation data as a support device. Send to 201A.
As shown in FIG. 12A, when the observation camera 80 is an infrared camera 80b, the water management device 1 transmits the device identification information, the imaging time, and the crop image captured by the infrared camera 80b as observation data to the support device 201A. ..

When the observation camera 80 is a visible light camera 80a and an infrared camera 80b, the water management device 1 uses the device identification information, the imaging time, and the crop image captured by the visible light camera 80a and the infrared camera 80b as observation data, and the support device 201A. Send to.
By operating the support device 201A and the external terminal 201B, it is possible to set the imaging time for imaging by the observation camera 80 (visible light camera 80a, infrared camera 80b) in the growth monitoring mode. For example, the support device 201A displays a time screen for setting the imaging time on the external terminal 201B, and the support device 201A transmits the imaging time input on the time screen of the external terminal 201B to the water management device 1. The observation camera 80 (visible light camera 80a, infrared camera 80b) performs observation (imaging) at a set imaging time.

In the water management device 1, the irrigation mode and the growth monitoring mode may be performed at the same time. For example, when irrigating (watering) the field H1 in the irrigation mode, the observation camera 80 (visible light camera 80a, infrared camera 80b) captures an image of the crop U1 and transmits it as observation data to the support device 201A. You may.
<Growth monitoring mode>
As shown in FIG. 12A, the support device 201A stores the observation data (device identification information, imaging time (date, time) and crop image) transmitted from the water management device 1 in the growth database 220. In the above-described embodiment, the observation data is imaged from the side of the crop U1 and the observation data is transmitted to the support device 201A. In addition to this, the water level detected by the water level detection device (water level sensor) 50a. , The water temperature detected by the water temperature detection device (water temperature sensor) 50b may be transmitted as observation data and stored in the growth database 220 as shown in FIG. 12B.

As shown in FIG. 6, the support device 201A includes an analysis unit 221 and a growth comparison unit 222. The analysis unit 221 and the growth comparison unit 222 are composed of an electric / electronic circuit, a program, and the like provided in the support device 201A. The analysis unit 221 analyzes the vegetation index (DVI, RVI, NDVI, GNDVI, SAVI, TSAVI, CAI, MTCI, REP, PRI, RSI, etc.) for each field using the crop image captured by the visible light camera 80a. conduct.

Further, the analysis unit 221 analyzes the crop image captured by the infrared camera 80b and creates a thermography of a portion where the temperature of the crop U1 is high and a portion where the temperature is high. In addition, the analysis unit 221 analyzes the crop image captured by either the visible light camera 80a or the infrared camera 80b, and calculates the plant height of the crop U1. Further, the analysis unit 221 analyzes the crop image captured by either the visible light camera 80a or the infrared camera 80b, and calculates the wilting (the degree of wilting) of the crop U1.

As shown in FIGS. 13A to 13D, the growth comparison unit 222 compares the growth of each field.
As shown in FIG. 13A, the growth comparison unit 222 graphs the vegetation index of the crop U1 analyzed by the analysis unit 221 for each field H1, transmits the graphed vegetation index to the external terminal 201B, and sends the graphed vegetation index to the external terminal 201B. indicate. The vegetation index for each field H1 displayed on the external terminal 201B may be the vegetation index of the representative crop U1 among the crops U1 transferred to the crop image, or the average value of the vegetation indexes of a plurality of crops U1 and the maximum. A value, a minimum value, etc. may be displayed.

As shown in FIG. 13B, the growth comparison unit 222 transmits the thermography of each field H1 of the crop U1 created by the analysis unit 221 to the external terminal 201B and displays it on the external terminal 201B. The thermography for each field H1 displayed on the external terminal 201B may be the thermography of the representative crop U1 among the crops U1 transferred to the crop image, or may be displayed as the thermography of a plurality of crops U1.

As shown in FIG. 13C, the growth comparison unit 222 transmits the plant height of the crop U1 of each field H1 at the designated designated time to the external terminal 201B and displays it on the external terminal 201B. The plant height displayed on the external terminal 201B may be the plant height of the representative crop U1 among the crops U1 transferred to the crop image, or the average value, maximum value, minimum value, etc. of the plant heights of a plurality of crops U1 are displayed. You may.

As shown in FIG. 13D, the growth comparison unit 222 transmits the wilting (wilting degree) of the crop U1 of each field H1 at the designated designated time to the external terminal 201B and displays it on the external terminal 201B. The wilt displayed on the external terminal 201B may be the wilt of the representative crop U1 among the crops U1 transferred to the crop image, or the average value, maximum value, minimum value, etc. of the plant heights of a plurality of crops U1 are displayed. You may.
<Water monitoring mode>
When the water monitoring mode is set by operating the external terminal 201B, the support device 201A transmits to the water management device 1 that the water monitoring mode is set. Upon receiving that the communication device 70 of the water management device 1 is in the water monitoring mode, the control device 60 performs an operation corresponding to the water monitoring mode.

As shown in FIG. 14, in the water monitoring mode, the observation camera 80 images the state of water supply, that is, either the water surface W10 or the ripple W11 of the field H1. When the water management device 1 has the position change mechanism 159B, the control device 60 operates the electric motor 168 to set the imaging range G1 of the observation camera 80 on the valve body 102 side, that is, the imaging direction X1 in the vertical direction of the observation camera 80. Turn down. That is, the water surface W10 in the vicinity where the water management device 1 is installed and the root U1a of the crop U1 on the side close to the water management device 1 are set to be within the imaging range G1 of the observation camera 80. More specifically, the control device 60 makes it possible to image the water surface W10 near the through hole 105 of the on-off valve 100c and the root U1a of the crop U1 closest to the on-off valve 100c.

In the observation camera 80 provided in the water management device 1, when the imaging range G1 includes the water surface W10 around the water management device 1 and the root U1a of the crop U1, the water management does not have the position change mechanism 159B. It may be the device 1. That is, in the water monitoring mode, the observation camera 80 transmits the imaged observation data in the vicinity where the water is supplied to the support device 201A by the communication device 70.

Specifically, the observation camera 80 images the water surface W10, the ripples W11, and the root U1a of the crop U1 when the actuator 10 is operated. In other words, the water surface W10, the ripples W11, and the root U1a of the crop U1 when the valve body 102 is opened under the control of the control device 60 are imaged.
As shown in FIG. 15A, regardless of whether the observation camera 80 is the visible light camera 80a or the infrared camera 80b, the water management device 1 has the device identification information, the imaging time, the captured images of the water surface W10 and the ripples W11. Water surface image), water level, water temperature, opening of on-off valve) are transmitted to the support device 201A as observation data.

In the above-described embodiment, in the water management device 1, the water surface W10 and the ripple W11 when the valve body 102 is opening (opening is zero or more) are acquired as water surface images. Alternatively, in the water monitoring mode, the state of the water surface W10 when the valve body 102 is closed (stopped at zero opening) may be imaged, and the water surface image including the water surface W10 may be transmitted to the support device 201A. ..

Further, the light (illumination device) 230 of the water management device 1 can irradiate the light source toward the ground of the field H1. As a result, the water surface W10 and the ripple W11 can be imaged more clearly. For example, it is easy to grasp the ups and downs of the water surface W10 and the flow of water by taking an image while shining light on the lighting device 230.
As shown in FIGS. 15A and 15B, the support device 201A has observation data (device identification information, imaging time, captured image (water surface image), water level, water temperature, opening / closing valve opening) transmitted from the water management device 1. Is stored in the water surface database 225.

The support device 201A includes a water management unit 228. The water management unit 228 is composed of an electric / electronic circuit, a program, and the like provided in the support device 201A.
As shown in FIG. 14, the water management unit 228 transmits a water surface image including the water surface W10, ripples W11, and the root U1a of the crop U1 to the external terminal 201B, and causes the external terminal 201B to display the water surface image. Alternatively, the water management unit 228 transmits a water surface image including the water surface W10 to the external terminal 201B and displays it on the external terminal 201B. Here, when displaying the water surface image on the external terminal 201B, it is preferable to display the operation information as to whether or not the actuator 10 (valve body 102) is operating together with the water surface image. As a result, the administrator can easily grasp whether or not the image is a water surface when the actuator 10 (valve body 102) is operating.

Alternatively, the water management unit 228 estimates the water level of the field H1 based on the observation data of either the ripple W11 or the water surface W10. In the situation where the actuator 10 (valve body 102) is operating, the water management unit 228 estimates that the water level is deep when the ripple W11 is small, and estimates that the water level is shallow when the ripple W11 is large.
As shown in FIG. 14, the water management unit 228 has an area S1 of the root U1a of the crop U1 shown in the water surface image, an arrangement of the root U1a, an opening degree of the actuator 10 (valve body 102), and a water surface image. Using the indicated ripple W11 as an input value, the water level of the field H1 is estimated by deep learning (artificial intelligence).

For example, when the predetermined opening degree of the actuator 10 (valve body 102) is constant, the area S1 of the root U1a of the crop U1 shown in the water surface image is small, and water is supplied from the front surface (discharge side) of the water management device 1. When the generated water (water) does not easily hit the root U1a, a correlation is established between the number of ripples W11 and the water level. On the other hand, when the predetermined opening degree of the actuator 10 (valve body 102) is constant, the area S1 of the root U1a of the crop U1 shown in the water surface image is large, and water is supplied from the front surface (discharge side) of the water management device 1. When the generated water (water) easily hits the root U1a, the amount of ripples W11 correlates with the area S of the root U1a and the arrangement of the root U1a. Therefore, it is possible to estimate the water level of the field H1 based on the area S1 of the root U1a, the arrangement of the root U1a, the opening degree of the actuator 10 (valve body 102), and the ripple W11 shown in the water surface image. ..

