JP6895049B2 - Field traveling device and field management system - Google Patents

Description

The present invention relates to a field traveling device for traveling in a field and a field management system using the field traveling device.

Conventionally, a mobile crop harvesting device for harvesting crops while moving in a field has been known (see, for example, Patent Document 1). The mobile crop harvesting device described in Patent Document 1 is equipped with a GPS (Global Positioning System), and can create a quality yield map of crops based on position information detected by GPS.

Japanese Unexamined Patent Publication No. 2004-283133

However, while the limit of the position accuracy of GPS is about 3 m, the distance between the ridges of the field is often about 80 cm. Therefore, there is a need to acquire the position of the field where the crop was obtained with higher accuracy.

An object of the present invention is to provide a field traveling device and a field management system in which it is easy to improve the position accuracy of a field from which an agricultural product is obtained.

The field traveling device according to the present invention is provided with identification information for identifying the own machine, and wirelessly transmits the identification information of the own machine by a short-range communication method in which the communication distance is equal to or less than a preset set distance. A field traveling device for traveling in a field in which a plurality of node units equipped with a node-side short-distance communication unit are installed. A loading detection unit that detects that the product has been loaded, a short-distance communication unit that receives the identification information from the node unit in the field, and a short-distance communication unit that receives the identification information in the short-distance communication unit. A corresponding processing unit that performs a process of associating at least one of the received identification information and the identification information received immediately before the identification information is received with the information related to the detection result detected by the load detection unit. Be prepared.

According to this configuration, the short-range communication unit is in the field when the field traveling device enters the communication distance range equal to or less than the preset distance set for the node unit, that is, substantially at the position where the node unit is installed. Since the identification information of the node unit is received when the traveling device is positioned, the timing at which the identification information of the node unit is received means that the field traveling device is located near the installation position of the node unit. .. Therefore, depending on the timing at which the identification information is received by the short-range communication unit, the corresponding processing unit may use at least one of the received identification information and the identification information received immediately before the identification information is received. It is easy to improve the position detection accuracy of the field where the harvested product is obtained by performing the process of associating the detection result regarding the loading of the harvested product detected by the load detecting unit with the detection result.

Further, the load detection unit detects the weight of the load loaded on the load unit as the detection result, and the field traveling device relates to the yield amount at which the harvested product is harvested based on the detection result. It is preferable to further include a loading information acquisition unit for acquiring harvest information.

According to this configuration, since the load detection unit detects the weight of the load loaded on the load unit, it is possible to acquire harvest information regarding the yield amount of the harvested product from the detection result.

Further, the loading unit is capable of loading a pesticide spraying device for spraying pesticides, and the corresponding processing unit further responds to the timing when the identification information is received by the short-range communication unit. , Acquire pesticide spraying information regarding the amount of pesticide sprayed based on the weight measured by the load detection unit, and with at least one of the received identification information and the identification information received immediately before the identification information is received. It is preferable to carry out a treatment that associates the pesticide application information with the information.

According to this configuration, when the pesticide spraying device is loaded on the loading section and the pesticide is sprayed, the pesticide spraying device becomes lighter by the amount of the pesticide spraying amount. You can know the amount of pesticide sprayed. By associating the pesticide spraying information obtained in this way with the received identification information, that is, the position information, it is possible to grasp the distribution of the pesticide spraying amount according to the position of the field.

Further, the loading unit is capable of loading a fertilizer spraying device for spraying fertilizer, and the corresponding processing unit further responds to the timing when the identification information is received by the short-range communication unit. , Acquire fertilizer application information regarding the amount of fertilizer application based on the weight measured by the load detection unit, and with at least one of the received identification information and the identification information received immediately before the identification information is received. It is preferable to perform a process of associating the fertilizer application information with the fertilizer application information.

According to this configuration, when the fertilizer spraying device is loaded on the loading section and the fertilizer is sprayed, the fertilizer spraying device becomes lighter by the amount of the fertilizer sprayed. You can know the amount of fertilizer applied. By associating the fertilizer application information thus obtained with the received identification information, that is, the position information, it is possible to grasp the distribution of the fertilizer application amount according to the position of the field.

Further, in order to sample the harvested product, a sampling position storage unit that stores identification information of the number of sampling node units for sampling among the plurality of node units as sampling position information, and the short-range communication unit. Further includes a sampling guidance notification unit that notifies the user of guidance for prompting harvesting for sampling when the identification information received by the user matches any of the identification information stored in the sampling position storage unit. Is preferable.

According to this configuration, the user can perform sampling at the same position as many times as necessary by performing harvesting for sampling at the timing when the guidance for prompting harvesting for sampling is notified.

Further, each node unit further includes a sensor unit that detects soil information about the soil in the field in which the node unit is installed, and the node-side short-range communication unit further transmits the soil information and the short-distance. The communication unit further receives the soil information from the node unit, and the corresponding processing unit further identifies the node unit that transmitted the soil information when the soil information is received by the short-range communication unit. It is preferable to perform a process of associating the information with the soil information to obtain soil component distribution information.

According to this configuration, the soil information detected by the sensor unit included in the node unit can be transmitted by the node-side short-distance communication unit for transmitting the identification information, so that another transmission for transmitting the soil information can be performed. There is no need to provide means. As a result, it becomes easy to reduce the cost of the node unit. In addition, the identification information of the node unit and the soil information detected by the sensor unit of the node unit are associated with each other to obtain soil component distribution information, while the information on the loading of the harvested product also corresponds to the identification information of the node unit. Since it is attached, information on the position of the field, the soil component at that position, and the harvest at that position can be linked by using the identification information as a key.

Further, the soil information includes pesticide concentration information relating to the pesticide concentration in the soil, the loading unit can be loaded with a pesticide spraying device for spraying pesticides, and the field traveling device has the soil component distribution. Based on the pesticide concentration distribution indicated by the information, the spray control unit adjusts the amount of pesticide sprayed by the pesticide spraying device loaded on the loading unit so as to make the pesticide concentration distribution in the field uniform while traveling in the field. It is preferable to further provide.

