JP7528021B2 - Field Management System - Google Patents

Description

The present invention relates to a farm field management system that manages the condition of a farm field.

2. Description of the Related Art Conventionally, systems described in Patent Documents 1 and 2 are known as farm field management systems that detect the water level and other phenomena in a farm field and open and close a water gate in the farm field based on the detection results.
The water level management system described in Patent Document 1 photographs a farm field and a water level measurement indicator installed in the field from an aircraft, analyzes the image to measure the water level in the field, compares the measured water level with a reference water level, and transmits an open/close command signal to the water gate of the field based on the comparison result. Also, sensors installed in the field detect the state of predetermined phenomena such as temperature and humidity, soil temperature, and underground moisture, and the reference water level is determined based on the detection results, climate, topographical information of the field, information on the crop (paddy rice) cultivated in the field, etc.

The water level management system described in Patent Document 2 installs a data collection device, a water level board with memory, and various sensors in the field. The camera unit of the data collection device then captures images of the field and the water level board, and the main unit analyzes the images to calculate the water level of the field. The main unit outputs control commands to actuators that drive the water gates of the field so that the calculated water level becomes a predetermined value, thereby opening and closing the water gates of the field. The main unit also transmits the calculated water level and the detection results of predetermined phenomena such as the temperature and humidity of the field detected by the sensors to an external terminal.

Patent No. 6555781 JP 2009-236638 A

For example, the state of a specified phenomenon, such as the water level in a field, fluctuates depending on the state of the field's external shape, atmosphere, water supply and drainage, or crops, and the need to detect the state of the specified phenomenon changes. For this reason, if a ground sensor or an aircraft installed in the field is used to detect the state of a specified phenomenon in a field under certain settings, it may not be possible to respond to changes in the field state, and the detection accuracy of the state of the specified phenomenon may decrease, or the state of a specified phenomenon that has little fluctuation or necessity may be unnecessarily detected, resulting in poor detection efficiency. Furthermore, if the detection accuracy of the state of a specified phenomenon in a field decreases, it becomes impossible to properly manage the field.

In view of the above problems, the present invention aims to improve the efficiency of detecting the state of a specific phenomenon in a farm field and to appropriately manage the farm field.

The technical means of the present invention for solving the above technical problems is characterized by the following points.
A field management system according to one embodiment of the present invention comprises an acquisition unit that acquires field information including information indicating at least one of the size of the field, meteorological elements, water supply and drainage conditions, power generation conditions by a power generation device, and crop conditions; a detection unit that detects the state of a specified phenomenon related to water management of the field that is not included in the field information; and a modification unit that judges the fluctuation state of the detection results of the specified phenomenon by the detection unit based on the field information, and modifies the detection frequency or detection position included in the detection plan for the specified phenomenon by the detection unit in accordance with the judgment result.

In addition, in one aspect of the present invention, the modification unit determines the magnitude of fluctuation as a fluctuation state of the detection result based on the field information, and modifies the detection plan so as to increase the detection frequency or detection location of the specified phenomenon included in the detection plan as the fluctuation state is larger.
In addition, in one aspect of the present invention, the field management system includes a water management device installed in the field, which performs a water supply operation to supply water to the field or a drainage operation to drain water from the field based on the detection result of the detection unit.

In one aspect of the present invention, the detection unit detects the water level of the field as the specified phenomenon , and the modification unit judges the trend and magnitude of water level fluctuations in the field based on the field information, and if the water level fluctuations tend to correspond to either water supply or drainage, the larger the water level fluctuations, the more the detection plan is modified to increase the frequency or detection position of the water level detection by the detection unit.

In one aspect of the present invention, the farm field management system includes a mobile object that moves around the farm field to enable the detection unit to detect the water level in the farm field in a predetermined procedure.
In one aspect of the present invention, the mobile body comprises an aircraft capable of flying above the field, and the field management system comprises a monitoring unit provided in the aircraft or a water management device installed in the field and monitoring the field, the detection unit detects the water level at one or more predetermined positions set in the field based on the monitoring results of the monitoring unit, and the change unit determines the trend and magnitude of water level fluctuations in the field based on the field information and the detection results of the detection unit.

In one aspect of the present invention, the mobile body comprises an aircraft capable of flying above the field, the detection unit is provided on the aircraft or in the field and detects the water level at one or more predetermined locations set in the field, and the change unit determines the trend and magnitude of water level fluctuations in the field based on the field information and the detection results of the detection unit.

In addition, in one aspect of the present invention, the change unit changes the detection frequency or detection position of the water level based on a first water level at a predetermined position in the field that can be detected by the detection unit when the aircraft flies above the field, and a second water level at a predetermined position in the field that can be detected by the detection unit even if the aircraft is not flying above the field.
In addition, in one aspect of the present invention, the change unit can restrict the flight of the aircraft in response to a change in the detection frequency or detection position of the water level.

In addition, in one aspect of the present invention, the change unit changes the flight schedule or flight route of the aircraft in response to a change in the detection frequency or detection position of the water level.
In addition, in one aspect of the present invention, the field management system includes a correction unit that corrects the water level at the specified position detected by the detection unit based on the field information, a memory unit that associates and stores the water level detected by the detection unit, the water level after correction by the correction unit, and position information indicating the detection position of the water level, and an estimation unit that estimates the water level at other specified positions based on the water level at the specified position detected by the detection unit, the water level stored in the memory unit, and the position information.

Furthermore, in one aspect of the present invention, the farm field management system includes a water management device installed in the farm field and a support device capable of communicating with the aircraft, the support device transmits a water supply command or a drainage command to the water management device based on the water level detected by the detection unit, and the water management device supplies water to or drains water from the farm field based on the water supply command or the drainage command received from the support device.

The present invention improves the efficiency of detecting the state of a specific phenomenon in a farm field, enabling proper management of the farm field.

FIG. 1 is a schematic configuration diagram of a farm land management system. FIG. 1 is a plan view of a number of farm fields. FIG. 2 is a side view of a farm field and a water management device. FIG. 2 is a diagram showing the inside of the water management device on the water supply side. FIG. 2 is a diagram showing the inside of the water management device on the drainage side. FIG. FIG. 2 is an electrical configuration diagram of the farm land management system of the first embodiment. 4 is a flowchart showing the operation of the support device of the first embodiment. 4 is a flowchart showing the operation of the support device of the first embodiment. 4 is a flowchart showing the operation of the multicopter of the first embodiment. 4 is a flowchart showing the operation of the water management device of the first embodiment. 4 is a flowchart showing the operation of the water management device of the first embodiment. FIG. 1 is a diagram showing a water level indicator member and a multicopter in a farm field. FIG. 2 is a diagram showing a water level indicator member and a water management device in a farm field. FIG. FIG. 13 is a diagram showing the relationship between the altitude of the multicopter and the second water level correction value. FIG. 13 is a diagram showing the relationship between the rotor rotation speed of the multicopter and a third water level correction value. FIG. 13 is a diagram showing a frequency determination table. FIG. 11 is an electrical configuration diagram of a farm land management system according to a second embodiment. FIG. 13 is a plan view of a number of other farm fields. FIG. 2 is a diagram showing a water level sensor in a farm field.

Hereinafter, an embodiment of the present invention will be described with reference to the drawings.
<Configuration of the farm management system>
FIG. 1 is a schematic diagram of a farm land management system 7.
The farm land management system 7 includes a water management device 1, a multicopter 2, a support device 3, a terminal device 4, and a relay station 5. For convenience, Fig. 1 shows one each of the water management device 1, the multicopter 2, the support device 3, the terminal device 4, and the relay station 5, but an appropriate number (one or more) of these may be provided in the farm land management system 7.

FIG. 2 is a plan view of a number of farm fields H1 to H5.
A number of fields H1 to H5 shown in Figure 2 are provided at predetermined intervals in a predetermined area. A water management device 1 is installed on the banks of the fields H1 to H5. Taking into consideration the external shapes (including the area) of the fields H1 to H5, an appropriate number of water management devices 1 are installed as required. For convenience, hereinafter, the fields H1 to H5 and other fields will be referred to simply as field H.

1 , the multicopter 2 is an unmanned autonomous flying object, so-called a drone. The multicopter 2 is an example of an flying object or a moving object that can fly in the sky above a farm field H.
The support device 3 is composed of a server or a personal computer installed in a management center (not shown). The support device 3 can be operated by an administrator of the farm field management system 7. The terminal device 4 is composed of a smartphone or tablet device carried by a worker performing farm work in the farm field H, or a personal computer installed in the farm worker's home or the like. The terminal device 4 is used by the worker.

The relay station 5 is a communication unit that relays wireless communication between the water management device 1 and the support device 3. The relay station 5 transmits various information from the water management device 1 to the support device 3, and transmits various information from the support device 3 to the water management device 1. In other words, the water management device 1 and the support device 3 communicate with each other wirelessly via the relay station 5.
The multicopter 2 and the support device 3 communicate with each other wirelessly via a communication network 6 such as the Internet, a mobile phone communication network, or other data communication network. The multicopter 2 and the support device 3 can also give and receive information via a storage medium 30 such as a non-volatile memory card or a USB memory (see FIG. 7, etc., described later). The terminal device 4 and the support device 3 communicate with each other wirelessly via the communication network 6.

As another example, communication between the support device 3 and the multicopter 2, or communication between the support device 3 and the terminal device 4, may be relayed by a relay station 5, or may be performed by wire. Also, any two of the water management device 1, the multicopter 2, the support device 3, and the terminal device 4 may communicate directly with each other wirelessly without going through the relay station 5 or the communication network 6.

<Water supply and drainage configuration of the field>
FIG. 3 is a side view of the field H and the water management device 1.
The field H is a paddy field in which a crop U consisting of, for example, rice is cultivated. Water W is filled in the field H shown in FIG. 3. The water management device 1 is installed on the water supply side (left side in FIG. 3) and the drainage side (right side in FIG. 3) of the field H. The water management device 1 (F) installed on the water supply side is connected to the tip of the branch pipe 100b of the pipeline 100 via an on-off valve 100c. The on-off valve 100c is attached to the tip of the branch pipe 100b. The base of the branch pipe 100b is connected to the supply pipe 100a of the pipeline 100. That is, the branch pipe 100b branches off from the supply pipe 100a and extends toward the field H1. Irrigation water flowing through an irrigation channel (not shown) is introduced into the supply pipe 100a.

The water management device 1 (D) installed on the drainage side of the field H is connected to the upper end of the water drop section 123 provided in the drainage basin 122. The tip of the drainage pipe 121 is connected to the drainage basin 122. The base of the drainage pipe 121 is connected to the drainage channel 120.

<Structure of water management device on water supply side>
FIG. 4 is a diagram showing the inside of the water management device 1(F) on the water supply side.
The container 11 of the water management device 1(F) on the water supply side has a three-dimensional structure that extends long in the vertical direction. The container 11 is formed in a cylindrical shape and constitutes the housing of the water management device 1(F). The container 11 is also installed above the on-off valve 100c.
The main body 101 of the on-off valve 100c is formed in a cylindrical shape, and the irrigation water can pass through the inside. A valve body 102, a valve shaft 103, and a bearing portion 104 are provided inside the main body 101. The lower end of the valve shaft 103 is connected to the valve body 102. The bearing portion 104 is fitted inside the upper end of the main body 101. The upper portion of the bearing portion 104 protrudes upward from the main body 101. A through hole 105 that penetrates the main body 101 in the radial direction is formed on the peripheral surface of the main body 101. The through hole 105 is a supply port through which the irrigation water flows out toward the field H.

The valve shaft 103 is supported rotatably relative to the bearing portion 104. A female thread is formed on the outer periphery of the valve shaft 103, and a male thread is formed on the inner periphery of the bearing portion 104. As the valve shaft 103 moves vertically while rotating around its axis, the valve body 102 moves vertically to open and close the through hole 105, supplying irrigation water to the field H or stopping the water supply. In other words, the valve body 102 is a mechanism (adjustment mechanism) that adjusts the supply of irrigation water. Note that the above-mentioned on-off valve 100c is one example, and is not limited to the above-mentioned configuration.

