Automatic fertilizer application device and automatic fertilizer application method

Abstract

The present invention aims to provide an automatic fertilization device and an automatic fertilization method that precisely control the growth status of each individual crop. [Solution] The automatic fertilizer application device disclosed in this application comprises an imaging device, a computing device, a control device, and a fertilizer applicator. The imaging device captures images of crops as they pass by in sequence. The computing device identifies each individual crop and recognizes its growth status based on the images of the crops, and determines the amount and timing of fertilizer application from this information. The control device controls the fertilizer applicator to apply the amount of fertilizer at the timing. This makes it possible to control the growth so that there are no differences in the size of individual crops at harvest time.

Description

Technical Field

[0001] This application relates to the technology of automatic fertilization devices in agriculture. In recent years, technological development related to the development and operation of systems aimed at improving the efficiency and precision of agriculture has been progressing. An automatic fertilization device is a technology that combines sensor technology, IoT, and automation technology to monitor the nutritional status of crops and the fertility of soil, and supply the necessary amount of fertilizer at the optimal timing. This can prevent over- or under-fertilization, optimize the growth of crops, and reduce the environmental impact and costs. In this application, an invention related to an automatic fertilization device and an automatic fertilization method that can control the growth so that there is no difference in the size of individual agricultural crops at the time of harvest is disclosed.

Background Art

[0002] An automatic fertilization device is a system that combines multiple technical elements to optimize the nutritional management of agricultural crops. The automatic fertilization device is equipped with various sensors for monitoring the state of the soil and agricultural crops, and these sensors continuously collect data and transmit it to a central monitoring device. The central monitoring device analyzes the collected data, determines the type, amount, and timing of fertilization of the required fertilizer based on the current nutritional status and growth stage of the agricultural crops, and transmits an instruction to the fertilizer applicator. The fertilizer applicator is equipped with a liquid fertilizer tank and a solid fertilizer hopper, and applies an appropriate amount of fertilizer according to the instruction received from the central monitoring device.

[0003] Patent Document 1 discloses a technology for remote sensing of a farm field by various sensors mounted on an industrial unmanned helicopter, measuring the image of the soil and the reflectance of natural light, sampling and analyzing the soil at several points in the farm field, and generating, for example, a fertilization map in units of 10 m meshes. This technology enables automatic control of an automatic variable fertilizer applicator based on the generated fertilization map and GPS position information, and discharging and applying appropriate fertilizer.

Prior Art Documents

Patent Documents

[0004] [Patent Document 1] Japanese Patent Publication No. 2011-254711 [Overview of the project] [Problems that the invention aims to solve]

[0005] However, the automatic fertilizer application device described in Patent Document 1 is intended to adjust the amount of fertilizer applied in response to variations in soil fertilizer components within the field, and does not take into account the growth status of each individual crop. In other words, because fertilization is not carried out in accordance with the growth stage, health condition, and individual nutritional needs of each crop, it is difficult to provide an optimal growing environment.

[0006] Furthermore, the system that combines data collection from the entire field using industrial helicopters with soil sampling data to generate a predetermined fertilization map is highly advanced and complex. Its implementation and operation require specialized knowledge, making it difficult for farmers to use effectively. Additionally, the high cost of implementing these technologies places a significant financial burden on small-scale farmers and those with limited funds.

[0007] Thus, conventional automated fertilizer application systems and related systems have limitations in adjusting fertilization based on data from the entire field, and the difficulty of using advanced and expensive systems. As a result, they have not been able to achieve homogeneous production that takes into account individual differences in crops. Furthermore, even if homogenization of soil fertilizer components is achieved, there is still the problem that the size of crops at harvest will differ due to individual differences in crops and local environmental factors.

[0008] The present invention aims to control the growth of crops so that there are no differences in size between individual crops at harvest time, without using advanced, complex, and expensive systems. [Means for solving the problem]

[0009] The present invention can be realized in the following forms.

