JP6895680B2 - Crop lodging evaluation device and crop lodging evaluation method - Google Patents

Description

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

In crop production, the goal is to obtain high quality and high yield. Since lodging of agricultural products reduces the workability, yield, and quality of harvesting, it is necessary to manage cultivation without lodging.

For example, in rice cultivation, in order to cope with the increase in scale, a machine manufacturer provides a combine that can automatically measure the yield of each field plot and a system that maps the data, and the field with low yield will be the next year. It is used to increase the amount of fertilizer applied.

However, low yields include those due to lodging, in which case it is rather necessary to reduce the amount of fertilizer applied. In addition, even if the yield is high, if the crop is lying down, it is necessary to reduce the amount of fertilizer applied as well. Conventionally, there have been few techniques that can automatically record the degree of lodging (hereinafter referred to as "degree of lodging").

Although it is possible to grasp the lodging point in the field by aerial photography from a high altitude, etc., the degree of lodging of the lodging point is difficult to understand, and the latitude and longitude of the lodging point are unknown, so it is applied to the work of GPS-equipped work machines. It's difficult to do.

The degree of lodging usually varies from place to place even within a single field. Therefore, in order to evaluate the degree of lodging in each field, it is necessary to look around the entire field.

However, in a large plot field, it takes a lot of labor to see the whole, and it is difficult to accurately grasp the ratio of the lodging points.

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

In addition, lodging is also affected by soil fertility unevenness caused by topographical and soil unevenness before infrastructure development. A yield combine that can measure the yield distribution in the field has been developed for research purposes for the purpose of acquiring such data. If the distribution of lodging in the field can be grasped at the same time as the yield, a more appropriate fertilization map for variable fertilization using a GPS-equipped fertilizer can be created.

For example, Patent Document 1 provides a criterion for selecting an actually measured field to be surveyed from images of a survey area and field attribute information accumulated in the past and aerial images of the field to be surveyed. The parameter group is determined, the measured field is selected so that the parameter group has as much dispersion as possible, and the candidates of the measured field are concentrated as much as possible in order to reduce the burden of the survey as much as possible. Select. In addition, by analyzing the time-series pattern of meteorological data for each growth stage, a parameter group that correlates with the growth situation is calculated, and yield estimation is performed using the image feature amount, field attribute information, and the parameter group as explanatory variables. Is what you do.

Further, in Patent Documents 2 and 3, a combine in which a grain scale sensor is arranged is used to extract lodging. The grain scale sensor includes a transmitter that scans the grain in front of the machine with a beam of ultrasonic waves or laser light, and a receiver that receives reflected waves and reflected light from the grain, and is provided with reflected waves and reflections. Whether the grain in front of the machine is upright or overturned based on the overall level change of light, the level change in the raster, the distance between the grain and the grain sensor, etc. It is designed to detect whether the plant is partially lying down or whether there is a grain in front of it.

JP 2015-49 Japanese Unexamined Patent Publication No. 11-155340 JP-A-11-137062

However, although Patent Document 1 estimates the yield with high accuracy, the degree of lodging cannot be taken into consideration.

Further, in Patent Documents 2 and 3, the grain culm in front of the machine is upright due to the overall level change of the reflected wave and the reflected light, the level change in the raster, the distance between the grain culm and the grain culm sensor, and the like. An optical sensor or the like detects the planting state of whether the culm is planted, whether it is lying down over the entire surface, or whether it is partially lying down, and whether or not there is a culm in front of it. Therefore, it is necessary to use an expensive sensor.

In addition, the general calculation of the degree of lodging was performed as follows.
1) Create a digital elevation map from aerial photographs taken with a digital camera with GPS. Prepare multiple aerial photographs with different shooting points, and create an elevation map of the field from the position information of the shooting points and the deviation of the images using digital elevation map creation software.
2) Take aerial shots with a digital camera. For example, a digital camera is mounted on the drone to take aerial photographs of the entire field.
3) For example, walk behind the combine harvester, record the lodging situation and position with a digital camera with GPS, and create data on the degree of lodging for each location in the field.
4) Perspective: Walk around the perimeter and inside of the field, and evaluate the area ratio according to the degree of lodging. The degree of lodging of the field is calculated by summing the degree of lodging x the area ratio.
5) In addition, as in Patent Documents 2 and 3, there is a method of creating a lodging degree map while harvesting with an optical sensor attached to the combine.

