WO2021152741A1 - Crop-growing system - Google Patents

Abstract

A means for making an assessment pertaining to morbidity of a crop disease is provided to a user such as an agriculture worker.　A drone 100 photographs crops planted in a field 403 while flying above the field 403. On the basis of the photographed image, the drone 100 diagnoses whether or not the planted crop is affected with a disease. Additional data pertaining to the crop diagnosed by a diagnostic unit of the drone 100 to be affected with a disease and indicating an image different from the image that was photographed by the drone 100 and used in the diagnosis is recorded by a server 405 in association with identification data identifying the crop, and the server 405 provides the additional data to a user terminal 401 operated by an agriculture worker 402.

Description

Agricultural crop growing system

The present invention relates to a crop growing system that remotely monitors crops and sprays pesticides, fertilizers, etc. on the crops based on the monitoring results.

The application of small helicopters (multicopters) called drones is advancing. One of the important application fields is spraying chemicals such as pesticides and liquid fertilizers on agricultural land (fields). Especially in relatively small farmlands, it is often appropriate to use drones instead of manned airplanes and helicopters.

In Patent Document 1, an aerial photograph of agricultural land is taken with a drone, an area and amount of pesticide to be sprayed are specified based on the obtained image, and a flight for efficiently spraying the specified amount of pesticide to the specified area. A pesticide spraying method has been proposed in which a route, etc. is planned and pesticides are sprayed by a drone according to the plan.

Japanese Unexamined Patent Publication No. 2018-1112429

In the pathological diagnosis system that photographs agricultural products by aerial photography of a drone and diagnoses the morbidity of the agricultural products based on the images obtained by the photography, the agricultural products that the system diagnoses as having the disease are engaged in agriculture. There is a need for a person to make a self-diagnosis of whether the crop is really affected by the disease and to what extent the disease is progressing, and to confirm the validity of the diagnosis of the system. be.

However, it is troublesome for the agricultural worker to go to the position (or area) in the agricultural land where the crops determined to be affected by the disease by the pathological diagnosis system are planted. In particular, if the location (or area) where the crops determined to be sick are planted is near the center of the paddy field, it is not easy for farmers to go to that position (or area). do not have.

The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a user such as an agricultural worker with a means for determining the morbidity of a crop.

The crop growing system according to the present invention is mounted on an unmanned aircraft flying over a farmland, and includes one or more measuring means for measuring a physical quantity representing the state of the crops planted on the farmland, and the one or more measuring means. Based on the data showing the measurement result by at least one, it was diagnosed by the diagnostic means for diagnosing whether or not the crops cultivated on the farmland are sick, and the diagnosing means. Additional data indicating the measurement results of the crop by one or more measuring means and different from the information used by the diagnostic means for the diagnosis of the crop corresponds to the crop identification data for identifying the crop. It is provided with a recording means for attaching and recording.

It is a figure which shows the structure of the crop growing system which is one Embodiment of this invention. It is a figure which shows the structure of the drone in the same embodiment. It is a figure which shows the structure of the drone. It is a figure which shows the structure of the drone. It is a figure which shows the structure of the drone. It is a figure which shows the structure of the drone. It is a block diagram which shows the structure of the drone. It is a block diagram which shows the functional structure of the data processing apparatus in the drone. It is a block diagram which shows the structure of the server in the same embodiment. It is a block diagram which shows the functional structure of the CPU of the server. It is a figure which shows the structure of the crop map in the same embodiment. It is a flowchart which shows the outline of the operation of the same embodiment. It is a figure which illustrates the screen displayed on the user terminal in the same embodiment. It is a figure which illustrates the screen displayed on the user terminal in the same embodiment. It is a figure which illustrates the screen displayed on the user terminal in the same embodiment. It is a figure which illustrates the screen displayed on the user terminal in the same embodiment. It is a figure which illustrates the screen displayed on the user terminal in the same embodiment. It is a figure which illustrates the screen displayed on the user terminal in the same embodiment.

Hereinafter, a mode for carrying out the present invention will be described with reference to the drawings. All figures are illustrations. In the following detailed description, certain details are given for illustration purposes and to facilitate a complete understanding of the disclosed embodiments. However, embodiments are not limited to these particular details. Also, to simplify the drawings, well-known structures and devices are outlined.

FIG. 1 is a diagram showing a configuration of a crop growing system according to an embodiment of the present invention. The field 403 is an agricultural land such as a rice field or a field where crops are cultivated. The base station 404 has both a function as a master unit for Wi-Fi communication and a function as an RTK-GPS base station. The user terminal 401 is a terminal operated by the agricultural worker 402 who is a user, and communicates with the drone 100 or the server 405 via the base station 404 and the network. The user terminal 401 may be realized by a portable information device such as a general tablet terminal that executes a computer program. In the present embodiment, the user terminal 401 has a touch panel as a user interface.

Drone 100 is an unmanned aerial vehicle equipped with an autonomous flight function. The drone 100 has the following main functions. The first function is to take a picture of each crop while flying over several tens of centimeters of the crop so as to scan the entire area of the field 403 according to the flight photography plan given in advance, and image of each crop. It is a flight photography function that diagnoses the morbidity of crops based on the above. The second function is a flight re-photographing function of flying while passing through a specific position in the field 403 and photographing the crops at the specific position according to the flight re-imaging plan given in advance. The third function is a flight spraying function that flies while passing through a specific position in the field 403 and sprays pesticides on the crops at the specific position according to the flight spraying plan given in advance. Normally, the drone 100 takes off from the departure / arrival point 406 outside the field 403 and returns to the departure / arrival point 406 after spraying the pesticide on the field 403 or when pesticide replenishment, charging, or the like is required.

The server 405 is typically a group of computers and related software operated on a cloud service. This server 405 has the following main functions. The first function is a function of acquiring information indicating a crop planting position, an image and a diagnosis result from the drone 100 and saving it as a crop map in the process of taking a flight image of the drone 100. The second function is the editing function of the crop map. In this editing function, an image showing a crop map is provided to the user terminal 401 according to an instruction from the user terminal 401. In addition, the image of the instructed agricultural product is provided to the user terminal 401. Then, according to the instruction from the user terminal 401, the instruction for re-photographing the crop at a specific position is written in the crop map. Further, according to the instruction from the user terminal 401, the instruction of spraying the pesticide to the crop at a specific position is written in the crop map. The third function is to generate a flight re-photographing plan for re-imaging the instructed crop based on the crop map in which the re-photographing instruction is written, and provide the drone 100 with the re-photographing plan. The fourth function is to generate a flight spraying plan for spraying pesticides on the designated crops based on the crop map in which the instructions for spraying pesticides are written, and provide the drone 100 with the flight spraying plan. The fifth function is a function of relaying a flight re-photographing instruction or a flight spraying instruction transmitted from the user terminal 401 to the drone 100.

