Support device and soil estimation device

Abstract

To provide a support device and a soil estimation device capable of improving convenience of a user.SOLUTION: A support device includes: an acquisition unit for acquiring processing target information in which work information and position information based on at least work results of a target area by an agricultural machine; and a processing unit for supporting work of the agricultural machine on the basis of one or both of a plastic limit and particle size distribution of soil for each piece of positional information obtained on the basis of the processing target information acquired by the acquisition unit.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a support device and a soil estimation device. [Background technology]

[0002] Conventionally, a driving vehicle that controls the speed to keep the work load constant by referring to the sensing result of the change in hydraulic pressure has been disclosed (for example, Patent Document 1). Also, a device that determines soil characteristics based on the soil type, the water content of the soil, and a model for determining the soil characteristics has been disclosed (for example, Patent Document 2). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Utility Model Application Publication No. 55-107430 [Patent Document 2] WO 01 / 004627 Summary of the Invention [Problem to be solved by the invention]

[0004] The above techniques may not be able to improve user convenience.

[0005] The present invention has been made in consideration of the above circumstances, and has as its object to provide an assistance device and a soil estimation device that can improve convenience for users. [Means for solving the problem]

[0006] A first aspect of the support device of the present invention includes an acquisition unit that acquires processing target information that associates work information and location information based on at least the results of an agricultural machine working in a target area, and a processing unit that supports the work of the agricultural machine based on one or both of the plastic limit and grain size distribution of the soil for each piece of location information obtained based on the processing target information acquired by the acquisition unit.

[0007] In a second aspect of the support device of the present invention, the work information includes some or all of the required power of the agricultural machine, the engine load of the agricultural machine, the engine speed, the speed of the agricultural machine, the height of the work implements of the agricultural machine, the degree of wheel slip of the agricultural machine, fuel efficiency, hydraulic information, body attitude, or sinking amount.

[0008] In a third aspect of the present invention, the assistance device provides assistance by suggesting to a user of the agricultural machinery work suitable for the soil, or by controlling the agricultural machinery to perform work suitable for the soil.

[0009] A fourth aspect of the present invention is a support device further comprising an estimation unit that estimates either or both of the soil particle size distribution for each piece of location information or the soil plastic limit for each piece of location information based on the processing target information acquired by the acquisition unit, and the processing unit provides the support using the results of the estimation by the estimation unit.

[0010] In a fifth aspect of the support device of the present invention, the acquisition unit further acquires environmental information for each of the soils, the estimation unit estimates one or both of the particle size distribution of the soil for each of the location information and the plastic limit of the soil for each of the location information based on the processing target information and the environmental information, and the processing unit provides the support using the results of the estimation by the estimation unit.

[0011] In a sixth aspect of the support device of the present invention, the processing unit determines whether the work of the agricultural machine is appropriate based on the result of estimation by the estimation unit and the work that the agricultural machine has performed or is about to perform.

[0012] In a seventh aspect of the present invention, the support device is configured so that, when the processing unit determines that the work that the agricultural machine is about to perform is inappropriate, the processing unit controls the agricultural machine so that the work is appropriate, or suggests the appropriate work to a user of the agricultural machine.

[0013] An eighth aspect of the present invention is an assistance device further comprising an estimation unit that estimates either or both of the soil grain size distribution for each location information or the soil plastic limit for each location information based on the processing target information acquired by the acquisition unit, wherein the acquisition unit further acquires environmental information for each of the soil, and the estimation unit estimates either or both of the soil grain size distribution for each current location information or the soil plastic limit for each current location information based on the results of estimations previously made by the estimation unit and the environmental information, and the processing unit provides the assistance using the results of the estimation by the estimation unit.

[0014] Another aspect of the present invention is a soil estimation device that includes an acquisition unit that acquires processing target information that associates work information and location information based on at least the results of an agricultural machine working in a target area, a particle size distribution estimation unit that estimates the particle size distribution of soil for each location information based on the processing target information acquired by the acquisition unit, and a processing unit that performs predetermined processing using the results estimated by the particle size distribution estimation unit.

[0015] Another aspect of the present invention is a soil estimation device that includes an acquisition unit that acquires processing target information that associates work information and location information based on at least the results of an agricultural machine working in a target area, a plastic limit estimation unit that estimates the plastic limit of soil for each location information based on the processing target information acquired by the acquisition unit, and a processing unit that performs predetermined processing using the results estimated by the plastic limit estimation unit. Effect of the Invention

[0016] The support device according to the first to third aspects of the present invention can improve the convenience of the user by supporting the work of the agricultural machine based on one or both of the plastic limit and the grain size distribution of the soil for each position information. For example, the support device can provide the user with information for the agricultural machine to work efficiently, and can control the agricultural machine to work efficiently.

[0017] According to the fourth or fifth aspect of the present invention, the support device estimates one or both of the soil grain size distribution for each piece of location information and the soil plastic limit for each piece of location information. This information is utilized when the user works, which further improves the convenience for the user.

[0018] According to the sixth aspect of the present invention, the support device determines whether or not the work of the agricultural machine is appropriate, so that the user can easily recognize the appropriateness of the work.

[0019] According to the seventh aspect of the present invention, if the work is not appropriate, the support device can appropriately control the agricultural machine or suggest appropriate work to the user, thereby supporting the user to perform appropriate work.

[0020] According to an eighth aspect of the present invention, the support device can estimate one or both of the soil grain size distribution for each current location information and the soil plastic limit for each current location information, and provide support using the estimation results, thereby providing support to easily perform appropriate work according to the estimated current condition.