[0010] (1) The first embodiment of the present invention is an automatic fertilizer applicator comprising an imaging device, a computing device, a control device, and a fertilizer applicator. The imaging device mounted on this automatic fertilizer applicator captures images of crops passing by sequentially and transmits the images to the computing device. The computing device includes an image processing unit that identifies each individual crop based on the received images, a growth recognition unit that recognizes the growth status of each individual crop, and a fertilizer amount determination unit that determines the amount of fertilizer to be applied to each individual crop based on the growth status. The control device controls the fertilizer applicator to apply fertilizer to each individual crop based on the amount of fertilizer to be applied. By using this form of automatic fertilizer applicator, it is possible to precisely control the growth status of each individual crop with a simple configuration of an imaging device, a computing device, a control device, and a fertilizer applicator.

[0011] (2) A second embodiment of the present invention is an automatic fertilizer applicator of the first embodiment described above, wherein the calculation unit includes a speed acquisition unit that acquires the relative speed between the crop to be fertilized and the automatic fertilizer applicator, and a fertilizer timing determination unit that determines the timing for applying fertilizer to each individual crop based on the relative speed. The fertilizer amount determination unit determines the amount of fertilizer to be applied per unit time based on the relative speed and the growth status. The control device controls the fertilizer applicator to apply the amount of fertilizer at the fertilizer timing. By using this embodiment of the automatic fertilizer applicator, it is possible to apply an appropriate amount of fertilizer to each individual crop as it passes through, according to the growth status of each crop, at the appropriate timing as the crop passes through.

[0012] (3) The third embodiment of the present invention is an automatic fertilizer applicator of the second embodiment described above, wherein the speed acquisition unit acquires relative speed based on the moving speed of a trolley equipped with a moving device, and the imaging device is installed at the front of the trolley and captures images of crops that pass sequentially from the front to the rear as the trolley moves. The fertilizer applicator is installed at the rear of the trolley and applies fertilizer to the crops that are to be fertilized. By using this embodiment of the automatic fertilizer applicator, the automatic fertilizer applicator can autonomously move within the field, recognize the growth status of each individual crop, and automatically and efficiently apply an appropriate amount of fertilizer to each individual.

[0013] (4) A fourth embodiment of the present invention is an automatic fertilizer applicator of the third embodiment described above, wherein the imaging device captures an image of the crop to be fertilized from above, and the growth recognition unit obtains the size of the crop's spread from the received image to recognize its growth status. By using this embodiment of the automatic fertilizer applicator, it becomes possible to easily and accurately recognize the growth status of individual crops, and to apply the appropriate amount of fertilizer to each individual crop more accurately.

[0014] (5) The automatic fertilization method according to the fifth embodiment of the present invention consists of the following five steps. The first step is to capture images of crops passing by sequentially using an imaging device installed on the trolley and transmit the images to a computing device. The second step is for the computing device to identify each individual crop based on the received images and to recognize the growth status of each individual crop. The third step is to determine the amount of fertilizer to be applied to each individual crop based on the growth status and to transmit the amount of fertilizer to a control device. The fourth step is for the control device to control the fertilizer applicator to apply fertilizer to each individual crop based on the amount of fertilizer. The fifth step is for the fertilizer applicator installed on the trolley to apply fertilizer to the crops that are to be fertilized. By using this form of automatic fertilization method, it is possible to precisely control the growth status of each individual crop with a simple configuration consisting of an imaging device, a computing device, a control device, and a fertilizer applicator.

[0015] (6) The sixth embodiment of the present invention is the automatic fertilization method of the fifth embodiment described above, wherein the third step adopts the following configuration. That is, the calculation device includes the steps of acquiring the relative speed between the crop to be fertilized and the trolley unit, and determining the timing for applying fertilizer to each individual crop based on the relative speed, and the amount of fertilizer to be applied is the amount of fertilizer to be applied per unit time calculated based on the relative speed and the growth status. Furthermore, the fourth step is that the control device controls the fertilizer applicator to apply the amount of fertilizer at the fertilization timing. By using this embodiment of the automatic fertilization method, it is possible to apply an appropriate amount of fertilizer to each individual crop according to its growth status, at the appropriate timing as the crop passes by.

