Soil physicochemical information collection analysis system and method

Abstract

To provide a physicochemical information collection analysis system and method capable of evaluating and grasping the soil resistance of agricultural land simply during agricultural work using a construction machine towed by a tractor.SOLUTION: A system for collecting and analyzing physicochemical information of soil, comprises: a hydraulic sensor detachably interposed in a hydraulic oil flow path between a construction machine that acts on soil by hydraulic pressure and a tractor that comprises a mechanism for towing the construction machine and controlling the hydraulic pressure; a GNSS sensor that acquires three-dimensional position information of the construction machine using a GNSS system; and analysis means for analyzing a surficial soil resistance of a field based on a measurement value measured by the hydraulic sensor and the three-dimensional position information acquired by the GNSS sensor, while towing the construction machine in the field.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to the measurement of physicochemical information of soil. [Background technology]

[0002] In soil improvement of agricultural land, it is desirable to obtain physicochemical information such as the physical properties of the soil, which is the subject of the work. Soil physical properties, such as soil strength or soil hardness, affect the productivity of agricultural crops. In order to increase the productivity of field crops, it is essential to promote intensive use of farmland and productivity improvement, and to develop high-added-value agriculture through the cultivation of a variety of crops. To achieve this, it is necessary to implement appropriate drainage improvement measures to improve the drainage function of farmland, which determines the productivity of field crops. Therefore, a system or method is required that automatically senses the condition of farmland soil during farm work, grasps the current situation, creates a database, and makes it possible to display and check the data, thereby making it possible to carry out optimal improvements in the necessary locations.

[0003] As prior art relating to the measurement of resistance and load that agricultural machinery receives from soil, there are Patent Documents 1 and 2. Patent Document 1 discloses a technology that uses a load sensor to control agricultural machinery, and Patent Document 2 discloses a method of measuring soil physicochemical properties using a dedicated soil sensing device that is connected to and towed by a tractor. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Publication No. 8-66107 [Patent Document 2] JP 2003-125623 A Summary of the Invention [Problem to be solved by the invention]

[0005] Patent Document 1 does not disclose any evaluation of the physicochemical properties of soil. The load value on the machine components due to the control of the agricultural machine is the acting force acting on the machine components, and this value cannot be used for other purposes.

[0006] Patent Document 2 proposes a dedicated soil sensing machine that is expensive, costing several tens of millions of yen per machine, and is therefore limited to applications in research, and is not practical in terms of actual use in agricultural work. In addition, the sensing method is a method of directly measuring the physical and chemical properties of the soil, and is merely a copy of the conventional sensing method. This dedicated soil sensing machine is connected to a tractor as a measuring machine for measurement, but this work itself has no agricultural significance. Furthermore, the dedicated soil sensing machine is equipped with a spectrophotometer, soil pressure sensor, etc., and can sense multiple items at once, but has no other purpose than soil sensing measurement.

[0007] Conventional methods for measuring soil resistance and physicochemical properties as described above require the use of specialized equipment, making it impossible to grasp soil physicochemical properties during agricultural work. Therefore, an object of the present invention is to propose an inexpensive, simple and automatic sensing method for grasping physicochemical information of soil during agricultural work using agricultural machinery. [Means for solving the problem]