According to this configuration, since the soil information includes the pesticide concentration information regarding the pesticide concentration in the soil, the pesticide concentration distribution can be obtained from the soil component distribution information. Then, since the spraying control unit adjusts the amount of pesticide sprayed so as to make the pesticide concentration distribution in the field uniform while traveling in the field, the pesticide concentration distribution in the field can be made uniform.

Further, the soil information includes fertilizer concentration information relating to the fertilizer concentration of the soil, the loading unit is capable of loading a fertilizer spraying device for spraying fertilizer, and the field traveling device is capable of loading the soil component distribution. Based on the fertilizer concentration distribution indicated by the information, the application control unit adjusts the amount of fertilizer applied by the fertilizer application device loaded on the loading unit so as to make the fertilizer concentration distribution in the field uniform while traveling in the field. It is preferable to further provide.

According to this configuration, since the soil information includes the fertilizer concentration information regarding the fertilizer concentration of the soil, the fertilizer concentration distribution can be obtained from the soil component distribution information. Then, since the fertilizer application amount is adjusted by the application control unit so as to make the fertilizer concentration distribution in the field uniform while traveling in the field, the fertilizer concentration distribution in the field can be made uniform.

Further, it is preferable that a storage unit for storing information is further provided, and the associated processing unit performs a process of storing the associated information in the storage unit as the associated process.

According to this configuration, the associated information is stored in the field traveling device by the corresponding processing unit.

Further, the field traveling device according to the present invention detects the position information of the loading unit capable of loading the harvested material in the field, the loading detecting unit for detecting that the harvested material has been loaded on the loading unit, and the position information of the own machine. It is provided with a corresponding processing unit that performs a process of associating the position information detected by the position information detection unit with the information related to the detection result detected by the load detection unit.

According to this configuration, the corresponding processing unit associates the position information detected by the position information detection unit with the information on the detection result detected by the load detection unit, so that the yield according to the position of the field is associated. You can get information about.

Further, the field management system according to the present invention includes the above-mentioned field traveling device and the plurality of node units.

According to this configuration, the position detection accuracy of the field where the harvested product is obtained can be improved.

Further, the field management system according to the present invention includes the above-mentioned field traveling device, the plurality of node units, and a server device including a storage unit for storing information, and each node unit is a node unit. Further includes a sensor unit that detects soil information about the soil in the field in which the device is installed, and a node-side transmission unit that transmits the soil information detected by the sensor unit and the identification information of the own machine to the server device. The server device further includes a storage processing unit that stores the information transmitted by the node-side transmission unit and the information for which the corresponding processing has been performed by the corresponding processing unit in the storage unit.

According to this configuration, the soil information at the position where each node unit is installed is associated with the identification information of each node unit and stored in the server device.

Further, the field traveling device further includes a long-distance transmission unit having a communication distance longer than the set distance, and the corresponding processing unit transmits the information on which the corresponding processing has been performed to the server by the long-distance transmission unit. It is preferable to store the information in the storage unit by transmitting the information to the device.

According to this configuration, it becomes easy to store the information obtained by the field traveling device in the storage unit of the server device.

The field traveling device and the field management system having such a configuration can improve the position accuracy of the field where the crop is obtained.

It is a block diagram which mainly shows an example of the electric structure of the field management system provided with the field traveling apparatus which concerns on one Embodiment of this invention. It is a perspective view which shows an example of the appearance of the field traveling apparatus shown in FIG. It is a perspective view which shows an example of the appearance of the node unit shown in FIG. It is explanatory drawing for demonstrating an example of arrangement of a node unit shown in FIG. It is a flowchart which shows an example of the operation of the field traveling apparatus shown in FIG. It is a flowchart which shows an example of the pesticide spraying operation by the field traveling apparatus shown in FIG. It is a flowchart which shows an example of the operation of the field traveling apparatus at the time of spraying pesticide based on the soil distribution information. It is a flowchart which shows an example of the operation of the field traveling apparatus at the time of sampling a harvested matter.

Hereinafter, embodiments according to the present invention will be described with reference to the drawings. It should be noted that the configurations with the same reference numerals in the respective figures indicate that they are the same configurations, and the description thereof will be omitted. FIG. 1 is a block diagram showing an example of a field management system provided with a field traveling device according to an embodiment of the present invention, mainly having an electrical configuration. The field management system 1 shown in FIG. 1 includes a field traveling device 2, a plurality of node units 3, a gateway 4, and a server device 5.

FIG. 2 is a perspective view showing an example of the appearance of the field traveling device 2 shown in FIG. FIG. 3 is a perspective view showing an example of the appearance of the node unit 3 shown in FIG. The field traveling device 2 shown in FIG. 2 has a main body 11, an endless track 12L arranged on the lower left side of the main body 11, an infinite track 12R arranged on the lower right side of the main body 11, and an upper part of the main body 11. A substantially plate-shaped loading unit 13 that is arranged and can load harvested products from the field, an elevating mechanism 14 that raises and lowers the loading unit 13, a handle 15 that projects upward from the main body 11, and prevention of entrainment of tracks 12R and 12L. Guard 16, short-range communication unit 22 provided so as to project downward from the bottom of the main body 11, weight sensor 24 built in the loading unit 13, display 25 arranged in front of the main body 11 and It includes a speaker 26 and two laser sensors 27, 27 arranged near both left and right ends in front of the main body 11.

Further, in addition to the harvested material, the loading unit 13 can load a pesticide spraying device for spraying pesticides and a fertilizer spraying device for spraying fertilizers.