However, the conventional technique has the following problems.
1) To obtain an aerial photograph for creating a digital elevation map that can measure a difference in height of about 20 cm, expensive equipment such as a drone, technology and work time, or a fee is required when outsourcing. In order to create a digital elevation map, expensive dedicated software is required and there is also manual work, so technology and work time are required. Difficult to automate and add to field management systems.
2) A drone and its operation technology are required. For example, a shooting time of 5 to 10 minutes is required for each field.
Although the aerial photograph shows the location of the lodging, the degree of lodging is not known. In addition, it is difficult to obtain the position information of the lodging location. It takes time to process and organize photos. Difficult to automate and add to field management systems.
3) It is necessary to walk for a long time and take a picture. Depending on the direction of lodging, it is difficult to judge the degree of lodging based on photographs. It is difficult to automate and add to the field management system because the degree of lodging is judged from the photograph.
4) In order to improve the accuracy, it is necessary to walk all over the field, which is laborious. It is difficult to improve the accuracy because it is difficult to evaluate the area ratio according to the degree of lodging. Difficult to automate and add to field management systems.
5) An expensive optical sensor or the like is required.

An object of the present invention is to improve the accuracy for evaluating the degree of lodging of agricultural products. It also aims to reduce the cost of evaluating the degree of lodging.

According to one aspect of the present invention, it is a crop lodging degree evaluation device using a harvesting agricultural machine provided with a position measuring unit, and a position at which the speed of the harvesting agricultural machine is acquired at the position measured by the position measuring unit. It has a separate speed data acquisition unit and a standardization processing unit that standardizes the speed of the harvesting farming machine based on a previously obtained reference value for the speed of the harvesting farming machine and uses it as an index of the degree of lodging of the crop. A crop lodging degree evaluation device characterized by this is provided.

The standardized harvest rate itself can be used as an evaluation index for lodging.
The crop lodging degree is estimated based on the relationship between the speed of the harvesting agricultural machine standardized by the standardization processing unit, the standardized speed of the harvesting farm machine obtained in advance, and the crop lodging degree. It is characterized by having an lodging degree estimation unit.

Further, it is characterized by having a filtering processing unit that excludes the position-specific speed data acquired by the position-specific speed data acquisition unit based on the upper limit, the lower limit, and the traveling direction of the speed of the harvesting agricultural machine.

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

The reference value of the speed of the harvesting agricultural machine is obtained based on the average value of the speed of the harvesting farm machine in the non-falling field or the non-falling part.

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

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

The degree of lodging can be estimated accurately by obtaining the reference value of the speed of the harvesting agricultural machine based on the statistical value of the speed of the non-falling field or the non-falling part only.

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

Further, the present invention is a method for evaluating the degree of lodging of a crop using a harvesting agricultural machine provided with a position measuring unit, and position-specific speed data for acquiring the speed of the harvesting agricultural machine at the position measured by the position measuring unit. It is characterized by having an acquisition step and a standardization processing step of standardizing the speed of the harvesting farming machine based on a predetermined reference value of the speed of the harvesting farming machine and using it as an index of the degree of lodging of the crop. This is a method for evaluating the degree of lodging of the crop.

The crop lodging degree is estimated based on the relationship between the speed of the harvesting agricultural machine standardized by the standardization processing unit, the standardized speed of the harvesting farm machine obtained in advance, and the crop lodging degree. It is characterized by having a lodging degree estimation step.

In the lodging degree estimation step, it is preferable to obtain the lodging degree of the crop based on the positional relationship between the standardized speed of the harvesting agricultural machine and the lodging degree of the crop.

