JP6996560B2 - Crop cultivation support device - Google Patents

Description

The present invention relates to a crop cultivation support device that supports the cultivation of crops.

The conventional crop cultivation support device is disclosed in Patent Document 1. This crop cultivation support device has a database, a growth curve generation unit, a key time extraction unit, a high-dimensional analysis model generation unit, a trend prediction unit, and a display unit. The database stores satellite data from time-series satellite images of multiple cycles of crop vegetation growth and meteorological data including time-series temperatures. The growth curve generator calculates the vegetation index of plants for each field and each season and the effective integrated temperature from a predetermined reference time based on the satellite data and meteorological data read from the database, and calculates the vegetation index vs. the effective integrated temperature. Create multiple vegetation growth curves to represent the target crops of the past multiple cycles for each field.

The key time extraction unit extracts a vegetation index (NDVI) for a predetermined key time indicating a vegetation-specific growth important time from the created vegetation growth curve. The high-dimensional analysis model generation unit plots the vegetation index of each key time for each vegetation growth curve on the high-dimensional vegetation analysis coordinates with multiple key-time vegetation indexes as each axis. Generate multiple targets for multiple cycles.

Based on multiple high-dimensional analysis models for the crops in the field to be predicted, the trend prediction unit follows the acquired key time vegetation index in the vegetation growth curve of the predicted year / prediction cycle, and predicts the unacquired key time vegetation. Find the index. As a result, the trend prediction unit predicts the vegetation growth curve after the acquisition of the target crop. As a result, the crop cultivation support device can predict the growth status and yield of the crop in the predetermined field.

Japanese Unexamined Patent Publication No. 2015-188333

In recent years, due to the diversification of crop cultivation methods, the growth status of crops may differ depending on the field, farmer, region, etc. even if the crops are of the same variety. For example, rice in a field where rice is cultivated with a lower amount of fertilizer than usual grows slower than rice in a field where rice is cultivated with a normal amount of fertilizer. Therefore, even if the vegetation growth curve of the crop is compared between the fields having different cultivation methods by using the above-mentioned conventional crop cultivation support device, the growth situation of the crop in each field can be predicted, but the field It is difficult to judge whether the situation is possible (presence or absence of abnormal parts). That is, it is difficult to make an absolute judgment about the condition of the field. Therefore, the user cannot accurately judge the condition of the field, and there is a problem that the usability of the crop cultivation support device is lowered.

An object of the present invention is to provide a crop cultivation support device capable of improving usability.

In order to achieve the above object, the crop cultivation support device according to one aspect of the present invention includes a cultivation information output unit that outputs predetermined cultivation information regarding the crop for each of a plurality of cultivation areas in which the crop is cultivated, and the cultivation information. A comparison unit that compares a predetermined standard range based on the correlation of a plurality of parameters with the cultivation information for each cultivation area, and whether or not the cultivation information is within the standard range based on the comparison result of the comparison unit. It is provided with a display unit for displaying each cultivation area.

According to the present invention, the crop cultivation support device has a cultivation information output unit that outputs predetermined cultivation information about the crop for each of a plurality of cultivation areas in which the crop is cultivated, and a predetermined standard range based on the correlation of a plurality of parameters including the cultivation information. It is provided with a comparison unit for comparing the cultivation information and the cultivation information for each cultivation area, and a display unit for displaying whether or not the cultivation information is within the standard range based on the comparison result of the comparison unit for each cultivation area. As a result, the user can easily recognize the cultivation area (cultivation area having an abnormal part) in a bad condition by making a relative judgment without making an absolute judgment about the condition of the field. Therefore, the usability of the crop cultivation support device can be improved.

It is a schematic block diagram which shows the crop cultivation support apparatus of 1st Embodiment of this invention. It is a block diagram which shows the structure of the crop cultivation support apparatus of 1st Embodiment of this invention. It is a figure which shows the generation process of the synthetic image of the crop cultivation support apparatus of 1st Embodiment of this invention. It is a top view which shows the image pickup process of the crop cultivation support apparatus of 1st Embodiment of this invention. It is a side view which shows the image pickup process of the crop cultivation support apparatus of 1st Embodiment of this invention. It is a figure which shows the defect detection process of the crop cultivation support apparatus of 1st Embodiment of this invention. It is a figure which shows the image synthesis process of the crop cultivation support apparatus of 1st Embodiment of this invention. It is a figure which shows an example of the display process of the crop cultivation support apparatus of 1st Embodiment of this invention. It is a figure which shows an example of the data display screen of the display part of the crop cultivation support apparatus of 1st Embodiment of this invention. It is a figure which shows an example of the display process of the crop cultivation support apparatus of 2nd Embodiment of this invention. It is a figure which shows an example of the data display screen of the display part of the crop cultivation support apparatus of the 2nd Embodiment of this invention.

<First Embodiment>
Hereinafter, embodiments of the present invention will be described with reference to the drawings. FIG. 1 is a diagram showing a schematic configuration of the crop cultivation support device of the first embodiment. The crop cultivation support device 1 is provided with an image pickup unit 2 and an information terminal 3 to support the cultivation of crop PL in a field FD (cultivation area). The field FD is, for example, a paddy field or a field having a substantially rectangular shape in a plan view and having ridges on all four sides and surrounded by the ridges.

The image pickup unit 2 is composed of, for example, a multispectral camera, and is attached to the flying object 4. The image pickup unit 2 has a visible image pickup unit 20 (see FIG. 2) and a near infrared image pickup unit 21 (see FIG. 2). The visible imaging unit 20 and the near-infrared imaging unit 21 are arranged at predetermined intervals in a plane parallel to the field FD.

The visible imaging unit 20 forms an image of visible light (visible image). The visible imaging unit 20 includes a first bandpass filter, a first imaging optical system, a first image sensor (optical sensor), a first digital signal processor, and the like (all not shown). The first bandpass filter transmits light in a relatively narrow band having a wavelength of 650 nm as a central wavelength, for example. The first imaging optical system forms an optical image of visible light to be measured that has passed through the first bandpass filter on a predetermined first imaging plane. The first image sensor is arranged so that the light receiving surface is aligned with the first imaging surface, detects light in a relatively narrow band having a wavelength of 650 nm contained in sunlight reflected by the field FD, and is a measurement target. Converts an optical image of visible light into an electrical signal. The first digital signal processor performs image processing on the output of the first image sensor to form a visible image.