With reference to FIG. 1, the field traveling device 2 includes a control unit 21, a short-range communication unit 22 (position information detection unit), a long-distance communication unit 23, a weight sensor 24 (load detection unit), a display 25, and a speaker 26. It includes a laser sensor 27, a right motor 28R, and a left motor 28L.

The short-range communication unit 22 is a short-range communication type wireless communication circuit that communicates with the short-range communication circuit 32 of the node unit 3, which will be described later, at a communication distance equal to or less than a preset set distance L. The set distance L is 50 cm or less, for example, about 20 cm. The short-range communication unit 22 receives the ID (identification information) of the node unit 3. When the node unit 3 enters the set distance L of the field traveling device 2, the short-range communication unit 22 receives the ID of the node unit 3. Therefore, the ID of the node unit 3 is the position information of the field traveling device 2. Has significance as. Therefore, the short-range communication unit 22 corresponds to an example of the position information detection unit.

The long-distance communication unit 23 is a wireless communication circuit for performing wireless communication with the server device 5 via the gateway 4. The long-distance communication unit 23 uses a wireless communication method having a longer communication distance than the short-range communication unit 22. As the long-distance communication unit 23, for example, a communication method such as a wireless LAN (Local Area Network) or mobile communication can be used.

The weight sensor 24 measures the weight of the object loaded on the loading unit 13 and outputs the measured weight to the control unit 21. Since the measured weight of the weight sensor 24 increases when the harvested material is loaded on the loading unit 13, the measured weight of the weight sensor 24 includes information indicating that the harvested material has been loaded. Therefore, the weight sensor 24 corresponds to an example of a loading detection unit that detects that a harvested product has been loaded on the loading unit 13.

The loading detection unit is not necessarily limited to measuring the weight of the harvested product, and for example, a detection switch or an optical sensor that turns on at a constant weight detects whether or not the harvested product is loaded on the loading unit 13. It may be.

As the display 25, for example, a display device such as a liquid crystal display panel or an EL (Electro-Luminescence) panel can be used.

The laser sensors 27, 27 scan the front of the main body 11 with a laser beam and detect the reflected light, so that the position of a person in front of the field traveling device 2 can be detected. The right motor 28R drives the endless track 12R in response to the control signal from the control unit 21, and the left motor 28L drives the endless track 12L. By controlling the drive of the left motor 28L and the right motor 28R, respectively, the control unit 21 makes it possible to move the field traveling device 2 forward, backward, change course, rotate, and the like.

The control unit 21 is, for example, a CPU (Central Processing Unit) that executes a predetermined arithmetic process, a RAM (Random Access Memory) that temporarily stores data, a flash memory or an HDD (Hard Disk) that stores a predetermined control program, and the like. It is equipped with a non-volatile storage device such as Drive), a real-time clock, and peripheral circuits thereof.

By executing the above-mentioned control program, for example, the control unit 21 serves as a corresponding processing unit 212, a loading information acquisition unit 213, a spray control unit 214, a travel control unit 215, a sampling guidance notification unit 216, and a sampling processing unit 217. Function. Further, the control unit 21 includes a sampling position storage unit 218 configured by, for example, a RAM or a non-volatile storage device.

The corresponding processing unit 212 includes at least one of the received ID and the ID received immediately before the ID is received, and the weight sensor 24, depending on the timing at which the ID is received by the short-range communication unit 22. Performs a process of associating with information related to the detection result detected by.

The loading information acquisition unit 213 acquires the weight of the load of the loading unit 13, that is, the weight of the harvested product, detected by the weight sensor 24, as harvest information.

When the pesticide spraying device is loaded on the loading unit 13, the spraying control unit 214 determines the amount of pesticide sprayed by the pesticide spraying device loaded on the loading unit 13 based on the pesticide concentration distribution indicated by the soil component distribution information. Adjust so that the pesticide concentration distribution in the field is uniform while traveling in the field. Further, when the fertilizer spraying device is loaded on the loading unit 13, the spraying control unit 214 increases the amount of fertilizer sprayed by the fertilizer spraying device loaded on the loading unit 13 based on the fertilizer concentration distribution indicated by the soil component distribution information. Is adjusted so as to make the fertilizer concentration distribution in the field uniform while traveling in the field.

The travel control unit 215 controls the rotations of the left motor 28L and the right motor 28R so as to follow the user in front of the field travel device 2 detected by the laser sensors 27 and 27, and the endless track 12R, Drive 12L. As a result, the user simply walks in front of the field traveling device 2, and the field traveling device 2 follows behind the field traveling device 2, which improves convenience.

In the sampling position storage unit 218, in order to sample the harvested product, the ID of the number of sampling node units 3 for sampling among the plurality of node units 3 is stored in advance as sampling position information. In the sampling position storage unit 218, for example, the ID of the node unit 3 with the reference numeral P described in FIG. 4 described later is stored as sampling position information.

When the ID received by the short-range communication unit 22 matches any of the IDs stored in the sampling position storage unit 218, the sampling guidance notification unit 216 samples the user by the display 25, the speaker 26, or the like. Notify you of guidance to encourage harvesting.

The sampling processing unit 217 transmits the sampling position ID, which is an ID corresponding to the sampling position, and the sampling weight, which is the weight of the sampled harvested product, to the server device 5 in association with each other.

With reference to FIG. 3, the node unit 3 includes, for example, a flat substantially cylindrical node main body 31, a short-range communication circuit 32 arranged on the upper surface of the node main body 31, and a cable extending from the lower surface of the node main body 31. It includes a sensor unit 33 attached to the tip, a node control unit 34 built in the node main body 31, and a long-distance communication circuit 35 (node side transmitting unit) built in the node main body 31. The sensor unit 33 is buried in the soil G, and the node main body 31 is installed in the field so as to be exposed on the ground surface.

The short-range communication circuit 32 is a short-range communication type wireless communication circuit that communicates with the short-range communication unit 22 of the field traveling device 2 at a communication distance of a set distance L or less. As the short-range communication circuit 32, for example, RFID (Radio Frequency IDentification) may be used, or an RFID reader may be used as the short-range communication unit 22 of the field traveling device 2.

