JP7225002B2 - Spraying support device and spraying support system - Google Patents

Description

The present invention relates to a spraying support device and a spraying support system.

2. Description of the Related Art Conventionally, a technique disclosed in Patent Document 1 is known as a technique for setting the amount of fertilizer to be applied to a field.
The method for setting the amount of fertilizer applied in Patent Document 1 includes a yield difference calculation step of calculating a yield difference, which is the difference between the target grain yield and the actual value of the grain yield, and the target taste value of the grain and the actual value of the taste value. and a taste difference calculation step of calculating a taste difference that is the difference between the yield difference and the taste difference calculated in the taste difference calculation step. Fertilizer application amount is set by inputting to a terminal or the like.

JP 2013-234935 A

In the fertilization amount setting method of Patent Literature 1, the amount of fertilization is calculated by inputting a weighted value into a mobile terminal, focusing on the fact that there is a trade-off relationship between yield and taste. The fertilizer application amount setting method of Patent Document 1 is a very useful technique because the fertilizer application amount can be appropriately set. However, when the crops are harvested, the crops may topple over, resulting in a decrease in yield. In such cases, it may be difficult to set an appropriate application amount based on the yield.

In view of the above problems, an object of the present invention is to provide a spraying support device and a spraying support system that can set the amount of spraying according to the lodging degree of crops.

The technical means of the present invention for solving this technical problem are characterized by the following points.
The spraying support device includes a division setting unit that divides a field into a plurality of sections, a spraying rate setting section that sets a spraying rate for each of the plurality of sections, and a degree of fall of crops planted in the field. A lodging degree acquisition unit that acquires a lodging degree divided into a plurality according to the degree for each of the plurality of sections, and a planned application amount of the material to be applied to the field, which is set by the application amount setting unit. and a storage unit for storing spraying limit information indicating the correspondence relationship between the lodging degree divided into the plurality of categories and a correction coefficient that limits the upper limit of the spraying amount. Then, the correction coefficient for each of the plurality of sections corresponding to the lodging degree for each of the plurality of sections acquired by the lodging degree acquisition unit is specified using the spraying limit information, and the application amount acquisition unit acquires a spray amount correction unit that corrects the planned spray amount for each of the plurality of sections by multiplying the planned spray amount for each section by the correction coefficient for each section; and a spraying amount output unit that outputs a corrected spraying amount that is the scheduled spraying amount of the above, and the spraying limit information is the lodging degree of two or more sections on the minimum side among the plurality of divided lodging degrees. The lodging degree is within the standard, the other multiple categories are the lodging degree outside the standard, and the maximum lodging degree among the lodging degrees within the standard is set to "1.0", and the lodging degree within the standard is set to "1.0". For the lodging degrees other than the largest lodging degree among the lodging degrees, the correction coefficient is set to a value larger than "1.0", and for the lodging degree outside the standard, the lodging degree increases as the correction The coefficient is set to be smaller than "1.0", and the spread amount correction unit uses the arithmetic expression of "the corrected spread amount = the planned spread amount x the correction coefficient" to obtain the above The upper limit of the planned spraying amount is limited by obtaining the corrected spraying amount obtained by correcting the planned spraying amount for each of a plurality of sections.

The scattering restriction information is an increase value that increases as the tolerance, which is the difference from the largest lodging degree, increases for the lodging degrees other than the largest lodging degree among the lodging degrees within the reference. By adding to "1.0", the correction coefficient is set to a value larger than "1.0".
The lodging degree acquisition unit acquires the lodging degree measured by a measuring device provided on the unmanned air vehicle.

The lodging degree acquisition unit acquires the lodging degree measured by a measuring device provided in a harvester that harvests crops.
The spraying support device includes a first lodging degree calculation unit that calculates a degree of lodging based on the growth data at the time of heading of the crop and the yield of the crop. The growth data at the initial stage is stored, and the first lodging degree calculation unit refers to the growth data stored in the storage unit, acquires the growth data corresponding to the heading time from the growth data, and acquires the growth data. The estimated yield for each plot is calculated from the growth data corresponding to the heading time, and the yield difference between the actual yield for each plot and the estimated yield is calculated. (However, the first conversion factor is a numerical value for converting the yield difference to the lodging degree.)”, the lodging degree for each section is calculated, and the lodging degree acquisition unit obtains the first Obtain the lodging degree calculated by the lodging degree calculation unit.