[0008] 1) An aspect of the present invention is A system for collecting and analyzing physicochemical information of soil in a field, comprising: A hydraulic pressure sensor detachably disposed in a flow path of hydraulic oil between a construction machine that acts on soil by hydraulic pressure and a tractor that tows the construction machine and has a mechanism for controlling the hydraulic pressure; A GNSS sensor for acquiring three-dimensional position information of the construction machine using a GNSS system; The present invention is characterized by having an analysis means for analyzing the magnitude of the surface soil resistance of the field based on the measurement values ​​measured by the hydraulic sensor and the three-dimensional position information obtained by the GNSS sensor while the construction machine is being towed in the field. 2) In the above embodiment, A distance sensor for measuring the height of the construction machine to the soil; An image sensor that captures the working state of the construction machine and the field conditions, The analysis means determines whether or not the construction machine is performing agricultural work based on one or a combination of a plurality of pieces of information obtained from the image sensor, the hydraulic sensor, the GNSS sensor, and the distance sensor; The magnitude of the soil resistance is analyzed based on the measurement values ​​from the hydraulic sensor and the three-dimensional position information from the GNSS sensor during the work period in which agricultural work is determined to have been performed. 3) In the above embodiment, The analysis means generates a first mapping image by mapping a work trajectory derived from the three-dimensional position information during the work period onto an aerial photograph or map data of the farm field including position information; and The method is characterized in that different colors are assigned according to the magnitude of the analyzed soil resistance, and a second mapping image is generated in which the colors assigned to the magnitude of the soil resistance are mapped to corresponding positions of the first mapping image. 4) In the above embodiment, The information processing terminal having the analysis means is characterized in that it has a communication function and is capable of transmitting one or more pieces of information obtained from the sensor, physicochemical information including the magnitude of soil resistance, the work period, the work trajectory, and a mapping image showing the magnitude of soil resistance to another information processing terminal or server. 5) Another aspect of the present invention is A method for collecting and analyzing physicochemical information of soil in a field, comprising: A step of detachably interposing a hydraulic pressure sensor in a flow path of hydraulic oil between a construction machine that acts on soil by hydraulic pressure and a tractor that tows the construction machine and has a mechanism for controlling the hydraulic pressure; A step of reading measurement values ​​from the hydraulic sensor while acquiring three-dimensional position information from a GNSS sensor installed in the construction machine; estimating a soil resistance value from a measurement value of the hydraulic sensor; A process of determining whether or not the construction machine is performing agricultural work based on one or a combination of information obtained from the hydraulic sensor, the GNSS sensor, an image sensor that photographs the working state of the construction machine and the field conditions, and a distance sensor that measures the height of the construction machine to the soil; A step of deriving a work trajectory of a construction machine based on the three-dimensional position information during a work period during which agricultural work is estimated to have been performed; The method is characterized in that surface physicochemical information of the field is analyzed from the correspondence between the work trajectory and the soil resistance value. 6) In the above embodiment, Mapping the work trajectory onto an aerial photograph or map data of the field including location information; and The method further includes a step of assigning different colors according to the measurement values ​​of the hydraulic sensor or the soil resistance values, and mapping the colors assigned to the measurement values ​​of the hydraulic sensor or the soil resistance values ​​corresponding to the position information onto the aerial photograph or map data on which the work trajectory is mapped. 7) Yet another aspect of the present invention is A hydraulic sensor unit for collecting physical information of soil in a field, A hydraulic pressure sensor that measures hydraulic pressure and can transmit the measured value to an external device wirelessly or via wire; and two joint plugs for detachably interposing the hydraulic pressure sensor in a flow passage of a hydraulic system. The internal spaces formed by the two joint plugs communicate with each other as flow paths for hydraulic oil. The hydraulic pressure sensor measures the hydraulic pressure of the hydraulic oil flowing through the internal space; and The hydraulic sensor unit is characterized in that it is interposed in a flow path of hydraulic oil between a construction machine that acts on the soil by hydraulic pressure and a tractor that tows the construction machine and has a mechanism for controlling the hydraulic pressure. Effect of the Invention

[0009] It is now possible to grasp soil physicochemical information through inexpensive, simple, and automatic sensing during agricultural work using agricultural machinery. [Brief description of the drawings]

[0010] [Figure 1] FIG. 1 is a schematic side view of a tractor equipped with a construction machine, and components according to the present invention connected and arranged thereon. [Diagram 2] FIG. 2 is a schematic side view showing an example of the configuration of the hydraulic sensor unit according to the present invention. [Diagram 3] FIG. 3 is a schematic side view showing another configuration example of the hydraulic sensor unit according to the present invention. [Figure 4] FIG. 4 is a schematic side view showing still another configuration example of the hydraulic sensor unit according to the present invention. [Diagram 5] FIG. 5 is a schematic side view taken from the same perspective as FIG. 1 in the case where a hydraulic sensor is attached directly to a hydraulic cylinder of a construction machine. [Figure 6] FIG. 6 is a schematic side view showing a connection state of each of the components illustrated in FIG. [Figure 7] FIG. 7 is a schematic side view showing a case where a construction machine different from that in FIG. 6 is mounted on a tractor. [Figure 8] FIG. 8 is a schematic side view showing a connection state of each of the components illustrated in FIG. [Figure 9] FIG. 9 is a schematic side view showing the forces and pressures acting on each part when the construction machine is lifted from the ground by retracting the rod of the construction machine into the hydraulic cylinder. [Figure 10] FIG. 10 is a schematic diagram showing a hardware configuration in an embodiment of the present invention. [Figure 11] FIG. 11 shows an example of a mesh display of hydraulic sensor measurement values ​​at points synchronized in time or position based on the work period estimated from the time-series data of the sensor values ​​and the work trajectory of the construction machine. [Figure 12] FIG. 12 is a schematic diagram illustrating a method for determining a target work period from time-dependent data of measurement values ​​of a hydraulic sensor. [Figure 13] 13(a) shows a display example in which a work trajectory is mapped onto photographic data of farmland using the measurement method according to the present invention, and (b) shows a display example in which soil resistivity is mapped onto photographic data of farmland. [Figure 14] Figure 14 shows examples of displays when the measurement method of the present invention is carried out in a farm field other than that shown in Figure 13, where (a) shows an example of a display in which the work trajectory is mapped onto photographic data of the farmland, and (b) shows an example of a display in which soil resistance values ​​are mapped onto photographic data of the farmland. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] A system incorporating a hydraulic sensor unit 10 for collecting physicochemical information of soil according to the present invention will be described with reference to FIG. This system is primarily applied to construction machines M towed by tractors TR. In the following, the construction machine M refers to a working machine (agricultural implement) that is attached to and towed by a tractor TR, and that is hydraulically operated and acts on the soil. However, the construction machine M on which the hydraulic sensor unit 10 is mounted does not have to be an attachment for the tractor, and may be an agricultural machine with the functions of a tractor. The construction machine M is a work machine used for soil layer improvement such as soil improvement.