The long-distance communication circuit 35 is a wireless communication circuit for performing wireless communication with the server device 5 via the gateway 4. The long-distance communication circuit 35 uses a wireless communication system having a longer communication distance than the short-range communication circuit 32. As the long-distance communication circuit 35, for example, a communication method such as wireless LAN or mobile communication can be used.

The sensor unit 33 is a soil sensor that detects soil information regarding the soil. Soil information includes, for example, soil water content, temperature, pH, EC (Electro Conductidity) value, pesticide component concentration (pesticide concentration information), and the like. Since the EC value and the nitrogen concentration have a strong correlation, and the nitrogen concentration and the fertilizer concentration have a strong correlation, the EC value can be used as an example of the fertilizer concentration information. The sensor unit 33 does not necessarily have to detect these soil information with a single sensor, and a plurality of sensors may be combined to form the sensor unit 33.

The node control unit 34 includes, for example, a CPU that executes a predetermined arithmetic process, a RAM that temporarily stores data, a non-volatile storage element such as a flash memory that stores a predetermined control program, a timer circuit, and a timer circuit thereof. It is configured with peripheral circuits and the like. An ID (IDentification), which is identification information for identifying the own machine, is assigned to each node unit 3. The ID of each node unit 3 is stored in advance in, for example, a storage element of each node control unit 34. When RFID is used as the short-range communication circuit 32, the ID may be stored in the RFID.

The node control unit 34 causes the field traveling device 2 to transmit the ID of its own device by the short-range communication circuit 32 by executing a predetermined control program. Further, the node control unit 34 executes the predetermined control program to transmit the soil information detected by the sensor unit 33 through the gateway 4 by the long-distance communication circuit 35, for example, every 30 minutes. It is transmitted to the server device 5.

FIG. 4 is an explanatory diagram for explaining an example of the arrangement of the node unit 3 shown in FIG. In the field 6 shown in FIG. 4, a plurality of ridges 61 are formed substantially parallel to each other at intervals. A plurality of node units 3 are arranged in each ridge 61 at predetermined intervals along the longitudinal direction of the ridge 61, and a sensor unit 33 of each node unit 3 is embedded in the ridge 61.

In the example shown in FIG. 4, each node unit 3 is arranged at a position (lower side in FIG. 4) deviated from the center in the width direction of the ridge 61 to one side. As a result, when the field traveling device 2 passes between the two ridges 61, only the node unit 3 arranged in the ridge 61 on one side of the ridges 61 on both sides of the field traveling device 2 is the field traveling device. It is designed to be within the communication distance of the short-range communication unit 22 of 2.

The node units 3 arranged in the ridges 61 on both sides of the field traveling device 2 may be set within the communication distance of the short-range communication unit 22 of the field traveling device 2, and the user may use the ridges on both sides thereof. The harvested product harvested from 61 may be placed on the loading unit 13. In this case, when the field traveling device 2 passes between the two ridges 61, the field traveling device 2 receives an ID from the node units 3 of the ridges 61 on both sides thereof, and harvests from any of the ridges 61. It is not possible to distinguish whether it was done. However, even in this case, since the position can be specified by the IDs of the node units 3 on both sides thereof, only the node units 3 arranged on the ridge 61 on one side communicate with the short-range communication unit 22 of the field traveling device 2. Although the position detection accuracy is lower than that in the case of being within the distance, a constant position detection accuracy can be obtained.

In one corner of the field 6, a gateway 4 is arranged at a position where the long-distance communication circuit 35 of each node unit 3 can communicate. The gateway 4 relays communication between each node unit 3 and the server device 5. Through the gateway 4, each node unit 3 can transmit soil information to a server device 5 arranged at a distance. It is not always necessary to provide the gateway 4, and each node unit 3 and the server device 5 may be configured to be able to directly communicate with each other.

The server device 5 is, for example, a storage device such as a CPU that executes a predetermined arithmetic process, a RAM that temporarily stores data, an HDD (Hard Disk Drive) that stores a predetermined control program, or an SSD (Solid State Drive). , Real-time clock, timer circuit, peripheral circuits and the like. The storage device also functions as a storage unit 52. The server device 5 functions as a storage processing unit 51 by executing a predetermined control program.

The storage processing unit 51 stores the harvested amount in association with the position information such as the start position ID and the end position ID transmitted from the field traveling device 2 in the storage unit 52. Further, the storage processing unit 51 stores the soil distribution information corresponding to the ID of each node unit 3 transmitted from each node unit 3 in the storage unit 52.

FIG. 5 is a flowchart showing an example of the operation of the field traveling device 2 shown in FIG. First, referring to FIG. 4, when the user walks between the ridges 61 and the ridges 61 along the route A, the traveling control unit 215 controls the operation of the endless tracks 12R and 12L to follow the user. The field running device 2 is run so as to run. As a result, the field traveling device 2 travels along the route A. In the example shown in FIG. 4, the user assumes that the node unit 3 harvests from the ridge 61 on the side closer to the field traveling device 2 (upper side in FIG. 4) among the ridges 61 on both sides of the field traveling device 2.

Next, when the field traveling device 2 passes near the first node unit 3 along the route A, the node unit 3 enters within the communication distance of the short-range communication unit 22, and the short-range communication circuit 32 of the node unit 3 enters. The ID transmitted from is received by the short-range communication unit 22 (YES in step S1). Then, the corresponding processing unit 212 stores the received ID as the start position ID in the RAM or the like (step S2).

Next, when the harvested product harvested by the user is placed on the loading unit 13, the weight is measured by the weight sensor 24, and the loading information acquisition unit 213 stores the measured measured weight as the start position weight in the RAM or the like. (Step S3).