[0016] (7) The seventh embodiment of the present invention is the automatic fertilization method of the sixth embodiment described above, wherein the first step is to install an imaging device at the front of the trolley and capture images of crops passing sequentially from the front to the rear as the trolley moves. The third step is to acquire the relative speed, which is based on the moving speed of the trolley. Furthermore, the fifth step is to install a fertilizer applicator at the rear of the trolley and apply fertilizer to the crops to be fertilized. By using this embodiment of the automatic fertilization method, the automatic fertilizer applicator can autonomously move within the field, recognize the growth status of each individual crop, and automatically and efficiently apply an appropriate amount of fertilizer to each individual.

[0017] (8) The eighth embodiment of the present invention is an automatic fertilization method of the seventh embodiment described above, wherein the first step is for an imaging device to capture an image of the crop to be fertilized from above. The second step is to obtain the size of the crop's wingspan from the received image and recognize its growth status. By using this embodiment of the automatic fertilization method, it becomes possible to easily and accurately recognize the growth status of individual crops, and to apply the appropriate amount of fertilizer to each individual crop more accurately. [Brief explanation of the drawing]

[0018] [Figure 1] This is a schematic diagram illustrating an automated fertilizer application device that moves along the ground. [Figure 2] This diagram illustrates the operating process of an automatic fertilizer application device. [Figure 3] This diagram schematically shows an automatic fertilizer application device according to another embodiment. [Figure 4] This diagram schematically illustrates an automated fertilizer application system used in a vegetable factory. [Figure 5] This is a flowchart showing each step of the automated fertilization method. [Modes for carrying out the invention]

[0019] Hereinafter, specific embodiments of the present application will be described with reference to the drawings.

[0020] FIG. 1 schematically shows an example of an automatic fertilization device according to the present invention. The automatic fertilization device 10 is composed of an imaging device 11, an arithmetic device 12, a control device 13, and a fertilizer applicator 15. The imaging device 11 and the fertilizer applicator 15 are provided on a movable carriage unit 18. The imaging device 11 is installed in the traveling direction of the carriage unit, that is, in the front, and the fertilizer applicator 15 is installed behind the carriage unit.

[0021] The arithmetic device 12 and the control device 13 can be installed on the carriage unit 18 as shown in FIG. 1, or may be installed at a remote location separate from the automatic fertilization device 10 using a communication system not shown as another aspect. Furthermore, the arithmetic device 12 and the control device 13 may be separate or integrated as hardware.

[0022] The carriage unit 18 includes a moving device 19. The moving device 19 shown in FIG. 1 is equipped with endless tracks on the left and right, and a workbench and a loading platform are provided in the central part. With this structure, the carriage unit 18 can move so as to straddle the ridges of the crops, and can freely move back and forth in the field without damaging the crops. By adopting endless tracks, the carriage unit exhibits excellent traveling performance even on soft soil or sloping ground.

[0023] The moving device 19 is equipped with power such as an engine or a motor not shown, and can move autonomously during the fertilization operation, but can also be manually operated using the operation device 14.

[0024] The crop 17 shown in FIG. 1 is a cabbage. As the crop, vegetables that grow close to the ground are preferred so that the carriage unit 18 can move straddling the ridges. Specifically, in addition to cabbages, leafy vegetables such as broccoli, cauliflower, spinach, and lettuce are suitable as the crops to be fertilized in the present invention.

[0025] The imaging device 11 can be a general-purpose imaging device such as a CMOS sensor. The imaging device 11 is installed in front of the trolley unit 18 in the direction of travel, and is positioned to photograph the crops 17 from above and downwards. During fertilization work, the trolley unit 18 continues to move without stopping, and the imaging device 11 continues to take images of the crops 17 as they pass by.

[0026] The fertilizer spreader 15 receives a control signal from the control device 13 and applies fertilizer 16 to the crops 17. The fertilizer spreader 15 has a tank or hopper on top for storing fertilizer. It is also equipped with a pump for distributing liquid fertilizer and a dispenser for dropping solid fertilizer, and has a mechanism to send these fertilizers to the distributor. The type of pump and the mechanism of the dispenser will vary depending on the characteristics of the fertilizer, but it is required that the amount and speed of fertilization can be adjusted. Furthermore, it is possible to install multiple fertilizer spreaders 15 in a row and apply fertilizer to multiple rows simultaneously. In this case, the imaging device 11 photographs multiple crops growing in multiple rows, and the calculation device 12 recognizes the individual growth status of the multiple crops and determines the optimal amount of fertilizer for each of the multiple crops.