A step that defines the range of the field by specifying the latitude and longitude of the apex of each field, and automatically determines in which field the GPS position-specific speed data consisting of the position, speed, and direction was acquired. Then, based on the step of adding the field data to the data after discrimination and the data to which the field data is added, the average of each field or the degree of lodging for each point may be estimated.

It is characterized by having a step of further reflecting the field average lodging degree obtained by the lodging degree estimation step in the relationship between the standardized speed of the harvesting agricultural machine and the crop lodging degree obtained in advance. ..

The present invention may be a program for causing a computer to execute the lodging degree evaluation method according to any one of the above.

According to the present invention, the accuracy for evaluating the lodging degree of a crop can be improved. In addition, the cost for evaluating the degree of lodging can be reduced.

FIG. 1A is a functional block diagram showing a configuration example of a harvester, for example, a combine harvester according to the first embodiment of the present invention. 1 (b) and 1 (c) are functional block diagrams showing an example of a configuration in a system configuration of a combine harvester and a server device according to a modified example of FIG. 1 (a). FIG. 2 is a functional block diagram showing a configuration example of the data processing unit. FIG. 3A is a functional block diagram showing a configuration example of the storage unit 7, and FIG. 3B is a diagram showing the relationship between the standardization speed and the degree of lodging for each field, and FIG. 3C. ) Is a diagram showing the relationship between the standardization speed and the degree of lodging for each position in one field. FIG. 4 is a flowchart showing a flow of processing for obtaining the average lodging degree in the field. FIG. 5 is a diagram showing the relationship between the rate of the standardized combine harvester in the field and the degree of lodging. FIG. 6 is a diagram showing a determination standard and a determination method for the degree of lodging. FIG. 7 is an aerial photograph in which the estimated lodging degrees for each field are superimposed. FIG. 8 is a flowchart showing a processing flow in the crop lodging degree evaluation technique according to the second embodiment of the present invention. FIG. 9 is a diagram showing the relationship between the speed of the standardized combine harvester and the degree of lodging for each position. FIG. 10 is an aerial photograph in which the estimated lodging degrees for each position are superimposed. FIG. 11A is a diagram showing an example of a visible image of a paddy field, and a light-colored portion is a portion having a high degree of lodging. FIG. 11B is a diagram showing the degree of lodging created based on a photograph taken by a digital camera with GPS. A lodging degree of 5 is complete lodging, and a lodging degree of 0 is non-falling. FIG. 12 is a diagram showing an estimated lodging degree for each position according to the present embodiment. The fields shown in yellow frames are the fields in which the reference values used for calculating the standardization rate in FIG. 5 were measured. The fields shown in red frames are the same fields as in FIG. FIG. 13 is a flowchart showing a flow of processing according to the third embodiment of the present invention.

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

(First Embodiment)
First, the first embodiment of the present invention will be described. FIG. 1A is a functional block diagram showing a configuration example of a harvesting agricultural machine according to the present embodiment, for example, a combine harvester. According to the present embodiment, the combine A stores a general combine main body 1, a position measuring unit 3 such as a GPS logger, a data processing unit 5 that performs data processing for obtaining the degree of lodging, and data and the like. It has a storage unit 7.

FIG. 2 is a functional block diagram showing a configuration example of the data processing unit 5. FIG. 3A is a functional block diagram showing a configuration example of the storage unit 7, and FIG. 3B is a diagram showing the relationship between the standardization speed and the degree of lodging for each field, and FIG. 3C. ) Is a diagram showing the relationship between the standardization speed and the degree of lodging for each position in one field. FIG. 4 is a flowchart showing a flow of processing for obtaining the average lodging degree in the field. FIG. 5 is a diagram showing the relationship between the rate of the standardized combine harvester in the field and the degree of lodging. FIG. 6 is a diagram showing a determination standard and a determination method for the degree of lodging. FIG. 7 is a diagram showing the estimated lodging degree for each field. The degree of lodging is estimated from the harvest rate standardized using the fastest value of combine A as a reference value. The numerical values in the figure are visual estimates of the degree of lodging.

