JP5753051B2 - Field information generation system - Google Patents

Description

  The present invention includes, for a harvester that harvests a crop, a quality determination unit that determines the quality of the crop harvested by the harvester, and a position information acquisition unit that acquires position information of the harvester. The present invention relates to a field information generation system.

  As a field information generation system configured as described above, Patent Document 1 discloses a crop quality measuring unit that measures the quality of moisture, taste, appearance, and the like of harvested grains (crop) with respect to a combine as a harvester. And a position detection device comprising a GPS system for detecting the current position of the aircraft as coordinate data, and sending out the measurement information by the crop quality measurement means, the position detection device and the identification information by wireless communication, It is described that the quality map is received and received.

  In Patent Document 1, the crop quality measuring means appropriately samples the harvested cereal, measures moisture with a moisture meter, measures the taste by analysis using the absorption spectrum of near infrared light, and uses an appearance quality meter. It is configured to measure quality by measuring appearance. And based on quality and coordinate data, it is comprised so that the dispersion | variation in the quality for every coordinate in one agricultural field can be divided and evaluated in five steps.

JP-A-11-53674

  Considering crops that grow in the field, such as carrots, radishes, and mosses, the growth state is often influenced by the soil condition of the field. Specifically, when ginseng is harvested in one field, it will fall into a poor growth in a specific area of the field, or it will be a phenomenon in which forked ginseng is harvested in an area where plowing is insufficient or fertilizer is uneven. It was connected. In addition, ginseng diseases may occur in certain areas of the field. Such inconvenience can be improved by application of fertilizer and chemicals, or soil improvement such as tillage, and a technique capable of acquiring accurate field information is desired.

  On the other hand, it is conceivable to grasp the state of the soil based on the quality shown in the quality map as described in Patent Document 1, but any combination of a self-decomposing combine and a normal combine In addition, since grains are harvested together from a plurality of grains and harvested as grains after the sorting process, the harvesting position of the grains whose quality is measured cannot be accurately specified. In particular, in Patent Document 1, since the processing of measuring the quality by appropriately sampling the grain in the Glen tank is performed, the relationship between the harvesting location and the quality of the grain shown in the quality map must be rough. I could imagine that it would be inaccurate to understand the soil condition based on the map.

  Moreover, in order to investigate the cause of these inconveniences, it is conceivable to collect samples from a plurality of soils in one field and perform analysis. However, it takes time to collect samples and requires time for analysis. There is room for improvement.

  An object of the present invention is to rationally configure a system that can accurately acquire the state of soil in one field based on the harvest of crops that grow in the ground.

A feature of the present invention is that, for a harvester that harvests a crop, a quality determination unit that determines the quality of the crop harvested by the harvester, and a position information acquisition unit that acquires position information of the harvester A field information generation system provided,
It said harvesting machine, e Bei harvesting unit for performing harvesting of underground mass portion growing in the ground of the field as the crop, exerts a conveying force toward the machine body rear upward foliage of the crop with the running of the machine body The harvesting unit is provided with a transport mechanism for pulling out the underground mass part from the field, and the imaging unit is provided at a position for imaging the underground mass part conveyed by the transport mechanism. Constructed with a light-shielding plate at the transport upstream position of the area
The light shielding plate is biased to a closed posture by a spring, and the light blocking plate is operated to be opened by the ground mass portion when the ground lump portion contacts the light shielding plate. ,
The quality determination unit performs a process of determining the quality of the ground mass unit based on the photographed image information of the shooting means,
When harvesting is performed in one field by the harvester, the quality information of the underground mass portion acquired by the quality determination unit and the position information acquisition unit at the timing when the underground mass portion is harvested. There is an association processing means for obtaining the position information to be obtained and associating the quality information with the position information to generate field information.

According to this configuration, when the underground mass portion is harvested with a harvesting machine in one field, the harvested underground mass portion is photographed by the photographing means, and the quality determination unit determines the quality based on the photographed image information. Quality information is generated, the position information acquisition unit acquires the position of the field from which the underground mass is harvested, and the association processing means generates field information by associating the quality information with the position information. The field information generated in this way is associated with quality information for each harvest position in one field, and the state of the soil in each part of the field can be grasped from the quality information.
Therefore, a field that reflects the state of soil in each part of one field based on the harvest of crops that grow in the ground, without taking the trouble of collecting and analyzing soil samples in each part of one field. Information was generated, and a system capable of accurately acquiring the state of the soil from this field information was constructed.
In the present invention, the harvester may include a light shielding wall body at a right side position and a left side position of the imaging region of the imaging unit.

  In the present invention, the quality determination unit generates a numerical value based on at least one of shape information and color density information of the underground mass as the quality information, and the association processing means is harvested in the field You may produce | generate the field information of the information structure which can display the said numerical value in the position where the positional information on the said underground lump part is shown.