The spraying support device includes a second lodging degree calculation unit that calculates a lodging degree based on the relationship between the yield of the crop and the components contained in the crop, and the lodging degree acquisition unit calculates the second lodging degree. Get the degree of lodging computed by the department.
The spraying support system includes a division setting unit that divides a field into a plurality of sections, a spraying amount setting unit that sets the spraying amount for each of the plurality of sections, and a degree of collapse of crops planted in the field and a display of the collapse. A measuring device that measures the lodging degree divided into a plurality according to the degree, a lodging degree acquisition unit that acquires the lodging degree measured by the measuring device for each of the plurality of sections, and a spread material to be sprayed on the field. A spraying amount acquisition unit that acquires the planned spraying amount for each of the sections set by the spraying amount setting unit, the lodging degree divided into the plurality, and the upper limit of the spraying amount. a storage unit for storing spread restriction information indicating a correspondence relationship with a correction coefficient; Sprinkling that corrects the planned application amount for each of the plurality of sections by multiplying the planned application amount for each section, which is specified using the restriction information and acquired by the application amount acquisition unit, by the correction coefficient for each section. an amount correcting unit; and a spray amount output unit that outputs a corrected spray amount that is a planned spray amount after correction by the spray amount correcting unit. Among the lodging degrees, the lodging degrees of two or more sections on the lowest side are set as the lodging degrees within the standard, and the other multiple sections are set as the lodging degrees outside the standard, and among the lodging degrees within the above standards, the lodging degree is the largest. For, the correction coefficient is set to "1.0", and for the lodging degrees other than the largest lodging degree among the lodging degrees within the reference, the correction coefficient is set to a value larger than "1.0", With respect to the degree of lodging outside the standard, the correction coefficient is set so that the value decreases below "1.0" as the degree of lodging increases. The upper limit of the planned spraying amount is limited by obtaining the corrected spraying amount obtained by correcting the planned spraying amount for each of the plurality of sections using the arithmetic expression "planned spraying amount x correction coefficient."

According to the present invention, the application amount can be set according to the lodging degree of crops.

It is a figure which shows a dispersion|distribution assistance system. FIG. 10 is a diagram showing a setting screen T1 displaying a yield map M1 and an application amount map M2; FIG. 10 is a diagram showing a setting screen T1 displaying a yield map M1, a spread amount map M2, and a lodging degree map M3; FIG. 5 is a diagram showing an example of scattering restriction information; It is a figure which shows the relationship between the actual yield Dn and protein content Tn. It is an explanatory view explaining lodging degree.

BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, embodiments of the present invention will be described with reference to the drawings.
FIG. 1 shows a spraying support system. The spraying support system is, for example, a system that supports the spraying of sprayed materials. The sprayed material (spraying agent) is, for example, a drug (pesticide), fertilizer, or the like. The application support system is equipped with a computer.
The computer includes, for example, a management computer 1a installed in a farmhouse, farming company, etc., and a server 1b to which the management computer 1a and the like can be connected. The management computer 1a is, for example, a personal computer (PC) assigned to a manager, worker, or the like. Note that the management computer 1a may be a mobile terminal such as a smart phone, a tablet, or a PDA.

As shown in FIG. 1, the server 1b is a spraying support device that supports spraying, and can acquire various data (information). The server 1b can acquire, for example, yield data indicating the yield of crops in a field, crop component data indicating the chemical composition of crops, growth data indicating the growth status of crops, lodging degree data indicating the lodging degree of crops in the field, and the like. is. Crop component data is, for example, the taste (protein content) of crops, the amount of water (moisture content) of crops, and the like. Lodging degree data (data indicating lodging degree) is data obtained by quantifying the degree of falling of crops growing upward from a field. As shown in FIG. 5, when a crop such as rice does not fall down and grows straight, the lodging degree is small, and when the crop falls down and approaches the ground, the lodging degree is large. Lodging degree data can be obtained by various sensors and the like. For example, it can be obtained by analyzing captured images captured by an around-view camera, a stereo camera, or the like, or by calculating the angle of the crop from reflected waves irradiated by an ultrasonic sensor, a laser scanner, or the like.

Yield data and crop component data are detected, for example, by the harvester 20 when the crop is harvested. The harvester 20 is a combine harvester capable of harvesting crops. The harvester 20 has a measurement device 20a, a communication device 20b, and a position detection device 20c. The measuring device 20a is a load cell that detects the weight (yield) of the harvested crop, a spectroscopic analyzer that measures the protein content and moisture content of the harvested crop, and an ambient detection device that detects the state before harvesting. The surrounding detection device is an around-view camera, an ultrasonic sensor, a stereo camera, or a laser scanner, and can detect the state of crops immediately before harvesting by the harvester 20 . The position detection device 20c is a device that detects the position of the harvester 20, and detects the position (latitude, longitude) based on data from positioning satellites such as GPS.

When harvesting the crops, the harvester 20 associates the weight (yield) of the crops detected by the measuring device 20a with the position detected by the position detection device 20c to obtain yield data. Also, when the crops are harvested, the harvester 20 corresponds the position detected by the position detection device 20c to the amount of protein (protein content) and moisture content (moisture content) of the crops detected by the measuring device 20a. It is used as crop component data.

The surrounding detection device associates the surrounding data detected by the surrounding detecting device when the crop is harvested with the position detected by the position detecting device 20c, and analyzes the surrounding data to obtain lodging degree data corresponding to each position. Obtainable.
The communication device 20b is a device that transmits at least detection information detected by the harvester 20, that is, yield data, crop component data (protein content, moisture content), and lodging degree data to the outside. The communication device 20b transmits yield data, crop component data (protein content, water content) and lodging degree data to the server 1b. When the server 1b receives the yield data, crop component data (protein content, water content) and lodging degree data, it stores the received yield data, crop component data (protein content and water content) and lodging degree data. Stored in the unit (database) 10 .