The housing 11 is provided therein with an actuator 10 and the like. The actuator 10 opens and closes a valve body 102 that either supplies water (irrigation water) to the field H or drains water from the field H. The actuator 10 has an electric motor 10a and a rotating shaft 10b that rotates when driven by the electric motor 10a.
A gear 14 that rotates with the rotation of the motor shaft 12 is attached to the motor shaft 12 of the electric motor 10a. A gear 15 meshes with the gear 14. A key groove (reference number omitted) is formed on the inner surface of the gear 15. A convex sliding portion 17 provided on the rotating shaft 10b is fitted into the key groove. The gear 15 is rotatably supported by a bearing 16, and supports the rotating shaft 10b so as to be movable in the vertical direction. The gear 15 and the rotating shaft 10b may be connected by a spline, and are not limited to the above-mentioned configuration.

The lower end of the rotating shaft 10b is connected to the upper end of the valve shaft 103. For example, a coupling portion 18 is formed at the lower end of the rotating shaft 10b. A coupling portion 19 formed at the upper end of the valve shaft 103 is connected to the coupling portion 18.
According to the actuator 10, the gears 14, 15 and the rotary shaft 10b can be rotated and the rotary shaft 10b can be moved vertically by driving the electric motor 10a to rotate. In addition, the valve shaft 103 can be moved vertically while rotating in accordance with the rotation and vertical movement of the rotary shaft 10b, thereby opening and closing the valve body 102 (opening and closing the through hole 105).

The container 11 has a number of cylinders 11a, 11b, and 11c. The cylinders 11a, 11b, and 11c are arranged vertically and connected to each other. Specifically, the lower end of the cylinder 11a is attached to a mounting base 115 attached to the main body 101 of the on-off valve 100c by a fastener such as a bolt. The cylinder 11a stands upright and extends upwards while attached to the mounting base 115.

Cylinder 11b is connected to the top of cylinder 11a. A cylindrical connecting member 25 is provided between the upper end of cylinder 11a and the lower end of cylinder 11b. Connecting member 25 has a peripheral wall portion 25a, a flange portion 25b protruding radially outward from peripheral wall portion 25a, and a support wall 25c provided on the upper end side of peripheral wall portion 25a. The upper end of cylinder 11a is brought close to flange portion 25b, and the lower end of cylinder 11b is brought close to flange portion 25b. The upper end of cylinder 11a and peripheral wall portion 25a are fastened with fasteners such as bolts, and the lower end of cylinder 11b and peripheral wall portion 25a are fastened with fasteners such as bolts. As a result, the upper end of cylinder 11a and cylinder 11b are integrated.

The support wall 25c has a through hole (reference number omitted) through which the rotating shaft 10b passes. A structure 27 to which the bearings 16 and the like are attached is attached to the support wall 25c, so that the electric motor 10a, the rotating shaft 10b, and the gear 15 are supported by the support wall 25c. That is, the cylindrical bodies 11a and 11b form a first cylindrical body that houses the actuator 10.
The cylindrical body 11b has a lower wall portion 31, an upper wall portion 32, and an intermediate wall 33 provided between these walls 31 and 32. The intermediate wall 33 has a protruding wall 34 protruding in the radially outward direction. The protruding wall 34 is constructed in a circular shape. An operation panel 43 is provided inside the protruding wall 34. The operation panel 43 is attached to the outer circumferential surface of the intermediate wall 33. By making the inner diameter of the upper wall portion 32 larger than the inner diameter of the intermediate wall 33, a step portion 35 is formed at the connecting portion between the upper wall portion 32 and the intermediate wall 33. The step portion 35 protrudes in the radially inward direction of the cylindrical body 11b and supports the lower end portion of the cylindrical body 11c. That is, the upper wall portion 32 and the step portion 35 of the cylindrical body 11b are an insertion portion into which the lower portion of the cylindrical body 11c is inserted from above.

Cylinder 11c is fitted into cylinder 11b from above and is supported by cylinder 11b and step 35. A mounting plate 37 is attached to the lower end of cylinder 11c. Mounting plate 37 is supported from below by step 35. The upper end of cylinder 11c is closed by top plate 39. A solar panel 40 is attached to the upper part of cylinder 11c via bracket 38.

Inside the cylindrical body 11c, there are a detection device 50, a control device 60, a communication device 70, a surveillance camera 80, and a power supply device 41. A window portion 153 is provided on the circumferential surface of the cylindrical body 11c so that the surveillance camera 80 can capture images of the farm field H. The window portion 153 is composed of a through hole 153a formed on the circumferential surface of the cylindrical body 11c and a transparent cover 153b that covers the through hole 153a. The transparent cover 153b is capable of transmitting light.

<Structure of the water management device on the drainage (falling water) side>
FIG. 5 is a diagram showing the inside of the water management device 1(D) on the drainage side.
The housing of the water management device 1(D) on the drainage side is also composed of a housing 11. The housing 11 of the water management device 1(D) on the drainage side is installed on the upper part of the water falling portion 123.
The water drainage section 123 includes a gate valve 125 and a movement mechanism 126. The movement mechanism 126 vertically moves the gate section 125. By moving vertically, the gate valve 125 can be changed in position between a state in which water from the field H is not drained toward the drain pipe 121 (closed state) and a state in which water is drained (open state).

The moving mechanism 126 has a base 127, a guide rod 128, a movable cylinder 130, a first shaft 129, and a second shaft 132. The base 127 is attached to the upper end of the water drop section 123. The upper ends of multiple guide rods 128 are fixed to the lower surface of the base 127. Each guide rod 128 extends downward and penetrates a flange portion (number omitted) of the movable cylinder 130. The movable cylinder 130 is movable in the vertical direction along the guide rod 128. The first shaft 129 is inserted into a through hole formed in the base 127.

The actuator 10 and the like are also provided inside the cylindrical bodies 11a, 11b of the housing 11 of the water management device 1(D) on the drainage side. The upper end of the first shaft 129 is connected to the rotating shaft 10b of the actuator 10 by a coupling or the like. The configuration and structure for rotating and vertically moving the rotating shaft 10b of the water management device 1(D) on the drainage side is similar to the configuration and structure for rotating and vertically moving the rotating shaft 10b of the water management device 1(D) on the drainage side shown in Figure 4, so a description thereof will be omitted (reference numbers are also omitted in Figure 5).

The second shaft 132 is connected to the lower end of the first shaft 129. The second shaft 132 also passes through the movable cylinder 130. A male thread is formed on the outer periphery of the second shaft 132, and a female thread is formed on the inner periphery of the movable cylinder 130. By rotating and driving the electric motor 10a of the actuator 10 to rotate and move the rotating shaft 10b vertically, the first shaft 129 and the second shaft 132 can be moved vertically while rotating, and the movable cylinder 130 can be moved vertically.

The gate valve 125 is attached to a bracket 131 attached to the movable cylinder 130. The gate valve 125 is formed in a cylindrical shape. The height of the gate portion 125 changes as the movable cylinder 130 moves vertically. When the upper end of the gate valve 125 is higher than the water level of the field H, the gate valve 125 is in a closed state that does not allow water to flow. When the upper end of the gate valve 125 is lower than the water level of the field H, the gate valve 125 is in an open state that allows water to flow. By operating the actuator 10 and moving the movable cylinder 130 vertically, the gate valve 125 can be opened and closed (allowing water to flow and stopping water from flowing). In other words, the gate valve 125 is a mechanism (adjustment mechanism) that adjusts drainage.

The cylindrical body 11c of the water management device 1(D) on the drainage side also contains a detection device 50, a control device 60, a communication device 70, a monitoring camera 80, and a power supply device 41 (FIG. 5). In addition, a window portion 153 is provided on the peripheral surface of the cylindrical body 11c.
As described above, the water management device 1 has an opening/closing mechanism including a valve body (valve body 102 or gate valve 125) that opens and closes either the water supply to the field H or the drainage water discharged from the field H.

<Aircraft structure>
FIG. 6 is an external view of the multicopter 2 as seen from the side.
The multicopter 2 has a body 20a, an arm 20b, a rotor 20c, a skid 20f, an imaging device 28, and a positioning device 22. A plurality of arms 20b are provided on the peripheral surface of the body 20a at predetermined intervals in the circumferential direction. Each arm 20b protrudes laterally from the peripheral surface of the body 20a.
The rotor 20c is provided on each arm 20b and includes a rotor (electric motor) 20d and a blade (propeller) 20e (reference numerals omitted). The rotor 20d is driven to rotate by the power of a storage battery provided inside the airframe 20a. The blade 20e is rotated by the driving force of the rotor 20d. The rotation of the blade 20e of each rotor 20c generates lift, and the multicopter 2 rises into the sky. In addition, by varying the rotation speed of the blade 20e of each rotor 20c, the multicopter 2 can hover and move in various directions (ascending, descending, moving forward, moving backward, turning left and right, etc.).

A plurality of skids (landing gears) 20f are provided at predetermined intervals on the underside of the aircraft body 20a. Each skid 20f protrudes diagonally downward from the underside of the aircraft body 20a. The skids 20f come into contact with the ground to support the aircraft body 20a.
The imaging device 28 is attached to the underside of the airframe 20a so as to be located between the skids 20f. The imaging device 28 is composed of, for example, a CCD camera, a CMOS camera, an infrared camera, or the like. When the multicopter 2 is flying above the field H, the imaging device 28 can take an aerial image of the field H.

The positioning device 22 is attached to the upper surface of the aircraft 20a. The positioning device 22 detects its own position (positioning information including latitude and longitude) using a satellite positioning system. That is, the positioning device 22 receives signals transmitted from positioning satellites (position of the positioning satellite, transmission time, correction information, etc.) and detects the position (latitude, longitude) of the multicopter 2 based on the received signals. The positioning device 22 is a position detection unit that detects the position of the multicopter 2. As another example, the positioning device 22 may detect the position of the multicopter 2 as a corrected position based on a correction signal received from a reference station that can receive a signal from a positioning satellite, etc.

<Electrical configuration of the first embodiment>
FIG. 7 is a diagram showing the electrical configuration of the farm land management system 7 according to the first embodiment.
<Electrical configuration of the water management device>
As shown in Fig. 7, the water management device 1 includes a control device 60, an actuator 10, a communication device 70, a detection device 50, a monitoring camera 80, a power supply device 41, and a solar panel 40. The control device 60 is composed of a CPU, a memory, etc. The control device 60 is provided with a storage unit 60a consisting of a volatile memory and a non-volatile memory. The control device 60 controls the operation of each part of the water management device 1.

The actuator 10 has the electric motor 10a and a motor drive circuit (not shown) for driving the electric motor 10a. The control device 60 controls the drive of the electric motor 10a by the motor drive circuit to open and close the valve bodies 102, 125 described above to supply water to or drain water from the field H.
The communication device 70 is a communication module for communicating with the support device 3 via the relay station 5 and the communication network 6, and can wirelessly transmit and receive various information to and from the support device 3. The communication device 70 can also communicate with the multicopter 2 or the terminal device 4 via the communication network 6. Furthermore, the communication device 70 can perform wireless communication according to a method such as IEEE 802.11 series Wi-Fi (Wireless Fidelity, registered trademark), BLE (Bluetooth (registered trademark) Low Energy), LPWA (Low Power, Wide Area), and LPWAN (Low-Power Wide-Area Network), which are communication standards.

The detection device 50 has multiple detection units 50a to 50d that detect the state of a specific phenomenon in the field H. Of these, the air temperature detection unit 50a is composed of an air temperature sensor and detects the air temperature in the field H. The humidity detection unit 50b is composed of a humidity sensor and detects the humidity in the field H. The solar radiation detection unit 50c is composed of a solar radiation sensor and detects the amount of solar radiation in the field H. The wind detection unit 50d is composed of an anemometer and detects the wind direction and wind speed as the state of the wind blowing in the field H.

The detectors of the detection sensors 50a to 50d are provided outside (field H) the storage unit 11 of the water management device 1 described above. In addition, a calculation circuit that calculates the detection values (air temperature, humidity, and wind direction/speed) based on the output signals of the detectors of the detection sensors 50a to 50d may be provided inside the storage unit 11 of the water management device 1. The control device 60 stores the image data detected by each of the detection sensors 50a to 50d in the memory unit 60a.