  According to this, since the numerical value as quality information is generated based on the shape or color density of the underground mass part, this numerical value reflects the growth status of the underground mass part, and the numerical value of the field information It is possible to finely determine the state of soil in each part of one field from the quality information.

  In the present invention, the harvester may include a storage for storing the field information generated by the association processing unit.

  According to this, since the field information generated by the association processing means can be stored in the storage of the harvester, it is not necessary to perform a special process or a storage process outside the harvester. When the field information is evaluated, it is only necessary to copy or transmit the field information stored in the storage to an external device such as a computer.

  According to the present invention, the harvester includes a transmission unit that sends out the quality information of the underground mass part and the position information at a timing when the underground mass part of the quality information is harvested. The association processing means for generating the field information by associating the sent quality information with the position information may be arranged separately from the harvester.

  According to this, it is possible to generate field information in the association processing means arranged separately from the harvester by sending the quality information and the position information to the association processing means outside the harvester by the transmission unit. It becomes. In other words, since the associating process is not performed in the harvesting machine, it is not necessary to provide a device for performing a complicated process in the harvesting machine.

  In the present invention, the harvesting machine includes a transport mechanism that pulls the ground mass part out of the field by applying a transport force toward the rear upper part of the crop body to the stems and leaves of the crop as the machine runs. The imaging means may be provided at a position where the underground mass portion conveyed by the mechanism is imaged.

  According to this, it is possible to obtain quality information by photographing with a photographing means while harvesting with a harvesting machine, and for a conventional carrot harvester or the like, a camera as a photographing means and processing as a quality judging means. A main part of the system can be configured by providing a device and the like and a position information acquisition unit such as a GPS unit.

It is a whole side view of a carrot harvester. It is a whole top view of a carrot harvester. It is a rear view of a carrot harvester. It is a side view which shows the discharge | emission state of the carrot from a crop accommodation part. It is a side view which shows the conveyance form of the carrot in a conveyance mechanism. It is a top view which shows arrangement | positioning with a light-shielding mechanism, a camera, and a discharge cutter. It is a rear view which shows arrangement | positioning of a discharge cutter and a discharge guide. It is a figure which shows a system configuration typically. It is a flowchart which shows the control form of a processing apparatus. It is a figure which shows the display form of a monitor. It is a figure which shows typically the system configuration | structure of another embodiment (a).

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
〔System configuration〕
As shown in FIGS. 1 to 5, a boarding operation part B is arranged on the front right side of the traveling machine body A that travels with the pair of left and right crawler traveling devices 1, and the harvesting conveyance part C (the harvesting part of the harvesting part) is located on the left side of the traveling machine body A. An example) is arranged, and a separation part D is arranged at the rear position, and the horizontal conveyance conveyor 2 that conveys the carrot X as a harvested product separated by the separation part D in the right direction of the machine body is provided. A discharge conveyor 4 that is provided with a crop storage part R for storing the carrot X transported in the right side of the machine body and discharges the foliage W separated by the separation part D at the rear position of the traveling machine body A to the right side of the body A carrot harvester for single-row harvesting is configured as an example of a crop harvester.

  As shown in FIG. 8, the carrot harvester includes a quality determination unit J that determines the quality of the carrot X as a harvested crop, and a position information acquisition unit K that acquires position information of the harvester. When harvesting is performed in one field, the quality information of the carrot X acquired by the quality determination unit J and the position information acquired by the position information acquisition unit K at the timing when the carrot X is harvested are acquired. And an association processing means 35 for associating the quality information with the position information to generate field information, and a storage 36 such as a hard disk or memory for storing the field information generated by the association processing means 35. Yes. The quality determination unit J, the discharge control unit 34, the association processing unit 35, and the storage 36 are included in the configuration of the processing device F, and the position information acquisition unit K receives the radio waves from a plurality of satellites to It is configured as a GPS type that outputs position information (longitude / latitude information).

  The field information is transmitted to the carrot harvester by the wireless signal from the transmission unit L to the management terminal M outside the machine body so that the wireless signal is received by the management terminal M, and the monitor 38 of the management terminal M is received. Thus, it is possible to display the field information and grasp the state of the field. The management terminal M includes a receiving unit MA and an image display unit MB made up of a general-purpose computer.

  As described above, the carrot harvester, the quality determination unit J provided in the carrot harvester, the position information acquisition unit K, the association processing means 35, the storage 36, and the transmission unit L are provided, and the management terminal M A field information generation system is configured. Details of the processing device F and the management terminal M will be described later.

  The field information generated by the association processing unit 35 in this way has an information structure that can display the quality information of the carrot X in each part of one field in a map form. From this field information, one field It is possible to grasp the state of soil in each part.