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

FIG. 2 is a functional block diagram showing a configuration example of the data processing unit 5. As shown in FIG. 2, the data processing unit 5 includes a position-specific speed data acquisition unit 5-1, a filtering processing unit 5-2, an average value calculation unit 5-3, a standardization processing unit 5-4, and a field. It has a separate lodging degree estimation unit 5-5.
The other configuration in the area surrounded by the broken line will be described in the second embodiment.
In addition, it has a speed reference value calculation unit 5-7.

FIG. 3A is a functional block diagram showing a configuration example of the storage unit 7. The storage unit 7 includes a speed data storage unit 7-1 for each position, a filtering condition storage unit 7-2, a standardization processing condition storage unit 7-3, a speed reference value storage unit 7-4, a field, and a position. It has a standardized speed-falling degree conversion processing condition storage unit 7-5, a lodging degree storage unit 7-6 for each field and position, and another field data storage unit 7-7.

FIG. 3B is data for each field stored in the lodging degree storage unit 7-6 for each field and each position, and FIG. 3C is data for each position of the field.

FIG. 6 is a diagram showing a determination standard and a determination method for the degree of lodging. When, for example, a rice plant 33 with a rice ear 35 is planted in the soil 31, the approximate inclination is represented by θ.

Here, the degree of lodging can be determined as shown in the table on the upper right of FIG. For example, the degree of lodging of the paddy field section can be obtained based on the formula at the lower right of FIG.

FIG. 4 is a flowchart showing a flow of processing in which the data processing unit 5 obtains the average degree of lodging in the field. FIG. 5 is a diagram showing the relationship between the standardized combine rate of the field average and the degree of lodging, which was obtained in advance. One point in FIG. 5 corresponds to one field. When using it, ask for a relationship in advance. As shown in FIG. 5, it was found that the standardization speed has a correlation between the degree of lodging and the simple function represented by the equation in the figure.

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

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

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

On the other hand, in step S7, the velocity average value is obtained from the average value for each field of the non-inverted field stored in the other field data storage unit 7-7. In step S8, the speed reference value calculation unit 5-7 obtains a standardized speed reference value from the speed average value of the non-falling field or the non-falling part obtained in step S7. The speed reference value is, for example, the fastest value, the average value of the fastest five points, and the like. This is stored in the speed reference value storage unit 7-4.

In step S5, the standardization processing unit 5-4 eliminates standardization processing conditions stored in the standardization processing condition storage unit 7-3, such as a combine type difference and an operator difference, based on the reference value obtained in step S8. Perform the processing to be performed.

Here, in order to reduce the influence of the difference in speed depending on the combine model and the operator, the harvesting speed of the reference field is calculated, and the raw data is standardized using the speed. In addition, in order to exclude the influence on the harvesting rate other than lodging, over-humidity fields, wet crops, weed-prone fields, etc. are excluded from the applicable conditions.

It is also possible to use the harvest rate itself standardized in this way as an evaluation index for lodging. The obtained value may be stored in the storage unit 7. Since the yield and quality are grasped by other means, the adverse effect of lodging can be grasped as a whole by measuring the decrease in harvest efficiency.

In step S6, the lodging degree estimation unit 5-5 stores the standardized speed-falling degree conversion processing condition storage unit 7-5, and the speed and lodging of the standardized combine of the field average as shown in FIG. Convert the standardized velocity to the degree of lodging based on the degree relationship, for example, the simple relational expression in the figure. The converted data is stored in the lodging degree storage unit 7-6 for each field.
As a result, the process ends (End). The obtained value may be stored in the storage unit 7.

FIG. 7 is an aerial photograph in which the estimated lodging degrees for each field are superimposed. As shown in the legend, the degree of lodging for each field was determined by the above method. On the other hand, the numerical value shown in FIG. 7 indicates the degree of lodging visually.

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

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

As shown in FIG. 1B, the combine main body 1, the position measuring unit 3, and the communication unit 9a are provided on the combine A side, and the communication unit 9b, the data processing unit 5, and the storage unit 7 are provided. It may be provided on the server B side. By exchanging data between the communication unit 9a and the communication unit 9b, it is possible to perform remote data processing and distribute the processing load. It is also possible for the server B to collectively manage a plurality of combines.

