JP4627507B2 - Spray amount control device and method, spray amount determination device and system, and recording medium - Google Patents

Description

The present invention relates to a system and a recording medium to the cloth amount control device and method, and spray amount determining device arrangement diffuser for measuring soil in real time.

  In order to increase the yield of agricultural products, it is necessary to replenish deficiencies such as organic components and fertilizers in the soil and to homogenize the soil throughout the cultivated land. On the other hand, if such fertilizers are supplied more than necessary, they may not be good for crops. In addition, some crops will not adversely affect crops even if they are replenished more than necessary, but surplus fertilizer and the like will be thrown away undesirably in terms of profitability. Furthermore, when considering environmental conservation, it is preferable that less fertilizer is consumed as much as possible.

  Therefore, in recent years, precise field management aimed at reducing the input of agricultural materials, fertilizers, pesticides, and other items is prevalent on the premise of environmental conservation and profitability. In order to perform such management, it is necessary to analyze the components of the soil, and it is particularly desirable to analyze the components in real time.

  Conventionally, there has been an apparatus shown in Patent Document 1 as a soil measurement system that performs component analysis in real time. The invention disclosed in the publication analyzes the components of the soil from the optical properties of the soil, and specifically has the configuration shown in FIG.

  As shown in the figure, the soil surface 3 whose surface is leveled by the flat plate 2 is irradiated with white light emitted from the light source 1. The white light (scattered reflected light) scattered and reflected by the soil surface 3 is collected by the condenser lens 4 and condensed inside the light integrating sphere 5. At this time, an image of the soil surface 3 is formed on the light receiving window 6 of the light integrating sphere 5 and reduced and projected. The light in the light integrating sphere 5 is guided to the spectroscopic device 7 and split by the spectroscopic device 7. The dispersed light is received by the photodetector 8, and an electric signal corresponding to the received light intensity is given to the data processing device 9. And the data processor 9 calculates | requires a light spectrum based on the received electrical signal (light reception signal of the photodetector 8), and discriminate | determines a soil component based on the light spectrum of reflected scattered light.

  As a result, the optical characteristics of the soil can be measured accurately without being affected by the shape of the soil or the unevenness of the soil surface, and the distance from the soil surface is increased to improve the measurement accuracy. Yes.

In order to measure soil properties such as soil components, structure, mechanical properties, electrical properties, optical properties, and chemical properties in real time, the physical quantities to be detected are those with short measurement times or measurements. However, it does not require long-term chemical experiments on soil. Therefore, in the soil measurement system in Patent Document 1, the spectrum of reflected light obtained by irradiating the soil surface with white light is measured. This is based on the principle that since the light absorption spectrum is constant depending on the soil component, the concentration of the soil component can be measured by measuring the spectrum of reflected light with respect to illumination of a known spectrum. Thus, by utilizing the spectrum of reflected light, it becomes possible to analyze soil components in real time, which is a useful invention in that respect.
JP-A-11-83627

  However, when the experiment was further repeated, it was found that the spectrum of the reflected light was different depending on the type of soil and the degree of moisture of the soil even if the component composition of the soil was the same. This is because, for example, the distribution of soil components to be measured in the soil changes depending on the soil type, as in the case where the soil contains a lot of sand and the case where the soil does not. Further, depending on the degree of moisture, the soil component to be measured becomes another compound or decomposes due to the chemical reaction or the action of living organisms, and the presence state of the soil component changes. This is because the manner in which illumination light strikes the object to be measured and the state of reflection change.

  And in the conventional soil measuring apparatus, when the type of soil and the degree of moisture of soil changed, it was difficult to measure soil properties in real time.

The present invention allows setting of measurement conditions for measuring soil characteristics and setting of models for processing data obtained from detection means (sensors) even when there is a change in soil type and soil moisture content. It allowed to be easy and quick, and aims to provide a system and a recording medium to be that scatterplot amount control device and method, and spray amount determining device arrangement of achieving a highly accurate and efficient soil measurement To do. Another object is to provide a system or a support system for easily performing environmentally friendly treatment by performing composting, pesticide application and other soil improvements while preserving the environment.

The application amount control device according to the present invention is based on the soil property value obtained by measuring in real time while moving through the farmland, and the material to be applied to the soil so that the soil property value becomes the target value. An amount control device for controlling an amount , wherein the soil characteristic value is obtained by measuring measurement data obtained by measuring in real time on the basis of information on the soil type at the measurement point and the amount of water contained in the soil. are those determined by the input to the model determined the amount of the agent, based on the soil properties values the obtained, and a target value of upper limit value setting soil characteristic value below allowed by environmental standards, The amount was set so as not to exceed the target value .

In addition, the spread rate determination device inputs measurement data obtained by measuring in real time while moving through the farmland into a model that is determined based on information about the soil type at the measurement point and the amount of water contained in the soil. a measuring device for determining soil properties values and, on the basis of the measured soil characteristic value, the soil at within a range that meets the environmental criteria soil characteristic value is stored and held in the farmland as soil characteristic value becomes the target value And a control device for determining the amount of the substance to be sprayed .

  Furthermore, in the present invention, a system including the above-mentioned spraying amount determination device and a spraying device that sprays the substance based on the result determined by the control device of the spraying amount determination device may be used.

Further, in the spraying amount control method of the present invention, the processing method in the spraying amount control device that sends a control command to the spraying device that sprays a predetermined substance to the farmland, which is measured in real time while moving the farmland. To obtain the soil characteristic value obtained by inputting the measured data into a model determined based on the information on the soil type at the measurement point and the amount of water contained in the soil, and then the obtained soil Based on the characteristic value, the amount of the substance sprayed on the soil is controlled within a range where the soil characteristic value of the farmland satisfies the environmental standard.

Furthermore, as another invention of the recording medium, the measurement data obtained by measuring in real time while moving through the farmland is determined based on the information regarding the soil type at the measurement point and the amount of water contained in the soil. Processing to obtain soil characteristic values obtained by inputting into the model, and the amount of substances to be applied to the soil based on the obtained soil characteristic values within a range where the soil characteristic values of the farmland satisfy the stored environmental standards A program for determining the application amount including a process for determining the readable data.

  According to each of the above-described inventions, soil characteristics can be measured in real time, and the application amount of a necessary substance can be determined based on the soil characteristics. Therefore, it is possible to make suitable soil and to expect an increase in yield. Furthermore, by storing and storing environmental standards, it can be seen before spraying that environmental standards will be exceeded if a certain amount of a certain substance is sprayed. Therefore, in such a case, the spraying amount can be determined and executed within a range that satisfies the environmental standards. In other words, this is an invention for realizing a support system that can simultaneously pursue both “environmental pollution countermeasures” and “soil-making agriculture” or a system that executes it.

* Glossary of terms "Soil type" is a classification given to soil focusing on the characteristics of the soil. There are various classification systems depending on the purpose of classification. When classifying soil for soil engineering purposes, the “Japan Unified Soil Classification Method” is used. In addition, there is an “agricultural method” for soil classification for agricultural purposes. In the embodiment of the present invention, for the purpose of agriculture, the soil type is defined based on the color of the soil, the particle size of the soil particles, and the texture of the soil.

  In addition, according to the classification by the Agricultural Land Soil Classification Committee (1995), there are 24 soil groups, and 72 soil subgroups under them. In fact, 72 types of soil subgroups are used.

  And 24 soil groups are: degenerative soil, peat soil, black mud soil, podsol, sand dune immature soil, volcanic discharge immature soil, black bokugray soil, humid black boiled soil, forest black boiled soil, non-allophane black boiled soil, Kuroboku soil, lowland paddy soil, gray lowland soil, gray lowland soil, immature lowland soil, brown lowland soil, glai plateau soil, debris soil, terrestrial immature soil, dark red soil, red soil, yellow soil, brown forest soil It has become.

  Of course, it is not necessary to limit to the specific classification method described above, and the soil type may be determined according to various publicly defined or privately determined classifications. In other words, there are a wide variety of soil classification methods based on their respective uses, pure soil science, etc., both internationally and in each country. Therefore, you may utilize the soil type defined according to the existing taxonomy. However, it is not always necessary to correspond to a classification according to the soil science classification, and preferably a classification suitable for precision farming is assumed.

  “Information on the amount of water contained in the soil” is information for specifying the amount of water contained in the soil. In the embodiment, it is defined by the water content ratio that is the ratio of the water to the solid in the soil. It can be defined by the moisture content, which is the proportion of moisture, and various other things. Furthermore, instead of a specific value such as a ratio, qualitative identification such as “high / low water content” or “high / medium / low water content” may be used.

  “Measurement conditions” control the installation environment of the soil sensor, the sensing operation of the soil sensor, and the output processing of the information obtained by the soil sensor when obtaining the input information for obtaining the desired soil characteristics with the soil sensor. Data, etc. For example, the distance and direction between the soil sensor and the soil surface, the intensity and wavelength of the light and electromagnetic waves that the soil sensor projects on the soil for soil sensing, the amplification factor of the amplifier built in the soil sensor, the sampling with the soil sensor There are a wide variety of factors such as the period and the number of times the information detected by the soil sensor is averaged.

  The “model” is information for realizing a processing function for obtaining a desired soil characteristic (output) based on input of measurement data or the like acquired by a soil sensor. There are various forms of expression such as mathematical formulas, subroutines, tables, rules, parameters in predetermined processing methods, pointers to mathematical formulas and subroutines, and the like.

  The above processing function is not limited to the case where the model itself is provided, and even if the model itself is not provided, for example, it can receive the input measurement data and finally realize the processing function. Just do it. For example, in the case of the above-exemplified pointer, the processing function itself is not stored, but the processing function is stored in a storage area designated by the pointer, and the stored processing function is executed. The soil characteristics may be obtained. That is, in short, when measurement data is input to a model, it is only necessary to obtain soil characteristics using information specified by the model.

  Moreover, the information regarding the soil type and moisture content of a measurement point is not necessarily limited to that obtained by measuring the measurement point at the time of measurement. That is, when it is known in advance, the known data can be used. In the case where the values are the same in a certain range, the data obtained by measuring at another location can be estimated and processed as data at the measurement location without measuring at the actual measurement location. In short, if the information regarding the soil type and moisture content at the measurement point can be acquired, the acquisition method is arbitrary. That is, what is necessary is just to acquire by various methods, such as obtaining directly or indirectly, and also estimating.