Further, when the field traveling device 2 travels and passes near the next node unit 3, the node unit 3 enters within the communication distance of the short-range communication unit 22, and is transmitted from the short-range communication circuit 32 of the node unit 3. The ID is received by the short-range communication unit 22 (YES in step S4). Then, the corresponding processing unit 212 stores the received ID as the end position ID in the RAM or the like (step S5).

Next, the weight of the harvested product loaded on the loading unit 13 is measured by the weight sensor 24, and the loading information acquisition unit 213 stores the measured measured weight as the end position weight in the RAM or the like (step S6).

Next, the loading information acquisition unit 213 subtracts the start position weight from the end position weight to calculate the yield (step S7). This yield corresponds to the yield harvested while the field traveling device 2 travels between the two adjacent node units 3. That is, it is the harvested amount of the harvested product harvested in the region between the arrangement position of the node unit 3 identified by the start position ID and the arrangement position of the node unit 3 identified by the end position ID.

Therefore, the corresponding processing unit 212 causes the long-distance communication unit 23 to transmit the start position ID, the end position ID, and the harvest amount to the server device 5 in association with each other (step S8). When the server device 5 receives the start position ID, the end position ID, and the harvest amount, the storage processing unit 51 stores the received start position ID, end position ID, and harvest amount in the storage unit 52 in association with each other. ..

Each node unit 3 is arranged in the field 6, and when the field traveling device 2 passes in the vicinity thereof, the ID of the node unit 3 is received by the field traveling device 2, so that the timing at which the ID is received is the same. It means that it is the timing when the field traveling device 2 passes in the vicinity of the node unit 3 identified by the ID.

As a result, the harvested amount of the harvested product harvested in the area between the arrangement position of the node unit 3 identified by the start position ID and the arrangement position of the node unit 3 identified by the end position ID is stored. It can be stored in the unit 52.

Although the corresponding processing unit 212 has shown an example of transmitting both the start position ID and the end position ID to the server device 5, only one of the start position ID and the end position ID is transmitted to the server device 5. It may be configured to be used. It is possible to specify the harvest position even if only one of the start position ID and the end position ID is used.

Next, the corresponding processing unit 212 confirms whether or not ID reception from all the node units 3 provided in the field 6 has been completed (step S9). If the IDs have been received from all the node units 3 (YES in step S9), the process ends, and if the node units 3 that have not received the IDs remain (NO in step S9), the corresponding processing unit 212 has the end position ID. Is a new start position ID, and the end position weight is a new start position weight (step S10). Then, the processes of steps S4 to S9 are repeated again.

As a result, for all the node units 3 arranged in the field 6, the harvested amount harvested between the node units 3 adjacent to each other is associated with the ID of the node unit 3 as the position information, and the storage of the server device 5 is stored. It is stored in the storage unit 52 by the processing unit 51.

As described above, by the processing of steps S1 to S10, information on the position where the crop is harvested can be obtained based on the timing when the ID of the node unit 3 installed in the field is received, so that the harvest position is detected using GPS. It is possible to improve the position accuracy of the field where the crop is obtained, as compared with the case where the crop is obtained.

On the other hand, in the server device 5, the storage processing unit 51 associates the ID transmitted from each node unit 3 with the soil information and stores it in the storage unit 52. , The yield at that position and the soil information at that position can be known from the information stored in the storage unit 52. Further, since the ID of the node unit 3 that has acquired the soil information is used as the position information of the position where the harvested product is harvested, the position where the soil information is detected and the yield at that position can be accurately determined. It becomes possible to correspond.

The short-range communication unit 22 is shown as an example of the position information detection unit, and an example of acquiring the ID received from the node unit 3 as position information is shown. For example, GPS (Global Positioning System) or quasi-zenith satellite system (QZS) A known position detecting means such as system, QZSS) may be used as the position information detecting unit. In this case, the field traveling device 2 does not have to include the short-range communication unit 22, and the node unit 3 does not have to transmit the identification information. As the position information at the time of pesticide spraying, fertilizer spraying, and sampling described later, a position detecting means such as GPS may be used instead of the ID.

In this case, instead of receiving the ID in steps S1 and S4, the position information detected by the position information detection unit in step S1 is used as the start position information, and the position detected by the position information detection unit in step S4 after traveling a predetermined distance. The information may be used as the end position information, and the start position information and the end position information may be used instead of the start position ID and the end position ID in step S8.

Further, the corresponding processing unit 212 receives the received ID and the ID received immediately before the ID is received according to the timing (steps S1 and S4) when the ID is received by the short-range communication unit 22. An example of executing a process (steps S2, S3, S5 to S8) in which at least one of them is associated with the information regarding the detection result detected by the weight sensor 24 is shown.

However, the corresponding processing unit 212 is weighted with at least one of the received ID and the ID received immediately before the ID is received, depending on the timing at which the ID is received by the short-range communication unit 22. It is not limited to steps S1 to S8 as long as it executes a process of associating the information regarding the detection result detected by the sensor 24 with the information. For example, when the time difference between the timing at which the ID is received and the timing at which the detection result by the weight sensor 24 increases is equal to or less than the preset determination time, the ID and the information regarding the detection result detected by the weight sensor 24 are displayed. It may be configured to associate and transmit to the server device 5.

The node unit 3 is not provided with the long-distance communication circuit 35, the node control unit 34 transmits soil information to the field traveling device 2 by the short-distance communication circuit 32, and the corresponding processing unit 212 is transmitted by the short-distance communication unit 22. When the soil information is received, the ID of the node unit 3 that transmitted the soil information and the soil information may be associated with each other to obtain soil component distribution information, which may be transmitted to the server device 5. In this case, since the node unit 3 does not have to include the long-distance communication circuit 35, the cost of the node unit 3 can be reduced.