[0027] Figure 2 is a diagram illustrating the operation process of the automatic fertilizer application device 10 according to the present invention. Images of crops captured by the imaging device 11 are transmitted to the image processing unit 121 of the processing unit 12. The image processing unit 121 acquires and processes the images of the crops to identify each individual crop from the images. Next, the growth recognition unit 122 recognizes the growth status of each identified individual. The size of the crop's spread can be used to recognize the growth status. Operation based on an image recognition model using AI technology is useful for this calculation process.

[0028] The process for generating the AI ​​model is as follows: First, images of cabbages of various sizes are collected, and these images are labeled to indicate the growth status of the cabbages, preparing them as a training dataset. As a specific example of a label, the size of the leaf spread of the cabbage can be used. Next, the collected image data is preprocessed as needed, and a deep learning model such as a separately constructed convolutional neural network (CNN) is trained. In actual operation, images of cabbages acquired from the imaging device 11 are input to the AI ​​model, and the AI ​​model can recognize the cabbages in the images and determine their growth status, i.e., the size of the leaf spread.

[0029] The growth recognition unit 122 outputs the growth status of the target cabbage, i.e., the size of its spreading, and this information is transmitted to the fertilizer amount determination unit 124. The fertilizer amount determination unit 124 determines the amount of fertilizer to apply to the cabbage based on the received growth status of the cabbage. As a method for determining the amount of fertilizer in the fertilizer amount determination unit 124, it is possible to prepare and store a map in advance showing the correlation between the size of the spreading and the amount of fertilizer to apply, and then make a decision by referring to this map. However, it is also possible to use a pre-trained AI model here.

[0030] The fertilizer application amount determination unit 124 transmits the determined fertilizer application amount to the control device 13. At this time, the fertilizer application amount determination unit 124 can, if necessary, transmit the fertilizer application amount to the control device 13 in terms of the time (t) during which the fertilizer spreader 15 continues to dispense fertilizer and the amount of fertilizer dispensed per unit time. The control device 13 controls the fertilizer spreader 15 to ensure that the specified amount of fertilizer is applied within the specified time (t). Based on the control instructions from the control device 13, the fertilizer spreader 15 drives the pump and dispenser to dispense the predetermined amount of fertilizer onto the crops.

[0031] Since the automatic fertilizer applicator 10 applies fertilizer while moving, it is desirable for the control device 13 to synchronize the timing of fertilizer dispensing with the timing when the crops to be fertilized arrive below the fertilizer applicator 15. The time (T) when the fertilizer applicator 15 starts fertilizing is determined by the fertilization timing determination unit 125. As a result, the control device 13 can issue a control instruction to the fertilizer applicator 15 to start fertilizing at time (T) and to continue dispensing fertilizer at a rate of fertilizer per unit time (M) for a period of time (t). When the control device 13 actually issues a control instruction to the fertilizer applicator 15, it is desirable to also take into account the mechanical delay time from when the fertilizer applicator 15 receives the control signal until the fertilizer actually reaches the crops.

[0032] More specifically, time 0 is defined as the time when the imaging device 11 photographs the cabbage. The time (T) when the fertilizer applicator 15 applies fertilizer to the cabbage can be calculated based on the relative speed between the cabbage and the automatic fertilizer applicator 10, and the distance from the imaging device 11 to the fertilizer applicator 15. The time (t) required for the fertilizer applicator 15 to pass over the cabbage to be fertilized, i.e., the time (t) during which the fertilizer applicator 15 continues to dispense fertilizer, can be calculated from the relative speed between the cabbage and the automatic fertilizer applicator 10, and the size of the cabbage.

[0033] The determination of the fertilization timing described above can also be achieved by other methods. For example, another imaging device can be installed behind the trolley section 18 and directly in front of the fertilizer spreader 15, and fertilization can be started using a signal from the imaging device detecting the crop to be fertilized as a trigger.