  The “measurement target property name” is information for specifying the soil property to be measured. Further, the “measurement method” is information that specifies a method by which measurement data is acquired in order to measure soil characteristics. There are a wide variety of measurement methods, sensors and measuring devices used, methods for using these devices, and setting conditions.

  In the application amount control device, the application amount determination device and the method thereof according to the present invention, when determining the application amount of the deficient substance that is currently necessary for the measured soil, it is performed in consideration of environmental standards. It can be performed. In other words, it is possible to pursue both “environmental pollution measures” and “soil-making agriculture” at the same time.

  The present invention will be described in more detail with reference to the accompanying drawings.

  FIG. 2 is a schematic configuration diagram in the case where soil characteristics are measured using a mobile soil observation vehicle to which the present invention is applied, and the soil characteristics of each region in the field 10 are measured. . As shown in the figure, the soil measuring device 11 of the present invention is mounted on a tractor 12. And the soil characteristic is measured using the soil measuring apparatus 11 in each place in the agricultural field 10, moving within the agricultural field 10 with the tractor 12.

  Further, the current position of the tractor 12 in the field 10 is acquired by communication with a GPS (Global Positioning System) satellite 14, the measurement result of the soil measurement device 11 that measures soil characteristics, and the current position information obtained from the DGPS satellite 14. The soil condition in each area in the field 10 is measured and recorded based on the above.

  FIG. 3 shows a schematic configuration of the soil measuring device 11. In this embodiment, the optical characteristics of the soil are mainly detected, and the characteristics of the soil are measured based on the detected optical characteristics. Specifically, the soil measuring device 11 is attached to the rear part of the tractor 12. The soil measuring device 11 is placed on the device main body 20 that advances through the soil 16 while excavating the soil 16 in the field 10, a support frame 21 that connects the device main body 20 to the tractor 12, and the support frame 21. The spectroscopic device 22, the depth measuring wheel 25 connected to the upper end of the device main body 20 via the support arm 24, and the information provided on the tractor 12 from the spectroscopic device 22, the depth measuring wheel 25, etc. The soil measurement support device 26 that performs data processing based on the

  The apparatus main body 20 includes a soil excavation unit 28 that excavates the soil 16, and a sensing unit 29 that is connected to the subsequent stage of the soil excavation unit 28 and senses the soil 16. The spectroscopic device 22 separates the light detected by the sensing unit 29, extracts a desired wavelength component, and obtains an optical spectrum.

  Further, the support arm 24 can rotate forward and backward around the upper end connected to the support frame 21. The depth measuring roller 25 is attached to the tip of the support arm 24 so as to rotate in a free state. As a result, the force is exerted on the depth measuring wheel 25 in such a direction as to revolve in the clockwise direction in FIG. 3, that is, in the direction in which the angle θ formed by the support arm 24 and the upper portion of the sensing unit 29 becomes narrower. , Always contact on the ground surface 30. Then, following the movement of the tractor 12, the depth measurement rolling wheel 25 rotates while maintaining a state in contact with the ground surface 30. Furthermore, when the excavation depth of the apparatus main body 20 changes, the distance between the support frame 21 and the ground surface 30 changes, and accordingly the depth measuring wheel 25 moves up and down accordingly.

  Therefore, as the depth measuring wheel 25 moves up and down, the support arm 24 also rotates forward and backward. As the excavation depth increases, the depth measuring wheel 25 rises and the angle θ increases. Therefore, by detecting the angle θ, it is possible to detect the position of the depth measuring wheel 25 and, in turn, the excavation depth. The angle θ can be measured, for example, by attaching a rotation angle detection device such as a rotary encoder to the rotation shaft above the support arm 24. Then, the measurement result of the angle θ is given to the soil measurement support device 26.

  The soil measurement support device 26 can be configured by a personal computer or the like. Furthermore, in this embodiment, the generator 27 is installed in front of the tractor 12. This generator 27 is an AC generator that generates AC 100 V, and is used as a drive power source for the soil measurement support device 26 and the spectroscopic device 22.

  FIG. 4 is a side view of the soil excavating section 28 and the sensing section 29, and FIG. 5 is a cross-sectional view of FIG. As shown in the figure, the soil excavation unit 28 excavates the soil as the tractor 12 travels, and creates a flat soil surface so that the sensing unit 29 can easily sense the soil. In parallel with the ground surface 30.

  Specifically, the soil excavation part 28 is provided so as to be connected to the substantially conical first soil penetration part 31 having a sharp tip and the first soil penetration part 31, and the circular section gradually increases. A second soil penetration portion 32 that is larger than the second soil penetration portion 32, a third soil penetration portion 35 that is provided via the second soil penetration portion 32 and the connection member 33, and has a shank 34 attached to the upper portion thereof, 3 is connected to the sensing portion 29 and a lower surface is provided with a fourth soil penetration portion 37 to which a flat plate 36 described later is attached.

  In such a configuration, the first soil penetration portion 31 located at the tip of the soil excavation portion 28 has a substantially conical shape and a substantially circular cross section, and is provided continuously with the first soil penetration portion 31. The cross section of the formed second soil penetration part 32 is also substantially circular. Therefore, the soil excavation part 28 advances through the soil while excavating a hole having a substantially circular cross section. And since a cross section is substantially circular, the resistance received from surrounding soil is small, and thereby progress in soil is smooth, and the property of the surrounding soil used as a measuring object is not impaired.

  Moreover, the hole excavated by the 1st penetration | invasion part 31 is substantially circular as mentioned above, The circular lower part (deepest part side) has drawn the circular arc, and is not flat. On the other hand, as shown in FIG. 4, the second soil penetration portion 32, the third soil penetration portion 35, and the fourth soil penetration portion 37 are all formed on the bottom surface of the first soil penetration portion 31. It is located above a straight line L1 connecting the bottom surfaces of the sensing unit 29. Therefore, there is no change in the shape of the bottom (deepest part) of the excavated hole until it comes in front of the sensing unit 29, and an arc is drawn.

  However, accurate soil measurement cannot be performed using the soil in which the arc is drawn in this way as a measurement target. Therefore, a flat plate 36 is attached to the lower surface of the fourth underground penetration portion 37 so as to flatten the bottom of the hole that had previously drawn the arc.

  Further, the shank 34 is located at the tip of the traveling direction and cuts the soil, and is provided with a slight inclination on the opposite side of the traveling direction A as shown in FIG. I try to make it smaller. Further, as shown in FIG. 5, the tip end portion 34a is formed in a wedge shape at an angle of 30 degrees, for example. Therefore, it is possible to proceed through the soil while receiving a minimum resistance, and to measure the soil in a deep part.

  On the other hand, the sensing unit 29 includes a sensing chamber 41 having an opening on the soil surface 40 to be measured and a sensor storage unit 42 in which a plurality of sensor groups are stored. The sensor storage unit 42 is provided with a CCD camera 43 that images the soil surface 40 to be measured at the center, and the CCD camera 43 images color image data.

  A visible light collecting fiber 44 that collects reflected light of visible light and a near infrared light collecting fiber 45 that collects reflected light of near infrared light are provided on both sides of the CCD camera 43. In addition, illumination optical fibers 46 are provided on both sides of the sensor storage unit 42. Then, light emitted from a light source such as a halogen lamp (not shown) is guided by the illumination optical fiber 46 to irradiate the soil surface 40.

  Thus, since the light to be detected is visible light and near-infrared light, the illumination optical fiber 46 has a wavelength range of 400 nm to 900 nm, which is the wavelength range of visible light, out of the light transmitted from the light source. Only light and light in the wavelength range of 400 nm to 2400 nm including light in the wavelength range of 900 nm to 1700 nm, which is the wavelength range of near infrared light, are transmitted.

  The near-infrared light collecting fiber 45 collects only light in the wavelength range of 900 nm to 1700 nm, which is the wavelength band of near-infrared light. The visible light collecting fiber 44 collects only light in the wavelength range of 400 nm to 900 nm, which is the wavelength range of visible light, among the reflected light emitted from the illumination optical fiber 46.

  In addition, a protective case 47 that protects cords such as optical fibers that are slightly inclined in the direction opposite to the traveling direction A and protrudes to the ground is provided on the upper portion of the sensing unit 29. Is provided with a sensor body support 48.

  The spectroscopic device 22 includes a spectroscope for visible light and a spectroscope for near infrared light. Then, the reflected light from the soil surface collected by the visible light collecting fiber 44 is sent to the visible light spectrometer. Reflected light from the soil surface collected by the near-infrared light collecting fiber 45 is sent to the near-infrared light spectrometer. As a result, the reception intensity in each wavelength region is measured.

  Each spectrometer is a multi-channel spectrometer using a photodiode linear array, and 256 channels in the visible wavelength range of 400 nm to 900 nm and 128 channels in the near infrared wavelength range of 900 nm to 1700 nm are simultaneously detected at high speed. Is possible.

  FIG. 6 shows the internal structure of the soil measurement support device 26 and the connection state with peripheral devices. First, the soil measurement support device 26 according to the present embodiment, when obtaining soil properties, models (calculation formulas) for obtaining soil properties and types of necessary measurement data according to the soil type and the moisture content of the soil. (Measurement conditions) are determined, and the soil properties are obtained from the measurement data given based on the model.

  That is, it has a preprocessing function for determining the above-described model and a measurement function for obtaining actual soil characteristics based on the measurement data. The water content may vary depending on the location in one field 10, and the soil type may also differ when, for example, customer land is used. Therefore, the two functions described above perform real-time processing at each measurement point.

  Of course, if it is known in advance that the soil type and the water content ratio in a region to be continuously measured such as in one field 10 are constant, the pretreatment function is executed once at the beginning, and then the measurement is performed. Only the function may be executed. Furthermore, instead of performing the preprocessing function and the measurement function each time at each measurement position, various changes can be made such as the preprocessing function may be executed at an arbitrary timing.