The near-infrared imaging unit 21 forms an image of near-infrared light (near-infrared image). The near-infrared imaging unit 20 includes a second bandpass filter, a second imaging optical system, a second image sensor (optical sensor), and a second digital signal processor (all not shown). The second bandpass filter transmits light in a relatively narrow band having a predetermined wavelength of 750 nm or more (for example, a wavelength of 800 nm) as a central wavelength. The second imaging optical system forms an optical image of the near-infrared light to be measured that has passed through the second bandpass filter on a predetermined second imaging plane. The second image sensor is arranged so that the light receiving surface is aligned with the second imaging surface, detects light in a relatively narrow band having a wavelength of 800 nm contained in sunlight reflected by the field FD, and is a measurement target. Converts an optical image of near-infrared light into an electrical signal. The second digital signal processor performs image processing on the output of the second image sensor to form a near-infrared image. As the first image sensor and the second image sensor, for example, a VGA type (640 pixels × 480 pixels) image sensor can be used.

The imaging unit 2 may omit the near-infrared imaging unit 21 and may be configured by the visible imaging unit 20. In this case, the visible imaging unit 20 includes a first imaging optical system, a first image sensor, and R / G / B / Ir or W / Y / R / Ir arranged on the first image sensor. (See, for example, Japanese Patent No. 5168353). The above-mentioned "R", "G", and "B" are filters that mainly transmit red light, green light, and blue light, respectively. The above-mentioned "Ir" is a filter that mainly transmits near-infrared light. The "W" is a filter that mainly transmits white light, and the "Y" is a filter that mainly transmits yellow light.

The aircraft 4 is composed of an unmanned aerial vehicle (drone) capable of autonomous flight, and flies over the field FD. The air vehicle 4 has a housing 41 provided with a plurality of (for example, eight) horizontal rotary blades 42. The image pickup unit 2 is arranged in the housing 25 attached to the lower surface of the housing 41. The housing 25 is configured to be movable in a direction in which the lower surface having an opening (not shown) faces vertically downward and in a direction facing the front by a moving mechanism (not shown). As a result, the visible imaging unit 20 and the near-infrared imaging unit 21 can move in the direction facing vertically downward and the direction facing the front through the opening. Further, a plurality of leg portions 46 are projected downward from the lower surface of the housing 41. When the aircraft 4 lands, the legs 46 come into contact with the ground.

When the flight path, flight altitude, etc. are set for the flight object 4 by prior programming, the flight object 4 rotates the horizontal rotary wing 42 without the user maneuvering using a radio controller (not shown) or the like. Can fly autonomously. When the flying object 4 flies, the visible imaging unit 20 and the near-infrared imaging unit 21 face vertically downward. As a result, the visible imaging unit 20 and the near-infrared imaging unit 21 can move over the field FD to image the field FD. When the aircraft 4 lands, the visible imaging unit 20 and the near-infrared imaging unit 21 face the front direction. This makes it possible to prevent damage to the lenses (not shown) of the visible imaging unit 20 and the near-infrared imaging unit 21 due to collision with the ground. The flight body 4 may be configured to enable radio-controlled flight (guided flight) by the user.

Further, the flying object 4 may be, for example, a balloon, an airship, an airplane, a helicopter, or the like. Further, instead of the flying object 4, a lifting device (not shown) such as a crane that lifts the housing 25 from the ground may be used. At this time, the suspended housing 25 is moved in the horizontal direction.

The information terminal 3 is composed of, for example, a personal computer. The information terminal 3 is configured to be communicable with the flying object 4 and the image pickup unit 2 via the connection units 35 and 45 (see FIG. 2), and has a display unit 31 and an operation unit 32. The display unit 31 is composed of, for example, a liquid crystal panel or the like, and displays an operation menu, a communication status with the flying object 4, a composite image CI described later, a scatter plot 100 described later, maps 200, 210 described later, and the like. The operation unit 32 has a keyboard 32a and a mouse 32b, and receives and outputs various data input operations. The information terminal 3 may be configured by a mobile phone such as a smartphone or a tablet PC.

FIG. 2 is a block diagram showing the configuration of the crop cultivation support device 1. The information terminal 3 and the flying object 4 each have control units 39 and 49 including CPUs that control each unit. The control unit 39 and the control unit 49 are wirelessly connected via the connection units 35 and 45. A display unit 31, an operation unit 32, a storage unit 33, a synthesis unit 34, a connection unit 35, a defect detection unit 36, a growth index derivation unit 37, and a comparison unit 38 are connected to the control unit 39.

The storage unit 33 stores various programs and various data. Various programs include programs that control the overall operation of the information terminal 3. Various data include a visible image, a near infrared image, a captured image FI, a point image PI, a composite image CI, and the like. The captured image FI is an image formed based on both a visible image and a near-infrared image, or a near-infrared image in the present embodiment. The point image PI is an image of a point on the captured image FI. The point image PI is composed of one or a plurality of pixels, and the size of one point image PI is smaller than the size of one captured image FI. The composite image CI is an image formed by synthesizing a plurality of point image PIs, and in the present embodiment, for example, is an entire image of one field FD. Further, in the present embodiment, the captured image FI, the point image PI, and the composite image CI are formed by the NDVI image and the vegetation coverage image described later.

The synthesizing unit 34 forms the point image PIs based on a plurality of (six images in this embodiment) captured image FIs. Further, the synthesizing unit 34 synthesizes a plurality of point image PIs. As a result, the composite unit 34 forms the composite image CI.

Antennas (not shown) are provided at the connection portions 35 and 45. The connection units 35 and 45 transmit and receive communication data by wireless radio waves via an antenna. The communication data includes a visible image and a near-infrared image captured by the visible imaging unit 20 and the near-infrared imaging unit 21, respectively.

The defect detection unit 36 detects a defect region DR (see FIG. 6) having a defect described later on the captured image FI. The synthesizing unit 34 forms a point image PI excluding the defective region DR as described later.

The growth index derivation unit 37 derives a growth index indicating the growth state of the crop PL in the field FD based on the visible image captured by the visible imaging unit 20 and the near-infrared image captured by the near-infrared imaging unit 21. .. In this embodiment, NDVI (Normalized Difference Vegetation Index, Normalized Difference Vegetation Index) is used as a growth index. An NDVI image, which is an image displayed by NDVI, is formed based on a visible image and a near-infrared image. When the pixel value of the visible image is Rv and the pixel value of the near-infrared image is Ri, the pixel value of the NDVI image corresponding to the pixel value of the visible image and the near-infrared image corresponds to NDVI, and NDVI = (Ri-). It is expressed as Rv) / (Ri + Rv). The larger the NDVI, the thicker the vegetation.