The water level detected by the water level detection device 50a is converted into data in advance, and the water level is used as an actual value. The area S1 of the root U1a of the crop U1, the arrangement of the root U1a, the opening degree of the actuator 10 (valve body 102), and the ripple W1 The water level may be estimated by deep learning using the above as an input value.
The water management unit 228 determines whether or not the estimated water level of the field H1 (estimated water level) is within the target water level of the field H1, that is, between the upper limit water level and the lower limit water level. When the target water level (upper limit water level to lower limit water level) of the field H1 is not reached, the water management unit 228 notifies the water management device 1 that the estimated water level is not within the target water level. When the estimated water level is not within the target water level, the water management device 1 operates the actuator 10 (valve body 102) to supply water.

As shown in FIG. 6, the water management device 1 may include a sound detection device 229. The sound detection device 229 is a sound collector (microphone) or the like that detects sounds around the housing 11. The sound detection device 229 detects, for example, the sound when the actuator 10 (valve body 102) is opened, and transmits the detected sound data (sound data) to the support device 201A via the communication device 70. The support device 201A stores the sound data in the water surface database 225 together with the device identification information, the imaging time, the captured image (water surface image), the water level, the water temperature, and the opening degree of the on-off valve.

The water management unit 228 estimates the water level of the field H1 by deep learning (artificial intelligence) using the sound data, the opening degree of the actuator 10 (valve body 102), and the ripple W11 shown in the water surface image as input values. do. When water is supplied from the water management device 1 into the field H1, the sound changes when the supplied water hits the root U1a of the crop U1, and the sound changes when the water hits the root U1a of many crops U1. That is, there is a correlation between the area S1 of the root U1a of the crop U1 and the arrangement of the root U1a shown in the water surface image and the sound data at the time of water supply, and the sound data is the root U1a of the crop U1 shown in the water surface image. It can be a parameter representing the arrangement of the area S1 and the root U1a of. Therefore, the water management unit 228 can estimate the water level by performing deep learning (artificial intelligence) as described above.

In the water monitoring mode of the above-described embodiment, the water supply side is described, but the water monitoring mode can also be applied to the drainage side. That is, in the explanation in the water monitoring mode, the water supply is read as drainage. That is, when draining, by acquiring a water surface image including the water surface W10, ripples W11, and the root U1a of the crop U1, the water surface image at the time of drainage and the water level at the time of drainage can be confirmed or estimated. That is, in the water monitoring mode, after acquiring the water surface image using the observation camera 80 provided in the water management device 1 on the drainage side, the valve body (partition) 125 is subjected to the above-mentioned operation during water supply by the actuator 10. If it is replaced with the contents that are operating, the explanation will be on the drainage side, so the explanation will be omitted.
<Theft monitoring mode>
As shown in FIG. 6, the support device 201A includes a monitoring device 231A. The monitoring device 231A is composed of an electric / electronic circuit, a program, and the like provided in the support device 201A. The monitoring device 231A monitors the agricultural machine 300. When the theft monitoring mode is set by operating the external terminal 201B, the support device 201A transmits to the water management device 1 that the theft monitoring mode is set. Upon receiving that the communication device 70 of the water management device 1 is in the theft monitoring mode, the monitoring device 231A and the water management device 1 perform an operation corresponding to the theft monitoring mode. That is, in the theft monitoring mode, it is possible to monitor the agricultural machine 300 located in the field H1 or the like by the monitoring device 231A and the water management device 1. The agricultural machine 300 is a tractor, a combine, a rice transplanter, a working device, and the like.
<Agricultural machinery>
First, the agricultural machine 300 will be described by taking a tractor as an example.

As shown in FIG. 16, the tractor includes a traveling vehicle body 303 having a traveling device 301, a prime mover 304, and a transmission 305. The traveling device 301 is a device having front wheels and rear wheels. The front wheels may be tire type or crawler type. Further, the rear wheels may also be of a tire type or a crawler type. The prime mover 304 is a diesel engine, an electric motor, or the like. The transmission 305 can switch the propulsive force of the traveling device 301 by shifting, and can also switch the traveling device 301 forward and backward. A cabin 309 is provided in the traveling vehicle body 303, and a driver's seat 310 is provided in the cabin 309.

Further, a connecting device is provided at the rear portion of the traveling vehicle body 303. The connecting device is a lifting device 308 or the like that connects the working device 302 and the traveling vehicle body 303 and does not lift or lower, and is composed of a three-point link mechanism or the like to move up and down. A working device 302, which is an agricultural device, can be attached to and detached from the connecting device. By connecting the working device 302 to the connecting device, the working device 302 can be towed by the traveling vehicle body 303. The working device 302 includes a tilling device for cultivating, a fertilizer spraying device for spraying fertilizer, a transplanting device for planting seedlings, a irrigation device for irrigating, a pesticide spraying device for spraying pesticides, a sowing spraying device for spraying seeds, and cutting of grass and the like. A cutting device for performing grass, a spreading device for spreading grass, a grass collecting device for collecting grass, a molding device for molding grass, a composite device for performing a plurality of operations, and the like.

As shown in FIG. 17, the lifting device 308 includes a lift arm 308a, a lower link 308b, a top link 308c, a lift rod 308d, and a lift cylinder 308e. The front end portion of the lift arm 308a is swingably supported upward or downward above the rear upper portion of a case (mission case) accommodating the transmission 305. The lift arm 308a swings (elevates) by driving the lift cylinder 308e. The lift cylinder 308e is composed of a hydraulic cylinder. The lift cylinder 308e is connected to the hydraulic pump via a control valve 337. The control valve 337 is a solenoid valve or the like, and expands and contracts the lift cylinder 308e.

The front end of the lower link 308b is swingably supported above or below the rear lower portion of the transmission 305. The front end of the top link 308c is swingably supported above or below the rear of the transmission 305 above the lower link 308b. The lift rod 308d connects the lift arm 308a and the lower link 308b. A working device 302 is connected to the rear part of the lower link 308b and the rear part of the top link 308c. When the lift cylinder 308e is driven (expanded / contracted), the lift arm 308a moves up and down, and the lower link 308b connected to the lift arm 308a moves up and down via the lift rod 308d. As a result, the working device 302 swings (up and down) upward or downward with the front portion of the lower link 308b as a fulcrum.

The tractor includes a steering device 330. The steering device 330 includes a steering wheel (steering wheel) 331, a rotation shaft (steering shaft) 332 that rotates with the rotation of the steering wheel 331, and an auxiliary mechanism (power steering mechanism) 333 that assists the steering of the steering wheel 331. is doing. The auxiliary mechanism 333 includes a hydraulic pump 334, a control valve 335 to which hydraulic oil discharged from the hydraulic pump 334 is supplied, and a steering cylinder 336 operated by the control valve 335. The control valve 335 is a solenoid valve that operates based on a control signal. The control valve 335 is, for example, a three-position switching valve that can be switched by moving a spool or the like. The control valve 335 can also be switched by steering the steering shaft 332. The steering cylinder 336 is connected to an arm (knuckle arm) that changes the direction of the front wheels.

Therefore, when the handle 331 is operated, the switching position and opening degree of the control valve 335 are switched according to the handle 331, and the steering cylinder 336 expands and contracts to the left or right according to the switching position and opening degree of the control valve 335. By doing so, the steering direction of the front wheels can be changed. The steering device 330 described above is an example, and is not limited to the configuration described above.

The tractor includes a positioning device (second positioning device) 340. When the position is obtained by RTK-GNSS or the like, the positioning device (second positioning device) 340 is on the mobile station side. The positioning device 340 can detect its own position (positioning information including latitude and longitude) by a satellite positioning system (positioning satellite) such as D-GPS, GPS, GLONASS, Beidou, Galileo, and Michibiki. That is, the positioning device 340 receives the satellite signal (position of the positioning satellite, transmission time, correction information, etc.) transmitted from the positioning satellite, and based on the satellite signal, the position of the tractor (for example, latitude, longitude), that is, , Detects the vehicle body position. The positioning device (second positioning device) 340 is on the mobile station side.

The positioning device 340 includes a receiving device 341 and an inertial measurement unit (IMU) 342. The receiving device 341 is a device having an antenna or the like and receiving a satellite signal transmitted from the positioning satellite, and is attached to the traveling vehicle body 303 separately from the inertial measurement unit 342. In this embodiment, the receiving device 341 is attached to the traveling vehicle body 303, that is, the cabin 309. The mounting location of the receiving device 341 is not limited to the embodiment. The inertial measurement unit 342 includes an acceleration sensor that detects acceleration, a gyro sensor that detects angular velocity, and the like. The traveling vehicle body 303, for example, provided below the driver's seat 310, can detect the roll angle, pitch angle, yaw angle, etc. of the traveling vehicle body 303 by the inertial measurement unit 342.

As shown in FIG. 17, the tractor includes a control device 360. The control device 360 controls the tractor in various ways. The control device 360 advances and reverses the traveling vehicle body 303 based on the operation of the forward / backward moving member 361a. The control device 360 starts and stops the prime mover 304 based on the operation of the ignition switch 361b. The control device 360 changes the shift stage (shift level) of the shift device 305 based on the operation of the shift change member 361c. The control device 360 changes the rotation speed of the prime mover 304 (motor rotation speed) based on the operation of the accelerator 361d. When the elevating operation member 361e is operated, the control device 360 controls the control valve 337 to expand and contract the lift cylinder 308e, and elevates and elevates the working device 302 via the lift arm 308a.

The control device 360 may perform automatic driving control (automatic driving control). In the automatic driving in the control device 360, the traveling vehicle body 303 is automatically driven along a preset traveling route. In the control device 360, at least the traveling position of the traveling vehicle body 303 (the position detected by the positioning device 340) and the preset traveling route (traveling route) match, that is, the traveling vehicle body 303 and the traveling route are aligned with each other. The switching position and opening degree of the control valve 335 are set so as to match. In other words, in the automatic driving mode, the control device 360 sets the moving direction and the moving amount (steering direction and steering angle of the front wheels) of the steering cylinder 336 so that the traveling position of the tractor and the traveling route match. ..