Further, the field management system 1 does not necessarily have to include the server device 5, and the field traveling device 2 may include the storage processing unit 51 and the storage unit 52. Further, the field traveling device 2 is not provided with the long-distance communication unit 23, but is provided with a storage processing unit 51 and a storage unit 52, and the information stored in the storage unit 52 is stored in the storage unit 52 via a storage medium such as a wired communication means or a memory card. It may be stored in the server device 5.

Next, pesticide spraying and fertilizer spraying by the field traveling device 2 will be described. FIG. 6 is a flowchart showing an example of the pesticide spraying operation by the field traveling device 2 shown in FIG. In the following flowchart, the same operation is assigned the same step number and the description thereof will be omitted. The flowchart shown in FIG. 6 is different from the flowchart shown in FIG. 5 in the operations of steps S7a and S8a.

The field traveling device 2 can perform pesticide spraying and fertilizer spraying by an operation substantially similar to the flowchart shown in FIG. When spraying pesticides, the user loads the pesticide spraying device (not shown) for spraying pesticides on the loading section 13, and while spraying the pesticides from above the loading section 13 with the pesticide spraying device, the field traveling device 2 is used. Drive along Route A.

Next, steps S1 to S3 are executed, the weight of the pesticide spraying device is measured by the weight sensor 24, and the loading information acquisition unit 213 stores the measured weight as the start position weight in the RAM or the like (step S3). ). The pesticide sprayer is equipped with a tank containing pesticides. At this time, the weight sensor 24 measures the weight of the pesticide spraying device including the weight of the pesticide contained in the tank.

Next, steps S4 and S5 are executed, the weight of the pesticide spraying device loaded on the loading unit 13 is measured by the weight sensor 24, and the loading information acquisition unit 213 uses the measured measured weight as the end position weight, such as a RAM. Is stored in (step S6).

Next, in step S7a, the loading information acquisition unit 213 subtracts the end position weight from the start position weight to calculate the pesticide spraying amount (pesticide spraying information) (step S7a). This amount of pesticide sprayed corresponds to the amount of pesticide sprayed while the field traveling device 2 travels between the two adjacent node units 3. That is, the amount of pesticide sprayed is the amount of pesticide sprayed in the region between the arrangement position of the node unit 3 identified by the start position ID and the arrangement position of the node unit 3 identified by the end position ID. It becomes.

Then, the corresponding processing unit 212 associates the start position ID, the end position ID, and the amount of pesticide sprayed, and the long-distance communication unit 23 transmits the server device 5 (step S8a). When the server device 5 receives the start position ID, the end position ID, and the pesticide spraying amount, the storage processing unit 51 associates the received start position ID, end position ID, and pesticide spray amount with the storage unit 52. Remember.

As a result, the amount of pesticide sprayed in the area between the arrangement position of the node unit 3 identified by the start position ID and the arrangement position of the node unit 3 identified by the end position ID is stored in the storage unit. It can be stored in 52.

Next, steps S9 and S10 are executed, and the processes of steps S4 to S9 are repeated. As a result, for all the node units 3 arranged in the field 6, the amount of pesticide sprayed between the node units 3 adjacent to each other is associated with the ID of the node unit 3 as position information, and the server device 5 It is stored in the storage unit 52 by the storage processing unit 51.

As a result, the amount of pesticide sprayed according to the position of the field 6 is stored in the storage unit 52. Therefore, by confirming the distribution of the pesticide spraying amount stored in the storage unit 52, the user can additionally spray the pesticide only in the place where the pesticide spraying amount was small, or the pesticide sprayed amount was large at the next pesticide spraying. By reducing the amount of pesticide sprayed on the spots, it becomes possible to make the amount of pesticides sprayed uniform and to efficiently spray pesticides on the spots where pesticides are insufficient.

Further, the user may load the fertilizer spraying device for spraying the liquid or powder fertilizer on the loading unit 13 instead of the pesticide spraying device and run the field traveling device 2. In this case, in step S7a, the fertilizer application amount (fertilizer application information) is calculated instead of the pesticide application amount, and in step S8a, the fertilizer application amount is transmitted instead of the pesticide application amount. The amount of fertilizer applied will be memorized accordingly.

Therefore, by confirming the distribution of the fertilizer application amount stored in the storage unit 52, the user can additionally apply fertilizer only to the place where the fertilizer application amount was small, or the previous fertilizer application amount was large at the next fertilizer application. By reducing the amount of fertilizer applied to the area, it is possible to make the amount of fertilizer applied uniform and to efficiently apply fertilizer to the area where fertilizer is insufficient.

The field traveling device 2 may perform the operations of steps S7a and S8a when a spraying instruction for instructing a pesticide or fertilizer spraying operation is received by an operation receiving unit such as an operation switch (not shown). .. Alternatively, the field traveling device 2 may calculate the absolute value of the difference between the end position weight and the start position weight in step S7, and use these values as the yield amount, the pesticide application amount, and the fertilizer application amount.

Further, the measured weights are transmitted to the server device 5 in steps S3 and S6, respectively, and in steps S7 and S7a, the difference in the measured weights transmitted in steps S3 and S6 in the server device 5 is the harvest amount, the pesticide spraying amount, and It may be configured to be calculated as the amount of fertilizer sprayed. In this case, the measured weight corresponds to an example of harvest information, pesticide application information, and fertilizer application information.

Next, the operation of the field traveling device 2 when pesticide spraying or fertilizer spraying is performed based on the soil distribution information will be described. FIG. 7 is a flowchart showing an example of the operation of the field traveling device 2 when pesticides are sprayed based on the soil distribution information. The field traveling device 2 performs the operation shown in FIG. 7 when, for example, an operation receiving unit such as an operation switch (not shown) receives a spraying instruction instructing a pesticide or fertilizer spraying operation based on soil distribution information. It may be.