For example, the pixel value at the pixel position (10, 15) of the NDVI image is derived from the pixel value at the pixel position (10, 15) of the visible image and the pixel value at the pixel position (10, 15) of the near-infrared image. In consideration of the parallax between the visible image pickup unit 20 and the near infrared image pickup unit 21, at least one of the pixel position of the visible image and the pixel position of the near infrared image is shifted so as to correct the parallax. Then, NDVI may be derived. Further, the first imaging optical system of the visible imaging unit 20 and the second imaging optical system of the near infrared imaging unit 21 have the same optical characteristics such as the angle of view and distortion.

In addition, as a growth index, RVI (Ratio Vegetation Index, ratio vegetation index, RVI = Ri / Rv), DVI (Difference Vegetation Index, differential vegetation index, DVI = Ri-Rv), TVI (Transformed Definition0. 5) ^0.5 ), IPVI (Infrared Percentage Vegetation Index, IPVI = Ri / (Ri + Rv) = (NDVI + 1) / 2) or the like may be used.

Further, in the present embodiment, in addition to NDVI, the vegetation coverage ratio indicating the ratio of the crop PL covering the ground surface of the field FD is used as a growth index. For example, the growth index derivation unit 37 performs binarization processing based on the near-infrared image of the field FD imaged by the near-infrared imaging unit 21 to form a white and black binarized image. At this time, the white part corresponds to the crop PL and the black part corresponds to the soil. Then, the growth index derivation unit 37 derives the vegetation coverage ratio indicating the proportion of the white portion in the binarized image. In the present embodiment, the image represented by the vegetation coverage rate is referred to as a vegetation coverage image.

The image pickup unit 2 and the growth index derivation unit 37 constitute a cultivation information output unit that outputs predetermined cultivation information regarding the crop PL.

The comparison unit 38 compares the standard range NR (see FIG. 9), which will be described later, based on the correlation between the NDVI (cultivation information, parameters) and the vegetation coverage rate (cultivation information, parameters), and the NDVI and the vegetation coverage rate for each field FD. do. Further, the comparison unit 38 derives an approximate curve AC (see FIG. 9) that approximates the relationship between the NDVI and the vegetation coverage, and sets the range of the predetermined deviation amount as the standard range NR.

A storage unit 43, a connection unit 45, a horizontal rotor 42, an azimuth measurement unit 47, and a position detection unit 48 are connected to the control unit 49 of the aircraft body 4. Further, a visible imaging unit 20 and a near infrared imaging unit 21 are connected to the control unit 49. The storage unit 43 stores the control program of the flying object 4 (including the autonomous flight program), the control program of the imaging unit 2, and various data. The various data stored in the storage unit 43 include flight data such as the flight path and altitude of the flying object 4.

The position detection unit 48 includes, for example, GPS (Global Positioning System). The GPS may be a GPS having a correction function for correcting an error such as DGPS (Differential GPS). The position detection unit 48 detects the position (latitude X, longitude Y, altitude Z) of the image pickup unit 2 (visible image pickup unit 20 and near infrared image pickup unit 21). The azimuth measuring unit 47 is composed of, for example, a 3-axis azimuth meter (3-axis geomagnetic sensor), and measures the azimuth of the imaging unit 2 on the earth. Further, the control unit 39 derives the position of the point image PI from the position, the angle of view, and the number of pixels of the image pickup unit 2.

FIG. 3 is a diagram showing a process of forming a composite image CI. The step of forming the composite image CI includes a photographing step, a growth index image forming step, a defect detection step, a point image forming step, and an image compositing step. In the present embodiment, the composite image CI will be described using an image of one field FD as an example. Since the composite image CI of the vegetation coverage image is also formed in the same manner, the formation of the composite image CI of the NDVI image will be described here as an example.

FIG. 4 is a plan view showing an imaging process. In the crop cultivation support device 1 having the above configuration, the flying object 4 autonomously flies by the rotation of the horizontal rotary blade 42 and reaches the sky above the field FD. The flying object 4 flies over the field FD at a set altitude H (30 m in this embodiment) and a set speed (15 km / h in this embodiment) in a zigzag manner as shown by the arrow FC. Specifically, the flying object 4 flies from one end in the longitudinal direction toward the other end along the longitudinal direction of the field FD, and when it reaches the other end, it reaches a predetermined distance along the lateral direction of the field FD. After flying, it repeats flying along the longitudinal direction toward one end in the longitudinal direction. While the flying object 4 is flying over the field FD, the visible imaging unit 20 and the near-infrared imaging unit 21 image the field FD.

FIG. 5 shows a side view of the imaging process. In FIG. 5, the illustration of the flying object 4 is omitted, and the arrow FC indicates the flight direction of the flying object 4 (moving direction of the imaging unit 2). In the imaging step, assuming that the angle of view α of the visible imaging unit 20 and the near infrared imaging unit 21 is 45 °, the imaging range D is a region of about 24.85 m × about 33.13 m. Then, when the imaging unit 2 captures one visible image and one near-infrared image per second, the same point SP on the field FD is imaged six times each. The visible image and the near-infrared image are transmitted to the control unit 39 via the connection units 45 and 35 and stored in the storage unit 33. At this time, each visible image and each near-infrared image are stored in the storage unit 33 in association with the position of the image pickup unit 2. After the imaging step, the process shifts to the growth index image forming step.

In the growth index image forming step, the NDVI is derived from the pixels of the visible image and the pixels of the near infrared image by the growth index derivation unit 37. As a result, a captured image FI which is an NDVI image is formed. The NDVI image is color-coded by R, G, and B according to the NDVI. For example, in an NDVI image, the NDVI decreases in the order of R, G, and B. After the growth index image forming step, the process shifts to the defect detection step.

When forming a vegetation coverage image represented by a vegetation coverage rate, the vegetation coverage rate is derived by the growth index derivation unit 37 in the growth index image forming step. As a result, a captured image FI, which is a vegetation coverage image, is formed. The vegetation coverage image is color-coded by R, G, and B according to the vegetation coverage. For example, in the vegetation coverage image, the vegetation coverage decreases in the order of R, G, and B.