Next, the drone 100 will be described. In this specification, the drone is regardless of the power means (electric power, prime mover, etc.) and the maneuvering method (wireless or wired, autonomous flight type, manual maneuvering type, etc.). It refers to all unmanned aerial vehicles with multiple rotors.

As shown in FIGS. 2 to 6, the rotor blades 101-1a, 101-1b, 101-2a, 101-2b, 101-3a, 101-3b, 101-4a, 101-4b (also referred to as rotors) are It is a means for flying the drone 100, and is equipped with eight aircraft (four sets of two-stage rotor blades) in consideration of the balance between flight stability, aircraft size, and battery consumption.

The motors 102-1a, 102-1b, 102-2a, 102-2b, 102-3a, 102-3b, 102-4a, 102-4b are the rotary blades 101-1a, 101-1b, 101-2a, 101-. It is a means for rotating 2b, 101-3a, 101-3b, 101-4a, 101-4b (typically, it is an electric motor, but it may be a motor, etc.), and one machine is provided for one rotary blade. Has been done. The motor 102 is an example of a propulsion device. The upper and lower rotors (eg, 101-1a and 101-1b) in one set and the corresponding motors (eg, 102-1a and 102-1b) are used for drone flight stability and the like. The axes are on the same straight line and rotate in opposite directions. Although some rotor blades 101-3b and motor 102-3b are not shown, their positions are self-explanatory and are in the positions shown if there is a left side view. As shown in FIGS. 3 and 4, the radial members for supporting the propeller guards provided so that the rotor does not interfere with foreign matter have a rather wobbling structure rather than a horizontal one. This is to encourage the member to buckle outside the rotor in the event of a collision and prevent it from interfering with the rotor.

The drug nozzles 103-1, 103-2, 103-3, 103-4 are means for spraying the drug downward, and are provided with four machines. In the specification of the present application, the term "pharmaceutical" generally refers to a liquid or powder sprayed on a field such as a pesticide, a herbicide, a liquid fertilizer, an insecticide, a seed, and water.

The drug tank 104 is a tank for storing the sprayed drug, and is provided at a position close to the center of gravity of the drone 100 and at a position lower than the center of gravity from the viewpoint of weight balance. The drug hoses 105-1, 105-2, 105-3, 105-4 are means for connecting the drug tank 104 and the drug nozzles 103-1, 103-2, 103-3, 103-4, and are rigid. It may be made of the above material and also serve to support the drug nozzle. The pump 106 is a means for discharging the drug from the nozzle.

FIG. 7 shows a block diagram showing the control function of the drone 100. The data processing device 501 is a component that controls the entire drone, and may be an embedded computer including a CPU, memory, related software, and the like. The data processing device 501 uses the motors 102-1a, 102-1b, 102-2a, 102-2b, 102-3a, 102-3b, 104-a, 104 via a control means such as ESC (Electronic Speed Control). The flight of the drone 100 is controlled by controlling the rotation speed of −b. The actual rotation speeds of the motors 102-1a, 102-1b, 102-2a, 102-2b, 102-3a, 102-3b, 104-a, 104-b are fed back to the data processing device 501, and the normal rotation is achieved. It is configured to monitor whether it is being performed. Alternatively, the rotary blade 101 may be provided with an optical sensor or the like so that the rotation of the rotary blade 101 is fed back to the data processing device 501.

The software used by the data processing device 501 can be rewritten through a storage medium or the like for function expansion / change, problem correction, etc., or through communication means such as Wi-Fi communication or USB. In this case, protection is performed by encryption, checksum, electronic signature, virus check software, etc. so that rewriting by malicious software is not performed. Further, a part of the calculation process used by the data processing device 501 for control may be executed by another computer existing on the user terminal 401, the server 405, or somewhere else. Since the data processing device 501 is of high importance, some or all of its components may be duplicated.

The battery 502 is a means for supplying electric power to the data processing device 501 and other components of the drone, and may be rechargeable. The battery 502 is connected to the data processing device 501 via a fuse, a power supply unit including a circuit breaker, or the like. The battery 502 may be a smart battery having a function of transmitting its internal state (storage amount, integrated usage time, etc.) to the data processing device 501 in addition to the power supply function.

The data processing device 501 can communicate with the user terminal 401 and the server 405 via the Wi-Fi slave unit 503 (an example of transmission means) and further via the base station 404. In this case, the communication may be encrypted so as to prevent fraudulent acts such as interception, spoofing, and device hijacking. As described above, the base station 404 also has a Wi-Fi communication function and a function as an RTK-GPS base station. Therefore, by combining the signal of the RTK base station and the signal from the GPS positioning satellite, the GPS module 504 can measure the absolute position of the drone 100 with an accuracy of about 2 cm. Since the GPS module 504 is so important, it may be duplicated / multiplexed, and each redundant GPS module 504 should use a different satellite in order to cope with the failure of a specific GPS satellite. It may be controlled.

The 6-axis gyro sensor 505 is a means for measuring the acceleration of the drone body in three directions orthogonal to each other (furthermore, a means for calculating the velocity by integrating the acceleration). The 6-axis gyro sensor 505 is a means for measuring the change in the attitude angle of the drone body in the above-mentioned three directions, that is, the angular velocity. The geomagnetic sensor 506 is a means for measuring the direction of the drone body by measuring the geomagnetism. The barometric pressure sensor 507 is a means for measuring barometric pressure, and can also indirectly measure the altitude of the drone. The laser sensor 508 is a means for measuring the distance between the drone body and the ground surface by utilizing the reflection of the laser beam, and may be an IR (infrared) laser. The sonar 509 is a means for measuring the distance between the drone body and the ground surface by utilizing the reflection of sound waves such as ultrasonic waves. These sensors may be selected according to the cost target and performance requirements of the drone. Further, a gyro sensor (angular velocity sensor) for measuring the inclination of the aircraft, a wind force sensor for measuring the wind force, and the like may be added. Further, these sensors may be duplicated or multiplexed. When there are a plurality of sensors for the same purpose, the data processing device 501 may use only one of them, and when it fails, it may be switched to an alternative sensor for use. Alternatively, a plurality of sensors may be used at the same time, and if the measurement results do not match, it may be considered that a failure has occurred.

The flow rate sensor 510 is a means for measuring the flow rate of the drug, and is provided at a plurality of locations on the path from the drug tank 104 to the drug nozzle 103. The liquid drainage sensor 511 is a sensor that detects that the amount of the drug has fallen below a predetermined amount.