Also, the original data of the growth data is detected by an unmanned flying object 30 such as a multicopter. The multicopter 30 has a main body 30a, an arm 30b provided on the main body 30a, a rotor 30c provided on the arm 30b, and a skid 30d provided on the main body 30a. The rotor blade 30c is a device that generates lift for flight, and includes a rotor that imparts rotational force and blades (propellers) that are rotated by driving the rotor.

The multicopter 30 also has an imaging device (measuring device) 30e. The imaging device 30e is configured by an infrared camera or the like, and is a device capable of imaging crops in a field. The multicopter 30 also has a position detection device 30f. The position detection device 30f is a device that detects the position of the multicopter 30, and detects the position (latitude, longitude) based on data from positioning satellites such as GPS. The multicopter 30 flies over a field, takes an aerial photograph of crops on the field, and associates an image (captured image) captured by the imaging device 30e with the position detected by the position detection device 30f to obtain captured data. do.

The imaging data is stored in a storage unit 30g provided in the multicopter 30. FIG. The imaging data stored in the storage unit 30g of the multicopter 30 is transferred to an electronic storage medium 31 such as a USB memory or an SD card, and stored in the electronic storage medium 31. FIG. The imaging data stored in the electronic storage medium 31 is transferred to the management computer 1a or a fixed management computer 1c installed in an aerial photography service company or the like separately from the management computer 1a. The transferred imaging data is stored in the management computer 1a or the management computer 1c. Further, after the management computer 1a or the management computer 1c logs in to the server 1b, the imaging data stored in the management computer 1a or the management computer 1c is transmitted to the server 1b. The server 1 b stores the received imaging data in the storage unit (database) 10 upon receiving the imaging data. The server 1b analyzes the captured data (captured images) to generate growth data using vegetation indices such as DVI, RVI, NDVI, GNDVI, SAVI, TSAVI, CAI, MTCI, REP, PRI, and RSI. The growth data generated by the server 1b are stored in the storage unit 10. FIG. The vegetation index mentioned above is an example and is not limited.

The server 1b may obtain lodging degree data corresponding to the position by analyzing the imaging data (captured image).
Alternatively, the management computer 1a or the management computer 1c may generate the growth data and lodging degree data from the imaging data, and transmit the generated growth data and lodging degree data from the management computer 1a or the management computer 1c to the server 1b. . Further, in the above-described embodiment, the multicopter 30 captures images of the crops in the field, but as shown in FIG. The imaging data may be obtained by adding the position of the field associated with the field monitoring device 32 to the captured image.

Thus, the server 1b can acquire yield data, crop component data (protein content, water content), growth data, and lodging degree data and store them in the storage unit 10 as a database. Yield data, crop component data (protein content, moisture content), growth data, and lodging data will be described below assuming that position information such as position (latitude and longitude) is included.

Now, the server 1b can create a spraying plan for spraying a field while referring to the above-described yield data and the like. The spraying plan is a plan for setting, at least in a given field, which part of the field is to be sprayed and how much of the material (fertilizer, chemical, etc.) is to be sprayed.
The server 1b includes a division setting section 11a and a spray amount setting section 11b. The division setting unit 11a and the application amount setting unit 11b are composed of electric/electronic components and electric circuits provided in the server 1b, programs stored in the server 1b, and the like.

For example, when the management computer 1a logs in to the server 1b, a menu screen for selecting a menu or the like is displayed on the display unit 40 of the management computer 1a. The display unit 40 is configured by a liquid crystal monitor or the like.
On the menu screen, when a spraying plan icon, button, or the like is selected and a predetermined operation is performed, the management computer 1a requests the server 1b to create a spraying plan. The server 1b displays a setting screen T1 for making a spraying plan as shown in FIG. 2A on the management computer 1a.

The setting screen T1 includes a yield map display portion 51 that displays the yield map M1, an application amount map display portion 52 that displays the application amount map M2, and a mesh input portion 53. FIG. The yield map display unit 51 displays a yield map M1 that visualizes the yield of the yield data stored in the storage unit 10 of the server 1b. The application amount map display unit 52 displays an application amount map M2 that visualizes the application amount set based on the yield data and the like.

The mesh input part 53 is a part for setting the vertical length L1 and the horizontal length L2 of each division when displaying the yield map M1 and the application amount map M2 by dividing them into predetermined divisions. When the vertical length L1 and the horizontal length L2 are input to the mesh input unit 53, the division setting unit 11a adds the vertical length L1 and the horizontal length L1 to the yield map M1 and the application amount map M2, respectively. Create partitions Qn of size L2. Note that the position (latitude, longitude) corresponding to the section Qn is linked to the section Qn, and if the section Qn is known, the position can also be grasped.

The division setting unit 11a divides one yield map M1 into a plurality of divisions Qn (the number of divisions n: n= 1, 2, 3, . . . n). The division setting unit 11a sets the yield (actual yield) Dnj of the yield data corresponding to each of the plurality of partitions Qn (the number of partitions: n=1, 2, 3 . . . n, the number of yield data per partition: j= 1, 2, 3, . . . j), the yield Dn per section is calculated. For example, when one section includes two yields Dn1 and Dn2, the division setting unit 11a sets the yield obtained by adding the yields Dn1 and Dn2 as the yield per section Dn.