Specifically, in the automatic traveling mode, the control device 360 compares the traveling position of the traveling vehicle body 303 with the position indicated by the traveling route (scheduled traveling position), and the traveling position and the planned traveling position match. If so, the steering angle and steering direction (steering angle and steering direction of the front wheels) of the steering wheel 331 in the steering device 330 are held unchanged (the opening degree and switching position of the control valve 335 are maintained unchanged). ). When the traveling position and the planned traveling position do not match, the control device 360 has the steering angle of the steering wheel 331 and the steering angle of the steering wheel 331 in the steering device 330 so that the deviation (deviation amount) between the traveling position and the planned traveling position becomes zero. / Or change the steering direction (change the opening and / or switching position of the control valve 335).

In the above-described embodiment, the control device 360 changes the steering angle of the steering device 330 based on the deviation between the traveling position and the planned traveling position in the automatic traveling control, but the direction of the traveling route and the tractor When the direction (vehicle body direction) of the traveling direction (traveling direction) of (traveling vehicle body 303) is different, the control device 360 may set the steering angle so that the vehicle body orientation matches the orientation of the traveling route. Further, the control device 360 sets the final steering angle in the automatic driving control based on the steering angle obtained based on the deviation (positional deviation) and the steering angle obtained based on the directional deviation in the automatic driving control. You may. Further, the steering angle may be set by a method different from the steering angle setting method in the automatic traveling control described above. Further, the control device 360 sets the traveling device 301 (that is, the front wheels and / or) so that the actual vehicle speed of the tractor (traveling vehicle body 303) matches the vehicle speed corresponding to the preset traveling route in the automatic traveling control. The number of rotations of the rear wheels) may be controlled. Further, although the control device 360 performs automatic driving by controlling the steering of the traveling vehicle body 303 and the vehicle speed, the vehicle speed may be automatically driven by auto-steering control (automatic steering control) in which the driver adjusts the vehicle speed. Not limited to control. Further, as a matter of course, it is possible for the driver to perform manual operation in which the tractor is manually operated.

As shown in FIG. 17, the tractor includes a storage device 362 that stores machine identification information and a communication device 363. Since the communication device 363 is the same as the communication device 70, the description thereof will be omitted.
As described above, according to the tractor, the work by the work device 302 can be performed by running the field H1 in the state where the work device 302 is connected.

By the way, as shown in FIG. 18A, in the theft monitoring mode, the monitoring device 231A displays the theft setting screen M3 on the external terminal 201B. The theft setting screen M3 includes an image display unit 240 and a field selection unit 241. The image display unit 240 is a portion that displays an image captured by the observation camera 80. The field selection unit 241 is a portion for selecting a predetermined field (monitored field) from the plurality of fields H1, and the field to be monitored can be selected from the field list indicating the plurality of fields H1. The field selection unit 241 may be a portion of the field map in which the field map to be monitored can be selected by displaying the field map, and the field selection unit 241 is not limited.

When the monitored field H1 is selected by the field selection unit 241, the captured image captured by the observation camera 80 of the water management device 1 installed in the selected monitored field H1 is displayed on the image display unit 240.
Specifically, when the monitored field H1 is selected, the monitoring device 231A is a water management device (monitoring water management device 1) installed in the monitored field H1 based on the field identification information of the selected monitored field H1. ) Is extracted, and the monitoring water management device 1 is requested to transmit the image. The communication device 70 of the monitoring water management device 1 transmits the captured image G10 captured by the observation camera 80 to the support device 201A, and the support device 201A transmits the captured image G10 to the external terminal 201B. Alternatively, the communication device 70 of the monitoring water management device 1 directly transmits the captured image G10 captured by the observation camera 80 to the external terminal 201B. Therefore, the captured image G10 of the monitored field H1 can be displayed on the theft setting screen M3.

When the monitoring start button 243 is selected when the image G10 displayed on the image display unit 240 includes the agricultural machine 300 on the theft setting screen M3, the monitoring device 231A changes the monitoring water management device 1. Monitoring based on the captured image G10 of the observation camera 80 is started. If the agricultural machine 300 is not transferred to the captured image G10 displayed on the image display unit 240 (the captured image G10 does not include the agricultural machine 300), the monitoring device 231A indicates that there is no agricultural machine 300 to be monitored. Is displayed on the theft setting screen M3 or the like.

On the other hand, when the monitoring end button 244 is selected, the monitoring device 231A ends the monitoring. In the theft setting screen M3, a monitoring time zone (monitoring time zone) may be input. In this case, during the monitoring time zone, the monitoring device 231A performs monitoring based on the captured image G10 of the observation camera 80 of the monitoring water management device 1.
Specifically, when the monitoring device 231A starts monitoring, the agricultural machine 300 in the captured image G10 stays at the same position and monitors whether or not it is moving (whether or not it is stopped at a predetermined position). To judge). For example, the monitoring device 231A generates a warning when the agricultural machine 300 in the captured image G10 moves and does not appear in the captured image G10 under the monitoring situation.

For example, the monitoring device 231A displays a warning to the external terminal 201B that the agricultural machine 300 has moved during monitoring. Alternatively, the monitoring device 231A outputs a warning signal to the monitoring water management device 1, and the control device 60 of the monitoring water management device 1 lights or blinks the lighting device 230 when the lighting device 230 is provided. A warning is generated by letting it. That is, the lighting device 230 also operates as a warning device.

The monitoring device 231A can determine whether or not it is the agricultural machine 300 by pattern matching of the captured image G10 or the like. Further, in the monitoring device 231A, image data of various agricultural machines 300 may be input and deep learning (artificial intelligence) may be used to determine whether or not the agricultural machine 300 is used.
Further, in a situation where the agricultural machine 300 in the captured image G10 is being monitored by the theft monitoring mode, the monitoring device 231A determines that when only the working device 302 is not projected from the captured image G10 from the traveling vehicle body 303, the traveling vehicle body It is determined that the working device 302 has been removed from 303. Also in this case, as described above, the monitoring device 231A generates a warning.

Further, in the above-described embodiment, the field selection unit 241 is displayed on the theft setting screen M3, and the field H1 to be monitored is selected by the field selection unit 241. However, in the anti-theft mode, the water management device 1 The monitored field H1 may be set by operating the operation panel 43 installed in the above. That is, when the operation panel 43 of the water management device 1 is operated, the monitoring device 231A is set as the monitoring water management device 1 that operates the operation panel 43, and the field H1 corresponding to the monitoring water management device 1 is set as the monitoring target field H1. Set to. In such a case, the monitored field H1 can be set without selecting a predetermined field H1 from the field selection unit 241 displayed on the theft setting screen M3.

Further, in the above-described embodiment, the monitoring device 231A monitors whether or not the agricultural machine 300 is in the captured image G10, but instead, the monitoring device 231A monitors the agriculture in the captured image G10. It is determined whether or not the machine 300 is a legitimate agricultural machine 300, a drive permission signal is transmitted to the agricultural machine 300 if it is a legitimate agricultural machine 300, and a drive permission signal is sent to the agricultural machine 300 if it is not a legitimate agricultural machine 300. Monitoring may be performed so that the drive permission signal is not transmitted.

Specifically, the support device 201A includes a machine registration unit 236. The machine registration unit 236 is composed of an electric / electronic circuit, a program, and the like provided in the support device 201A.
The machine registration unit 236 performs a process of associating the agricultural machine 300 with either the water management device 1 or the field H1. As shown in FIG. 18B, when the external terminal 201B is connected to the support device 201A and performs a predetermined operation, the machine registration unit 236 displays the machine registration screen M4 on the external terminal 201B.

The machine registration screen M4 includes a field selection unit 241, a device input unit 245, and a machine input unit 246. The field selection unit 241 is the same as the above-described embodiment. The device input unit 245 is a part for inputting device identification information of the water management device 1. This is a part for inputting machine identification information (name, model number, serial number, serial code, etc.) of the agricultural machine 300.
When the field H1 is selected on the machine registration screen M4 and the device identification information and the machine identification information are input, the machine registration unit 236 provides related information (field identification information, device identification information and machine identification information) to the support device 201A. It is stored in the machine database 226 provided in. On the machine registration screen M4, the support device 201A can extract the device identification information from the field identification information and the field identification information from the device identification information. Therefore, on the machine registration screen M4, the field selection unit 241 And any one of the device input units 245 may not be present.

As described above, the machine registration unit 236 can associate any of the water management device 1 and the field H1 with the agricultural machine 300. That is, the manager or the like can register the relationship between any of the water management device 1 and the field H1 owned by the farm machine 300 by the machine registration unit 236.
By the way, in the situation where the registration is performed as described above, in the case of the theft monitoring mode, at least one of the support device 201A, the external terminal 201B and the water management device 1 is in the theft monitoring mode for the agricultural machine 300. Send that. Upon receiving that the communication device 363 of the agricultural machine 300 is in the theft monitoring mode, the communication device 363 transmits the machine identification information stored in the storage device 362 to at least the support device 201A, the external terminal 201B, and the water management device 1. When the external terminal 201B and the water management device 1 receive the machine identification information, the received machine identification information is transmitted to the monitoring device 231A. When the support device 201A receives the machine identification information, the monitoring device 231A extracts either the field identification information or the device identification information corresponding to the machine identification information from the machine database 226, and refers to the water management device 1 of the device identification information. Therefore, the captured image G10 captured by the observation camera 80 is requested. Upon receiving the captured image G10, the monitoring device 231A displays the captured image G10 on the external terminal 201B.