[0012] 1 shows an example in which a CutDrain (registered trademark) CD, which is a drilling culvert machine, is used as a construction machine M. When the construction machine M is pulled by a tractor TR, a front cutting blade BL1 and a rear cutting blade BL2 provided on the construction machine M advance in the soil 1.

[0013] By operating the lever LE, the flow of hydraulic oil flowing through the hydraulic hose OH to the hydraulic cylinder HC is controlled to extend and retract the rod RD, thereby raising and lowering the cutting blades BL1, BL2 of the construction machine M.

[0014] When the front cutting blade BL1 and rear cutting blade BL2 of the construction machine M, which advances through the soil 1 as it is pulled by the tractor TR, receive a soil resistance force 21 from the soil 1 and buried objects ST such as stones and gravel in the soil 1, a force acts in the direction in which they are lifted (arrow 22). Accordingly, a force acts on the construction machine M itself, to which the front cutting blade BL1 and rear cutting blade BL2 are fixed, in the direction in which it is lifted (arrow 23). As a result, the rod RD is pressed and contracted into the hydraulic cylinder HC, causing the hydraulic oil in the hydraulic hose OH to move, which causes a change in hydraulic pressure.

[0015] A hydraulic sensor unit 10 is provided to measure the hydraulic pressure in the hydraulic hose OH. The hydraulic sensor unit 10 includes a hydraulic sensor 11 (see Figs. 2 to 4) that detects and analyzes changes in soil resistance 21, thereby making it possible to measure or estimate the hardness of the soil 1.

[0016] The hydraulic sensor unit 10 can be disposed between the hydraulic hose OH extending from the construction machine M side and the connection point on the tractor TR side to which it is originally connected, for example, as shown in FIG. 1. This allows the hydraulic sensor to be interposed in the flow path of hydraulic oil between the construction machine M and the tractor TR. The hydraulic sensor unit 10 is detachably connected by a joint plug. It is preferable to use a joint plug of the same type as the joint plug that connects the inlet / outlet of the flow path related to the hydraulic system of the tractor TR and the hydraulic hose OH on the construction machine M side. This allows the hydraulic sensor unit 10 to be detachably connected to the existing construction machine M and tractor TR at a later time and interposed therein.

[0017] The tractor TR is usually equipped with a control valve for controlling the flow rate and direction of hydraulic oil, a hydraulic pump, an oil tank, etc., for the hydraulic system. The tractor TR is equipped with a connection part to which the hydraulic hose OH on the construction machine M side is connected, at the inlet / outlet of the hydraulic oil flow path with the construction machine M side.

[0018] The hydraulic sensor unit 10 used for connection in Fig. 1 has the structure shown in Fig. 2. A Coupler (registered trademark) can be used for the joint plug. When the joint of the hydraulic hose OH is a male joint plug (male plug 15) and the joint of the connection part that is the inlet / outlet of the hydraulic oil flow path on the tractor TR side to which it is originally connected is a female joint plug (female plug 14), a female plug 13 is provided for connection to the hydraulic hose OH and a male plug 12 is provided for connection to the connection part of the tractor TR so that the hydraulic sensor unit 10 can be connected between them. A hydraulic sensor 11 is provided between the female plug 13 and the male plug 12 to constitute the hydraulic sensor unit 10. The internal space formed by the female plug 13 and the male plug 12 communicates as a flow path for the hydraulic oil, and the hydraulic sensor 11 is positioned between them to measure the hydraulic pressure of the hydraulic oil flowing in that internal space. The oil pressure sensor 11 can transmit the measured oil pressure value via a wired cable CAB or wireless WI.