In addition, the division setting unit 11a divides one application amount map M2 into a plurality of sections Qn (the number of sections n: n = 1, 2, 3...n).
The application amount setting unit 11b sets the planned application amount Fn for each section Qn based on the yield Dn for each of the plurality of sections Qn. For example, the application amount setting unit 11b sets the planned application amount Fn according to "planned application amount Fn=reference application amount+(reference yield−actual yield Dn)×constant". Note that the reference application amount and the reference yield are values determined in advance by the server 1b, and the constant is a numerical value for converting the yield to the fertilizer application amount. That is, the application amount setting unit 11b sets the planned application amount Fn to be large when the actual yield Dn is less than the reference yield, and reduces the planned application amount Fn when the actual yield Dn is greater than the reference yield. set as It should be noted that the method of obtaining the planned application amount Fn described above is just an example. The planned application amount Fn may be set according to the rank.

As described above, when the division setting unit 11a sets the partition Qn and the application amount setting unit 11b sets the planned application amount Fn, the yield map display unit 51 displays the yield map M1 corresponding to the yield Dn. , and the application amount map M2 corresponding to the planned application amount Fn is displayed. For example, the yield map display unit 51 displays a yield map M1 whose color changes according to the size of the yield Dn, and the application amount map M2 displays a color that changes according to the size of the planned application amount Fn. A spread amount map M2 is displayed.

Therefore, the division setting unit 11a and the application amount setting unit 11b can set the planned application amount Fn according to the yield Dn, that is, create an application plan.
Now, the server 1b can correct the planned application amount Fn according to the lodging degree. As shown in FIG. 1, the server 1b includes a lodging degree acquisition unit 11c, a spread amount acquisition unit 11d, a spread amount correction unit 11e, and a spread amount output unit 11f. The lodging degree acquisition unit 11c, the application amount acquisition unit 11d, and the application amount correction unit 11e are composed of electric/electronic components and electric circuits provided in the server 1b, programs stored in the server 1b, and the like.

For example, when the lodging degree button 54 displayed on the setting screen T1 is selected, the lodging degree acquisition unit 11c acquires lodging degree data stored in the storage unit 10 of the server 1b. Even if the lodging degree acquisition unit 11c obtains the lodging degree data obtained by the measuring device (surrounding detection device) 20a of the harvester 20 as described above, the multicopter 30 obtains the lodging degree data by the imaging device (measuring device) 30e. It may be lodging degree data, and is not limited.

When the lodging degree acquisition unit 11c acquires the lodging degree data, the server 1b (division setting unit 11a) divides the acquired lodging degree data into a plurality of sections Qn (the number of sections n : n=1, 2, 3, . . . n). The division setting unit 11a, for example, uses data Knp indicating a plurality of lodging degrees in one section (number of sections: n=1, 2, 3 . . . n, number of lodging degree data per section: p=1, 2 , 3 . . . j), the data pmax with the highest degree of lodging among the data p of one section is set as the degree of lodging of the section Kn. For example, if there are three data K11, K12, and K13 corresponding to the first section Q1, the value with the highest degree of lodging in the data K11, K12, and K13 is set to the section lodging corresponding to the first section Q1. degree K1.

In addition, the setting of the partition lodging degree Kn described above is an example, and the average value of the data Knp may be set as the partition lodging degree Kn, or the average value of the data within 3σ, which is highly reliable among the distributions of the data Knp may be set as the plot lodging degree Kn, and the setting method of the plot lodging degree Kn is not limited. Further, as shown in FIG. 2B, after obtaining the compartment lodging degree Kn, a lodging degree map M3 indicating the compartment lodging degree Kn may be displayed on the setting screen T1.

The application amount acquisition unit 11d acquires the planned application amount Fn set by the application amount setting unit 11b when the lodging degree button 54 is selected. That is, the application amount acquisition unit 11d acquires the planned application amount Fn corresponding to the section Qn.
After acquiring the planned application amount Fn by the application amount acquisition unit 11d, the application amount correction unit 11e determines that the application amount acquisition unit 11d is Correct the acquired planned application amount Fn. As shown in FIG. 3, the storage unit 10 of the server 1b stores the spread limit information indicating the correspondence between the lodging degree and the correction coefficient W1 that limits the upper limit of the spread amount. As shown in FIG. 3, the correction coefficient W1 is 1.0 when the lodging degree is within the standard, and the correction coefficient W1 becomes less than 1.0 as the lodging degree increases. The spraying amount correction unit 11e corrects the planned spraying amount Fn, that is, limits the upper limit of the planned spraying amount Fn, by calculating the corrected spraying amount Gn=planned spraying amount Fn×correction coefficient W1.

In addition, the numerical value of lodging degree, the correction coefficient W1, etc. are not limited to those in FIG. A lodging degree range within a standard may be set for each variety such as Koshihikari, or the numerical value of the correction coefficient W1 may be changed. For example, if the lodging degree is zero (0) and there is a margin within the standard, the correction coefficient W1 may be set to a value greater than 1.0. When the correction coefficient W1 is set to 1.0 or more, the difference (tolerance) between the predicted lodging degree and the highest lodging degree within the standard (the lodging degree that becomes the boundary between the standard and the non-standard) It is preferable to obtain the correction coefficient W1 by If the tolerance is large, the increase amount of the correction coefficient W1 (the amount to be increased from 1.0) is increased, and if the tolerance is small, the increase amount of the correction coefficient W1 is decreased. In this way, the yield can be increased while the degree of lodging is within the standard.