  The specific configuration is as follows. First, the connection state will be described. As shown in the figure, the soil sensor S provides measurement data obtained by measuring the optical characteristics of the soil to the soil measurement support device 26. Furthermore, image data obtained by imaging the soil surface to be measured can also be sent. That is, the soil sensor S corresponds to the spectroscopic device 22, the sensing unit 29, etc. shown in FIGS.

  The soil measurement support device 26 determines the soil type and moisture content based on the received measurement data, and determines the optimum measurement conditions and a model (calculation formula) for measuring soil characteristics based on the determination. And control data is sent to the soil sensor S so that the determined measurement conditions can be obtained. Further, the determined measurement model is given to the measurement information processing unit 55 for performing the original measurement function. And the measurement data output from the soil sensor S is given to the measurement information processing part 55, based on the measurement model set there, a soil characteristic is measured, and the result is given to the soil map creation part 50 It has become.

  Further, the soil measuring device includes a GPS device 51, analyzes the received DGPS signal, detects the current position where the device is present, and gives the position information to the soil map creation unit 50. Then, the soil map creation unit 50 creates a soil map in which the position information and the soil characteristics are associated with each other and stores the soil map in the soil map storage unit 52. The soil map storage unit 52 may be internal storage means such as a hard disk of a personal computer, or may be MO, FD, PC card or other external storage means.

  Next, the internal configuration of the soil measurement support device 26 will be described. First, a soil type identification feature extraction unit 56 and a water content ratio detection unit 57 are provided, and measurement data (mainly wavelength spectrum data) output from the soil sensor S is stored in the feature extraction unit 56 and the water content ratio detection unit 57. Given.

  Then, the feature amount extracted by the feature extraction unit 56 is given to the soil type identification unit 58 in the next stage, where the soil type at the current position is obtained. Further, the determined soil type is given to the determination unit 59. In this embodiment, the soil type is determined based on color image data obtained by imaging the soil surface to be measured, and the water content ratio is determined based on the reflected light intensity of a predetermined wavelength (details will be described later). To do).

  The determination unit 59 accesses the soil measurement data stored in the soil measurement data storage unit 60 from the given soil type and water content ratio, and obtains a model suitable for soil measurement and necessary measurement data. Determine the measurement conditions to obtain. That is, the model is determined by the model determination unit 59a, and the determined model is given to the measurement information processing unit 55. The measurement conditions are determined by the measurement condition determination unit 59b, and the determined measurement conditions are given to the measurement condition setting unit 61.

  And the measurement condition setting part 61 outputs control data so that the measurement data given to the measurement information processing part 55 from the soil sensor S may match the determined measurement conditions. Control data for controlling the soil sensor includes data for designating a wavelength band that requires output in the optical spectrum of reflected light, and data for controlling smoothing for noise removal (example: The number of samples for averaging).

  The measurement condition setting unit 61 receives desired measurement data set by the control data described above from the soil sensor S according to the model given from the model determination unit 59a, and performs data processing to determine the soil characteristics to be measured. Ask. Then, the obtained measurement result, that is, the soil characteristic is output to the soil map creation unit 50.

  As described above, the measurement data given to the measurement information processing unit 55 is determined based on the determined measurement condition by executing the preprocessing function. On the other hand, the measurement data given to the feature extraction unit 56 and the water content ratio detection unit 57 are suitable for detecting the soil type and the water content ratio. Therefore, although both inputs are “measurement data”, the specific contents may be different (of course, they may be the same).

  Next, each part will be described in detail. First, the water content detection unit 57 determines the water content based on the reflected light having a wavelength of 1850 nm. That is, 1850 nm is one of the absorption bands of water, and the light intensity at a wavelength of 1850 nm is measured from the reflected light from the soil surface with different known water content ratios, and the standardized value of the first derivative of the light intensity and the water content are measured. When the correlation of the ratio is obtained, the characteristics as shown in FIG. 7 are obtained.

Here, the first derivative can be obtained from 1850 nm and the light intensity of one or several wavelengths before and after that. In addition, the standardized value is a conversion in which the average is 0 and the standard deviation is 1. When the measured value is x, the average value of the measured values is m, and the standard deviation is σ,
Standardized value = (x−m) / σ
Is a value obtained by The water content ratio is the ratio of the weight of water to the weight of solids in the soil.

As is apparent from FIG. 7, the standardized value of the primary derivative is negative (about −0.5 to −1.3) when the water content ratio is high, and the standardized value of the primary derivative is positive (about the low water content ratio). 0 to 2). Then, the correlation between the first derivative and the water content ratio is determined by the following linear expression, the R ² is 0.940, and when the following exponential function is applied, the R ² is 0.968. Thereby, the water content ratio can be estimated with an accuracy of ± 5%.
y = -39.9x + 64.7
→ R ² = 0.940
y = 43.6e ^-1.05x
→ R ² = 0.968

  Accordingly, the water content ratio detection unit 57 stores the above-described correlation formula (for example, exponential function formula), the standard deviation and the average value for obtaining the standardized value, and a predetermined wavelength including 1850 nm which is given measurement data. The water content ratio y can be obtained by obtaining a standardized value of the first derivative from the amount of reflected light and substituting the standardized value into the correlation equation. Then, the determined water content ratio y is sent to the determination unit 59.

  Since the above correlation is unique to the measuring instrument, an experiment is performed with a measuring instrument that is used in advance, a correlation equation and data for obtaining a standardized value are obtained, and the information is set in the moisture content detection unit 57. To do. Of course, the primary differentiation and further the standardized value may be performed on the soil sensor S side, and the water content ratio detection unit 57 may receive the result. In some cases, it is possible to accurately determine the water content ratio without performing standardization.

  In this embodiment, the soil type is determined based on the color of the soil surface. That is, the color of the soil is determined by the constituent substances, and in particular, is determined by the amount and form of organic matter and iron compound that are colorants. FIG. 8 shows an example of the relationship between the color, the coloring substance and the soil.

  In this way, the color substance existing in the soil is known from the color, and when a plurality of colors are mixed, the abundance of the color substance can be estimated from the existence ratio of the mixed color. Thereby, the constituent substance contained in the soil can be identified from the color state of the soil surface, and the soil type can be estimated from the abundance.

  Therefore, the feature extraction unit 56 performs image processing on the given image data, and extracts color components existing in the image data and their presence rates. Then, the extracted color component and presence rate are sent to the soil type identification unit 58. The soil type identification unit 58 prepares a table in which feature amounts (color components / presence ratio) and soil types are created based on the related information as shown in FIG. 8 and receives the received features. Refer to the table based on the quantity and extract the corresponding soil type. Then, the extracted soil type is sent to the determination unit 59.

  The determination unit 59 receives the measurement method data and the soil property name of the measurement target input from the operator via the manual input unit 62, and based on the water content ratio and the soil type obtained automatically, the soil The measurement data storage unit 60 is accessed to determine measurement conditions and models.

  Furthermore, in this embodiment, the manual input unit 62 is used to input the soil type and water content ratio to the determination unit 59. That is, the soil type and water content ratio can be handled both when automatically set based on measurement data as described above and when manually input.

  Furthermore, recently, for each field in the country, sampling is performed at several points to determine the soil type, and it is compiled into a database. Data stored in this database is called GIS (Geographic Information System) data. Therefore, the GIS data is stored and held in the GIS data storage unit 63, and the soil type to be measured can be extracted from the stored GIS data and given to the determination unit 59. In this case, the position information necessary for reading out the GIS data can be manually designated or detected by the GPS device 51.

  Here, the soil measurement data will be described. The data structure is as shown in FIGS. As shown in the figure, there are four parameters of the measurement target property name, water content ratio, soil type, and measurement method on the input side, and the model and measurement condition 2 specified by the four parameters on the input side on the output side. It is a table in which two pieces of information are associated.

  That is, the model determination unit 59a includes two pieces of data given by the operator and two pieces of data of the soil type and the moisture content given from the soil type identification unit 58 and the moisture content detection unit 57 (manual input or input from GIS data). And if the corresponding one is detected, the model column on the output side associated therewith is read and given to the measurement information processing unit 55. Similarly, the measurement condition determination unit 59b searches the input side based on the four data given manually and automatically, and if a corresponding item is detected, the measurement condition column on the output side associated with it is detected. Is read and given to the measurement condition setting unit 61. That is, in this embodiment, the determination unit 59 has a function of referring to a table stored in the soil measurement data storage unit 60 based on given information, and extracting and outputting corresponding information. .

  In FIG. 9 and FIG. 10, there are four types of inputs: (1) measurement target property name, (2) water content ratio, (3) soil type, and (4) measurement method. It is considered that (1) the measurement target characteristic name and (4) the measurement method are usually measured on the soil characteristics as being constant in one farmland. In this case, (1) the measurement target property name and (4) the measurement method are not required as indexes for searching the tables of FIGS. However, when the soil characteristics and measurement sensors to be measured are changed, all of (1) to (4) are required for searching the tables of FIGS.

Next, each item of the soil measurement data will be described. The measurement target property name identifies a type to be measured among soil properties. In the example shown in the figure, the concentration of NO ₃ -N, electrical conductivity, and water content ratio are shown, but in addition to this, chemical components such as phosphorus, potassium, manganese, magnesium, iron, boron, silicon, organic matter content, There are physical quantities of soil such as water permeability, hardness and pH.

  In addition, the measurement method specifies the method by which measurement data is acquired, and differs depending on the sensor and measurement device used. Method 1 shown in the figure is a measurement method using the apparatus of the above-described embodiment. The water content ratio and soil type on the input side are as described in the above embodiment.

  The model is for obtaining a measurement target characteristic name based on measurement data given from the soil sensor S, and in this embodiment, data for specifying an arithmetic expression is stored. As this arithmetic expression, exponential multiple regression, linear multiple regression, or the like can be used. The arithmetic expression is determined based on the correlation obtained by sampling in actually known soil, taking correlation data of the value of the measurement target characteristic with respect to the measurement data. The measurement condition is the type of measurement data necessary for obtaining a variable in the model equation. In the case of an optical spectrum, the measurement condition is wavelength data to be sampled.

