JPH06424A - Disease injury detection and control machine - Google Patents

Abstract

PURPOSE:To sprinkle agricultural chemicals only on crops attacked by blight by a method wherein a running device is allowed to run in a field to detect the color of the leaves of crops and the color detection result is stored corresponding to a detection position result and, subsequently, a control device is attached to the running device to sprinkle agricultural chemicals on crops at a control necessary place while the running device is allowed to run. CONSTITUTION:An image processor 2 is attached to a running device 1 and the running device 1 is allowed to run so as to straddle a crop ridge and the color of the leaves of crops is detected by an image processing part 21 and the detection data is stored in a memory part 14 through a control part 10. The crop color detection position of the running device 1 is inputted to the memory part 14 with the elapse of time by a running device position detection sensor 15, a running angle detection sensor 16 and a running speed detection sensor 18 and the color detection result and the crop color detection position result are stored in corresponding relationship. Next, a control device is attached to the running device and the running device 1 is allowed to run to be moved to the place confirmed as a control necessary place by the control part 10 and the control part 10 outputs a signal to a control device driving part 23 to sprinkle agricultural chemicals.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a disease detecting / controlling machine.

[0002]

2. Description of the Related Art Conventionally, for exterminating pests and diseases occurring in crops, or preventing diseases, workers carry out pesticide spraying work with a pesticide sprayer on their backs, or operate a model aircraft by remote control,
This is done by spraying pesticides from the pesticide sprayer installed on the model aircraft.

[0003]

However, the pesticide spraying work carried out by the former worker carrying the pesticide sprayer on his back is heavy work and the work efficiency is low.

On the other hand, while the work of spraying pesticides by the latter model aircraft described above can reduce the labor of the operator and improve the work efficiency, it requires a skill to operate the remote control of the model aircraft and, moreover, the field. Since the pesticides are sprayed from above, there is a problem that the pesticides are scattered around the field and environmental pollution occurs.

[0005]

Therefore, in the present invention, an image processing device for detecting a pest generated in a crop and a control device for exterminating the pest in a traveling device capable of self-propelled across a crop line. The control unit is installed on the traveling device, and the steering control mechanism, the traveling control mechanism, the storage unit, the traveling device position detection sensor, the steering angle detection sensor, and the traveling device are mounted on the traveling device. The speed detection sensor and the work implement operation detection sensor were connected, and further, the image processing section provided in the image processing apparatus and the pest control apparatus drive section provided in the pest control device were connected to the control section in a freely connectable / disconnectable manner. The purpose of the present invention is to provide a disease detection and control machine characterized by the above.

[0006]

[Function] When carrying out control work, the color of the leaves of a normal crop that has not been affected by pests in advance is subjected to image processing by an image processing device, and red, green and black color data are detected as analog quantities. , A / D converter converts the analog amount into a digital amount, and the average value of the converted data is obtained and stored in the storage device.

Further, a threshold value, which is a limit of colors that can be regarded as normal, is set based on the average value, and the threshold value is also stored in the storage device.

After performing the above work, the image processing device is attached to the traveling device, and the image processing portion of the image processing device and the control portion of the traveling device are connected to each other so that the traveling device is connected to the field. Inside, run along the crop line while straddling the crop line.

At this time, the color of the leaves of the crop is detected by the image processing device, and the image is processed and stored in the storage unit via the control unit of the traveling device.

On the other hand, the traveling device position detection sensor, the steering angle detection sensor, and the traveling speed detection sensor attached to the traveling device input the crop color detection position of the traveling device to the storage unit via the control unit over time. Then, the color detection result and the crop color detection position result are stored in association with each other.

Then, the control unit compares the average value and the threshold value of the normal color of the crop stored in advance in the storage device with the data of the detected crop color, and compares the crop color value exceeding the threshold value. The detected position of the color data is recognized as the control-needed part.

Next, a pest control device is attached to the traveling device in place of the image processing device, and the pest control device driving unit of the pest control device is connected to the control unit so that the traveling device straddles the crop strip in the field. When the traveling device moves to a location recognized by the control unit as a control-necessary location as described above, the control unit outputs a signal to the control unit drive unit when the vehicle travels along the crop line in this state. Then, the control work of spraying the pesticide on the crop is performed.

In this way, the control work can be automated.

[0014]

Embodiments of the present invention will be described below with reference to the drawings.

FIG. 1A shows a disease detection / detection according to the present invention.
It is a control machine, and the disease detection / control machine A is the traveling device 1
Further, an image detection processing device 2 for detecting a pest that has occurred in a crop and a pest control device 3 for exterminating the pest are attached in a freely replaceable manner.

As shown in FIG. 1, the traveling device 1 has the upper ends of the wheel columns 5, 5, 6, 6 attached to the front, rear, left and right sides of the device body 4, and the lower ends of the respective wheel columns 5, 5, 6, 6. 2, the wheels 7, 7, 8 and 8 are attached to the respective fields, and as shown in FIG.
It is possible to drive on. K is disease detection and control machine A
Is the travel route of.

The image processing device 2 is provided in the device body 4.
Alternatively, a mounting part 9 for mounting any one of the pest control devices 3 and a control part 10 for controlling these devices 1, 2, 3
And are provided.

Further, as shown in FIGS. 1 and 3, the control unit 10 includes a steering control mechanism 12 for controlling the steering of the wheels 7, 7, 8 and 8, and the wheels 7 and 7. , 8, 8, a traveling control mechanism 13 for performing traveling control, a storage unit 14 for storing data input to the control unit 10, and a traveling device position detection for detecting the current position of the traveling device 1. Sensor 15
A steering angle detection sensor 16 for detecting a steering angle controlled by the steering control mechanism 12, a traveling speed detection sensor 18 for detecting a traveling speed controlled by the traveling control mechanism 13, and an image processing device 2. A working machine operation detection sensor 19 for detecting the operation state of the pest control device 3 and an obstacle detection sensor 20 for detecting an obstacle are connected.