Alternatively, the relationship between the type of spread material such as fertilizer and the lodging degree may be stored in the storage unit 10, and the correction coefficient W1 may be obtained from the relationship between the type of the spread material and the lodging degree. For example, types of fertilizers include fast-release fertilizers, slow-release fertilizers, slow-release fertilizers, and fertilizers containing lodging-reducing agents. When using fertilizers, the correction coefficient W1 is set small when using fertilizers that tend to increase the degree of lodging, and the correction coefficient W1 is increased when using fertilizers that do not easily increase the degree of lodging. More specifically, the spread amount correction unit 11e displays a spread material input unit (not shown) for inputting the name or type of the spread material to be spread on the setting screen T1. When the name of the sprayed material is input to the sprayed material input section, the spray amount correction section 11e obtains the type of the sprayed material from the name input to the sprayed material input section. Further, when the type of the spread material is obtained, or when the type of the spread material is input to the spread material input unit, the spread amount correction unit 11e refers to the storage unit 10 to determine the degree of lodging based on the type of the spread material. figure out the relationship between Here, the correction coefficient W1 of the spread amount correction unit 11e is set small for scattered materials that tend to increase the lodging degree, and the correction coefficient W1 is increased for scattered materials that do not easily increase the lodging degree. By doing so, the correction coefficient W1 can be changed according to the type of fertilizer, and the yield can be increased.

The application amount correction unit 11e acquires the division lodging degree Kn and the planned application amount Fn corresponding to the division Qn, while referring to the application restriction information. If the obtained compartment lodging degree Kn is within the standard indicated by the spraying restriction information, the application amount correction unit 11e sets the correction coefficient W1 corresponding to the compartment lodging degree Kn to 1.0, and sets the acquired compartment lodging degree If Kn is other than the standard indicated by the spreading restriction information, the correction coefficient W1 corresponding to the plot lodging degree Kn is extracted from the spreading restriction information according to the magnitude of the plot lodging degree Kn, and the extracted correction coefficient W1 is By applying the above formula, a corrected spraying amount Gn obtained by correcting the planned spraying amount Fn is obtained.

When the application amount correction unit 11 e corrects the planned application amount Fn corresponding to all the sections Qn, that is, obtains the corrected application amount Gn, the application amount correction unit 11 e stores the obtained corrected application amount Gn in the storage unit 10 . Note that the corrected spray amount Gn is linked to the position information of the section Qn, and it is possible to grasp at which position the corrected spray amount Gn is the spray amount.
For example, when a spraying plan is requested from the management computer 1a, the spraying amount output unit 11f outputs the corrected spraying amount Gn and the position (latitude, longitude) corresponding to the corrected spraying amount Gn (section Qn) to the management computer 1a. Send to When the management computer 1a acquires the corrected spray amount Gn and the position (latitude, longitude) corresponding to the section Qn, it can display a map (spread amount map) showing the corrected spray amount Gn on the screen.

In the above-described embodiment, the lodging degree data obtained by the harvester 20 and the lodging degree data obtained by the unmanned air vehicle 30 are used. and the crop yield (yield data).
As shown in FIG. 1 , the server 1 b includes a first lodging degree calculator 12 . The first lodging degree calculator 12 is composed of electrical/electronic components and electrical circuits provided in the server 1b, programs stored in the server 1b, and the like.

The first lodging degree calculation unit 12 calculates the lodging degree based on, for example, the growth data and the yield of the crop in the heading period (earing time) of the crop. Specifically, the first lodging degree calculation unit 12 refers to the growth data stored in the storage unit 10, acquires the growth data (vegetation index) corresponding to the heading time from among the growth data, and acquires An estimated yield (estimated yield) En for each section Qn is calculated from the growth data. The first lodging degree calculator 12 calculates a yield difference ΔDEn between the actual yield Dn and the estimated yield En for each section Qn obtained from the yield data. When the difference in yield ΔDEn is large, the degree of lodging is considered to be large, and when the difference in yield ΔDEn is small, the degree of lodging is considered to be small. The first lodging degree calculator 12 obtains the division lodging degree Kn by, for example, the division lodging degree Kn=yield difference ΔDEn×first conversion factor. The first conversion factor is a numerical value for converting the yield difference to the degree of lodging. Note that the processing after obtaining the compartment lodging degree Kn is the same as in the above-described embodiment.

Alternatively, the degree of lodging may be calculated based on the components contained in the crop, that is, the crop component data (protein content and water content) and the yield of the crop (yield data).
As shown in FIG. 1 , the server 1 b includes a second lodging degree calculator 13 . The second lodging degree calculation unit 13 is composed of electric/electronic components and electric circuits provided in the server 1b, programs stored in the server 1b, and the like.