Here, the model will be described. When the soil type is Kanto Loam and the water content is low, the NO ₃ -N concentration is
A + ΣBi · exp (Ci · Yi)
It is calculated by. Here, Yi is the first derivative of wavelength Xi. Normally, when using the second derivative, the NO ₃ —N concentration could be obtained with _high accuracy by using the first derivative. Bi and Ci are coefficients, respectively. In this example, i takes a value from 1 to 3.

That is, when i = 1, B1, C1 and a value calculated by the first derivative of the reflected light amount at the wavelength of 824 nm shown in the measurement condition (1), when i = 2, B2, C2 and measurement The value calculated by the first derivative value of the reflected light amount at the wavelength of 1280 nm shown in the condition (2), when i = 3, B3 and C3 and the first derivative of the reflected light amount at the wavelength of 1768 nm shown in the measurement condition (3). The value obtained by adding the coefficient A to the sum of the values calculated by the value is the NO ₃ -N concentration value to be obtained.

FIG. 11 (a) shows the correlation between the NO ₃ —N concentration (estimated value) obtained from the above equation and the actual NO ₃ —N concentration (measured value). As apparent from the figure, rests substantially on a straight line, the coefficient of determination R ² has become a high-level of 0.903.

Moreover, the model in the case where the water content ratio is high in the Kanto loam which is the same soil type is the same as the case where the above water content ratio is low, and i is also the same as 3. However, the specific values of A, Bi, and Ci and the three wavelengths set as measurement conditions are different. By setting the model (calculation formula) according to the water content ratio in this way, the value of the NO ₃ -N concentration (estimated value) obtained by the calculation formula and the actual NO ₃ -N concentration (measured value) are calculated. When the correlation was taken, it was as shown in FIG. 11 (b). As apparent from the figure, rests substantially on a straight line, the coefficient of determination R ² is the result of 0.732 were obtained.

In this model, although the higher was relatively low coefficient of determination R ² of the water content ratio, considering that conventionally could not be calculated NO 3 _-N concentrations, it is determined by the direct computation of the NO 3 _-N concentration Therefore, it can be said that this embodiment that has been able to produce an excellent effect.

On the other hand, there is a case where it is desired to know the water content ratio with higher accuracy rather than the rough water content ratio. Therefore, when the measurement target characteristic name is a precise water content ratio in a field with a low water content ratio, it can be obtained by a model composed of a linear expression as shown in FIG. However, as shown in the figure, W obtained based on the measurement data X is a standardized value for the secondary differential value Y. The standardized value is the same as that used when the water content ratio detection unit 57 obtains a rough water content ratio. Then, taking the correlation between the standardized value of the second derivative and the water content ratio, it was as shown in FIG. 12 (a). As apparent from the figure, rests substantially on a straight line, the coefficient of determination R ² is the result of 0.980 were obtained.

Similarly, in the case of a field value with a high water content ratio, the calculation formula is the same as that when the water content ratio is low, and the same is true in that only one wavelength is used. However, specific A and B coefficient values and wavelengths set as measurement conditions are different from 1850 nm. Another difference is that a standardized value of the first derivative of the reflected light amount is used. When the correlation between the standardized value of the first derivative and the water content ratio is taken, the result is as shown in FIG. 12 (b). As apparent from the figure, rests substantially on a straight line, the coefficient of determination R ² is the result of 0.706 were obtained.

As for the electrical conductivity, of determination R ² in the case of concrete is not shown in the graph showing the correlation is low water content field value, 0.809, and when the water content ratio is high field value multiple determination ^{R 2} of became 0.808.

Furthermore, when measuring the organic content is a measurement result as shown in FIG. 13 in the case of a low water content ratio upland (a) is obtained, of determination R ² becomes 0.886. In the case of water content ratio is high upland, likewise Fig. 13 (b) measurement results as shown in is obtained, of determination R ² became 0.811. In this way, a highly reliable correlation value can be obtained.

  Next, an embodiment of the method of the present invention will be described using the apparatus of the present embodiment described above. As shown in FIGS. 14 and 15, first, it is determined whether or not the soil type is input from the GIS (ST1). And in the case of the mode to input from GIS, it jumps to step 2, receives the input of the position of the farmland to measure, accesses the GIS data storage part 63 based on it, and stores the soil type stored in the corresponding GIS data Is read. Thereafter, the process proceeds to step 6 (moisture content measurement mode determination).

  On the other hand, when not inputting from GIS (No in branching determination of step 1), it jumps to step 3 and it is determined whether a soil type is input manually (ST3). And when inputting manually, it progresses to step 4 and receives and memorize | stores the soil type which the operator input. If the input is not manual input, the process proceeds to step 5 to set the soil type automatic detection mode. That is, based on the measurement data, the feature extraction unit 56 and the soil type identification unit 58 are operated to determine the soil type.

  If the soil type input mode (GIS / manual / automatic) is determined as described above, it is determined whether or not the moisture content is automatically measured (ST6). And when not measuring automatically, the moisture content input from the manual input part 62 is read and recorded (ST7). When automatic measurement is performed, the automatic measurement mode is set (ST8). That is, based on the measurement data, the water content ratio detection unit 57 is operated to determine the water content ratio.

  Next, the measurement target characteristic name and measurement method data given from the manual input unit 62 are received (ST9). Note that the processing of step 9 and the processing for setting the input mode for the soil type and the input mode for the water content ratio do not have to be limited to the order described above, and can be executed in any order. When the above processes are completed, the following process is performed at each measurement point until the measurement is completed (ST10).

  First, it is determined whether or not the water content ratio or the soil type is the automatic measurement mode (ST11, ST13). When not in the automatic measurement mode, the corresponding value is already stored, and the stored value is used. In the case of the automatic measurement mode, calculation is performed based on the amount of reflected light in the case of the water content ratio (ST12), and in the case of the soil type, setting is performed based on the captured color image (ST14).

  When the processing up to step 14 is executed as described above, four input data (soil type, water content ratio, measurement target property name, measurement method) at the point to be measured are determined. Based on this, the soil measurement data storage unit 60 is accessed, and the corresponding measurement conditions and model are read (ST16). The measurement condition is set in the soil sensor S, and the model is given to the measurement information processing unit 55.

  Thereafter, since necessary measurement data set according to the measurement conditions is given from the soil sensor S to the measurement information processing unit 55, the characteristics of the soil are measured using the model based on the measurement data (ST16). Then, the soil map creating unit 50 creates a map in which the obtained soil characteristics are associated with the position information (measured by GPS) of the measurement point, and is stored in the soil map storage unit 52. The processing from step 11 to step 17 is repeatedly executed until the measurement is completed (usually, the entire area of the field is measured).

  FIG. 16 shows a second embodiment of the present invention. As shown in the figure, in the present embodiment, it is mounted on a tractor and the like, and the soil measuring device main body 70 that moves in the field, and is not mounted on the tractor but communicates with the soil measuring device main body 70 to measure measurement conditions and models Is separated from the soil measurement support device 26 '. Of course, in actual operation, the soil measurement support device 26 ′ may be mounted on the tractor and moved in the field together with the soil measurement device main body 70. In short, it is only necessary that the apparatus main body part that actually measures soil characteristics and the support apparatus that sets various conditions necessary for measurement can be separated and formed.

  And between the soil measuring device main body 70 and the soil measuring support device 26 ', data is transmitted and received via the communication interface units 71 and 72 installed in each. For this data communication, any of wired and wireless communication media can be used.

  Further, as a specific configuration, in the apparatus configuration shown in FIG. 6, a processing unit necessary for actually measuring soil characteristics, that is, a soil sensor S for acquiring various information from the soil surface, and the soil sensor A measurement information processing unit 55 that measures soil characteristics based on measurement data given from S, a soil map creation unit 50 for creating a soil map based on measurement results output from the measurement information processing unit 55, and A GPS device 51 that acquires position information, a soil map storage unit 52 that stores a soil map created by the soil map creation unit 50, and the like are mounted on the soil measurement device main body 70.

  Further, a man-machine interface unit 73 for giving various control commands from an operator or the like to the measurement information processing unit 55, and a wireless transmission unit 74 for sending the measurement result of the measurement information processing unit 55 to an external device. I have.

  On the other hand, on the soil measurement support device 26 'side, the processing unit for realizing the preprocessing function, that is, the feature extraction unit 56 for automatically obtaining the soil type and the soil type identification in the device configuration shown in FIG. A water content ratio detection unit 57 for automatically obtaining a water content ratio, a soil measurement data storage unit 60, a determination condition 59 for determining measurement conditions, and the like are mounted. Although not shown in the figure, it is of course possible to implement GIS data or the like.

  And in this form, measurement data required in order to obtain | require a soil type and a water content ratio automatically from the soil sensor S via the measurement information processing part 55 from the soil measurement apparatus main body 70 side communication interface part 71,72. Given through. Further, manually input data such as a measurement method and a measurement target characteristic name is also given from the soil measurement apparatus main body 70 side. Specifically, data given from the man-machine interface unit 73 is given via the measurement information processing unit 55. Of course, the information may be given directly through the communication interface unit 71 without going through the measurement information processing unit 55. Furthermore, when the soil type and the water content ratio are manually input, they can be given to the determination unit 59 through the same route as the measurement method described above.

  In addition, the measurement condition and model determined by the determination unit 59 are transmitted to the soil measurement apparatus main body 70 via both communication interface units 71 and 72, and further set to the soil sensor S via the measurement information processing unit 55. That is, in this embodiment, the measurement information processing unit 55 is added with a measurement condition setting unit shown in FIG. 6 and a data transfer function in addition to the function of measuring the original soil characteristics. The specific processing functions of the other processing units are the same as those in the first embodiment described above, and thus detailed description thereof is omitted.

  Next, an embodiment of a measurement method according to the present invention using the apparatus of the second embodiment described above will be described. 17 and 18 show the processing function of the soil measuring apparatus main body 70. FIG. As shown in the figure, first, a measurement method and a measurement target property name are input using the man-machine interface unit 73 (ST21). Therefore, the measurement information processing unit 55 receives the two input data. Moreover, the data for calculating | requiring the approximate value of a moisture content from a soil sensor are acquired (ST22). As this data, for example, a reflected light amount of a specific wavelength is used. Furthermore, the color image of the soil surface imaged with the color television camera is acquired (ST23). Further, the current position information is obtained using the GPS device 51 (ST24).