[0021] According to the ninth aspect of the present invention, the soil estimation device can utilize the particle size distribution of soil for each estimated position information so as to improve convenience for users.

[0022] According to the tenth aspect of the present invention, the estimated plastic limit of soil for each piece of position information can be utilized to improve user convenience. [Brief description of the drawings]

[0023] [Figure 1] FIG. 2 illustrates an example of a functional configuration of a processing system 1. [Diagram 2] This is an overview diagram of the processing performed by the trained model A used by the particle size distribution estimation unit 52. [Diagram 3] FIG. 13 is a schematic diagram of the processing performed by a trained model B used by the plastic limit level estimation unit 54. [Figure 4] FIG. 13 is a diagram for explaining levels indicating deviation from a plastic limit. [Diagram 5] 13 is a diagram illustrating an example of processing performed by a setting change calculation unit 58. FIG. [Figure 6] FIG. 2 is a diagram showing an example of the contents of accumulated data 62. [Figure 7] 11 is a diagram showing an example of a process in which the analysis unit 50 acquires log information from the agricultural machine 10. FIG. [Figure 8] FIG. 13 is a diagram showing an example of information indicating an estimation result of a particle size distribution pattern. [Figure 9] FIG. 13 is a diagram showing an example of information indicating an estimation result of a plastic limit level. [Figure 10] FIG. 13 is a diagram for explaining a specific example of use (2). [Figure 11] FIG. 13 is a diagram for explaining a specific example of use (3). [Figure 12] FIG. 13 is a diagram showing an example of the relationship between speed and slippage in work information obtained from an autonomous rice transplanter in a certain area. [Figure 13] FIG. 13 is a diagram showing an example of the relationship between wheel slip values ​​and the order in which the records were obtained. [Figure 14] FIG. 1 is a diagram showing an example of the relationship between sand content (%) and degree of wheel slip (correction). [Figure 15] FIG. 1 is a diagram showing an example of the relationship between silt content (%) and degree of wheel slip (correction). [Figure 16] FIG. 13 is a diagram showing an example of the relationship between the plastic limit and the log regarding the work machine height. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0024] Hereinafter, an embodiment of a support device and a soil estimation device of the present invention will be described with reference to the drawings.

[0025] [Summary 1] The processing device (support device) of the embodiment includes an acquisition unit (communication unit) that acquires processing target information (log information) that associates work information and location information based on at least the results of the agricultural machine working in a target area, and a processing unit (functional unit included in the analysis unit) that supports the work of the agricultural machine based on one or both of the plastic limit and particle size distribution of the soil for each location information obtained based on the processing target information acquired by the acquisition unit.

[0026] The target area includes an area that is the target of processing by the user, such as farmland (field) or a place to be farmland in the future. The work information includes various information (log information) obtained when the agricultural machine works in the target area. Examples of the work information include some or all of the following: the required power of the agricultural machine, engine load, engine speed, agricultural machine speed (travel speed), slippage degree of the agricultural machine's wheels (e.g., slip ratio), height of the agricultural machine's working implement, fuel consumption, hydraulic information, machine body attitude, or sinking amount. The support is to suggest to the user of the agricultural machine a work suitable for the soil, or to control the agricultural machine so as to perform a work suitable for the soil. The suggestion may be made, for example, by a voice output from a speaker, or by displaying the contents of the suggestion on a display unit. To control the agricultural machine is, for example, to transmit information (instruction information) for controlling the agricultural machine to the agricultural machine. In addition, "based on the plastic limit of the soil" means one or both of "using the plastic limit" and "using the deviation from the plastic limit."

[0027] [Summary 2] The processing device (soil estimation device) of the embodiment includes an acquisition unit (communication unit) that acquires processing target information in which work information based on at least the results of an agricultural machine working in a target area and location information are associated, a particle size distribution estimation unit that estimates the particle size distribution of soil for each location information based on the processing target information acquired by the acquisition unit, and a processing unit that performs predetermined processing using the results estimated by the particle size distribution estimation unit.

[0028] [Summary 3] The processing device (soil estimation device) of the embodiment includes an acquisition unit (communication unit) that acquires processing target information that associates work information and location information based on at least the results of an agricultural machine working in a target area, a plastic limit estimation unit that estimates the plastic limit of soil for each location information based on the processing target information acquired by the acquisition unit, and a processing unit that performs predetermined processing using the results estimated by the plastic limit estimation unit.

[0029] The "predetermined processing" in the above [Summary 2] or [Summary 3] refers to providing the user with information indicating the estimated result by voice or image, storing information indicating the estimated result in a storage device, using the estimated result to determine whether the work of the agricultural machine is being performed appropriately, providing the user with appropriate work, controlling the agricultural machine so that the work is performed appropriately, etc. "Appropriate" means that the work is performed efficiently, and that the soil is changed to an intended or desired state by the work. For example, the processing performed by the work quality determination unit, setting change calculation unit, or comparison processing unit described later, and the processing described in [Specific Use Example (1)] to [Specific Use Example (3)] described later are examples of "predetermined processing".

[0030] [Overall configuration] Fig. 1 is a diagram showing an example of a functional configuration of a processing system 1. The processing system 1 includes, for example, an agricultural machine 10 and a processing device 20. The processing device 20 may be separate from the agricultural machine 10 as shown in the figure, or may be mounted on the agricultural machine 10. The processing device 20 is an example of a "support device" or a "soil estimation device."