The second lodging degree calculator 13 calculates the lodging degree based on the relationship between the crop component data and the yield data. Specifically, the second lodging degree calculation unit 13 refers to the crop component data stored in the storage unit 10 and acquires the protein content from the crop component data. The second lodging degree calculation unit 13 obtains the protein content Tn for each section Qn, and from the obtained protein content Tn and the actual yield Dn for each section Qn, as shown in FIG. A correlation between the actual yield Dn and the protein content Tn, that is, the approximated curve L1 is determined using only the data in which the protein content Tn falls within the standard area R1. In the area R1, the second lodging degree calculation unit 13 sets the plot lodging degree Kn to be within the reference in an ideal area R1a that is a predetermined distance from the approximate curve L1, and the position indicated by the actual yield Dn and the protein content Tn is set to a larger value as the distance from the ideal area R1a increases. That is, when the relationship between the actual yield Dn and the protein content Tn is in the ideal area R1a, the second lodging degree calculation unit 13 determines that the division lodging degree Kn is small, depending on the degree of separation from the ideal area R1a. to increase the plot lodging degree Kn. In other words, the second lodging degree calculator 13 increases the division lodging degree Kn according to the position P1 between the actual yield Dn and the protein content Tn and the distance L2 from the area R1a.

The standard area R1, ie, the area considered appropriate in terms of the relationship between protein content and yield, may be changed based on the relationship between the variety and the region.
According to the above, since the lodging degree is obtained from the growth data (vegetation index), the crop component data (protein content, moisture content), and the yield, etc., the growth data (vegetation index), the crop component data (protein content) , moisture content), yield, etc., the upper limit of the fertilizer application amount can be set. The growth data, crop component data and yield may be past data such as last year's data accumulated in the server 1b. Also, the upper limit of the amount of fertilizer applied may be corrected based on soil fertility obtained from weather information, soil information, and the like.

The spraying support device 1b includes a lodging degree acquisition unit 11c that acquires the lodging degree of the crop planted in the field, a spread amount acquisition unit 11d that acquires the planned application amount Fn of the material to be spread in the field, and a lodging degree acquisition unit. A spread amount correction unit 11e that corrects the planned spread amount Fn acquired by the spread amount acquisition unit 11d based on the degree of lodging acquired by the spread amount acquisition unit 11c, and a corrected planned spread amount Fn corrected by the spread amount correction unit 11e. and a spray amount output unit 11f that outputs the corrected spray amount Gn. According to this, the application amount correction unit 11e can correct the planned application amount Fn based on the lodging degree acquired by the lodging degree acquisition unit 11c and the planned application amount Fn acquired by the application amount acquisition unit 11d. By outputting the corrected spraying amount Gn, which is the planned spraying amount Fn after correction, fertilizer or the like can be sprayed using the corrected spraying amount Gn. For example, when the degree of lodging of crops is large, it is possible to spray using a corrected application amount Gn obtained by reducing the predetermined planned application amount Fn. Scattering can be done without changing Fn.

The spraying support device 1b includes a division setting unit 11a that divides the field into a plurality of sections Qn, and a spraying amount setting unit 11b that sets the spraying amount for each of the plurality of sections Qn. The planned application amount Fn for each section Qn set by the amount setting unit 11b is acquired, the lodging degree acquisition unit 11c acquires the lodging degree for each of the plurality of sections Qn, and the application amount correction unit 11e obtains the lodging rate for each of the plurality of sections Qn The planned application amount Fn for each section Qn is corrected based on the lodging degree for each section. According to this, when the field is divided into a plurality of sections Qn, the planned application amount Fn can be corrected for each section Qn, and fine application of fertilizer or the like can be performed for each section Qn.

The spraying support device 1b includes a storage unit 10 that stores spraying limit information indicating the correspondence relationship between the lodging degree and the correction coefficient that limits the upper limit of the spraying amount. The upper limit of the planned application amount Fn is limited by multiplying the correction coefficient indicated by the limitation information. According to this, even when the planned spraying amount Fn is set large, the upper limit of the planned spraying amount Fn can be restricted by the correction coefficient, so that lodging of crops can be suppressed.

The lodging degree acquisition unit 11 c acquires the lodging degree measured by the measuring device 30 e provided on the unmanned air vehicle 30 . According to this, the degree of lodging obtained by the unmanned squadron 30 can be used to easily set the correction spray amount Gn.
The lodging degree acquisition unit 11c acquires the lodging degree measured by the measuring device 20a provided in the harvester 20 that harvests the crops. According to this, the lodging degree obtained by the harvester 20 can be used to easily set the correction application amount Gn.

The spraying support device 1b includes a first lodging degree calculation unit 12 that calculates the degree of lodging based on the growth data at the time of heading of the crop and the yield of the crop. Get the degree of lodging calculated by According to this, the lodging degree can be easily calculated using the relationship between the growth data and the yield of the crop without directly measuring the lodging degree of the crop. For example, even if the lodging degree of the crop was not directly measured at the time of harvesting last year's crop, the application amount can be set according to the lodging degree obtained from the growth data and the yield.

The spraying support device 1b includes a second lodging degree calculation unit 13 that calculates the lodging degree based on the relationship between the yield of the crop and the components contained in the crop. Obtain the degree of lodging calculated by 13. According to this, the lodging degree can be easily calculated using the relationship between the yield of the crop and the components of the crop without directly measuring the lodging degree of the crop. For example, even if the lodging degree of the crop was not directly measured at the time of last year's crop harvest, the application rate can be set according to the lodging degree obtained by the yield and composition of the crop.

