JP7472373B2 - Field Water Management System - Google Patents

Description

The present invention relates to a field water management system that manages water in a field.

2. Description of the Related Art Conventionally, a technique for supplying irrigation water to a farm field is known, as disclosed in Patent Document 1.
The water supply device of Patent Document 1 includes an opening/closing unit that is provided in a water pipeline that supplies water to the field and controls the water supply to the field, and an electric actuator that opens and closes the opening/closing unit.In an installation structure for the water supply device in which the main body case of the electric actuator is provided on the opening/closing unit, the installation structure includes a support member that is erected on the ground around the opening/closing unit and supports the main body case.

JP 2019-165661 A

Although the water supply device of Patent Document 1 can efficiently supply water to a farm field, the reality is that it is not possible to directly grasp various conditions in the farm field, such as water supply.
In view of the above problems, an object of the present invention is to provide a water management system for a farm field that can easily grasp various conditions related to the farm field.

The technical means of the present invention for solving this technical problem is characterized by the following points.
A field water management system comprises an actuator that performs the opening and closing operation of a mechanism that opens and closes either water supply to the field or drainage water from the field, a housing that houses the actuator, a plurality of observation cameras capable of imaging the field, the plurality of observation cameras imaging at different frequency bands, an attachment unit that detachably attaches the plurality of observation cameras, and a camera switching unit that selects a predetermined observation camera to be operated from among the plurality of observation cameras, wherein the camera switching unit is configured to allow a vegetation index to be input as crop growth and is configured to allow pre-selection of an observation camera to be used depending on the growth of crops in the field, and when the vegetation index becomes equal to or greater than the input vegetation index, selects the pre-selected observation camera as the predetermined observation camera.

The system further includes a support device that processes observation data from the plurality of observation cameras in accordance with the plurality of observation cameras attached to the mounting portion.
The camera switching unit is configured to be able to preselect the time of agricultural work and the observation camera to be used, and when the time of the preselected agricultural work arrives, the preselected observation camera is selected as the specified observation camera.

The field water management system includes solar panels and a power storage device that stores the electricity generated by the solar panels, and the observation camera is powered by the electricity stored in the power storage device.

The present invention makes it easy to grasp various conditions related to the field.

FIG. 1 is a schematic diagram of a field water management system. FIG. 2 is a diagram showing an example of a plurality of farm fields. FIG. 2 is a diagram showing an example of a plurality of farm fields. FIG. 1 is a diagram showing an example in which a plurality of water management devices are installed in a farm field. 10 is a diagram showing the relationship between device identification information of a water management device and field identification information of a field. FIG. FIG. 2 is a side view showing the water management device attached to the water supply side and the water discharge side. FIG. 2 is a diagram showing the inside of the water management device on the water supply side. FIG. 2 is a diagram showing the inside of the water management device on the drainage side. FIG. 2 is a detailed diagram of the water management system for the farm field in the first embodiment. FIG. 1 is a plan view of an observation camera mounted externally. This is a vertical cross-sectional view of an observation camera attached externally. This is a plan view of the inside with an observation camera installed inside. This is a vertical cross-sectional view of the observation camera installed inside. This is a horizontal cross-sectional view showing a window for an observation camera. This is a vertical cross-sectional view showing a window for an observation camera. FIG. 13 is an external view showing an appearance with a window for an observation camera. 7B and 7C is a horizontal cross-sectional view of the management device provided with a moving mechanism for moving the observation camera horizontally. FIG. 8 is a vertical cross-sectional view of the management device of FIGS. 7B and 7C, in which a moving mechanism for moving the observation camera horizontally is provided. 13 is a diagram showing a position changing mechanism that tilts the imaging range of the observation camera. FIG. FIG. 13 is a diagram showing a position changing mechanism that moves the observation camera in the vertical direction. FIG. 13 is a vertical cross-sectional view showing the second cylindrical body when it is detached. FIG. 13 is an explanatory diagram showing how multiple observation cameras are attached. FIG. 2 is a diagram showing an example of a setting screen M1. FIG. 13 is a diagram showing an example of a setting screen M2. FIG. 13 is a diagram showing changes in control width F1 and water level. FIG. 13 is a diagram showing the relationship between the timing of water management and the control range. FIG. 13 is a diagram showing a state in which a crop is imaged from the side. FIG. 2 is a diagram illustrating an example of observation data. FIG. 12B is a diagram showing observation data different from that shown in FIG. 12A. This is a diagram showing the vegetation index for each field. This is a diagram showing thermography for each farm field. This is a diagram showing the grass height for each field. This is a diagram showing wilting for each field. FIG. 1 is a diagram showing the state of the water surface in a farm field. FIG. 13 is a diagram showing observation data when observing a water surface, etc. FIG. 15B is a diagram showing observation data different from that in FIG. 15A when observing a water surface, etc.; FIG. FIG. 2 is a control block diagram of a tractor. FIG. 13 shows an example of a theft setting screen M3. FIG. 13 is a diagram showing an example of a machine registration screen M4. FIG. 13 is a diagram showing an example of a monitoring screen M5. FIG. 13 is a diagram showing an example of an intrusion. FIG. 13 is a diagram showing an example of a monitoring screen M6. FIG. 13 is a diagram showing a state in which field B is selected as a field to be monitored. 13 is a diagram showing the imaging direction of an observation camera of a water management device installed in field B. FIG. FIG. 13 is a detailed diagram of a farm field water management system according to a second embodiment. FIG. 11 is a vertical cross-sectional view of a water management device according to a second embodiment. FIG. 13 is a detailed diagram of a farm field water management system according to a third embodiment. FIG. 13 is a front view of a water management device according to a third embodiment. FIG. 13 is a plan view of a water management device according to a third embodiment. FIG. 13 shows a first variant of the drone station. A diagram showing a second variant of the drone station. FIG. 13 is a diagram showing an example of a camera setting screen M8. FIG. 29B is a diagram showing a camera setting screen M8 different from that shown in FIG. 29A.

Hereinafter, an embodiment of the present invention will be described with reference to the drawings.
[First embodiment]
1 shows a field water management system. The field water management system has a field water management device 1. For ease of explanation, the field water management device 1 will be referred to as the "water management device 1".
<Pipeline Overview>
As shown in FIGS. 2A and 3 , a pipeline 100 through which irrigation water flows is installed around a farm field H1 in which crops are cultivated, and the water management device 1 is connected to the pipeline 100.

Specifically, the pipeline 100 includes a supply pipe 100a, a branch pipe 100b that branches off from the supply pipe 100a and extends toward the field H1, and an on-off valve 100c attached to the branch pipe 100b. The supply pipe 100a leads to an irrigation channel through which irrigation water flows. The branch pipes 101b are arranged at a predetermined interval from the supply pipe 100a, and when there are multiple fields H1, for example, each field H1 is connected to the supply pipe 100a.

As shown in Fig. 3 and Fig. 4, the on-off valve 100c includes a cylindrical main body 101 through which the irrigation water can pass, a valve body 102 provided inside the main body 101, a valve shaft 103 connected to the valve body 102, and a bearing portion 104 provided on the main body 101. The valve shaft 103 is rotatably supported by the bearing portion 104, and the valve body 102 moves vertically as the valve shaft 103 rotates, thereby opening and closing the valve. In detail, a female thread is formed on the valve shaft 103, and a male thread is formed on the inner circumference of the bearing portion 104, and the valve shaft 103 moves vertically as the valve shaft 103 rotates, and the valve body 102 moves. A through hole 105 is formed in the circumferential direction of the main body 101, penetrating the main body 101 in the thickness direction, and the through hole 105 is a supply port through which the irrigation water flows toward the field H1. In other words, the valve body 102 is a mechanism (adjustment mechanism) for adjusting the supply of irrigation water. The on-off valve 100c is merely an example and is not limiting.
<Overview of the water management device: water supply side>
As shown in Fig. 4, the water management device 1 includes an actuator 10. The actuator 10 opens and closes a valve body 102 that either supplies water to the field H1 (supply of irrigation water) or drains water from the field H1. The actuator 10 includes an electric motor 10a and a rotating shaft 10b that is rotated by the drive of the electric motor 10a.

A gear 14 is attached to the motor shaft 12 of the electric motor 10a, and rotates with the rotation of the motor shaft 12. A gear 15 is meshed with the gear 14, and is supported rotatably by a bearing 16 provided inside the housing 11, and supports the rotating shaft 10b so that it can move freely in the vertical direction. In detail, a key groove 15a is formed on the inner surface of the gear 15, and a convex sliding portion 17 provided on the rotating shaft 10b is fitted into the key groove 15a. The gear 15 and the rotating shaft 10b may be connected by a spline, and are not limited to the above-mentioned configuration.

The lower end of the rotating shaft 10b is connected to the upper end of the valve shaft 103. For example, a coupling portion 18 is formed at the lower end of the rotating shaft 10b, and a coupling portion 19 formed at the upper end of the valve shaft 103 is connected to the coupling portion 18.
As described above, according to the actuator 10, the gears 14, 15 and the rotating shaft 10b can be rotated by rotating the electric motor 10a. Therefore, the valve shaft 103 connected to the rotating shaft 10b moves vertically while rotating, thereby opening and closing the valve body 102.

The water management device 1 also includes a housing 11. The housing 11 is a three-dimensional structure that is long in the vertical direction and has an internal storage space for storing devices such as the actuator 10. The housing 11 includes a plurality of cylindrical bodies 11a, 11b, and 11c. The cylindrical bodies 11a, 11b, and 11c are aligned vertically and connected to each other.
Specifically, the lower end of the cylindrical body 11a is attached by a fastener such as a bolt to a mounting base 115 attached to the main body 101 of the on-off valve 100c. The cylindrical body 11a stands upright and extends upward while attached to the mounting base 115.

A cylindrical connecting member 25 is provided between the upper end of the cylindrical body 11a and the lower end of the cylindrical body 11b. The connecting member 25 has a peripheral wall portion 25a, a flange portion 25b protruding radially outward from the peripheral wall portion 25a, and a support wall 25c provided on the upper end side of the peripheral wall portion 25a. The upper end of the cylindrical body 11a is brought close to the flange portion 25b, the lower end of the cylindrical body 11b is brought close to the flange portion 25b, and the upper end of the cylindrical body 11a and the peripheral wall portion 25a are fastened together with fasteners such as bolts, and the lower end of the cylindrical body 11b and the peripheral wall portion 25a are fastened together with fasteners such as bolts, thereby integrating the upper end of the cylindrical body 11a and the cylindrical body 11b.

The support wall 25c has a through hole through which the rotating shaft 10b passes. A structure 27 having bearings 16 and the like attached thereto is attached to the support wall 25c, whereby the electric motor 10a, the rotating shaft 10b, and the gear 15 are supported by the support wall 25c. That is, the cylindrical bodies 11a and 11b form a first cylindrical body that houses the actuator 10.
The cylindrical body 11b is configured in a T-shape having a lower wall portion 31, an upper wall portion 32, and an intermediate wall 33 provided between the lower wall portion 31 and the upper wall portion 32. The intermediate wall 33 has a protruding wall 34 protruding in the radially outward direction. The protruding wall 34 is circular, and an operation panel 43 is attached to the protruding wall 34. The upper wall portion 32 of the cylindrical body 11b has an inner diameter smaller than the inner diameter of the intermediate wall 33, and a step portion 35 is formed. In other words, the step portion 35 of the cylindrical body 11b protrudes in the radially inward direction and serves as a support portion for attaching the lower portion of the cylindrical body (second cylindrical body) 11c, i.e., an insertion portion into which the lower portion of the cylindrical body (second cylindrical body) 11c is inserted.

The cylinder (second cylinder) 11c is supported by the first cylinder (cylinder 11a, cylinder 11b) and can accommodate equipment other than the actuator 10. The outer diameter of the cylinder (second cylinder) 11c is smaller than the inner diameter of the cylinder 11b, and the cylinder (second cylinder) 11c can be fitted into the cylinder. A mounting plate 37 is attached to the lower end of the cylinder 11c. The mounting plate 37 is inserted into the upper wall 32 of the cylinder 11b, and the lower surface of the mounting plate 37 abuts against the step 35, thereby mounting the cylinder 11c to the cylinder 11b. A top plate 39 is attached to the upper end of the cylinder 11c, and the upper end of the cylinder 11c is closed by the top plate 39.
<Outline of the water management device: drainage (falling water) side>
In the above-described embodiment, the water management device 1 was provided on the water supply side of the pipeline 100, but as shown in FIG. 3, it may also be provided on the discharge side (falling water side) from which the supplied water (service water) is discharged.

One end of a drain pipe 121 is connected to the drainage channel 120, and the other end of the drain pipe 121 is connected to a drainage basin 122. A water drop section 123 is provided in the drainage basin 122, and the water management device 1 is connected to an upper portion of the water drop section 123.
As shown in Fig. 5, the water drop section 123 includes a partition section 125 that can be changed in position between a state in which water is not dropped (closed state) and a state in which water is dropped (open state) by moving vertically, and a moving mechanism 126 that moves the partition section 125 vertically. The moving mechanism 126 includes a base 127, a guide rod 128 whose upper end is fixed to the base 127 and extends downward, a moving body 130 through which the guide rod 128 is inserted and which can move along the guide rod 128, a first shaft 129 inserted into a through hole of the base 127, and a second shaft 132 that rotates with the rotation of the first shaft 129. The upper end of the first shaft 129 is connected to the rotating shaft 10b by a coupling or the like. The second shaft 132 is inserted into the moving body 130, and is configured so that the moving body 130 moves with the rotation of the second shaft 132. For example, a male thread is formed on the second shaft 132 and a female thread is formed inside the moving body 130, so that when the second shaft 132 rotates, the moving body 130 moves in the vertical direction.

The partition 125 is attached to a bracket 131 or the like attached to the movable body 130, and its height changes depending on the vertical movement of the movable body 130. The partition 125 is cylindrical, and when the upper end of the partition 125 is higher than the water level in the field H1, it is in a closed state that does not allow water to flow, and when the upper end is lower than the water level, it is in an open state that allows water to flow.
As described above, even when the water management device 1 is attached to the drainage side, the movable body 130 (partition 125) can be opened and closed by operating the actuator 10. In other words, the partition 123 is a mechanism for adjusting the drainage (adjustment mechanism).

In other words, the water management device 1 has a mechanism (valve body 102 or partition 125) that opens and closes to supply water to the field H1 and drain water from the field H1.
<Water management device>
As shown in Figures 4, 5 and 6, the water management device 1 includes a solar panel 40 and a power storage device 41. The solar panel 40 is a panel that generates power to operate at least the actuator 10. The solar panel 40 is attached to the upper part of the housing 11, i.e., the upper part of the cylindrical body 11c. More specifically, a bracket 38 is attached to a top plate 39 of the cylindrical body 11c, and the solar panel 40 is attached to the bracket 38. The power storage device 41 is housed in the housing 11 and stores the power generated by the solar panel 40. The power storage device 41 is housed in the cylindrical body (second cylindrical body) 11c.