The visible light camera 512a, the first spectrum camera 512b, and the second spectrum camera 512c are cameras for photographing agricultural products, respectively, and function as measuring means for measuring physical quantities indicating the state of agricultural products planted on the farmland. Here, the visible light camera 512a captures the entire wavelength band of visible light of sunlight reflected by agricultural products. Further, the first spectrum camera 512b disperses and photographs red light, for example, a component in a wavelength band near 680 nm in the sunlight reflected by the agricultural product. In addition, the second spectrum camera 512c disperses and photographs near-infrared light, for example, a component in a wavelength band near 780 nm in the sunlight reflected by the agricultural crop. In the present embodiment, the first spectrum camera 512b and the second spectrum camera 512c are used as the first photographing means, and the diagnosis regarding the morbidity of the crop is performed based on the images obtained from the first photographing means. Further, the visible light camera 512a is used as the second photographing means, and the image obtained from the second photographing means is provided to the agricultural worker 402 who is the user of the user terminal 401 as additional data.

Obstacle detection camera 513 is a camera for detecting drone obstacles. The switch 514 is a means for the agricultural worker 402 using the drone 100 to make various settings. The obstacle contact sensor 515 is a sensor for detecting that the drone 100, particularly its rotor or propeller guard portion, has come into contact with an obstacle such as an electric wire, a building, a human body, a standing tree, a bird, or another drone. .. The cover sensor 516 is a sensor that detects that the operation panel of the drone 100 and the cover for internal maintenance are in the open state. The drug injection port sensor 517 is a sensor that detects that the injection port of the drug tank 104 is in an open state. These sensors may be selected according to the cost target and performance requirements of the drone, and may be duplicated or multiplexed. Further, a sensor may be provided at the base station 404 outside the drone 100, the user terminal 401, or some other place, and the read information may be transmitted to the drone. For example, a wind power sensor may be provided in the base station 404 to transmit information on the wind power and the wind direction to the drone 100 via Wi-Fi communication.

The data processing device 501 transmits a control signal to the pump 106 to adjust the drug discharge amount and stop the drug discharge. The current state of the pump 106 (for example, the number of revolutions) is fed back to the data processing device 501.

LED107 is a display means for notifying the drone operator of the state of the drone. As the display means, a display means such as a liquid crystal display may be used instead of the LED or in addition to the LED. The buzzer 518 is an output means for notifying the state of the drone (particularly the error state) by an audio signal. The Wi-Fi slave unit function 519 is an optional component for communicating with an external computer or the like for transferring software, for example, in addition to the user terminal 401. In place of or in addition to the Wi-Fi slave function, other wireless communication means such as infrared communication, Bluetooth®, ZigBee®, NFC, or wired communication means such as USB connection. You may use it. The speaker 520 is an output means for notifying the state of the drone (particularly the error state) by means of a recorded human voice, synthetic voice, or the like. Depending on the weather conditions, it may be difficult to see the visual display of the drone 100 in flight. In such a case, it is effective to convey the situation by voice. The warning light 521 is a display means such as a strobe light for notifying the state of the drone (particularly the error state). These input / output means may be selected according to the cost target and performance requirements of the drone, and may be duplicated or multiplexed.

FIG. 8 is a block diagram showing a functional configuration of the data processing device 501. As shown in FIG. 8, the data processing device 501 includes a CPU 710 and a storage unit 720 including a non-volatile memory and a volatile memory. In the box showing the CPU 710, a communication processing unit 711, a diagnosis unit 712, a flight imaging control unit 713, a flight re-imaging control unit 714, and a flight spray control unit 715 are shown. These are the functions realized by the CPU 710 executing the program in the storage unit 720.

The flight shooting plan 721, the flight reshooting plan 722, and the flight spraying plan 723 are stored in the storage unit 720. These are given by the server 405 and stored in the storage unit 720. The flight photography plan 721 includes information indicating the route on the field 403 that the drone 100 should fly for flight photography. In addition, the flight re-photographing plan 722 indicates information indicating a route on the field 403 to which the drone 100 should fly for flight re-imaging, a position on which the crop should be re-photographed, and conditions for re-imaging. Including information. The flight spraying plan 723 includes information indicating a route on the field 403 to which the drone 100 should fly for flight spraying, and information indicating the crop location and spray amount on which the pesticide should be sprayed. ..

In the CPU 710, the communication processing unit 711 is a means for communicating with the server 405 or the user terminal 401. The diagnostic unit 712 (an example of the diagnostic means) captures an image of the agricultural product, specifically, an image of the agricultural product taken by the first spectrum camera 512b and the second spectrum camera 512c (an example of data showing the measurement result by the measuring means). It is a means to generate diagnostic result data for agricultural products by analysis. This diagnostic result data indicates whether or not the crop is affected by the disease, the type of the disease affected, and the degree of morbidity such as mild or severe.

When the flight shooting control unit 713 receives the flight shooting instruction from the user terminal 401 via the server 405, the flight shooting control unit 713 controls the drone 100 to perform the flight shooting according to the flight shooting plan 721 in the storage unit 720. ..

Specifically, the flight imaging control unit 713 has motors 102-1a, 102-1b, 102-2a, 102-2b, 102-3a, for flying the drone 100 according to the route defined in the flight imaging plan 721. The rotation speeds of 102-3b, 104-a, and 104-b are controlled. Further, the flight imaging control unit 713 measures the three-dimensional position of the drone 100 measured by a position measuring means such as the GPS module 504 and the drone measured by the 6-axis gyro sensor 505 while the drone 100 is performing flight imaging. Based on the postures of 100, the shooting positions (positions of the shooting subjects) of the visible light camera 512a, the first spectrum camera 512b, and the second spectrum camera 512c are calculated. Then, each image obtained from the visible light camera 512a, the first spectrum camera 512b, and the second spectrum camera 512c is associated with each shooting position, and images having the same shooting position and reflecting the same agricultural product are associated with each other. And hand it over to the diagnostic unit 712. At this time, the flight imaging control unit 713 records the image delivered to the diagnosis unit 712 in the temporary storage area of the storage unit 720.

The diagnostic unit 712 generates diagnostic result data regarding the morbidity of agricultural crops based on the images obtained from the first spectrum camera 512b and the second spectrum camera 512c among the handed over data, and sends the flight imaging control unit 713. return.

The flight imaging control unit 713 causes the agricultural product to become sick among the images of the visible light camera 512a, the first spectrum camera 512b, and the second spectrum camera 512c recorded in the temporary storage area of the storage unit 720 and handed over to the diagnosis unit 712. The image of the agricultural product for which the diagnosis result data indicating that the patient has been affected is returned is handed over to the communication processing unit 711 together with the identification data (agricultural product identification data) of the agricultural product and the diagnosis result data. The communication processing unit 711 transmits the delivered data to the server 405. Here, the identification data is data for identifying the crop, specifically, data indicating the planting position of the diseased crop in the field 403. The flight imaging control unit 713 discards the image data in the storage unit 720 after the image data of the agricultural product is transmitted to the server 405 together with the identification data and the diagnosis result data. Further, when the flight imaging control unit 713 receives the diagnosis result data indicating that the crop does not suffer from a disease, the flight imaging control unit 713 promptly deletes the image data of each camera corresponding to the crop in the storage unit 720.