[0019] As another embodiment of the mounting position of the hydraulic sensor unit 10, for example, the male plug 12 of the hydraulic sensor unit 10A in Fig. 2 may be connected to a hydraulic hose having a female plug at one end, and the male plug at the other end may be connected to a female plug at the connection part of the tractor TR. In other words, a configuration in which the hydraulic sensor unit 10 is interposed between the hydraulic hose 10 and another hydraulic hose is also possible.

[0020] Also, as shown in FIG. 5, the hydraulic sensor 11 itself can be directly connected to the connection point of the hydraulic hose OH of the hydraulic cylinder HC of the work machine M.

[0021] In either case, the hydraulic sensor 11 is disposed in a flow path of hydraulic oil passing between the existing construction machine M and the tractor TR that pulls it. This makes it possible to measure changes in hydraulic pressure caused by the soil resistance force acting on the construction machine M.

[0022] The shape of the hydraulic sensor unit 10 can be configured with different combinations of the male plug 12, female plug 13, and hydraulic sensor 11 in three directions, and is not limited to the configuration in FIG. 2, but may be the shape in FIG. 3 or FIG. 4. In Fig. 2, the plug male 12 and plug female 13 are arranged in series, in Fig. 3, the plug female 13 and the oil pressure sensor 11 are arranged in series, and in Fig. 4, the plug male 12 and the sensor 11 are arranged in series. Each arrangement may be branched in three directions, and may be not only a flat T-shape, but also a Y-shape or a three-dimensional three-way elbow shape.

[0023] The hydraulic sensor 10 can transfer data wirelessly or by wire, and pressure data measured by the hydraulic sensor 11 is transmitted to and stored in an information processing terminal IT (see FIG. 6). When transferring data by wire, the hydraulic sensor 11 and the information processing terminal IT are directly connected by a cable CAB as shown in FIG. 6.

[0024] The information processing terminal IT can transfer the accumulated data and the processed data to another information processing terminal TAB (see FIG. 10). This allows the other information processing terminal TAB to check or process the information collected during farm work in real time. An example of the other information processing terminal TAB is a tablet.

[0025] The information processing terminal IT includes a battery, a control unit for performing calculation processing, a memory unit, and a communication unit, and for example, as shown in FIG. 10, includes a battery, a microcomputer or logger, a flash memory as a data recording medium, and a data communication device as the communication unit.

[0026] Fig. 6 shows a connection state of each component illustrated in Fig. 1. The system for collecting soil physicochemical information in the present invention mainly includes an information processing terminal IT, a hydraulic sensor 11 or a hydraulic sensor unit 10, a height sounder HS, a GNSS receiver 55, and an RGB camera 53. The height finder HS is a distance sensor that measures the height of the construction machine M to the soil, and is, for example, an ultrasonic sensor. The GNSS receiver 55 is a GNSS receiver including a GNSS antenna for determining a three-dimensional position using a Global Navigation Satellite System (GNSS). The RGB camera 53 is used as an image sensor.

[0027] Each of these sensors can communicate with the information processing terminal IT via wired or wireless communication. The information processing terminal IT controls each sensor and receives data acquired by each sensor via a control unit, and the received data is stored in a storage unit. The data acquired from the sensors can be analyzed by the information processing terminal IT, and the resulting analysis data can be transmitted via wired or wireless communication to another information processing terminal TAB such as a tablet by the communication unit.

[0028] When the power switch of the information processing terminal IT shown in FIG. 10 is turned on, it automatically starts acquiring data from each sensor, analyzes the data to grasp physicochemical information, and can acquire map information of the field that is the target of work by the construction machine M when necessary. Furthermore, the system may be configured so that instructions can be given to the information processing terminal IT from outside via wired or wireless communication to control the start of measurement by each sensor, start of data recording, and the like.

[0029] The method for analyzing the data obtained from the sensor to obtain physicochemical information is described below. First, the presence or absence of agricultural work is determined using any one or a combination of data from the hydraulic sensor 11, the GNSS receiver 55, the RGB camera 53, and the height finder HS. This makes it possible to determine whether the data obtained from each sensor is from agricultural work. One method is to grasp the position and time at which the construction machine M is away from the soil 1 or when the height of the construction machine M from the soil 1 is different from that during normal agricultural work, and by excluding these, extract the net position and time when the agricultural work was performed.

[0030] The presence or absence of agricultural work may be determined using only the value of the hydraulic sensor 10. When the hydraulic cylinder HC is extended or retracted by operating the lever LE of the tractor TR, and the cutting blade of the construction machine M is inserted into the soil 1, a force acts in the direction of contracting the hydraulic cylinder HC, causing hydraulic oil to move toward the tractor TR. This movement increases the hydraulic pressure in the hydraulic hose OH, causing the value of the hydraulic sensor 11 to change. By detecting this change, it is possible to determine whether or not agricultural work is being performed by the construction machine M.