FIG. 6 is a diagram showing a plurality of (six images in this embodiment) captured image FI in which the same point SP is captured in the defect detection step. The same point SP is imaged in the captured images FI of "A" to "F". The imaging timings of the captured images FI of "A" to "F" are different from each other, and they are arranged in chronological order in the order of "A" to "F". For example, when the field FD is a paddy field, the sun reflected on the water surface during the photographing process may be reflected in the visible image and the near infrared image. For this reason, a defective region DR may occur on the captured image FI, which has a defect due to the reflection of the sun.

Further, in the imaging process, for example, the orientation of the housing 25 accommodating the imaging unit 2 may be temporarily changed to the front direction (direction other than the field FD) due to a malfunction of the moving mechanism or the like. In this case, the region when the orientation of the imaging unit 2 is changed on the captured image FI is the defective region DR.

Further, in the imaging process, for example, the appearance of the crop PL lying down due to wind or the like may be reflected in the visible image and the near infrared image. In this case, the region where the crop PL has fallen on the captured image FI is the defective region DR.

In addition, a shading error may occur in which the NDVI (characteristic value) of the peripheral portion Ph of the captured image FI is lower than that of the NDVI of the central portion CP. In this case, the region of the peripheral portion Ph of the captured image FI becomes the defective region DR.

Further, as described above, the visible imaging unit 20 and the near infrared imaging unit 21 are arranged at a predetermined distance. Therefore, an error may occur due to the deviation between the visible pixel and the near-infrared pixel due to the parallax between the visible image pickup unit 20 and the near-infrared image pickup unit 21. In this case, the region where the deviation amount is larger than the predetermined value is the defective region DR.

The NDVI of the defective region DR in the above example shows a lower value than the NDVI of another region (region that is not the defective region DR) without defects. Therefore, if a plurality of point image PIs are combined using the NDVI of the defective region DR, the quality of the combined image CI deteriorates. Therefore, the defect detection unit 36 detects the defect region DR on the captured image FI, and the synthesis unit 34 forms the point image PI excluding the defect region DR detected by the defect detection unit 36. In the present embodiment, the defect detection unit 36 detects the defect region DR by relatively comparing the NDVIs of a plurality of regions divided within one captured image FI.

For example, when the sun reflected on the water surface of the field FD is reflected in the captured images FI of "A" to "F" obtained by imaging the same point SP shown in FIG. 6, the defect detection unit 36 is the region where the sun is reflected. Is detected as a defective area DR. At this time, the region image Pr of a predetermined region including the same point SP on the captured image FI of "C" overlaps with the defective region DR. The size (range) of the region image Pr is smaller than the size (range) of the captured image FI.

Next, the synthesizing unit 34 uses the remaining 5 region image Prs to include the same location SP without using the region image Pr of "C" for the 6 region image Prs including the same location SP. The average value of NDVI of each pixel in the image Pr is derived. As a result, a point image PI (see FIG. 7) of the same point SP from which the defective region DR is removed is formed. Similarly, for the other area image Pr of the same point SP, the point image PI from which the defective area DR is removed is formed. As a result, a plurality of point image _PINs (see FIG. 7) from which the defective region DR is removed are formed. Note that "N" is a serial number assigned to each of the plurality of point image PIs, and is an integer from 1 to K when the total number of the plurality of point image PIs is K.

In the present embodiment, when the defective region DR is not detected for the six region image Prs including the same spot SP, the synthesis unit 34 uses all the six region image Prs and the region image Pr including the same spot SP. The average value of the NDVI of each pixel in the is derived. If the NDVI of the defective region DR can be corrected by the image correction of the region image Pr, the corrected region image Pr may be used.

Next, an image synthesizing step of synthesizing a plurality of point image PIs to form a composite image CI will be described. The synthesizing unit 34 derives an image transformation matrix for affine transformation based on the latitude X _N , the longitude Y _N , the altitude Z _N , and the azimuth θ _N in each of the plurality of point image _PINs from which the defective region DR has been removed. .. Each of the plurality of point image PINs is the latitude X _N of the visible image pickup unit 20 and the near infrared image pickup unit 21 _at the time of imaging each of the visible image and the near infrared image used in forming the point image _PIN . , Longitude Y _N , altitude Z _N , and azimuth θ _N. The synthesizing unit 34 performs an affine transformation on each of the plurality of point image P _INs based on the latitude X _N , the longitude Y _N , the altitude Z _N , and the direction θ _N of the point image _{P IN} . .. As a result, the pixel position of the point image PI is converted into the pixel position in the composite image CI.

FIG. 7 shows a diagram for explaining the image composition process. The upper part of FIG. 7 shows a plurality of point image _PINs , and the lower part of FIG. 7 shows the coordinate system of the composite image CI. As is known, an affine transformation is a transformation that combines a linear transformation and a translation (translation), and is expressed by Equation 1 (for example, "What is an affine transformation?", [Online], [May 15, 2017]. Day search], Internet (URL: http://d.hatena.ne.jp/Zellij/20120523/p1)).

The column vector (x, y) on the right side in Equation 1 is the pixel position in the point image PI as shown in the upper part of FIG. 7 (x = x _N , y = y _N in the _Nth point image PIN). The column vector (x', y') indicates the pixel position in the coordinate system of the composite image CI as shown in the lower part of FIG. 7. The 2-by-2 matrix consisting of the components a, b, c, and d of 1-by-1 column, 1-by-2 column, 2-by-1 column, and 2-by-2 column in the first term on the right side of Equation 1 is a transformation matrix of rotation. It represents R (θ), and the column vector (t _x , _ty ) in the second term on the right side of Equation 1 represents a translation (parallel movement) transformation matrix.

Each component a, b, c, d in the transformation matrix R (θ) of rotation is given by the mathematical formula 2 from the value θ of the direction measuring unit 47 (θ = θ _N in the _Nth point image PIN). If the actual altitude of the imaging unit 2 during the imaging process is different from the reference altitude (set altitude H, see FIG. 5), the actual altitude of the imaging unit 2 during the imaging process is shown in the rotation matrix R (θ). The scaling factor according to the actual altitude at the time of the imaging process is multiplied so as to be equivalent to the reference altitude. For example, the component a is a value obtained by multiplying cos θ by a scaling coefficient.

Then, each component t _x and _ty in the translation (translation) transformation matrix is given by the formulas 3 and 4. In Equations 3 and 4, the angle φ [rad] between the distance d [m] from the origin (0,0) in the coordinate system of the composite image CI and the horizontal direction (x-axis) is derived from the latitude X and the longitude Y. And convert it to the number of pixels.