Further, as shown in FIG. 1 (c), the combine main body 1, the position measuring unit 3, the communication unit 9a, and the first storage unit 7a are provided on the combine A side, and the communication unit 9b and the data processing unit 5 are provided. And the second storage unit 7b may be provided on the server B side. By exchanging data between the communication unit 9a and the communication unit 9b, it is possible to perform remote data processing and distribute the processing load. Further, the first storage unit 7a stores the relationship between the position and the speed at a certain timing, and at a certain timing, the storage data is sent to the server B side and stored in the second storage unit 7b. Is also good. The accuracy of the relationship shown in FIG. 5 can be improved by repeating the process of the flowchart shown in FIG. 4 (reflecting the result of step S6 in FIG. 5).

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

FIG. 8 is a flowchart showing a processing flow in the crop lodging degree evaluation technique according to the second embodiment of the present invention. Steps S11 to S13 are the same as steps S1 to S3 in FIG. In FIG. 4, the averaging process is performed in step S4, but in FIG. 8, the averaging process is not performed. Further, when obtaining the speed reference value to be used for the standardization process, in steps S7 and S8 of FIG. 4, the speed reference value calculation unit 5-7 performs the speed from the average value of each field of the non-falling field or the non-falling part. We are looking for a reference value.

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

It should be noted that the average value of the fields with higher speeds can be expected to be the average value of the fields that have not collapsed. As a simple method, the average value of the top 3 fields or 5 fields may be used.

Also in FIG. 8, in step S16, the speed average value is obtained from the data of the non-falling field or the data of the non-falling part, and based on this, the speed reference value is obtained in step S17.
In step S14, standardization processing is performed based on the speed reference value in step S17.

It is also possible to use the harvest rate itself standardized in this way as an evaluation index for lodging. The obtained value may be stored in the storage unit 7. Since the yield and quality are grasped by other means, the adverse effect of lodging can be grasped as a whole by measuring the decrease in harvest efficiency.

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

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

The large number of data in FIG. 9 is due to the fact that the survey labor per site is less than one field, indicating that many surveys could be conducted in a short time.

It is presumed that the variation in the data is due to the fact that the velocity measurement point and the lodging degree survey point do not completely match.

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

The accuracy of the relationship shown in FIG. 9 can be improved by repeating the process of the flowchart shown in FIG. 8 (reflecting the result of step S15 in FIG. 9).

FIG. 10 is an aerial photograph in which the estimated lodging degrees for each position are superimposed. The arrows indicate the positions of the photographs of FIGS. 11 and 12.

FIG. 11A is a diagram showing an example of a visible image of a paddy field, and a light-colored portion is a portion having a high degree of lodging. FIG. 11B is a diagram showing the degree of lodging visually investigated. A lodging degree of 5 is complete lodging, and a lodging degree of 0 is non-falling. It can be seen that FIGS. 11 (a) and 11 (b) are also in good agreement. FIG. 12 is a diagram showing an estimated lodging degree for each position according to the present embodiment. The fields shown in the yellow frame are the fields where the reference value was measured. The fields shown in red frames are the same fields as in FIG.

The estimated lodging degree for each position (Fig. 12) should correspond well with the lodging part of the aerial photograph (Fig. 11 (a)) and the lodging map created using a digital camera with GPS (Fig. 11 (b)). I understand.

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

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

From the above, the following advantages can be obtained.
1) The created lodging map can be used by paddy rice farmers to grasp the degree of lodging and use it for fertilization design for the next fiscal year. In the future, it can be used to create a fertilizer application map for variable fertilizer application equipment by combining it with a yield map.
2) In addition, it is considered that it can be applied to wheat that uses a head-feeding combine and other field crops that use a normal combine because the lodging point slows down the harvesting rate.
3) By mounting it on the yield combine and incorporating it into the field management software, it becomes possible to automatically create a lodging map.