[0031] [Agricultural machinery] The agricultural machine 10 is, for example, a tractor equipped with a work implement such as a rotary for cultivating soil, a rice planter for planting rice, or any other type of machine. The agricultural machine 10 provides log information to the processing device 20 by using wireless communication. The agricultural machine 10 transmits the log information to a preset server device via, for example, a network. The server device provides the processing device 20 with the log information acquired from the agricultural machine 10. The network includes, for example, the Internet, a Wide Area Network (WAN), a Local Area Network (LAN), a telephone line, a public line, a dedicated line, a provider device, a wireless base station, and the like. Furthermore, the agricultural machine 10 communicates with the processing device 20 by using the above-mentioned network or wireless communication.

[0032] [Log information] The log information is, for example, information in which work information is associated with the identification information and position information of the agricultural machine 10. The work information includes, for example, the required power of the agricultural machine, information indicating the engine load (e.g., engine torque), engine speed, work speed (e.g., travel speed of the agricultural machine 10), tire slip ratio of the agricultural machine 10, height of the working implement of the agricultural machine, fuel consumption, hydraulic information, machine attitude, amount of sinking, etc.

[0033] [Processing device] The processing device 20 includes, for example, a communication section 30, an analysis unit 50, a display section 70, a control transmission section 80, and an input section 90.

[0034] The communication unit 30 is a communication interface for communicating with the agricultural machine 10 and other devices. In addition to the log information described above, the communication unit 30 acquires environmental information from, for example, another server device (not shown). The environmental information includes, for example, meteorological information such as the amount of rainfall and the days of rainfall (date and time of rainfall) for each piece of location information. The environmental information may also include information suggesting the soil moisture state or information indicating the soil moisture state.

[0035] The analysis unit 50 includes, for example, a particle size distribution estimation unit 52, a plastic limit level estimation unit 54, a work quality determination unit 56, a setting change calculation unit 58, and a comparison processing unit 60. A part or all of these functional units are realized by a hardware processor such as a CPU (Central Processing Unit) executing a program (software). In addition, a part or all of these functional units may be realized by hardware (including circuitry) such as an LSI (Large Scale Integration), an ASIC (Application Specific Integrated Circuit), an FPGA (Field-Programmable Gate Array), or a GPU (Graphics Processing Unit), or may be realized by cooperation between software and hardware. The program may be stored in advance in a storage device (a storage device having a non-transient storage medium) of the processing device 20, or may be stored in a removable storage medium such as a DVD or CD-ROM, and installed in the processing device 20 by mounting the storage medium (non-transient storage medium) in a drive device.

[0036] (Particle size distribution estimation section) The particle size distribution estimation unit 52 estimates the particle size distribution of the soil from which the log information is acquired, using a part or all of the log information and the environmental information. In estimating the particle size distribution, the environmental information may be omitted.

[0037] The particle size distribution estimation unit 52 estimates the particle size distribution of the soil from which the log information is acquired, for example, by using model information. The model information is, for example, a function in which the log information, environmental information, etc. are used as parameters, or a trained model. The trained model is a model that utilizes deep learning, a neural network, machine learning, etc.

[0038] FIG. 2 is a schematic diagram of the process performed by the trained model A used by the particle size distribution estimation unit 52. The trained model A is a model that outputs information indicating a pattern when log information and environmental information are input. The pattern is, for example, information indicating the distribution of sand, silt, and clay. The trained model A is, for example, a model trained with training data. The training data is, for example, a collection of data that combines log information, environmental information, and patterns associated with these pieces of information. The trained model A is a model in which the parameters of the model are adjusted so that, when log information and environmental information are input, the model outputs a pattern associated with these.

[0039] (Plastic limit level estimation part) The plastic limit level estimation unit 54 estimates the plastic limit or plastic limit level (deviation from the plastic limit during work) of the soil for which the log information is acquired, using a part or all of the log information and environmental information. In estimating the plastic limit level, the environmental information may be omitted. The plastic limit level estimation unit 54 estimates the grain size distribution of the soil for which the log information is acquired, for example, using model information. The model information is, for example, a function in which the log information, environmental information, etc. are used as parameters, or a trained model.

[0040] FIG. 3 is a schematic diagram of the process performed by the trained model B used by the plastic limit level estimation unit 54. The trained model B is a model that outputs information indicating a level related to the plastic limit (plastic limit level) when log information and environmental information are input. The plastic limit level is a level indicating the deviation from the plastic limit level 0 (plastic limit), for example, as shown in FIG. 4. The trained model B is, for example, a model in which training data is trained. The training data is, for example, a collection of data in which log information, environmental information, and a level indicating the deviation associated with these pieces of information are combined. The trained model B is a model in which the parameters of the model are adjusted so that, when log information and environmental information are input, the model outputs a level associated with these.

[0041] The trained model B may be a model that outputs information indicating a plastic limit level when information indicating a pattern is input in addition to the log information and the environmental information. In this case, the trained model B is a model that has been trained to output a level associated with the log information, the environmental information, and the information indicating a pattern when they are input.

[0042] Machine workability, grain size distribution, and plastic limit are closely related. For example, when looking at the ratio of clay, silt, and sand, which are divided by grain size, if there is a lot of sand and silt, it is easy to cultivate, and if there is a lot of clay, the moisture state that makes it easy to cultivate is limited to near the plastic limit. In addition, the plastic limit for alluvial soil with a high clay ratio is generally in the range of 30 to 60%, and for soil with a high silt and sand ratio, it is generally in the range of 20 to 50%. Soil derived from volcanic ash generally has a higher plastic limit than alluvial soil even with the same amount of clay. Each element with such a relationship is estimated from the log information and used for various processing as described below.