The coefficient k in the formulas 3 and 4 is a coefficient for converting a meter into the number of pixels. For example, when the number of pixels of the first image sensor and the second image sensor is 480 pixels, the coefficient k = 24.85 [m] / 480 [pixels] ≈0.052 [m / pixel]. Further, methods for calculating the distance d [m] and the angle φ [rad] are known and are given by the formulas 5 and 6 (for example, "distance and azimuth between two points", [online], [2017 5]. Search on 22nd of March], Internet (URL: http://keisan.casio.jp/exec/system/125767079).

Note that X1 and Y1 in Equations 5 and 6 are the latitude and longitude of point A, respectively, and X2 and Y2 in Equations 5 and 6 are the latitude and longitude of point B, respectively. R in Equation 5 is the equatorial radius (= 6378.137 km) when the earth is regarded as a sphere. Here, the point A or the point B is the origin (0,0) in the coordinate system of the composite image CI.

Further, the rotation matrix of Equation 1 and the transformation matrix of translation (translation) can be combined into a single matrix M (matrix of 3 rows and 3 columns) and expressed as Equation 7.

When actually obtaining the NDVI of the pixel at the position (x', y') after conversion, first derive M ^-1 , which is the inverse matrix of the matrix M, and then (x', y') after conversion. Corresponding position (x, y) of is derived by the formula 8.

Then, the NDVI that is interpolated (linear interpolation, etc.) by the NDVI of the pixel at the position (x, y) before conversion obtained by Equation 8 or the NDVI of a plurality of pixels existing in the vicinity of the position is converted to the position (x') after conversion. , Y') is determined as the NDVI of the pixel.

By the above-mentioned synthetic image CI forming step, an entire image of one field FD can be obtained. It should be noted that the entire image can be obtained in the same manner for other field FDs.

Next, a display step of displaying whether or not the NDVI (cultivation information) and the vegetation coverage (cultivation information) are within the standard range NR on the display unit 31 for each field FD (cultivation area) will be described. FIG. 8 is a diagram showing a display process. FIG. 9 is a diagram showing an example of a data display screen DS displayed on the display unit 31 when the display process is completed. The display step includes a reading step, an approximate curve derivation step, a standard range determination step, a scatter plot forming step, and a map forming step.

In the reading step, the comparison unit 38 reads the NDVI and the vegetation coverage rate corresponding to all the pixels of the composite image CI of the plurality of field FDs (in this embodiment, the field FDs of # 1 to # 12) from the storage unit 33. In the field FDs of # 1 to # 12, crops PL of the same variety (for example, Koshihikari rice) are cultivated, and the cultivation method is the same. In the approximate curve derivation step, the comparison unit 38 derives the average value of the NDVI and the vegetation coverage rate for each field FD. Then, for a plurality of field FDs, an approximate curve AC (including an approximate straight line) is derived using, for example, the least squares method based on the average value of the NDVI and the average value of the vegetation coverage of each field FD. That is, the comparison unit 38 derives an approximate curve AC that approximates the relationship between the two parameters (NDVI, vegetation coverage). In this embodiment, the approximate curve AC that approximates the relationship between the two parameters (NDVI, vegetation coverage) is an approximate straight line.

In the standard range determination step, the comparison unit 38 determines the range of a predetermined deviation amount from the approximate curve AC as the standard range NR (the region surrounded by the broken line in FIG. 9). The amount of deviation is, for example, the distance from the approximate curve AC. That is, the standard range NR is based on the correlation between the NDVI (parameter) and the vegetation coverage (parameter). Depending on the type of parameter, the approximate curve AC may be expressed by a quadratic function or the like instead of a linear function. In this case, the squared value of the parameter is referred to as a "parameter".

In the scatter plot forming step, the display unit 31 forms a scatter plot 100 having the NDVI and the vegetation coverage as the coordinate axes. Scatter plot 100 is represented by two-dimensional Cartesian coordinates with NDVI and vegetation coverage as the horizontal and vertical axes, respectively. At this time, the display unit 31 displays the field FDs of # 2 and # 4 whose NDVI and vegetation coverage are within the standard range NR by triangular markings (marking), and # 3 and # 10 whose NDVI and vegetation coverage are within the standard range NR. Field FDs are indicated by square markings, and field FDs of # 5, # 6, and # 9 whose NDVI and vegetation coverage are within the standard range NR are indicated by circles (marking). That is, the display unit 31 displays the NDVI and the field FD having a low vegetation coverage, the field FD having a medium vegetation coverage, and the field FD having a high vegetation coverage within the standard range NR by triangle marks, square marks, and circle marks, respectively. This allows the user to easily recognize the difference in the growth rate of the crop PL in the field FD within the standard range NR. In Scatter Plot 100, the NDVI and vegetation coverage of the field FD within the standard range NR are more likely to move along the approximate curve AC due to changes in the amount of fertilizer, etc., and are abnormal in the field FD within the standard range NR. The possibility of a location (eg soil erosion, water gate failure, etc.) is low.

In addition, the display unit 31 may display all the field FDs within the standard range NR with the same mark.

Further, the display unit 31 displays the field FDs of # 1, # 7, and # 8 whose NDVI and vegetation coverage are outside the standard range NR by a diamond mark (marking), and # 11, whose NDVI and vegetation coverage are outside the standard range NR. The field FD of # 12 is displayed by a star-shaped mark (marking). That is, the display unit 31 displays the NDVI and the field FD whose vegetation coverage is within the standard range NR and the field FD outside the standard range NR by different markings.

In the map forming step, the display unit 31 represents the NDVI and the vegetation coverage rate based on the composite image CI (NDVI image and vegetation coverage image) of the field FDs # 1 to # 12 stored in the storage unit 33. Maps 200 and 210 (see FIG. 9) of the field FDs 1 to # 12 are formed, respectively. In the map 200, the NDVI increases in the order of the contour lines A1, A2, and A3, and in the map 210, the vegetation coverage rate increases in the order of the contour lines B1, B2, and B3. The maps 200 and 210 are formed by using an affine transformation or the like. The data of the scatter plot 100 and the maps 200 and 210 are stored in the storage unit 33.