The external terminal 201B notifies the support device 201A (confirmation notification) that the agricultural machine 300 has been confirmed when the administrator or the like performs a predetermined operation in the theft monitoring mode. When the support device 201A receives the confirmation notification within the predetermined time, the monitoring device 231A determines that the agricultural machine 300 of the captured image G10 is a legitimate agricultural machine. On the other hand, if the support device 201A does not receive the confirmation notification within the predetermined time, the agricultural machine 300 of the captured image G10 is not determined to be a legitimate agricultural machine. When the monitoring device 231A determines that the agricultural machine 300 is a legitimate agricultural machine, the monitoring device 231A transmits a drive permission signal to the agricultural machine 300. On the other hand, if the monitoring device 231A does not determine that the agricultural machine 300 is a legitimate agricultural machine, the monitoring device 231A does not transmit a drive permission signal to the agricultural machine 300. More specifically, when the agricultural machine 300 is a legitimate agricultural machine, the monitoring device 231A transmits a permission signal to the water management device 1 having the observation camera 80 showing the legitimate agricultural machine, and the water management device 1 The permission signal is transmitted to the agricultural machine 300 via the communication device 70. The monitoring device 231A may transmit the permission signal to the external terminal 201B, and the external terminal 201B may transmit the permission signal to the agricultural machine 300.

When the ignition switch 361b is operated after the communication device 363 of the agricultural machine 300 receives the permission signal, the prime mover 304 is driven. On the other hand, when the communication device 363 of the agricultural machine 300 does not receive the permission signal, the prime mover 304 is not driven even if the ignition switch 361b is operated. That is, only the agricultural machine 300 determined by the monitoring device 231A to be a legitimate agricultural machine 300 can be driven.
<Intruder monitoring mode>
As shown in FIG. 6, the support device 201A includes a monitoring device 231B. The monitoring device 231B is composed of an electric / electronic circuit, a program, and the like provided in the support device 201A. The monitoring device 231B can monitor the invader 270 that has invaded the field H1. The invader 270 is, for example, an animal such as a bird, a dog, a cat, a tatsuki, a fox, or a wild boar. When the intruder monitoring mode is set by operating the external terminal 201B, the support device 201A transmits to the water management device 1 that the intruder monitoring mode is set. Upon receiving that the communication device 70 of the water management device 1 is in the intruder monitoring mode, the monitoring device 231B and the water management device 1 perform an operation corresponding to the intruder monitoring mode.

The support device 201A includes a time measuring unit 248 that measures the time. The timekeeping unit 248 is a timer or the like, and measures the month, day, and time (hours and minutes).
When a predetermined operation is performed on the external terminal 201B in the intruder monitoring mode, the monitoring device 231B displays the monitoring screen M5 on the external terminal 201B as shown in FIG. The monitoring screen M5 includes an image display unit 240 and a time input unit 250. The image display unit 240 is the same as the above-described embodiment. The time input unit 250 can input a time such as a month, a day, and a time (time zone). In the intruder monitoring mode, when the time measured by the time measuring unit 248 reaches the time input to the time input unit 250, the monitoring device 231B instructs the water management device 1 to monitor the intruder, and the water management device 1 The observation camera 80 transmits the captured image G10 to the support device 201A. In the intruder monitoring mode, when the support device 201A receives the captured image G10 transmitted from the water management device 1, the monitoring device 231B transmits the captured image G10 to an external terminal 201B such as an administrator or a worker. The external terminal 201B displays the captured image G10 (surveillance image) on the monitoring screen M5.

As shown in FIG. 20, in the intruder monitoring mode, the captured image G10 is monitored to determine whether or not the invader is 270 corresponding to an animal such as a bird, a dog, a cat, a fox, a fox, or a wild boar. For example, the monitoring device 231B determines whether or not the invading object 270 is an animal based on the size (height H20, width W20), shape, movement, and the like of the invading object 270. The height H20, width W20, shape, movement, etc. of animals such as birds, dogs, cats, foxes, foxes, and wild boars are input to the monitoring device 231B in advance as input values, and deep learning (artificial intelligence) is used. , The monitoring device 231B may determine whether the invader 270 is an animal such as a bird, a dog, a cat, a fox, a fox, or a wild boar.

When the monitoring device 231B determines that the intruder 270 is an animal, it issues a warning via the warning device. The warning device includes any one of the ultrasonic wave generator 190, the sound generator 191 and the light source 192. The water management device 1 is provided with at least one of an ultrasonic wave generator 190 that generates ultrasonic waves, a sound generator 191 that generates sound, and a light source 192 that irradiates light as warning devices. When the invader 270 is an animal, the monitoring device 231B identifies the type of the animal and transmits a signal indicating a frequency that the animal dislikes to the water management device 1 as a control signal. The ultrasonic wave generator 190 of the water management device 1 warns by generating ultrasonic waves based on the control signal.

Alternatively, the monitoring device 231B identifies the type of animal and transmits a sound disliked by the animal to the water management device 1 as a control signal. The sound generator 191 of the water management device 1 warns by generating a sound based on the control signal.
Alternatively, the monitoring device 231B identifies the type of animal and transmits the light disliked by the animal to the water management device 1 as a control signal. The light source 192 of the water management device 1 warns by emitting light based on the control signal.

When the observation camera 80 is a visible light camera 80a and an infrared camera 80b, the monitoring device 231B may switch to either the visible light camera 80a or the infrared camera 80b based on the time measured by the measuring unit 248. good. For example, when the time measured by the time measuring unit 248 is the time zone (morning, daytime, evening) when the sun is shining, the monitoring device 231B is a control signal captured by the visible light camera 80a on the water management device 1. Is output to monitor the intruder 270 with the observation data (captured image G10) of the visible light camera 80a. When the time measured by the time measuring unit 248 is a time zone (night, midnight) when the sun is not setting, the monitoring device 231B outputs a control signal imaged by the infrared camera 80b to the water management device 1. Therefore, the intruder 270 is monitored by the observation data of the infrared camera 80b. Since the time when the sun is shining differs depending on the season, the sunrise time and sunset time of the monitoring device 231B are obtained from the Meteorological Agency and the provider that provides the weather information, and the sunrise time and sunset time are obtained. The time for switching between the visible light camera 80a and the infrared camera 80b may be determined based on the above.

Further, in the intruder monitoring mode, when the intruder 270 is an animal as a result of monitoring the intruder 270, the time and type of intrusion may be transmitted to a server such as the support device 201A or an external terminal 201B.
When there are times when crops are not growing in the field or when they are not used in the closed rice fields, the camera can be fixed in a different direction from the field and used as a crime prevention device.
<Farm monitoring mode>
As shown in FIG. 6, the support device 201A includes a monitoring device 231C. The monitoring device 231C is composed of an electric / electronic circuit, a program, and the like provided in the support device 201A. The monitoring device 231C monitors the agricultural machine 300. When the field monitoring mode is set by operating the external terminal 201B, the support device 201A transmits to the water management device 1 that the field monitoring mode is set. Upon receiving that the communication device 70 of the water management device 1 is in the field monitoring mode, the monitoring device 231C and the water management device 1 perform an operation corresponding to the field monitoring mode. That is, in the field monitoring mode, the surroundings of the field H1 can be monitored by the monitoring device 231C and the water management device 1.

By the way, as shown in FIG. 21, in the field monitoring mode, the monitoring device 231C displays the monitoring screen M6 on the external terminal 201B. The monitoring screen M6 includes an image display unit 240 and a field selection unit 241. The image display unit 240 is a portion that displays images captured by a plurality of observation cameras 80. The field selection unit 241 is the same as the above-described embodiment.
When the monitored field H1 is selected by the field selection unit 241, it is installed not only in the captured image G10 captured by the observation camera 80 of the water management device 1 installed in the monitored field H1 but also around the monitored field H1. The captured image G10 captured by the observation camera 80 of the water management device 1 is displayed on the image display unit 240.

Specifically, when the monitored field H1 is selected, the monitoring device 231C is a water management device (monitoring water management device 1) installed around the monitored field H1 based on the field identification information of the monitored field H1. Is extracted. For example, as shown in FIG. 22A, when the field B is selected as the monitored field H1, in addition to the water management device 1b installed in the field B, a plurality of water management devices 1 installed around the field B 1 (Water management device 1a installed in field A, water management device 1c installed in field B, water management device 1d installed in field D, water management device 1e installed in field E, and field F installed. The water management device 1f) is also set as the monitoring water management device 1a, 1b, 1c, 1d, 1e, 1f.

The monitoring device 231C outputs a command to the observation camera 80 to the monitoring water management devices 1a, 1c, 1d, 1e, and 1f to direct the imaging direction X1 toward the field B as shown in FIG. 22B. For example, when the monitoring device 231C issues a command to direct the imaging direction X1 to the field B, the monitoring device 231C captures the entire field B so that the observation cameras 80 of the monitoring water management devices 1a, 1c, 1d, 1e, and 1f can image the entire field B. Set the angle of direction X1.

For example, the monitoring device 231C is set so that when the imaging direction X1 is directed to the field B, the entire field B can be imaged by the observation cameras 80 of the monitoring water management devices 1a, 1c, 1d, 1e, and 1f. The monitoring device 231C has an imaging direction X1 of the observation camera 80 of the monitoring water management device 1a of 315deg, an imaging direction X1 of the observation camera 80 of the monitoring water management device 1c of 45deg, and an imaging direction X1 of the observation camera 80 of the monitoring water management device 1d. Is set to 225 deg, the imaging direction X1 of the observation camera 80 of the monitoring water management device 1e is set to 180 deg, and the imaging direction X1 of the observation camera 80 of the monitoring water management device 1f is set to 135 deg. Then, the monitoring device 231C transmits the set angle of the imaging direction X1 to the monitoring water management devices 1a, 1c, 1d, 1e, and 1f.

When the monitoring water management devices 1a, 1c, 1d, 1e, and 1f receive the angle (set angle) of the imaging direction X1 set by the monitoring device 231C, the monitoring water management devices 1a, 1c, 1d, 1e, and 1f, respectively. The control device 60 directs the imaging direction X1 toward the field B by operating the electric motor 162 according to the set angle to rotate the turntable 160.
Then, when the setting of the imaging direction X1 is completed, the observation cameras 80 of the monitoring water management devices 1a, 1b, 1c, 1d, 1e, and 1f transmit the captured image G10 to the support device 201A via the communication device 70. ..