[0043] It should be noted that trained model C may be used instead of trained model A and trained model B. Trained model C is a model that outputs an associated grain size distribution pattern and information indicating a plastic limit level when log information and environmental information are input. Trained model C is a model in which model parameters have been adjusted so that trained model C outputs a pattern and level associated with log information and environmental information when they are input.

[0044] The analysis unit 50 may further include a soil moisture estimation unit. The soil moisture estimation unit estimates the moisture contained in the soil from, for example, environmental information. The soil moisture estimation unit estimates the moisture contained in the soil using a function for estimating the moisture contained in the soil, a learned model, and a simulation result. In this case, the plastic limit level estimation unit 54 estimates the plastic limit level based on one or both of the estimation result of the grain size distribution estimation unit 52 and the machine log, and the estimation result of the soil moisture estimation unit.

[0045] (Work result quality judgement section) Returning to the explanation of FIG. 1, the work quality determination unit 56 determines whether the work is quality based on, for example, log information. For example, when the engine load is high relative to a reference value, the work quality determination unit 56 determines that the work load is high. The determination result of the work quality determination unit 56 is displayed, for example, on the display unit 70. Furthermore, the work quality determination unit 56 may store the determination result as accumulated data 62 in a storage device.

[0046] Furthermore, the work quality determination unit 56 determines whether the work is quality based on the estimation result information (either or both of the estimated particle size distribution or plastic limit level) and the operation mode set in the agricultural machine 10, the type of work, etc. (information related to the work). The work mode is, for example, the work speed and the work depth (plowing depth, sowing depth, opening degree of the fertilizer applicator / chemical sprayer), etc. The work mode may be the work speed and the work depth for each type of attachment attached to the agricultural machine 10 or each work name. The opening degree of the fertilizer applicator / chemical sprayer is the opening degree for adjusting the amount of fertilizer applied or the amount of chemical sprayed.

[0047] For example, when the agricultural machine 10 performs work, it is determined whether the work mode in which the work was performed was suitable for the estimation result information estimated from the log information obtained when the work was performed. For example, the work quality determination unit 56 makes the above determination by referring to reference information stored in the storage device. The reference information is, for example, information in which a combination of particle size distribution and plastic limit level is associated with a work mode suitable for that combination. This allows the user to objectively recognize the efficiency of the work he or she performed.

[0048] For example, when the agricultural machine 10 performs work in the target area, it may be determined whether information about the work (e.g., work mode) is suitable for past estimation result information (particle size distribution and plastic limit level) as follows. For example, estimation result information estimated from log information or the like when work was performed on the soil of the target area in the past (e.g., several hours ago) is used. It is determined whether the work mode set when working on the target area again in the future is suitable for the past estimation result information. For example, it is assumed that the agricultural machine 10 performs work in the target area at time t, and the plastic limit level of the target area is estimated to be "Level 1." At time t+1 several hours later (assuming that it does not rain between time t and time t+1 and there is little change in the soil condition), when the agricultural machine 10 performs work in the target area again with a replaced attachment or the like, or when another agricultural machine 10 performs work in the target area, it is determined whether the work mode set in the agricultural machine 10 is suitable for "Level 1."

[0049] Furthermore, the work quality determination unit 56 may calculate the soil crushing rate, or may calculate the efficiency (amount of work per unit fuel) calculated based on the work load. These pieces of information are displayed on the display unit 70. The user can refer to the soil crushing rate and the efficiency to change the content of the work or set the operation (e.g., the work speed) of the agricultural machine 10.

[0050] (Settings change calculation section) When the work mode is not suitable for the estimation result information, the setting change calculation unit 58 calculates a recommended work mode. The setting change calculation unit 58 generates, for example, instruction information for changing the work speed (for example, the moving speed of the agricultural machine) or the work depth. The setting change calculation unit 58 also generates, for example, instruction information for interrupting the work. Instead of generating instruction information, the setting change calculation unit 58 may calculate the content of the work to be proposed to the user.

[0051] For example, when the setting change calculation unit 58 determines that the work load is greater than a reference value, it suggests to the user to slow down the work speed, to shallow the work depth, or to stop the work. Moreover, instead of making a suggestion, the setting change calculation unit 58 may perform a process of automatically changing the settings of the agricultural machine 10 (a process of transmitting information for controlling the agricultural machine 10 to the agricultural machine 10) when the user agrees.

[0052] FIG. 5 is a diagram for explaining an example of the processing of the setting change calculation unit 58. For example, when a task is performed in a work mode A suitable for the estimation result information A, but the estimation result information obtained from the task is estimation result information B, and the work mode B is suitable, the work correctness determination unit 56 determines that the work mode is not suitable, and the setting change calculation unit 58 calculates that the work mode B is suitable for the work mode of the target soil. For example, when the estimation result information B is information that estimates that the soil is semi-solid or closer to solid than the estimation result information A and has a large machine work load, the setting change calculation unit 58 calculates that the work mode B, which has a slower speed and a shallower depth than the work speed and depth of the work mode A, is suitable. The setting change calculation unit 58 may also display a recommended work mode, work speed, work depth, etc. on the display unit 70 to suggest them to the user. For example, when the user can visually estimate an area in which the soil state is similar to that of the area in which the work mode is determined to be inappropriate, the user may work in the visually estimated area in the work mode, etc. proposed by the setting change calculation unit 58. The above processing is an example of "assisting the work of the agricultural machinery based on one or both of the plastic limit and grain size distribution of the soil for each position information obtained based on the processing target information acquired by the acquisition unit" or "providing the assistance using the estimation results of the estimation unit."