When the flight re-shooting control unit 714 receives the flight re-shooting instruction from the user terminal 401 via the server 405, the flight re-shooting control unit 714 causes the drone 100 to perform the flight re-shooting according to the flight re-shooting plan 722 in the storage unit 720. To control.

Specifically, the flight re-shooting control unit 714 controls to fly the drone 100 according to the route defined in the flight re-shooting plan 722. In addition, the flight re-imaging control unit 714 sets the drone 100 at a position where it is possible to photograph the agricultural products at the imaging position specified in the flight re-imaging plan 722 under the imaging conditions (for example, the imaging direction) specified in the plan. With the drone 100 in an appropriate posture, the visible light camera 512a is made to shoot under the shooting position and shooting conditions, and the image shot by the visible light camera 512a is transmitted to the server 405 by the communication processing unit 711. ..

When the flight spray control unit 715 receives the flight spray instruction from the user terminal 401 via the server 405, the flight spray control unit 715 controls the drone 100 to perform the flight spray according to the flight spray plan 723 in the storage unit 720. ..

Specifically, the flight spray control unit 715 controls to fly the drone 100 according to the route defined in the flight spray plan 723. Further, the flight re-imaging control unit 714 stops the drone 100 at a position where spraying to the spraying position specified in the flight spraying plan 723 is possible, and causes the pump 106 to spray the pesticide to the spraying position. At that time, the flight spray control unit 715 controls the pump 106 so that the pesticide in the spray amount specified in the flight spray plan 723 is sprayed.

FIG. 9 is a block diagram showing the configuration of the server 405. In addition, in order to make the function of the server 405 easy to understand, FIG. 9 shows the user terminal 401, the drone 100, the solar radiation amount sensor 601 and the rainfall sensor 602 together with the server 405.

As shown in FIG. 9, the server 405 communicates with a CPU 810 that controls the whole, a storage unit 820 that stores programs and data, and a communication partner such as a user terminal 401, a drone 100, an insolation sensor 601 and a rainfall sensor 602. 830 (an example of a transmission means) and a communication unit 830 (an example of a transmission means). The CPU 810 is an aggregate of CPUs of a plurality of computers provided by a cloud service. Further, the storage unit 820 is an aggregate of storage devices owned by a plurality of computers provided by the cloud service.

FIG. 10 is a block diagram showing a functional configuration of the CPU 810. In FIG. 10, various data stored in the storage unit 820 are shown together with the CPU 810 in order to make the functional configuration of the CPU 810 easy to understand.

In FIG. 10, in the box showing the CPU 810, a communication processing unit 811, a recording unit 812, a map editing unit 813, a flight rephotographing plan generation unit 814, and a flight spraying plan generation unit 815 are shown. These are functions realized by the CPU 810 executing a program (not shown) in the storage unit 820.

The communication processing unit 811 is a means for controlling communication with a communication partner such as the user terminal 401, the drone 100, the solar radiation amount sensor 601 and the rainfall sensor 602 shown in FIG. The recording unit 812 is a means for receiving the data transmitted from the drone 100 in the process of the drone 100 performing flight photographing or flight re-imaging, forming the crop map 821, and storing it in the storage unit 820.

FIG. 11 is a diagram illustrating the crop map 821. In this crop map 821, the data corresponding to one crop includes identification data, diagnosis result data, image data, rephotographing instruction data, photographing condition data, spraying instruction data, and spraying amount data. Here, the identification data is data that identifies the crop, specifically data that indicates the cropping position (for example, latitude and longitude) of the crop. The diagnosis result data is data indicating whether or not the crop is affected by a disease, the type of the disease affected, and the degree of the disease. As described above, in the process of flight photography, identification data, diagnosis result data and image data are transmitted from the drone 100 to the server 405 only for the crops suffering from the disease. Therefore, after the end of the flight photography, the diagnostic result data constituting the crop map 821 does not include the diagnostic result data indicating no morbidity, and all the diagnostic result data show the morbidity of the disease. The image data includes each image data taken by the visible light camera 512a, the first spectrum camera 512b, and the second spectrum camera 512c, respectively. Of these, each image data taken by the first spectrum camera 512b and the second spectrum camera 512c is the image data used for diagnosing the disease of the agricultural product. In addition, the image data taken by the visible light camera 512a is additional data that was not used for diagnosing the morbidity of the crop. The re-photographing instruction data is data instructing whether to re-photograph the crop (ON) or not (OFF). The shooting condition data is data indicating the conditions for reshooting (for example, the shooting direction). The spraying instruction data is data instructing whether to spray (ON) or not (OFF) the pesticide on the crop. The spray amount data is data showing the amount of pesticide to be sprayed. After the flight shooting is completed, the re-shooting instruction data of the crop map 821 is initially set to OFF, and the spraying instruction data is initially set to ON.

The map editing department 813 is a means for editing the crop map 821. The map editing unit 813 provides the user terminal 401 with an image showing the crop map 821 according to the instruction from the user terminal 401. This image shows the location of crops diagnosed as suffering from a disease in a two-dimensional plane showing field 403. In addition, when a desired crop is instructed by the user terminal 401 in the image of the crop map 821, the map editorial unit 813 uses additional data (that is, a visible light camera 512a) included in the image data corresponding to the crop. The captured image) is read out from the crop map 821 and provided to the user terminal 401. Further, when the map editing unit 813 receives the instruction of the re-photographing of the desired crop and the shooting condition thereof from the user terminal 401, the map editing unit 813 turns on the re-shooting instruction data corresponding to the crop in the crop map 821 and shoots the shooting condition data. To the instructed content. Further, when the map editorial unit 813 receives the instruction of spraying the pesticide and the instruction of the spraying amount of the desired crop from the user terminal 401, the map editorial unit 813 turns on the spray instruction data corresponding to the crop in the crop map 821 and turns on the spray instruction data. Make the spray amount data the specified content. Further, when the map editing unit 813 receives an instruction from the user terminal 401 that the pesticide does not need to be sprayed on the desired crop, the map editorial unit 813 turns off the spraying instruction data corresponding to the crop in the crop map 821.

The flight re-shooting plan generation unit 814 generates a flight re-shooting plan 822 for re-shooting the crop for which the re-shooting instruction data is ON in the crop map 821 according to the instruction from the user terminal 401, and causes the drone 100 to perform the flight re-shooting plan 822. offer.

In accordance with the instruction from the user terminal 401, the flight spraying plan generation unit 815 creates a flight spraying plan for spraying the pesticide of the spraying amount indicated by the spraying amount data on the crops for which the spraying instruction data is ON in the crop map 821. Generate and provide to Drone 100.