The monitoring device 231C displays the captured image G10 of the monitoring water management devices 1a, 1b, 1c, 1d, 1e, and 1f on the image display unit 240. The monitoring device 231C may include an image generation unit 233. The image generation unit 233 generates an image around the field H1 from the captured image. The image generation unit 233 synthesizes the captured images G10 of the monitoring water management devices 1a, 1b, 1c, 1d, 1e, and 1f as an around view image to create a composite image, and the composite image is sent to the external terminal 201B. By transmitting, it is displayed on the image display unit 240 of the monitoring screen M6. The monitoring device 231C may transmit the captured images G10 of the monitoring water management devices 1a, 1b, 1c, 1d, 1e, and 1f to the external terminal 201B and display them on the image display unit 240 of the monitoring screen M6. good. The monitoring device 231C may set the height to be imaged constant (fixed) when the field B is imaged by the observation cameras 80 of the monitoring water management devices 1a, 1b, 1c, 1d, 1e, and 1f.

Further, when the monitoring water management devices 1a, 1b, 1c, 1d, 1e, and 1f have a plurality of cameras, the monitoring device 231C may generate an around view image by synthesizing a plurality of captured images G10. Alternatively, the monitoring device 231C synthesizes the captured images G10 before and after the rotation of the turntable 160 as an around view image, and displays the entire field (fields A, B, C, D, E, F from FIGS. 22A and B). Images can also be generated.

Further, the support device 201A may automatically switch between the intruder monitoring mode and the field monitoring mode according to the time measured by the time measuring unit 248. In other words, the observation camera 80 can switch between a field monitoring mode for monitoring the field H1 and an intruder monitoring mode for monitoring the intruder 270 invading the periphery of the field H1 based on the time measured by the time measuring unit 248. .. In the field monitoring mode, the observation camera 80 may be switched according to the time in the same manner as in the intruder monitoring mode. That is, in the morning, daytime, and evening, the monitoring device 231C monitors the field B with the visible light camera 80a, and in the case of night and midnight, the monitoring device 231C attaches the infrared camera 80b to the water management device 1. Monitor with.
<Camera switching mode>
In addition to the mode described above, the support device 201A may have a camera switching mode (camera switching unit) for selecting a predetermined observation camera 80 to be operated among the observation cameras 80. When the external terminal 201B is connected to the support device 201A and a predetermined operation is performed, the camera switching mode is set. As shown in FIG. 29A, in the camera switching mode, the camera setting screen M8 is displayed on the external terminal 201B. As shown in FIG. 29A, the camera setting screen M8 includes a field selection unit 241 and a camera setting unit 260. The field selection unit 241 is the same as the above-described embodiment.

When a field is selected by the field selection unit 241, the type of the observation camera 80 provided in the water management device 1 corresponding to the selected field is displayed on the camera setting unit 260. The camera setting unit 260 includes an operation setting unit 260a for setting the operation of the camera to be permitted / disallowed, and a condition setting unit 260b for setting the conditions for operating the camera. When the operation of the camera is set to allow in the operation setting unit 260a, the observation camera 80 can perform an operation such as imaging. When the operation of the camera is set to be disallowed, the observation camera 80 can stop the operation such as imaging. If it is necessary to operate the observation camera 80 in the irrigation mode, growth monitoring mode, water monitoring mode, theft monitoring mode, intruder monitoring mode, and field monitoring mode, the irrigation mode, growth monitoring mode, water monitoring mode, The theft monitoring mode, the intruder monitoring mode, and the field monitoring mode are prioritized over the camera switching mode, and the observation camera 80 performs operations such as imaging in the camera switching mode even if the operation of the camera is disallowed.

The condition setting unit 260b is a part that selects a predetermined observation camera 80 to be operated according to the time of agricultural work, or selects a predetermined observation camera 80 according to the growth of crops. In the camera switching mode, for example, when the time of farm work and the type of camera to be used are selected in the condition setting unit 260b, the camera to be used is switched when the time of farm work set in the condition setting unit 260b is reached. .. In addition, when the vegetation index is input as the growth of the crop, the camera to be used is switched when the vegetation index is exceeded.

In the above-described embodiment, in the camera switching mode (camera switching unit), the camera is switched according to the time of farm work and the growth of crops, but instead of this, the irrigation mode, the growth monitoring mode, and the water monitoring mode are used. , Theft monitoring mode, intruder monitoring mode, field monitoring mode, when it is necessary to operate the observation camera 80, irrigation mode, growth monitoring mode, water monitoring mode, theft monitoring mode, intruder monitoring mode, field monitoring mode When using a camera in the irrigation system, a predetermined camera may be set.

As shown in FIG. 29B, when the camera switching mode is set, the irrigation mode, the growth monitoring mode, the water monitoring mode, the theft monitoring mode, the intruder monitoring mode, the field monitoring mode, and the camera type are set to the camera of the camera setting screen M8. It is displayed on the setting unit 260. When the relationship between each mode and the type of camera is set on the camera setting screen M8, the camera used in each mode can be set.
[Second Embodiment]
23 and 24 show the water management device 1 and the water management system according to the second embodiment. As shown in FIG. 23, the water management device 1 is provided with a first positioning device (base station positioning device) 370 in the housing 11 of the water management device 1. The base station positioning device 370 is connected to the power storage device 41 and can be operated by the electric power of the power storage device 41.

The base station positioning device 370 includes an antenna 371a, an antenna 371b, a signal processing unit 371c, a correction information calculation unit 371d, a communication device 371e, and a housing 371f. The housing 371f houses the antenna 371a, the antenna 371b, the signal processing unit 371c, the correction information calculation unit 371d, and the communication device 371e. The signal processing unit 371c, the correction information calculation unit 371d, and the communication device 371e are composed of electronic / electronic components such as an MPU and a CPU, or a program stored in the MPU, the CPU, and the like.

The antenna 371a is an antenna that receives the first satellite signal of the GNSS satellite, and receives the L1 signal and the L2 signal. The antenna 371b is an antenna that receives a satellite signal (second satellite signal) of a quasi-zenith satellite (QZSS (Quasi-Zenith Satellite System) satellite) such as Michibiki. The antenna 371b receives at least the L6 signal (center frequency 1278.75 MHz) transmitted from the QZSS satellite as the second satellite signal. The L6 signal includes correction information (centimeter-class positioning reinforcement information). The correction information includes satellite clock error information, satellite signal bias error information, satellite orbit error information, tropospheric propagation error information, ionospheric propagation error information, and the like. The antenna 371b may receive the L1 signal and the L2 signal transmitted from the GNSS satellite as the second satellite signal.

The signal processing unit 371c is a part that processes satellite signals (first satellite signal, second satellite signal) received by the antenna 371a and the antenna 371b, and is, for example, an amplification of the L1 signal and the signal L2 received by the antenna 371a. Positioning data is generated by performing demodulation, amplification and demodulation of the L6 signal received by the antenna 371b.
The correction information calculation unit 371d calculates the correction information with the installation position of the water management device 1 as the reference point BP1. The installation position of the water management device 1 is the latitude and longitude set when the water management device 1 is installed (constructed) in the field H1, and is stored in the storage device 44 provided in the water management device 1. There is. The storage device 44 is a non-volatile memory or the like. The installation position of the water management device 1 is any of the housing body 11, the actuator 10, and the valve body 102.

Specifically, the correction information calculation unit 371d extracts the installation position (reference point BP1) of the water management device 1 stored in the storage device 44, and at least L6 included in the second satellite signal transmitted from the GNSS satellite. The satellite clock error, satellite signal bias error, satellite orbit error, convection zone propagation error, and ionospheric propagation error at the reference point BP1 are obtained from the signal, and the information including the obtained error is set as the correction information.

The communication device 371e transmits information about the positioned position such as correction information to the mobile station moving in the field H1, that is, the agricultural machine 300. The communication device 371e is the correction information calculated by the correction information calculation unit 371d, that is. The correction information corresponding to the reference point BP1 is transmitted to the agricultural machine 300. More specifically, when the calculation of the correction information of the correction information calculation unit 371d is completed, the communication device 371e transmits the calculated correction information to the predetermined agricultural machine 300.

Hereinafter, for convenience of explanation, the second positioning device 340 of the agricultural machine 300 will be referred to as a "mobile station positioning device 340".
The mobile station positioning device 340 performs positioning using the correction information transmitted from the base station positioning device 370. The mobile station positioning device 340 receives the correction information (correction information corresponding to the reference point BP1) transmitted from the base station positioning device 370. The mobile station positioning device 340 is included in the communication device 363, and receives the correction information when the correction information transmitted from the base station positioning device 370 is addressed to itself.

When the mobile station positioning device 340 receives the correction information, the mobile station positioning device 340 receives the correction information (satellite clock error, satellite signal bias error, satellite orbit error, convection zone propagation error, ionization layer propagation error), and the L1 signal and L2 received by the antenna 31b. The physical position (vehicle body position) of the mobile station positioning device 340 is obtained by using the observation information of the signal (navigation message, C / A code, L1 carrier wave). For example, the mobile station positioning device 340 obtains the vehicle body position when the tractor is operating, such as when the tractor is traveling and the tractor is driving the work device 2.

The base station positioning device 370 and the mobile station positioning device 340 can perform accurate positioning using the RTK-GNSS, and as described above, the accuracy when the tractor is automatically driven or automatically steered is improved. be able to.
As shown in FIG. 24, it is preferable that the water management device 1 includes a mounting portion 375 to which the first positioning device (base station positioning device) 370 is detachably attached. The mounting portion 375 detachably installs a door portion 375a provided on the housing body 11 and which can be opened and closed, a locking device 375b for locking the door portion 375a and the housing body 11, and a housing 370a of the base station positioning device 370. Includes parts 375c. The installation portion 375c is located at the installation position (reference point BP1) and has a structure in which the housing 370a can be fitted. For example, the installation portion 375c has substantially the same size as the outer peripheral surface of the housing 370a, and can be mounted by fitting the housing 370a. It can be removed by pulling the housing 370a upward from the state in which the housing 370a is fitted in the installation portion 375c.