[0053] (Comparison processing section) The comparison processing unit 60 compares the accumulated data 62 stored in the storage device with the estimation results of the grain size distribution estimation unit 52 and the plastic limit level estimation unit 54 in the current process. Fig. 6 is a diagram showing an example of the contents of the accumulated data 62. The accumulated data 62 is information in which, for example, location information is associated with identification information of the agricultural machine used (type of agricultural machine), the date and time when the log information was acquired, the log information, environmental information, the details of the work performed (work name, attachments, etc.), a pattern indicating grain size distribution, and the plastic limit level.

[0054] For example, if there is a difference between the pattern indicating the particle size distribution of the accumulated data 62 and the pattern indicating the particle size distribution estimated in the current process, the comparison processing unit 60 displays information indicating the difference on the display unit 70.

[0055] The comparison processing unit 60 may also correct the pattern indicating the particle size distribution estimated in the current process based on the difference. For example, the comparison processing unit 60 may correct the pattern indicating the particle size distribution estimated in the current process to a pattern indicating a particle size distribution that occupies a predetermined degree or more in the accumulated data 62. The comparison processing unit 60 may also statistically process the pattern indicating the particle size distribution in the accumulated data 62 and the pattern indicating the particle size distribution estimated in the current process, and correct the pattern indicating the particle size distribution estimated in the current process to a pattern indicating a particle size distribution based on the statistical results. In this case, the above-mentioned work quality determination unit 56 may use the pattern indicating the corrected particle size distribution to determine the quality of the work. The above-mentioned setting change calculation unit 58 may also calculate an appropriate work pattern using the pattern indicating the corrected particle size distribution.

[0056] Furthermore, the comparison processing unit 60 may refer to the accumulated data 62 and cause the display unit 70 to display information indicating an area where the plastic limit level places a high load on the agricultural machine 10. For example, before working in an area where the load on the agricultural machine 10 is high, the user can recognize an area (headland) where the high load on the agricultural machine 10 is chronic. In this case, the setting change calculation unit 58 described above may calculate an appropriate work pattern so that the load on the agricultural machine 10 is not high.

[0057] (Display unit, control transmission unit) The display unit 70 displays the processing results of the analysis unit 50. The control transmission unit 80 acquires the instruction information generated by the setting change calculation unit 58, and provides the acquired instruction information to the agricultural machine 10. The agricultural machine 10 controls its operation based on the provided instruction information.

[0058] (Input section) The input unit 90 is an operation unit for inputting information such as a touch panel or a numeric keypad. For example, a user operates the input unit 90 to input the name of the work (rice planting, tilling, sowing, fertilizing, or spraying chemicals), the type of attachment, and initial setting information of the machine (work speed, depth, and opening). When the agricultural machine 10 automatically recognizes the type of attachment attached thereto, the processing device 20 may acquire the recognition result of the agricultural machine 10 and automatically recognize the type of attachment without relying on the user's operation. The processing device 20 may also acquire the name of the work, initial setting information, and the like from the agricultural machine 10.

[0059] The analysis unit 50 may include an estimation unit that estimates detailed particle size distribution and soil parent material, and a moisture estimation unit as described above. When estimating the soil parent material, a soil map provided by an information provider (e.g., an e-soil map showing soil information for each latitude and longitude provided by the applicant), a topographical map (e.g., a topographical map showing topographical information for each latitude and longitude provided by the Geospatial Information Authority of Japan), a geological map (e.g., a geological map showing geological information for each latitude and longitude provided by the Geospatial Information Authority of Japan), etc. may be referenced. In addition, an image of the soil (an image included in the log information captured by the agricultural machine 10) may be used to estimate the moisture content, or information on the moisture content and humidity measured by the agricultural machine 10 or other devices may be used. For example, the analysis unit 50 analyzes an image and estimates the moisture content of the soil based on the brightness value, color, etc. of the image.

[0060] In addition, when estimating a pattern indicating particle size distribution, information indicating the type and particle size distribution of the soil or its surrounding soil provided to a specified server device or user, etc., or stored in the processing device 20 may be used.

[0061] [Specific use case (1)] FIG. 7 is a diagram showing an example of a process in which the analysis unit 50 acquires log information from the agricultural machine 10. In the example of FIG. 7, the soil is virtually divided into a grid. The divided areas divided into the grid are defined by x coordinates and y coordinates. For example, the agricultural machine 10 performs work while moving from (x1, y1) to (x1, y8), and then performs work from (x2, y8) toward (x2, y1). Then, the agricultural machine 10 performs work up to (x8, y1). The analysis unit 50 acquires log information for each divided area from the agricultural machine 10.

[0062] For example, the operation quality determination unit 56 determines whether the operation is good or bad based on the log information. Also, the setting change calculation unit 58 automatically changes the operation mode during the above operation so as to reduce the load, or suggests to the user to change the operation mode.

[0063] Furthermore, based on the log information and environmental information, the particle size distribution estimation unit 52 estimates the pattern of the particle size distribution for each divided region as shown in Fig. 8. Information showing the estimation result as shown in Fig. 8 is displayed, for example, on the display unit 70. Since the user can recognize the state of the particle size distribution of the soil, he or she can take measures according to the characteristics of the soil.