The water management device 1 does not need to include all of the air temperature detection unit 50a, humidity detection unit 50b, solar radiation detection unit 50c, and wind detection unit 50d, and any combination of these units may be used as appropriate. The detection device 50 may also be provided with a detection unit consisting of sensors that detect other predetermined phenomena, such as the water level, water temperature, soil temperature, soil moisture, and wind volume in the field H.
The surveillance camera 80 is composed of a CCD camera, a CMOS camera, an infrared camera, or the like. The surveillance camera 80 has an imaging unit 80a and an image processing unit 80b. The imaging unit 80a captures images of the water surface, the crop U (FIG. 3), and their surroundings in the field H. The image processing unit 80b processes the data of the images captured by the imaging unit 80a. The control device 60 stores the data of the images captured by the surveillance camera 80 in the memory unit 60a. The surveillance camera 80 is a ground-based imaging device that captures images of the field H on the ground, and is also a ground-based monitoring unit that monitors the field H by performing the imaging operation.

As shown in Figures 2 and 3, when multiple water management devices 1 are installed in a field H, the surveillance camera 80 provided in each water management device 1 may capture the entire field H, or may capture a predetermined range (part) of the field H. Furthermore, the imaging ranges of the surveillance cameras 80 provided in each water management device 1 may be completely different, or may partially overlap. Furthermore, multiple surveillance cameras 80 may be provided in each water management device 1.

Furthermore, in order to enable the surveillance camera 80 to capture (monitor) a wider range of the field H, the water management device 1 may be provided with a mechanism for changing the direction of the surveillance camera 80 and an electric motor for driving the mechanism. Furthermore, the water management device 1 may be provided with a light source such as a light for illuminating the imaging range of the surveillance camera 80.
The power supply device 41 has a storage battery 41a which is the power source for the water management device 1. The storage battery 41a is composed of, for example, a lithium ion battery. The power supply device 41 supplies power from the storage battery 41a to each part of the water management device 1. The power supply device 41 also stores power generated by the solar panel 40 in the storage battery 41a. Furthermore, the power supply device 41 detects the amount of power generated by the solar panel 40. The storage battery 41a is a secondary battery which can be discharged and charged, however, instead of this, a primary battery may be provided as the power source for the water management device 1.

The control device 60 receives control commands for controlling each part of the water management device 1 sent from the support device 3 via the communication device 70. Based on the control commands, the detection values (air temperature, humidity, amount of solar radiation, wind direction and speed) of each detection unit 50a to 50d output from the detection device 50, or image data captured by the surveillance camera 80, the control device 60 drives the electric motor 10a of the actuator 10 to control the opening and closing operation of the valve bodies 102, 125 described above, and supplies water to and drains water from the field H.

The control device 60 also transmits the monitoring results of the field H, such as the detection values of the detection units 50a-50d, image data from the monitoring camera 80, and the amount of power generated by the solar panel 40 detected by the power supply unit 41, to the support device 3 via the communication device 70. Furthermore, the control device 60 transmits operation information indicating the operating status of each part of the water management device 1 to the support device 3 via the communication device 70. Additionally, the control device 60 may transmit fault information indicating the fault status of each part of the water management device 1 to the support device 3.

<Electrical configuration of the flying object>
The multicopter 2 includes a control device 21, rotors 20c, a positioning device 22, a communication device 23, an interface 26, a power supply device 24, and an imaging device 28. The control device 21 includes a CPU, a memory, and the like. The control device 21 controls the operation of each part of the multicopter 2. The control device 60 includes a storage unit 21a including a volatile memory and a non-volatile memory.

The rotor 20c has a rotor (electric motor) 20d and a drive circuit (not shown) for driving the rotor 20d. The control device 21 controls the rotational drive of the rotor 20d by the drive circuit to rotate the blades 20e of the rotor 20c, stop the rotation of the blades 20e, and change the rotation speed of the rotor 20d and the blades 20e. This allows the multicopter 2 to fly, stop flying, or move while flying.

The communication device 23 is a communication module for communicating with the support device 3 via the communication network 6, and is capable of wirelessly transmitting and receiving various information to the support device 3. The communication device 23 is also capable of communicating with the water management device 1 or the terminal device 4 via the communication network 6. Furthermore, the communication device 23 is also capable of wireless communication according to a wireless communication method such as IEEE802.11 series Wi-Fi (registered trademark), BLE, LPWA, or LPWAN.

The interface 26 consists of a communication circuit or a communication IC for reading and writing data from a portable storage medium (such as a non-volatile memory card or USB memory) 30 inserted into a slot (not shown) provided in the aircraft 20a. The storage medium 30 can be inserted and removed from the slot in the aircraft 2. The multicopter 2 can exchange information and data with the support device 3 not only through the communication device 23, but also through the interface 26 and the storage medium 30.

The power supply device 24 has a storage battery 24a that is a power source for the multicopter 2. The storage battery 24a is, for example, a lithium ion battery. The power supply device 24 supplies power from the storage battery 24a to each part of the multicopter 2. The storage battery 24a is a secondary battery that can be discharged and charged, but instead of this, a primary battery may be provided as a power source for the multicopter 2.
The imaging device 28 is composed of a CCD camera, a CMOS camera, an infrared camera, or the like. The imaging device 28 has an imaging section 28a and an image processing section 28b. The imaging section 28a captures (monitors) the field H and the periphery of the field H. The image processing section 28b processes data of the image (still image) captured by the imaging section 28a. The imaging device 28 is an aerial monitoring section that monitors the field H from the sky while the multicopter 2 is flying. Note that the multicopter 2 may be provided with a mechanism for changing the direction of the imaging section 28a and an electric motor for driving the mechanism. In addition, the multicopter 2 may be provided with a light source for illuminating the imaging range of the imaging section 28a.

While the multicopter 2 is flying, the imaging device 28 captures dozens to hundreds of fragmentary images (aerial images) of the field H, etc., from the sky. The control device 21 stores the multiple aerial images captured by the imaging device 28 (image data after image processing by the image processing unit 23b) in the memory unit 21a. The control device 21 also transmits the aerial images stored in the memory unit 21a to the support device 3 via the communication device 23. Alternatively, the control device 21 transfers the aerial images stored in the memory unit 21a to the storage medium 30 via the interface 26 and stores (preserves) them in the storage medium 30. The aerial images stored in the storage medium 30 are imported into the support device 3.

The positioning device 22 has a receiver 22a and an inertial measurement device 22b. The receiver 22a receives signals transmitted from positioning satellites. The positioning device 22 detects the position (positioning information) of the multicopter 2 based on the signals received by the receiver 22a. The control device 21 associates image data captured from the air by the imaging device 28 with the position of the multicopter 2 detected by the positioning device 22 at the time of capturing the image data, and stores the associated image data in the memory unit 21g.
The inertial measurement unit 22b includes a gyro sensor or an acceleration sensor, and detects the attitude or acceleration of the multicopter 2. The positioning device 22 may correct the position of the multicopter 2 detected based on the signal received by the receiver 22a based on the detection result of the inertial measurement unit 22b.

The control device 21 acquires a flight plan including a flight route and a flight schedule for the multicopter 2 to fly from the support device 3 via the communication device 23 or the storage medium 23b, and stores the flight plan in the storage unit 21a. Based on the flight plan stored in the storage unit 21a, the position of the multicopter 2 detected by the positioning device 22, and the detection results of the inertial measurement device 22b, the control device 21 controls the rotational drive of the rotor 20d of the rotor 20c, flies the multicopter 2, and photographs the field H from the air using the imaging device 28. The control device 21 also transmits the aerial photographed images stored in the storage unit 21a after being photographed from the air by the imaging device 28 to the support device 3 via the communication device 23. Furthermore, the control device 21 stores the flight results of the multicopter 2 (including whether or not the flight was performed, and if so, the date and time, the flight route, and the flight state) in the storage unit 21a, and transmits the flight results to the support device 3 via the communication device 23.

As another example, the control device 21 may transfer the aerial images or flight results of the multicopter 2 stored in the memory unit 21a to the storage medium 30 via the interface 26 and store them in the storage medium 30. Then, after the storage medium 30 is connected to the support device 3, the support device 3 may read out the aerial images or flight results of the multicopter 2 stored in the storage medium 30.

<Electrical configuration of the support device>
The support device 3 includes a control unit 3a, a storage unit 3b, a communication unit 3c, and an interface 3d. The control unit 3a includes a CPU, a memory, and the like, and controls the operation of each unit of the support device 3. The control unit 3a includes an acquisition unit 3e, a plan creation unit 3f, a water level detection unit 3g, a correction unit 3h, a determination unit 3i, and an estimation unit 3j. In this embodiment, each of these units 3e to 3j is made up of a software program stored in advance in the control unit 3a, but may also be made up of hardware.

The storage unit 3b is composed of a memory and a hard disk. The storage unit 3b stores information about the field H, the water management device 1, the multicopter 2, and the terminal device 4 that are registered in advance. The information about the field H includes the identification information, map information, and outer shape of the field H managed by the field management system 7. The information about the water management device 1 includes the identification information, specifications, and location information of the water management device 1. The information about the multicopter 2 includes the identification information and specifications of the multicopter 2. The information about the terminal device 4 includes the identification information and address of the terminal device 4. The identification information of the field H and the identification information of the water management device 1 installed in the field H are associated with each other and stored in the storage unit 3b. Furthermore, a database (not shown) that stores predetermined data is provided in a predetermined storage area of the storage unit 3b.

The communication unit 3c is composed of a communication circuit capable of communication via the communication network 6 and wireless communication according to communication standards such as Wi-Fi (registered trademark), BLE, LPWA, and LPWAN. The control unit 3a communicates with the water management device 1, the multicopter 2, and the terminal device 4 via the communication unit 3c. The interface 3d has the same functions as the interface 26 of the multicopter 2.

The acquisition unit 3e of the control unit 3a acquires field information indicating the state of the field H. In detail, for example, the acquisition unit 3e acquires field information indicating the state of the field H, such as the external shape, atmosphere, water supply and drainage, or crop U, from an external device (such as another server) or the cloud via the communication network 6 using the communication unit 3c. The acquisition unit 3e also acquires the operating state of the water management device 1 (including at least the state of the water supply and drainage operation and the amount of power generation by the sorter panel 40) and the monitoring results (image data of the monitoring camera 80) from the water management device 1 using the communication unit 3c. The acquisition unit 3e also acquires the detection results of the detection device 50 from the water management device 1 using the communication unit 3c. The acquisition unit 3e also acquires the flight results and monitoring results (image data of the imaging device 28) of the multicopter 2 from the multicopter 2 using the communication unit 3c or the storage medium 30 and the interface 3d.

The information acquired by the acquisition unit 3e is stored in the memory unit 3b. The acquisition unit 3e may extract (acquire) necessary information from the memory unit 3b as appropriate. That is, the field information acquired by the acquisition unit 3e may include the operating state and monitoring results of the water management device 1 stored in the memory unit 3b, or the flight results and monitoring results of the multicopter 2.
The plan creation unit 3f creates a field management plan for managing the field H or modifies the field management plan based on the information acquired by the acquisition unit 3e. The field management plan created or modified by the plan creation unit 3f is stored in the memory unit 3b. The field management plan includes a cultivation plan for cultivating a crop U in the field H, a work plan for agricultural work to be performed in the field H, a water management plan to be executed by the water management device 1, a flight plan to be executed by the multicopter 2, and a water level detection plan to detect the water level in the field H.

The water management plan includes not only an execution plan for the water supply and drainage operations performed by the water management device 1 for the field H, but also a monitoring plan for the field H using the detection device 50 and the surveillance camera 80. The flight plan includes not only the flight route and flight schedule for the multicopter 2, but also an aerial photography plan (surveillance plan) using the imaging device 28. The water level detection plan includes the detection frequency, detection position, and detection procedure for the water level in the field H. The plan creation unit 3f is a modification unit that modifies the water level detection plan.