  In the system of the present invention, the ground part including the stems and leaves among the crops is referred to as the stem and leaf part W, and the underground part including the root vegetables, corms, rhizomes, mosses and the like in the ground is referred to as the ground mass part, A specific example of the underground mass portion is simply referred to as carrot X.

[Ginseng harvester]
In the carrot harvester, the driver's seat 5, the steering handle 6 and the like are disposed in the boarding driver B, and the engine E is disposed below the driver's seat 5. Although not shown in the drawings, a traveling transmission system that transmits the driving force of the engine E to the left and right crawler traveling apparatuses 1 and a harvesting transmission system that supplies the harvesting conveyance unit C, the separation unit D, and the like are provided.

Harvest conveying section C, prior to withdrawal of ginseng X as an example of a crop, the Soira mechanism 11 to soften the soil surface Kirikuzushi the field provided on the front lower side by the vibration, a pair of right and left caused device to the upper side 12 A pair of left and right transports that pull out the carrot X as an underground mass part of the crop from the field by applying a transport force toward the rear upper part of the body by pressing the foliage W from the left and right as the traveling body A travels A transport mechanism Ca having a belt 13 is provided.

  The separation unit D conveys the left and right harvesting cutters 15 formed in a drive-rotating disc shape as a harvesting cutting mechanism at the end position of the conveyance mechanism Ca and the foliage W after the carrot X is cut off. A pair of left and right foliage removal belts 16 are provided.

  At the lower position of the separation part D, there is provided a rear transfer conveyor 17 that receives the carrot X at the front part and receives the foliage part W at the rear part, and the carrot X that is conveyed at the front part of the rear transfer conveyor 17 is placed sideways. A transverse feed roller 18 that feeds to the conveyance start end position of the conveyance conveyor 2 is provided in an oblique posture in plan view on the upper surface of an intermediate position in the conveyance direction of the rear conveyance conveyor 17. In addition, a guide chute 19 is provided at the rear position of the rear conveyor 17 for feeding the foliage W sent from the foliage removal belt 16 to the rear part of the rear conveyor 17 (rear position from the lateral feed roller 18) to the discharge conveyor 4. ing.

  From such a configuration, while traveling, the traveling machine body A is moved along the strip in a state where the tip position of the harvesting conveyance unit C is set on the strip where the carrot X is planted in the field. Then, the soil surface is softened by the vibration of the soira mechanism 11, the foliage W is caused by the pulling device 12, and the foliage W is sandwiched by the conveyance belt 13 of the conveyance mechanism Ca and conveyed to the rear upper side of the machine body. As a result, the carrot X is pulled out from the field, and the foliage W and the carrot X are separated by the harvesting cutter 15 in the separation part D. Thereafter, the carrot X that has fallen downward from the separation unit D falls to the front end position of the rear transfer conveyor 17, and is sent out from the horizontal transfer roller 18 to the horizontal transfer conveyor 2, and from the horizontal transfer conveyor 2 to the harvest storage unit R. Be contained. The foliage W is sent from the foliage removal belt 16 through the guide chute 19 to the rear end side of the rear conveyor 17 and sent from the rear conveyor 17 to the discharge conveyor 4. Released.

[Ginseng Harvester-Harvest Container]
In particular, in this carrot harvesting machine, the horizontal conveyor 2 has a structure in which a large number of conveyor bars are provided in a parallel posture with respect to the endless chain, and the carrot X placed on the conveyor bar is conveyed obliquely upward along with the conveyance. As a whole, an oblique posture is set. In addition, a configuration in which a downstream conveying end portion 2B in the conveying direction and a upstream conveying end direction 2B in the conveying direction of the horizontal conveying conveyor 2 are refractably connected around a refractive axis P in a front-rear orientation. And an elevating cylinder 41 for setting the posture of the conveyance end portion 2B is provided. Further, a support shaft 43 is provided at the front end position of the conveyance end portion 2B via a pair of connecting arms 42, and a frame-like hanger 44 is provided on the support shaft 43.

  The harvest container R has a side wall body 46 formed in a rectangular tube shape with a cloth-like flexible material that opens in the vertical direction, and a rectangular bottom disposed at a position that closes the opening at the bottom of the side wall body 46. The side wall body 46 is supported in a state in which the opening portion at the upper end thereof is suspended from the hanger 44.

  The bottom wall body 47 is swingably supported around the dump shaft core Q in the lateral orientation at the rear position of the support base 48, and the bottom wall body 47 is surrounded by an opening edge at the lower end of the side wall body 46. A lower wall body 49 surrounding the lower end portion of the side wall body 46 is formed so as to prevent leakage of the crop (carrot X). Of the lower wall body 49, the one on the rear side of the machine body is supported so as to be openable and closable around the opening and closing axis T. Further, an electric cylinder 50 that swings the bottom wall body 47 about the dump shaft core Q is provided in the support base 48, and the piston rod of the electric cylinder 50 is connected to the arm portion 47A of the bottom wall body 47. .