Further, the CPU 810 relays the flight re-shooting instruction or the flight spraying instruction transmitted from the user terminal 401 to the drone 100. There are conditions for instructing flight re-shooting. That is, the re-photographing should be performed during the daytime when the amount of solar radiation is equal to or higher than the predetermined value and there is no rainfall. Therefore, when the user terminal 401 gives an instruction for re-photographing, the CPU 810 communicates with the solar radiation sensor 601 and the rainfall sensor 602 arranged in or near the field 403, and satisfies the conditions for re-imaging. Judge whether or not it has been done. When the condition for performing this re-shooting is satisfied, the CPU 810 sends a flight re-shooting instruction to the drone 100. On the other hand, if the conditions for re-shooting are not satisfied, the CPU 810 returns a response to the user terminal 401 to reject the instruction for re-shooting the flight.

FIG. 12 is a flowchart showing an outline of the operation of the present embodiment. 13 to 18 are diagrams illustrating a screen displayed on the user terminal 401 in the present embodiment. Hereinafter, the operation of the present embodiment will be described with reference to these figures.

When the crop is susceptible to disease, the agricultural worker 402 transmits an instruction for flight photography to the server 405 via the user terminal 401. This flight shooting instruction is relayed by the server 405 and transmitted to the drone 100. As a result, the flight photography control unit 713 of the drone 100 causes the drone 100 to perform flight photography according to the flight photography plan stored in advance in the storage unit 720.

In this flight photography, the drone 100 scans the entire area of the field 403, flies over several tens of centimeters of the crop, and photographs the crop with the visible light camera 512a, the first spectrum camera 512b, and the second spectrum camera 512c. Then, in the drone 100, the diagnostic unit 712 generates diagnostic result data regarding the morbidity of the disease based on the images taken by the first spectrum camera 512b and the second spectrum camera 512c.

The aerial photography control unit 713 uses the visible light camera 512a, the first, for the agricultural product for which the diagnostic result data indicating the morbidity of the disease has been obtained, the identification data indicating the planting position of the agricultural product, the diagnostic result data for the agricultural product, and the visible light camera 512a. The image data of the agricultural products taken by the spectrum camera 512b and the second spectrum camera 512c are associated with each other and transmitted to the server 405. In the server 405, the recording unit 812 records the data received from the flight photographing control unit 713 of the drone 100 in the storage unit 820 as the crop map 821. In this way, the recording unit 812 functions as a recording means for recording additional data (that is, image data of the crop taken by the visible light camera 512a) in association with the identification data for identifying the crop (the above is step S1). ).

The touch panel of the user terminal 401 displays the screen shown in FIG. 13 as the initial screen. When the agricultural worker 402 instructs the soft button B01 displayed as "map confirmation", the map editing unit 813 of the server 405 generates an image showing the crop map 821 and transmits it to the user terminal 401. As a result, the screen illustrated in FIG. 14 is displayed on the touch panel of the user terminal 401.

In the image on the left side of FIG. 14, the horizontal axis is, for example, longitude, and the vertical axis is latitude. In this screen, the black circle plot shows the location of the diseased crop in the field 403. The position of the black circle plot in this screen corresponds to the planting position indicated by the identification data in the crop map 821.

In the display state shown in FIG. 14, when the agricultural worker 402 instructs the desired black circle plot, the map editing unit 813 of the server 405 specifies the crop planting position corresponding to the designated position. Then, the map editing unit 813 reads out the additional data of the image data associated with the identification data indicating the planting position of the specified agricultural product from the agricultural product map 821, and photographs the additional data, that is, the visible light camera 512a. The resulting image is transmitted to the user terminal 401. As a result, the screen illustrated in FIG. 15 is displayed on the touch panel of the user terminal 401. In this way, the map editing unit 813 functions as a notification means for notifying the user of the additional data (image taken by the visible light camera 512a).

Agricultural worker 402 confirms the image P1 of the crop displayed on the touch panel and determines whether or not the spraying of pesticides is necessary. Then, when the agricultural worker 402 determines that it is necessary to spray the pesticide, he / she instructs the soft button B11 with the indication of "spraying", and when he / she determines that it is unnecessary, the indication of "unnecessary" is displayed. Instruct the attached soft button B12. In addition, when it is not possible to judge the propriety of spraying from the image of the agricultural product, the soft button B13 with the display of "re-shooting" is instructed.

When the agricultural worker 402 instructs the soft button B11, the map editing unit 813 on the server 405 displays the screen illustrated in FIG. 16 on the touch panel of the user terminal 401. On the right side of this screen, a fader F1 that indicates the amount of pesticide sprayed is displayed. In the initial state, the indicated position of the fader F1 is set to the amount of spraying according to the degree of morbidity indicated by the diagnosis result data. Agricultural worker 402 determines whether or not the amount of application indicated by the fader F1 is appropriate for the degree of morbidity determined from the image P1 of the crop on the left side of the screen, and if it is inappropriate, the fader F1 Correct the indicated position to the indicated position that indicates the appropriate amount of spray. If the indicated position of the fader F1 is appropriate, the farmer 402 does not operate the fader F1.

When the agricultural worker 402 instructs the soft button B14 on which the "return" is displayed, the map editing unit 813 on the server 405 returns the display screen of the touch panel of the user terminal 401 to the state illustrated in FIG. At this time, the map editorial unit 813 on the server 405 turns on the spray instruction data associated with the crop for which the agricultural worker 402 has instructed the spray and the spray amount in the crop map 821, and sets the spray amount data as the fader. The value corresponds to the indicated position of F1. Then, the map editing unit 813 displays a white circle mark corresponding to "spraying" at the position of the black circle plot corresponding to the crop for which the spraying instruction is given on the display screen of the touch panel of the user terminal 401.

When the agricultural worker 402 instructs the soft button B12 on the screen shown in FIG. 15, the map editing unit 813 on the server 405 returns the display screen of the touch panel of the user terminal 401 to the state illustrated in FIG. At this time, the map editing unit 813 on the server 405 turns off the spraying instruction data associated with the crop for which the instruction that does not require spraying is given in the crop map 821. Then, the map editing unit 813 displays a x mark corresponding to "unnecessary" at the position of the black circle plot corresponding to the crop for which the instruction of not requiring spraying is given on the display screen of the touch panel of the user terminal 401.

When the agricultural worker 402 instructs the soft button B13 on the screen shown in FIG. 15, the map editing unit 813 on the server 405 causes the touch panel of the user terminal 401 to display the screen illustrated in FIG. On the right side of this screen, soft buttons B21, B22, ... For specifying the conditions for re-photographing the crop are displayed. Although not shown, sentences and images explaining the conditions for re-shooting are displayed near each soft button. The conditions for re-shooting include, for example, shooting from four directions of front, back, left, and right, and shooting from distances of 20 cm and 50 cm. While checking the image P1 of the crop on the left side of the screen, the agricultural worker 402 instructs one or more soft buttons indicating the desired re-photographing conditions, and instructs the soft button B14 on which "return" is displayed. As a result, the map editing unit 813 in the server 405 returns the display screen of the touch panel of the user terminal 401 to the state illustrated in FIG.