As shown in FIG. 6, the water management device 1 includes a detection device 50, a control device 60, and a communication device 70. The detection device 50 is a sensor that detects the state (environment) of the field H1, and includes a water level detection device (water level sensor) 50a that detects the water level, a water temperature detection device (water temperature sensor) 50b that detects the water temperature, an air temperature sensor 50c that detects the air temperature, a humidity sensor 50d that detects the humidity, and a soil temperature sensor 50e that detects the soil temperature. Note that the water management device 1 does not need to include all of the water level sensor 50a, water temperature sensor 50b, air temperature sensor 50c, humidity sensor 50d, and soil temperature sensor 50e, and any combination is possible.

The communication device 70 is a communication module that communicates between the water management device 1 and the outside, and is capable of outputting various information to the outside. The communication device 70 can perform wireless communication using, for example, the IEEE 802.11 series of communication standards such as Wi-Fi (Wireless Fidelity, registered trademark), BLE (Bluetooth (registered trademark) Low Energy), LPWA (Low Power, Wide Area), and LPWAN (Low-Power Wide-Area Network). The communication device 70 can also perform wireless communication using, for example, a mobile phone communication network or a data communication network.

The control device 60 is a device that performs various controls of the water management device 1. The control device 60 is composed of electricity, electronic circuits, a CPU, etc. The control device 60 controls the opening and closing of the valve bodies 102, 125 by commanding the operation of the actuator 10 (electric motor 10a) based on commands from the outside or detection values (water level, water temperature, air temperature, humidity, soil temperature, etc.) detected by the detection device 50. The control device 60 and communication device 70, which are devices different from the actuator 10, are housed in a cylindrical body (second cylindrical body) 11c.
<Surveillance camera>
As shown in Fig. 6, the water management device 1 is equipped with an observation camera 80. The observation camera 80 is a CCD camera, a CMOS camera, or an infrared camera. Power is supplied to the observation camera 80 from the power storage device 41 via a power supply line L1, and the observation camera 80 operates using the power of the power storage device 41, i.e., the power generated by the solar panel 40. The observation camera 80 may be directly connected to the solar panel 40 via the power supply line L1.

2A and 2B show the layout of the water management device 1 having an observation camera 80 when the water management device 1 is installed in a farm field H1.
In addition, since the observation camera 80 may be installed inside and/or outside the water management device 1, the observation camera 80 is omitted in Figures 2A and 2B. Also, Figure 2A shows a state in which the water management device 1 on the water supply side is arranged with respect to the field H1, and Figure 2B shows a state in which the water management device 1 on the water supply side and the water management device 1 on the drainage side are arranged with respect to the field H1. Note that the water management device 1 installed in the field H1 is associated with the field H1, and as shown in Figure 2D, the device identification information (name, model number, manufacturing number, serial code, etc.) of the water management device 1 is associated with the field identification information (name, management number, etc.) of the field H1 and is stored in a support device 201A described later. Also, the installation position (latitude, longitude) of the water management device 1 is associated with the identification information of the field H1 or the installation position (latitude, longitude) of the field H1 and is stored in a support device 201A described later.

As shown in Figures 2A and 2B, in the water management device 1 installed in each field H1, the imaging direction X1 of the observation camera 80 is directed toward the field H1 that is the target of water supply and/or drainage. The observation camera 80 is connected to an output unit provided in the water management device 1, and the observation data captured by the observation camera 80 can be output from the output unit to the outside. The output unit is a device that outputs the observation data to the outside.

7A and 7B, the observation camera 80 is attached to the outside of the housing 11. For example, the observation camera 80 is provided between the solar panel 40 and the housing 11. More specifically, a camera mounting bracket (mounting part) 150 is fixed to the top plate 39 of the cylindrical body 11c located at the top of the housing 11, and the observation camera 80 is attached to the camera mounting bracket 150. The camera mounting bracket (mounting part) 150 is a bracket to which the observation camera 80 can be attached and detached, and includes a bracket 150a fixed to the top plate 39, a male screw 150b penetrating the bracket 150a, and a knob part 150c attached to the male screw 150b. The observation camera 80 can be fixed to the bracket 150a by screwing the male screw 150b into a female screw formed on the housing of the observation camera 80. The observation camera 80 can be removed by rotating the knob part 150c in a direction that loosens the male screw 150b.

The observation camera 80 is located directly below the solar panel 40, and overlaps with the solar panel 40 in the vertical and width directions. In other words, the observation camera 80 is installed in the area in which the solar panel 40 is installed in a plan view. Therefore, the solar panel 40 can prevent rainwater from above from splashing on the observation camera 80.

As shown in Figures 7C and 7D, the observation camera 80 may be attached inside the housing 11, not outside. For example, the observation camera 80 is housed in the cylinder (second cylinder) 11c that houses the power storage device 41, among the multiple cylinders 11a, 11b, and 11c. That is, the observation camera 80 is housed in the cylinder (second cylinder) 11c that does not house the actuator 10, among the multiple cylinders 11a, 11b, and 11c. The entire cylinder (second cylinder) 11c that houses the observation camera 80 is made of, for example, transparent resin (acrylic pipe), and imaging is possible from inside the cylinder 11c.

More specifically, a camera mounting bracket (mounting portion) 151 is provided on the mounting plate 37 of the cylindrical body (second cylindrical body) 11c, and the observation camera 80 is fixed to the camera mounting bracket 151. The camera mounting bracket 151 has the same configuration as the camera mounting bracket 150, and includes a bracket 151a, a male screw 151b that passes through the bracket 150a, and a knob portion 151c attached to the male screw 151b. In the case of Figs. 7C and 7D, the bracket 151a is fixed to the upper surface of the mounting plate 37. The observation camera 80 can be fixed to the bracket 151a by screwing the male screw 151b into a female screw formed on the housing of the observation camera 80. Also, the observation camera 80 can be removed by rotating the knob portion 151c in a direction that loosens the male screw 151b.

The vertical position of the observation camera 80 is set so that the imaging boundary L2a, which is set by the vertical angle of view (vertical angle of view) θ of the observation camera 80 in the vertical direction, is above the upper end of the cylinder 11b and L2b is below the top plate 39.
In the embodiment described above, the cylindrical body (second cylindrical body) 11c was made transparent. Alternatively, as shown in Figures 7E to 7G, a window portion 153 may be provided in a part of the cylindrical body (second cylindrical body) 11c, and the observation camera 80 may perform monitoring through the window portion 153.

The cylindrical body (second cylindrical body) 11c is provided with a window portion 153 that faces the imaging direction X1 of the observation camera 80. The window portion 153 is made of a transparent material and is capable of transmitting light.
Specifically, the cylindrical body (second cylindrical body) 11c has a through hole 154 extending in the axial direction (vertical direction) of the cylindrical body (second cylindrical body) 11c and in the circumferential direction of the cylindrical body (second cylindrical body) 11c. A window portion 153 is attached to the inner surface or outer surface of the cylindrical body (second cylindrical body) 11c so as to close the through hole 152. The window portion 153 also extends in the axial direction (vertical direction) of the cylindrical body (second cylindrical body) 11c and in the circumferential direction of the cylindrical body (second cylindrical body) 11c, like the through hole 154. The axial length L10 of the window portion 153 and the circumferential width W10 of the window portion 153 are set according to the angle of view of the observation camera 80 and are made larger than the angle of view.

In the embodiment described above, the observation camera 80 is fixed immovably by the camera mounting bracket 151. However, instead, the observation camera 80 may be movable.
As shown in Figures 7H and 7I, the water management device 1 is equipped with a position change mechanism 159A. The position change mechanism 159A is capable of changing the observation camera 80 in the horizontal direction, for example. The position change mechanism 159A has a turntable 160 and an electric motor 162. A camera mounting bracket 151 is fixed to the turntable 160. In the case of Figures 7H and 7I, a bracket 151a of the camera mounting bracket 151 is fixed to the upper surface of the turntable 160. Note that the configuration of the camera mounting bracket 151 in Figures 7H and 7I is the same except for the bracket 151a.

The turntable 160 is fitted with a rotating shaft of an electric motor 162 that rotates the turntable 160. The electric motor 162 is fixed to a support base 157. In this case, the cylinder (second cylinder) 11c is transparent all around, or has multiple windows 153 as shown in Figures 7E to 7G at predetermined intervals in the circumferential direction. By rotating the turntable 160, the observation camera 80 rotates horizontally, and as shown in Figure 7H, the imaging direction X1, i.e., the horizontal imaging range G1, can be changed.

As shown in Fig. 7J, the position change mechanism 159B may be a mechanism for tilting the imaging range G1 of the observation camera 80 in the vertical direction, i.e., a mechanism for tilting the imaging direction X1 in the vertical direction. The position change mechanism 159B includes a turntable 160, a bracket 165 for supporting the observation camera 80 so as to be able to swing about a horizontal axis 166, a swing plate 167 having an arc portion fixed to the observation camera 80, and an electric motor 168. Gear-shaped projections and recesses are formed on the swing plate 167, and a gear 169 provided on the rotating shaft of the electric motor 168 meshes with the projections and recesses of the swing plate 167. As shown in Fig. 7J, the imaging range G1 (imaging direction X1) can be tilted upward or downward by rotating the electric motor 168. In addition, in FIG. 7J, the components (bracket 165, oscillating plate 167, and electric motor 168) provided on turntable 160 may be attached to camera mounting bracket (mounting portion) 151, making observation camera 80 detachable.

As shown in Fig. 7K, the position change mechanism 159C may be a mechanism for vertically moving the imaging range G1 of the observation camera 80, i.e., a mechanism for vertically moving the imaging direction X1. Note that, for the sake of convenience, the control device 60 is not shown in Fig. 7K.
The position change mechanism 159C includes brackets 170 and 171 fixed to the cylindrical body (second cylindrical body) 11c, a moving member 172 penetrating the brackets 170 and 171, and an electric motor 173. Through holes are formed in the brackets 170 and 171, and female threads are formed in the through holes. The moving member 172 is a rod-shaped member having a male thread formed on its outer circumferential surface, and is fitted into the female threads of the brackets 170 and 171. The observation camera 80 is attached to the moving member 172 via a camera mounting bracket (mounting part) 151 or the like. A gear provided on the rotating shaft of the electric motor 173 is fitted into the moving member 172, and by rotating the electric motor 173, the observation camera 80 moves in the vertical direction in response to the movement of the moving member 172. That is, by rotating the electric motor 173, the imaging range G1 (imaging direction X1) can be moved in the vertical direction.

The position change mechanism may be configured to move the observation camera 80 horizontally, vertically, and/or downwardly, i.e., may combine horizontally, vertically, and/or downwardly, or may be combined with a configuration to move it vertically.
<Second cylinder (height adjustment)>
In the above embodiment, the cylinder (second cylinder) 11c is attached to the first cylinder (cylinder 11a, cylinder 11b), but the axial length (height is different) H10 of the cylinder (second cylinder) 11c may be detachably attached to the first cylinder (cylinder 11a, cylinder 11b) as shown in Fig. 7L. For convenience of explanation, the devices (power storage device 41, observation camera 80, control device 60, communication device 70) housed in the cylinder (second cylinder) 11c are omitted from Fig. 7L.

As shown in FIG. 7L, the container 11 includes a support portion 180. The support portion 180 is a portion that detachably supports the axial length (different height) H10 of the cylindrical body (second cylindrical body) 11c. The support portion 180 includes a step portion (insertion portion) 35, a first through hole 181 provided in the lower portion of the cylindrical body (second cylindrical body) 11c, a second through hole 182 provided in the upper portion of the first cylindrical body (cylindrical body 11b), and a fastener 183 that fastens the cylindrical body (second cylindrical body) 11c and the first cylindrical body (cylindrical body 11b) through the first through hole 181 and the second through hole 182. A female thread is formed on the peripheral wall that constitutes the first through hole 181 and the second through hole 182, so that the fastener 183 such as a bolt can be fastened.

Here, if the cylinder (second cylinder) 11c with a shorter length L10 is the "short cylinder 11c1" and the cylinder (second cylinder) 11c with a longer length L10 is the "long cylinder 11c2", the short cylinder 11c1 and the long cylinder 11c2 can be freely switched by the support part 180. Each of the short cylinder 11c1 and the long cylinder 11c2 has a shape as shown in Figures 7A to 7K, and can accommodate the following equipment inside: the power storage device 41, the observation camera 80, the control device 60, the communication device 70, the position change mechanisms 159A, 159B, 159C, and the camera mounting bracket (mounting part) 151. In particular, if the observation camera 80 and the position change mechanism 159 are provided on the long cylinder 11c2, the height observed by the observation camera 80 can be increased.

Regarding the attachment of the first cylindrical body (cylindrical body 11a, cylindrical body 11b) to the cylindrical body (second cylindrical body) 11c, the example has been described using fixing with bolts, but the cylindrical bodies may be configured to engage or fit together, or threaded holes may be formed in the cylindrical bodies and fastened with bolts; the attachment method is not limited.
In addition, when the support portion 180 is provided and the short cylinder 11c1 and the long cylinder 11c2 are each made transparent, the portions of the short cylinder 11c1 and the long cylinder 11c2 that overlap with the upper wall portion 32 of the cylinder 11b do not have to be made transparent, or they may be made transparent.

As shown in FIG. 7M, the camera mounting brackets (mounting parts) 150 and 151 may be structured to detachably mount multiple observation cameras 80. That is, in the above-mentioned FIG. 7A to FIG. 7L, the camera mounting brackets (mounting parts) 150 and 151 may be configured to allow multiple observation cameras 80 to be attached. In this case, the camera mounting bracket (mounting part) 150 includes multiple male screws 150b on the upper surface of the bracket 150a and knob parts 150c attached to each of the multiple male screws 150b.

The camera mounting bracket (mounting portion) 151 also includes a plurality of male screws 151b on the upper surface of a bracket 151a, and knobs 150c attached to each of the plurality of male screws 151b.
The communication device 70 also includes a housing 70a and a plurality of connectors 70b provided on the housing 70a. The plurality of connectors 70b can be connected to cables (communication lines) provided on each of the plurality of observation cameras 80. Therefore, when a plurality of observation cameras 80 are attached to the camera mounting brackets (mounting parts) 150 and 151, the communication device 70 can transmit observation data observed by the plurality of observation cameras 80. In this embodiment, a plurality of observation cameras 80 with different imaging frequency bands are attached to the camera mounting brackets (mounting parts) 150 and 151. Specifically, in each of the camera mounting brackets (mounting parts) 150 and 151, a visible light camera 80a that captures images in the visible light frequency band and an infrared camera 80b that captures images in the infrared frequency band are connected as the observation cameras 80.

In Figure 7M, multiple observation cameras 80 are attached facing the same direction, but they may be fixed facing different directions. In this case, by attaching a visible light camera 80a on the field side and on the opposite side, it is possible to observe the surrounding area including the field. Also, the cameras can be attached according to the purpose, such as attaching the visible light camera 80a on the field side and the infrared camera facing in a different direction from the field, for example, toward the mountain side where wild animals are more likely to invade at night.

The observation camera 80 can be operated in conjunction with the equipment provided in the water management device 1. For example, when the adjustment mechanism is activated by activating the actuator 10, the observation camera 80 can be operated when power is being generated by the solar panel 40, or when the amount of electricity stored (charged amount) in the storage device 41 is equal to or greater than a predetermined amount. It can also be operated during the hours when the water management device 1 is in operation. Note that the observation camera 80 can also be operated independently of the equipment (operation of the actuator 10, power generation by the solar panel 40, charging/discharging of the storage device 41, adjustment mechanism).