Specifically, for example, the plan creation unit 3f analyzes the monitoring results of the water management device 1 and the multicopter 2 stored in the database of the memory unit 3b (image data of the field H and detection values of a predetermined phenomenon in the field H), makes a partial or comprehensive judgment on predetermined management items such as the condition of the field H, the growth condition of the crop U, or the presence or absence of foreign matter, and stores the judgment results in the database. Then, the plan creation unit 3f creates or modifies a field management plan based on the judgment results, the operation information of the water management device 1 stored in the database, the flight results of the multicopter 2, the monitoring results of the water management device 1 and the multicopter 2, and other field information, and stores the field management plan in the database of the memory unit 3b. The field information acquired by the acquisition unit 3e may include the field management plan stored in the database of the memory unit 3b.

The control unit 3a transmits control commands to the water management device 1 via the communication unit 3c to control the operation of each part of the water management device 1 based on the field management plan stored in the memory unit 3b. The water management device 1 receives the control commands transmitted from the support device 3 via the communication device 70, and based on the control commands, drives the actuator 10 to supply water to and drain the field H, detects predetermined phenomena using the detection units 50a to 50d of the detection device 50, and monitors the field H using the surveillance camera 80.

The control unit 3a also transmits the water management plan included in the field management plan stored in the memory unit 3b to the water management device 1 via the communication unit 3c. The water management device 1 receives the water management plan transmitted from the support device 3 via the communication device 70, and based on the water management plan, drives the actuator 10 to supply water to and drain the field H, detects a specified phenomenon using the detection device 50, and monitors the field H using the surveillance camera 80.

The control unit 3a also assigns the flight plan included in the field management plan stored in the memory unit 3b to the multicopter 2 via the communication unit 3c or interface 3d and storage medium 30. The multicopter 2 acquires the flight plan from the support device 3 via the communication device 23 or interface 26 and storage medium 30, and based on the flight plan, drives the rotor 20c to fly above the field H and takes aerial photographs of the field H using the imaging device 28.

The water level detection unit 3g detects the water level of the field H based on image data captured from the air by the imaging device 28 of the multicopter 2 or image data captured by the monitoring camera 80 of the water management device 1. The correction unit 3h corrects the detection result of the water level detection unit 3g, i.e., the water level detected by the water level detection unit 3g. The determination unit 3i determines the water level of the field H based on the water level after correction by the correction unit 3h. The control unit 3a associates the water level detected by the water level detection unit 3g, the water level corrected by the correction unit 3h, the water level determined by the determination unit 3i, and position information indicating the detection position of the water level, and stores them in the memory unit 3b as water level information. The estimation unit 3j estimates the water level of one or more other predetermined positions based on the water level of one or more other predetermined positions of the field H detected by the water level detection unit 3g and the water level information stored in the memory unit 3b.

<Electrical configuration of terminal device>
The terminal device 4 includes a control unit 4a, a storage unit 4b, a communication unit 4c, a display unit 4d, and an operation unit 4e. The control unit 4a controls the operation of each unit of the terminal device 4. The storage unit 4b is composed of a memory and the like. The storage unit 4b stores the status and monitoring results of the water management device 1 and the multicopter 2, as well as a field management application program (abbreviated as "field management app") for checking the field management plan.

The communication unit 4c has the same function as the communication unit 3c of the support device 3. The control unit 4a communicates with the support device 3 through the communication unit 4c. The control unit 4a can also communicate with the multicopter 2 and the water management device 1 through the communication unit 4c.
The display unit 4d is composed of a liquid crystal or organic EL display and a speaker. The operation unit 4e is composed of a mouse, a keyboard, a touch pad, and a microphone. In this embodiment, the display unit 4c and the operation unit 4d are provided separately, but instead, there is also a terminal device 4 equipped with a touch panel that serves as both the display unit and the operation unit.

The display of images, sounds, and the like based on the farm land management app stored in the memory unit 4b is output by the display unit 4d. Predetermined input to the farm land management app can be performed by the operation unit 4e.
The terminal device 4 acquires the operation information of the water management device 1, the flight results of the multicopter 2, the monitoring results of the water management device 1 and the multicopter 2, and the field management plan stored in the database of the storage unit 3b of the support device 3 from the support device 3, and displays them on the display unit 4d. Specifically, for example, in the terminal device 4, the above-mentioned field management app is started and a predetermined operation is performed on the operation unit 4e, whereby the control unit 4a transmits a request signal requesting the operation information and monitoring results of the water management device 1, the flight results and monitoring results of the multicopter 2, or the field management plan to the support device 3 via the communication unit 4c. In the support device 3, when the request signal transmitted from the terminal device 4 is received by the communication unit 3c, the control unit 3a reads out the operation information and monitoring results of the water management device 1, the flight results and monitoring results of the multicopter 2, or the field management plan from the database based on the request signal, and transmits the information to the terminal device 4 via the communication unit 3c.

When the terminal device 4 receives the operation information and monitoring results of the water management device 1, the flight results and monitoring results of the multicopter 2, or the field management plan transmitted from the support device 3 via the communication unit 4c, the control unit 4a causes the display unit 4d to display the information. This allows the worker using the terminal device 4 to recognize the operation information and monitoring results of the water management device 1, the flight results and monitoring results of the multicopter 2, or the field management plan.

<Operation of the farm land management system of the first embodiment>
Figures 8A to 10B are diagrams showing the operation of each part of the farm land management system 7 of the first embodiment. In detail, Figures 8A and 8B are flowcharts showing the operation of the support device 3. Figure 9 is a flowchart showing the operation of the multicopter 2. Figures 10A and 10B are flowcharts showing the operation of the water management device 1.

In the support device 3, the control unit 3a first refers to the contents stored in the memory unit 3b and checks whether a field management plan is stored in the memory unit 3b. If a field management plan is not stored in the memory unit 3b (S1: NO in FIG. 8A), the acquisition unit 3e acquires field information from the memory unit 3b and an external device and stores it in the memory unit 3b (S2). At this time, the field information acquired by the acquisition unit 3e includes information indicating the external shape of the field H, the atmosphere, water supply and drainage, or the state of the crops U, operation information of the water management device 1, flight results of the multicopter 2, and monitoring results of the water management device 1 and the multicopter 2.

Next, the plan creation unit 3f creates a field management plan based on the field information acquired by the acquisition unit 3e, and stores the field management plan in the storage unit 3b (S3). Next, the control unit 3a reads out the water management plan and the flight plan from the field management plan stored in the storage unit 3b, transmits the water management plan to the water management device 1 via the communication unit 3c (S4), and transmits the flight plan to the multicopter 2 via the communication unit 3c (S5). At this time, the control unit 3a transmits the water management plan with the identification information of the support device 3 to which it belongs and the identification information of the water management device 1 of the transmission destination attached. In addition, the control unit 3a transmits the flight plan with the identification information of the support device 3 to which it belongs and the identification information of the multicopter 2 of the transmission destination attached. Note that, as described above, the flight plan may be assigned from the support device 3 to the multicopter 2 via the interface 3d, 26 and the storage medium 30.

In the water management device 1, when a water management plan accompanied by the identification information of the water management device 1 is received by the communication device 70 (S61: YES in FIG. 10A), the control device 60 refers to the memory contents of the memory unit 60a and checks whether or not a water management plan has already been stored in the memory unit 60a. If a water management plan has not been stored in the memory unit 60a (S62: NO), the control device 60 stores the received water management plan in the memory unit 60a (S63). If a water management plan has already been stored in the memory unit 60a (S62: YES), the control device 60 updates the water management plan by overwriting the water management plan already stored in the memory unit 60a with the received water management plan (S64).

Next, the control device 60 executes the water management plan stored in the memory unit 60a. Specifically, the control device 60 refers to a calendar (date and time management area) provided in a predetermined storage area of the memory unit 60a, and when it is time to detect a predetermined phenomenon (temperature, humidity, solar radiation, wind) of the field H indicated in the water management plan (S66: YES), the control device 60 detects the predetermined phenomenon using the corresponding detection units 50a to 50d of the detection device 50 and stores the detection results in the memory unit 60a (S67). In addition, when it is time to capture an image indicated in the water management plan (S68: YES), the control device 60 captures an image of the field H using the surveillance camera 80 and stores the captured image data in the memory unit 60a (S69).

In addition, in the water management device 1 on the water supply side, when the water supply adjustment timing indicated in the water management plan arrives (S70: YES), the control device 60 operates the valve body 102 by the actuator 10 to adjust the water supply to the field H, and stores operation information indicating that the operation has been performed in the memory unit 60a (S71). In more detail, for example, the control device 60 operates the valve body 102 in the opening or closing direction by the actuator 10 to match the opening degree of the valve body 102 with the opening degree indicated in the water management plan. This adjusts the amount of water supplied to the field H. Note that at this time, the amount of water supplied may be set to 0 (zero), i.e., water supply to the field H may be stopped.

In addition, in the water management device 1 on the drainage side, when the drainage adjustment timing indicated in the water management plan arrives (S72: YES in FIG. 10B), the control device 60 operates the gate valve 125 by the actuator 10 to adjust the drainage to the field H, and stores operation information indicating that the operation has been performed in the memory unit 60a (S73). In more detail, for example, the control device 60 operates the gate valve 125 in the opening or closing direction by the actuator 10 to match the opening degree of the gate valve 125 with the opening degree indicated in the water management plan. This adjusts the amount of drainage from the field H. Note that at this time, the amount of drainage may be set to 0 (zero), i.e., drainage from the field H may be stopped.

When the timing for other operations indicated in the water management plan arrives (S74: YES), the control device 60 executes the other operations and stores the operation information in the memory unit 60a (S75). Note that other operations include, for example, an operation in which the power supply device 41 detects the amount of power generated by the solar panel 40, or an operation in which the control device 60 diagnoses faults in each part of the water management device 1 according to a predetermined procedure.

Furthermore, when the information transmission timing indicated in the water management plan arrives (S76: YES), the control device 60 transmits the operation information of each part of the water management device 1 stored in the memory unit 60a, the detection results of the detection device 50, and the monitoring results (image data) of the monitoring camera 80 to the support device 3 via the communication device 70 (S77). At this time, the control device 60 transmits the above operation information, detection results, and monitoring results together with the identification information of the water management device 1 to which it belongs and the identification information of the support device 3 to which it is being transmitted.

Furthermore, even if the control device 60 does not receive a water management plan accompanied by identification information of the water management device 1 to which it belongs (S61: NO in Figure 10A), if a water management plan is already stored in the memory unit 21a (S65: YES), the control device 60 executes the water management plan as described above (S66 to S77).
In the multicopter 2, when the flight plan with the identification information of the multicopter 2 is received by the communication device 23 (S41: YES in FIG. 9), the control device 21 refers to the storage contents of the storage unit 21a and checks whether the flight plan is already stored in the storage unit 21a. If the flight plan is not already stored in the storage unit 21a (S42: NO), the control device 21 stores the received flight plan in the storage unit 21a (S43). If the flight plan is already stored in the storage unit 21a (S42: YES), the control device 21 updates the flight plan by overwriting the flight plan already stored in the storage unit 21a with the received flight plan (S44).

Next, the control device 21 executes the flight plan stored in the memory unit 21a. Specifically, the control device 21 refers to a calendar provided in a predetermined storage area of the memory unit 21a, and when the flight timing indicated in the flight plan arrives, the control device 21 rotates the loader 20d of the rotor 20c to rotate the blade 20e, thereby causing the aircraft 20a to take off and starting the flight of the multicopter 2 (S46). Then, the control device 21 flies based on the flight route indicated in the flight plan, and when it reaches the sky above the field H, monitors the field H by taking an aerial photograph of the field H with the imaging device 28 (S47). At this time, the control device 21 hovers the multicopter 2 above a predetermined position of the field H indicated in the flight plan, and takes an aerial photograph of the predetermined position with the imaging device 28.