[0034] As explained above, the automatic fertilizer applicator 10 can apply fertilizer optimized for each individual crop 17, taking into account its individual growth status. This precise control of fertilization allows for growth control to prevent differences in the size of individual crops at harvest time, thus reducing the number of harvests and achieving labor savings. Furthermore, because only the minimum necessary amount of fertilizer can be applied to the necessary parts, not only are fertilizer costs reduced, but the amount of fertilizer applied can be recorded as data, improving traceability and contributing to the IT-ization of agriculture. Moreover, since all individual crops are uniform in size, it becomes easier to use agricultural machinery such as automatic harvesters, not only compensating for labor shortages with machinery, but also making it easier to distribute crops in standard sizes and contributing to higher profits. In addition, since it is no longer necessary to assess the growth status of each individual crop, farming becomes easier even for novice farmers.

[0035] Figure 3 is a schematic diagram showing an automatic fertilizer application device 10 according to another embodiment. Figure 3 does not show the moving device that moves on the ground 30. There are no particular limitations on the moving device provided by the trolley section 18 of the present invention. In addition to the moving device 19 shown in Figure 1, it may also move on a track installed on the ground 30, or on rails provided on the ceiling or walls of a greenhouse or the like. Figure 3 shows an embodiment in which the moving device 19 moves along rails suspended from the ceiling. Furthermore, a method can also be adopted in which the trolley section 18 is mounted on a drone and flown above the crops 17.

[0036] Figure 4 is a schematic diagram of an automatic fertilizer application device 10 used in a vegetable factory. In a vegetable factory, the trolley section 18 does not have a moving mechanism, and by using technologies such as hydroponics, it is possible to mount a belt conveyor on the cultivation stage 40 where the crops 17 are grown, so that the crops 17 move in rows. Alternatively, there may be cases where both the trolley section 18 and the crops 17 move. Whether the trolley section 18 moves or the crops 17 move, the timing of fertilization is determined using the relative speed between the crops and the automatic fertilizer application device.

[0037] Figure 5 is a flowchart showing each step of the automated fertilization method according to the present invention. The details of each step will be explained below.

[0038] The first step is for the imaging device 11 installed on the trolley section 18 to take images of the crops 17 as they pass by in sequence, and to transmit the image data to the computing device 12 (101).

[0039] The second step involves image processing (102) and growth status recognition (103). In the image processing (102) process, images of the crops are acquired and each individual crop is identified. In the growth status recognition (103) process, the growth status of each individual crop is recognized. Specifically, the size of the crop's wingspan is measured to determine its growth status, and this information is transmitted to the next step. The specific processing details are the same as those of the growth recognition unit 122 of the computing device 12.

[0040] The third step involves determining the amount of fertilizer to be applied (104), acquiring the relative speed (105), and determining the timing of fertilization (106). Here, preparations are made to issue instructions to the control device 13 that controls the fertilizer applicator 15. The process of determining the amount of fertilizer to be applied (104) is determined based on the growth status of each individual crop. The specific processing is the same as the operation of the fertilizer amount determination unit 124 of the calculation unit 12.

[0041] In the fertilization timing determination (106) process, the time (T) at which the fertilizer spreader 15 begins fertilizing is determined. The specific processing is the same as the operation of the fertilization timing determination unit 125 of the calculation unit 12. The relative speed between the crops and the trolley required here is obtained in the relative speed acquisition (105) process. When the control device 13 actually issues control instructions to the fertilizer spreader 15, it is desirable to also take into account the mechanical delay time from when the fertilizer spreader 15 receives the control signal until the fertilizer actually reaches the crops. The amount of fertilizer and the fertilization timing determined in this third step are transmitted to the next step.

[0042] The fourth step is to control the fertilizer applicator (107). Based on the amount and timing of fertilization determined in the third step, the applicator is given the necessary instructions to apply the fertilizer appropriately. The specific processing is the same as the operation of the control device 13.

[0043] The fifth step is to actually operate the fertilizer spreader 15 and apply fertilizer to the crops to be fertilized (108). The fertilizer spreader 15 is operated based on the control instructions in step 4 and can apply a predetermined amount of fertilizer to the crops 17 located below the fertilizer spreader 15.