The base station positioning device 370 can extract the installation position from the storage device 44 of the water management device 1 in a state of being attached to the water management device 1. Therefore, when the base station positioning device 370 is removed from the water management device 1 and attached to the other water management device 1, the installation position of the other water management device 1 is set from the storage device 44 provided in the other water management device 1. It can be extracted from the installation position. That is, by replacing the base station positioning device 370, automatic traveling and positioning using RTK-GNSS can be performed in various fields H1.

When the base station positioning device 370 is removed from the water management device 1 and attached to the other water management device 1, the other water management device 1 notifies that the base station positioning device 370 is attached and another water management device 1. The device identification information corresponding to the water management device 1 is transmitted to the support device 201A. When the support device 201A receives the device identification information of the other water management device 1, the support device 201A extracts the installation position (reference point BP1) of the other water management device 1 mounted from the device identification information, and extracts the installation position (reference point BP1). BP1) is transmitted to another water management device 1. In this way, even if the water management device 1 does not have the storage device 44 that stores the installation position, the base station positioning device 370 uses the installation position (reference point BP1) of the other water management device 1. Positioning can be performed.

The water management device 1 and the water management system in the second embodiment do not necessarily have the observation camera 80 shown in the first embodiment, but the water management of the first embodiment in the second embodiment The device 1 and the water management system may be combined.
[Third Embodiment]
25 to 27 show the water management device 1 and the water management system according to the third embodiment.

The water management device 1 includes a station 500 that assists the flying object 400 flying over the field H1.
First, the flying object 400 will be described by taking a multicopter as an example.
As shown in FIG. 25, the multicopter has a main body 410a, an arm 410b provided on the main body 410a, a rotary blade 410c provided on the arm 410b, and a skid 410d provided on the main body 410a. .. The rotor 410c is a device that generates lift for flight, and includes a rotor that applies rotational force and a blade (propeller) that is rotated by driving a roller. The multicopter includes a power storage device (battery) 410k or the like, and the rotor is rotated by the electric power of the power storage device.

Further, the multicopter has an observation camera 410e and a positioning device 410h. The observation camera 410e is composed of a CCD camera, an infrared camera, etc., and is detachable from the lower part of the main body 410a or incorporated inside the main body 410a. Therefore, the field can be aerial photographed by the observation camera 410e while the multicopter is flying over the field. For example, from a height of about 100 m above the field, a multicopter observation camera 410e captures dozens to hundreds of fragment images of the field. The plurality of aerial images, that is, the plurality of images (aerial images) captured by the observation camera 410e are stored in the storage unit 410 g provided in the multicopter. A plurality of aerial images stored in the storage unit 410 g of the multicopter can be output to the outside by connecting a cable 534 to the output terminal. Further, the positioning device 410h is the same as the first positioning device 370. The multicopter has an image processing unit 410j. The image processing unit 410j is composed of a program stored in an arithmetic unit such as a CPU provided in the multicopter, electrical / electronic components constituting the arithmetic unit, and the like. The image processing unit 410j associates the aerial image captured by the observation camera 410e with the position (machine position) of the multicopter detected by the positioning device 410h. The image processing unit 410j associates, for example, the machine position during the imaging operation of the observation camera 410e with the aerial image. That is, the positioning device 410h associates the machine position with each at least one aerial image. The aerial image and the machine position are stored in the storage unit 410 g as image data.

As described above, by taking an aerial photograph while flying over the field with a multicopter, it is possible to acquire an aerial image of the field or the crops planted in the field. In addition, it is possible to acquire an aerial image associated with the machine position.
As shown in FIGS. 25-27, the station 500 includes a connection 510 that supplies power to the aircraft 400. The connection unit 510 is connected to the power storage device 41 via a power supply line. The connecting portion 510 is attached to the outer periphery of the housing body 11, for example, and the charging cable 415 of the flying body 400 can be connected to the connecting portion 510. As a result, the power storage device 401k of the flying object 400 can be charged by the electric power from the power storage device 41 of the water management device 1.

The station 500 has a takeoff and landing site 520 where the aircraft 400 takes off and landing. The takeoff and landing place 520 is provided in the containment body 11, and the takeoff and landing device 521 that serves as the takeoff and landing place 520 is mounted on the upper part of the containment body 11. The takeoff and landing device 521 includes a takeoff and landing plate 521a that forms a space for takeoff and landing, and a support 521b that supports the takeoff and landing plate 521a on the accommodating body 11. The support body 521b swings the arm 523 swingably attached to the housing body 11, the locking portion 524 fixed to the lower surface of the takeoff / landing plate 521a and the arm 523 is locked, and the takeoff / landing plate 521a to the housing body 11. It is equipped with a hinge 525 that supports it movably. The takeoff and landing plate 521a can be held horizontally by setting the takeoff and landing plate 521a in a horizontal state and locking the upper end of the arm 523 to the locking portion 524. On the other hand, the takeoff and landing plate 521a can be vertically folded by removing the upper end of the arm 523 from the locking portion 524 of the takeoff and landing plate 521a.

As shown in FIG. 27, the station 500 includes a target 530. The target 530 is a target 530 that is calibrated when the flying object 400 images the field H1, and is formed on the upper surface of the takeoff and landing plate 521a. The target 530 is, for example, a figure in which black squares and white squares are arranged in a staggered pattern.
The station 500 includes a relay communication device (output unit) 531 that acquires image data (aerial image, machine position) captured by the flying object 400 and transmits the acquired image data to the outside. In this embodiment, the communication connector 532 formed in the housing 11, the communication connector 532, the cable 533 connecting the communication connector 532 and the communication device 70, and the communication device 70 are included. Therefore, by connecting the cable 534 of the flying object 400 to the communication connector 532, the image data (aerial image, machine position) can be transmitted to the support device 201A and the external terminal 201B via the communication device 70.

As shown in FIG. 28A, the station 500 may be provided with a storage location 440 for storing the power storage device 401k of the flying object 400. The storage location 440 is inside the tubular body (second tubular body) 11c, and the tubular body 11c is provided with a door portion 441 that can be opened and closed. The door portion 441 can be opened to store the power storage device 401k on the mounting plate 37 of the tubular body 11c.
Further, as shown in FIG. 28B, the station 500 may be configured by extending the protruding wall 34 of the tubular body 11b to increase the space. That is, the protruding wall 34 may be used as the takeoff and landing place 520. In this case, the takeoff and landing plate 521a is fixed in the protruding wall 34 so that the lower side of the protruding wall 34 is flat. According to the station 500 of FIG. 28, the small aircraft 400 can take off and land.

The field water management device 1 operates an actuator 10 that opens and closes a mechanism (valve body 102, partition 125) that performs either water supply to the field or drainage discharged from the field by an opening / closing operation. It is provided with a solar panel 40 for generating electric power, an accommodating body 11 for accommodating an actuator 10, an observation camera 80 capable of capturing an image of a field, and an output unit capable of outputting observation data captured by the observation camera 80. There is. According to this, various situations of the field where the irrigation water or the like is supplied and the field where the irrigation water or the like is discharged can be grasped by the observation camera 80, and the water management in the field can be improved. For example, the situation during water supply and drainage to the field, the situation such as the growth of crops in the field, the situation in the work in the field, the state of the field, the presence or absence of pests on the crops in the field. It is possible to grasp the situation of the field where water management must be performed, such as the situation.

The observation camera 80 takes an image in cooperation with the operation of the actuator 10. According to this, various situations when the mechanism (valve body 102, partition portion 125) is opened and closed by the operation of the actuator 10 can be grasped by the observation camera 80.
The observation camera 80 takes an image while the solar panel 40 is generating electricity. According to this, various situations in the situation where the water management device 1 is generating the required electric power by the solar panel 40 can be grasped by the observation camera 80.

The observation camera 80 takes an image when the mechanism (valve body 102, partition 125) is being opened and closed and when power is being generated by the solar panel 40. According to this, the observation camera 80 can grasp the situation when both the opening / closing operation and the power generation of the mechanism (valve body 102, partition portion 125) are performed.
The observation camera 80 images the crops planted in the field from the side. According to this, it is possible to grasp the growth situation of the crop from the side.

The observation camera 80 captures observation data capable of calculating the vegetation index of the crops planted in the field. According to this, it is possible to grasp the transition of the growth of crops by the vegetation index.
The output unit can transmit the observation data to the external device 201. According to this, the observation status can be confirmed by the external device 201.
The field water management system includes a water management device 1, an image generation unit that acquires observation data from the output units of the water management devices 1 of a plurality of fields, and generates an image of the surroundings of the field from the acquired observation data.
Field water management system equipped with. According to this, the situation around the field can be easily grasped. For example, it is possible to check the entire state of a predetermined field like an around view monitor.

The field water management system images the field with an actuator 10 that opens and closes a valve body that performs either water supply to the field or drainage discharged from the field by an opening / closing operation, an accommodating body 11 that houses the actuator 10. It is provided with a possible observation camera 80 and mounting portions (camera mounting brackets 150 and 151) for detachably mounting the observation camera 80. According to this, the observation camera 80 can be attached to the attachment portions (camera attachment brackets 150 and 151) for observation only when it is necessary to confirm the situation with the observation camera 80.

A plurality of observation cameras 80 having different frequency bands for imaging can be attached to the attachment portions (camera attachment brackets 150 and 151). According to this, various types of observation cameras 80 can be attached, or cameras of the same type can be attached, for example, a visualization camera, an infrared camera, etc. can be attached as needed to view the field.
The support device 201A for processing the observation data of the plurality of observation cameras 80 is provided according to the plurality of observation cameras 80 attached to the mounting portions (camera mounting brackets 150 and 151). According to this, the observation data of the plurality of observation cameras 80 can be easily processed by the support device 201A, and the observation result can be grasped quickly.