In addition, the display unit 31 displays markings on the field FD in the maps 200 and 210 where the NDVI and the vegetation coverage rate are outside the standard range NR. In this embodiment, a diamond mark is displayed on the field FDs of # 1, # 7, and # 8 of maps 200 and 210, and stars are displayed on the field FDs of # 11 and # 12 of maps 200 and 210 as in the scatter plot 100. The sign is displayed.

Scatter plots 100 and maps 200, 210 allow the user to easily recognize that the NDVI and vegetation coverage of the field FDs # 1, # 7, # 8, # 11, # 12 deviate from the standard range NR. Can be done. That is, in the field FDs of # 1, # 7, # 8, # 11, and # 12, the growth state of the crop is different from the growth state of the crop PL predicted in the field FDs of # 1 to # 12, and the user It can be easily recognized that the condition of the field FD is bad (there is an abnormal part in the field FD). Then, the user can take measures for the field FDs of # 1, # 7, # 8, # 11, and # 12. Countermeasures include, for example, changing the time of fertilizer application, checking the soil in the field FD, and inspecting the irrigation canals and floodgates that supply water to the field FD.

Further, the display unit 31 displays the field FDs of # 1, # 7, and # 8 above the approximate curve AC and # 11 below the approximate curve AC in FIG. 9 for the field FDs outside the standard range NR. The field FD of # 12 is indicated by a different marking. As a result, the user can easily recognize that the measures to be taken for the field FDs of # 1, # 7, and # 8 and the measures to be taken for the field FDs of # 11 and # 12 are different. can.

Specifically, in the field FDs of # 11 and # 12, the planting coverage is low with respect to the height of NDVI, and the user can expect that the rooting will be poor due to, for example, a decrease in temperature after planting the seedlings, which is within the standard range NR. It is possible to take measures to spray the same amount of fertilizer as the fertilizer amount (standard amount) of the field FD in the field FD at a later time than the field FD within the standard range NR. On the other hand, in the field FDs of # 1, # 7, and # 8, the NDVI is low with respect to the high vegetation coverage, and the user can predict that, for example, the number of stems is large but the chlorophyll concentration of the leaves is low, which is within the standard range NR. It is possible to take measures to spray the same amount of fertilizer as the amount of fertilizer (standard amount) of the field FD earlier than the field FD within the standard range NR. The "fertilizer amount" indicates the amount of fertilizer per 1 m ² .

Further, in the present embodiment, the scatter plot 100 and the maps 200 and 210 are simultaneously listed on the display unit 31. Thereby, the user can easily grasp the situation of each field FD and the position of the field FD having the abnormal portion.

Although NDVI and vegetation coverage are used as parameters in this embodiment, one parameter may consist of NDVI or a growth index of vegetation coverage, and the other parameter may consist of time such as month or year.

Further, in the present embodiment, the scatter plot 100 is represented by two-dimensional Cartesian coordinates, but instead of this, one-dimensional coordinates using the average value of the growth index such as NDVI in the field FD unit, the farm unit unit, and the area unit. May be represented by.

Further, the image pickup unit 2 may be configured by a far-infrared camera or the like to capture a thermal image of the field FD. The higher the temperature value (growth index, parameter) of the thermal image, the greater the transpiration of the leaves of the crop PL, and between the temperature value of the thermal image and the disease and root tension (nutrient absorption rate) of the crop PL. Has a positive correlation.

Further, a three-dimensional measuring instrument (for example, a scan-type laser range finder) using LIDAR (Laser Imaging Detection and Ringing) technology may be used, and the plant height (height information) of the crop PL may be used as a growth index and a parameter.

According to this embodiment, the image pickup unit 2 (cultivation information output unit) that outputs the NDVI (cultivation information, parameters) and the vegetation coverage rate (cultivation information, parameters) regarding the crop PL for each of a plurality of field FDs (cultivation areas) in which the crop PL is cultivated. ) And the growth index derivation unit 37 (cultivation information output unit), and the comparison unit 38 that compares the standard range NR, NDVI, and vegetation coverage rate based on the correlation between NDVI and vegetation coverage rate for each field FD, and the comparison unit 38. Based on the result, the NDVI and the display unit 31 for displaying whether or not the vegetation coverage is within the standard range NR for each field FD are provided. This allows the user to easily recognize the NDVI and the field FD whose vegetation coverage deviates from the standard range NR. Therefore, the user can easily determine whether or not the condition of each field FD is possible, and can take measures for the field FD in a bad condition (having an abnormal portion or the like). As a result, the usability of the crop cultivation support device 1 can be improved.

In the present embodiment, the display unit 31 displays by field FD, but may be displayed by farmer or region.

Further, the cultivation information output unit is based on the detection results of the first and second image sensors (optical sensors) and the first and second image sensors that detect the light of a predetermined wavelength contained in the sunlight reflected by the field FD. It has an NDVI (growth index) indicating the growth state of the crop PL in the field FD and a growth index deriving unit 37 for deriving the vegetation coverage rate (growth index), and the cultivation information regarding the crop consists of the NDVI and the vegetation coverage rate. Thereby, the user can grasp the situation of the field FD more accurately by using the growth index.

Further, the display unit 31 forms a scatter diagram 100 having NDVI (parameter) and vegetation coverage (parameter) as coordinate axes. The display unit 31 displays the NDVI and the field FD whose vegetation coverage is within the standard range NR and the field FD outside the standard range NR by different markings. This allows the user to more easily recognize the field FD in poor condition.

The display unit 31 may display the NDVI and the field FD whose vegetation coverage is within the standard range NR and the field FD outside the standard range NR by marking different colors. For example, the field FD within the standard range NR may be indicated by black marking, and the field FD outside the standard range NR may be indicated by red marking.

Further, the display unit 31 forms maps 200 and 210 of a plurality of field FDs. The display unit 31 displays markings on the field FD whose NDVI and vegetation coverage are outside the standard range NR. As a result, the user can easily grasp the position of the field FD in poor conditions. In addition, the user can predict whether or not the abnormal portion of the field FD in a bad condition is caused by the position of the field FD.

Further, the comparison unit 38 derives an approximate curve AC that approximates the relationship between the NDVI (parameter) and the vegetation coverage (parameter), and sets the range of a predetermined deviation amount from the approximate curve AC as the standard range NR. Thereby, the standard range NR can be easily determined.

In addition, NDVI (parameter) and vegetation coverage (parameter) consist of cultivation information regarding crop PL. Thereby, the standard range NR based on the correlation of the parameters related to the crop PL can be determined, and the user can more accurately judge whether or not the condition of the field FD is possible.