Then, the control device 21 ends the flight based on the flight plan (S48). That is, when the control device 21 reaches the landing position indicated in the flight plan, it lands the aircraft 20a and stops the rotational drive of the loader 20d and the blade 20e of the rotor 20c. Then, the control device 21 transmits the flight results and the monitoring results (image data) by the imaging device 28 to the support device 3 via the communication device 23 (S49). At this time, the control device 21 transmits the flight results and the monitoring results together with the identification information of the multicopter 2 to which it belongs and the identification information of the support device 3 to which it is transmitted. As described above, the flight results and the monitoring results may be provided from the multicopter 2 to the support device 3 via the interfaces 26, 3d and the storage medium 30.

After step S49 in FIG. 9, the multicopter 2 repeatedly executes steps S41 and onward. Furthermore, even if the control device 21 does not receive a flight plan accompanied by the identification information of the multicopter 2 to which it belongs (S41: NO), if a flight plan is already stored in the memory unit 21a (S45: YES), the control device 21 executes the flight plan as described above (S46 to S49).

In the support device 3, when the operation information, detection results, and monitoring results of the water management device 1 accompanied by the identification information of the support device 3 are received by the communication unit 3c (S6: YES in FIG. 8A), the control unit 3a associates the information with the identification information of the water management device 1 as the sender and stores it in the memory unit 3b (S7). In addition, when the flight results and monitoring results of the multicopter 2 accompanied by the identification information of the support device 3 are received by the communication unit 3c (S8: YES), the control unit 3a associates the information with the identification information of the multicopter 2 as the sender and stores it in the memory unit 3b (S9). In addition, the support device 3 may acquire the flight results and monitoring results of the multicopter 2 via the storage medium 30 and the interface 3d.

Next, the water level detection unit 3g detects the water level in the field H based on the monitoring results of the multicopter 2 or the monitoring results of the water management device 1 stored in the memory unit 3b (S10).
FIG. 11A is a diagram showing the water level indicator members 63a to 63c and the multicopter 2 provided in the field H. As shown in FIG. 11A, the water level indicator members 63a to 63c are provided at predetermined positions Pa to Pc in the field H. The water level indicator members 63a to 63c are made of, for example, rod-shaped members having a circular cross-sectional shape, and have scales for measuring the water level on the entire circumferential surface (side surface). In the vicinity of the water supply port and drainage port (water management device 1) of the field H, waves or the like are generated on the water surface during water supply or drainage, causing the water level to fluctuate. Therefore, it is preferable to install the water level indicator members 63a to 63c at positions other than the vicinity of the water supply port and drainage port.

In the example shown in FIG. 11A, the multicopter 2 hovers in the air above the periphery of predetermined positions Pa to Pc in the field H, and the imaging device 28 takes an aerial photograph of the periphery of each position Pa to Pc, including the point of contact between the scales of each water level indicator member 63a to 63c and the water surface of the field H. At this time, the multicopter 2 may change its position in the air above the periphery of each position Pa to Pc, and the imaging device 28 may take aerial photographs of the periphery of each position Pa to Pc multiple times from different angles.

Then, image data photographed from the air by the imaging device 28 is transmitted from the multicopter 2 to the support device 3 as the monitoring result, and the image data is stored in the memory unit 3b. The water level detection unit 3g then reads out the image data from the memory unit 3b and detects the water level at the predetermined positions Pa to Pc by performing image analysis on the image data. At this time, the water level detection unit 3g detects the water level at one of the predetermined positions Pa to Pc based on one or more pieces of image data. The water level detection unit 3g also detects the water level at each of the positions Pa to Pc based on the aerial photography position (height, aerial photography angle, etc.) of the multicopter 2 associated with the image data.

Furthermore, the water level detection unit 3g may detect the water level at one of the predetermined positions Pa to Pc based on a plurality of image data obtained by photographing the surrounding area of the one position from the air at different angles. The water level detection unit 3g may then calculate an average value of the plurality of water level detection values detected for each of the plurality of image data, and determine the average value as the water level at the one position.
Figure 11B is a diagram showing water level indicator members 63a-63c and the water management device 1 provided in a field H. In the example shown in Figure 11B, the water management device 1 uses a surveillance camera 80 to capture images of the surrounding areas of each of the positions Pa-Pc in the field H, including the points of contact between the scales of the water level indicator members 63a-63c provided at each of the positions Pa-Pc and the water surface of the field H. Furthermore, in a field H where multiple water management devices 1 are installed, the surveillance camera 80 provided on each water management device 1 may capture images of the surrounding areas of each of the positions Pa-Pc.

Thereafter, image data captured by the monitoring camera 80 is transmitted from the water management device 1 to the support device 3 as the monitoring result, and the image data is stored in the memory unit 3b. The water level detection unit 3g then reads out the image data from the memory unit 3b and performs image analysis of the image data to detect the water levels at the predetermined positions Pa to Pc.
In this case, the water level detection unit 3g detects the water level at one of the predetermined positions Pa to Pc based on one or more pieces of image data for that position. The water level detection unit 3g also detects the water level at each of the positions Pa to Pc based on the installation position (height, image capture angle, etc.) of the monitoring camera 80 that captured the image data. The water level detection unit 3g may also detect the water level at that position based on each of multiple image data that capture the peripheral area of one of the predetermined positions Pa to Pc at different angles. The water level detection unit 3g may then calculate the average value of the multiple water level detection values detected for each of the multiple image data, and determine the average value as the water level at the one position.

As described above, the imaging device 28 of the multicopter 2 and the monitoring camera 80 of the water management device 1 may both capture images of the periphery of each position Pa-Pc, including the points of contact between the scales of the water level indicator members 63a-63c in the field H and the water surface of the field H, and the water level detection unit 3g may detect the water level at each position Pa-Pc based on the image data. In this case, the first water level at the predetermined positions Pa-Pc that the water level detection unit 3g can detect based on image data captured from the air by the imaging device 28 by the multicopter 2 flying above the field H, and the second water level at the predetermined positions Pa-Pc that the water level detection unit 3g can detect based on image data captured by the monitoring camera 80 even if the multicopter 2 does not fly above the field H, may both be water level detection values by the water level detection unit 3g.

Alternatively, the water level detection unit 3g may determine the water levels at the predetermined positions Pa to Pc based on the first water level and the second water level. Specifically, for example, the water level detection unit 3g calculates the average value of the first water level and the second water level at each position Pa to Pc, and sets the average value as the water level detection value for each position Pa to Pc. Alternatively, for example, the water level detection unit 3g sets the higher or lower of the first water level and the second water level as the water level detection value for each position Pa to Pc, depending on the degree of need for water supply and drainage for the current field H indicated in the field management plan. Also, it may be determined in the field management plan or the water level detection plan that either one of the first water level and the second water level is to be given priority.

The installation locations and number of the water level indicator members 63a to 63c within the field H, as well as the water level detection locations, may be set appropriately based on the external dimensions (area, shape, etc.) of the field H and the water supply and drainage locations, and may be, for example, one location or two or more locations.
Next, the acquisition unit 3e extracts wind information for the field H from the contents stored in the memory unit 3b (S11 in FIG. 8A). In detail, the acquisition unit 3e extracts wind information (detected by the wind detection unit 50d) including the wind direction and wind speed of the wind blowing in the field H when the image data based on which the water level detection unit 3g detects the water level at each of the positions Pa to Pc is captured from the contents stored in the memory unit 3b. Then, the correction unit 3h corrects the water levels (water level detection values) at each of the positions Pa to Pc of the field H detected by the water level detection unit 3g based on the wind information for the field H extracted by the acquisition unit 3e (S12).

Figure 12 is a plan view of the field H. For example, as shown in Figure 12, if the wind information extracted by the acquisition unit 3e indicates that a natural wind (wind speed 3 m/sec) is blowing eastward in the field H, the correction unit 3h first determines the windwardest position Pa and the leewardest position Pc among the predetermined positions Pa to Pc. Then, the correction unit 3h calculates the average value Wave of the water level detection value Wa (Wa = 4.5 cm) of the windwardest position Pa and the water level detection value Wc (Wc = 5.5 cm) of the leewardest position Pc (Wave = (Wa + Wc) ÷ 2 = 5.0 cm).

Next, the correction unit 3h obtains first water level correction values Qa, Qc for the specified positions Pa, Pc by subtracting the water level detection values Wa, Wc for the specified positions Pa, Pc, respectively, from the average value Wave (Qa = Wave - Wa = +0.5 cm, Qc = Wave - Wc = -0.5 cm).
Then, the correction unit 3h corrects the water level detection values at the predetermined positions Pa and Pc by adding the first water level correction values Qa and Qc at the predetermined positions Pa and Pc to the water level detection values Wa and Wc, respectively (first water level correction). As a result, the water levels Wah and Wch after the first water level correction at the predetermined positions Pa and Pc become 5.0 cm, respectively, which is the same value as the average value Wave (Wah=Wa+Qa=4.5 cm+(+0.5 cm)=5.0 cm=Wave, Wch=Wc+Qc=5.5+(-0.5 cm)=0.5 cm=Wave).

In addition, because the water level rises from the windward bank Ra of the field H toward the leeward bank Rb due to the influence of wind, the distance from the windward bank Ra and the water level detection value are in a proportional relationship. For this reason, the correction unit 3h calculates the first water level correction value Qb of the water level detection value Wb at the specified position Pb based on the distance Dac parallel to the wind direction from the specified position Pa to the specified position Pc, the difference Δca (Δca = Wc - Wa = +1.0 cm) between the water level detection value Wc at the specified position Pc and the water level detection value Wa at the specified position Pa, and the distance Dab parallel to the wind direction from the specified position Pa to the specified position Pb. In the example of FIG. 12, the ratio of the distances Dac and Dab is Dac:Dab = 5:1, and the difference Δca is +1.0 cm, so the first water level correction value Qb is +0.2 cm.

Then, the correction unit 3h corrects the water level detection value Wb at the predetermined position Pb by adding the first water level correction value Qb at the predetermined position Pb to the water level detection value Wb (first water level correction). As a result, the corrected water level Wbh at the predetermined position Pb becomes 4.9 cm (Wbh = Wb + Qb = 4.7 cm + (+0.2 cm) = 4.9 cm).
As another example, similar to the first water level correction values Qa and Qc, the first water level correction value Qb may be obtained by subtracting the water level detection value Wb at the position Pb from the average value Wave, and the water level detection value Wb may be corrected with the first water level correction value Qb. In this case, the first water level correction value Qb is +0.3 cm (Qb = Wave - Wb = 5.0 cm - 4.7 cm = +0.3 cm), and the water level Wbh after the first water level correction at the predetermined position Pb is 5.0 cm (Wbh = Wb + Qb = 4.7 cm + (+0.3 cm) = 5.0 cm).

When the correction unit 3h corrects the water level detection values Wa, Wb, and Wc of each of the predetermined positions Pa, Pb, and Pc as described above, the water levels Wah, Wbh, and Wch after the first water level correction of each of the predetermined positions Pa, Pb, and Pc are stored in the memory unit 3b. At this time, the correction unit 3h associates the water levels Wah, Wbh, and Wch after the first water level correction of each of the predetermined positions Pa, Pb, and Pc with the position information (coordinates, etc.) of the corresponding predetermined positions Pa, Pb, and Pc, the water level detection values Wa, Wb, and Wc before the first water level correction, the first water level correction values Qa, Qb, and Qc, or wind information (wind direction and wind speed), and stores them in the memory unit 3b. In addition, for a preset reference position of the field H (position Pb in the example of FIG. 12), the correction unit 3h accumulates this data by storing the position information, the water level after the first water level correction, the water level detection value before the first water level correction, the first water level correction value, and the wind information in association with each other in the memory unit 3b.

Next, the determination unit 3i determines the water levels of each of the specified positions Pa to Pc of the field H and the overall water level Wo based on the water levels Wah, Wbh, and Wch after the first water level correction of each of the specified positions Pa to Pc, and stores the determination results in the memory unit 3b (S13 in FIG. 8A). At this time, for example, the determination unit 3i determines the water levels Wah, Wbh, and Wch after the first water level correction of each of the specified positions Pa to Pc as the water levels of each of the specified positions Pa to Pc. The determination unit 3i also calculates the average value of the water levels Wah, Wbh, and Wch after the first water level correction of each of the specified positions Pa to Pc, and determines the average value as the overall water level Wo of the field H. The determination unit 3i then associates the water levels Wah, Wbh, Wch and overall water level Wo at each of the determined predetermined positions Pa-Pc of the field H with the water level detection values Wa, Wb, Wc before the first water level correction at each position Pa-Pc, the first water level correction values Qa, Qb, Qc, the position information of each position Pa-Pc, or wind information of the field H, which were used in determining these, and stores them in the memory unit 3b.