[0031] The presence or absence of agricultural work may be determined by determining the height of the construction machine M from three-dimensional position information obtained from the GNSS receiver 55, or by determining the height of the construction machine M to the soil with higher accuracy using a height finder HS. In this case, the construction depth of the construction machine M may be calculated by subtracting the height from the soil surface obtained from the height finder HS from the height of the construction machine (known), and the presence or absence of agricultural work may be determined based on this. It is also possible to directly determine whether or not work is being performed based on image data captured by the RGB camera 53. In this way, the presence or absence of farm work can be determined by using each sensor or a combination of sensors.

[0032] FIG. 9 shows the state in which the construction machine M is pulled up from the soil and agricultural work is suspended. The following describes the extension and contraction of the hydraulic cylinder OH and the measurement of the hydraulic pressure to raise the construction machine M when agricultural work is suspended. For the sake of explanation, the construction machine M, the hydraulic sensor unit 10, and the tractor TR are shown separated in the figure, but in reality they are connected.

[0033] When the lever LE is operated to lift the cutting blade BL3 of the construction machine M out of the soil in the direction of the arrow 28, an associated movement 25 of hydraulic oil occurs, causing the rod RD to retract into the hydraulic cylinder HC (arrow 24). At this time, the changes in the hydraulic pressure from the tractor side (arrow 26) and the hydraulic pressure from the construction machine M side (arrow 27) in the hydraulic hose OH are measured by the hydraulic pressure sensors 11 provided in the two hydraulic pressure sensor units 10. This makes it possible to determine whether or not work by the construction machine M has been interrupted. The height 30 to the soil 1 measured by the height finder HS also increases, making it possible to more reliably determine when to stop work.

[0034] The work trajectory is obtained from the information on the location and time of the agricultural work performed, which is obtained by determining whether or not agricultural work was performed. Then, the measurement value of the hydraulic sensor 11 at that location or time can be recorded. When aerial photograph data or map data of the field where agricultural work was performed includes location information, the work trajectory and / or the measurement value of the hydraulic sensor 11 or the soil resistance value estimated therefrom (collectively referred to as the "magnitude of soil resistance") can be mapped onto the photograph or map data (generation of a mapping image).

[0035] In the system according to the present invention, the determination of whether farm work is being performed, the understanding of the work trajectory, the mapping of the hydraulic sensor measurement value or the soil resistance value estimated therefrom, etc. may be performed by the information processing terminal IT, but is not limited to this, and the sensor data may be transmitted to another information processing terminal TAB or a server and may be performed there.

[0036] The measured value of the hydraulic sensor 11 or the soil resistance value estimated therefrom can also be mapped in a mesh display (generation of a mapping image in a mesh display). For example, one width is the working width of the construction machine M, and the other width is a mesh representing an arbitrary time or distance, and a color assigned according to the measurement value of the hydraulic sensor 11 at the time or position is displayed on each mesh. Alternatively, a color assigned according to a soil resistivity value estimated from the measurement value of the hydraulic sensor 11 using an arbitrary calibration curve may be displayed. The measurement value of the hydraulic sensor 11 or the soil resistance value can be quantized in a certain range, and a different color or color density can be assigned to each quantized step. When the mesh width is determined by time, the color assigned to the measurement value of the hydraulic sensor 11 sampled at that time interval becomes the color displayed on the mesh.

[0037] Fig. 11 shows the process of mapping the sensor values ​​on the work trajectory in a mesh display. First, as shown in the left diagram of Figure 11, the presence or absence of agricultural work is judged. Based on the fluctuation in distance obtained from the height finder HS, an action judgment value is calculated as a value indicating the probability that agricultural work is being performed. In this example, periods where the judgment exceeds 2 are considered to be work periods in which agricultural work was performed. Next, using the position information obtained using GNSS, the movement of the construction machine was displayed as a work trajectory on the xy plane (center diagram in Figure 11).

[0038] Colors are assigned at arbitrary intervals to the measurement values ​​of the hydraulic sensor 11. Then, for each mesh formed by the working width of the construction machine M and an arbitrary distance width, the color assigned to the measurement value of the hydraulic sensor 11 measured at that position is displayed (the diagram on the right side of FIG. 11).