In addition, the operation of the observation camera 80 and the position changing mechanism may be executed according to the field water management system (irrigation mode, growth monitoring mode, water monitoring mode, theft monitoring mode, intrusion monitoring mode, field monitoring mode), or may be performed remotely by operating the external equipment 201 (support device 201A, external terminal 201B).
<Field water management system>
6, the field water management system includes a relay station 200 and an external device 201. The external device 201 includes a support device 201A and an external terminal 201B connectable to the support device 201A. The support device 201A is a server, and the external terminal 201B is a mobile terminal such as a fixed personal computer, a smartphone, a tablet, a notebook computer, or a PDA.

The relay station 200 is a communication unit that relays communication between the communication device 70 of the water management device 1 and the support device 201A, or between the communication device 70 of the water management device 1 and the external terminal 201B. The relay station 200 transmits various information from the water management device 1 to the support device 201A, or transmits various information from the support device 201A to the communication device 70. Alternatively, the relay station 200 transmits various information from the water management device 1 to the external terminal 201B, or transmits various information from the external terminal 201B to the communication device 70. In this embodiment, the water management system of the field performs indirect communication by including the relay station 200, but the communication device 70 of the water management device 1 and the support device 201A may communicate directly, or the communication device 70 of the water management device 1 and the external terminal 201B may communicate directly, and the communication method is not limited.

The field water management system has an irrigation mode, a growth monitoring mode, a water monitoring mode, a theft monitoring mode, an intrusion monitoring mode, and a field monitoring mode. Note that the field water management system does not have to have all of the irrigation mode, the growth monitoring mode, the water monitoring mode, the theft monitoring mode, the intrusion monitoring mode, and the field monitoring mode, and all combinations are possible.
When the external terminal 201B is connected to the support device 201A and a predetermined operation is performed, the device can be set to any one of irrigation mode, growth monitoring mode, water monitoring mode, theft monitoring mode, intrusion monitoring mode, and field monitoring mode. It is also possible to set two or more modes simultaneously in the field water management system. It is also possible to set both the irrigation mode and the water monitoring mode simultaneously, or to set the theft monitoring mode and the intrusion monitoring mode simultaneously.
<Irrigation mode>
When the irrigation mode is set by operating the external terminal 201B, the support device 201A displays a setting screen M1 on the external terminal 201B as shown in Fig. 8A. The setting screen M1 displays a unit selection section 210 for inputting an irrigation unit (control unit), an irrigation selection section 211, a water level setting section 212, a detailed setting button 213, and a time setting section 214.

The unit selection section 210 is a section for inputting whether to set by field (each field H1) or by group of multiple fields H1 that have been determined in advance. When the field unit is selected, irrigation can be performed by field H1, and when a group is set, irrigation can be performed by a group of multiple fields H1. The irrigation selection section 211 can select constant flooding, overflow, stop, etc. With constant flooding, irrigation (water supply) is performed when the water level falls below the control width from the set water level, and irrigation (water supply) is stopped when the water level exceeds the set water level. Overflow is a setting for irrigation (water supply) regardless of the setting. Stop is a setting for stopping irrigation (water supply) regardless of the setting. The water level setting section 212 is a section for setting the upper limit of the water level (upper water level).

When the detailed setting button 213 is selected, as shown in FIG. 8B, the support device 201A displays a setting screen M2 on the external terminal 201B. In the setting screen M2, a control width input section 215 and a valve opening input section 216 are displayed. The control width input section 215 is a section for inputting the control width F1, which is a numerical value indicating the width from the upper water level as shown in FIG. 9. By setting the control width F1, the lower limit value of the water level (lower water level) is determined. If a very small value such as less than 1 cm is input as the control width F1 in the control width input section 215, a warning is displayed on the setting screen M2 to urge the user not to input a very small value in the control width input section 215. The valve opening input section 216 is a section for inputting the opening C1 of the on-off valve 100c (valve body 102).

The time setting section 214 is a section for setting whether or not irrigation is performed depending on the time, and by selecting "ON", it is possible to set the irrigation start time and irrigation end time. When "OFF" is selected, irrigation is performed based on the irrigation setting information regardless of the time.
As described above, the irrigation setting information (field unit, group unit, constant flooding, overflow, stop, upper water level, control range F1, irrigation start time, irrigation end time) set by the setting screens M1 and M2 is stored in the storage device 203 provided in the support device 201A. The support device 201A transmits the irrigation setting information (field unit, group unit, constant flooding, overflow, stop, upper water level, control range F1, opening C1, irrigation start time, irrigation end time) to the communication device 70 of the water management device 1.

Furthermore, when the support device 201A is set to the irrigation mode, it transmits that the support device 201A is set to the water management device 1. When the communication device 70 of the water management device 1 receives that the support device 201A is in the irrigation mode, the control device 60 performs an operation corresponding to the irrigation mode. In the irrigation mode, the control device 60 controls the supply of water to the field H1.
As shown in FIG. 6, the control device 60 of the water management device 1 includes a water level control unit 60A and a water level range changing unit 60B.

As shown in Figure 9, the water level control unit 60A controls the actuator 10 so that the water level (detected water level) F2 detected by the water level detection device 50a falls within the control range F1. When a constant flooding is set, if the detected water level F2 falls and approaches the lower limit water level, the water level control unit 60A sets the actuator 10 to the opening degree C1 set by the irrigation setting information and performs irrigation to supply water to the field H1. On the other hand, if the detected water level F2 rises and approaches the upper limit water level, the water level control unit 60A operates the actuator 10 so that the valve body 102 is fully closed, stopping irrigation (water supply). The water level control unit 60A does not use the water level detected by the water level detection device 50a until the water surface stabilizes. For example, the water level (detected water level) may not be used to control the actuator 10 for a predetermined time (water level stop time) after water supply is started, or the water level detection device 50a may not measure the water level immediately after the valve body 102 is opened. The water level stop time may be set according to the season. For example, when the ears of rice are large, the water level detection device 50a may measure the water level after the start of water supply, but the detection value after a certain time has passed (water level stop time has passed) may be detected as the actual water level.

In addition, when constant flooding is set and an irrigation start time and an irrigation end time are set (constant flooding with time zone), if the detected water level F2 falls and approaches the lower limit water level during the time zone between the irrigation start time and the irrigation end time, the water level control unit 60A sets the actuator 10 to the opening degree C1 set by the irrigation setting information and irrigates the field H1 to supply water. On the other hand, if the detected water level F2 rises and approaches the upper limit water level, the water level control unit 60A operates the actuator 10 to fully close the valve body 102 and stops irrigation (water supply). In other words, in the case of constant flooding with time zone, the valve body 102 is repeatedly opened and closed during the time zone.

If the number of opening and closing operations of the valve body 102 reaches or exceeds a predetermined number within a predetermined time period (e.g., one day), the water level control unit 60A notifies the support device 201A via the communication device 70 that "the number of opening and closing operations has reached or exceeds a predetermined number." The support device 201A notifies that "the number of opening and closing operations has reached or exceeds a predetermined number" within a predetermined time period.
The water level range change unit 60B changes (corrects) the control range F1 of the irrigation setting information. As shown in Fig. 10, the control device 60 stores, in order from the transplantation of seedlings, periods (water management periods) corresponding to deep water, shallow water, intermittent, mid-season drainage, intermittent, low temperature irrigation, shallow water, intermittent, and drainage as water management for the field. The control device 60 also stores numerical values A1, A2, and A3 of the control range F1 corresponding to the water management periods. The control device 60 stores opening degrees A4, A5, and A6 corresponding to the water management periods.

For example, after transplanting seedlings, in the case of a period T1 of deep water, shallow water, or intermittent water, if the control width (set control width) F1 indicated by the irrigation setting information matches the numerical value A1, the water level width change unit 60B does not change the set control width F1. On the other hand, in the case of period T1, if the set control width F1 and numerical value A1 do not match, the water level width change unit 60B changes (corrects) the control width F1 in period T1 to numerical value A1.

In addition, for example, in the case of the period T1, when the opening (set opening) C1 indicated by the irrigation setting information matches the value A4, the water level width change unit 60B does not change the set opening C1. On the other hand, in the case of the period T1, when the set opening C1 does not match the value A4, the water level width change unit 60B changes (corrects) the opening C1 in the period T1 to the value A4.
The water level range change unit 60B does not change the set control range F1 if the set control range F1 matches the value A2 during the period T2 of mid-drying, intermittent, or low-temperature irrigation. On the other hand, the water level range change unit 60B changes (corrects) the control range F1 in the period T2 to the value A2 if the set control range F1 does not match the value A2 during the period T2.

Furthermore, for example, in the case of period T2, if the set opening degree C1 matches the value A5, the water level width change unit 60B does not change the set opening degree C1. On the other hand, in the case of period T2, if the set opening degree C1 does not match the value A5, the water level width change unit 60B changes (corrects) the opening degree C1 in period T2 to the value A5.
The water level width change unit 60B does not change the set control width F1 if the set control width F1 matches the value A3 in the case of the shallow water, intermittent water, or falling water period T3. On the other hand, the water level width change unit 60B changes (corrects) the control width F1 in the period T2 to the value A3 in the case of the period T3 when the set control width F1 does not match the value A3.

Furthermore, for example, in the case of period T3, if the set opening degree C1 matches the value A6, the water level width change unit 60B does not change the set opening degree C1. On the other hand, in the case of period T3, if the set opening degree C1 does not match the value A6, the water level width change unit 60B changes (corrects) the opening degree C1 in period T2 to the value A6.
That is, the water level width change unit 60B limits the lower limit of the set control width F1 when the set control width F1>A1, the set control width F1>A2, or the set control width F1>A3 in each of the periods T1, T2, and T3. Also, the water level width change unit 60B limits the set opening C1 when the set opening C1>A5, the set opening C1>A6, or the set opening C1>A6 in each of the periods T1, T2, and T3. Also, since the water level width change unit 60B changes the opening C1 according to the control widths A1, A2, and A3, the time of the opening and closing operation, i.e., the openings A4, A5, and A6, are variable according to the control widths A1, A2, and A3.

Now, as shown in FIG. 2C, there are cases where multiple water management devices 1 (1A, 1B, 1C) are installed to supply water to one field H1. In such a case, the irrigation start time and irrigation end time of the water management devices 1 (1A, 1B, 1C) may differ, that is, the timing of opening and closing the valve body 102 may differ. In such a case, in the multiple water management devices 1 (1A, 1B, 1C), when the detected water level F2 of a specific water management device 1 among the multiple water management devices 1 (1A, 1B, 1C) approaches the lower limit water level, the support device 201A commands the multiple water management devices 1 (1A, 1B, 1C) to irrigate simultaneously, and when the detected water level F2 of a specific water management device 1 approaches the upper limit water level, the support device 201A commands the multiple water management devices 1 (1A, 1B, 1C) to end irrigation simultaneously. That is, when multiple water management devices 1 (1A, 1B, 1C) that supply water to the field H1 are installed, the irrigation operations are synchronized by the support device 201A.

In the above-described embodiment, the control device 60 stores the relationship between the periods T1, T2, and T3 and the control widths A1, A2, A3, and the openings A4, A5, and A6, and changes the control widths A1, A2, A3, and the openings A4, A5, and A6 based on the periods T1, T2, and T3. However, the water level width change unit 60B may change the control widths A1, A2, A3, or the openings A4, A5, and A6 based on the growth of the crop U1 in the field H1.

As shown in FIG. 11, the observation camera 80 captures an image of a crop U1 such as rice from the side to capture the growth of the crop U1. The water level width change unit 60B estimates the size (plant height (back height)) X1 of the crop U1 from, for example, the observation data (captured image) captured by the observation camera 80, and determines whether the crop U1 is in a deep water, shallow water, intermittent, mid-drying, intermittent, low-temperature irrigation, shallow water, intermittent, or drainage period, and changes the control widths A1, A2, A3, and the openings A4, A5, and A6. In other words, the water level width change unit 60B determines the growth stage of the crop U1 in the captured image, such as the rooting stage, tillering stage, panicle differentiation stage, booting stage, flowering stage, or ripening stage, and changes the control widths A1, A2, A3, and the openings A4, A5, and A6.

The water level width change unit 60B increases the control widths A1, A2, and A3 as the crop U1 grows (the growth stage progresses). The water level width change unit 60B, for example, decreases the openings A4, A5, and A6 as the crop U1 grows (the growth stage progresses). Note that the above-mentioned control widths A1, A2, and A3 and openings A4, A5, and A6 are merely examples, and may be freely changed depending on the geology of the field H1, the regional system, the type (brand) of the crop U1, and the numerical values of the control widths A1, A2, and A3 and openings A4, A5, and A6 may be obtained from past performance, simulations, and the like.
<Growth monitoring mode>
When the growth monitoring mode is set by operating the external terminal 201B, the support device 201A transmits to the water management device 1 that the growth monitoring mode has been set. When the communication device 70 of the water management device 1 receives the growth monitoring mode, the control device 60 performs an operation corresponding to the growth monitoring mode. In the growth monitoring mode, the control device 60 monitors the crop U1 in the field H1.

As shown in FIG. 11, in the growth monitoring mode, the observation camera 80 captures an image of the crop U1 from the side (lateral direction) and transmits the captured observation data to the support device 201A via the communication device 70.
The observation camera 80 captures an image of the crop U1 from the root side to the tip. When the observation camera 80 captures an image of the crop U1, the control device 60 captures an image of the crop U1 from the root side to the tip by adjusting the position of the observation camera 80 using the electric motor 162, 168, 173 of any one of the position changing mechanisms 159A, 159B, 159C. As shown in Figs. 6 and 11, the water management device 1 preferably includes a light (illumination device) 230 that emits a light source. The light (illumination device) 230 is turned on when capturing an image of the crop.

For example, if the observation camera 80 is a visible light camera 80a, the water management device 1 transmits the device identification information, the imaging time, and the image (crop image) of the crop U1 captured by the visible light camera 80a to the support device 201A as observation data.
As shown in FIG. 12A, when the observation camera 80 is an infrared camera 80b, the water management device 1 transmits device identification information, the image capturing time, and the crop image captured by the infrared camera 80b as observation data to the support device 201A.

When the observation camera 80 is a visible light camera 80a and an infrared camera 80b, the water management device 1 transmits device identification information, image capture time, and crop images captured by the visible light camera 80a and the infrared camera 80b as observation data to the support device 201A.
By operating the support device 201A and the external terminal 201B, it is possible to set the imaging time for capturing images by the observation cameras 80 (visible light camera 80a, infrared camera 80b) in the growth monitoring mode. For example, the support device 201A displays a time screen on the external terminal 201B for setting the imaging time, and the support device 201A transmits the imaging time inputted on the time screen of the external terminal 201B to the water management device 1. The observation cameras 80 (visible light camera 80a, infrared camera 80b) perform observation (image capture) at the set imaging time.