Then, the map editorial department 813 turns on the re-photographing instruction data associated with the crop for which the re-photographing instruction has been given in the crop map 821. Further, the map editing unit 813 sets the photographing condition data associated with the crop to the content indicating the re-imaging condition instructed by the agricultural worker 402. Then, the map editing unit 813 displays a white triangle mark corresponding to the "re-shooting" at the position of the plot corresponding to the crop for which the re-shooting instruction has been given on the display screen of the touch panel of the user terminal 401.

By repeating the above operation, a white circle mark, an × mark, or a white triangle mark is displayed on each black circle plot shown in FIG. 14, and the screen illustrated in FIG. 18 is displayed on the touch panel of the user terminal 401 (the above steps). S2).

In the display state illustrated in FIG. 18, when the agricultural worker 402 instructs the soft button B14 on which "return" is displayed, the map editing unit 813 returns the touch panel of the user terminal 401 to the screen shown in FIG. When the agricultural worker 402 instructs the soft button B02 displayed as "re-shooting instruction", the re-shooting instruction is transmitted from the user terminal 401 to the server 405.

The flight re-shooting plan generation unit 814 of the server 405 generates a flight re-shooting plan 822 based on the crop map 821 stored in the storage unit 820, stores the flight re-shooting plan 822 in the storage unit 820, and uses the communication processing unit 811 to store the drone 100. Send to. In this flight re-shooting plan 822, the drone 100 that took off from the departure / arrival point 406 passes each position (position indicated by the identification data) of each crop for which the re-shooting instruction data is ON in the crop map 821 in the shortest distance. Contains information indicating the flight route back to the departure / arrival point 406. In addition, the flight re-photographing plan 822 includes information indicating the planting position of the crop to be re-photographed on the re-photographing flight route and the conditions for re-photographing the crop. This information is generated from the above flight route, each position (position indicated by the identification data) of the crop for which the re-photographing instruction data is ON in the crop map 821, and the shooting condition data associated with the crop. NS.

When the flight re-shooting plan generation unit 814 transmits the flight re-shooting plan 822 to the drone 100, the flight re-shooting plan generation unit 814 displays a message inquiring whether to execute the flight re-shooting on the touch panel of the user terminal 401. When the agricultural worker 402 instructs the flight re-shooting to be executed, the flight re-shooting plan generation unit 814 communicates with the solar radiation amount sensor 601 and the rainfall sensor 602 to determine whether or not the conditions for the flight re-shooting are satisfied. to decide. When this condition is satisfied, the flight re-shooting plan generation unit 814 transmits a flight re-shooting instruction to the drone 100.

In the drone 100, the flight re-shooting plan 822 received from the flight re-shooting plan generation unit 814 of the server 405 is stored in the storage unit 720 as the flight re-shooting plan 722. When the flight re-shooting control unit 714 of the drone 100 receives the flight re-shooting instruction from the server 405, the flight re-shooting control unit 714 causes the drone 100 to perform the flight re-shooting according to the flight re-shooting plan 722 in the storage unit 720. In this flight re-imaging, the diagnosis unit 712 does not make a diagnosis, but according to the conditions specified in the flight re-imaging plan, the crops can be photographed with higher accuracy than in the case of flight re-imaging, for example, imaging from multiple directions. It is done against. The image data obtained by the photographing is transmitted to the server 405 together with the identification data of the crop. In the server 405, the recording unit 812 records the data received from the flight rephotographing control unit 714 of the drone 100 in the storage unit 820 as the crop map 821. This crop map 821 has the same contents as those generated at the time of flight photography, but the contents of the diagnosis result data are empty (the above is step S3).

The agricultural worker 402 can access the server 405 by the user terminal 401 and check and correct the crop map 821 obtained by the flight rephotographing (step S4). The procedure of this confirmation and correction is the same as the procedure of confirmation and correction (step S2) of the crop map 821 obtained by the flight rephotographing.

Agricultural worker 402 determines in the confirmation of step S4 whether or not further flight re-photographing is necessary (step S5). Further, when it is determined that flight re-shooting is necessary (step S5; Yes), the agricultural worker 402 displays the screen shown in FIG. 13 on the touch panel of the user terminal 401, and the software displayed as "re-shooting instruction" is displayed. Instruct button B02. In response to this instruction, steps S3 and subsequent steps are repeated.

When it is determined that further flight re-shooting is unnecessary (step S5; No), the agricultural worker 402 displays the software displayed as "spraying instruction" in the state where the screen shown in FIG. 13 is displayed on the touch panel of the user terminal 401. By instructing the button B03, the flight spraying by the drone 100 can be instructed. At that time, the agricultural worker 402 can specify the crop map 821 which is the basis of the flight spraying plan 823.

When the crop map 821 obtained by the flight photography is specified, the flight spray plan generation unit 815 generates the flight spray plan 823 based on the crop map 821, stores it in the storage unit 820, and transmits it to the drone 100. do. In this flight spraying plan 823, the drone 100 that took off from the departure / arrival point 406 passes through each position (position indicated by the identification data) of each crop for which the spray instruction data is ON in the crop map 821 and arrives / departs at the shortest distance. Contains information indicating the flight route back to point 406. In addition, the flight spraying plan 823 includes information indicating the planting position of the crop to be sprayed on the flight route of the flight spraying and the amount of pesticide sprayed. This information is generated from the above flight route, each position of the crop for which the spray instruction data is ON in the crop map 821 (the position indicated by the identification data), and the spray amount data associated with the crop. ..

When both the crop map 821 obtained by flight photography and the crop map 821 obtained by flight reshooting are specified, the flight spray plan generation unit 815 generates a map in which both maps are merged, and this merged map is generated. Based on the above, the flight spraying plan 823 is generated, stored in the storage unit 820, and transmitted to the drone 100.

In this case, the merging is performed according to the rule that the data of the crop map 821 obtained by the flight rephotograph is prioritized for the duplicated data. Specifically, it is as follows.
a. If certain identification data (crops planting position) is in the crop map 821 obtained by flight photography and not in the crop map 821 obtained by flight rephotographing, the identification is found in the crop map 821 obtained by flight photography. The data associated with the data is included in the merged crop map 821.
b. When certain identification data (crops planting position) is present in both the crop map 821 obtained by flight photography and the crop map 821 obtained by flight rephotographing, the relevant identification data is found in the crop map 821 obtained by flight rephotographing. The data associated with the identification data is included in the merged crop map 821.