  With this configuration, when the carrot X is stored in the harvest storage unit R, the bottom wall body 47 is swung upward and maintained in a horizontal posture. By lowering the second conveyance end portion 2B, the side wall body 46 is folded in a bellows shape, and accommodation in a state in which the drop to the bottom wall body 47 is reduced and the carrot X is prevented from being damaged is realized. Further, in association with an increase in the amount of carrot X stored in the harvest storage unit R, the upper end of the side wall body 46 is pulled up by raising the transport terminal 2B by the lifting cylinder 41, so that the capacity that can be stored is increased. It becomes possible.

  Next, when the carrot X (harvested product) is discharged from the harvested container R, the lower wall body 49 is set to an open posture (not shown) as shown in FIG. By swinging the wall body 47 around the dump axis Q, the carrot X is discharged by its own weight by setting the inclined posture so that the rear end side of the bottom wall body 47 is directed downward.

[Ginseng Harvester-Sorting Unit]
As shown in FIGS. 5-8, the carrot harvester of the present invention, the carrots X being transported by the transport mechanism Ca captured by a digital still-in camera 21 as an imaging device, image captured by the camera 21 The processing unit F performs image processing based on the information, and if it is determined that the carrot X is of low quality as a result of the image processing, the sorting unit that separates the carrot X from the foliage W and discharges it downward. It has.

  The sorting unit is provided with a camera 21 that captures an image from the lateral direction (from the side position of the transport path) orthogonal to the transport direction of the carrot X in the transport mechanism Ca. The camera 21 includes an imaging lens 21A and a CCD or CMOS type imaging device 21B that acquires captured image information of carrot X color. A light beam for imaging is provided at a position surrounding the outer periphery of the imaging lens 21A. Is provided with a photographing light source 22 having an LED. Note that the photographing direction of the carrot X by the camera 21 is not limited to the direction orthogonal to the conveyance direction, and the photographing direction may be set so as to look up from an obliquely lower side on the conveyance downstream side.

  Of the both sides of the transport mechanism Ca, a black light-shielding wall body 23 is arranged at the left side position where the camera 21 is arranged and the right side position which is the background of the imaging area, and the imaging area of the camera 21 is used as a reference. The light shielding mechanism G is arranged on the upstream side and the downstream side in the transport direction of the transport mechanism Ca. Further, as a non-contact type position sensor 24 that detects that the carrot X has reached the center photographing position of the photographing region, a light source 24A is provided in one of the pair of light shielding walls 23, and a light receiving sensor 24B is provided in the other. Yes.

  The position sensor 24 is disposed at a position where the carrot X is detected at a position where the pair of light shielding plates 28 of the light shielding mechanism G reaches the closed posture after the carrot X passes through the upstream light shielding mechanism G in the transport direction. Shooting by the camera 21 at the timing when the light shielding plate 28 is in the closed posture is realized. The position sensor 24 may be a contact type that detects the carrot X from the swinging amount of the sensor rod that is in contact with the carrot X conveyed by the conveyance mechanism Ca, and the photographing light source 22 may be provided with a strobe light. .

  In addition, the left and right discharge cutters 25 formed in a drive-rotating disk shape as a cutting mechanism for discharge on the downstream side in the transport direction with respect to the photographing area of the carrot X and upstream in the transport direction from the harvesting cutter 15; And an operating device 26 for operating the pair of discharge cutters 25 to the cutting position. The actuating device 26 is composed of swinging left and right actuating arms 26A that support the left and right discharge cutters 25, and left and right electric actuators that swing the actuating arms 26A. The actuator 26 </ b> A is moved by the electric actuator so as to be operated to the conveyance path side of the conveyance mechanism Ca and to be operated to a position where the left and right discharge cutters 25 do not contact the foliage W when not cut. In particular, the discharge cutter 25 is disposed at a position where the carrot X can be separated immediately after passing through the light shielding mechanism G on the downstream side in the transport direction, and it is determined that the carrot X taken by the camera 21 is of low quality. In such a case, it is configured so that it can be separated and discharged from the foliage W immediately after being sent out from the light shielding mechanism G.

  As described above, the sorting unit includes the camera 21, the light shielding wall body 23, the light shielding mechanism G, the position sensor 24, the discharge cutter 25, the operating device 26, and the processing device F.

  The conveyance path of the conveyance mechanism Ca is arranged outside the crawler traveling device 1 on the left side in a plan view, and the carrot X cut off from the foliage W by the discharge cutter 25 enters the field scene outside the crawler traveling device 1 by its own weight. It becomes the positional relationship to drop. In addition, a discharge guide body 27 that sends out the carrot X cut off from the foliage W by the discharge cutter 25 along the discharge path H that guides the carrot X out of the conveyance path is disposed below the discharge cutter 25, whereby the crawler traveling device 1. It is configured to reliably discharge carrot X in a farm scene that cannot be stepped on.