A camera switching unit for selecting a predetermined observation camera 80 to be operated is provided among the plurality of observation cameras 80. According to this, when a plurality of observation cameras 80 are attached, it is possible to observe with a camera suitable for the observation target.
The camera switching unit selects a predetermined observation camera 80 according to the time of farm work. According to this, it is possible to make observations according to the farm work in the field.

The camera switching unit selects a predetermined observation camera 80 according to the growth of crops in the field. According to this, various observations can be made on crops while observing changes in growth and growth.
The field water management system includes a solar panel 40 and a power storage device 41 for storing the electric power generated by the solar panel 40, and the observation camera 80 operates by the electric power stored in the power storage device 41. According to this, since the observation camera 80 can be operated by the electric power generated by the solar panel 40, it is not necessary to perform a new electric wire drawing work to operate the observation camera 80, which is easy. Can be observed.

The support device 201A uses the captured image (aerial image) of the field captured by the flying object and the captured image captured from the side captured by the observation camera 80 of the water management device 1 to obtain a more accurate growth map. Can be created.
The field water management system accommodates an actuator 10 that opens and closes a mechanism (valve body 102, partition 125) that performs either water supply to the field or drainage discharged from the field by opening and closing. The housing 11 and an observation camera 80 capable of capturing an image of the field are provided, and the observation camera 80 monitors the field and invaders that have invaded the periphery of the field. According to this, the observation camera 80 can easily monitor the invaders that have invaded the surroundings of the field. For example, in a water management system, since water is supplied to the field, fish, frogs, loaches, medakas, snails, etc. may enter the field at the same time as the water, and prey on fish, frogs, loaches, medakas, snails, etc. You can easily monitor animals and animals that prey on crops.

The field water management system includes a timekeeping unit 248 that measures the time, and the observation camera 80 monitors the field in a mode that monitors the field based on the time measured by the timekeeping unit 248, and monitors intruders that have invaded the surroundings of the field. You can switch between the modes to be used. According to this, while the invaders such as animals can easily enter the field at the time when the invaders can easily enter the field, the state of the crops in the field can be monitored at other times.

The field water management system is equipped with a warning device that generates a warning when the observation data of the observation camera 80 contains an intruder in a situation where the state of the intruder that has invaded the surroundings of the field is monitored. .. According to this, animals and the like that have invaded the field can be easily expelled from the field.
The observation camera 80 includes a visible light camera 80a and an infrared camera 80b. According to this, while the visible light camera 80a can grasp the shape of the intruder and the like, the infrared camera 80 can grasp what the intruder is from the temperature of the intruder.

The field water management system includes a time measuring unit 248 that measures the time, and switches between the visible light camera 80a and the infrared camera 80b based on the time measured by the time measuring unit 248. According to this, for example, it is easy to grasp an intruder by monitoring with a visible light camera 80a during the daytime, and it is possible to grasp an intruder at night or the like with an infrared camera 80b.

The warning device is either an ultrasonic generator that generates ultrasonic waves, a sound generator that generates sound, or a light source that irradiates light. According to this, it is possible to give a warning in response to various invaders, for example, various animals.
It is provided with a light that irradiates light in the same direction as the observation camera 80 when taking an image. According to this, the surroundings of the field can be imaged using the light even at night.

The warning device transmits the result of monitoring the intruder to the external device 201B to the server or the mobile terminal. According to this, it is possible to notify the administrator and the worker of the result of monitoring the intruder as soon as possible.
The observation camera 80 can also be used as a crime prevention device by fixing the camera in a direction different from that of the field when there are times when crops are not grown in the field or when the field is not used.

The field water management device 1 operates an actuator 10 that opens and closes a mechanism (valve body 102, partition 125) that performs either water supply to the field or drainage discharged from the field by an opening / closing operation. It is provided with a solar panel 40 for generating electric power, an accommodating body 11 for accommodating an actuator 10, and a station 500 for assisting an air vehicle 400 flying over a field. According to this, the station 500 can assist the flying object 400. For example, when the flying object 400 is a drone or the like, the workability is improved when the drone works over the field. be able to. That is, the field water management device 1 has a function as an auxiliary station for the flying object, so that various situations related to the field can be easily grasped. The station 500 is directly connected to the flying object 400. It includes a connection unit 510 that supplies power. According to this, when the flying object 400 is operated by electric power, electric power can be supplied from the connection portion 510. The connection unit 510 is not limited to the type that directly connects and supplies electric power, but also includes the type that indirectly connects and charges (charges wirelessly).

The water management device 1 in the field includes a power storage device 41 that stores the electric power generated by the solar panel 40. According to this, the power stored in the power storage device 41 can be easily supplied to the flying object 400.
The containment body 11 is provided with a takeoff and landing place where the aircraft body 400 takes off and landing. According to this, the aircraft body 400 can be easily taken off and landed, and the aircraft body 400 can be easily taken off and landed on an area other than roads and buildings where takeoff and landing are restricted.

The station 500 includes a relay communication device that acquires image data captured by the flying object 400 and transmits the acquired image data to the outside. According to this, the image data captured by the flying object 400 can be easily transmitted by using the relay communication device.
The station 500 includes a target 530 that calibrates when the flying object 400 takes an image. For example, when the flying object 400 flies over the field and images the field, that is, when the aerial image of the field is taken, calibration can be easily performed, and the quality of the image data from the sky of the field is improved. Can be made to.

The station 500 includes a storage place for storing the power storage device 401k of the flying object 400. According to this, since the power storage device 401k of the flying object 400 can be stored, it is easy to reduce the work of transporting the power storage device 401k to the field and to replace the power storage device 401k of the flying object 400.
The field water management device 1 accommodates an actuator 10 that opens and closes a mechanism (valve body 102, partition 125) that performs either water supply to the field or drainage discharged from the field by an opening / closing operation. The accommodating body 11 and the first positioning device 370 that performs positioning based on a signal from the positioning satellite are provided. According to this, since the water management device 1 is fixed to the field, the water management device 1 can also be used as a fixed station by providing the first positioning device 370. For example, as in RTK-GNSS, positioning can be easily performed without setting a fixed station each time positioning is performed. That is, by installing the water management device 1 having the positioning device in the field H1 or in the vicinity of the field H1, it is possible to easily assist the agricultural machine capable of performing the work in the field H1.

The first positioning device 370 includes a communication device 371e that transmits information about the positioned position to a mobile station moving in the field. According to this, information on the positioned position can be easily transmitted to the mobile station side, and high-precision positioning such as RTK-GNSS can be performed in the field.
The communication device 371e transmits the installation position of any one of the water management devices 1 and information on the position to the mobile station. According to this, the relative position between the mobile station and the water management device 1 (fixed station) can be easily grasped.

The communication device 371e transmits the correction information obtained by receiving the signal from the positioning satellite to the mobile station provided with the second positioning device 340 that performs positioning based on the signal from the positioning satellite. According to this, the positioning accuracy of the second positioning device 340 can be improved by the correction information, and high-precision positioning can be realized in the field.
The mobile station is an agricultural machine that works in the field, and the second positioning device 340 corrects the position positioned by the second positioning device 340 based on the correction information. According to this, it is possible to accurately determine the position of the agricultural machine when working with the agricultural machine.

The field water management device 1 includes a mounting portion for detachably attaching the first positioning device 370. According to this, when positioning is not performed, it can be easily removed, and the crime prevention property of the first positioning device 370 can be improved.
The field water management system accommodates an actuator 10 that opens and closes a mechanism (valve body 102, partition 125) that performs either water supply to the field or drainage discharged from the field by opening and closing. The housing 11, an observation camera 80 capable of capturing an image of the agricultural machine in the field, and a monitoring device 231A for monitoring the agricultural machine 300 based on the observation data of the observation camera 80 are provided. According to this, the state of the agricultural machine 300 in the field can be easily grasped. That is, it is possible to assist such as monitoring the agricultural machine 300 that can work in the field H1.

The monitoring device 231A determines whether or not the agricultural machine 300 is stopped at a predetermined position based on the observation data when the work of the agricultural machine 300 is not performed, and when the agricultural machine 300 is not stopped at the predetermined position. To generate a warning. According to this, when the work is not performed on the agricultural machine 300, that is, it is possible to easily monitor that the agricultural machine 300 is stored in the field, and the stored agricultural machine 300 is in a predetermined position. If it is not stopped, a warning can be issued immediately as if theft has occurred.

The monitoring device 231A determines whether or not the agricultural machine 300 included in the observation data is a legitimate agricultural machine 300, and if it is a legitimate agricultural machine 300, transmits a drive permission signal to the agricultural machine 300, and legitimately. If it is not the agricultural machine 300, the drive permission signal is not transmitted to the agricultural machine 300. According to this, it is possible to drive only the legitimate agricultural machine Autumn 300 so that the work can be performed in the field, and it is possible to prevent the unjust agricultural machine 300 from performing the farm work.

The field water management system includes a machine registration unit 236 that associates either the water management device 1 or the field with the agricultural machine 300, and the monitoring device 231A registers the agricultural machine 300 included in the observation data in the machine registration unit 236. If it matches the agricultural machine 300, it is determined to be a legitimate agricultural machine 300, and if the agricultural machine 300 is an agricultural machine 300 that is not registered by the machine registration unit 236, it is not determined to be a legitimate agricultural machine 300. According to this, the agricultural machine 300 can be easily registered in either the water management device 1 or the field, and the work can be performed only by the registered agricultural machine 300.

The agricultural machine 300 includes a traveling vehicle body 303 and a working device 302 connected to the traveling vehicle body 303, and the monitoring device 231A determines that the working device 302 has been removed from the traveling vehicle body 303 based on the observation data. According to this, it is possible to detect that only the work device 302 has been removed while the traveling vehicle body 303 is stopped, and it is possible to improve the prevention of theft of the work device 302.