In the drone 100, the flight spray plan 823 received from the flight spray plan generation unit 815 of the server 405 is stored in the storage unit 820 as the flight spray plan 723. The flight spraying plan generation unit 815 that has transmitted the flight spraying plan 823 displays a message inquiring whether or not the flight spraying may be executed on the touch panel of the user terminal 401. At that time, the flight spraying plan generation unit 815 may display an image showing the flight route of the flight spraying on the touch panel. When the agricultural worker 402 transmits an instruction to execute the flight spraying to the server 405 via the user terminal 401, the flight spraying plan generation unit 815 transmits the flight spraying instruction to the drone 100. As a result, the flight spray control unit 715 of the drone 100 causes the drone 100 to perform flight spray according to the flight spray plan 723 stored in the storage unit 720 (the above is step S6).

As described above, according to the present embodiment, the agricultural worker 402 does not visit the field 403 to determine whether or not the crop is affected by the disease, and if so, the type of the disease. And the degree of symptoms can be confirmed.

[Modification example]
The following modifications can be considered in the above embodiment.

(1) The type of sensor used for pathological diagnosis is not limited to a spectrum camera of red light or near infrared light. For example, a visible light camera (an example of imaging means) may be used as a sensor used for pathological diagnosis.
In that case, the type of the measuring device that generates the data used for the pathological diagnosis and the measuring device that generates the data (additional data) that is not used for the pathological diagnosis but is used for the confirmation of the farmer 402 are the same. A low resolution (first resolution) image may be used for pathological diagnosis, and a high resolution (second resolution higher than the first resolution) image may be used for confirmation of the farmer 402. ..

(2) The image used for the pathological diagnosis and the image used for confirmation by the agricultural worker 402 in addition to the image may be images taken in different shooting directions.

In that case, among the images of the same strain taken by each of the plurality of imaging means mounted on the drone 100 having different imaging directions, a certain image (image generated by the first imaging means) is used for pathological diagnosis. In addition to the image used for the pathological diagnosis, an image not used for the pathological diagnosis (an image generated by the second photographing means) may be made available to the farmer 402 as additional data.

(3) Among a plurality of images of the same strain taken at different timings with the same imaging device, a certain one (an example of data showing the result measured by the measuring means at the first timing) is used for pathological diagnosis, and pathology is performed. In addition to the image used for the diagnosis, an image not used for the pathological diagnosis (an example of data showing the result measured by the measuring means at the second timing) may be made available to the farmer 402 as additional data. .. For example, a stock that was visible on the right side on the outward trip may be visible on the left side on the return trip. If the shooting range of the shooting means is wide-angle, images of the same strain shot in different shooting directions by the same shooting means can be obtained on the outward trip and the return trip. Therefore, for example, the pathological diagnosis may be made based on the images taken on the outward route, and the image of the same strain taken on each of the outward route and the return route may be viewed by the agricultural worker 402 for confirmation of the pathological diagnosis.

(4) The drone 100 is equipped with a front photographing means in which the front of the flight direction is the shooting direction and a rear shooting means in which the rear is the shooting direction. An image of the stock taken by the rear photography means may be made available to the agricultural worker 402 as additional data. Behind the drone 100, a strong downward wind (downwash) is generated by the propeller. By taking a picture of the stock in a state where the stock is temporarily knocked down by this wind and the stock can be seen from the sky by means of rear photography, the agricultural worker 402 is provided with an image of the stock that clearly shows the state of illness. It will be desirable.

(5) The additional data recorded in the crop growing system may be viewed by the agricultural worker 402 and may be used for determining the adequacy of the pathological diagnosis by the crop growing system. Specifically, for example, the server 405 is provided with a pass / fail determination means for determining the validity of the diagnosis result by the diagnosis unit 712 based on the additional data included in the crop map 821, and a correction means for correcting the recorded diagnosis result. The correction means may correct the data indicating the diagnosis result that is provided and determined to be incorrect by the pass / fail determination means.

(6) The diagnostic unit 712 may be realized in a device other than the data processing device 501 mounted on the drone 100. For example, the data processing device 501 mounted on the drone 100 may not perform the pathological diagnosis, and the server 405 may perform the pathological diagnosis. In that case, for example, the data processing device 501 mounted on the drone 100 may include data representing images taken by a first spectrum camera, a second spectrum camera, a visible light camera, or feature points extracted from those images. The data indicating the above is transmitted to the server 405, and the diagnostic means realized in the server 405 performs a pathological diagnosis based on the data received from the data processing device 501.

(7) The diagnostic unit 712 may be arranged in each of the two or more devices. For example, the data processing device 501 mounted on the drone 100 realizes the first diagnostic means, the server 405 realizes the second diagnostic means, and there is a possibility that the first diagnostic means is sick. To diagnose. Then, regarding the strain diagnosed as having a possibility of suffering from a disease, the second diagnostic means diagnoses whether or not the strain has a disease, and if so, the type of the disease. Diagnose the degree of progression.

(8) In the embodiment, the visible light camera (an example of the measuring means for generating additional data) continuously shoots during the flight shooting, and all the data representing the shot images are temporarily stored. Alternatively, the visible light camera may capture only the strains diagnosed as suffering from the disease by diagnostic means, and the system may record data representing the captured images. In this case, the visible light camera starts and stops imaging according to the diagnosis result of the diagnostic means.

(9) The mechanism for identifying the three-dimensional position of the drone 100 on the earth is not limited to the RTK-GPS method. For example, the DGPS method may be adopted. Further, in order to improve the accuracy of the measurement result of the three-dimensional position of the drone 100 on the earth, for example, distance measurement using sound waves may be performed.

(10) In the embodiment, a plurality of spectrum cameras of the first spectrum camera 512b and the second spectrum camera 512c are used as the first photographing means. Alternatively, the first photographing means may be composed only of the first spectrum camera 512b that photographs red light. Further, the first photographing means may be composed of three or more spectrum cameras.

(11) In the embodiment, the flight re-shooting plan generation unit 814 realized by the CPU 810 communicates with the solar radiation sensor 601 and the rainfall sensor 602 to instruct the flight re-shooting, and the solar radiation sensor 601 and the rainfall sensor 602. Based on the information obtained from, it is judged whether or not the conditions for re-shooting are satisfied. Instead, the CPU 810 may communicate with a known weather forecast system and determine whether or not the re-photographing condition is satisfied based on the information obtained from the weather forecast system.

(12) In the embodiment, the frequency band of light used by the first spectrum camera 512b as the first photographing means for generating an image is red light (for example, a frequency band near 680 nm), and another first photographing. The frequency band of light used by the second spectrum camera 512c as a means for generating an image is near-infrared light (for example, a frequency band near 780 nm). Further, the frequency band of light used by the visible light camera 512a as the second photographing means for generating an image is the entire wavelength band of visible light. The frequency band of light used by the first photographing means for generating an image and the frequency band of light used by the second photographing means for generating an image are limited to those adopted in the embodiment as long as they are different. do not have. In the present application, "different frequency bands" means that at least one of the upper limit and the lower limit of the two frequency bands is different. Therefore, the frequency band of light used by the first photographing means for generating an image and the frequency band of light used by the second photographing means for generating an image do not have to have a completely overlapping band, or a partially overlapping band. Or one may contain all of the other.