[0039] The above analysis to grasp the physicochemical information of the soil can automatically estimate the soil resistance value, which is the physical property of the soil, during the actual agricultural work using a soil improvement construction machine M that controls the posture of the construction depth, etc. with a hydraulic cylinder HC, and it becomes possible to evaluate and grasp the soil hardness in a surface area. The system according to the present invention can be installed on an existing construction machine M, there is no need to purchase expensive sensors, and data can be collected during actual agricultural work, so farmers can carry out the system easily and inexpensively. Understanding the overall condition of soil hardness will aid in consideration of improving the physical conditions of agricultural soil and contribute to the creation of highly productive, high-quality farmland. Since it is possible to store only the data of each sensor during the target work period, the capacity required for the storage area can also be reduced.

[0040] For example, if the surface soil hardness is understood to be low (the soil is soft), - The location information in question is a location that requires caution when driving harvesting machinery, agricultural chemical sprayers carrying water tanks, and large machinery. - Location information predicting poor crop growth and reduced yields, - In cases where poor drainage is the cause of water retention due to soft soil, this will lead to consideration of implementing drainage improvements, - If the soft soil is caused by insufficient soil compaction, it may be necessary to consider compacting the soil using machinery.

[0041] In Fig. 1, a Cut Drain CD (registered trademark) is used for the construction machine M, but Fig. 7 shows another embodiment in which a Cut Breaker CB (registered trademark) is used for the construction machine M. In the system shown in Fig. 7, the above-mentioned sensors can be used for measurement, analysis, and transmission and reception of data or information in the same configuration as in Fig. 6, which uses a Cut Drain CD (registered trademark).

[0042] The estimation of soil resistivity, the association of each sensor value, the photograph or map data of the field, and the mapping results thereto may be processed and stored in an information processing terminal IT installed in the construction machine M. Without being limited to this, the values ​​of each sensor may be received and processed and stored in another information processing terminal TAB used at the work site, or a server, etc. However, what is desired is a configuration that allows agricultural workers to obtain data in real time and reflect the status of agricultural work on the spot. It is preferable that the display of sensor values ​​or estimated soil hardness values ​​by time series or position, the mapping of work trajectories on photographs or map data, or the display of sensor values ​​or estimated soil hardness as a color-coded mesh can be displayed in an application with a map display function installed on the information processing terminal TAB held during agricultural work. EXAMPLES

[0043] In FIG. 12, the vertical axis shows the value of the hydraulic sensor 11 measured in an actual farm field under the system configuration shown in FIG. 8, and the horizontal axis shows the measurement time. In this embodiment, the position information from the GNSS and the values ​​of the hydraulic sensors 111 and 112 are acquired at 10 Hz.

[0044] In this embodiment, the hydraulic sensor 111 is a sensor provided in the hydraulic sensor unit 101, and the hydraulic sensor 112 is a sensor provided in the hydraulic sensor unit 102 (FIG. 8). When the hydraulic hose OH1 is used to apply hydraulic pressure from the tractor TR side to the construction machine M side during agricultural work to extend the rod RD of the hydraulic cylinder HC, the pressure sensor 111 measures the pressure applied to the hydraulic hose OH1. When the pressure inside the hydraulic hose OH1 is increased, the hydraulic oil inside the cylinder passes through the hydraulic hose OH2 and travels as return oil to the hydraulic system on the tractor side.

[0045] When the cutting blade BL3 is inserted into the soil 1 and the construction machine M is pulled by the tractor TR, the construction machine M receives soil resistance force via the cutting blade BL3, which causes a force to act in the direction of shortening the rod RD, and pressure in the opposite direction is applied inside the hydraulic hose OH1. Therefore, as shown in FIG. 12, the value of the pressure sensor 111 fluctuates greatly. This fluctuation makes it possible to identify the target work period, and by collecting data during this target work period, it becomes possible to obtain appropriate physicochemical information. In this way, it was confirmed that the hydraulic sensor unit 10 according to the present invention operates appropriately during agricultural work in an actual farm field. The pressure value of the hydraulic hose OH1 fluctuates during operation, reflecting the physical conditions of the soil (soil resistance) at that time and position. EXAMPLES

[0046] FIG. 13 shows the results of carrying out the above-mentioned analysis method, including measurement using the hydraulic sensor unit 10 and estimation of soil resistance value, in an actual farm field under the system configuration shown in FIG. The test conditions are as follows: Test location: Torigoe, Nakajima-cho, Nanao City, Ishikawa Prefecture · Construction machine: Cut breaker mini 2-row CKBM-05 (manufactured by Hokkai Koki) Tractor: Yanmar crawler tractor Soil conditions: Gravelly gray plateau soil field (low soil moisture) The field on the left is hard and stony, while the field on the right is soft and has fewer stones. Weather: Sunny