[0064] Furthermore, the plastic limit level estimation unit 54 estimates the plastic limit level for each divided region as shown in Fig. 9 based on the log information and environmental information. Information showing the estimation results as shown in Fig. 9 is displayed, for example, on the display unit 70. Since the user can recognize, for example, the plastic limit level of the soil, he or she can take measures according to the soil condition. In addition, when a treatment (such as drainage improvement) is performed on the soil, the user can verify the effect of the treatment by comparing the plastic limit levels before and after the treatment.

[0065] [Specific use case (2)] Fig. 10 is a diagram for explaining a specific application example (2). For example, it is assumed that the analysis unit 50 has accumulated data 62 related to the target soil (soil shown in Fig. 10). In this case, when the agricultural machine 10 acquires log information from (x1, y1) to (x2, y4), the analysis unit 50 estimates the plastic limit level from (x1, y1) to (x2, y4) based on this log information. This estimation result is referred to as "estimation result A."

[0066] The comparison processing unit 60 extracts accumulated data of soil having a distribution of plastic limit levels from (x1, y1) to (x2, y4) similar to that of the estimated result A from the accumulated data 62. This extracted accumulated data 62 is referred to as "accumulated data A." The accumulated data A is information indicating the plastic limit level for each divided area estimated based on log information acquired during a series of operations (same time period). Based on the distribution of the plastic limit level for each divided area of ​​this accumulated data A, the plastic limit level of the divided area X for which no estimated result has been obtained (a divided area other than the divided area for which the estimated result A has been obtained) is complemented.

[0067] The work quality determination unit 56 estimates that the plastic limit level of the divided area to be worked on in the current work is the same as the plastic limit level of the accumulated data A. When the work quality determination unit 56 determines that the load on the agricultural machine 10 is equal to or greater than the threshold value when the divided area to be worked on is worked on in the current work mode, the work quality determination unit 56 provides the user with information that the load is estimated to be equal to or greater than the threshold value, or suggests to the user that the work mode be changed to one corresponding to the plastic limit level of the accumulated data A. In addition, the setting change calculation unit 58 may automatically change to a work mode corresponding to the plastic limit level of the accumulated data A, and cause the agricultural machine 10 to work in a mode suitable for the plastic limit level of the divided area. The above process is an example of "controlling the agricultural machine so that the work is appropriate, or suggesting the appropriate work to the user of the agricultural machine, when it is determined that the work to be performed by the agricultural machine is not appropriate."

[0068] In this way, the analysis unit 50 performs various processes using the stored data 62 and the estimated plastic limit level, thereby improving convenience for the user.

[0069] [Specific use cases (3)] Fig. 11 is a diagram for explaining a specific application example (3). The comparison processing unit 60 may estimate the current plastic limit level of the soil based on the accumulated data 62 and the environmental information. The comparison processing unit 60 extracts a pattern indicating the grain size distribution and a plastic limit level for each divided area of ​​the target soil from the accumulated data 62, and applies this information and the environmental information shown in the upper part of Fig. 11 to a predetermined model (function X in the figure) to obtain the plastic limit level for each divided area shown in the lower part of Fig. 11. The environmental information is, for example, environmental information from the time when the pattern indicating the grain size distribution and the plastic limit level were estimated to the present.

[0070] The function X is a function whose parameters are, for example, a value based on a pattern indicating the grain size distribution of the target divided region of the accumulated data 62, a value based on the plastic limit level of the target divided region of the accumulated data 62, the amount of rainfall from when the accumulated data 62 was acquired to the present, the number of days (or hours) from when the accumulated data 62 was acquired to the present, and the number of days from the day of rainfall to the present. In addition to the above parameters, the function X may be a function whose parameters are various elements such as sunshine hours, temperature, humidity, season, wind direction, wind speed, etc.

[0071] For example, the setting change calculation unit 58 may refer to the plastic limit level for each divided area shown in the lower part of FIG. 11 and suggest to the user a work mode suitable for this level, or automatically control the agricultural machine 10 in a work mode suitable for this level. For example, when a plastic limit level estimated from log information acquired when working in a work mode based on a level related to the plastic limit obtained from the function X during work differs from the level related to the plastic limit obtained from the function X, the setting change calculation unit 58 may change the work mode. For example, the setting change calculation unit 58 may perform the process described in the above-mentioned [Specific Use Example (2)]. The above process is an example of a process in which "the estimation unit estimates one or both of the particle size distribution of soil for each current position information or the plastic limit of soil for each position information based on the result of estimation previously performed by the estimation unit and the environmental information, and the processing unit performs the support using the result of estimation by the estimation unit."

[0072] [summary] The processing device 20 uses the pattern indicating the particle size distribution, the plastic limit level, etc. to judge the quality of the work results on the soil, reduce the workload of the agricultural machine 10, and assist in carrying out the work efficiently, thereby improving the convenience for the user.

[0073] Furthermore, the processing device 20 instructs the agricultural machine 10 to perform appropriate work. This makes it possible to realize automation of the agricultural machine 10. Furthermore, the user can grasp on-site information obtained based on log information collected during work and adjust the content of the work. For example, the user can determine whether sowing, plowing, and plowing depth are possible, what the soil crushing rate is, and so on.

[0074] [Examples of specific information] Below, examples will be shown of the relationship between the work information of the agricultural machine 10 (traveling speed, degree of slippage, work implement height of the agricultural machine 10, etc.) and the grain size distribution and plastic limit of soil.