(13) In the description of the above-described embodiment, a method of identifying a crop planting position (an example of a crop planting position or area) diagnosed as suffering from a disease by the diagnostic unit 712 (an example of diagnostic means). However, for example, the planting position of the crop may be specified by the following method.
For example, the flight imaging control unit 713 (an example of the planting position identifying means) is photographed by the first spectrum camera 512b and the second spectrum camera 512c (an example of the measuring means), and the image of the agricultural product (data used by the diagnostic means for diagnosis). At the timing when (1 example) was generated, the three-dimensional position of the unmanned aircraft measured by the position measuring means such as the GPS module 504 and the shooting direction of the first spectrum camera 512b and the second spectrum camera 512c based on the unmanned aircraft. Based on this, identify the planting position of the photographed crop.

401 ... user terminal, 402 ... farmer, 403 ... field, 404 ... base station, 405 ... server, 406 ... departure / arrival point, 100 ... drone, 101 ... rotary wing, 501 ... data Processing device, 519 ... WiFi handset, 504 ... GPS module, 505 ... 6-axis gyro sensor, 506 ... geomagnetic sensor, 507 ... pressure sensor, 508 ... laser sensor, 509 ... sonar, 511 ... Liquid drain sensor, 512a ... Visible light camera, 512b ... First spectrum camera, 512c ... Second spectrum camera, 513 ... Obstacle detection camera, 514 ... Switch, 515 ... Obstacle contact sensor, 516 ... ... cover sensor, 517 ... drug inlet sensor, 102 ... motor, 106 ... pump, 107 ... LED, 518 ... buzzer, 520 ... speaker, 521 ... warning light, 710, 810 ... CPU, 720, 820 ... Storage unit, 711,811 ... Communication processing unit, 712 ... Diagnosis unit, 713 ... Flight imaging control unit, 714 ... Flight re-imaging control unit, 715 ... Flight spray control unit, 721 ... ... Flight shooting plan, 722,822 ... Flight reshooting plan, 723,823 ... Flight spraying plan, 830 ... Communication department, 821 ... Agricultural crop map, 812 ... Recording department, 813 ... Map editorial department, 814 ...... Flight re-shooting plan generation unit, 815 ... Flight spraying plan generation unit, B01 to B03, B11 to B14, B21, B22 ... Soft button, P1 ... Agricultural crop image, F1 ... Fader.

Claims (13)

One or more measuring means for measuring a physical quantity indicating the state of crops mounted on an unmanned aerial vehicle flying over a farmland and planted on the farmland.
Based on the data showing the measurement results by at least one of the above-mentioned one or more measuring means, a diagnostic means for diagnosing whether or not the crops cultivated on the farmland are sick, and
Data showing the measurement results of one or more measuring means for a crop diagnosed as suffering from a disease by the diagnostic means, and showing information different from the information used by the diagnostic means for the diagnosis of the crop. A crop growing system including a recording means for recording additional data in association with crop identification data for identifying the crop. The crop growing system according to claim 1, further comprising a transmission means for transmitting the additional data to a terminal device used by the user. The crop growing system according to claim 1 or 2, further comprising a notification means for notifying the user of an image of a crop diagnosed as suffering from a disease by the diagnostic means indicated by the additional data. The crop growing system according to any one of claims 1 to 3, further comprising a pass / fail determination means for determining the validity of the diagnosis result by the diagnostic means based on the additional data. The one or more measuring means include a first photographing means and a second photographing means in which the frequency band of light used for generating an image is different from that of the first photographing means.
The diagnostic means makes a diagnosis based on data representing an image generated by the first photographing means.
The crop growing system according to any one of claims 1 to 4, wherein the recording means records data representing an image generated by the second photographing means as additional data. The one or more measuring means includes one or more photographing means capable of generating data representing images having different resolutions.
The diagnostic means makes a diagnosis based on the data representing the image of the first resolution generated by the one or more photographing means.
The recording means according to any one of claims 1 to 5, wherein the recording means records data representing an image having a second resolution higher than the first resolution generated by the one or more photographing means as additional data. Agricultural crop growing system. The one or more measuring means include a plurality of photographing means for generating data representing images taken from the unmanned aerial vehicle in different shooting directions.
The diagnostic means makes a diagnosis based on data representing an image generated by the first photographing means among the plurality of photographing means.
The recording means is any one of claims 1 to 4 and 6 for recording data representing an image generated by a second photographing means different from the first photographing means among the plurality of photographing means as additional data. The crop growing system described in item 1. The diagnostic means makes a diagnosis based on data showing the results of measurement by the one or more measuring means at the first timing.
The recording means according to any one of claims 1 to 7, wherein the recording means records data indicating the result of measurement by the one or more measuring means at a second timing different from the first timing as additional data. Agricultural crop growing system. The diagnostic means determines at least one of the type of disease affecting the crop and the degree of progression of the disease affecting the crop.
The recording means is a diagnosis indicating at least one of the type of disease and the degree of progression of the disease determined by the diagnostic means in association with the crop identification data for the crops diagnosed as suffering from the disease by the diagnostic means. The agricultural product growing system according to any one of claims 1 to 8 for recording result data. A position measuring means for measuring the position of the unmanned aerial vehicle and
Agricultural products diagnosed as suffering from a disease by the diagnostic means based on the position of the unmanned aerial vehicle measured by the position measuring means at the timing when the data used by the diagnostic means for diagnosis is generated by the one or more measuring means. Equipped with a planting position identification means for specifying the planting position or area of
The crop growing system according to any one of claims 1 to 9, wherein the recording means records data indicating a position or region specified by the planting position specifying means as crop identification data. A transmission means for transmitting data indicating a measurement result by at least one of the one or more measuring means to a data processing device not mounted on the unmanned aerial vehicle is provided.
The diagnostic means is mounted on the unmanned aircraft and is arranged in the first diagnostic means for diagnosing the possibility that the agricultural product is affected by the disease and the data processing device, and the disease is caused by the first diagnostic means. The agricultural product growing system according to any one of claims 1 to 10, which has a second diagnostic means for diagnosing whether or not the agricultural product diagnosed as having the possibility of suffering from the disease has the disease. .. The recording means records data showing the measurement results by the one or more measuring means, and deletes the recorded data related to the agricultural products diagnosed as not suffering from the disease by the diagnostic means. The agricultural product growing system according to any one of 1 to 11. The crop growing system according to any one of claims 1 to 11, wherein the one or more measuring means generates the additional data with respect to the crop diagnosed as suffering from the disease by the diagnostic means.

Images