The spraying support system includes measuring devices 20a and 30e for measuring the lodging degree of crops planted in the field, a lodging degree acquisition unit 11c for acquiring the lodging degree measured by the measuring devices 20a and 30e, and spraying to the field. A spread amount acquisition unit 11d that acquires the planned spread amount Fn of the material, and a spread amount correction unit 11e that corrects the planned spread amount Fn acquired by the spread amount acquisition unit 11d based on the lodging degree acquired by the lodging degree acquisition unit 11c. and a spray amount output unit 11f for outputting a corrected spray amount Gn, which is the expected spray amount Fn after correction by the spray amount correction unit 11e. According to this, the application amount correction unit 11e can correct the planned application amount Fn based on the lodging degree acquired by the lodging degree acquisition unit 11c and the planned application amount Fn acquired by the application amount acquisition unit 11d. By outputting the corrected spraying amount Gn, which is the planned spraying amount Fn after correction, fertilizer or the like can be sprayed using the corrected spraying amount Gn.

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

1a: Management computer 1b: Server (dispersion support device)
1c: management computer 10: storage unit 11a: division setting unit 11b: application amount setting unit 11c: lodging degree acquisition unit 11d: application amount acquisition unit 11e: application amount correction unit 11f: application amount output unit 12: first lodging degree calculation Unit 13: Second lodging degree calculation unit 20: Harvester 20a: Measurement device 20b: Communication device 20c: Position detection device 30: Multicopter (unmanned flying object)
30a: main body 30b: arm 30c: rotor 30d: skid 30e: imaging device (measuring device)
30f: Position detection device 30g: Storage unit 31: Electronic storage medium 32: Field monitoring device 40: Display unit 51: Yield map display unit 52: Application amount map display unit 53: Mesh input unit 54: Lodging degree button Dn: Yield ( actual yield)
En: Estimated yield Fn: Planned application amount Gn: Corrected application amount Kn: Compartment lodging degree Knp: Data L1: Approximate curve M1: Yield map M2: Application amount map M3: Lodging degree map Qn: Compartment R1: Area R1a: Area T1 : Setting screen Tn : Protein content W1 : Correction coefficient n : Number of divisions p : Number of data pmax : Data ΔDEn : Yield difference

Claims (8)