The field water management system operates an actuator 10 that opens and closes a mechanism (valve body 102, partition 125) that performs either water supply to the field or drainage discharged from the field by an opening / closing operation. It includes a solar panel 40 that generates electric power, an accommodating body 11 that houses the actuator 10, and an observation camera 80 that captures the state of either water supply or drainage. According to this, the situation of water supply and drainage can be easily grasped by the surveillance camera 80. For example, although the mechanism (valve body 102, partition 125) is open, water supply and drainage are not performed, and the mechanism (valve 102, partition 125) is closed. It is possible to easily grasp the state of water supply and drainage.

The observation camera 80 captures either the ripples of water or the water surface in the field as either the water supply or the drainage situation. According to this, the situation of either water supply or drainage can be easily grasped from either the ripple or the water surface.
The field water management system includes a support device 201A that estimates the water level of the field based on observation data of either ripples or water surface. According to this, not only the water supply and drainage conditions but also the water level in the field can be easily estimated. That is, the water level can be grasped even when the water level detecting device for measuring the water level is not operating or the water level detecting device is not provided.

The observation camera 80 images either the water supply or the drainage and the crop in the field as either the water supply or the drainage situation, and based on the relationship between the ripples and the water surface and the crop of the crop, the observation camera 80 in the field. It is equipped with a support device 201A for estimating the water level. According to this, the estimated water level can be brought close to the actual transition, and the water level can be estimated accurately.
The support device 201A determines whether or not the estimated water level in the field has reached the target water level in the field. According to this, when it is determined that the target water level has not been reached, water can be easily supplied.

The field water management system is equipped with a sound detection device 229 that detects the sound around the containment body 11, and based on the observation data of either the ripple or the water surface and the sound, the situation of either water supply or drainage is determined. The support device 201A for estimating is provided. According to this, it is possible to easily grasp the state of water supply or drainage not only from the observation data but also from the sound when either water supply or drainage is performed.

The observation camera 80 captures the opening / closing operation of the mechanism (valve body 102, partition 125) as either water supply or drainage. According to this, the state of water supply or drainage can be easily grasped by directly imaging the mechanism (valve body 102, partition portion 125).
The field water management system includes a light that illuminates the ground of the field with a light source when imaging either water supply or drainage conditions. According to this, the light makes it easier to grasp the condition of the water surface. For example, it is easy to grasp the state of the water surface (flow of water) from the state of reflection of the water surface when the light is irradiated by a light.

The field water management device 1 operates an actuator 10 that opens and closes a mechanism (valve body 102, partition 125) that performs either water supply to the field or drainage discharged from the field by an opening / closing operation. A solar panel 40 for generating electric power and an accommodating body 11 for accommodating the actuator 10 are provided, and the accommodating body 11 has a support portion for detachably supporting cylinders having different lengths in the vertical direction. There is. According to this, the internal space of the accommodating body 11 can be increased, the height of the accommodating body 11 can be changed, and the height of the accommodating body 11 can be changed according to the size of the device to be accommodated in the accommodating body 11. Can be changed. That is, the height of the housing can be changed, and equipment and the like can be easily added.

The accommodating body 11 includes a first tubular body 11a and 11b accommodating the actuator 10, and a second tubular body 11c accommodating a device different from the actuator 10 and being supported by a support portion. According to this, it is possible to increase the internal space of the portion accommodating the device different from the actuator 10 and change the height of the accommodating body 11 without changing the actuator 10.

The device is an observation camera 80 capable of photographing a field, and the second cylinder 11c has a window portion 153 facing the observation camera 80. According to this, the surroundings of the field can be imaged by the observation camera 80 from the inside of the housing 11, and the waterproof property can be improved.
The window portion 153 is in the vertical direction and extends in the axial direction of the second tubular body 11c. According to this, the imaging range in the vertical direction (height direction) can be increased.

The window portion 153 extends in the circumferential direction of the second tubular body 11c. According to this, the imaging range in the horizontal direction can be increased.
The field water management device 1 includes a position changing mechanism for changing the height of the device in the vertical direction. According to this, the height of the device housed in the housing body 11 can be easily changed by the position changing mechanism.

The field water management device 1 accommodates an actuator 10 that opens and closes a mechanism (valve body 102, partition 125) that performs either water supply to the field or drainage discharged from the field by an opening / closing operation. It is provided with an accommodating body 11 and an observation camera 80 attached to either the inside or the outside of the accommodating body 11 and capable of capturing an image of a field. According to this, the observation camera 80 can observe the surroundings of the field from the inside or the outside of the housing 11. That is, by installing the observation camera 80, various situations regarding the field H1 can be easily grasped.

The accommodating body 11 includes a plurality of cylinders, and the observation camera 80 is attached to the inside of the plurality of cylinders that does not accommodate the actuator 10. According to this, the observation camera 80 as large as possible can be attached, and the imaging range can be increased.
The water management device 1 in the field includes a solar panel 40 that generates electric power to operate the actuator 10, and a power storage device 41 that stores electric power generated by the solar panel 40. The observation camera 80, including the body, is attached to the inside of the cylinder accommodating the power storage device 41 among the plurality of cylinders. According to this, the electric power for operating the observation camera 80 can be easily taken from the power storage device 41, the wiring for supplying the electric power can be shortened, and the wiring work can be facilitated.

The field water management device 1 includes a solar panel 40 that generates electric power to operate the actuator 10, and the observation camera 80 is attached between the solar panel 40 and the housing 11. According to this, the observation camera 80 can be sandwiched (covered above and below) between the solar panel 40 and the housing body 11, and rainwater or the like can be prevented from being exposed to the observation camera 80 as much as possible.

The field water management device 1 includes a solar panel 40 that generates electric power to operate the actuator 10, and the observation camera 80 is attached between the solar panel 40 and the mechanism (valve body 102, partition 125). ing. According to this, the observation camera 80 can be installed in a place that does not interfere with the opening / closing operation of the mechanism (valve body 102, partition portion 125), and by installing the observation camera 80, the water supply or drainage of the water management device 1 can be installed. It is possible to prevent the capacity from being reduced.

The water management system in the field includes an actuator 10 that opens and closes a mechanism (valve body 102, partition 125) that supplies water to the field by opening and closing, and a solar panel 40 that generates power to operate the actuator 10. , The accommodating body 11 accommodating the actuator 10, the water level detection device 50a for detecting the water level in the field, the water level control unit 60A for controlling the actuator 10 so that the water level detected by the water level detection device 50a falls within the control width F1. A control device 60 having a water level width changing unit 60B for changing the control width F1 is provided. According to this, the water level width changing unit 60B can change the control width F1 according to various situations, and more accurate water level management can be realized. That is, the water level in the field can be easily controlled in consideration of crops and the like. The lower the control range, the more precise the water level can be controlled, and the effect of improving the yield and quality in the growth of crops such as rice can be expected.

The water level width changing unit 60B changes the control width F1 based on the growth of crops in the field. According to this, the growth can be further promoted by changing the control width F1 according to the growth.
The field water management system includes an observation camera 80 capable of capturing field crops, and the water level width changing unit 60B changes the control width F1 based on the observation data captured by the observation camera 80. According to this, the control width F1 can be changed after grasping the condition of the water surface of the field from the observation data, and the control width F1 can control the water level more suitable for the variety, region, and soil. Can be done.

The water level width changing unit 60B can change the control width F1 by a manual operation, and limits the lower limit value of the control width F1. According to this, even if the manager or the worker mistakenly sets the control width F1 low, it is possible to suppress the false detection of the water level and secure the water level necessary for the growth of the crop. Can be done.
The water level control unit 60A makes the opening / closing operation time variable based on the control width F1 changed by the water level width changing unit 60B. According to this, it is possible to limit the frequent control of the water level (time of opening / closing operation), and it is possible to supply water so as not to affect the growth of crops as much as possible.

The water level control unit 60A limits the opening degree of the mechanism (valve body 102, partition portion 125) when the actuator 10 is controlled. According to this, it is possible to prevent the fluctuation of the water level due to the influence of sudden water supply and drainage.
In the above-described embodiment, the position and orientation of the observation camera 80 are changed by the position change mechanism 159 (159A, 159B, 159C), but the position change mechanism 159 (159A, 159B, 159C) is used to change the position and orientation other than the observation camera 80. The position (height, orientation, angle) and the like of the device mounted on the water management device 1 may be changed.

It should be considered that the embodiments disclosed this time are exemplary in all respects and not restrictive. The scope of the present invention is shown by the scope of claims rather than the above description, and it is intended to include all modifications within the meaning and scope equivalent to the scope of claims.

1: Water management device 10: Actuator 11: Containment body 70: Communication device 300: Agricultural machinery 340: Second positioning device (mobile station positioning device)
340: Positioning device 363: Communication device 370: First positioning device (base station positioning device)
375: Mounting part H1: Field

Claims (6)

An actuator that performs the opening / closing operation of a mechanism that performs either the water supply to the field or the drainage discharged from the field by the opening / closing operation.
An accommodating body accommodating the actuator and
The first positioning device that performs positioning based on the signal from the positioning satellite, and
Field water management device equipped with. The field water management device according to claim 1, wherein the first positioning device includes a communication device that transmits information about the positioned position to the mobile station moving in or around the field. The field water management device according to claim 2, wherein the communication device transmits information about an installation position of any of the housing, the actuator and the mechanism, and the position to the mobile station. Claim 2 or the communication device transmits the correction information obtained by receiving the signal from the positioning satellite to the mobile station provided with the second positioning device that performs positioning based on the signal from the positioning satellite. The field water management device according to 3. The mobile station is an agricultural machine that works in the field.
The field water management device according to claim 4, wherein the second positioning device corrects the position positioned by the second positioning device based on the correction information. The field water management device according to any one of claims 1 to 5, further comprising a mounting portion for detachably attaching the first positioning device.

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