That is, the water level detection values Wa, Wb, Wc before the first water level correction for each position Pa to Pc in the field H, the first water level correction values Qa, Qb, Qc, the water levels Wah, Wbh, Wch after the first water level correction, the overall water level Wo, the position information of each specified position Pa to Pc, or the wind information of the field H are stored in the memory unit 3b and compiled into a database.
Furthermore, as described above, when the water level detection unit 3g outputs both the first water level at the predetermined position Pa-Pc detected based on image data of the imaging device 28 of the multicopter 2 and the second water level at the predetermined position Pa-Pc detected based on image data of the surveillance camera 80 of the water management device 1 as water level detection values, the correction unit 3h only needs to correct at least one of the first water level and the second water level.

For example, when the correction unit 3h corrects both the first water level and the second water level of the above-mentioned predetermined positions Pa to Pc in the above-mentioned procedure, the determination unit 3i may determine the water level of the predetermined positions Pa to Pc and the overall water level Wo based on the corrected first water level and the corrected second water level. At this time, the determination unit 3i may determine the water level of the predetermined positions Pa to Pc and the overall water level Wo from the average value of the corrected first water level and the corrected second water level or the water level that takes priority therebetween.

Furthermore, for example, when the correction unit 3h corrects one of the first and second water levels at the above-mentioned specified positions Pa to Pc, which is the preferred water level indicated in the field management plan, in the procedure described above, the determination unit 3i determines the water levels at the specified positions Pa to Pc and the overall water level Wo based on the corrected water level.
On the other hand, when the water level detection unit 3g determines the water level detection value of the predetermined position Pa-Pc based on the first water level of the predetermined position Pa-Pc detected based on the image data of the imaging device 28 of the multicopter 2 and the second water level of the predetermined position Pa-Pc detected based on the image data of the monitoring camera 80 of the water management device 1, the correction unit 3h may correct the water level detection value of the predetermined position Pa-Pc in the above-mentioned procedure. Then, the determination unit 3i may determine the water level of the predetermined position Pa-Pc and the overall water level Wo based on the water level detection value of the predetermined position Pa-Pc after correction.

When there is no wind in the field H, i.e. when the wind speed detected by the wind detection unit 50d is 0 m/sec, for example, the correction unit 3h may correct the water level detection values Wa, Wb, and Wc of the specified positions Pa to Pc using a predetermined correction value (which may be 0 (zero)) corresponding to a windless state. Then, the determination unit 3i may determine the water levels at the specified positions Pa to Pc and the overall water level Wo based on the corrected water level detection values Wah, Wbh, and Wch of the specified positions Pa to Pc, and store them in the memory unit 3b.

Alternatively, the correction unit 3h may not correct the water level detection values Wa, Wb, Wc detected by the water level detection unit 3g, and the determination unit 3i may determine the water level detection values Wa, Wb, Wc as the water level at the specified positions Pa to Pc of the field H and store them in the memory unit 3b. The determination unit 3i may also calculate an average value Wave of the water level detection values Wa, Wb, Wc, determine the average value Wave as the overall water level Wo of the field H and store it in the memory unit 3b. Furthermore, the determination unit 3i may associate the water level detection values Wa, Wb, Wc and the overall water level Wo at the specified positions Pa to Pc with the position information or wind information of the specified positions Pa to Pc and store them in the memory unit 3b.

As described above, by correcting the water level detection value detected by the water level detection unit 3g based on wind information by the correction unit 3h, even if the water level temporarily fluctuates in various parts of the field H due to wind blowing into the field H washing away the water in the field H or creating waves on the water surface of the field H, the actual water level in the field H, i.e., the water level when not affected by wind, can be detected.
When the multicopter 2 flies above the field H and captures an image of the surrounding area of the predetermined positions Pa-Pc in the field H with the imaging device 28, if the altitude of the multicopter 2 is low or the rotation speed of the rotor 20d (or the blade 20e) of the rotor 20c is high, the water level in the surrounding area of the predetermined positions Pa-Pc may temporarily fluctuate due to the influence of the swirling wind generated by the rotation of the blade 20e. In this case, the water level at the predetermined positions Pa-Pc detected by the water level detection unit 3g based on image data captured from the air by the imaging device 28 will differ from the actual water level at the predetermined positions Pa-Pc.

Specifically, for example, when the multicopter 2 is hovering above a farm field H, the lower the altitude of the multicopter 2 or the higher the rotation speed of the rotor 20d, the lower the water level directly below the multicopter 2 will be due to the influence of the swirling wind generated by the rotation of the blades 20e, and the lower the point of contact between the scales of the water level indicator members 63a to 63c installed directly below the multicopter 2 and the water surface will also be.
As a countermeasure to this, the correction unit 3h may correct the water level detection value by the water level detection unit 3g based on the swirling wind that the multicopter 2 creates in the field H. Specifically, for example, a large water tank filled with water is installed in an indoor flight training field for flying objects that is not affected by natural wind. Then, an experiment is performed in which the multicopter 2 flies above the water tank and hovers while changing the altitude of the multicopter 2 or the rotation speed of the rotor 20d, to investigate changes in the water level in the water tank.

At this time, the altitude of the multicopter 2 or the rotation speed of the rotor 20d is detected from the flight results acquired from the multicopter 2 by an experimental terminal device consisting of a personal computer. Also, the water level of the water tank is detected by a water level sensor, and the detection result is input to the experimental terminal device. The water level sensor used here consists of a known contact or non-contact water level sensor.
In the experimental terminal device, a correlation between the change in altitude of the multicopter 2 and the change in the water level of the tank is extracted from the above experimental results. Next, based on the correlation, a fluctuation value (amount of decrease) of the water level corresponding to the altitude of the multicopter 2 is derived as a second water level correction value. Then, a table showing the correspondence between the altitude of the multicopter 2 and the second water level correction value, or an arithmetic expression for finding the second water level correction value based on the altitude of the multicopter 2 is created, and correction data showing the table or arithmetic expression is stored in the memory unit 3b of the support device 3.

Alternatively, the experimental terminal device extracts the correlation between the change in the rotation speed of the rotor 20d of the multicopter 2 and the change in the water level of the water tank from the above experimental results. Next, based on the correlation, the fluctuation value (decrease range) of the water level corresponding to the rotation speed of the rotor 20d is derived as the third water level correction value. Then, a table showing the correspondence between the rotation speed of the rotor 20d and the third water level correction value, or an arithmetic formula for calculating the third water level correction value based on the rotation speed of the rotor 20d is created, and correction data showing the table or arithmetic formula is stored in the memory unit 3b of the support device 3.

Figure 13A is a diagram showing the relationship between the altitude of the multicopter 2 and the second water level correction value derived by the above-mentioned procedure. In detail, the line L1 in the graph shown in Figure 13A shows the correlation between the altitude of the multicopter 2 and the second water level correction value when the rotation speed of the rotor 20d is set to a predetermined constant value and the multicopter 2 is hovered. As shown by the line L1, the higher the altitude of the multicopter 2 (the further to the right on the horizontal axis of Figure 13A), the longer the distance between the multicopter 2 and the water surface becomes, and the water surface becomes less susceptible to the influence of the swirling wind of the blade 20e, and the amount of fluctuation in the water level becomes smaller, so the second water level correction value becomes smaller (the lower the vertical axis of Figure 13A). Also, when the altitude of the multicopter 2 becomes high to a certain extent, the water surface is no longer influenced by the swirling wind of the blade 20e, so the second water level correction value converges to a constant value (0 (zero) or approximately 0). Furthermore, as the rotation speed of the rotor 20d increases, the line L1 shifts upward parallel to the vertical axis direction, and the second water level correction value increases.

Figure 13B is a diagram showing the relationship between the rotation speed of the rotor 20d of the multicopter 2 and the third water level correction value, derived by the above-mentioned procedure. In detail, line L2 in the graph shown in Figure 13B shows the correlation between the rotation speed of the rotor 20d and the third water level correction value when the altitude of the multicopter 2 is set to a predetermined constant value and the multicopter 2 is hovered. As shown by line L2, the higher the rotation speed of the rotor 20d (toward the right on the horizontal axis of Figure 13B), the more the water surface is affected by the swirling wind of the blades 20e, and the greater the fluctuation in the water level, so the larger the third water level correction value becomes (moving upward on the vertical axis of Figure 13B). Also, the lower the altitude of the multicopter 2, the more line L2 shifts upward parallel to the vertical axis, and the larger the third water level correction value becomes.

Correction data such as an arithmetic formula (function) or table showing the relationship between the altitude of the multicopter 2 in Figure 13A and the second water level correction value, or an arithmetic formula (function) or table showing the relationship between the rotation speed of the rotor 20d of the multicopter 2 in Figure 13B and the third water level correction value, is pre-stored in the memory unit 3b of the support device 3.
During operation of the farm management system 7, the water level detection unit 3g of the support device 3 detects the water level at a predetermined position in the farm field H based on image data captured by the imaging device 28 during flight of the multicopter 2. Then, the acquisition unit 3e extracts the altitude of the multicopter 2 or the rotation speed of the rotor 20d at the time of capturing the image data from the flight results of the multicopter 2 stored in the storage unit 3b. Next, the correction unit 3h derives a second water level correction value based on the extracted altitude of the multicopter 2 and the correction data stored in the storage unit 3b. Then, the correction unit 3h corrects the water level detection value by the water level detection unit 3g (second water level correction) based on the second water level correction value. In detail, the correction unit 3h obtains the water level after the second water level correction, for example, by adding the second water level correction value to the water level detection value by the water level detection unit 3g.

Alternatively, the correction unit 3h derives a third water level correction value based on the rotation speed of the rotor 20d extracted by the acquisition unit 3e and the correction data stored in the memory unit 3b. Then, the correction unit 3h corrects the water level detection value by the water level detection unit 3g based on the third water level correction value (third water level correction). In detail, the correction unit 3h obtains the water level after the third water level correction, for example, by adding the third water level correction value to the water level detection value by the water level detection unit 3g.

Alternatively, the correction unit 3h corrects the water level after the second water level correction (fourth water level correction) based on the third water level correction value. In detail, the correction unit 3h obtains the water level after the fourth water level correction, for example, by adding the third water level correction value to the water level after the second water level correction.
Then, the correction unit 3h corrects the water level after performing at least one of the second to fourth water level corrections (fifth water level correction) based on wind information of the field H. Then, the control unit 3a determines the water level after the fifth correction as the water level at a predetermined position in the field H, and determines the overall water level of the field H based on the water level after the fifth correction. The procedure for the fifth water level correction based on the wind information of the field H at this time is the same as the procedure for the first water level correction described above, and the procedure for estimating the overall water level of the field H is the same as the procedure for estimating the overall water level described above.

After the water level of field H is determined, the control unit 3a judges whether water supply or drainage is required for field H based on the water level of field H stored in the memory unit 3b (S14 in FIG. 8B). At this time, for example, the control unit 3a judges that water supply is required if the overall water level of field H is below a predetermined water supply threshold. Also, the control unit 3a judges that drainage is required if the overall water level is above a predetermined drainage threshold.

It is also possible to set multiple water supply thresholds and drainage thresholds according to the growth conditions or season of the crop U, and store each threshold in association with the field management plan in the memory unit 3b. The control unit 3a may then read out the water supply thresholds and drainage thresholds from the memory unit 3b as appropriate based on the field management plan, and use them in determining whether or not water supply and drainage are required as described above. In addition to the overall water level of the field H, the water level at a specified position after at least one of the first to fifth water level corrections described above may be compared with the water supply threshold or drainage threshold, and the necessity of water supply and drainage for the field H may be determined from the comparison result.