The irrigation mode and the growth monitoring mode may be performed simultaneously in the water management device 1. For example, when the field H1 is irrigated (watered) in the irrigation mode, the observation camera 80 (visible light camera 80a, infrared camera 80b) may capture an image of the crop U1 and transmit the image as observation data to the support device 201A.
<Growth monitoring mode>
12A, the support device 201A stores the observation data (device identification information, image capture time (date, time), and crop image) transmitted from the water management device 1 in the growth database 220. In the above-described embodiment, the observation data is captured from the side of the crop U1 and transmitted to the support device 201A, but in addition to this, the water level detected by the water level detection device (water level sensor) 50a and the water temperature detected by the water temperature detection device (water temperature sensor) 50b may be transmitted as observation data and stored in the growth database 220 as shown in FIG.

As shown in FIG. 6, the support device 201A includes an analysis unit 221 and a growth comparison unit 222. The analysis unit 221 and the growth comparison unit 222 are composed of electric/electronic circuits, programs, etc. provided in the support device 201A. The analysis unit 221 uses crop images captured by the visible light camera 80a to perform analysis based on vegetation indices (DVI, RVI, NDVI, GNDVI, SAVI, TSAVI, CAI, MTCI, REP, PRI, RSI, etc.) for each field.

The analysis unit 221 also analyzes the crop image captured by the infrared camera 80b to create a thermograph of the high temperature areas of the crop U1. The analysis unit 221 also analyzes the crop image captured by either the visible light camera 80a or the infrared camera 80b to calculate the plant height of the crop U1. The analysis unit 221 also analyzes the crop image captured by either the visible light camera 80a or the infrared camera 80b to calculate the wilting (degree of wilting) of the crop U1.

As shown in FIGS. 13A to 13D, the growth comparison unit 222 compares the growth for each farm field.
13A , the growth comparison unit 222 graphs the vegetation index of the crop U1 analyzed by the analysis unit 221 for each field H1, transmits the graphed vegetation index to the external terminal 201B, and displays it on the external terminal 201B. The vegetation index for each field H1 displayed on the external terminal 201B may be the vegetation index of a representative crop U1 among the crops U1 transferred to the crop image, or may display the average value, maximum value, minimum value, or the like of the vegetation index of multiple crops U1.

As shown in FIG. 13B, the growth comparison unit 222 transmits the thermography of each field H1 of the crop U1 created by the analysis unit 221 to the external terminal 201B and displays it on the external terminal 201B. The thermography of each field H1 displayed on the external terminal 201B may be the thermography of a representative crop U1 among the crops U1 transferred to the crop image, or may be displayed as thermography of multiple crops U1.

As shown in FIG. 13C, the growth comparison unit 222 transmits the plant height of the crop U1 in each field H1 at the specified designated time to the external terminal 201B and causes the external terminal 201B to display it. The plant height displayed on the external terminal 201B may be the plant height of a representative crop U1 among the crops U1 transferred to the crop image, or the average, maximum, minimum, etc. of the plant heights of multiple crops U1 may be displayed.

13D, the growth comparison unit 222 transmits the wilting (degree of wilting) of the crop U1 in each field H1 at the designated time to the external terminal 201B and displays it on the external terminal 201B. The wilting displayed on the external terminal 201B may be the wilting of a representative crop U1 among the crops U1 transferred to the crop image, or the average, maximum, minimum, etc. of the plant height of a plurality of crops U1 may be displayed.
<Water monitoring mode>
When the water monitoring mode is set by operating the external terminal 201B, the support device 201A transmits that the water monitoring mode has been set to the water management device 1. When the communication device 70 of the water management device 1 receives a signal that the water monitoring mode is set, the control device 60 performs an operation corresponding to the water monitoring mode.

As shown in FIG. 14, in the water monitoring mode, the observation camera 80 captures the water supply status, i.e., either the water surface W10 or the ripples W11 of the field H1. If the water management device 1 has a position change mechanism 159B, the control device 60 operates the electric motor 168 to change the imaging range G1 of the observation camera 80 to face downward toward the valve body 102, i.e., the vertical imaging direction X1 of the observation camera 80. That is, the water surface W10 around where the water management device 1 is installed and the roots U1a of the crop U1 on the side closer to the water management device 1 are included in the imaging range G1 of the observation camera 80. More specifically, the control device 60 makes it possible to capture the water surface W10 near the through hole 105 of the opening/closing valve 100c and the roots U1a of the crop U1 closest to the opening/closing valve 100c.

In addition, in the case where the imaging range G1 of the observation camera 80 installed in the water management device 1 includes the water surface W10 around the water management device 1 and the roots U1a of the crops U1, the water management device 1 may not have a position change mechanism 159B. In other words, in the water monitoring mode, the observation camera 80 transmits the observation data captured in the vicinity of the water supply to the support device 201A via the communication device 70.

Specifically, the observation camera 80 captures images of the water surface W10, the ripples W11, and the roots U1a of the crop U1 when the actuator 10 is operated. In other words, the observation camera 80 captures images of the water surface W10, the ripples W11, and the roots U1a of the crop U1 when the valve body 102 is opened under the control of the control device 60.
As shown in FIG. 15A, regardless of whether the observation camera 80 is a visible light camera 80a or an infrared camera 80b, the water management device 1 transmits the device identification information, the imaging time, the captured images of the water surface W10 and ripples W11 (water surface images), the water level, the water temperature, and the opening degree of the opening and closing valve) to the support device 201A as observation data.

In the above-described embodiment, the water management device 1 acquires the water surface W10 and ripples W11 as a water surface image when the valve body 102 is performing an opening operation (opening degree is zero or more). Alternatively, in the water monitoring mode, the state of the water surface W10 when the valve body 102 is closed (stopped with an opening degree of zero) may be captured, and the water surface image including the water surface W10 may be transmitted to the support device 201A.

The light (illumination device) 230 of the water management device 1 can also irradiate the light source toward the ground of the field H1. This allows the water surface W10 and ripples W11 to be captured more clearly. For example, capturing an image while shining light from the illumination device 230 makes it easier to grasp the rise and fall of the water surface W10 and the flow of water.
As shown in Figures 15A and 15B, the support device 201A stores the observation data (device identification information, imaging time, captured image (water surface image), water level, water temperature, and opening degree of the on-off valve) transmitted from the water management device 1 in the water surface database 225.

The support device 201A includes a water management unit 228.
It is composed of electric and electronic circuits, programs, etc. provided in 1A.
As shown in Fig. 14, the water management unit 228 transmits a water surface image including the water surface W10, ripples W11, and roots U1a of the crop U1 to the external terminal 201B and causes it to be displayed on the external terminal 201B. Alternatively, the water management unit 228 transmits a water surface image including the water surface W10 to the external terminal 201B and causes it to be displayed on the external terminal 201B. Here, when displaying the water surface image on the external terminal 201B, it is preferable to display operation information on whether or not the actuator 10 (valve body 102) is operating together with the water surface image. This allows the manager to easily understand whether or not the water surface image is for when the actuator 10 (valve body 102) is operating.

Alternatively, the water management unit 228 estimates the water level of the field H1 based on observation data of either the ripples W11 or the water surface W10. When the actuator 10 (valve body 102) is operating, if there are few ripples W11, the water management unit 228 estimates that the water level is deep, and if there are many ripples W11, the water management unit 228 estimates that the water level is shallow.
As shown in Figure 14, the water management unit 228 estimates the water level of the field H1 through deep learning (artificial intelligence) using as input values the area S1 of the root U1a of the crop U1 shown in the water surface image, the arrangement of the root U1a, the opening degree of the actuator 10 (valve body 102), and the ripples W11 shown in the water surface image.

For example, when the predetermined opening degree of the actuator 10 (valve body 102) is constant, if the area S1 of the root U1a of the crop U1 shown in the water surface image is small and the irrigation water (water) supplied from the front (discharge side) of the water management device 1 is unlikely to hit the root U1a, then a correlation is established between the number of ripples W11 and the water level. On the other hand, when the predetermined opening degree of the actuator 10 (valve body 102) is constant, if the area S1 of the root U1a of the crop U1 shown in the water surface image is large and the irrigation water (water) supplied from the front (discharge side) of the water management device 1 is likely to hit the root U1a, then a correlation is established between the number of ripples W11, the area S of the root U1a, and the arrangement of the root U1a. Therefore, it is possible to estimate the water level of the field H1 based on the area S1 of the base U1a, the arrangement of the base U1a, the opening degree of the actuator 10 (valve body 102), and the ripples W11 shown in the water surface image.

In addition, the water level detected by the water level detection device 50a may be digitized in advance, and the water level may be used as an actual value, and the area S1 of the root U1a of the crop U1, the arrangement of the root U1a, the opening degree of the actuator 10 (valve body 102), and the ripples W1 may be used as input values to estimate the water level through deep learning.
The water management unit 228 judges whether the estimated water level of the field H1 (estimated water level) is within the target water level of the field H1, i.e., between the upper water level and the lower water level. If it is not within the target water level of the field H1 (upper water level to lower water level), the water management unit 228 notifies the water management device 1 that the estimated water level is not within the target water level. If the estimated water level is not within the target water level, the water management device 1 operates the actuator 10 (valve body 102) to supply water.

As shown in FIG. 6, the water management device 1 may also include a sound detection device 229. The sound detection device 229 is a sound collector (microphone) or the like that detects sound around the container 11. The sound detection device 229 detects sound, for example, when the actuator 10 (valve body 102) is opened, and transmits data of the detected sound (sound data) to the support device 201A via the communication device 70. The support device 201A stores the sound data in the water surface database 225 together with device identification information, image capture time, captured image (water surface image), water level, water temperature, and opening degree of the on-off valve.

The water management unit 228 estimates the water level of the field H1 by deep learning (artificial intelligence) using the sound data, the opening degree of the actuator 10 (valve body 102), and the ripples W11 shown in the water surface image as input values. When water is supplied from the water management device 1 to the field H1, the sound changes when the supplied irrigation water hits the roots U1a of the crops U1, and the sound changes when the irrigation water hits the roots U1a of many crops U1. That is, the area S1 of the roots U1a of the crops U1 shown in the water surface image and the area S1 of the roots U1a
There is a correlation between the arrangement of the roots U1a of the crop U1 and the sound data during watering, and the sound data can be used as parameters representing the area S1 of the roots U1a of the crop U1 shown in the water surface image and the arrangement of the roots U1a. Therefore, the water management unit 228 can estimate the water level by performing deep learning (artificial intelligence) as described above.

In the water monitoring mode of the above embodiment, the water supply side is described, but the water can also be applied to the drainage side. That is, in the description of the water monitoring mode, water supply is replaced with drainage. That is, when draining, a water surface image including the water surface W10, ripples W11, and the roots U1a of the crop U1 is obtained, so that the water surface image at the time of drainage and the water level at the time of drainage can be confirmed or estimated. That is, in the water monitoring mode, after obtaining a water surface image using the observation camera 80 provided in the water management device 1 on the drainage side, the above-mentioned operation at the time of water supply can be replaced with the operation of the valve body (partition part) 125 being operated by the actuator 10, and therefore the description of the drainage side will be omitted.
<Theft monitoring mode>
As shown in FIG. 6, the support device 201A includes a monitoring device 231A. The monitoring device 231A is composed of electric and electronic circuits, programs, etc., provided in the support device 201A. The monitoring device 231A monitors the agricultural machinery 300. When the support device 201A is set to the theft monitoring mode by operating the external terminal 201B, the support device 201A transmits to the water management device 1 that the theft monitoring mode is set. When the communication device 70 of the water management device 1 receives a signal that the support device 201A is in the theft monitoring mode, the monitoring device 231A and the water management device 1 perform operations corresponding to the theft monitoring mode. That is, in the theft monitoring mode, the monitoring device 231A and the water management device 1 can monitor the agricultural machinery 300 located in the field H1, etc. The agricultural machinery 300 is a tractor, a combine harvester, a rice transplanter, a work device, etc.
<Agricultural machinery>
First, the agricultural machine 300 will be described using a tractor as an example.

As shown in FIG. 16, the tractor includes a running vehicle body 303 having a running device 301, a prime mover 304, and a transmission 305. The running device 301 is a device having front and rear wheels. The front wheels may be of the tire type or crawler type. The rear wheels may also be of the tire type or crawler type. The prime mover 304 is a diesel engine, an electric motor, or the like. The transmission 305 can change the propulsive force of the running device 301 by changing the speed, and can also switch the running device 301 between forward and reverse. A cabin 309 is provided on the running vehicle body 303, and a driver's seat 310 is provided inside the cabin 309.

A coupling device is provided at the rear of the traveling vehicle body 303. The coupling device is a swing drawbar that couples the working device 302 and the traveling vehicle body 303 and does not raise or lower, or a lifting device 308 that is composed of a three-point link mechanism or the like and raises and lowers the working device 302. The working device 302, which is an agricultural device, can be attached and detached to the coupling device. By coupling the working device 302 to the coupling device, the working device 302 can be towed by the traveling vehicle body 303. The working device 302 is a tilling device that tills, a fertilizer spreading device that spreads fertilizer, a transplanting device that plants seedlings, an irrigation device that irrigates, a pesticide spreading device that spreads pesticides, a seed spreading device that spreads seeds, a harvesting device that harvests grass, etc., a spreading device that spreads grass, etc., a grass collecting device that collects grass, etc., a molding device that shapes grass, etc., a composite device that performs multiple tasks, etc.

As shown in FIG. 17, the lifting device 308 has a lift arm 308a, a lower link 308b, a top link 308c, a lift rod 308d, and a lift cylinder 308e. The front end of the lift arm 308a is supported on the upper rear part of the case (transmission case) that houses the transmission 305 so that it can swing upward or downward. The lift arm 308a swings (lifts and lowers) when driven by the lift cylinder 308e. The lift cylinder 308e is composed of a hydraulic cylinder. The lift cylinder 308e is connected to a hydraulic pump via a control valve 337. The control valve 337 is an electromagnetic valve or the like, and extends and retracts the lift cylinder 308e.

The front end of the lower link 308b is supported on the rear lower part of the transmission 305 so that it can swing upward or downward. The front end of the top link 308c is supported on the rear part of the transmission 305 above the lower link 308b so that it can swing upward or downward. The lift rod 308d connects the lift arm 308a and the lower link 308b. The work device 302 is connected to the rear part of the lower link 308b and the rear part of the top link 308c. When the lift cylinder 308e is driven (extends and retracts), the lift arm 308a rises and lowers, and the lower link 308b connected to the lift arm 308a via the lift rod 308d rises and lowers. As a result, the work device 302 swings upward or downward (rises and falls) with the front part of the lower link 308b as a fulcrum.

The tractor is equipped with a steering device 330. The steering device 330 has a handle (steering wheel) 331, a rotating shaft (steering shaft) 332 that rotates with the rotation of the handle 331, and an auxiliary mechanism (power steering mechanism) 333 that assists in steering the handle 331. The auxiliary mechanism 333 includes a hydraulic pump 334, a control valve 335 to which hydraulic oil discharged from the hydraulic pump 334 is supplied, and a steering cylinder 336 operated by the control valve 335. The control valve 335 is an electromagnetic valve that operates based on a control signal. The control valve 335 is, for example, a three-position switching valve that can be switched by moving a spool or the like. The control valve 335 can also be switched by steering the steering shaft 332. The steering cylinder 336 is connected to an arm (knuckle arm) that changes the direction of the front wheels.