When spraying pesticides based on soil distribution information, the user loads a pesticide spraying device (not shown) for spraying pesticides on the loading section 13, and sprays pesticides from above the loading section 13 with the pesticide spraying device. , The field traveling device 2 is traveled along the route A. The pesticide spraying device is capable of adjusting the pesticide spraying amount according to a control signal from the spraying control unit 214.

Then, the spray control unit 214 acquires the soil distribution information of the pesticide component concentration by receiving it from, for example, the server device 5, and stores it in, for example, a RAM (step S21).

Next, when the ID of the node unit 3 is received as the position information (YES in step S1), the spray control unit 214 refers to the soil component distribution information and acquires the pesticide component concentration corresponding to the received ID. (Step S23).

Next, the spray control unit 214 compares the preset reference concentration of the pesticide with the acquired pesticide component concentration (step S24). Then, if the pesticide component concentration is equal to or higher than the reference concentration (NO in step S24), it is not necessary to spray any more pesticides at that position, so that the spray control unit 214 does not have the pesticide sprayed by the pesticide spraying device. (Step S25) The process proceeds to step S9.

On the other hand, when the pesticide component concentration is less than the reference concentration (YES in step S24), the spraying control unit 214 uses the pesticide spraying device as the difference between the pesticide component concentration and the reference concentration increases in order to supplement the insufficient pesticide. The amount of pesticide sprayed is increased (step S26), and the process proceeds to step S9.

In step S9, if the IDs have been received from all the node units 3 (YES in step S9), the process ends, and if the node units 3 that have not received the IDs remain (NO in step S9), the spray control unit 214 The processing of steps S1 to S9 is repeated again.

As described above, by the treatments of steps S21 to S9, the concentration of the pesticide component contained in the soil of the field 6 can be brought close to the reference concentration and made uniform.

Further, the user may load the fertilizer spraying device for spraying the liquid or powder fertilizer on the loading unit 13 instead of the pesticide spraying device and run the field traveling device 2. In this case, in step S21, the soil distribution information of the EC value is acquired instead of the soil distribution information of the pesticide component concentration, in steps S23 and S24, the EC value is used instead of the pesticide component concentration, and in step S25, fertilizer is not sprayed. In step S26, a process of increasing the amount of fertilizer sprayed is executed as the difference between the EC value and the preset reference concentration of fertilizer is larger.

As a result, the fertilizer concentration (EC value) contained in the soil of the field 6 can be brought close to the reference concentration and made uniform.

Next, the operation of the field traveling device 2 when sampling the harvested product will be described. When cultivating crops in field 6, in order to determine the growth status and harvest time of the crops, we would like to harvest and sample the crops several times as a sample at various places in the field 6 and check the degree of growth. In some cases. When the crop is sampled once and weighed, and then sampled again after a few days to weigh the crop, the crop grows and gains weight during that number of days. By repeating such sampling several times, the growth status of the crop can be confirmed and an appropriate harvest time can be predicted.

Further, even in the field 6, the degree of growth may differ depending on the location due to differences in sunlight, soil components, and the like. Therefore, in order to accurately judge the degree of growth, it is desirable to investigate the change in weight between crops sampled at the same place. However, the work of recording the sampling position and repeating the sampling at the same position is complicated.

Therefore, the field traveling device 2 samples the ID of the node unit 3 arranged at the position to be sampled (for example, the ID of the node unit 3 having the reference numeral P in FIG. 4) in the sampling position storage unit 218. It can be stored as position information.

FIG. 8 is a flowchart showing an example of the operation of the field traveling device 2 when sampling the harvested product. The field traveling device 2 may perform the operation shown in FIG. 8 when a sampling instruction for instructing sampling is received by an operation receiving unit such as an operation switch (not shown).

When sampling the harvested material, the user runs the field running device 2 along the route A. When the field traveling device 2 reaches the vicinity of the first node unit 3 along the route A, the ID of the node unit 3 is received by the short-range communication unit 22 (YES in step S1).

Then, the sampling guidance notification unit 216 refers to the sampling position storage unit 218 and confirms whether or not the received ID is included in the sampling position information (step S31). If the ID is not included in the sampling position information (NO in step S31), the process proceeds to step S4, and if the ID is included in the sampling position information (YES in step S31), the sampling guidance notification unit 216 , The ID is stored in a RAM or the like as a sampling position ID (step S32), and the display 25 or the speaker 26 notifies the user of a guide for urging the harvested product to be harvested for sampling (step S33).

When the guidance for urging the harvest is notified, the user harvests (samples) the crop at that position and loads it on the loading unit 13. As a result, the user can sample the crop at the position where the node unit 3 having the ID set in the sampling position information is installed.

The notification unit for notifying the guidance is not limited to the display 25 for notifying the image or the speaker 26 for notifying by voice, and for example, a light emitting device such as an LED (Light Emitting Diode) may be used for sampling guidance notification. The unit 216 may emit light from an LED or the like to notify the notification.

Next, the sampling processing unit 217 stores the measured weight of the weight sensor 24 as the sampling start weight in the RAM or the like (step S34).

Next, in step S4, the sampling processing unit 217 confirms whether or not a new ID is received. Then, when a new ID is received (YES in step S4), the sampling processing unit 217 acquires the measured weight of the weight sensor 24 as the sampling end weight and stores it in the RAM or the like (step S35).

Next, the sampling processing unit 217 subtracts the sampling start weight from the sampling end weight to calculate the sampling weight (step S36). The sampling weight corresponds to the weight of the harvest sampled at the sampling position.

Next, the sampling processing unit 217 associates the sampling position ID with the sampling weight and transmits the sampling position ID to the server device 5 (step S37). When the server device 5 receives the associated sampling position ID and sampling weight, the storage processing unit 51 associates the received sampling position ID with the sampling weight and stores them in the storage unit 52.

Next, step S9 is executed, and the processes of steps S1 to S9 are repeated. As a result, the crop can be sampled at the position where the node unit 3 corresponding to all the IDs stored as the sampling position information is installed in the field 6, and the weight of the sampled crop can be measured by the server device. It can be stored in the storage unit 52 of 5.