In addition, one parameter may consist of cultivation information, and the other parameter may consist of time such as month or year. As a result, the user can more accurately determine whether or not the condition of the field FD is possible in chronological order.

In addition, the visible imaging unit 20 (imaging unit) and near-infrared imaging unit 21 (imaging unit) that move over the field FD (cultivation area) where the crop PL is cultivated to image the field FD, and the visible imaging unit 20 and Based on the position detection unit 48 that detects the position of the near-infrared imaging unit 21, and the plurality of captured image FIs that image the point image PI of the same point SP of the field FD by the visible imaging unit 20 and the near-infrared imaging unit 21. It is provided with a compositing unit 34 for forming and synthesizing a plurality of point image PIs. Further, a defect detection unit 36 for detecting a defect region DR having a defect on the captured image FI is provided, and a point image PI is formed by excluding the defect region DR detected by the defect detection unit 36 by the synthesis unit 34.

As a result, a point image PI from which the defective region DR is removed is formed, and a plurality of point image PIs are combined. Therefore, the quality of the composite image of the entire field FD is improved, and it is possible to provide an image useful for determining the growth state of the crop PL.

Further, the defect detection unit 36 detects the defect region DR by relatively comparing the NDVIs (characteristic values) of a plurality of regions divided within one captured image FI. As a result, the defect detection unit 36 can easily detect the defect region DR.

The defect detection unit 36 may detect the defect region DR by relatively comparing the NDVIs (characteristic values) of the plurality of regions with respect to the same point SP of the plurality of captured image FIs. Even in this case, the defect detection unit 36 can easily detect the defect region DR.

Further, the defect detection unit 36 may detect the defect region DR by comparing the characteristic values of a plurality of regions divided in one captured image FI with a predetermined threshold value. Even in this case, the defect detection unit 36 can easily detect the defect region DR.

Further, the defect detection unit 36 may determine the peripheral portion Ph of each captured image FI as the defect region DR. As a result, it is possible to easily prevent the quality deterioration of the composite image CI due to the shading error in which the NDVI of the peripheral portion Ph of the captured image FI is lower than the NDVI of the central portion CP.

Further, it has a visible imaging unit 20 for capturing a visible image and a near-infrared imaging unit 21 for capturing a near-infrared image, and the defect detection unit 36 includes pixels of the visible image and pixels of the near-infrared image. A region in which the deviation amount is larger than a predetermined amount may be determined as a defective region DR. Thereby, it is possible to easily prevent the quality deterioration of the composite image CI due to the error due to the deviation between the visible pixel and the near infrared pixel due to the parallax between the visible image pickup unit 20 and the near infrared image pickup unit 21.

Further, the control unit 39 derives the position of the point image PI based on the positions, the angle of view, and the number of pixels of the visible imaging unit 20 and the near infrared imaging unit 21. Thereby, the position of the point image PI can be easily derived.

The information terminal 3 may be connected to a predetermined network such as the Internet, and a storage unit for storing the captured image FI, the point image PI, and the composite image CI may be provided on the network. As a result, the capacity of the storage unit 33 can be reduced.

<Second Embodiment>
Next, a second embodiment of the present invention will be described. FIG. 10 is a diagram showing a display process of the crop cultivation support device 1 of the second embodiment. FIG. 11 is a diagram showing an example of the data display screen DS of the display unit 31 of the second embodiment. For convenience of explanation, the same parts as those in the first embodiment shown in FIGS. 1 to 9 are designated by the same reference numerals. In the present embodiment, the coordinate axes of the scatter plot 100 displayed on the display unit 31 are different from those of the first embodiment. Further, in the first embodiment, both the maps 200 and 210 are displayed on the display unit 31, but in the present embodiment, only the map 200 is displayed. Other parts are the same as those in the first embodiment.

The display step of this embodiment includes a cultivation information input step, an approximate curve reading step, a standard range determination step, a scatter plot forming step, and a map forming step. In the cultivation information input step, the yield difference (cultivation information, parameter) and the fertilizer application amount difference (cultivation information, parameter) of the field FDs # 1 to # 12 are input via the operation unit 32. That is, the operation unit 32 receives and outputs the input operation of the yield difference and the fertilizer application amount difference. As a result, the cultivation information output unit has an operation unit 32. The difference in yield indicates the difference in yield (unit: kg / field) of the crop PL for the last two years to be compared, and the difference in fertilizer application amount is the difference in the amount of fertilizer applied (amount of fertilizer sprayed) in the last two years to be compared (unit: kg). / M ² ) is shown.

In the present embodiment, the correlation between the yield difference and the fertilizer application amount difference is known, and the approximate curve AC that approximates the relationship between the yield difference and the fertilizer application amount difference is stored in advance in the storage unit 33. In the approximate curve reading step, the comparison unit 38 reads the approximate curve AC that approximates the relationship between the yield difference and the fertilizer application amount difference from the storage unit 33. In the standard range determination step, as in the first embodiment, the comparison unit 38 determines the range of a predetermined deviation amount from the approximate curve AC as the standard range NR.

In the scatter plot forming step, the display unit 31 forms a scatter plot 100 having the yield difference and the fertilizer application amount difference as the coordinate axes. The scatter plot 100 is represented by two-dimensional Cartesian coordinates with the fertilizer application amount difference and the yield difference as the horizontal axis and the vertical axis, respectively. At this time, the display unit 31 displays the field FDs of # 2 to # 6, # 9, and # 10 whose yield difference and fertilizer application amount difference are within the standard range NR by white circles (marking). Further, the display unit 31 displays the field FDs of # 1, # 7, # 8, # 11, and # 12 outside the standard range NR by black circles (marking). That is, the display unit 31 displays the field FD in which the yield difference and the fertilizer application amount difference are within the standard range NR and the field FD outside the standard range NR by different markings.

In the map forming step, the display unit 31 creates the current map 200. Then, as in the first embodiment, the display unit 31 displays a black circle mark on the field FD of # 1, # 7, # 8, # 11, and # 12 whose NDVI is outside the standard range NR.

According to this embodiment, the same effect as that of the first embodiment can be obtained. Further, the cultivation information output unit has an operation unit 32 that accepts and outputs an input operation of a yield difference (cultivation information) and a fertilizer application amount difference (cultivation information). As a result, the user can input desired cultivation information, and the display unit 31 can display whether or not the cultivation information is within the standard range NR for each field FD.