Therefore, by operating the handle 331, the switching position and opening of the control valve 335 are switched in response to the handle 331, and the steering cylinder 336 expands and contracts to the left or right in response to the switching position and opening of the control valve 335, thereby changing the steering direction of the front wheels. Note that the above-mentioned steering device 330 is an example, and is not limited to the above-mentioned configuration.

The tractor is equipped with a positioning device (second positioning device) 340. When determining the position using RTK-GNSS or the like, the positioning device (second positioning device) 340 is on the mobile station side. The positioning device 340 can detect its own position (positioning information including latitude and longitude) using a satellite positioning system (positioning satellite) such as D-GPS, GPS, GLONASS, Hokuto, Galileo, and Michibiki. That is, the positioning device 340 receives satellite signals (position of the positioning satellite, transmission time, correction information, etc.) transmitted from the positioning satellite, and detects the position of the tractor (e.g., latitude, longitude), i.e., the vehicle position, based on the satellite signals. The positioning device (second positioning device) 340 is on the mobile station side.

The positioning device 340 includes a receiving device 341 and an inertial measurement unit (IMU).
The receiving device 341 has an inertial measurement unit (IMU) 342. The receiving device 341 is a device that has an antenna and receives satellite signals transmitted from positioning satellites, and is attached to the traveling vehicle body 303 separately from the inertial measurement unit 342. In this embodiment, the receiving device 341 is attached to the traveling vehicle body 303, i.e., the cabin 309. Note that the attachment location of the receiving device 341 is not limited to the embodiment. The inertial measurement unit 342 has an acceleration sensor that detects acceleration, a gyro sensor that detects angular velocity, and the like. The inertial measurement unit 342 is provided on the traveling vehicle body 303, for example, below the driver's seat 310, and the roll angle, pitch angle, yaw angle, and the like of the traveling vehicle body 303 can be detected by the inertial measurement unit 342.

As shown in FIG. 17, the tractor is equipped with a control device 360. The control device 360 performs various controls of the tractor. The control device 360 moves the traveling vehicle body 303 forward and backward based on the operation of the forward and backward movement member 361a. The control device 360 starts and stops the prime mover 304 based on the operation of the ignition switch 361b. The control device 360 changes the gear stage (speed change level) of the transmission 305 based on the operation of the speed change switching member 361c. The control device 360 changes the rotation speed of the prime mover 304 (prime mover rotation speed) based on the operation of the accelerator 361d. When the lift operation member 361e is operated, the control device 360 controls the control valve 337 to extend and retract the lift cylinder 308e, and raises and lowers the work device 302 via the lift arm 308a.

The control device 360 may also control automatic driving (automatic driving control). In automatic driving in the control device 360, the traveling body 303 is automatically driven along a preset driving route. The control device 360 sets the switching position and opening degree of the control valve 335 so that at least the traveling position of the traveling body 303 (position detected by the positioning device 340) coincides with the preset driving route (driving path), i.e., so that the traveling body 303 coincides with the driving path. In other words, in the automatic driving mode, the control device 360 sets the movement direction and movement amount (front wheel steering direction and steering angle) of the steering cylinder 336 so that the traveling position of the tractor coincides with the driving route.

In more detail, in the automatic driving mode, the control device 360 compares the driving position of the driving vehicle body 303 with the position (planned driving position) indicated on the driving route, and if the driving position matches the planned driving position, the control device 360 maintains the steering angle and steering direction (steering angle and steering direction of the front wheels) of the handle 331 in the steering device 330 without changing them (maintains the opening degree and switching position of the control valve 335 without changing them). If the driving position does not match the planned driving position, the control device 360 changes the steering angle and/or steering direction of the handle 331 in the steering device 330 so that the deviation (deviation) between the driving position and the planned driving position becomes zero (changes the opening degree and/or switching position of the control valve 335).

In the above embodiment, the control device 360 changes the steering angle of the steering device 330 based on the deviation between the driving position and the planned driving position in the automatic driving control. However, when the direction of the driving route and the direction (vehicle direction) of the tractor (driving direction) are different, the control device 360 may set the steering angle so that the vehicle direction matches the direction of the driving route. In addition, the control device 360 may set the final steering angle in the automatic driving control based on the steering angle calculated based on the deviation (position deviation) and the steering angle calculated based on the direction deviation in the automatic driving control. In addition, the steering angle may be set by a method different from the method of setting the steering angle in the automatic driving control described above. In addition, the control device 360 may control the rotation speed of the driving device 301 (i.e., the front wheels and/or the rear wheels) in the automatic driving control so that the actual vehicle speed of the tractor (driving body 303) matches the vehicle speed corresponding to the preset driving route. In addition, the control device 360 performs automatic driving by controlling the steering and vehicle speed of the traveling vehicle body 303, but the vehicle speed may be adjusted by the driver through autosteer control (automatic steering control), and is not limited to automatic driving control. Also, as a matter of course, manual driving is possible in which the driver manually operates the tractor.

17, the tractor is equipped with a storage device 362 that stores machine identification information, and a communication device 363. The communication device 363 is similar to the communication device 70, and therefore a description thereof will be omitted.
As described above, according to the tractor, by traveling in the field H1 with the work implement 302 coupled thereto, work can be performed by the work implement 302.

Now, as shown in Fig. 18A, when the monitoring device 231A enters the theft monitoring mode, the monitoring device 231A displays a theft setting screen M3 on the external terminal 201B. The theft setting screen M3 includes an image display section 240 and a field selection section 241. The image display section 240 is a section that displays an image captured by the observation camera 80. The field selection section 241 is a section that selects a specific field (a field to be monitored) from among a plurality of fields H1, and it is possible to select a field to be monitored from a field list showing a plurality of fields H1. Note that the field selection section 241 may be a section that displays a field map and allows the user to select the field to be monitored H1 from the field map, and the field selection section 241 is not limited.

When the monitored field H1 is selected in the field selection section 241, an image captured by the observation camera 80 of the water management device 1 installed in the selected monitored field H1 is displayed on the image display section 240.
Specifically, when the monitored field H1 is selected, the monitoring device 231A extracts the water management device (monitoring water management device 1) installed in the monitored field H1 from the field identification information of the selected monitored field H1, and requests the monitoring water management device 1 to transmit an image. The communication device 70 of the monitoring water management device 1 transmits the captured image G10 captured by the observation camera 80 to the support device 201A, and the support device 201A transmits the captured image G10 to the external terminal 201B. Alternatively, the communication device 70 of the monitoring water management device 1 transmits the captured image G10 captured by the observation camera 80 directly to the external terminal 201B. Therefore, the captured image G10 of the monitored field H1 can be displayed on the theft setting screen M3.

When the captured image G10 displayed on the image display unit 240 on the theft setting screen M3 includes the agricultural machinery 300 and the monitoring start button 243 is selected, the monitoring device 231A starts monitoring based on the captured image G10 captured by the observation camera 80 of the monitoring water management device 1. Note that if the agricultural machinery 300 is not captured in the captured image G10 displayed on the image display unit 240 (if the captured image G10 does not include the agricultural machinery 300), the monitoring device 231A displays on the theft setting screen M3 or the like that there is no agricultural machinery 300 to monitor.

On the other hand, when the monitoring end button 244 is selected, the monitoring device 231A ends monitoring. The time period during which monitoring is performed (monitoring time period) may be input on the theft setting screen M3. In this case, during the monitoring time period, the monitoring device 231A performs monitoring based on the image G10 captured by the observation camera 80 of the monitoring water management device 1.
Specifically, when the monitoring device 231A starts monitoring, it monitors whether the agricultural machine 300 in the captured image G10 remains in the same position and is not moving (determines whether it is stopped in a predetermined position). For example, when the agricultural machine 300 in the captured image G10 moves during monitoring and is no longer captured in the captured image G10, the monitoring device 231A generates a warning.

For example, the monitoring device 231A displays a warning on the external terminal 201B that the agricultural machine 300 has moved during monitoring. Alternatively, the monitoring device 231A outputs a warning signal to the monitoring water management device 1, and the control device 60 of the monitoring water management device 1 issues a warning by turning on or blinking the lighting device 230, if a lighting device 230 is provided. In other words, the lighting device 230 also operates as a warning device.

The monitoring device 231A can determine whether or not the captured image G10 is an agricultural machine 300 by pattern matching or the like. Furthermore, the monitoring device 231A may input image data of various agricultural machines 300 and determine whether or not the captured image is an agricultural machine 300 by deep learning (artificial intelligence), without being limited thereto.
Furthermore, in a situation where the agricultural machine 300 in the captured image G10 is being monitored in the theft monitoring mode, when only the working implement 302 is no longer captured in the captured image G10 from the traveling body 303, the monitoring device 231A determines that the working implement 302 has been removed from the traveling body 303. In this case as well, the monitoring device 231A issues a warning as described above.

Furthermore, in the above-described embodiment, the field selection section 241 is displayed on the theft setting screen M3 and the monitoring target field H1 is selected by the field selection section 241, but in the theft prevention mode, the monitoring target field H1 may also be set by operating the operation panel 43 installed on the water management device 1. That is, when the operation panel 43 of the water management device 1 is operated, the monitoring device 231A sets it as the monitoring water management device 1 that operated the operation panel 43, and sets the field H1 corresponding to the monitoring water management device 1 as the monitoring target field H1. In such a case, the monitoring target field H1 can be set without selecting a specific field H1 from the field selection section 241 displayed on the theft setting screen M3.

In addition, in the above-described embodiment, the monitoring device 231A monitors whether or not the agricultural machine 300 is present in the captured image G10. Alternatively, the monitoring device 231A may monitor by determining whether or not the agricultural machine 300 in the captured image G10 is a legitimate agricultural machine 300, and if it is a legitimate agricultural machine 300, sending a drive permission signal to the agricultural machine 300, and if it is not a legitimate agricultural machine 300, not sending a drive permission signal to the agricultural machine 300.

Specifically, the support device 201A includes a machine registration unit 236. The machine registration unit 236 is configured with electric and electronic circuits, programs, and the like provided in the support device 201A.
The machine registration unit 236 performs a process of associating either the water management device 1 or the field H1 with the agricultural machine 300. As shown in Fig. 18B, when the external terminal 201B connects to the support device 201A and performs a predetermined operation, the machine registration unit 236 displays a machine registration screen M4 on the external terminal 201B.

The machine registration screen M4 includes a field selection section 241, an equipment input section 245, and a machine input section 246. The field selection section 241 is the same as in the above-described embodiment. The equipment input section 245 is a section for inputting equipment identification information for the water management device 1. The equipment input section 245 is a section for inputting machine identification information for the agricultural machine 300 (such as name, model number, serial number, and serial code).
When the field H1 is selected on the machine registration screen M4 and the equipment identification information and machine identification information are input, the machine registration unit 236 stores the related information (the field identification information, the equipment identification information, and the machine identification information) in the machine database 226 provided in the support device 201A. Note that, since the support device 201A can extract the equipment identification information from the field identification information and the field identification information from the equipment identification information on the machine registration screen M4, either one of the field selection unit 241 and the equipment input unit 245 may be omitted on the machine registration screen M4.

As described above, the machine registration unit 236 can associate either the water management device 1 or the field H1 with the agricultural machine 300. In other words, a manager or the like can use the machine registration unit 236 to register the relationship between the agricultural machine 300 and either the water management device 1 or the field H1 that he or she owns.
Now, in a situation where the registration as described above is performed, in the case of the theft monitoring mode, at least one of the support device 201A, the external terminal 201B, and the water management device 1 transmits to the agricultural machine 300 that the agricultural machine 300 is in the theft monitoring mode. When the communication device 363 of the agricultural machine 300 receives the notification that the agricultural machine 300 is in the theft monitoring mode, it transmits the machine identification information stored in the storage device 362 to at least the support device 201A, the external terminal 201B, and the water management device 1. When the external terminal 201B and the water management device 1 receive the machine identification information, they transmit the received machine identification information to the monitoring device 231A. When the support device 201A receives the machine identification information, the monitoring device 231A extracts either the field identification information or the device identification information corresponding to the machine identification information from the machine database 226, and requests the captured image G10 captured by the observation camera 80 from the water management device 1 of the device identification information. When the monitoring device 231A receives the captured image G10, it displays the captured image G10 on the external terminal 201B.

When the manager or the like performs a predetermined operation while in the theft monitoring mode, the external terminal 201B notifies the support device 201A that the agricultural machine 300 has been confirmed (confirmation notification). If the support device 201A receives the confirmation notification within a predetermined time, the monitoring device 231A determines that the agricultural machine 300 in the captured image G10 is a legitimate agricultural machine. On the other hand, if the support device 201A does not receive the confirmation notification within the predetermined time, it does not determine that the agricultural machine 300 in the captured image G10 is a legitimate agricultural machine. If the monitoring device 231A determines that the agricultural machine 300 is a legitimate agricultural machine, the monitoring device 231A transmits a drive permission signal to the agricultural machine 300. On the other hand, if the monitoring device 231A does not determine that the agricultural machine 300 is a legitimate agricultural machine, the monitoring device 231A does not transmit a drive permission signal to the agricultural machine 300. More specifically, if the agricultural machine 300 is a legitimate agricultural machine, the monitoring device 231A transmits a permission signal to the water management device 1 having an observation camera 80 capturing the legitimate agricultural machine, and the water management device 1 transmits the permission signal to the agricultural machine 300 via the communication device 70. Note that the monitoring device 231A may transmit the permission signal to the external terminal 201B, and the external terminal 201B may transmit the permission signal to the agricultural machine 300.

When the ignition switch 361b is operated after the communication device 363 of the agricultural machine 300 receives the permission signal, the prime mover 304 is driven. On the other hand, if the communication device 363 of the agricultural machine 300 does not receive the permission signal, the prime mover 304 will not be driven even if the ignition switch 361b is operated. In other words, only the agricultural machine 300 that is determined to be a legitimate agricultural machine 300 by the monitoring device 231A can be driven.
<Intrusion monitoring mode>
As shown in FIG. 6, the support device 201A includes a monitoring device 231B. The monitoring device 231B is composed of electric and electronic circuits, programs, etc., provided in the support device 201A. The monitoring device 231B can monitor an intruder 270 that has invaded the field H1. The intruder 270 is, for example, an animal such as a bird, a dog, a cat, a rat, a fox, or a wild boar. When the intruder monitoring mode is set by operating the external terminal 201B, the support device 201A transmits to the water management device 1 that the intruder monitoring mode has been set. When the communication device 70 of the water management device 1 receives a signal indicating that the intruder monitoring mode is set, the monitoring device 231B and the water management device 1 perform operations corresponding to the intruder monitoring mode.