  Then, the measurement information processing unit 55 collects various information obtained by executing the above steps 21 to 24 into a telegram, and transmits it to the soil support apparatus side via the sensor-side communication interface unit 71 (ST25). In addition, when not using GIS data, it is not necessary to send the location information in a telegram.

  The soil measurement support device acquires various types of information sent by electronic messages, obtains the soil type and water content ratio, and determines the soil type and water content information, the given measurement method, and the measurement target property name in the determination unit 59. The measurement conditions and model are determined based on the above. And the determination part 59 collects measurement conditions and a model in a message, and transmits to the soil measurement apparatus main body 70 side via the communication interface part 72 by the side of a support apparatus.

  The soil measurement device main body 70 determines whether or not there is a response sent from the soil measurement support device 26 '(ST26), and if a response is received, sets the measurement conditions in the soil sensor S based on the received data. At the same time, a model is set in the measurement information processing unit 55 (ST27).

  And the measurement information processing part 55 receives the measurement data output from the soil sensor S by the set measurement conditions, and calculates | requires a soil characteristic based on a model. Then, the soil map creating unit 50 creates a map in association with the position information detected by the GPS device 51 (ST28). Further, the obtained measurement information and the like can be transmitted to the outside through the wireless transmission unit (ST29). Then, the series of processes described above are executed for all measurement positions (ST30, 31).

  In the above-described embodiment, the water content ratio is set based on manual input or the amount of reflected light. However, the present invention is not limited to this, and an approximate value may be obtained using a moisture sensor or the like. Furthermore, in each of the above-described embodiments, it has been described that the soil characteristics are obtained based on the amount of reflected light. However, the soil sensor is not limited to this, and includes various types of information such as mechanical, electrical, chemical, and the like. Can be detected on the basis.

  FIG. 19 shows another embodiment of the present invention. In the present embodiment, the soil measurement support device 26 is improved. That is, the soil measurement support device 26 in the present embodiment mainly changes the soil type determination method. The soil type will be described. As the soil type, for example, there are the International Soil Society Act (soil classification according to a triangle diagram) and agricultural soil classification. The former is classified according to the clay content, and the latter is comprehensively judged from the soil generating action. Specifically, it is as follows.

  First, as shown in FIG. 20, the soil based on the international soil science law is classified into three types of clay, silt and sand based on the particle size. The soil types are first classified into four stages according to the clay content, and further classified into 12 types according to the ratio of sand (or silt) (see FIG. 21).

  In order to accurately measure the proportion of soil, silt and sand, it is necessary to use grain soil analysis in the laboratory, but the clay content corresponds to EMI (Electro-Magnetic Induction Electromagnetic Dielectric Constant), so EMI Can be used to distinguish the four major classifications (heavy soil system, dredged soil system, coral loam system, sand soil system).

The clay content is a parameter that affects the water retention and mechanical properties of the soil. As a result, the clay content is strongly related to the characteristics of the fertility parameter (such as nitrogen), so that it is sufficient to distinguish the four major categories.
On the other hand, it is difficult to accurately determine the soil type based on the cultivated land soil classification unless a database for each field is created separately, but rough characteristics are determined by the soil color.

  The correlation between the soil color and the soil is as described in FIG. 8, but FIG. 22 shows the relationship between the content and the color by changing the viewpoint. And as shown in figure, the color of soil can classify the soil type roughly rather than a content component. This point is as described with reference to FIG.

  On the other hand, when determining the moisture content necessary for determining the model to be given to the measurement information processing unit 55, it may be difficult to obtain an approximate value of the moisture content unless the soil type is determined to some extent. That is, for example, clay and sand have the same water content, but sand has a poorer water retention than clay. Therefore, the absorbance shows a spectrum in which sand has more water.

  Therefore, in this embodiment, as shown in FIG. 19, as a means for determining the soil type based on the measurement data output from the soil sensor S, a rough soil type necessary for obtaining the moisture content is determined. 1 soil type identification part 58a and the 2nd soil type identification part 58b which calculates | requires the fine soil type required in order to actually determine the model m are provided. Thereby, the output of the first soil type identifying unit 58a is provided to the moisture amount detecting unit 57 ′, and the output of the second soil type 58b is provided to the determining unit 59. In other words, the second soil type identifying unit 58b corresponds to the soil type identifying unit 58 in relation to the embodiment shown in FIG.

  Further, in this embodiment, the soil type is not automatically determined as described above, but can be determined based on data obtained in the past. That is, the input of the position of the farmland to be measured is received, the GIS data storage unit 63 is accessed based on the input, and the soil type stored in the corresponding GIS data is acquired. The position information of the farmland may be directly input by the user, or the position information may be acquired from the GPS device 51. Further, the user may directly input the soil type from the manual input unit 62. About this GIS data and the system which a user inputs by manual key input, it can apply in any of the 1st, 2nd soil type identification part 58a, 58b.

  In addition to means for measuring soil optical properties such as a spectroscopic device, the soil sensor S measures the pressure of an imaging device such as a CCD camera that images the soil surface to be measured, a sensor that detects EMI, and a load cell. There are various types of sensors.

  Then, the measurement data x1 which is information other than the water content w such as EMI and image data is given from the soil sensor S to the first soil type identification unit 58a. Precisely, the measurement data x1 is given to the feature extraction unit 56, and a feature amount necessary for identification by the first soil type identification unit 58a is extracted there.

  In the 1st soil type identification part 58a, the rough soil type t0 is determined using the observation data x1 without using the information of the water content w. Specifically, if the measurement data x1 is image data obtained by imaging soil with a television camera, texture analysis of the soil surface is performed, and determination is made based on the texture analysis.

  That is, the texture becomes finer as the clay content increases. Moreover, when the clay content decreases and the proportion of sand increases, the texture becomes rough. A Fourier power spectrum can also be used as the feature amount representing the texture. When the texture is fine, in the Fourier power spectrum, a relatively large amount of energy components are present at a distance from the origin, and when the texture is rough, the energy is concentrated near the origin.

  Therefore, the feature extraction unit 56 obtains a Fourier power spectrum, which is a texture feature amount expressing the roughness of the texture, based on the received image data, and gives it to the first soil type identification unit 58a.

  Then, the first soil type identification unit 58a generates a rough soil type (four classifications of heavy soil system, dredged soil system, dredged soil system, and sand soil system) t0 based on the received Fourier power spectrum. In other words, since the texture is in order from the finer, it will be “heavy soil system → dredged soil system → loam soil system → sand soil system”, so set the threshold value to divide each area in advance, and the roughness of the acquired texture By determining which region the Fourier power spectrum corresponding to 1 belongs to, a rough soil type can be easily obtained. And the soil type t0 calculated | required in this way is given to the moisture content detection part 57 'and the 2nd soil type identification part 58b.

Further, when the measurement data x1 is EMI, a rough soil type (four classifications of heavy soil system, dredged soil system, dredged soil system, and sand soil system) t0 is generated based on the magnitude of the EMI. Of course. That is, since the electrical conductivity EC is known from the EMI, the clay content is obtained by substituting the EC value into the following regression equation.
Clay content = 22.8 + 0.133 × EC value

And the soil type can be calculated | required from the calculated | required clay amount. The above regression equation is
EC value = A + salt concentration + viscosity content is calculated from the relational expression (A is a constant).

  Furthermore, since the resistance increases as the clay content increases, a load cell or the like is used as the soil sensor S, and the load cell is moved in a state of being inserted into the soil. You can also ask for a type.

  On the other hand, the second soil type identification unit 58b is provided with the observation data x1 (actually extracted feature values based on the sensor output) given from the soil sensor S and the coarse soil determined by the first soil type identification unit 58a. A dense soil type t is obtained using the type t0. And as the observation data x1, the color image of soil and the light absorbency of soil are used. Specifically, the following processing is executed.

  First, the color of the soil is converted from the color image (RGB) into three types of information of brightness, saturation, and hue. Next, using lightness, saturation, and hue as indexes, the soil is classified into four classifications c0 based on high organic soil, low organic soil, oxidizing and reducing soil colors. That is, the range of the above four types of soil colors is specified by lightness, saturation, and hue from the standard soil color system. Therefore, by determining which type of range the feature quantity obtained by converting the RGB data obtained based on the measurement data into lightness, saturation, and hue belongs to the four classifications c0. Any one is required.

  Then, based on the classification c0 obtained as described above and the classification t1 obtained by the first soil classification type identification unit, a precise soil type t is obtained. The soil types here are classified into a total of 16 types combining t0 (4 types) and c0 (4 types). For example, a soil type t such as “heavy soil-based highly organic soil” or “sand soil-based oxidizing soil” is determined.

  The water content detection unit 57 ′ uses the coarse soil type t0 obtained by the first soil type identification unit 58a and the observation data x1 (reflected light spectrum from the soil) given from the soil sensor S to provide the water content w (3 ranks). Measure). It is determined by w = h (x1, t0).

  That is, water absorbs light centered on a wavelength of 1450 nm in the near infrared region. The observation surface of the soil for measuring the reflection spectrum is determined by the device and is constant. Therefore, by comparing the intensity of reflected light at 1450 nm with the absorbance obtained from, for example, 1300 nm of reflected light without absorption by water or the reflected intensity (absorbance = log (1 / R) R: reflected light intensity), The relative water content of can be determined.

  Therefore, by preparing a table for obtaining the correlation between the relative water content ratio obtained based on the reflected light spectrum x1 and the rough soil type t0 obtained by the first soil type identification unit 58a, the water content ratio of the observed soil The approximate absolute value of can be obtained.

  The reflection spectrum from the soil becomes weak and the absorbance increases when there are many irregularities on the soil surface. And even if it is the same soil type, the soil surface to observe is not always uniform. Therefore, when determining a precise soil type, it is preferable to include unevenness information on the soil surface in addition to the rough soil type t0 and absorbance information. For example, observation data at points with large irregularities can be excluded or the influence of irregularities on the soil can be corrected. In addition, the measurement of the unevenness | corrugation of soil can measure the depth of an unevenness | corrugation by irradiating a line with a laser from the diagonal direction, and the optical cutting method.