  The light shielding mechanism G is disposed at an interval at which one carrot X is introduced into the photographing region. The light shielding mechanism G is made of rubber and is paired with black and left and right at positions sandwiching the conveyance path of the carrot X by the conveyance mechanism Ca. The light shielding plate 28 is configured to include a coil-type spring 29 that supports the light shielding plate 28 in a swingable manner about a swinging support shaft 28a in a vertically oriented posture and biases the light shielding plate 28 to a closed posture. In this light shielding mechanism G, when the left and right light shielding plates 28 reach the closed position, the relative positional relationship is set so that the swinging end sides of the left and right light shielding plates 28 overlap in a close contact state. It is configured to satisfactorily block the entry of light from the outside. Thus, since the pair of light shielding plates 28 are biased to the closed posture by the springs 29, the pair of light shielding plates 28 are brought into the closed posture in a very short time by the biasing force of the springs 29 after the carrot X has passed. Restore to achieve light shielding. Note that a plate spring or a torsion spring may be used as the spring 29.

[Ginseng harvester-processing equipment]
The processing device F is processed by software (program) like a microprocessor or a DSP, and image information acquisition means 31, area information extraction means 32, quality judgment means 33, and discharge control means made of software. 34 and an association processing means 35, and a storage 36 composed of a hard disk, a memory, or the like. Among these, the image information acquisition unit 31, the region information extraction unit 32, and the quality determination unit 33 constitute the quality determination unit J described above. The image information acquisition means 31, the area information extraction means 32, the quality determination means 33, the discharge control means 34, and the association processing means 35 may be configured by hardware, or by a combination of hardware and software. You may do it.

  An outline of the control mode of the processing device F is shown in the flowchart of FIG. 9, and the control mode and the details of the configuration of the processing device F will be described below.

  The image information acquisition means 31 performs a process of capturing the captured image information by capturing with the camera 21 at the timing when the position sensor 24 detects the carrot X (steps # 01 and # 02).

  Subsequent to the acquisition of the photographed image information, the region information extraction unit 32 corresponds to the shape of the carrot X included in the photographed image information by the binarization process of the image information acquired by the image information acquisition unit 31 or the contour extraction process. Processing for extracting the area information from the background is performed, and the quality determination unit 33 determines the quality (step # 03).

  The quality determination unit 33 determines the quality of the carrot X by the shape / size determination process based on the shape and size of the region information extracted by the region information extraction unit 32 and the surface based on the color density of the surface of the carrot X The quality of the carrot X is determined by the state determination process. Specifically, in the shape / size determination process, the shape of the carrot X is extracted from the contour of the region information. If this shape is bifurcated, if there is a chip, if there is a deformation exceeding the threshold, the quality information As for the items whose shape is included in the appropriate values, the smaller the numerical value as the quality information, the smaller the five values of the outer dimensions (s1 to s5). Process to give. In the surface state determination process, the surface information unique to carrots in the region information extracted by the region information extraction unit 32 is given a surface grade (d1 to d5) that is a large numerical value as quality information. If there is a typical color density distribution indicating cracks, decay, etc. at a color density different from the surface color, a process for giving the smallest numerical value as quality information is performed. The processing by the quality judging means 33 is performed in an extremely short time, and the error between the timing when the carrot X is photographed by the camera 21 and the timing when the quality information (outer shape grade and surface grade) is generated is regarded as substantially the same. May be.

  Moreover, since the volume of the carrot X can be obtained in the shape / size determination process, the weight of the carrot X can also be estimated, and the quality of the carrot X based on the weight of the carrot X thus estimated. It may be determined. Further, the grade is not limited to 5 levels, and may be less than 5 levels or 6 levels or more.

  The position information acquisition unit K configured in the GPS type is set in a processing form so that the position information is output to the association processing unit 35 at relatively short intervals. The association processing unit 35 receives the quality information from the quality determination unit 33. At the timing when the information (outer grade and surface grade) is obtained, this quality information (outer grade and surface grade), the photographed image information of the carrot X whose quality is determined, and the position information obtained by the position information obtaining unit K The field information generated in this way is stored in the storage 36 (step # 04).

  When the field information is generated, name information and harvest date information that makes the field information identifiable are given. Accordingly, a plurality of field information is stored in the storage 36 so as to be identifiable, and the same field information is stored so as to be identifiable with different harvest dates. In particular, when generating field information in a fixed field, field information that has the same name information and different harvest date information is stored in the storage 36, and as a result, the field information of the same field is accumulated. Saved with. The name information for identifying the farm field may be automatically generated by the position information acquisition unit K, or may be arbitrarily set by the operator. As described above, when the name information is arbitrarily set and the harvesting operation is subsequently performed in the same field, the name information that has already been set is searched based on the position information from the position information acquisition unit K. The processing form may be set so that the set name information is automatically set.