As an issue, it is considered that the estimation accuracy can be further improved by considering the state of the machine such as the height of the cutting blade of the combine.

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

A third embodiment of the present invention will be described.
The process shown in FIG. 13 is started (Start), and in step S21, the latitude and longitude of the vertices of each field are specified in advance by GIS software or the like to define the range of the field (A). As a result, it is possible to automatically determine in which field the GPS-based velocity data for each position was acquired (step S22: B).

In step S23, the attribute of the field is added to the data after the discrimination, such as "north latitude, east longitude, velocity, direction, field".

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

Such processing makes it possible to continuously and automatically acquire, store, transmit, and process data without manually storing, transmitting, and processing data for each field.

In the above embodiment, the configuration and the like shown in the accompanying drawings are not limited to these, and can be appropriately changed within the range in which the effects of the present invention are exhibited. In addition, it can be appropriately modified and implemented as long as it does not deviate from the scope of the object of the present invention.

In addition, each component of the present invention can be arbitrarily selected, and an invention having the selected configuration is also included in the present invention.

The present invention can be used as a crop lodging degree estimation device.

A ... Combine (agricultural machine for harvesting)
1 ... Combine body 3 ... GPS receiver (position measurement unit)
5 ... Data processing unit 5-1 ... Velocity data acquisition unit by position 5-2 ... Filtering processing unit 5-3 ... Average value calculation unit 5-4 ... Standardization processing unit 5-5 ... Depression degree estimation unit by field 5-6 ... Position-specific lodging degree estimation unit 5-7 ... Velocity reference value calculation unit 7 ... Storage unit 7-1 ... Position-specific speed data storage unit 7-2 ... Filtering condition storage unit 7-3 ... Standardization processing condition storage unit 7-4 … Velocity reference value storage unit 7-5… Standardized speed-falling degree conversion processing condition storage unit (by field, by position)
7-6 ... Depression storage unit for each field and position 7-7 ... Other field data storage unit

Claims (15)