The support device 201A includes a timekeeping unit 248 that measures time. The timekeeping unit 248 is a timer or the like, and measures the month, date, and time (hours and minutes).
In the invading object monitoring mode, when a predetermined operation is performed on the external terminal 201B, the monitoring device 231B displays a monitoring screen M5 on the external terminal 201B as shown in FIG. 19. The monitoring screen M5 includes an image display unit 240 and a time input unit 250. The image display unit 240 is the same as in the above-mentioned embodiment. The time input unit 250 can input a time such as a month, a day, and a time (time zone). In the invading object monitoring mode, when the time measured by the clock unit 248 reaches the time inputted to the time input unit 250, the monitoring device 231B commands the water management device 1 to monitor an invading object, and the observation camera 80 of the water management device 1 transmits the captured image G10 to the support device 201A. In the invading object monitoring mode, when the support device 201A receives the captured image G10 transmitted from the water management device 1, the monitoring device 231B transmits the captured image G10 to the external terminal 201B of the manager, worker, etc. The external terminal 201B displays a captured image G10 (monitoring image) on a monitoring screen M5.

20, in the intrusion monitoring mode, the captured image G10 is monitored to determine whether the intrusion 270 corresponds to an animal such as a bird, a dog, a cat, a jackal, a fox, or a wild boar. For example, the monitoring device 231B determines whether the intrusion 270 is an animal based on the size (height H20, width W20), shape, movement, etc. of the intrusion 270. Note that the height H20, width W20, shape, movement, etc. of an animal such as a bird, a dog, a cat, a jackal, a fox, or a wild boar may be input to the monitoring device 231B in advance as input values, and the monitoring device 231B may use deep learning (artificial intelligence) to determine whether the intrusion 270 is an animal such as a bird, a dog, a cat, a jackal, a fox, or a wild boar.

If monitoring device 231B determines that intruder 270 is an animal, it issues a warning via a warning device. The warning device includes ultrasonic generator 190, sound generator 191, or light source 192. Water management device 1 is provided with at least one of ultrasonic generator 190 that generates ultrasonic waves, sound generator 191 that generates sound, or light source 192 that emits light as a warning device. If intruder 270 is an animal, monitoring device 231B identifies the type of animal and transmits a signal indicating a frequency that the animal dislikes as a control signal to water management device 1. Ultrasonic generator 190 of water management device 1 issues a warning by generating ultrasonic waves based on the control signal.

Alternatively, monitoring device 231B identifies the type of animal and transmits a sound that the animal dislikes as a control signal to water management device 1. Sound generating device 191 of water management device 1 issues a warning by generating a sound based on the control signal.
Alternatively, the monitoring device 231B identifies the type of animal and transmits light that the animal dislikes as a control signal to the water management device 1. The light source 192 of the water management device 1 issues a warning by emitting light based on the control signal.

In addition, when the observation camera 80 is a visible light camera 80a and an infrared camera 80b, the monitoring device 231B may switch between the visible light camera 80a and the infrared camera 80b based on the time measured by the timer 248. For example, when the time measured by the timer 248 is during a time period when the sun is out (morning, daytime, evening), the monitoring device 231B monitors the intruder 270 using the observation data (image G10) of the visible light camera 80a by outputting a control signal to the water management device 1 to capture an image with the visible light camera 80a. When the time measured by the timer 248 is during a time period when the sun has set and not yet risen (night, late night), the monitoring device 231B monitors the intruder 270 using the observation data of the infrared camera 80b by outputting a control signal to the water management device 1 to capture an image with the infrared camera 80b. Since the duration of the sun's rays varies depending on the season, the sunrise and sunset times for the monitoring device 231B may be obtained from the Japan Meteorological Agency or a weather information provider, and the time to switch between the visible light camera 80a and the infrared camera 80b may be determined based on the sunrise and sunset times.

In addition, in the intrusion monitoring mode, as a result of monitoring the intrusion 270, if the intrusion 270 is an animal, the time of intrusion, type, etc. may be transmitted to a server of the support device 201A or the external terminal 201B.
When there are periods when crops are not being grown in the field or when the field is left fallow and unused, the camera can be fixed facing away from the field and used as a security device.
<Field monitoring mode>
As shown in Fig. 6, the support device 201A is equipped with a monitoring device 231C. The monitoring device 231C is composed of electric and electronic circuits, programs, etc. provided in the support device 201A. The monitoring device 231C monitors the agricultural machinery 300. When the support device 201A is set to the field monitoring mode by operating the external terminal 201B, the support device 201A transmits to the water management device 1 that the field monitoring mode has been set. When the communication device 70 of the water management device 1 receives a signal that the support device 201A is in the field monitoring mode, the monitoring device 231C and the water management device 1 perform operations corresponding to the field monitoring mode. That is, in the field monitoring mode, the monitoring device 231C and the water management device 1 can monitor the surroundings of the field H1.

21, when the monitoring device 231C enters the field monitoring mode, it displays a monitoring screen M6 on the external terminal 201B. The monitoring screen M6 includes an image display section 240 and a field selection section 241. The image display section 240 is a section that displays images captured by the multiple observation cameras 80. The field selection section 241 is the same as in the embodiment described above.
When the monitored field H1 is selected in the field selection unit 241, not only the captured image G10 captured by the observation camera 80 of the water management device 1 installed in the monitored field H1, but also the captured images G10 captured by the observation cameras 80 of the water management device 1 installed around the monitored field H1 are displayed on the image display unit 240.

Specifically, when the monitored field H1 is selected, the monitoring device 231C extracts the water management devices (monitoring water management devices 1) installed around the monitored field H1 from the field identification information of the monitored field H1. For example, as shown in FIG. 22A, when field B is selected as the monitored field H1, in addition to the water management device 1b installed in field B, multiple water management devices 1 installed around field B (water management device 1a installed in field A, water management device 1c installed in field B, water management device 1d installed in field D, water management device 1e installed in field E, and water management device 1f installed in field F) are also set as monitoring water management devices 1a, 1b, 1c, 1d, 1e, and 1f.

The monitoring device 231C outputs a command to the monitoring water management devices 1a, 1c, 1d, 1e, and 1f to direct the observation camera 80 in the imaging direction X1 toward the field B, as shown in FIG. 22B. For example, when issuing a command to direct the imaging direction X1 toward the field B, the monitoring device 231C sets the angle of the imaging direction X1 so that the entire field B can be imaged by the observation camera 80 of each of the monitoring water management devices 1a, 1c, 1d, 1e, and 1f.

For example, when the imaging direction X1 is directed toward field B, the monitoring device 231C sets the imaging direction X1 of the observation camera 80 of each of the monitoring water management devices 1a, 1c, 1d, 1e, and 1f so that the entire field B can be imaged. The monitoring device 231C sets the imaging direction X1 of the observation camera 80 of the monitoring water management device 1a to 315 degrees, the imaging direction X1 of the observation camera 80 of the monitoring water management device 1c to 45 degrees, the imaging direction X1 of the observation camera 80 of the monitoring water management device 1d to 225 degrees, the imaging direction X1 of the observation camera 80 of the monitoring water management device 1e to 180 degrees, and the imaging direction X1 of the observation camera 80 of the monitoring water management device 1f to 135 degrees. The monitoring device 231C then transmits the angle of the set imaging direction X1 to the monitoring water management devices 1a, 1c, 1d, 1e, and 1f.

When the monitoring water management devices 1a, 1c, 1d, 1e, and 1f receive the angle (set angle) of the imaging direction X1 set by the monitoring device 231C, the control devices 60 of each of the monitoring water management devices 1a, 1c, 1d, 1e, and 1f operate the electric motor 162 in accordance with the set angle to rotate the turntable 160, thereby directing the imaging direction X1 toward the field B.
Once the setting of the imaging direction X1 is complete, the observation cameras 80 of each of the monitoring water management devices 1a, 1b, 1c, 1d, 1e, and 1f transmit the captured image G10 to the support device 201A via the communication device 70.

The monitoring device 231C displays the captured images G10 of the monitoring water management devices 1a, 1b, 1c, 1d, 1e, and 1f on the image display unit 240. The monitoring device 231C may be equipped with an image generation unit 233. The image generation unit 233 generates an image of the surroundings of the field H1 from the captured images. The image generation unit 233 synthesizes the captured images G10 of each of the monitoring water management devices 1a, 1b, 1c, 1d, 1e, and 1f as an around-view image to create a composite image, and transmits the composite image to the external terminal 201B to display it on the image display unit 240 of the monitoring screen M6. The monitoring device 231C may transmit the captured images G10 of each of the monitoring water management devices 1a, 1b, 1c, 1d, 1e, and 1f to the external terminal 201B to display them on the image display unit 240 of the monitoring screen M6. In addition, the monitoring device 231C may set the imaging height to a constant (fixed) when capturing images of the field B using the observation cameras 80 of each of the monitoring water management devices 1a, 1b, 1c, 1d, 1e, and 1f.

In addition, when the monitoring water management devices 1a, 1b, 1c, 1d, 1e, and 1f each have a plurality of cameras, the monitoring device 231C may generate an around-view image by combining a plurality of captured images G10. Alternatively, the monitoring device 231C may generate an image of the entire field (fields A, B, C, D, E, and F in Figs. 22A and 22B) by combining captured images G10 taken before and after the turntable 160 rotates as an around-view image.

The support device 201A may automatically switch between the intruder monitoring mode and the field monitoring mode according to the time measured by the clock unit 248. In other words, the observation camera 80 can switch between the field monitoring mode for monitoring the field H1 and the intruder monitoring mode for monitoring the intruder 270 that has invaded the periphery of the field H1 based on the time measured by the clock unit 248. In the field monitoring mode, the observation camera 80 may be switched according to the time, as in the intruder monitoring mode. That is, in the morning, daytime, and evening, the monitoring device 231C monitors the field B with the visible light camera 80a, and in the evening, the monitoring device 231C monitors the water management device 1 with the infrared camera 80b.
<Camera switching mode>
In addition to the above-mentioned modes, the support device 201A may have a camera switching mode (camera switching unit) for selecting a specific observation camera 80 to be operated among the observation cameras 80. When an external terminal 201B is connected to the support device 201A and a specific operation is performed, the camera switching mode is entered. As shown in FIG. 29A, in the camera switching mode, a camera setting screen M8 is displayed on the external terminal 201B. As shown in FIG. 29A, the camera setting screen M8 includes a field selection unit 241 and a camera setting unit 260. The field selection unit 241 is the same as in the above-mentioned embodiment.

When a field is selected by the field selection unit 241, the type of observation camera 80 provided in the water management device 1 corresponding to the selected field is displayed on the camera setting unit 260. The camera setting unit 260 includes an operation setting unit 260a for setting camera operation to permitted/prohibited, and a condition setting unit 260b for setting camera operation conditions. When camera operation is set to permitted in the operation setting unit 260a, the observation camera 80 can perform operations such as image capture. When camera operation is set to prohibited, the observation camera 80 can stop operations such as image capture. Note that when the observation camera 80 needs to be operated in the irrigation mode, growth monitoring mode, water monitoring mode, theft monitoring mode, intrusion monitoring mode, and field monitoring mode, the irrigation mode, growth monitoring mode, water monitoring mode, theft monitoring mode, intrusion monitoring mode, and field monitoring mode take precedence over the camera switching mode, and the observation camera 80 performs operations such as image capture in the camera switching mode even if the camera operation is prohibited.

The condition setting section 260b is a section that selects a specific observation camera 80 to be operated according to the agricultural work season, or selects a specific observation camera 80 according to the growth of the crop. In the camera switching mode, for example, when the agricultural work season and the type of camera to be used are selected in the condition setting section 260b, the camera to be used will be switched when the agricultural work season set in the condition setting section 260b arrives. Also, when a vegetation index is input as the growth of the crop, the camera to be used will be switched when it reaches or exceeds the vegetation index.

In the above-described embodiment, in the camera switching mode (camera switching unit), the camera is switched according to the agricultural work season and the growth of the crops. However, instead of this, if it is necessary to operate the observation camera 80 in the irrigation mode, growth monitoring mode, water monitoring mode, theft monitoring mode, intrusion monitoring mode, or field monitoring mode, it may be possible to set a specific camera when using the camera in the irrigation mode, growth monitoring mode, water monitoring mode, theft monitoring mode, intrusion monitoring mode, or field monitoring mode.

29B, when the camera switching mode is selected, the irrigation mode, growth monitoring mode, water monitoring mode, theft monitoring mode, intrusion monitoring mode, farm field monitoring mode, and camera type are displayed in the camera setting section 260 of the camera setting screen M8. When the relationship between each mode and the camera type is set in the camera setting screen M8, the camera to be used in each mode can be set.
[Second embodiment]
Figures 23 and 24 show the water management device 1 and water management system in the second embodiment. As shown in Figure 23, the water management device 1 is provided with a first positioning device (base station positioning device) 370 in the housing 11 of the water management device 1. The base station positioning device 370 is connected to a power storage device 41 and can be operated by the power of the power storage device 41.

The base station positioning device 370 includes an antenna 371a, an antenna 371b, a signal processing unit 371c, a correction information calculation unit 371d, a communication device 371e, and a housing 371f. The housing 371f houses the antenna 371a, the antenna 371b, the signal processing unit 371c, the correction information calculation unit 371d, and the communication device 371e. The signal processing unit 371c, the correction information calculation unit 371d, and the communication device 371e are configured by electronic/electronic components such as an MPU, a CPU, or by programs stored in the MPU, the CPU, etc.

Antenna 371a is an antenna that receives the first satellite signal of a GNSS satellite, and receives the L1 signal and the L2 signal. Antenna 371b is an antenna that receives the satellite signal (second satellite signal) of a quasi-zenith satellite (QZSS (Quasi-Zenith Satellite System) satellite) such as Michibiki. Antenna 371b receives at least the L6 signal (center frequency 1278.75 MHz) transmitted from the QZSS satellite as the second satellite signal. The L6 signal includes correction information (centimeter-level positioning augmentation information). The correction information includes satellite clock error information, satellite signal bias error information, satellite orbit error information, tropospheric propagation error information, ionospheric propagation error information, etc. It should be noted that antenna 371b may receive the L1 signal and the L2 signal transmitted from the GNSS satellite as the second satellite signal.

The signal processing unit 371c is a part that processes the satellite signals (first satellite signal, second satellite signal) received by the antennas 371a and 371b, and generates positioning data, for example, by amplifying and demodulating the L1 signal and the L2 signal received by the antenna 371a, and amplifying and demodulating the L6 signal received by the antenna 371b.
The correction information calculation unit 371d calculates correction information using the installation position of the water management device 1 as a reference point BP1. The installation position of the water management device 1 is the latitude and longitude that were set when the water management device 1 was installed (constructed) in the field H1, and is stored in a storage device 44 provided in the water management device 1. The storage device 44 is a non-volatile memory or the like. The installation position of the water management device 1 is any one of the positions of the container 11, the actuator 10, and the valve body 102.

Specifically, the correction information calculation unit 371d extracts the installation position (reference point BP1) of the water management device 1 stored in the memory device 44, and determines the satellite clock error, satellite signal bias error, satellite orbit error, tropospheric propagation error, and ionospheric propagation error at the reference point BP1 from the L6 signal included in at least the second satellite signal transmitted from the GNSS satellite, and sets information including the determined errors as the correction information.