  The determination unit 59 uses the water content w obtained by the water content detection unit 57 ′ and the soil type t obtained by the second soil type identification unit 58b to store the soil model DB stored in the soil measurement data storage unit 60. To obtain measurement conditions for controlling the soil observation apparatus and a soil measurement model m for calculating soil characteristics. And according to measurement conditions, the measurement condition setting part 61 calculates | requires the control data C given to the soil sensor S, and gives the calculated | required control data C to the soil sensor S. FIG.

The control data C and the soil measurement model m are read from DBc and DBm.
m = DBm (w, t)
C = DBc (w, t)

  More specifically, the control data C is given to the soil sensor S from the soil observation device, and controls the operation conditions of the sensor used for soil observation. The soil measurement model m is used as a parameter for processing the observation data x obtained under the operating conditions set in this way. That is, the soil measurement model m and the control data C correspond to the output “model” and “measurement condition” shown in FIG. Then, an output condition corresponding to the moisture content (water content ratio) w and the soil type t, which are input conditions, is retrieved and output. The processing functions in the determination unit 59 and the measurement condition setting unit 61 are the same as those in the embodiment shown in FIG. Of course, when the soil type classification system changes, the control data c and the soil model m stored in the soil measurement data storage unit 60 change accordingly. Strictly speaking, the soil model m and the control data C also change depending on climatic conditions such as hot / cold conditions and soil temperature. Therefore, the temperature data is automatically input by the user or by using the manual input unit 62, and the user directly inputs the temperature data. The determining unit 59 takes into account the climatic conditions (temperature information), and the control data C, More preferably, the soil model DB is determined.

  In actual measurement, the measurement data output from the soil sensor S is given to the control information processing unit 55, and the control information processing unit 55 performs arithmetic processing according to the model m given from the determination unit 59, Find the state. Further, the obtained soil state and position information obtained from the GPS device 51 are given to the soil map creation unit 50, where a soil map is created and stored in the soil map storage unit 52. Since the processing in each of these units can be the same as that in the embodiment shown in FIG. 6, detailed description thereof is omitted.

  Next, a procedure for creating a soil model m in new soil will be described. In the past, when a soil model is created at the same location or another location (same soil type) and stored in the soil measurement data storage unit 60, the determination unit 59 corresponds to the measurement as described above. By reading out the soil model to be performed, it is possible to accurately measure soil properties in real time.

  However, even if it is a completely new field or the same field, it may be a case where the soil type is changed due to some factor, and the existing soil type database may not be able to cope with accuracy. In such a case, if the soil quality is different, it is necessary to correct the regression equation (calibration curve) for component calculation using the chemical analysis value of the soil. Therefore, the procedure for creating the soil model m with new soil can be carried out, for example, according to a flowchart as shown in FIG.

  First, the optical characteristics (soil light spectrum) at each point of the field where the soil model m is to be created are measured (ST41). An existing model formula (soil measurement model m) for obtaining the component concentration is applied to the obtained soil light spectrum (observation data X) to create a temporary distribution map of the component concentration (ST42). The model formula used here uses a model formula that is close to the soil type when the soil type is predicted for the measured field. If a general-purpose model formula can be set, it can also be used.

  Next, a soil sampling position for obtaining a component actual measurement value (reference value) for calibration of the soil model m is determined (ST43). Specifically, referring to the provisional distribution map of the components obtained in step 42 (soil characteristic map MAP (R)), the position at which the soil is sampled so that the component concentrations are evenly distributed in the temporary distribution chart Decide.

  Next, the soil at the soil sampling position determined in step 43 is collected, and the chemical analysis value (reference value) of the actual component is obtained (ST44). Then, using the reference value at each soil sampling position and the soil observation data X that is an actual measurement value, the soil model m used in creating the temporary component concentration in step 42 is corrected from the deviation (ST45).

  Thereafter, the corrected soil model m is registered in the soil measurement data storage unit 60 as a soil model m (ST46). Further, by using this corrected soil model m and obtaining the component concentration distribution from the observation data X obtained in step 1, a distribution map at the time of measurement can be created. Furthermore, this procedure is not limited to determining a model for a new soil, but can also be applied to improving the accuracy of an existing soil property map MAP (R).

  FIG. 24 shows still another embodiment of the present invention. In the present embodiment, the apparatus shown in FIG. 19 is used as a base, and an environmental protection apparatus 90 is further provided. This environmental protection device 90 is a device that performs environmentally friendly farm work on the spot based on the soil characteristic value f obtained by the measurement information processing unit 55. An apparatus for performing or executing this environmentally conscious farm work is referred to as a sensor base PF.

  That is, in this embodiment, when soil is sensed, the state of the soil such as soil components at the sensed point can be obtained in real time. Therefore, for example, when applying fertilizer, the optimum fertilizer application amount can be obtained, and it is possible to prevent fertilizer more than necessary, causing environmental pollution of the soil, or adversely affecting crops due to over fertilizer. . Furthermore, the state of the soil after the fertilizer application can be easily obtained from the current state of the soil and the application amount of the fertilizer. Therefore, it can be known before spraying whether or not the state after spraying is within the range allowed by the environmental standards. Therefore, it is possible to preserve the environment by controlling the amount of spraying so that it is always below the environmental standard. In other words, quality control of farm work can be performed with high accuracy.

  Of course, the target farm work is not limited to fertilizer application, and it goes without saying that it can be applied to various farm works. Furthermore, if the soil environment is deteriorating, various treatments will be carried out to improve it. This can also be started immediately after the measurement, and damage to soil, crops and the environment will be reduced. Can be minimized.

  The environmental protection device 90 automatically determines the necessary work content based on the above-described processing, that is, the measurement result output from the measurement information processing unit 55 and executes the determined work content. is there.

For example, when the work content is fertilizer application, the fertilizer application amount z on the spot can be determined by the following equation. Then, according to the determined fertilizer application amount z, the corresponding fertilizer is actually applied.
z = α (Ym−y): when Ym−y is positive
0: When Ym-y is non-negative

  Here, Ym is a target value corresponding to the soil characteristic value y. α is a function for converting Ym-y into fertilizer application amount. At this time, Ym is set to be equal to or lower than the upper limit value permitted by the environmental standard, so that the soil characteristic value y at the location does not exceed the environmental standard. Furthermore, in order to prevent certain fertilizers and pesticide components from concentrating on a specific location due to the influence of groundwater flow under the farmland, etc. Accordingly, it is better to set the function α so that the actual spraying amount z can be output slightly for safety.

  FIG. 25 shows another embodiment of the present invention. The present embodiment is a farm work determination support system that determines a guideline for what kind of farm work should be performed at the present time or in the future based on the obtained soil map, based on each of the embodiments described above.

  As shown in the figure, soil map (agricultural land map) stored in the soil map storage unit 52: MAP (R) information and work history (pesticide spraying work and fertilization work history, etc. for each farm land) To device 91. The work history can be input by the user using an input device such as a keyboard. Further, in the case where the environmental protection device 90 is provided as shown in FIG. 24, the work performed by the environmental protection device 90 may be automatically input in conjunction with the environmental protection device 90.

  Based on the received work history and soil map, knowledge stored in the work knowledge database 92, and various models 93, the farm work determination support device 91 determines and outputs a farm work to be applied as a fertilization work plan and the like in the future. It has become.

  The knowledge stored in the work knowledge database 92 is an information base that stores information on a method of farm work necessary for determining farm work and provides it on demand. It has a function of reading necessary information from a network, a recording medium, etc. and updating the contents. Furthermore, the work knowledge base 92 has information on the varieties of crops necessary for determining farm work. This includes crop name, variety name, germination rate, sowing amount, growth function, flowering / fruiting function / pest resistance information, fertilizer response, environmental responsiveness indicating behavior to temperature, solar radiation, etc., cultivation work This includes the cultivation workability that shows the cautionary points, the cultivation characteristics that consist of harvesting methods, and the storage and transportation characteristics that consist of maturation, aging, density, volume, and shape. Moreover, the information regarding a fertilizer consists of cost, an effect, an ingredient, usage method, etc. Information on pesticides consists of costs, effects, ingredients, and usage.

  On the other hand, the model 93 includes a growth model, a disease model, a weather model, and the like. The growth model is for predicting the growth of crops in units of farmland. For example, rice is a model for predicting the number of stems, heading time, maturity time, culm length, head length, ear number, and the like. In addition, the growth model also stores record information on crop growth from the start of prediction to the present time for each farmland. The disease model calculates the occurrence probability of diseases, pests, and weeds on a farmland basis. In addition, the diffusion of the disease, pest, and weed once generated is predicted and the predicted damage is calculated. Damage here refers to the proportion of crops that cannot be shipped due to disease, pests and weeds. Furthermore, the disease model records past pathological diseases and weed generation results for each farmland.

  The meteorological model is a model for predicting the weather on a farmland basis. The weather model obtains local weather information for the area limited to the area around the farmland and wider area weather information, and outputs weather forecasts such as daily temperature, sunshine duration, precipitation, etc. of the field and monthly weather forecasts. To do.

  Agricultural work decision support device 91 has the highest yield at this time from weather information from the weather model, information indicating the prediction of crop growth from the growth model, information indicating the soil state from the soil map, and work history information. Calculate the draft of the agricultural chemical spraying work plan and fertilization work plan. In addition, as a specific functional configuration of the system including the farm work determination support device 91, for example, one disclosed in Japanese Patent Application Laid-Open No. 11-313594 can be used.

  In the illustrated example, the system including the farm work determination support device 91 is integrated with the soil measurement support device 26 and incorporated in the soil measurement device, but this farm work determination support device (map base PF) 91 is shown. These parts may be held independently on the server side.

  That is, the soil characteristic value y determined by y = f (m, x) obtained by the measurement information processing unit 55 and the position R of the soil observation device at that time while actually observing the soil with the soil observation device on the farmland A set of (GPS device 51) is transmitted to the server each time, and a soil map is formed on the server side, or a soil map created by the soil map creating unit 50 is sent to the server in a lump.