  In the carrot harvester, since a predetermined time is required for pulling out the carrot X by the transport mechanism Ca and transporting it to the photographing position by the camera 21, the timing at which the quality information (outer shape grade and surface grade) is generated (photographed by the camera 21). Error in the position information acquired by the position information acquisition unit K and the position of the carrot X in the field before being pulled out. In order to correct this error, the associating processing unit 35 uses the timing at which the quality information is generated as a reference, and the time that has passed by the time when the carrot X is transported by the transport mechanism Ca to the position where it is photographed by the camera 21. A process for associating the position information at the position with the quality information (external form grade and surface grade) is performed. Further, the position where the position information acquisition unit K is installed and the position where the carrot X is pulled out (the tip position of the harvesting conveyance unit C) are offset in plan view and acquired by the position information acquisition unit K. The position information is corrected by a distance corresponding to the offset amount in the association processing means 35.

  As described above, the grade judged from the outer shape and the grade judged from the color density of the surface indicate that the smaller the value, the better the quality, and the larger the value, the lower the quality. Therefore, if the discharge control means 34 determines that the carrot X is given a grade with a numerical value larger than a preset one of the external grade and the surface grade given by the quality judgment means 33, the discharge control means 34 is discharged. When the cutter 25 performs the process of separating the carrot X from the foliage W and determines that the carrot X has a grade smaller than the set grade, no discharge is performed (steps # 05 and # 06). .

  Thereby, the carrot X accommodated in the harvest accommodation part R is only the thing of the favorable quality exceeding the set grade, and it is not necessary to select this carrot X anew.

  Next, when the operator determines that it is necessary to transmit the field information or when it is necessary to perform transmission at a preset timing, the transmission unit L transmits the field information to the management terminal M ( Steps # 07 and # 08). By performing this processing, the management terminal M can display the farm field information on the monitor 38.

  This process continues until the operator performs an operation to stop the control as in the case where the work is finished (step # 09).

  For the field information, for the position information (coordinate information) specified by the longitude and latitude, the external grades (s1 to s5) as the quality information, the surface grades (d1 to d5) as the quality information, and the captured image It has a structure in which information is stored in association with each other. The management terminal M is provided with storage means (not shown) such as a hard disk and a memory for storing the field information in the same manner as the storage 36 of the processing device F. This storage means has the same information as the plurality of field information. Field information with different harvest dates and times is stored in an identifiable manner in the field.

  A viewer for displaying the field information on the monitor 38 is installed in the image display unit MB. When the field information is displayed on the monitor 38 with the viewer, by specifying the name information of the field information and the harvest date and time, As shown in FIG. 10, the viewer displays the field image 55 based on the designated field information, and the outer dimensions (s1 to s5) at a plurality of positions whose coordinates are specified in the field image 55 by longitude and latitude. And surface grades (d1 to d5) are displayed numerically. When the viewer selects a specific position on the screen with the cursor 56 and performs an operation such as clicking, a new window 57 is opened on the monitor 38, and the position selected for this window 57 is displayed. The photographed image information of the carrot X harvested in is displayed.

  When displaying the field information on the monitor 38 by the image display unit MB, in addition to the display of quality information only for each coordinate position as shown in FIG. 10, the hue and color density corresponding to the numerical values in five steps May be set, and the display form by the viewer may be set so that the color display corresponding to the numerical value is performed on the position at the coordinate position. In addition to displaying the farm field in 3D, for example, a display form by the viewer is displayed so that the field information is displayed in such a form that the bar graph is displayed higher as the numerical value is smaller (higher quality) corresponding to the numerical values in five steps. May be set.

  In addition, the management terminal M can designate any one piece of name information of a plurality of pieces of farm field information, designate a plurality of harvest dates and times, and display them on the monitor 38. Thus, the farm field information having different harvest dates and times can be displayed. By displaying, the display form of the viewer may be set so as to display the tendency of the change in quality and the tendency of the change in yield in a specific field.

[Operation / Effect of Embodiment]
With such a configuration, the carrot X pulled out from the field by the conveyance of the conveyance mechanism Ca is introduced into a photographing region that is a space surrounded by the left and right light shielding wall bodies 23 and the front and rear light shielding mechanisms G. The image is taken by the camera 21 at the detected timing. Only one carrot X is introduced into the photographing region, and unnecessary light rays from the outside are blocked at the time of photographing. Therefore, a photographed image of one carrot X is acquired only by irradiation of light rays from the photographing light source 22. In the processing device F, the external configuration is not included in the photographed image information, and only one carrot X is photographed. Therefore, inconvenience that leads to an inaccurate determination when performing the process of determining the grade (process of determining the quality). Can be used to accurately determine the quality.