The communication device 371e transmits information related to the measured position, such as correction information, to a mobile station moving in the field H1, i.e., the agricultural machinery 300. The communication device 371e transmits the correction information calculated by the correction information calculation unit 371d, i.e., the correction information corresponding to the reference point BP1, to the agricultural machinery 300. More specifically, when the calculation of the correction information by the correction information calculation unit 371d is completed, the communication device 371e transmits the calculated correction information to a specific agricultural machinery 300.

Hereinafter, for ease of explanation, the second positioning device 340 of the agricultural machine 300 will be referred to as the "mobile station positioning device 340."
The mobile station positioning device 340 performs positioning using the correction information transmitted from the base station positioning device 370. The mobile station positioning device 340 receives the correction information (correction information corresponding to the reference point BP1) transmitted from the base station positioning device 370. The mobile station positioning device 340 is included in the communication device 363, and receives the correction information transmitted from the base station positioning device 370 when the correction information is addressed to the mobile station positioning device 340.

When the mobile station positioning device 340 receives the correction information, it uses the received correction information (satellite clock error, satellite signal bias error, satellite orbit error, tropospheric propagation error, ionospheric propagation error) and the observation information of the L1 signal and L2 signal (navigation message, C/A code, L1 carrier wave) received by antenna 31b to determine the physical position (body position) of the mobile station positioning device 340. For example, the mobile station positioning device 340 determines the body position when the tractor is operating, such as when the tractor is running or when the tractor is driving the work implement 2.

Furthermore, the base station positioning device 370 and the mobile station positioning device 340 can perform accurate positioning using RTK-GNSS, and as described above, can improve the accuracy when the tractor is driven or steered automatically.
As shown in FIG. 24, the water management device 1 preferably includes an attachment section 375 for detachably attaching the first positioning device (base station positioning device) 370. The attachment section 375 includes a door section 375a that is provided on the container 11 and can be opened and closed, a locking device 375b that locks the door section 375a and the container 11, and an installation section 375c for detachably attaching the housing 370a of the base station positioning device 370. The installation section 375c is located at the installation position (reference point BP1) and has a structure in which the housing 370a can be fitted. For example, the installation section 375c is approximately the same size as the outer circumferential surface of the housing 370a, and can be attached by fitting the housing 370a. The housing 370a can be removed by pulling it upward from the state in which the housing 370a is fitted into the installation section 375c.

When the base station positioning device 370 is attached to the water management device 1, it can extract the installation location from the storage device 44 of that water management device 1. Therefore, when the base station positioning device 370 is removed from one water management device 1 and attached to another water management device 1, the installation location of the other water management device 1 can be extracted from the installation location of the storage device 44 provided in the other water management device 1. In other words, by changing the base station positioning device 370, it is possible to perform automatic driving and positioning using RTK-GNSS in various farm fields H1.

When the base station positioning device 370 is removed from the water management device 1 and attached to another water management device 1, the other water management device 1 notifies the support device 201A that the base station positioning device 370 has been attached, and transmits device identification information corresponding to the other water management device 1. When the support device 201A receives the device identification information of the other water management device 1, it extracts the installation position (reference point BP1) of the attached other water management device 1 from the device identification information and transmits the installation position (reference point BP1) to the other water management device 1. In this way, even if the water management device 1 does not have a storage device 44 that stores the installation position, the base station positioning device 370 can perform positioning using the installation position (reference point BP1) of the other water management device 1.

In addition, the water management device 1 and water management system in the second embodiment do not necessarily have the observation camera 80 shown in the first embodiment, but the water management device 1 and water management system of the first embodiment may be combined with the second embodiment.
[Third embodiment]
25 to 27 show a water management device 1 and a water management system in the third embodiment.

The water management device 1 is equipped with a station 500 that provides assistance to an aircraft 400 flying above the field H1.
First, the flying object 400 will be described using a multicopter as an example.
As shown in Fig. 25, the multicopter has a main body 410a, an arm 410b provided on the main body 410a, a rotor 410c provided on the arm 410b, and a skid 410d provided on the main body 410a. The rotor 410c is a device that generates lift for flight, and includes a rotor that applies rotational force and a blade (propeller) that rotates by driving a roller. The multicopter is equipped with a power storage device (battery) 410k, etc., and the rotor rotates by the power of the power storage device.

The multicopter also has an observation camera 410e and a positioning device 410h. The observation camera 410e is composed of a CCD camera, an infrared camera, etc., and is detachably attached to the bottom of the main body 410a or is built into the inside of the main body 410a. Therefore, while flying the multicopter over the field, the observation camera 410e can take an aerial photograph of the field. For example, from a height of about 100 m above the field, the observation camera 410e of the multicopter takes tens to hundreds of fragmentary images of the field. The multiple images taken from the air, that is, the multiple images taken by the observation camera 410e (aerial images), are stored in a memory unit 410g provided in the multicopter. The multiple aerial images stored in the memory unit 410g of the multicopter can be output to the outside by connecting a cable 534 to the output terminal. The positioning device 410h is the same as the first positioning device 370. The multicopter has an image processing unit 410j. The image processing unit 410j is composed of a program stored in a calculation unit such as a CPU provided in the multicopter, and electric and electronic components that constitute the calculation unit. The image processing unit 410j associates an aerial image captured by the observation camera 410e with the position of the multicopter (machine position) detected by the positioning device 410h. The image processing unit 410j associates, for example, the machine position during the imaging operation of the observation camera 410e with the aerial image. That is, the positioning device 410h associates a machine position with at least one aerial image. The aerial image and the machine position are stored as image data in the storage unit 410g.

As described above, by flying a multicopter over a farm field and taking aerial photographs, it is possible to obtain aerial images of the farm field or the crops planted in the farm field. It is also possible to obtain aerial images associated with the machine position.
25 to 27, the station 500 includes a connection unit 510 that supplies power to the flying object 400. The connection unit 510 is connected to the power storage device 41 via a power supply line. The connection unit 510 is attached, for example, to the outer periphery of the container 11, and a charging cable 415 of the flying object 400 can be connected to the connection unit 510. This allows the power storage device 401k of the flying object 400 to be charged with power from the power storage device 41 of the water management device 1.

The station 500 has a takeoff and landing site 520 where the flying object 400 takes off and lands. The takeoff and landing site 520 is provided in the container 11, and a takeoff and landing device 521 that serves as the takeoff and landing site 520 is attached to the upper part of the container 11. The takeoff and landing device 521 has a takeoff and landing board 521a that forms a space for takeoff and landing, and a support 521b that supports the takeoff and landing board 521a on the container 11. The support 521b has an arm 523 that is attached to the container 11 so as to be able to swing, a locking part 524 that is fixed to the underside of the takeoff and landing board 521a and to which the arm 523 is locked, and a hinge 525 that supports the takeoff and landing board 521a on the container 11 so as to be able to swing. The takeoff and landing board 521a can be held horizontally by making the takeoff and landing board 521a horizontal and locking the upper end of the arm 523 to the locking part 524. On the other hand, by disengaging the upper end of the arm 523 from the locking portion 524 of the takeoff and landing board 521a, the takeoff and landing board 521a can be folded vertically.

27, the station 500 includes a target 530. The target 530 is used for calibration when the flying object 400 captures an image of the farm field H1, and is formed on the upper surface of the takeoff and landing plate 521a. The target 530 is, for example, a figure in which black squares and white squares are arranged in a staggered pattern.
The station 500 includes a relay communication device (output unit) 531 that acquires image data (aerial images, machine positions) captured by the flying object 400 and transmits the acquired image data to the outside. In this embodiment, the station 500 includes a communication connector 532 formed in the container 11, the communication connector 532, a cable 533 that connects the communication connector 532 and the communication device 70, and the communication device 70. Therefore, by connecting the cable 534 of the flying object 400 to the communication connector 532, the image data (aerial images, machine positions) can be transmitted to the support device 201A and the external terminal 201B via the communication device 70.

28A , the station 500 may be provided with a storage location 440 for storing the power storage device 401k of the flying object 400. The storage location 440 is inside a cylindrical body (second cylindrical body) 11c, and the cylindrical body 11c is provided with a door section 441 that can be opened and closed. By opening the door section 441, the power storage device 401k can be stored on the mounting plate 37 of the cylindrical body 11c.
28B, the station 500 may be constructed by extending the protruding wall 34 of the cylinder 11b to enlarge the space. That is, the protruding wall 34 may be used as a takeoff and landing site 520. In this case, a takeoff and landing board 521a is fixed inside the protruding wall 34 so that the lower side of the protruding wall 34 is flat. According to the station 500 in FIG. 28, the small flying object 400 can take off and land.

The field water management device 1 includes an actuator 10 that opens and closes a mechanism (valve body 102, partition 125) that opens and closes either water supply to the field or drainage from the field, a solar panel 40 that generates power to operate the actuator 10, a housing 11 that houses the actuator 10, an observation camera 80 that can capture images of the field, and an output unit that can output observation data captured by the observation camera 80. This allows the observation camera 80 to grasp various conditions of the field to which irrigation water is supplied and the field to which irrigation water is discharged, thereby improving water management in the field. For example, the conditions of the field where water management is required, such as the conditions during water supply and drainage to the field, the conditions of crop growth in the field, the conditions during work in the field, the state of the field, and the presence or absence of pests in the crops in the field, can be grasped.

The observation camera 80 captures images in coordination with the operation of the actuator 10. This allows the observation camera 80 to grasp various situations when the mechanism (valve body 102, partition portion 125) is being opened or closed by the operation of the actuator 10.
The observation camera 80 captures images while power is being generated by the solar panel 40. This allows the observation camera 80 to grasp various situations while the water management device 1 is generating the necessary electricity by the solar panel 40.

The observation camera 80 captures images when the mechanism (valve body 102, partition 125) is opening and closing and when power is being generated by the solar panel 40. In this way, the observation camera 80 can grasp the situation when both the mechanism (valve body 102, partition 125) is opening and closing and power is being generated.
The observation camera 80 captures images of the crops planted in the field from the side, making it possible to grasp the growth status of the crops from the side.

The observation camera 80 captures observation data that allows a vegetation index of the crops planted in the field to be calculated. This makes it possible to grasp the progress of crop growth and the like from the vegetation index.
The output unit is capable of transmitting the observation data to the external device 201. This allows the external device 201 to check the observation status.
The field water management system includes a water management device 1 and an image generation unit that acquires observation data from the output units of the water management devices 1 of a plurality of fields and generates an image of the surroundings of the fields from the acquired observation data. This makes it easy to grasp the situation around the field. For example, the overall state of a given field can be confirmed like an around-view monitor.

The field water management system includes an actuator 10 that opens and closes a valve body that either supplies water to the field or drains water from the field, a housing 11 that houses the actuator 10, an observation camera 80 that can capture images of the field, and a mounting part (camera mounting brackets 150, 151) to which the observation camera 80 can be detachably attached. With this, the observation camera 80 can be attached to the mounting part (camera mounting brackets 150, 151) and observations can be made only when it is necessary to check the situation with the observation camera 80.

The mounting parts (camera mounting brackets 150, 151) can be used to mount multiple observation cameras 80 with different imaging frequency bands. This allows various types of observation cameras 80 to be mounted, or cameras of the same type, such as a visualization camera or an infrared camera, to be mounted as needed to view the field.
A support device 201A is provided that processes observation data from a plurality of observation cameras 80 in accordance with the plurality of observation cameras 80 attached to the attachment parts (camera mounting brackets 150, 151). This allows the observation data from the plurality of observation cameras 80 to be easily processed by the support device 201A, making it possible to quickly grasp the observation results.

A camera switching unit is provided for selecting a specific observation camera 80 to be operated from among the multiple observation cameras 80. With this, when multiple observation cameras 80 are installed, it is possible to observe an object to be observed using a camera suitable for the object.
The camera switching unit selects a predetermined observation camera 80 depending on the agricultural work season, thereby making it possible to carry out observations in accordance with the agricultural work being carried out in the field.

The camera switching unit selects a predetermined observation camera 80 according to the growth of the crops in the field. This allows various observations of the crops to be made while observing the progress of the growth of the crops.
The field water management system includes solar panels 40 and a power storage device 41 that stores the electricity generated by the solar panels 40, and the observation camera 80 is operated by the electricity stored in the power storage device 41. Since the observation camera 80 can be operated by the electricity generated by the solar panels 40, there is no need to perform construction such as laying new electric wires to operate the observation camera 80, and observation can be easily performed.

The support device 201A can create a more accurate growth map using images (aerial images) of the field taken by an aircraft and images taken from the side by the observation camera 80 of the water management device 1.
The water management system for a farm field includes an actuator 10 that opens and closes a mechanism (valve body 102, partition 125) that opens and closes either water supply to the farm field or drainage from the farm field, a housing 11 that houses the actuator 10, and an observation camera 80 that can capture an image of the farm field, and the observation camera 80 monitors the farm field and invaders that have invaded the periphery of the farm field. This allows the observation camera 80 to easily monitor invaders that have invaded the periphery of the farm field. For example, in the water management system, since irrigation water is supplied to the farm field, fish, frogs, loaches, killifish, pond snails, etc. may enter the farm field at the same time as the irrigation water is supplied, and it is therefore easy to monitor animals that prey on fish, frogs, loaches, killifish, pond snails, etc. and animals that prey on crops.

The field water management system is equipped with a clock unit 248 that measures time, and the observation camera 80 can switch between a mode for monitoring the field and a mode for monitoring intruders that have invaded the periphery of the field based on the time measured by the clock unit 248. This makes it possible to monitor intruders such as animals at times when they are likely to enter the field, while monitoring the condition of crops and the like in the field at other times.

The water management system for the farm field is equipped with a warning device that issues a warning when an invading object is included in the observation data of the observation camera 80 while monitoring the condition of the invading object around the farm field. This makes it possible to easily drive out animals that have invaded the farm field.
The observation camera 80 is equipped with a visible light camera 80a and an infrared camera 80b. With this, the visible light camera 80a can grasp the shape and the like of the intruding object, while the infrared camera 80 can grasp the type of the intruding object from its temperature.

The field water management system includes a timer 248 that measures time, and switches between the visible light camera 80a and the infrared camera 80b based on the time measured by the timer 248. This makes it easier to spot intruders during the day, for example, by monitoring with the visible light camera 80a, and can spot intruders at night, for example, by using the infrared camera 80b.

The warning device is an ultrasonic generator that generates ultrasonic waves, a sound generator that generates sound, or a light source that emits light, and can warn of various intruders, such as various animals.
When capturing an image, a light is provided that irradiates light in the same direction as the observation camera 80. This makes it possible to capture images of the surroundings of the farm field using the light even at night.

The warning device transmits the result of monitoring the intrusion to the external device 201B, to a server or a mobile terminal, thereby making it possible to quickly inform the manager or worker of the result of monitoring the intrusion.
The observation camera 80 can also be used as a security device by fixing the camera facing away from the field when there are periods when crops are not being grown in the field or when the field is left fallow and unused.