a division setting unit that divides the field into a plurality of divisions;
an application amount setting unit that sets an application amount for each of the plurality of sections;
a lodging degree obtaining unit that indicates the degree of falling of crops planted in the field and obtains, for each of the plurality of sections, a lodging degree classified into a plurality of degrees according to the degree of falling;
a spraying amount acquisition unit that acquires a scheduled spraying amount of a material to be sprayed on the field, which is a scheduled spraying amount for each section set by the spraying amount setting unit;
a storage unit that stores spraying limit information indicating the correspondence relationship between the lodging degree classified into the plurality and a correction coefficient that limits the upper limit of the spraying amount;
The correction coefficient for each of the plurality of sections corresponding to the lodging degree of each of the plurality of sections obtained by the lodging degree obtaining unit is specified using the spraying limit information, and the section obtained by the application amount obtaining unit a spraying amount correction unit that corrects the planned spraying amount for each of the plurality of sections by multiplying the planned spraying amount for each section by the correction coefficient for each section;
a spraying amount output unit that outputs a corrected spraying amount that is the planned spraying amount after correction corrected by the spraying amount correction unit;
with
The scattering restriction information sets the lodging degree of two or more sections on the lowest side among the lodging degrees divided into the plurality of lodging degrees as the lodging degree within the standard, and sets the other multiple divisions as the lodging degree outside the standard, For the lodging degree that is the largest among the lodging degrees within the standard, the correction coefficient is set to "1.0", and for the lodging degrees other than the largest lodging degree among the lodging degrees within the standard, the correction coefficient is set. It is set to a value greater than "1.0", and for the degree of lodging outside the standard, the correction coefficient is set to be less than "1.0" and the value decreases as the degree of lodging increases,
The application amount correcting unit obtains the corrected application amount obtained by correcting the planned application amount for each of the plurality of sections using an arithmetic expression of "the corrected application amount = the planned application amount x the correction coefficient." a spraying support device that limits the upper limit of the planned spraying amount by The scattering restriction information is an increase value that increases as the tolerance, which is the difference from the largest lodging degree, increases for the lodging degrees other than the largest lodging degree among the lodging degrees within the reference. The spraying support device according to claim 1 , wherein the correction coefficient is set to a value larger than "1.0" by adding to "1.0". The spraying support device according to claim 1 or 2 , wherein the lodging degree acquisition unit acquires the lodging degree measured by a measuring device provided on the unmanned air vehicle. The spraying support device according to claim 1 or 2 , wherein the lodging degree acquisition unit acquires the lodging degree measured by a measuring device provided in a harvester that harvests crops. a division setting unit that divides the field into a plurality of divisions;
an application amount setting unit that sets an application amount for each of the plurality of sections;
a lodging degree obtaining unit that indicates the degree of falling of crops planted in the field and obtains, for each of the plurality of sections, a lodging degree classified into a plurality of degrees according to the degree of falling;
a spraying amount acquisition unit that acquires a scheduled spraying amount of a material to be sprayed on the field, which is a scheduled spraying amount for each section set by the spraying amount setting unit;
a storage unit that stores spraying limit information indicating the correspondence relationship between the lodging degree classified into the plurality and a correction coefficient that limits the upper limit of the spraying amount;
The correction coefficient for each of the plurality of sections corresponding to the lodging degree of each of the plurality of sections obtained by the lodging degree obtaining unit is specified using the spraying limit information, and the section obtained by the application amount obtaining unit a spraying amount correction unit that corrects the planned spraying amount for each of the plurality of sections by multiplying the planned spraying amount for each section by the correction coefficient for each section;
a spraying amount output unit that outputs a corrected spraying amount that is the planned spraying amount after correction corrected by the spraying amount correction unit;
a first lodging degree calculation unit that calculates a lodging degree based on the growth data at the heading time of the crop and the yield of the crop ;
with
The scattering restriction information sets the lodging degree of two or more sections on the lowest side among the lodging degrees divided into the plurality of lodging degrees as the lodging degree within the standard, and sets the other multiple divisions as the lodging degree outside the standard, For the lodging degree within the standard, the correction coefficient is set to "1.0", and for the lodging degree outside the standard, the correction coefficient is set to be less than "1.0" and the value decreases as the lodging degree increases. is set and
The application amount correcting unit obtains the corrected application amount obtained by correcting the planned application amount for each of the plurality of sections using an arithmetic expression of "the corrected application amount = the planned application amount x the correction coefficient." By limiting the upper limit of the planned application amount,
The storage unit stores growth data from the earing stage to the early stage of ripening of the crop,
The first lodging degree calculation unit refers to the growth data stored in the storage unit, acquires the growth data corresponding to the heading time from the growth data, and obtains the growth data corresponding to the acquired heading time. Calculate the estimated yield for each section from the above, calculate the yield difference between the actual yield for each section and the estimated yield, and calculate "lodging degree for each section = the yield difference x the first conversion factor (where the first conversion factor is a numerical value for converting the yield difference to the lodging degree.)”, Calculate the lodging degree for each section,
The lodging degree acquisition unit is a spraying support device that acquires the lodging degree calculated by the first lodging degree calculation unit. a first lodging degree calculation unit that calculates a lodging degree based on the growth data at the heading time of the crop and the yield of the crop;
The storage unit stores growth data from the earing stage to the early stage of ripening of the crop,
The first lodging degree calculation unit refers to the growth data stored in the storage unit, acquires the growth data corresponding to the heading time from the growth data, and obtains the growth data corresponding to the acquired heading time. Calculate the estimated yield for each section from the above, calculate the yield difference between the actual yield for each section and the estimated yield, and calculate "lodging degree for each section = the yield difference x the first conversion factor (where the first conversion factor is a numerical value for converting the yield difference to the lodging degree.)”, Calculate the lodging degree for each section,
The spraying support device according to claim 1 or 2 , wherein the lodging degree acquiring unit acquires the lodging degree calculated by the first lodging degree calculating unit. A second lodging degree calculation unit that calculates a lodging degree based on the relationship between the yield of the crop and the components contained in the crop,
The spraying support device according to claim 1 or 2 , wherein the lodging degree acquiring unit acquires the lodging degree calculated by the second lodging degree calculating unit. a division setting unit that divides the field into a plurality of divisions;
an application amount setting unit that sets an application amount for each of the plurality of sections;
a measuring device that indicates the degree of fall of crops planted in the field and measures the degree of fall divided into a plurality of degrees according to the degree of fall;
a lodging degree acquisition unit that acquires the lodging degree measured by the measuring device for each of the plurality of sections;
a spraying amount acquisition unit that acquires a scheduled spraying amount of a material to be sprayed on the field, which is a scheduled spraying amount for each section set by the spraying amount setting unit;
a storage unit that stores spraying limit information indicating the correspondence relationship between the lodging degree classified into the plurality and a correction coefficient that limits the upper limit of the spraying amount;
The correction coefficient for each of the plurality of sections corresponding to the lodging degree of each of the plurality of sections obtained by the lodging degree obtaining unit is specified using the spraying limit information, and the section obtained by the application amount obtaining unit a spraying amount correction unit that corrects the planned spraying amount for each of the plurality of sections by multiplying the planned spraying amount for each section by the correction coefficient for each section;
a spraying amount output unit that outputs a corrected spraying amount that is the planned spraying amount after correction corrected by the spraying amount correction unit;
with
The scattering restriction information sets the lodging degree of two or more sections on the lowest side among the lodging degrees divided into the plurality of lodging degrees as the lodging degree within the standard, and sets the other multiple divisions as the lodging degree outside the standard, For the lodging degree that is the largest among the lodging degrees within the standard, the correction coefficient is set to "1.0", and for the lodging degrees other than the largest lodging degree among the lodging degrees within the standard, the correction coefficient is set. It is set to a value greater than "1.0", and for the lodging degree outside the standard, the correction coefficient is set to be less than "1.0" and the value decreases as the lodging degree increases,
The application amount correction unit obtains the corrected application amount obtained by correcting the planned application amount for each of the plurality of sections by using an arithmetic expression of "the corrected application amount = the planned application amount x the correction coefficient." a spraying support system that limits the upper limit of the planned spraying amount by

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