[0044] By following the steps outlined above, it becomes possible to appropriately control the growth of each individual crop, ensuring that there are no differences in size among the crops at harvest time. Synchronizing the harvest time offers various benefits, such as reduced labor due to fewer harvests and lower fertilizer costs.

[0045] The above description is provided as an example and does not limit the scope of the invention. The present invention can be implemented in various other forms, and various omissions, substitutions, and modifications can be made without departing from the spirit of the invention. [Explanation of Symbols]

[0046] 10 Automatic fertilization device 11 Imaging device 12 Arithmetic unit 121 Image Processing Unit 122 Growth Recognition Department 123 Speed ​​acquisition section 124 Fertilizer amount determination section 125 Fertilization timing determination unit 13 Control device 14 Operating device 15 Fertilizer 16 Fertilizer 17. Agricultural products 18 Bogie section 19 Mobile device 20 Height adjustment device 30 ground 40 Cultivation Stages

Claims

1. It is equipped with an imaging device, a computing device, a control device, and a fertilizer spreader. The imaging device captures images of crops as they pass by in sequence and transmits these images to the computing device. The computing device includes an image processing unit that identifies each individual crop based on the received image, a growth recognition unit that recognizes the growth status of each individual crop, and a fertilizer amount determination unit that determines the amount of fertilizer to be applied to each individual crop based on the growth status. The control device controls the fertilizer applicator to apply fertilizer to each individual crop based on the amount of fertilizer applied. An automatic fertilizer application device characterized by the following features.

2. The calculation device includes a speed acquisition unit that acquires the relative speed between the crop to be fertilized and the automatic fertilizer application device, and a fertilization timing determination unit that determines the timing for applying fertilizer to each individual crop based on the relative speed. The fertilizer application amount determination unit determines the amount of fertilizer to be applied per unit time based on the relative speed and the growth status. The control device controls the fertilizer applicator to apply the amount of fertilizer at the fertilization timing. The automatic fertilizer applicator according to feature 1.

3. The speed acquisition unit acquires the relative speed based on the moving speed of the trolley section equipped with the moving device. The imaging device is installed at the front of the trolley and captures images of agricultural products as they pass sequentially from the front to the rear as the trolley moves. The fertilizer applicator is installed at the rear of the trolley section and applies fertilizer to the crops that are to be fertilized. The automatic fertilizer applicator according to feature 2.

4. The imaging device captures an image of the crop to be fertilized from above, The growth recognition unit obtains the size of the crop's wingspan from the received image and recognizes its growth status. The automatic fertilizer applicator according to feature 3.

5. The first step involves using an imaging device installed on the trolley to capture images of crops passing by sequentially and transmitting the images to a computing device. The first step is for the computing device to identify each individual crop based on the received image and to recognize the growth status of each individual crop. A third step involves determining the amount of fertilizer to be applied to each individual crop based on the growth status and transmitting the amount of fertilizer to the control device, The control device controls the fertilizer applicator to apply fertilizer to each individual crop based on the amount of fertilizer applied, in a fourth step, The fertilizer applicator installed on the trolley unit performs a fifth step in which the fertilizer applicator applies fertilizer to the crops to be fertilized, An automated fertilization method consisting of the following.

6. The third step comprises the steps of the calculation device acquiring the relative speed between the crop to be fertilized and the trolley unit, and determining the timing for applying fertilizer to each individual crop based on the relative speed, and the amount of fertilizer to be applied is the amount of fertilizer to be applied per unit time calculated based on the relative speed and the growth status. The fourth step is that the control device controls the fertilizer applicator to apply the amount of fertilizer at the fertilization timing. The automatic fertilization method according to feature 5.

7. The first step is to install the imaging device at the front of the trolley and to capture images of crops that pass sequentially from the front to the rear as the trolley moves. The step of obtaining the relative speed in the third step is a step of obtaining the relative speed based on the moving speed of the trolley section, The fifth step is the step in which the fertilizer applicator is installed at the rear of the trolley and applies fertilizer to the crops to be fertilized. The automatic fertilization method according to claim 6.

8. The first step is the imaging device to take an image of the crop to be fertilized from above, The second step is to obtain the size of the crop's wingspan from the received image and recognize its growth status. The automatic fertilization method according to feature 7.

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