When the control unit 3a determines that water supply is necessary for the field H (S15: YES), it transmits a water supply command to the water management device 1 via the communication unit 3c (S16). At this time, the control unit 3a transmits the water supply command together with the identification information of the destination water management device 1. The water supply command includes an instruction to perform a water supply operation, the water supply time, the opening degree of the valve body 102, and the like.
Furthermore, when the control unit 3a determines that drainage is necessary for the field H (S17: YES), it transmits a drainage command to the water management device 1 via the communication unit 3c (S18). At this time, the control unit 3a transmits the drainage command together with the identification information of the destination water management device 1. The drainage command includes an instruction to perform the drainage operation, the drainage time, the opening degree of the gate valve 125, and the like.

In the water management device 1, when a water supply command accompanied by the identification information of the water management device 1 is received by the communication device 70 (S78: YES in FIG. 10B), the control device 60 causes the actuator 10 to open the valve body 102 based on the water supply command, thereby supplying water to the field H (S79). In addition, when a drainage command accompanied by the identification information of the water management device 1 to which the control device 60 belongs is received by the communication device 70 (S80: YES), the control device 60 causes the actuator 10 to open the gate valve 125 based on the drainage command, thereby draining water from the field H (S81).

The control device 60 then stores operation information indicating that a water supply operation or a drainage operation has been performed in the storage unit 60a, and transmits the operation information to the support device 3 via the communication device 70 (S82). At this time, the control device 60 transmits the operation information together with the identification information of the water management device 1 to which the control device 60 belongs and the identification information of the support device 3 to which the information is to be transmitted.
After process S82 in Fig. 10B, the water management device 1 repeatedly executes process S61 and subsequent processes. Furthermore, even if a water supply command or a drain command accompanied by the identification information of the water management device 1 is not received by the communication device 70 (S78: NO, S80: NO), the water management device 1 repeatedly executes process S61 and subsequent processes. Furthermore, even if a water management plan accompanied by the identification information of the water management device 1 is not received by the communication device 70 (S61: NO in Fig. 10A), if a water management plan is already stored in the memory unit 61a (S65: YES), the water management plan is executed (S66 to S77).

In the support device 3, when the control unit 3a determines that water supply is not necessary for the field H (S15: NO in Figure 8B), or when it determines that water supply is necessary for the field H (S15: YES) and sends a water supply command or a drainage command to the water management device 1 (S16 or S18), the acquisition unit 3e acquires field information, water level information, or a field management plan (S19).
At this time, the acquisition unit 3e extracts, as the field information, information indicating the state of the outer shape of the field H, the atmosphere, the water supply and drainage, or the crops U, etc., from the latest or a predetermined number of times before the latest, operation information of the water management device 1, the flight results of the multicopter 2, and the monitoring results of the water management device 1 and the multicopter 2 from the storage unit 3b. Alternatively, the acquisition unit 3e extracts, as the water level information, from the storage unit 3b, the water level of the field H detected by the water level detection unit 3g, the water level corrected by the correction unit 3h, the water level determined by the determination unit 3i, and position information indicating the detection position of the water level, from the latest or a predetermined number of times before the latest.

Next, the plan creation unit 3f determines whether or not the water level detection plan needs to be changed based on the field information, water level information, or field management plan acquired by the acquisition unit 3e (S20). At this time, the plan creation unit 3f determines whether or not the detection frequency, detection position, or detection procedure of the water level of the field H included in the water level detection plan needs to be changed based on the above field information, water level information, or field management plan and the frequency determination table T1 stored in advance in the memory unit 3b.

14 is a diagram showing a frequency determination table T1. The frequency determination table T1 shows the relationship between the size (external shape) of a plurality of fields H, the amount of rainfall (atmospheric conditions) in an area including the plurality of fields H, the amount of water supply and drainage for each field H, and the amount of power generated by the solar panels 40 of the water management device 1 installed in each field H, and the frequency of detection of the water level in each field H.
The plan creation unit 3f first sets the detection frequency of the water level of the field H according to the frequency determination table T1. For example, the plan creation unit 3f confirms from the field information acquired by the acquisition unit 3e, using the frequency determination table T1, that the first field H1 (FIG. 2) has a medium area, that the amount of water supply has been a predetermined medium amount, that the amount of rainfall has been 0 (zero), and that the amount of power generation by the solar panel 40 has been a predetermined medium amount from a certain point in the past to the present. In this case, the plan creation unit 3f determines that the water level fluctuation of the first field H1 is medium, and sets the detection frequency of the water level of the first field H1 to a medium frequency of every 20 minutes.

The plan creation unit 3f also uses the frequency determination table T1 to confirm from the information acquired by the acquisition unit 3e that the second field H2 (Figure 2) has a relatively large area, has received a relatively large amount of water from a certain point in the past to the present, has had zero rainfall, and has generated a moderate amount of electricity from the solar panels 40. In this case, the plan creation unit 3f determines that the water level fluctuations in the second field H2 are small, and sets the detection frequency of the water level in the second field H2 to a relatively low frequency of every 40 minutes.

Furthermore, the plan creation unit 3f confirms from the frequency determination table T1, based on the information acquired by the acquisition unit 3e, that in the fourth field H4 (Figure 2), the area is relatively small, the amount of water supply has been relatively small from a certain point in the past to the present, the amount of rainfall has been zero, and the amount of power generation by the solar panel 40 is relatively large. In this case, the plan creation unit 3f determines that the water level fluctuations in the fourth field H4 are large, and sets the detection frequency of the water level in the fourth field H4 to a relatively high frequency of every 10 minutes.

That is, in the example shown in FIG. 14, the larger the field H, the lower the water level detection frequency is set. Also, the greater the amount of water supplied to the field H, the lower the water level detection frequency is set. Also, the greater the amount of power generated by the solar panel 40, the higher the water level detection frequency is set. With regard to the amount of rainfall, for example, the lower the amount of rainfall, the higher the water level detection frequency may be set. Such a tendency to set the water level detection frequency based on field information may be changed as appropriate, such as by reversing it depending on the time of year.

In addition to the above, for example, the plan creation unit 3f may determine the magnitude of water level fluctuations in the field H based on the state of the atmosphere, water supply and drainage, or crop U of the field H included in the field information, and set the detection frequency of the water level of the field H according to the result of the determination. The plan creation unit 3f may also determine the magnitude of water level fluctuations in the field H based on the temperature, humidity, solar radiation, or wind information of the field H included in the detection result of the water management device 1 in the field information, or the change amount of these predetermined phenomena over a predetermined time, and set the detection frequency of the water level of the field H according to the result of the determination. The plan creation unit 3f may also determine the magnitude of water level fluctuations in the field H based on the water level of the field H included in the water level information (such as the water level determined by the determination unit 3i) or the amount of change in the water level, and set the detection frequency of the water level of the field H according to the result of the determination. Furthermore, the plan creation unit 3f may determine the magnitude of water level fluctuations in the field H based on the current management status of the field H or the current stage of agricultural work indicated in the field management plan, and set the detection frequency of the water level in the field H according to the result of the determination.

Specifically, for example, the greater the amount of fluctuation (change) in the overall water level Wo of the field H in a given time, the higher the detection frequency of the water level of the field H is set by the plan creation unit 3f. Furthermore, during periods when the field H is flooded and plowing is performed, the plan creation unit 3f determines that the water level fluctuations in the field H are large and sets the detection frequency of the water level of the field H high. Furthermore, during periods such as mid-dried periods when the field H is not flooded, the plan creation unit 3f determines that there are no fluctuations in the water level of the field H and sets the detection frequency of the water level of the field H low, or sets the water level not to be detected.

The plan creation unit 3f also restricts the multicopter 2 from flying in rainy weather or strong winds (for example, wind speeds of 5 m/sec or more), stops detecting the water level based on image data from the imaging device 28, and sets the water level to be detected based on image data from the surveillance camera 80 of the water management device 1. In this case, the frequency of water level detection based on image data from the surveillance camera 80 may be set high.

The plan creation unit 3f also sets the detection position of the water level in the field H. For example, while the water management device 1 is supplying water or draining water to the field H, and for some time after the operation is completed, the water level is unstable near the water management device 1 due to waves on the water surface. For this reason, the plan creation unit 3f sets the water level not to be detected at a predetermined position near the water management device 1 during the water supply operation, drainage operation, or for some time after either of the operations is completed by the water management device, but to be detected at a predetermined position some distance away from the water management device 1.

Furthermore, if there is almost no difference between the pre-correction water level detection values at the multiple predetermined positions Pa to Pc in the field H, the plan creation unit 3f sets the water level to be detected only at the reference position Pb. Alternatively, if there is almost no difference between the post-correction water level detection values at the multiple positions Pa to Pc, the plan creation unit 3f sets the water level to be detected only at the reference position Pb.
Furthermore, when water level information (such as water level detection values before correction or water levels after correction) of predetermined positions Pa to Pc of the field H and wind information (wind direction or wind speed) of the field H associated with the water level information are accumulated to a certain extent in the memory unit 3b, the plan creation unit 3f sets to detect only the water level of the reference position Pb of the field H at a detection frequency lower than the previous detection frequency. Furthermore, when multiple fields H with approximately the same field information are located near each other (such as fields H1 and H3 in FIG. 2), the plan creation unit 3f sets to detect the water level of the reference position Pb of one of the fields H and not to detect the water level of the other positions of the one field H and the water level of the other field H.

When the number of water level detection positions is reduced as described above, when the water level detection unit 3g subsequently detects the water level at the reference position Pb, the correction unit 3h corrects the water level detection value at the reference position Pb based on the wind information and the water level information stored in the memory unit 3b (past water level detection value at the reference position Pb, water level correction value, corrected water level, etc.). Then, the estimation unit 3j (Figure 7) estimates the water levels at the other specified positions Pa, Pc and the overall water level Wo of the field H based on the water level detection value at the reference position Pb, the corrected water level, and the water level information stored in the memory unit 3b (past water level detection values at multiple specified positions Pa to Pc, water level correction value, corrected water level, etc.). In addition, the estimation unit 3j may estimate the water level at a specific position in the other field H and the overall water level in the other field H based on the water level detection value at the reference position Pb, the water level at the corrected reference position Pb, the water level information stored in the memory unit 3b, and the water level information of the other nearby field H.

The reference position Pb of the field H may be stored in advance in the memory unit 3b, or may be set by the plan creation unit 3f based on field information and the like, and included in the field management plan. The plan creation unit 3f can change the reference position of the field H where the water level is detected by the water level detection unit 3g or the like, and another predetermined position where the water level is estimated by the estimation unit 3j. In detail, the plan creation unit 3f changes the reference position of the field H where the water level is detected by the water level detection unit 3g or the like, and another predetermined position where the water level is estimated by the estimation unit 3j, based on the field information, water level information, or wind information. For example, if the water level fluctuation at the reference position is abnormally large, an error occurs when the water level at the reference position is detected by the water level detection unit 3g or the detection result, or the water supply or drainage port of the field H is changed to the vicinity of the reference position, the plan creation unit 3f changes the reference position to another predetermined position.

As described above, the water level detection unit 3g can detect the water level at predetermined positions Pa to Pc of the field H based on the image data of the imaging device 28 and the image data of the surveillance camera 80. Therefore, based on the difference between the water level detection value (first water level) of the reference position Pb detected by the water level detection unit 3g based on the image data of the imaging device 28 and the water level detection value (second water level) of the reference position Pb detected based on the image data of the surveillance camera 80, the plan creation unit 3f may change the position and frequency of the field H where the water level is detected, as well as the position and frequency of the field H imaged by the imaging device 28 or the surveillance camera 80.

For example, if the difference between the first water level at the reference position Pb detected by the water level detection unit 3g based on the image data of the imaging device 28 and the second water level at the reference position Pb detected based on the image data of the monitoring camera 80 is less than a predetermined threshold, the plan creation unit 3f reduces the position and frequency at which the water level in the field H is detected, and also reduces the position of the field H imaged by the imaging device 28 or the monitoring camera 80. Also, if the difference between the first water level and the second water level is equal to or greater than a predetermined threshold, the plan creation unit 3f increases the position and frequency at which the water level in the field H is detected, and also increases the position of the field H imaged by the imaging device 28 or the monitoring camera 80.