Further, an approximate curve AC that approximates the relationship between the yield difference (parameter) and the fertilizer application amount difference (parameter) is stored in the storage unit 33 in advance, and the comparison unit 38 sets a range of a predetermined deviation amount from the approximate curve AC as a standard range. Let it be NR. Thereby, the known correlation of a plurality of parameters can be utilized, and the approximate curve derivation step of the first embodiment can be omitted.

In the second embodiment, the display unit 31 may display both the maps 200 and 210, or may display the map 210 instead of the map 200.

Further, in the first embodiment and the second embodiment, the display unit 31 displays a list of the scatter plot 100 and the map 200 at the same time, but the scatter plot 100 alone may be displayed or only the map 200 may be displayed. good. It is more desirable that the display unit 31 displays the scatter plot 100 and the map 200 in a list at the same time because the user can easily grasp the situation of the field FD and the position of the field FD having the abnormal portion.

<Others>
The crop cultivation support device of each embodiment described above may be expressed as follows.

That is, the crop cultivation support device described above has a predetermined cultivation information output unit that outputs predetermined cultivation information regarding the crop for each of a plurality of cultivation areas in which the crop is cultivated, and a predetermined cultivation information based on the correlation of a plurality of parameters including the cultivation information. A comparison unit that compares the standard range and the cultivation information for each cultivation area, and a display unit that displays whether or not the cultivation information is within the standard range for each cultivation area based on the comparison result of the comparison unit. To prepare for.

In the crop cultivation support device having the above configuration, the cultivation information output unit detects the light of a predetermined wavelength contained in the sunlight reflected in the cultivation area, and the cultivation area based on the detection result of the optical sensor. It is preferable that the cultivation information includes the growth index and the growth index deriving unit for deriving the growth index indicating the growth state of the crop in the crop.

In the crop cultivation support device having the above configuration, it is preferable that the cultivation information output unit has an operation unit that receives and outputs an input operation of the cultivation information.

In the crop cultivation support device having the above configuration, the display unit forms a scatter plot having a plurality of the parameters as coordinate axes, and the cultivation area in which the cultivation information is within the standard range and the cultivation area outside the standard range are divided. It is preferable to display with different markings.

In the crop cultivation support device having the above configuration, it is preferable that the display unit forms a map of a plurality of the cultivation areas and displays a predetermined marking on the cultivation area where the cultivation information is outside the standard range.

In the crop cultivation support device having the above configuration, it is preferable that the comparison unit derives an approximate curve that approximates the relationship between the plurality of parameters, and the range of a predetermined deviation amount is set as the standard range from the approximate curve.

In the crop cultivation support device having the above configuration, it is preferable that an approximate curve that approximates the relationship between the plurality of parameters is stored in advance, and the comparison unit sets a range of a predetermined deviation amount from the approximate curve as the standard range.

In the crop cultivation support device having the above configuration, it is preferable that the plurality of parameters each consist of the cultivation information.

In the crop cultivation support device having the above configuration, it is preferable that one of the parameters consists of the cultivation information and the other parameter consists of time.

Although the embodiments of the present invention have been described above, the scope of the present invention is not limited to this, and various modifications can be made without departing from the gist of the invention.

The present invention can be used as a crop cultivation support device that supports the cultivation of crops.

1 Crop cultivation support device 2 Imaging unit 3 Information terminal 4 Flying object 20 Visible imaging unit 21 Near infrared imaging unit 31 Display unit 32 Operation unit 33 Storage unit 34 Synthesis unit 35 Connection unit 36 Defect detection unit 37 Growth index derivation unit 38 Comparison Part 43 Storage part 45 Connection part 48 Position detection part 100 Scatter plot 200, 210 Map DR Defect area FD Field FI Captured image PI Point image PL Crop SP Same point

Claims (6)

A cultivation information output unit that outputs predetermined cultivation information about crops for each of multiple cultivation areas in which crops are cultivated,
A comparison unit that compares a predetermined standard range based on the correlation of two parameters including the cultivation information and the cultivation information for each cultivation area.
A display unit that displays whether or not the cultivation information is within the standard range based on the comparison result of the comparison unit for each cultivation area.
Equipped with
The cultivation information consists of a growth index indicating the growth state of the crop in the cultivation area.
The growth index includes any index of NDVI, RVI, DVI, TVI, and IPVI calculated from a visible image and an infrared image, a vegetation coverage rate, a temperature value of a thermal image of the cultivation area, and the crop. It is one of the plant height and
The two parameters consist of two types of cultivation information.
The comparison unit derives an approximate curve that approximates the relationship between the two parameters, and sets a range of a predetermined deviation amount as the standard range from the approximate curve, and is a crop cultivation support device. The display unit forms a scatter plot with the two parameters as coordinate axes, and the cultivation information displays the cultivation area within the standard range and the cultivation area outside the standard range by different markings. Crop cultivation support device described in. The crop cultivation support device according to claim 1 or 2, wherein the display unit forms a map of a plurality of the cultivation areas, and the cultivation information displays a predetermined marking on the cultivation area outside the standard range. A cultivation information output unit that outputs predetermined cultivation information about crops for each of multiple cultivation areas in which crops are cultivated,
A comparison unit that compares a predetermined standard range based on the correlation of two parameters including the cultivation information and the cultivation information for each cultivation area.
A display unit that displays whether or not the cultivation information is within the standard range based on the comparison result of the comparison unit for each cultivation area.
With a memory
The two parameters consist of two types of cultivation information.
The cultivation information output unit has an operation unit that accepts and outputs an input operation of a yield difference indicating a difference in crop yield for two years to be compared and a fertilizer application amount difference indicating a difference in fertilizer application amount for two years to be compared. The two types of cultivation information consist of the yield difference and the fertilizer application amount difference.
The storage unit stores in advance an approximate curve that approximates the relationship between the yield difference and the fertilizer application amount difference.
When the yield difference and the fertilizer application amount difference are input via the operation unit,
The comparison unit is a crop cultivation support device that reads the approximate curve from the storage unit and determines a range of a predetermined deviation amount as a standard range from the approximate curve. 4. The display unit forms a scatter plot with the two parameters as coordinate axes, and the cultivation information displays the cultivation area within the standard range and the cultivation area outside the standard range by different markings. Crop cultivation support device described in. The crop cultivation support device according to claim 4 or 5, wherein the display unit displays whether or not the yield difference and the fertilizer application amount difference are within the standard range for each cultivation area.

Images