[0075] (Part 1) FIG. 12 is a diagram showing an example of the relationship between speed and slippage among the work information acquired from an autonomous rice transplanter in a certain area. The vertical axis of FIG. 12 shows values ​​related to wheel slippage (wheel rotation record per unit travel distance of the agricultural machine 10), and the horizontal axis of FIG. 12 shows the travelling speed (m / s). When travelling on a paved road, the degree of slippage is constant regardless of the travelling speed, whereas on farmland, the degree of slippage differs even at the same work speed. The main differences between a paved road and farmland are that travelling on unpaved soil and that water has been added for rice planting and the moisture content is above saturation.

[0076] Furthermore, the degree of slippage increases slightly as driving continues on a paved road (see Figure 13). This is thought to be due to the wheels wearing out as a result of driving on a hard paved surface. The vertical axis of Figure 13, like the vertical axis of Figure 12, is a value related to wheel slippage, and the horizontal axis of Figure 13 is the order in which the records were taken.

[0077] For this reason, when looking at the relationship between the degree of slippage and soil, a correction is made by subtracting the value from the value within farmland when driving on a paved road immediately before (hereinafter referred to as the degree of slippage (correction)). For example, the degree of slippage can be used as work information. For example, the degree of slippage can be used as a parameter used by the grain size distribution estimation unit 52, the plastic limit level estimation unit 54, or the work quality determination unit 56, a parameter input to the trained model, or training data used to generate the trained model.

[0078] (Part 2) This shows an example of the relationship between the degree of slip (correction) and sand and silt (grain size distribution) obtained from various agricultural fields in a certain area.

[0079] The vertical axis of FIG. 14 indicates the sand content (%), and the horizontal axis of FIG. 14 indicates the degree of slippage (correction) of the wheels. The vertical axis of FIG. 15 indicates the silt content (%), and the horizontal axis of FIG. 15 indicates the degree of slippage (correction) of the wheels. Note that the clay content = 100 - sand content - silt content. For example, the degree of slippage can be used as a parameter used by the grain size distribution estimation unit 52, the plastic limit level estimation unit 54, or the work quality determination unit 56, as described above. More specifically, for example, it is preferable that the grain size distribution estimation unit 52 uses the degree of slippage in a process of estimating a grain size distribution pattern such as the sand content or silt content. For example, it can be used as a parameter input to the trained model described in FIG. 2, or training data used to generate the trained model.

[0080] (Part 3) An example of the relationship between the log (horizontal axis in FIG. 16) regarding the working machine height and the plastic limit (vertical axis in FIG. 16) obtained from different farmlands in a certain region is shown. For example, the working machine height can be used as work information. For example, it can be used as a parameter used by the grain size distribution estimation unit 52, the plastic limit level estimation unit 54, or the work quality determination unit 56, a parameter input to the trained model, or learning data used to generate the trained model. More specifically, for example, it is preferable that the working machine height be used in the process of estimating the plastic limit level by the plastic limit level estimation unit 54.

[0081] As described above, there is a relationship between machine work information (actual measurement) and soil information (actual measurement). The soil information estimated from the work information can be used during subsequent machine work by linking it to the position information of the field. For example, the processing system 1 (support device) can improve user convenience by utilizing the above information to support the work of the agricultural machine 10. The processing system 1 can estimate the particle size distribution of soil and / or the plastic limit of soil for each piece of position information, and support the user to easily perform appropriate work according to the estimated results.

[0082] The above embodiment can be expressed as follows. The computer Acquire processing target information in which work information based on at least the results of the agricultural machine working in the target area and location information are associated with each other; supporting the work of the agricultural machine based on one or both of the plastic limit and the grain size distribution of the soil for each piece of position information obtained based on the acquired processing target information; How to help.

[0083] On the computer, acquiring processing target information in which work information based on at least the results of work performed by the agricultural machine in the target area is associated with location information; and supporting the work of the agricultural machine based on one or both of the plastic limit and the grain size distribution of the soil for each piece of position information obtained based on the acquired processing target information. program.

[0084] The computer Acquire processing target information in which work information based on at least the results of the agricultural machine working in the target area and location information are associated with each other; Based on the acquired processing target information, the particle size distribution of soil for each location is estimated, A predetermined process is performed using the estimated result. Soil estimation methods.

[0085] On the computer, acquiring processing target information in which work information based on at least the results of work performed by the agricultural machine in the target area is associated with location information; Based on the acquired processing target information, the particle size distribution of soil for each location is estimated, performing a predetermined process using the estimated result; program.

[0086] The computer Acquire processing target information in which work information based on at least the results of the agricultural machine working in the target area and location information are associated with each other; Based on the acquired processing target information, the plastic limit of the soil for each location is estimated; A predetermined process is performed using the estimated result. Soil estimation methods.

[0087] On the computer, acquiring processing target information in which work information based on at least the results of work performed by the agricultural machine in the target area is associated with location information; Based on the acquired processing target information, the plastic limit of the soil for each position information is estimated; performing a predetermined process using the estimated result; program.

[0088] The above describes the form for carrying out the present invention using an embodiment, but the present invention is not limited to such an embodiment, and various modifications and substitutions can be made within the scope that does not deviate from the gist of the present invention. [Explanation of symbols]

[0089] 1. Processing system, 10. Agricultural machine, 20. Processing device, 30. Communication section, 50. Analysis unit, 52. Particle size distribution estimation section, 54. Plastic limit level estimation section, 56. Operation quality determination section, 58. Setting change calculation section, 60. Comparison processing section, 70. Display section, 80. Control transmission section, 90. Input section

Claims

1. an acquisition unit that acquires processing target information in which work information including a slippage degree of the wheels of the agricultural machine based on a result of the agricultural machine working in a target area and position information are associated with each other; an estimation unit that estimates a particle size distribution, which is soil information for each piece of position information, based on the processing target information acquired by the acquisition unit; A determination unit that determines whether the work is good or bad based on the soil information; A calculation unit that calculates a setting change for machine control based on a result of the determination, a processing unit that refers to information in which the soil information is associated with a work mode indicating a control state of one or both of a work speed and a work depth suitable for the soil information, and controls the agricultural machine in the work mode suitable for the soil information, or outputs information indicating the work mode suitable for the soil information to a control transmission unit; Further support equipment is provided.