  The server-side agricultural decision support apparatus 91 generates a work plan using a soil map based on the work knowledge base 92, work history, and model 93. The algorithm for generating the work plan is the same as described above. The work plan generated in this way is transmitted to the farmer via a network or the like.

  Furthermore, when the data from each field is centrally managed by the server in this way, the farmer who has received the work plan can use the crop yield, fertilizer and pesticide consumption as a result of the work according to the work plan. Providing data such as quantity to the server side has the following effects.

  That is, on the server side, it is possible to determine whether or not there is the content of the farm work determined by itself based on the yield of the crop. The crop yield and fertilizer can be stored in the server together with the soil map data, including the agricultural chemical consumption as the work history, and can be used to output work plans in response to inquiries from other fields and farms. And if work histories in a large number of fields are recorded over a long period of time, it has map data similar to the input soil map data, and other models with similar models (growth model, disease model, weather model) From the past work history related to the field, one having a high overall evaluation such as crop yield and fertilizer consumption can be selected and used to generate a work plan, and the reliability becomes higher.

  In addition, because of the large number of samples, when deciding a work plan, multiple work plan candidates are generated, and the crop yield and fertilizer consumption for each candidate are presented to the farmer for selection by the farmer. Can be made wider. Further, the causal relation law between the farm work and the soil map can be obtained inductively, and the work plan can be enhanced.

  FIG. 26 shows still another embodiment. In the present embodiment, a soil model database 60 ′ is provided instead of the soil measurement data storage unit 60 in each of the above-described embodiments.

  The information stored in the soil measurement data storage unit 60 includes (1) soil model m and (2) measurement condition C. In the soil model database 60 ′ of this embodiment, the soil model m and the measurement condition (control) In addition to data (C), various types of information are stored in association with each other. An example of the internal data structure of the soil model database 60 'is shown in FIG.

In other words, the computer reads out the land measurement information (m, C) associated with the soil type and water content (and the measurement target property name and climatic conditions) and the soil-related information in a structured state so that it can be output. It is remembered as possible. The soil related information includes, for example, advertisement information, cultivation recipe, harvesting results, farmland location, soil making guidance information, and the like. These missing information is stored in relation to soil type and water content. Each information will be described as follows. Note that the climatic conditions are information used to measure the state of the soil with higher accuracy based on the climatic conditions (temperature information) as described in the embodiment based on FIG.
* Advertisement information Depending on the soil type, the advertisement information may be used to identify advertisements for crop seeds, pesticides, fertilizers, etc. that are suitable for agriculture in that soil type, or to identify whether the farmland can be advertised as “organic farming” Information on advertisements for soil appraisal services, pollution information on pollutants (such as nitrate nitrogen groundwater contamination, dioxin contamination, etc.) and analysis / evaluation service information. Stores contact information and service details.

* Information on cultivation recipes + introduction of harvest results Information on cultivation recipes + introduction of harvest results is information on the results of what kind of crops were cultivated by what kind of farming, depending on the soil type. .

* Farmland location information The farmland location information is information that describes where the farmland that has the soil of the specified soil type exists, who owns it, and where to contact. This can be used by seed subsidiaries, agricultural chemical manufacturers, fertilizer manufacturers, etc. to actively sell their products to consumers.

* Soil-making guidance information Soil-making guidance information is the homepage of correspondence education for soil-making guidance by soil type, or the application page for teaching materials for soil-making guidance. Furthermore, there is information on prevention standards and countermeasures (optimum fertilization management model) etc. for groundwater contamination and surface runoff contamination.

  As can be seen from the above description, the various types of information are not directly used for actual soil measurement. That is, among the data stored in the soil model database 60 ′, the soil model m and the measurement condition (control data) C are given to the determination unit 59 in the soil measurement support device 26.

  On the other hand, the other various information is based on, for example, the soil component obtained by the measurement information processing unit 55 or the soil type of the field 10 obtained by the various soil type identification units 58, 58a, 58b in the soil measurement support device 26. It is used to access the soil model database 60 ', read out the corresponding information, and output it to an output device such as a monitor (not shown). Thereby, since the user who measured the state of the soil using the soil measurement support device 26 can know useful information related to his / her field, it is preferable.

  Although not shown, the above-described search processing for the soil model database 60 ′ and the function processing unit for displaying the search result need to be separately incorporated either inside or outside the soil measurement support device 26. Further, a function that allows the user to search manually instead of automatically performing the search may be incorporated.

  As the data stored in the soil model database 60 ', for example, a recording medium such as a CD-ROM or DVD in which such data is recorded is obtained and read by a computer (soil measurement support device 26) and stored in the computer. It can be used by storing in the department. In addition, a drive device for reading data into a recording medium such as a CD-ROM drive is prepared and set in the recording device in the drive device. Various information is read from the recording medium in the drive device each time. You may make it go to.

  Furthermore, the data distributed via the Internet or other networks may be acquired. In this case, for example, as shown in FIG. 26, a soil model database management system 95 for managing information to be stored in the soil model database 60 'is prepared, and the soil measurement support device 26 includes the soil model database management system 95 and In cooperation, information stored in the soil model database may be obtained via the soil model database management system 95.

  At this time, the soil model database management system 95 is a computer such as a tool device, and can be connected to the computer via a cable or other communication medium (wired / wireless available) to send and receive information. Furthermore, it is possible to obtain necessary information by connecting via the Internet or other networks and distributing the network, etc., and storing it in the soil model database 60 '.

  In particular, when the latter network distribution is used, the latest information (soil model m, measurement condition (control data) C, arbitrary information of various types of information) can be easily obtained, and high-precision soil measurement and accompanying information can be obtained. We can expect to obtain useful information. Note that the information to be acquired is not limited to the information stored in the soil model database. For example, the work knowledge database and model necessary for executing the farm work determination support system, and further the determination of the farm work determination support device 91 are performed. It is desirable to be able to supply algorithms (engines).

  FIG. 28 shows still another embodiment of the present invention. In the present embodiment, the functions of the soil model database management system 95 are expanded, and each user can connect to the soil model database management system 95 via a network or the like so as to provide and enjoy information on the soil model. It has become.

  And as a user (related person) who participates in the network system centering on this soil model database management system 95, there are the following. And they are not always connected simultaneously, but use a soil model individually through a network work as needed.

*Administrator:
The operator is a person who manages and operates the soil model database. He is also responsible for the soil model database management system 95.

* Advertiser (agricultural product manufacturer):
Advertisers are those who aim to improve sales of their products by providing advertisement information of their products in the soil model database and providing advertisements according to the characteristics of those who access this database. Actually, the advertisement information is registered in the advertisement information column corresponding to the soil type in the soil model database. This advertising fee goes to the operator who is also the system administrator. For example, for manufacturers and distributors of seeds and fertilizers, advertising information is registered in association with the soil type field suitable for using the seeds, etc., so that those who need the advertising information often see it. Therefore, it is efficient and the advertising effect is high. That is, the person who sees the advertisement information is often a person related to the soil type, for example, “a general farmer whose soil type associated with the advertisement information is the soil type of his / her field”. Therefore, it becomes a system with high utility value for the advertiser.

* Registrants for cultivation recipes (adult farmers, agricultural production corporations):
Registrants such as cultivation recipes create crop cultivation recipes and harvest performance data according to the soil type and climatic conditions, pay registration fees to the soil model database, register them, and the number of times their cultivation recipes are used The person who receives the data usage fee accordingly. Note that the method of settlement of money is not limited to the above, and the registration fee may be free, or conversely, money may be received from the operator as an information provision fee. In particular, it is important for operators to collect a lot of correct and fast information and register it in the database, so that a significant amount of information can be provided, so registration is required for information providers (registrants). You may make it pay a charge from an operator free of charge or uniformly.

* Soil measurement model registrants (Agricultural Experiment Station, University Faculty of Agriculture, etc.):
The registrant of the soil measurement model calculates the control data C and the soil measurement model m necessary for correctly measuring the soil characteristics according to the soil type and water content through experiments and registers them in the soil model database. It is a person who does. Receive data usage fees according to the number of times the soil measurement model is used.

* App system manufacturer:
The application system manufacturer receives communication protocol with the soil model database administrator system, disclosure of database format information, etc., obtains access permission to special data, pays the usage fee as the price, A person who builds and operates various application systems.

* Users (general farmers, senior farmers, agricultural production corporations, leisure farm management organizations):
A user is a person who accesses the soil model database, receives appropriate information and services regarding his / her farmland, and pays a usage fee as compensation.

* Environmentally oriented consumers and consumer groups:
Environment-oriented consumers and consumer groups input information on the production areas and producers of agricultural products and access the soil model database. And the cleanliness and pollution degree of the soil environment utilized for growing the agricultural product are read. Moreover, the result of soil appraisal is read. It is then used to determine whether the product is to be purchased.

  Next, functions and operations of the network system configured by each user described above will be described. First, the soil model database management system 95 performs a predetermined process in response to a request issued by the user to the soil model database management system 95 that manages the soil model database.

  In other words, if the user wants to use the information stored in the soil model database, the user issues an information acquisition request. Therefore, information that matches the conditions of the information acquisition request is acquired from the soil model database. And provide it to users. In addition, when the user wants to register information in the soil model database, the user requests information registration. Therefore, the information requested for registration is registered in the corresponding storage area. This information can also be used (provided).

  Furthermore, in any of the above-described usage modes (information acquisition / registration), the history information of the process in which it was executed (process execution date and time, executor ID, process content, type of information acquired or registered, and Amount) is generated and recorded. That is, the soil model database management system 95 also has a history information storage unit that stores the history information described above together with the soil model database.

  Based on the history information recorded in the history information storage unit at a predetermined timing (for example, monthly), the usage fee, data usage fee, registration fee, advertisement for each user using the soil model database Settlement of usage fees such as fees. That is, an amount to be paid and an amount to be collected are calculated, a payment process is performed based on the payment amount, and a billing process and a collection process are performed based on the amount to be collected.

  Fees can be collected and paid by cash such as existing bank transfers and withdrawals, or electronic payments can be made. Furthermore, electronic money and usage points that can be used on this network may be created and settled with such usage points. In this way, especially for users who perform both collection and payment of usage fees, the payment process becomes simple and is necessary by registering important information without actually paying for money. Other information can be obtained.