  In particular, the light-shielding mechanism G is composed of two light-shielding plates 28 arranged upstream and downstream of the imaging region in the transport direction of the transport mechanism Ca, and the swinging support shaft 28a is centered by the carrot X coming into contact therewith. And the ginseng X is allowed to pass through by swinging. After passing, the swinging end portion of the light shielding plate 28 is immediately overlapped by the biasing force of the spring 29, and in this closed posture, the light beam is transmitted. Good light shielding to prevent intrusion. Further, when the light shielding plate 28 comes into contact with the carrot X, the light shielding plate 28 removes the soil adhering to the carrot X, and the shaking of the carrot X is suppressed by the contact with the light shielding plate 28. Thereby, the surface soil is removed, and the carrot X, in which the shaking is suppressed, is photographed by the camera 21, and the accuracy of quality determination is improved.

  Based on the photographed image information photographed by the camera 21, the quality judgment unit J of the processing device F judges the external grade and the surface grade of the carrot X as quality information, and the position information obtained by harvesting the carrot X is the position information acquisition unit. The field information is generated by associating the quality information and the position information with the association processing means 35. Further, the carrot X determined to be of low quality from the quality information is separated from the foliage W by the discharge cutter 25 and discharged to the farm scene in a form of falling along the discharge path H. Thereby, for example, in comparison with the configuration in which the carrot X having no commercial value is accommodated in the harvest container R, not only can the time until the harvest container R is full be increased, Unnecessary carrot X is not transported, and energy for traveling the traveling machine body A is not wasted. Further, since the carrot X determined to be of low quality is cut off from the foliage W by the discharge cutter 25 immediately after passing through the light shielding mechanism G on the downstream side in the transport direction, the carrot X is a target of this cut-off. There is no error in the identification of the carrot X, and early discharge is realized without wastefully transporting along the transport path of the transport mechanism Ca.

  The field information is stored in the storage 36 of the traveling machine A, transmitted to the management terminal M by the transmission unit L, and can be displayed on the monitor 38 of the management terminal M. Based on this display, the state of the soil in the field is determined. It can be recognized numerically. In particular, in the field image 55 displayed on the monitor 38, when confirming the state of the position where the growth is poor, the position of the carrot X harvested at the position by selecting the position with the cursor 56 and clicking or the like. Is displayed in a newly opened window 57, the state of poor growth is visually confirmed to facilitate the determination of the cause of the poor growth.

Further, as a form of displaying the field information on the monitor 38, and when displaying the quality information as the color density, the case of displaying a bar graph to the and scope of the fertilizer is missing from the field information from the display, It is possible to determine the range in which diseases and pests are generated, and to grasp the incidence of low-quality carrots X and to easily take an accurate response.

This field information can be used to determine the state of soil in each part of the field based on the quality, specify the position of application of fertilizer and chemicals, specify the position to improve drainage, and replace new soil It becomes a standard when specifying the position to perform, and it is possible to improve the quality of the carrot X harvested by improving the soil. Therefore, based on this field information, the fertilizer application by the fertilizer application, the drug application by the drug application device, the soil replacement, etc. are efficiently performed. As a result, the harvest of high-quality carrot X It can be linked to an increase in yield.

  Furthermore, since the field information can be stored and stored in both the storage 36 of the carrot harvester and the storage means of the management terminal M, the name information of the field information and the information of a plurality of harvest times are designated and different. Based on the field information of the harvest time, it is possible to grasp the state of the field by processing such as a change in the quality of the carrot X in each field area and a change in the amount of harvest being graphed and displayed on the monitor 38. . When the change in the quality of carrot X and the change in the harvest amount are displayed for each region based on the field information at different harvest times for the same field, it is also possible to estimate the future field conditions such as the next year with high accuracy. By this estimation, it is possible to set the time of fertilization, the time of plowing, or the time of sterilization / disinfection with chemicals to increase the yield of good quality carrot X. Further, it can be used as a history of spraying medicines and fertilizers in one field.

  The field information can be saved together with the weather, shipping time, and market conditions (the price of carrot X). By accumulating this field information, the weather and carrot X price can be estimated from the accumulated field information. It is also possible to ship the carrot X at a high price by setting an appropriate harvest time.

[Another embodiment]
The present invention may be configured as follows in addition to the embodiment described above.

(A) As shown in FIG. 11, the traveling machine body A does not include the association processing means 35 but includes the quality determination unit J and the position information acquisition unit K, and the quality information generated by the quality determination unit J and the position The location information acquired by the information acquisition unit K is sequentially transmitted by the transmission unit L, and the management terminal M that receives this information by the reception unit MA is provided with the association processing means 35 to constitute an agricultural field information generation system. Even if it is comprised in this way, field information can be produced | generated and the condition of the soil of a field can be grasped | ascertained accurately.