[0047] The image of the test site used in Figure 13 is an orthoimage created based on an image taken from the sky by a drone. In the field at the test location, the target work period was identified using the time-series measurement values ​​of the hydraulic sensor 11 in the same manner as in Example 1. The work trajectory was identified based on the position information obtained during the target work period, and was mapped on the image of the test location (FIG. 13(a)). In FIG. 13(b), similar to the diagram on the right side of FIG. 11, the soil resistance value estimated from the measurement value of the hydraulic sensor 11 is displayed as a mesh on the image of the test site. Differences in color can be used to characterize differences in soil hardness between fields. EXAMPLES

[0048] FIG. 14 shows the results of carrying out the above-mentioned analysis method, including measurement using the hydraulic sensor unit 10 and estimation of soil resistance value, in an actual farm field under the system configuration shown in FIG. The test conditions are as follows: Test location: Kyowa Kotane Shinden, Daisen City, Akita Prefecture · Construction machine: Cut breaker mini 2-row CKBM-05 (manufactured by Hokkai Koki) Tractor: Yanmar crawler tractor Soil conditions: Gravelly gray lowland soil field (high soil moisture) ·Weather: Rainy weather

[0049] The image of the test site used in Figure 14 is an orthoimage created based on an image taken from the sky by a drone. In the field at the test location, the target work period was identified using the time-series measurement values ​​of the hydraulic sensor 11 in the same manner as in Example 1. The work trajectory was identified based on the position information obtained during the target work period, and was mapped on the image of the test location (FIG. 14(a)). In FIG. 14(b), similar to the diagram on the right side of FIG. 11, the soil resistance value estimated from the measurement value of the hydraulic sensor 11 is displayed as a mesh on the image of the test site. The mapped colors indicate that the field has a high pressure distribution, and it can be evaluated as having high moisture conditions.

[0050] As described above, the soil physicochemical information collection and analysis system and method using the hydraulic sensor unit of the present invention can be simply, easily and inexpensively introduced and applied by farmers to existing soil improvement construction machines that are towed by a tractor and use hydraulic cylinders to control posture, such as construction depth. In addition, soil resistance, which is a physical property of the soil, can be automatically measured while agricultural work is being carried out. By capturing data on soil hardness along with location information, - You can grasp the soil physicochemical properties of the entire field, - It will help you decide where and when the next improvement measures should be taken, - It is possible to estimate the drainage of a field based on the tendency of rainwater to accumulate due to the hardness or softness of the soil. - The selection of suitable crop types can be made according to the soil hardness or softness and the depth of the potential root zone. - It can be used to improve soil to achieve high productivity, such as by predicting the effect of the size of the root zone on crop growth and yield.

[0051] The system for grasping the physicochemical properties of soil in the present invention is equipped with an RGB camera 53. The soil hardness estimated by the hydraulic sensor 11 is data for directly grasping the physical properties of the soil, but by combining it with image data relating to the work situation and the field conditions obtained by the RGB camera, it becomes possible to grasp the soil condition in more detail and confirm the relationship between the degree of soil fracture and the soil resistance. In addition, the fineness of the soil (crushed state) can be confirmed from the image data, and the soil color that can be seen from the image data can be used to understand the physical and chemical properties of the soil, such as the liquid phase ratio, humus content, and organic matter content. The above soil physicochemical properties obtained from the image data of the RGB camera 53 can also be used to confirm the operating state or operating results of the construction machine M. For example, it is possible to know whether the construction machine M worked at an appropriate height or speed, and the appropriate operating state of the construction machine M for soil improvement in the field from which the data was obtained.

[0052] The above description does not limit which information processing terminal performs the conversion of data measured by the hydraulic sensor into soil resistance values ​​(soil hardness), mapping processing into photographs or map data, image display, etc., or whether they can be performed by any of them. The information processing terminal for creating a map or image of soil resistivity is not limited, and a map may be generated from received data, or the generated map may be displayed after it is received. The above disclosed systems and methods are intended to be within the scope of the disclosure, including any combination of the descriptions within the scope of the claims. [Explanation of symbols]

[0053] 1. Soil 10 Oil Pressure Sensor Unit 10A Oil Pressure Sensor Unit A 10B Hydraulic pressure sensor unit B 10C Oil pressure sensor unit C 101 Hydraulic pressure sensor unit 102 Hydraulic pressure sensor unit 11 Oil Pressure Sensor 111 Oil pressure sensor 112 Oil pressure sensor 12 Plug Male 13 Plug Female 14 Plug Female 15 plug male 16 Information processing terminal 20 Tractor pulling force 20A Work equipment traction force 21 Soil Resistance 22 Arrow 23 Arrow 24 Arrow 25 Hydraulic Oil Transfer 26 Hydraulic 27 Hydraulic 30 Height 50 Tablet PCs 53 RGB Camera 55 GNSS receiver BL1 Front cutting blade BL2 cutting blade BL3 cutting blade CAB Cable CON Information control cable CD construction machine CB construction machine GNS Global Navigation Satellite System HC Hydraulic Cylinder HS height meter IT information processing terminal LE Lever M construction machine OH hydraulic hose OH1 Hydraulic Hose OH2 Hydraulic Hose RD Rod ST buried stone TR Tractor WI wireless