The image processing apparatus 2 is provided with a detection camera 11 such as a CCD camera (solid-state image pickup device camera) and an image processing section 21, and an image of the crop N detected by the detection camera 11 is processed by the image processing section 21. The analog amount of each color data of red, green and blue of the same image is converted into a digital amount by an A / D converter, and the converted data is converted into the control unit.
I'm trying to type in 10.

As shown in FIG. 1, the pest control device 3 comprises a pesticide storage tank 22 and a pest control device drive section 23 for spraying a predetermined amount of pesticide directly downward from the pesticide storage tank 22 to control the pesticide. Therefore, the control device drive unit 23 is connected to the control unit 10 when attached to the attachment unit 9 of the device body 4. 22a is a pesticide spraying chute.

The embodiment of the present invention is configured as described above, and according to this embodiment, the control work can be automatically performed as follows.

That is, when the control work is performed, the color of the leaf of a normal crop that has not been previously affected by a pest is image-processed by the image processing device 2, and each color data of red, green and black is taken as an analog quantity. The analog amount is detected and converted into a digital amount by the A / D converter, and the average value of the converted data is obtained and stored in the storage unit 14.

Further, a threshold value that is a limit of colors that can be regarded as normal is set based on the average value, and the threshold value is also stored in the storage unit 14.

After performing the above work, the image processing device 2 is mounted on the traveling device 1, and the image processing portion 21 of the image processing device 2 and the control portion 10 of the traveling device 1 are connected to each other, As shown in FIG. 2, the traveling device 1 is installed in a field G in a state where the two crop rows M are crossed over the crop rows M.
Run along.

At this time, the image processing unit 21 detects the color of the leaves of the crop, performs image processing, and stores the detected data in the storage unit 14 via the control unit 10 of the traveling apparatus 1.

On the other hand, the traveling device position detection sensor 15, the steering angle detection sensor 16 and the traveling speed detection sensor 18 mounted on the traveling device 1 allow the crop color detection position of the traveling device 1 to be passed through the control unit 10 over time. The color detection result and the crop color detection position result are stored in association with each other.

In the control unit 10, the storage unit is stored in advance.
The average value and threshold value of the normal color of the crop memorized in 14 are compared with the detected crop color data, and the detection position of the crop color data exceeding the threshold value is controlled at the required point. Recognize as.

At this time, the control-needed portion can be stored as a map with the number of crop rows M and the moving distance in the row direction as coordinates.

Next, the pest control device 3 is attached to the traveling device 1 in place of the image processing device 2, and the pest control device driving portion 23 of the pest control device 3 is connected to the control portion 10 to connect the traveling device 1 to the traveling device 1.
As shown in FIG. 2, when the vehicle runs along the two crop strips M in the field G while straddling the two crop strips M, as described above, the control unit 10 recognizes the spot as a control-necessary spot. When the traveling device 1 moves, a signal is output from the control unit 10 to the pest control device driving unit 23, and the pest control work for spraying the pesticide on the crop N is performed.

At this time, since the pesticide is sprayed in a small area of about two rows, the pesticide does not scatter around, and environmental pollution can be prevented.

The traveling device position detecting sensor 15 is a spread spectrum radar (SS radar).
Can also be used.

[0032]

According to the present invention, the following effects can be obtained.

Since the control work can be automated, the labor of the operator can be significantly reduced.

Since a disease of a crop can be detected unattended, a vast field can be inspected in detail.

Since the pesticides are sprayed to a small area while traveling along the crop strips while the crop strips are straddled to perform the control work, the pesticides are not scattered around and the environmental pollution is prevented. can do.

Since the position where the disease has occurred can be stored as the accumulated data, the accumulated data can be used as a reference for soil disinfection in the next season.

Since it is possible to reduce waste due to scattering of agricultural chemicals, it is possible to reduce the amount of agricultural chemicals used.

[Brief description of drawings]

FIG. 1 is a perspective explanatory view of a disease detection / controlling machine according to the present invention.

FIG. 2 is an explanatory view of a working state of the disease detection / controlling machine.

FIG. 3 is a control block diagram.

[Explanation of symbols]

 A Disease detection and control equipment 1 Traveling equipment 2 Image processing equipment 3 Control equipment

Front page continuation (72) Inventor Satoru Okada 1-32 Chayamachi, Kita-ku, Osaka City, Osaka Prefecture Yanma Agricultural Machinery Co., Ltd. (72) Hiroshi Kawabuchi 1-32 Chayamachi, Kita-ku, Osaka City, Osaka Yanma Agricultural machinery Co., Ltd. (72) Inventor Taiji Mizukura 1-32 Chayamachi, Kita-ku, Osaka City, Osaka Yanma Agricultural machinery Co., Ltd. (72) Wataru Nakagawa 1-32 Chayamachi, Kita-ku, Osaka City, Osaka Yanma Agricultural machinery Co., Ltd.

Claims (1)

[Claims] 1. An image processing device for detecting a pest that has occurred in a crop and a pest control device for exterminating the pest, which are attached to a traveling device that is self-propelled across a crop strip. At the same time, a control unit is provided on the traveling device, and the control unit includes a steering control mechanism, a traveling control mechanism, a storage unit, a traveling device position detection sensor, a steering angle detection sensor, a traveling speed detection sensor, and a work machine operation detection sensor. Further, the disease detection and control machine is characterized in that the control section is connected to the image processing section provided in the image processing apparatus and the control apparatus drive section provided in the control apparatus in a freely connectable and disconnectable manner. .