It is a crop lodging degree evaluation device that uses a harvesting agricultural machine equipped with a position measurement unit.
A position-specific speed data acquisition unit that acquires the speed of the harvesting agricultural machine at the position measured by the position measurement unit, and
Based on the standard value of the speed of the agricultural machine for harvesting obtained in advance, the speed of the agricultural machine for harvesting is standardized by performing the processing under the standardized processing conditions, and the standardized processing unit used as an index of the lodging degree of the crop is used. A crop lodging degree evaluation device characterized by having. It is a crop lodging degree evaluation device that uses a harvesting agricultural machine equipped with a position measurement unit.
A position-specific speed data acquisition unit that acquires the speed of the harvesting agricultural machine at the position measured by the position measurement unit, and
Based on the reference value of the speed of the harvesting agricultural machine obtained in advance, the speed of the harvesting farming machine is standardized by performing the processing according to the standardized processing conditions stored in the standardized processing condition storage unit, and the crops fall down. With the standardization processing unit as an index of degree
A crop lodging degree evaluation device characterized by having. It is a crop lodging degree evaluation device that uses a harvesting agricultural machine equipped with a position measurement unit.
A position-specific speed data acquisition unit that acquires the speed of the harvesting agricultural machine at the position measured by the position measurement unit, and
Based on the standard value of the speed of the agricultural machine for harvesting obtained in advance, the speed data for each position is used to reduce the influence of the standardization processing condition depending on the model or the worker stored in the standardization processing condition storage unit. The speed of the harvesting farm machine is standardized by removing the influence of the standardization processing conditions depending on the model or the worker from the speed of the harvesting farm machine acquired by the acquisition unit, and is used as an index of the lodging degree of the crop. With the standardization processing unit
A crop lodging degree evaluation device characterized by having. The degree of lodging of the crop is estimated based on the relationship between the speed of the farm machine for harvesting standardized by the standardization processing unit, the standardized speed of the farm machine for harvesting and the degree of lodging of the crop, which has been obtained in advance. The crop lodging degree evaluation device according to any one of claims 1 to 3, further comprising an lodging degree estimation unit. Moreover, the position-specific speed data obtained by said position-specific speed data acquisition unit, the upper limit of the speed of the harvesting agricultural machinery, claim 1, characterized in that it comprises a exclude filtering processing unit on the basis of the lower limit and the traveling direction The crop lodging degree evaluation device according to any one of up to 4. Any of claims 1 to 5, wherein the reference value of the speed of the harvesting agricultural machine is obtained based on the average value of the speed of the harvesting farm machine in the non-falling field or the non-falling part. The crop lodging degree evaluation device according to item 1. The lodging degree estimation unit
The crop lodging degree evaluation device according to claim 4, wherein the lodging degree is estimated based on the relationship between the standardized speed of the harvesting agricultural machine and the crop lodging degree in each of the plurality of fields. The lodging degree estimation unit
The crop lodging degree evaluation device according to claim 4, wherein the lodging degree is estimated based on the positional relationship between the standardized speed of the harvesting agricultural machine and the crop lodging degree. It is a method of evaluating the degree of lodging of crops using a harvesting agricultural machine equipped with a position measurement unit.
A position-specific speed data acquisition step for acquiring the speed of the harvesting agricultural machine at the position measured by the position measuring unit, and
Based on the standard value of the speed of the farm machine for harvesting obtained in advance, the speed of the farm machine for harvesting is standardized by performing the treatment under the standardization treatment conditions, and the standardization treatment step which is used as an index of the lodging degree of the crop is defined. A method for evaluating the degree of lodging of a crop, which is characterized by having. It is a method of evaluating the degree of lodging of crops using a harvesting agricultural machine equipped with a position measurement unit.
A position-specific speed data acquisition step for acquiring the speed of the harvesting agricultural machine at the position measured by the position measuring unit, and
Based on the reference value of the speed of the harvesting agricultural machine obtained in advance, the speed of the harvesting farming machine is standardized by performing the processing according to the standardized processing conditions stored in the standardized processing condition storage unit, and the crops fall down. With standardization processing steps as an index of degree
A method for evaluating the degree of lodging of a crop, which is characterized by having. It is a method of evaluating the degree of lodging of crops using a harvesting agricultural machine equipped with a position measurement unit.
A position-specific speed data acquisition step for acquiring the speed of the harvesting agricultural machine at the position measured by the position measuring unit, and
Based on the standard value of the speed of the agricultural machine for harvesting obtained in advance, the speed data for each position is used to reduce the influence of the standardization processing condition depending on the model or the worker stored in the standardization processing condition storage unit. The speed of the harvesting farm machine is standardized by removing the influence of the standardization processing conditions depending on the model or the worker from the speed of the harvesting farm machine acquired in the acquisition step, and is used as an index of the lodging degree of the crop. With standardization processing steps
A method for evaluating the degree of lodging of a crop, which is characterized by having. The crop lodging degree is estimated based on the relationship between the speed of the harvesting agricultural machine standardized by the standardization processing step, the standardized speed of the harvesting farm machine obtained in advance, and the crop lodging degree. The method for evaluating the degree of lodging of a crop according to any one of claims 9 to 11, which comprises a step of estimating the degree of lodging. A step that defines the range of the field by specifying the latitude and longitude of the apex of each field, and automatically determines in which field the GPS position-specific velocity data consisting of the position, speed, and direction was acquired. When,
Steps to add field data to the data after discrimination,
The crop lodging degree evaluation according to any one of claims 9 to 11, wherein the average of each field or the lodging degree of each point is estimated based on the data to which the data of the field is added. Method. A claim characterized by having a step of further reflecting the degree of lodging of the crop obtained by the step of estimating the degree of lodging in the relationship between the standardized speed of the agricultural machine for harvesting and the degree of lodging of the crop, which has been obtained in advance. Item 12. The method for evaluating the degree of lodging of a crop according to Item 12. A program for causing a computer to execute the lodging degree evaluation method according to any one of claims 9 to 14.

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