Claims

1. A system for collecting and analyzing physicochemical information of soil in a field, comprising: A hydraulic pressure sensor detachably disposed in a flow path of hydraulic oil between a construction machine that acts on soil by hydraulic pressure and a tractor that tows the construction machine and has a mechanism for controlling the hydraulic pressure; A GNSS sensor for acquiring three-dimensional position information of the construction machine using a GNSS system; A soil physicochemical information collection and analysis system characterized by having an analysis means for analyzing the magnitude of the surface soil resistance of the field based on measurement values ​​measured by the hydraulic sensor and three-dimensional position information obtained by the GNSS sensor while the construction machine is towed in the field.

2. A distance sensor for measuring the height of the construction machine to the soil; An image sensor that captures the working state of the construction machine and the field conditions, The analysis means determines whether or not agricultural work is being performed by the construction machine based on one or a combination of a plurality of pieces of information obtained from the image sensor, the hydraulic sensor, the GNSS sensor, and the distance sensor; and The soil physicochemical information collection and analysis system described in claim 1, characterized in that the magnitude of the soil resistance is analyzed based on measurement values ​​from the hydraulic sensor and three-dimensional position information from the GNSS sensor during a work period during which agricultural work is determined to have been performed.

3. The analysis means generates a first mapping image by mapping a work trajectory derived from the three-dimensional position information during the work period onto an aerial photograph or map data of the farm field including position information; and The soil physicochemical information collection and analysis system according to claim 2, characterized in that a second mapping image is generated in which different colors are assigned according to the magnitude of the analyzed soil resistance, and the colors assigned to the magnitude of the soil resistance are mapped to corresponding positions of the first mapping image.

4. A soil physicochemical information collection and analysis system as described in any one of claims 1 to 3, characterized in that the information processing terminal having the analysis means has a communication function and is capable of transmitting one or more pieces of information obtained from the sensor, physicochemical information including the magnitude of soil resistance, work period, work trajectory, and mapping image showing the magnitude of soil resistance to another information processing terminal or server.

5. A method for collecting and analyzing physicochemical information of soil in a field, comprising: A step of detachably interposing a hydraulic pressure sensor in a flow path of hydraulic oil between a construction machine that acts on soil by hydraulic pressure and a tractor that tows the construction machine and has a mechanism for controlling the hydraulic pressure; A step of reading measurement values ​​from the hydraulic sensor while acquiring three-dimensional position information from a GNSS sensor installed in the construction machine; estimating a soil resistance value from a measurement value of the hydraulic sensor; A process of determining whether or not the construction machine is performing agricultural work based on one or a combination of information obtained from the hydraulic sensor, the GNSS sensor, an image sensor that photographs the working state of the construction machine and the field conditions, and a distance sensor that measures the height of the construction machine to the soil; and deriving a work trajectory of a construction machine based on the three-dimensional position information during a work period during which agricultural work is estimated to have been performed; The method is characterized by analyzing surface physicochemical information of the field from the correspondence between the work trajectory and the soil resistance value.

6. Mapping the work trajectory onto an aerial photograph or map data of the field including location information; The method according to claim 5, further comprising the step of assigning different colors according to the hydraulic sensor measurement values ​​or the soil resistance values, and mapping the colors assigned to the hydraulic sensor measurement values ​​or the soil resistance values ​​corresponding to the position information onto the aerial photograph or map data on which the work trajectory is mapped.

7. A hydraulic sensor unit for collecting physical information of soil in a field, A hydraulic pressure sensor that measures hydraulic pressure and can transmit the measured value to an external device wirelessly or via wire; and two joint plugs for detachably interposing the hydraulic pressure sensor in a flow passage of a hydraulic system. The internal spaces formed by the two joint plugs communicate with each other as a flow path for hydraulic oil. The hydraulic pressure sensor measures the hydraulic pressure of the hydraulic oil flowing through the internal space; and The hydraulic sensor unit is characterized in that the hydraulic sensor unit is interposed in a flow path of hydraulic oil between a construction machine that acts on the soil by hydraulic pressure and a tractor that tows the construction machine and has a mechanism for controlling the hydraulic pressure.

Images