  The functions of the computer system for executing the above-described processes, more specifically, the function of the soil model database administrator system 95 can be realized by a flowchart as shown in FIG.

  In order to effectively realize the above-described system (business model), it is preferable that the following condition is satisfied.

・ Accurate data is recorded in the soil model database ・ The amount of data recorded in the soil model database is abundant and updated frequently ・ Control data and soil measurement model formats are standardized It is compatible with many soil measuring devices, it is easy to access the soil model database, the fee is relatively low, and the usage information of the registered data is reliable and the data FIG. 30 shows a network configuration that focuses on general farmers who use the soil measurement support device 26 as users who use the soil model database by connecting to the network system described above. Yes.

  As shown in the figure, since the soil model database management system 95 is connected to the network 96, the soil model database management system 95 is connected via the network 96 by connecting the soil support device 26 to the network 96. The soil support device 26 is connected, and data can be transmitted and received.

  The soil model database management system 95 includes a soil model database 97 (shown in FIG. 27) that stores information provided by each user, and a history information storage unit 98.

  Then, when only the necessary information, that is, the soil model m and the measurement conditions (control data) C are necessary, the soil support device 26 sends an acquisition request for the latest version of those information to the soil model database administrator system 95. The information supplied in response to this is stored in the soil measurement data storage unit 60. Thereafter, based on the acquired information, soil components are measured.

  Further, when the necessary information includes the soil model m, the measurement condition (control data) C, and other information, an acquisition request for the corresponding data registered in the soil model database 97 is received and received. The supplied information is stored in its own soil model database 60 '. Thereafter, based on the acquired information, the soil component is measured or the necessary information is provided.

  On the other hand, the soil map obtained by measuring with the soil measurement support device 26 based on the soil model data acquired as described above is usually used for own farm work, and is used for “environmental pollution measures” and “soil making”. It becomes possible to pursue both “agriculture” at the same time. Then, the obtained soil map can be sent to the soil model database management system 95 and registered in the soil map database 99 managed by the soil model database management system 95.

  This is preferable because the distribution status of soil types throughout the country can be easily grasped. The information to be registered at this time may be only the soil type, or the soil type and the soil component information at that time may be registered in association with each other. Then, since the soil type and the like can be used as useful information after that, the amount of information provided can be paid upon registration, and the data usage can be collected from the user who uses this soil map.

  Although the expedient soil map database 99 is described separately from the soil model database 95, they are treated as one person, that is, the soil map database can also be incorporated into the soil model database in a broad sense.

  Each of the above-described embodiments has been described on the assumption that it is incorporated in the apparatus, but it is a program for causing a computer to execute each of the above-described processes (for example, a process for executing the flowchart shown in each figure). The program may be provided by being recorded on a predetermined recording medium.

  That is, as shown in FIGS. 31 and 32, the recording medium includes a floppy disk (FD) 80 and a CD-ROM 81, and the programs stored in the recording media 80 and 81 are the FD drive 82 and the like. It is installed in the HD unit 85 connected (incorporated) to the computer 84 via the CD-ROM drive 83, whereby the computer 84 constitutes the apparatus described in the above embodiment.

  Specifically, the measurement information processing unit 55, the feature extraction unit 56, the water content ratio detection unit 57 (moisture content detection unit 57 ′), the soil type identification unit 58, the determination unit 59, and the like in the embodiment are included in the HD unit 85. For example, each time it is used, it is transferred from the HD unit 85 to the internal memory 86, and various processes can be performed at high speed there. The soil measurement data storage unit 60 and the GIS data storage unit 63 are realized by a recording device or a recording medium such as the HD unit 85 or the CD-ROM 83.

  Further, the keyboard 87 and the mouse 88 function as input devices, and data to be manually input is given through the input devices. Reference numeral 89 in the figure denotes a display device, which displays analysis results and the like, data input manually, position information for reading out GIS data, and other contents when inputting various control commands. Can be confirmed.

  With the above-described soil measurement device, measurement method, and recording medium on which a program is recorded, soil characteristics for soils having different water content and soil type can be obtained with high accuracy. When the soil measurement support function is provided, measurement data and a model suitable for the measurement point can be automatically set, so that the measurement can be performed efficiently. Furthermore, it is preferable to create a map in which position information and soil characteristics are associated with each other, since various plans can be made later using the map.

  Moreover, the apparatus main body part for measuring / analyzing soil characteristics and the support apparatus for setting a model for measurement may be integrated or separable. When the separation range is made possible, the usage modes are diversified and the convenience is further increased.

  Further, in the recording medium storing the soil measurement support device, support method, and program according to the present invention, it is possible to automatically set a model and measurement conditions at a measurement point necessary for obtaining soil characteristics. Therefore, the soil characteristics can be analyzed efficiently and with high accuracy.

  Furthermore, when the function which sets the information regarding a soil type or a water content automatically is provided, a soil characteristic can be calculated | required with high efficiency and without a doubt. Of course, in the present invention, there is no need to have an automatic setting function. In this case, by using past soil type data, the soil type detection process at the time of measurement becomes unnecessary, and the processing time can be shortened. .

  Furthermore, in a recording medium in which predetermined data is recorded, by using the recording medium and causing a computer to read it, it is possible to easily read out the measurement conditions and model that are in the state of the point where soil is measured, for soil measurement. It can be used to analyze soil with high accuracy. Furthermore, if soil-related information is included in the recorded data, information necessary for people related to soil can be efficiently provided or entered / exited.

  Furthermore, in the present invention, since the soil characteristics can be measured in real time, it is possible to determine the amount of substances that are currently necessary for the measured soil and the amount thereof. Improvements can be made.

It is a figure which shows a prior art example. It is a figure which shows an example of the operation state of a soil measuring apparatus. It is a figure which shows the mounting state of a soil measuring apparatus. It is an enlarged view which shows the soil excavation part and sensing part which were formed in the lower part of the apparatus shown in FIG. It is the II sectional view taken on the line of FIG. It is a block diagram which shows 1st Embodiment of a soil measurement apparatus and a soil measurement assistance apparatus. It is a figure explaining the effect of a moisture content determination part. It is a figure which shows the relationship between the color of soil, and a causative substance. It is the data structure figure (the 1) stored in the data storage part for soil measurement. It is the data structure figure (the 2) stored in the data storage part for soil measurement. NO ₃ is a graph demonstrating the accuracy of the -N model. It is a graph which proves the accuracy of a model of precise moisture content. It is a graph which proves the accuracy of a model of organic matter. It is a part of flowchart which shows 1st Embodiment of a soil measurement method and a soil measurement assistance method. It is a part of flowchart which shows 1st Embodiment of a soil measurement method and a soil measurement assistance method. It is a block diagram which shows 1st Embodiment of a soil measurement apparatus and a soil measurement assistance apparatus. It is a part of flowchart which shows 2nd Embodiment of the soil measuring method. It is a part of flowchart which shows 2nd Embodiment of the soil measuring method. It is a block diagram which shows other embodiment of a soil measuring apparatus and a soil measurement assistance apparatus. It is a figure which shows the relationship between the kind of soil, and a definition. It is a figure which shows the relationship between a soil type and its definition. It is a figure explaining the influence which the contained substance etc. in soil have on soil color. It is a flowchart explaining the creation method of a soil model. It is a block diagram which shows other embodiment, and is a figure which shows embodiment which incorporated the environmental protection apparatus. It is a block diagram which shows other embodiment, and is a figure which shows embodiment which integrated the farm work determination support system. It is a figure which shows other embodiment. It is a figure which shows an example of the data structure of a soil model database. It is a figure which shows an example of the network system containing a soil model database administrator system. It is a flowchart explaining the function of a soil model database administrator system. It is a figure which shows the specific application example of the network system containing a soil model database administrator system. It is a figure which shows the system configuration which implements the recording medium based on this invention. It is a figure which shows the system configuration which implements the recording medium based on this invention.

Explanation of symbols

26 Soil Measurement Support Device 50 Soil Map Creation Unit 51 GPS Device 55 Measurement Information Processing Unit 90 Environmental Conservation Device 91 Farm Work Determination Support Device 92 Work Knowledge Database 93 Model

Claims (5)

Based on soil property values obtained by real-time measurement while moving through farmland, this is a spray rate control device that controls the amount of material sprayed on soil so that the soil property value becomes the target value. And
The soil characteristic value is obtained by inputting the measurement data obtained by measuring in real time into a model determined based on the information regarding the soil type at the measurement point and the amount of water contained in the soil. ,
The amount control of the substance is controlled based on the obtained soil property value within a range where the soil property value of the farmland satisfies an environmental standard . The measurement data obtained by measuring in real time while moving the farmland, obtaining the soil characteristic values input to the model is determined based on information about the amount of water contained and their soil soil type of the measuring point measured Equipment,
Based on the measured soil characteristic value, a control device that determines the amount of a substance to be sprayed on the soil within a range that satisfies the environmental standard in which the soil characteristic value of the farmland satisfies the stored environmental standard so that the soil characteristic value becomes a target value A spray rate determination device. The application amount determining device according to claim 2;
A system comprising a spraying device for spraying the substance based on a result determined by a control device of the spraying amount determining device. A processing method in a spray amount control device that sends a control command to a spray device that sprays a predetermined substance on farmland,
The soil characteristic value obtained by inputting the measurement data obtained by measuring in real time while moving through the farmland to a model determined based on the information on the soil type at the measurement point and the amount of water contained in the soil. Acquired,
Next, a spraying amount control method for controlling the amount of a substance sprayed on the soil within a range where the soil property value of the farmland satisfies environmental standards based on the acquired soil property value. The soil characteristic value obtained by inputting the measurement data obtained by measuring in real time while moving through the farmland to a model determined based on the information on the soil type at the measurement point and the amount of water contained in the soil. Processing to get,
Based on the acquired soil property value, the computer can read the application amount determination program including the process of determining the amount of the material to be applied to the soil within the range where the soil property value of the farmland satisfies the stored environmental standard. Recorded recording medium.

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