(B) the traveling machine body A together with and a quality judgment unit J and the position information acquisition unit K and association processing means 35 storage 36, instead of the configuration of a transmission unit L for transmitting field information wirelessly, for example, A traveling medium A is provided with a medium drive or the like for storing field information in a storage medium such as a USB memory, the storage medium is set in the medium drive, and the field information is stored and copied to the storage medium. Is loaded onto the management terminal M and displayed on the monitor 38. In this way, the field information stored in the storage medium can be loaded into the personal computer, and the management terminal M can easily manage the field.

(C) As a modification of the above-described another embodiment (b), a transmission unit is provided that can transmit the field information stored in the storage 36 to the management terminal M via a USB cable or the like. Thus, even if it has a transmission unit, it becomes possible to transmit field information to a personal computer with a USB cable etc. like another embodiment (b), and management of the field can be performed easily in the management terminal M.

(D) The field information described in the embodiment has position information that is an absolute coordinate system (geodetic coordinate system) in which quality information is associated with longitude and latitude. As the field information, a specific position of the field You may use the positional information used as the relative coordinate system which linked | related quality information with the coordinate on the basis of. Even those using such field information can be managed based on the field information.

(E) A digital movie camera that shoots a moving image is provided as a shooting unit so that captured image information of a plurality of frames is acquired. As described above, in the configuration in which the captured image information of a plurality of frames is acquired, the quality is determined based on the captured image information best captured from the captured image information of the plurality of frames, or the captured image information of the plurality of frames is recorded. The quality can be determined based on the combination of the two, and the determination accuracy can be improved.

(F) As a photographing means, a plurality of cameras 21 that photograph the underground mass (carrot X) from different directions are provided. The camera 21 may be a digital movie camera as in another embodiment (c). Thus, by photographing the underground mass portion (carrot X) with a plurality of cameras 21, for example, it is possible to grasp the three-dimensional shape of the underground mass portion (carrot X) and improve the accuracy of quality determination. It becomes.

(G) In addition to carrot X, crops that grow in the ground, such as radish, beef bowl, onion, and potato, may be harvested.

  INDUSTRIAL APPLICABILITY The present invention can be used in a crop harvester that performs harvesting in a form in which a conveying force is applied to the foliage portion W of the crop to pull out the underground mass portion.

21 Shooting means (camera)
23 Shading wall
28 Shading plate
29 Spring 35 Association processing means 36 Storage A Airframe (traveling airframe)
C Harvesting department (harvest transport section)
Ca transport mechanism J Quality determination unit K Position information acquisition unit L Transmission unit W Stem and leaf part X Ground mass part (carrot)

Claims (5)

Field information generation comprising a quality determination unit for determining the quality of the crop harvested by the harvester and a position information acquisition unit for acquiring the position information of the harvester for a harvester that harvests the crop A system,
It said harvesting machine, e Bei harvesting unit for performing harvesting of underground mass portion growing in the ground of the field as the crop, exerts a conveying force toward the machine body rear upward foliage of the crop with the running of the machine body The harvesting unit is provided with a transport mechanism for pulling out the underground mass part from the field, and the imaging unit is provided at a position for imaging the underground mass part conveyed by the transport mechanism. Constructed with a light-shielding plate at the transport upstream position of the area
The light shielding plate is biased to a closed posture by a spring, and the light blocking plate is operated to be opened by the ground mass portion when the ground lump portion contacts the light shielding plate. ,
The quality determination unit performs a process of determining the quality of the ground mass unit based on the photographed image information of the shooting means,
When harvesting is performed in one field by the harvester, the quality information of the underground mass portion acquired by the quality determination unit and the position information acquisition unit at the timing when the underground mass portion is harvested. A field information generation system comprising association processing means for acquiring position information to be acquired and generating field information by associating the quality information with the position information. The field information generation system according to claim 1 , wherein the harvesting machine includes light shielding walls at a right side position and a left side position of a shooting area of the shooting unit . The quality determination unit generates a numerical value based on at least one of the shape information and color density information of the underground mass portion as the quality information, and the association processing means is the underground mass harvested in the field The field information generation system according to claim 1 or 2 , wherein field information having an information structure capable of displaying the numerical value is generated at a position where position information of the unit is indicated. The field information generation system according to any one of claims 1 to 3, wherein the harvester includes a storage for storing the field information generated by the association processing unit. A transmission unit that sends out the quality information of the underground mass portion and the position information at a timing when the underground mass portion of the quality information is harvested is provided in the harvester,
Wherein either the association processing unit sent from the sending unit and the in association with quality information and the positional information to generate the field information of the preceding claims, which is arranged separately from the harvesting machine one Field information generation system given in the paragraph .

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