2. an acquisition unit that acquires processing target information in which work information including a work implement height of the agricultural machine based on a result of the agricultural machine working in a target area and position information are associated with each other; An estimation unit that estimates a plastic limit level, which is soil information for each position information, based on the processing target information acquired by the acquisition unit; A determination unit that determines whether the work is good or bad based on the soil information; A calculation unit that calculates a setting change for machine control based on a result of the determination, a processing unit that refers to information in which the soil information is associated with a work mode indicating a control state of one or both of a work speed and a work depth suitable for the soil information, and controls the agricultural machine in the work mode suitable for the soil information, or outputs information indicating the work mode suitable for the soil information to a control transmission unit; Further support equipment is provided.

3. an acquisition unit that acquires processing target information in which work information including a slippage degree of the wheels of the agricultural machine based on a result of the agricultural machine working in a target area and position information are associated with each other; a processing unit that supports an operation of the agricultural machine based on soil information, which is a particle size distribution of soil for each piece of position information obtained based on the processing target information acquired by the acquisition unit, a processing unit that refers to information in which the soil information is associated with a work mode indicating a control state of one or both of a work speed and a work depth suitable for the soil of the soil information, and controls the agricultural machine in the work mode suitable for the soil information, or causes an output unit to output information indicating the work mode suitable for the soil information; A support device comprising:

4. an acquisition unit that acquires processing target information in which work information including a work implement height of the agricultural machine based on a result of the agricultural machine working in a target area and position information are associated with each other; A processing unit that supports work of the agricultural machine based on soil information that is a plastic limit of soil for each piece of position information obtained based on the processing target information acquired by the acquisition unit, a processing unit that refers to information in which the soil information is associated with a work mode indicating a control state of one or both of a work speed and a work depth suitable for the soil of the soil information, and controls the agricultural machine in the work mode suitable for the soil information, or causes an output unit to output information indicating the work mode suitable for the soil information; A support device comprising:

5. The estimation unit estimates the particle size distribution by utilizing a degree of slippage of wheels of the agricultural machine, inputting work information including a slippage degree of the wheels of the agricultural machine into a trained model, and estimating the soil information based on the soil information output by the trained model; The support device according to claim 1 .

6. The estimation unit estimates the plastic limit level using a height of a work implement of the agricultural machine, The work information including the height of the work implement of the agricultural machine is input to a trained model, and the soil information is estimated based on the soil information output by the trained model. The support device according to claim 2 .

7. The processing unit refers to information that associates the soil information with a work mode that indicates a control state of one or both of the work speed and work depth suitable for the soil of the soil information, and determines whether the work mode related to the work that the agricultural machine has performed or the work that the agricultural machine is about to perform is the work mode associated with the soil information, thereby determining whether the work of the agricultural machine is appropriate.

5. An assistance device according to any one of claims 1 to 4.

8. When the processing unit determines that the work to be performed by the agricultural machine is not appropriate, the processing unit controls the agricultural machine so that the work is performed appropriate, or causes an output unit to output information indicating the appropriate work mode.

8. The support device according to claim 7.

9. an acquisition unit that acquires processing target information in which work information including a slippage degree of the wheels of the agricultural machine based on a result of the agricultural machine working in a target area and position information are associated with each other; a particle size distribution estimation unit that estimates a particle size distribution of soil for each piece of position information based on the processing target information acquired by the acquisition unit; A processing unit that performs a predetermined process using the result estimated by the particle size distribution estimation unit, The particle size distribution estimation unit When the work information is input, the work information is input to a trained model that is trained to output soil information, which is a particle size distribution of the soil associated with the work information, thereby estimating the soil information based on the soil information output by the trained model, or estimating the soil information based on a correlation between a degree of slippage of the wheels of the agricultural machine and the grain size distribution; The processing unit includes: referring to information associating the soil information with a work mode indicating a control state of one or both of a work speed and a work depth suitable for the soil of the soil information, and controlling the agricultural machine in the work mode suitable for the soil information, or causing an output unit to output information indicating the work mode suitable for the soil information; Soil estimation device.

10. an acquisition unit that acquires processing target information in which work information including a work implement height of the agricultural machine based on a result of the agricultural machine working in a target area and position information are associated with each other; A plastic limit estimation unit that estimates a plastic limit of soil for each piece of position information based on the processing target information acquired by the acquisition unit; A processing unit that performs a predetermined process using the result estimated by the plastic limit estimation unit, The plastic limit estimation unit includes: When the work information is input, a trained model is trained to output soil information, which is a plastic limit of the soil associated with the work information, thereby estimating the soil information based on the soil information output by the trained model; or Estimating the soil information based on a correlation between a height of a work implement of the agricultural machine and the plastic limit; The processing unit includes: referring to information associating the soil information with a work mode indicating a control state of one or both of a work speed and a work depth suitable for the soil of the soil information, and controlling the agricultural machine in the work mode suitable for the soil information, or causing an output unit to output information indicating the work mode suitable for the soil information; Soil estimation device.

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