The field water management device 1 includes an actuator 10 that performs an opening and closing operation of a mechanism (valve body 102, partition 125) that performs either water supply to the field or drainage from the field by opening and closing operations, a solar panel 40 that generates power to operate the actuator 10, a housing 11 that houses the actuator 10, and a station 500 that provides assistance to an aircraft 400 flying above the field. With this, the station 500 can provide assistance to the aircraft 400, and for example, when the aircraft 400 is a drone, the workability can be improved when the drone performs work above the field. In other words, the field water management device 1 has a function as an assistance station for the aircraft, and can easily grasp various situations related to the field. The station 500 includes a connection unit 510 that directly connects to the aircraft 400 to supply power. With this, when the aircraft 400 operates on electricity, power can be supplied from the connection unit 510. Note that the connection unit 510 is not limited to a type that supplies power through a direct connection, but also includes a type that charges through an indirect connection (wireless charging).

The field water management device 1 includes a power storage device 41 that stores the electricity generated by the solar panel 40. This makes it possible to easily supply the power stored in the power storage device 41 to the flying object 400.
The container 11 is provided with a take-off and landing site for the flying object 400. This allows the flying object 400 to take off and land easily, and allows the flying object 400 to take off and land easily in areas other than roads and buildings where take-off and landing are restricted.

The station 500 includes a relay communication device that acquires image data captured by the flying object 400 and transmits the acquired image data to the outside. This allows the image data captured by the flying object 400 to be easily transmitted using the relay communication device.
The station 500 includes a target 530 for performing calibration when the flying object 400 captures an image. For example, when the flying object 400 flies above a farm field to capture an image of the farm field, i.e., when taking an aerial photograph of the farm field, calibration can be easily performed, and the quality of image data from above the farm field can be improved.

The station 500 is provided with a storage location for storing the power storage device 401k of the flying object 400. This allows the power storage device 401k of the flying object 400 to be stored, which reduces the work of transporting the power storage device 401k to a farm field and makes it easier to replace the power storage device 401k of the flying object 400.
The water management device 1 for the field includes an actuator 10 that opens and closes a mechanism (valve body 102, partition 125) that supplies water to the field or drains water from the field, a housing 11 that houses the actuator 10, and a first positioning device 370 that performs positioning based on a signal from a positioning satellite. Since the water management device 1 is fixed to the field, the provision of the first positioning device 370 allows the water management device 1 to double as a fixed station. For example, positioning can be easily performed without setting a fixed station each time positioning is performed, as with RTK-GNSS. In other words, by installing the water management device 1 having a positioning device in or around the field H1, it is possible to easily assist agricultural machinery that can work in the field H1.

The first positioning device 370 includes a communication device 371e that transmits information about the determined position to a mobile station moving in the field. This makes it possible to easily transmit information about the determined position to the mobile station, and to perform highly accurate positioning in the field using RTK-GNSS or the like.
The communication device 371e transmits to the mobile station the installation location of any one of the water management devices 1 and information relating to the location. This makes it easy to grasp the relative positions of the mobile station and the water management device 1 (fixed station).

The communication device 371e transmits correction information obtained by receiving a signal from a positioning satellite to a mobile station equipped with a second positioning device 340 that performs positioning based on the signal from the positioning satellite. This makes it possible to improve the positioning accuracy of the second positioning device 340 by using the correction information, and to achieve highly accurate positioning in the field.
The mobile station is an agricultural machine performing work in a field, and the second positioning device 340 corrects the position determined by the second positioning device 340 based on the correction information. This makes it possible to accurately determine the position of the agricultural machine when it is performing work.

The field water management device 1 is provided with an attachment part to which the first positioning device 370 can be detachably attached. This allows the device to be easily removed when positioning is not required, improving the crime prevention of the first positioning device 370.
The water management system for the field includes an actuator 10 that opens and closes a mechanism (valve body 102, partition 125) that opens and closes either water supply to the field or drainage from the field, a housing 11 that houses the actuator 10, an observation camera 80 that can capture images of the agricultural machine in the field, and a monitoring device 231A that monitors the agricultural machine 300 based on observation data from the observation camera 80. This makes it possible to easily grasp the state of the agricultural machine 300 in the field. In other words, it is possible to assist in monitoring the agricultural machine 300 that can work in the field H1.

The monitoring device 231A determines whether the agricultural machine 300 is stopped at a specified position based on observation data when the agricultural machine 300 is not working, and generates a warning if the agricultural machine 300 is not stopped at the specified position. This makes it easy to monitor when the agricultural machine 300 is not working, i.e., when the agricultural machine 300 is stored in the field, and if the stored agricultural machine 300 is not stopped at the specified position, a warning can be generated immediately indicating that theft or the like has occurred.

The monitoring device 231A determines whether the agricultural machinery 300 included in the observation data is a legitimate agricultural machinery 300, and if it is a legitimate agricultural machinery 300, transmits a drive permission signal to the agricultural machinery 300, and if it is not a legitimate agricultural machinery 300, does not transmit a drive permission signal to the agricultural machinery 300. This makes it possible to drive only legitimate agricultural machinery 300 so that it can work in the field, and to prevent illegitimate agricultural machinery 300 from performing agricultural work.

The field water management system includes a machine registration unit 236 that associates the agricultural machinery 300 with either the water management device 1 or the field, and the monitoring device 231A determines that the agricultural machinery 300 included in the observation data is a legitimate agricultural machinery 300 if it matches an agricultural machinery 300 registered in the machine registration unit 236, and does not determine that the agricultural machinery 300 is a legitimate agricultural machinery 300 if it is an agricultural machinery 300 that is not registered in the machine registration unit 236. This allows the agricultural machinery 300 to be easily registered with either the water management device 1 or the field, and allows work to be performed using only the registered agricultural machinery 300.

The agricultural machine 300 includes a traveling body 303 and a working device 302 connected to the traveling body 303, and the monitoring device 231A determines that the working device 302 has been removed from the traveling body 303 based on the observation data. This makes it possible to detect that only the working device 302 has been removed while the traveling body 303 is stopped, thereby improving theft prevention of the working device 302.

The field water management system includes an actuator 10 that opens and closes a mechanism (valve body 102, partition 125) that opens and closes either water supply to the field or drainage from the field, a solar panel 40 that generates power to operate the actuator 10, a housing 11 that houses the actuator 10, and an observation camera 80 that captures the status of either water supply or drainage. This allows the monitoring camera 80 to easily grasp the status of water supply and drainage. For example, it is possible to easily grasp a state in which water supply and drainage are not occurring even though the mechanism (valve body 102, partition 125) is open, and a state in which water supply and drainage are occurring even though the mechanism (valve body 102, partition 125) is closed.

The observation camera 80 captures either the ripples or the water surface of the water in the field as the state of either the water supply or the drainage. This makes it possible to easily grasp the state of either the water supply or the drainage from either the ripples or the water surface.
The water management system for the farm field is equipped with a support device 201A that estimates the water level in the farm field based on observation data of either ripples or the water surface. This makes it possible to easily estimate not only the water supply and drainage conditions but also the water level in the farm field. In other words, the water level can be grasped even when the water level detection device that measures the water level is not in operation or when no water level detection device is provided.

The observation camera 80 is equipped with a support device 201A that captures either water supply or drainage and the crops in the field as the water supply or drainage situation, and estimates the water level in the field based on the relationship between either ripples or the water surface and the crops. This allows the estimated water level to approach the actual progress, making it possible to estimate the water level with high accuracy.
The support device 201A judges whether the estimated water level in the field has reached the target water level for the field. In this way, if it is judged that the target water level has not been reached, water can be easily supplied.

The field water management system is equipped with a sound detection device 229 that detects sounds around the container 11, and a support device 201A that estimates the status of either water supply or drainage based on observation data of either ripples or the water surface and sound. This makes it easy to grasp the status of water supply or drainage from not only the observation data but also the sound when water supply or drainage is performed.

The observation camera 80 captures an image of the opening and closing operation of the mechanism (the valve body 102 and the partition 125) as either the water supply or drainage status. By directly capturing an image of the mechanism (the valve body 102 and the partition 125), the water supply or drainage status can be easily grasped.
The field water management system is equipped with a light that irradiates a light source toward the ground of the field when imaging the status of either water supply or drainage. This makes it easier to grasp the status of the water surface by the light. For example, the status of the water surface (water flow) can be easily grasped by the reflection status of the water surface when light is irradiated by the light.

The field water management device 1 comprises an actuator 10 that opens and closes a mechanism (valve body 102, partition 125) that opens and closes either water supply to the field or drainage from the field, a solar panel 40 that generates power to operate the actuator 10, and a housing 11 that houses the actuator 10, and the housing 11 has a support part that detachably supports cylinders of different lengths in the vertical direction. This makes it possible to enlarge the internal space of the housing 11 and change the height of the housing 11, and to change the height of the housing 11 depending on the size of the equipment to be housed within the housing 11. In other words, the height of the housing can be changed, making it easy to add equipment, etc.

The housing 11 includes first cylinders 11a and 11b that house the actuator 10, and a second cylinder 11c that houses a device other than the actuator 10 and is supported by a support portion. This makes it possible to enlarge the internal space of the portion that houses the device other than the actuator 10 and change the height of the housing 11 without changing the actuator 10.

The device is an observation camera 80 capable of capturing images of the farm field, and the second cylinder 11c has a window 153 facing the observation camera 80. This allows the observation camera 80 to capture images of the surroundings of the farm field from inside the housing 11, and also improves waterproofing.
The window portion 153 extends vertically in the axial direction of the second cylindrical body 11c, thereby making it possible to increase the imaging range in the vertical direction (height direction).

The window portion 153 extends in the circumferential direction of the second cylindrical body 11c, thereby making it possible to widen the imaging range in the horizontal direction.
The field water management device 1 is provided with a position changing mechanism for changing the vertical height of the device. With this, the height of the device housed in the housing 11 can be easily changed by the position changing mechanism.

The field water management device 1 comprises an actuator 10 that opens and closes a mechanism (valve body 102, partition 125) that opens and closes either water supply to the field or drainage from the field, a housing 11 that houses the actuator 10, and an observation camera 80 that is attached either inside or outside the housing 11 and can capture images of the field. This allows the observation camera 80 to observe the surroundings of the field from inside or outside the housing 11. In other words, by installing the observation camera 80, various conditions related to the field H1 can be easily grasped.

The housing 11 includes a plurality of cylinders, and the observation camera 80 is attached to one of the plurality of cylinders that does not house the actuator 10. This allows the largest possible observation camera 80 to be attached, and the imaging range can be increased.
The field water management device 1 comprises a solar panel 40 that generates power to operate the actuator 10, and a power storage device 41 that stores the power generated by the solar panel 40, and the housing 11 includes a plurality of cylinders, and the observation camera 80 is attached within one of the plurality of cylinders that houses the power storage device 41. This makes it easier to obtain power to operate the observation camera 80 from the power storage device 41, and allows the wiring that supplies power to be shortened, making wiring work easier.

The field water management device 1 is equipped with a solar panel 40 that generates power to operate the actuator 10, and the observation camera 80 is attached between the solar panel 40 and the housing 11. This allows the observation camera 80 to be sandwiched between the solar panel 40 and the housing 11 (covering both the top and bottom), and rainwater, etc. can be prevented from getting on the observation camera 80 as much as possible.

The field water management device 1 is equipped with a solar panel 40 that generates power to operate the actuator 10, and the observation camera 80 is attached between the solar panel 40 and the mechanism (valve body 102, partition 125). This allows the observation camera 80 to be installed in a location that does not interfere with the opening and closing operation of the mechanism (valve body 102, partition 125), and the installation of the observation camera 80 can prevent a decrease in the water supply or drainage capacity of the water management device 1.

The water management system for the field includes an actuator 10 that opens and closes a mechanism (valve body 102, partition 125) that supplies water to the field by opening and closing the actuator 10, a solar panel 40 that generates power to operate the actuator 10, a housing 11 that houses the actuator 10, a water level detection device 50a that detects the water level in the field, a water level control unit 60A that controls the actuator 10 so that the water level detected by the water level detection device 50a falls within the control width F1, and a control device 60 that has a water level width change unit 60B that changes the control width F1. This allows the water level width change unit 60B to change the control width F1 according to various situations, achieving more accurate water level management. In other words, the water level in the field can be easily controlled taking into account crops, etc. Note that the lower the control width, the more precise the water level management, which is expected to improve the yield and quality of crops such as rice.

The water level range changing unit 60B changes the control range F1 based on the growth of the crop in the field. By changing the control range F1 according to the growth, it is possible to promote the growth.
The field water management system includes an observation camera 80 capable of capturing images of crops in the field, and the water level range change unit 60B changes the control range F1 based on the observation data captured by the observation camera 80. This makes it possible to change the control range F1 after grasping the conditions of the water surface and other aspects of the field from the observation data, and the control range F1 can be used to realize water level control that is more suited to the variety, region, and soil.

The water level range change unit 60B can change the control range F1 by manual operation and limits the lower limit of the control range F1. This makes it possible to suppress erroneous detection of the water level even if the manager or worker mistakenly sets the control range F1 too low, and ensures the water level necessary for crop growth.
The water level control unit 60A varies the time of the opening and closing operation based on the control width F1 changed by the water level width change unit 60B. This makes it possible to limit the frequency of controlling the water level (the time of the opening and closing operation), and to supply water in a way that has as little effect as possible on the growth of the crops.

The water level control unit 60A limits the opening of the mechanism (valve body 102, partition 125) when controlling the actuator 10. This makes it possible to prevent fluctuations in the water level due to the influence of sudden water supply or drainage.
In the above-described embodiment, the position and orientation of the observation camera 80 was changed by the position change mechanism 159 (159A, 159B, 159C), but the position (height, orientation, angle) etc. of equipment mounted on the water management device 1 other than the observation camera 80 may also be changed by the position change mechanism 159 (159A, 159B, 159C).

The embodiments disclosed herein should be considered to be illustrative and not restrictive in all respects. The scope of the present invention is indicated by the claims, not by the above description, and is intended to include all modifications within the meaning and scope of the claims.

1: Water management device 10: Actuator 11: Container 40: Solar panel 41: Power storage device 80: Observation camera 150, 151: Mounting part (camera mounting bracket)
201A: Support device H1: Field U1: Crop

Claims (4)

an actuator for performing an opening/closing operation of a mechanism for supplying water to a farm field and/or draining water from the farm field by the opening/closing operation;
A housing that houses the actuator;
A plurality of observation cameras capable of capturing an image of the farm field, the observation cameras capturing an image using different frequency bands;
A mounting portion for detachably mounting the plurality of observation cameras;
a camera switching unit that selects a predetermined observation camera to be operated from among the plurality of observation cameras;
The camera switching unit is configured to be able to input a vegetation index as crop growth and to be able to pre-select the observation camera to be used according to the crop growth in the field, and when the vegetation index becomes equal to or greater than the input vegetation index, the pre-selected observation camera is selected as the specified observation camera, in a field water management system. The field water management system according to claim 1, further comprising a support device that processes observation data from the plurality of observation cameras in accordance with the plurality of observation cameras attached to the mounting portion. The field water management system according to claim 1 or 2, wherein the camera switching unit is configured to be able to preselect the time of agricultural work and the observation camera to be used, and when the time of the preselected agricultural work arrives, the preselected observation camera is selected as the predetermined observation camera. Solar panels and
a power storage device that stores the power generated by the solar panel;
Equipped with
4. The field water management system according to claim 1, wherein the observation camera is operated by the electricity stored in the power storage device.

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