Further, since the crop can be sampled at the position corresponding to the ID stored in the sampling position storage unit 218, sampling can be performed at the same position even when sampling is performed again after a lapse of days. Therefore, since the sampling results of a plurality of times can be compared between the sampling weights sampled at the same position, it is easy to improve the accuracy of grasping the growth status of the crop based on the sampling results and the accuracy of predicting the appropriate harvest time. become.

1 Field management system 2 Field traveling device 3 Node unit 4 Gateway 5 Server device 6 Field 11 Main body 12R, 12L Infinite track 13 Loading unit 14 Lifting mechanism 15 Handle 16 Guard 21 Control unit 22 Short-distance communication unit 23 Long-distance communication unit 24 Weight sensor 25 Display 26 Speaker 27, 27 Laser sensor 28L Left motor 28R Right motor 31 Node body 32 Short-range communication circuit 33 Sensor unit 34 Node control unit 35 Long-distance communication circuit 51 Storage processing unit 52 Storage unit 61 Ridge 212 Corresponding processing Unit 213 Loading information acquisition unit 214 Spray control unit 215 Travel control unit 216 Sampling guidance notification unit 217 Sampling processing unit 218 Sampling position storage unit A Route G Soil L Set distance

Claims (12)

Multiple devices equipped with a node-side short-range communication unit that is provided with identification information for identifying the own device and wirelessly transmits the identification information of the own device by a short-range communication method in which the communication distance is equal to or less than a preset set distance. It is a field traveling device for traveling in the field where the node unit of
A loading section capable of loading the harvest of the field and
A loading detection unit that detects that the harvested product has been loaded on the loading unit, and
A short-range communication unit that receives the identification information from the node unit in the field,
Depending on the timing at which the identification information is received by the short-range communication unit, at least one of the received identification information and the identification information received immediately before the identification information is received, and the load detection unit A field traveling device including a corresponding processing unit that performs processing for associating information with the detected detection result. The load detection unit detects the weight of the load loaded on the load unit as the detection result, and then
The field traveling device according to claim 1, further comprising a loading information acquisition unit that acquires harvest information regarding the yield of the harvested product based on the detection result. The loading unit is capable of loading a pesticide spraying device for spraying pesticides.
The corresponding processing unit further acquires pesticide application information regarding the pesticide application amount based on the weight measured by the load detection unit according to the timing at which the identification information is received by the short-range communication unit. The field traveling device according to claim 2, wherein at least one of the received identification information and the identification information received immediately before the identification information is received is associated with the pesticide spraying information. The loading unit is capable of loading a fertilizer spraying device for spraying fertilizer.
The corresponding processing unit further acquires fertilizer application information regarding the fertilizer application amount based on the weight measured by the load detection unit according to the timing when the identification information is received by the short-range communication unit. The field traveling device according to claim 2, wherein at least one of the received identification information and the identification information received immediately before the identification information is received is associated with the fertilizer spraying information. In order to sample the harvested product, a sampling position storage unit that stores identification information of the number of sampled node units for sampling among the plurality of node units as sampling position information.
When the identification information received by the short-range communication unit matches any of the identification information stored in the sampling position storage unit, the sampling guidance notification unit notifies the user of guidance for prompting harvesting for sampling. The field traveling device according to any one of claims 1 to 4, further comprising. Each of the node units further includes a sensor unit that detects soil information regarding the soil of the field in which the node unit is installed.
The node-side short-distance communication unit further transmits the soil information,
The short-range communication unit further receives the soil information from the node unit, and receives the soil information.
When the soil information is received by the short-range communication unit, the corresponding processing unit further associates the identification information of the node unit that transmitted the soil information with the soil information to obtain soil component distribution information. The field traveling device according to any one of claims 1 to 5, wherein the treatment is performed. The soil information includes pesticide concentration information regarding the pesticide concentration in the soil.
The loading unit is capable of loading a pesticide spraying device for spraying pesticides.
Based on the pesticide concentration distribution indicated by the soil component distribution information, the field traveling device determines the amount of pesticide sprayed by the pesticide spraying device loaded on the loading portion, and the pesticide concentration distribution in the field while traveling in the field. The field traveling device according to claim 6, further comprising a spray control unit that is adjusted to be uniform. The soil information includes fertilizer concentration information regarding the fertilizer concentration of the soil.
The loading unit is capable of loading a fertilizer spraying device for spraying fertilizer.
Based on the fertilizer concentration distribution indicated by the soil component distribution information, the field traveling device determines the amount of fertilizer sprayed by the fertilizer spraying device loaded on the loading portion, and the fertilizer concentration distribution in the field while traveling in the field. The field traveling device according to claim 6, further comprising a spraying control unit that is adjusted to be uniform. It also has a storage unit to store information.
The field traveling device according to any one of claims 1 to 8, wherein the associated processing unit performs a process of storing the associated information in the storage unit as the associated process. The field traveling device according to any one of claims 1 to 9,
A field management system including the plurality of node units. The field traveling device according to any one of claims 1 to 8.
With the plurality of node units
It is equipped with a server device equipped with a storage unit for storing information.
Each of the node units
A sensor unit that detects soil information about the soil in the field where each node unit is installed,
A node-side transmission unit that transmits the soil information detected by the sensor unit and the identification information of the own machine to the server device is further provided.
The server device
A field management system further comprising a storage processing unit that stores information transmitted by the node-side transmission unit and information for which the corresponding processing has been performed by the corresponding processing unit in the storage unit. The field traveling device is
Further equipped with a long-distance transmitter having a communication distance longer than the set distance,
The field management system according to claim 11, wherein the corresponding processing unit stores the information in which the corresponding processing has been performed to the server device by the long-distance transmission unit, thereby storing the information in the storage unit.

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