In addition, if there is an abnormality in either the image data of the imaging device 28 or the image data of the monitoring camera 80, or if there is an abnormality in either the water level detection value based on the image data of the imaging device 28 or the water level detection value based on the image data of the monitoring camera 80, the plan creation unit 3f may set the imaging frequency and imaging position by the imaging device with the abnormality and the water level detection frequency and detection position based on the image data of the imaging device with the abnormality to be decreased.Then, the imaging frequency and imaging position by the normal imaging device and the water level detection frequency and detection position based on the image data of the normal imaging device may be set to be increased.

In addition, the plan creation unit 3f may be configured to increase the imaging position and imaging frequency of the field H imaged by the imaging device 28 or the surveillance camera 80 when there is no natural wind blowing in the field H, or to increase at least one of the number of fields where water levels are detected, the detection frequency, and the detection positions.
In addition, the plan creation unit 3f may change the water level detection procedure as follows, in accordance with the change in the detection frequency and detection position of the water level described above. For example, the water level detection unit 3g first detects the water level at the reference position Pb based on image data of the vicinity of the reference position Pb of the field H captured by the imaging device 28 of the multicopter 2 or the monitoring camera 80 of the water management device 1. Next, the correction unit 3h corrects the water level at the reference position Pb detected by the water level detection unit 3g based on the wind direction and wind volume of the field H acquired by the wind detection unit 50d and the acquisition unit 3e, and the water level information of the reference position Pb in the past stored in the memory unit 3b (water level detection value, corrected water level, etc.). Then, the control unit 3a estimates the water level at the other positions based on the water level at the reference position Pb after correction, the water level at the reference position Pb after past corrections stored in the memory unit 3b, the water levels at other positions in the past, etc., and determines the water level at the reference position Pb and the water levels at other positions. In addition, the control unit 3a determines the overall water level of the field H based on the determined water levels at each predetermined position.

In addition, for example, the correction unit 3h may create correction data for correcting the water level at the reference position Pb and estimation data for estimating the water level at other positions based on the water level at a specific position in the field H stored in the memory unit 3b and wind information for the field H.
Specifically, the correction unit 3h extracts a correlation between the wind direction or wind speed in the field H and the water level at the reference position Pb, based on the past water level at the reference position Pb of the field H stored in the memory unit 3b and past wind information for the field H. Furthermore, based on the correlation, the correction unit 3h derives a fluctuation value (amount of decrease or increase) of the water level at the reference position Pb according to the wind direction or wind speed of the field H as a sixth correction value. Then, the correction unit 3h creates a table indicating the correspondence relationship between the wind direction or wind speed in the field H and the sixth correction value of the water level, or an arithmetic expression for determining the sixth correction value based on the wind direction or wind speed in the field H, and stores correction data indicating the table or arithmetic expression in the memory unit 3b.

The correction unit 3h extracts a correlation between the water level at the reference position Pb after the correction and the water levels at other positions based on the past corrected water levels at each predetermined position stored in the memory unit 3b. The correction unit 3h then creates a table or an arithmetic expression showing the correlation, and stores estimated data showing the table or the arithmetic expression in the memory unit 3b.
Thereafter, the correction unit 3h corrects the water level at the reference position Pb detected by the water level detection unit 3g based on the correction data stored in the memory unit 3b and the wind direction or wind volume in the field H acquired by the wind detection unit 50d and the acquisition unit 3e. Then, the control unit 3a estimates water levels at other predetermined positions based on the corrected water level at the reference position Pb and the estimated data stored in the memory unit 3b, and further estimates the overall water level of the field H. As another example, the control unit 3a may estimate the overall water level of the field H based on the corrected water level at the reference position Pb and past corrected water level information for each position stored in the memory unit 3b, without estimating the water levels at other predetermined positions.

When the plan creation unit 3f sets the water level detection frequency, detection position, or detection procedure as described above, it compares the setting result with the corresponding items (water level detection frequency, detection position, detection procedure, or operation state related to water level detection) included in the water level detection plan stored in the memory unit 3b. At this time, if the set water level detection frequency, detection position, detection procedure, or operation state related to water level detection, etc. differs from the corresponding items in the water level detection plan, the plan creation unit 3f determines that the water level detection plan needs to be changed (S21: YES in FIG. 8B).

Then, the plan creation unit 3f modifies the water level detection plan according to the setting results of the above-mentioned water level detection frequency, detection position, detection procedure, or operating state related to water level detection, overwrites the water level detection plan stored in the memory unit 3b with the modified water level detection plan, updates the water level detection plan, and transmits the updated water level detection plan to the water management device 1 and the multicopter 2 via the communication unit 3c (S22).

In addition, the plan creation unit 3f changes the flight plan of the multicopter 2 or the water management plan of the water management device 1 in response to the change in the water level detection plan described above, overwrites the corresponding plan stored in the memory unit 3b with the changed plan, updates the flight plan or water management plan, and transmits the updated plan to the multicopter 2 or the water management device 1 via the communication unit 3c (S23).
In detail, for example, for the field H or a predetermined position or time of the field H where the water level is not detected, there is no need to fly the multicopter 2 to take an aerial photograph with the imaging device 28, and there is no need to take an image with the monitoring camera 80 of the water management device 1. For this reason, the plan creation unit 3f shortens the flight route of the multicopter 2 or reduces the flight schedule in response to a decrease in the detection position or detection frequency of the water level. Accordingly, the aerial photography position and the number of aerial photography by the imaging device 28 are also reduced. In addition, the plan creation unit 3f reduces the monitoring schedule for taking an image of a predetermined position of the field H with the monitoring camera 80 of the water management device 1 in response to a decrease in the detection position or detection frequency of the water level. Accordingly, the detection schedule for detecting a predetermined phenomenon such as wind information of the field H with the detection device 50 may also be reduced.

Furthermore, when the number of fields H where the water level is detected, or the detection positions or detection frequency of the field H increases, the plan creation unit 3f expands the flight route of the multicopter 2 or increases the flight schedule in response to the increase. Accordingly, the aerial photography positions and the number of aerial photography times by the imaging device 28 also increase. Furthermore, the plan creation unit 3f increases the monitoring schedule for imaging a predetermined position of the field H with the monitoring camera 80 of the water management device 1 in response to an increase in the detection positions or detection frequency of the water level. Accordingly, the monitoring schedule for detecting a predetermined phenomenon such as wind information of the field H with the detection device 50 may also be increased.
As described above, the change in the flight plan restricts the flight of the multicopter 2. Furthermore, the change in the water management plan restricts the operation of the water management device 1.

Furthermore, the plan creation unit 3f changes the field management plan as necessary based on the field information or water level information acquired by the acquisition unit 3e, and overwrites the field management plan stored in the storage unit 3b with the changed field management plan to update the field management plan (S24). In detail, the plan creation unit 3f judges whether or not it is necessary to change the field management plan based on the field information acquired by the acquisition unit 3e (detection result of a predetermined phenomenon, operation information of the water management device 1, flight result of the multicopter 2, or monitoring result of the water management device 1 and the multicopter 2) or water level information (such as the water level of the field H). Alternatively, the plan creation unit 3f judges whether or not it is necessary to change other plans included in the field management plan (plans other than the water level detection plan, flight plan, and water management plan). Then, the plan creation unit 3f changes and updates the plan that is judged to be changed based on the field information or water level information.
Even if the plan creation unit 3f determines in step S21 of Fig. 8B that it is not necessary to change the water level detection plan (S24: NO), the process S24 is executed as described above. After step S24, the process S1 and subsequent steps in Fig. 8A are repeatedly executed.

<Electrical configuration of the second embodiment>
FIG. 15 is a diagram showing the electrical configuration of a farm land management system 7 according to the second embodiment.
In the second embodiment, a detection device 29 having a wind detection unit 29d and a water level detection unit 29g is provided in the multicopter 2. In addition, a correction unit 21h is provided in the control device 21 of the multicopter 2. The wind detection unit 50d, the water level detection unit 3g, and the correction unit 3h of the first embodiment shown in Fig. 7 are not provided in the second embodiment.
The wind detection unit 29d of the detection device 29 is composed of, for example, an anemometer attached to a predetermined position on the body 20a of the multicopter 2. When the multicopter 2 is flying, the wind detection unit 29d detects the wind direction and wind speed in the sky above the field H. The correction unit 21h is composed of a software program pre-stored in the control device 21 of the multicopter 2. The correction unit 21h detects the wind direction and wind speed in the sky detected by the wind detection unit 29d based on the rotation speed of the rotor 20d of the rotary blades 20c or a wind correction value according to the altitude of the multicopter 2, thereby detecting the wind direction and wind speed of the wind blowing in the field H.

The wind correction value is set based on the results of a previous experiment and stored in the memory unit 21a. Specifically, for example, an experiment is conducted in which the multicopter 2 flies in an indoor flight training field for flying objects that is not affected by natural wind, and the multicopter 2 hovers while changing the altitude of the multicopter 2 or the rotation speed of the rotor 20d, and the wind direction and wind speed are measured by the wind detection unit 29d, and also by a wind vane and anemometer installed at a predetermined ground position below the multicopter 2. At this time, each time either the altitude of the multicopter 2 or the rotation speed of the rotor 20d is changed, the flight state, the measurement results of the wind detection unit 29d, and the measurement results of the ground wind vane and anemometer are imported into an experimental terminal device consisting of a personal computer.

Then, in the experimental terminal device, from the above experimental results, each time the rotation speed of the rotor 20d is set or changed, the angular difference in the wind direction of the swirling wind on the ground detected by the anemometer on the ground is calculated relative to the wind direction of the swirling wind in the sky detected by the wind detection unit 29d. Next, the correlation between the change in the rotation speed of the rotor 20d and the change in the angular difference in the wind direction is extracted. Next, based on the correlation, the angular difference in the wind direction according to the rotation speed of the rotor 20d is derived as a first wind direction correction value. Then, a table showing the correspondence between the rotation speed of the rotor 20d and the first wind direction correction value, or an arithmetic expression for finding the first wind direction correction value based on the rotation speed of the rotor 20d is created, and correction data showing the table or arithmetic expression is stored in the memory unit 3b of the support device 3.

In addition, each time the rotation speed of the loader 20d is set or changed, the difference in wind speed of the swirling wind on the ground detected by the anemometer on the ground is calculated relative to the wind speed of the swirling wind in the sky detected by the wind detection unit 29d. Next, the correlation between the change in the rotation speed of the rotor 20d and the change in the difference in the above wind speed is extracted. Next, based on the correlation, the difference in the above wind speed according to the rotation speed of the rotor 20d is derived as a first wind speed correction value. Then, a table showing the correspondence between the rotation speed of the rotor 20d and the first wind speed correction value, or an arithmetic expression for finding the first wind speed correction value based on the rotation speed of the rotor 20d is created, and correction data showing the table or arithmetic expression is stored in the memory unit 3b of the support device 3.

Or, each time the altitude of the multicopter 2 is set or changed, the angular difference in the wind direction of the swirling wind on the ground detected by the anemometer on the ground is calculated relative to the wind direction of the swirling wind in the sky detected by the wind detection unit 29d. Next, the correlation between the change in altitude of the multicopter 2 and the change in the angular difference in the wind direction is extracted. Next, based on the correlation, the angular difference in the wind direction according to the altitude of the multicopter 2 is derived as a second wind direction correction value. Then, a table showing the correspondence between the altitude of the multicopter 2 and the second wind direction correction value, or an arithmetic expression for finding the second wind direction correction value based on the altitude of the multicopter 2 is created, and correction data showing the table or arithmetic expression is stored in the memory unit 3b of the support device 3.

In addition, each time the altitude of the multicopter 2 is set or changed, the difference in wind speed of the swirling wind on the ground detected by the anemometer on the ground is calculated relative to the wind speed of the swirling wind in the sky detected by the wind detection unit 29d. Next, the correlation between the change in altitude of the multicopter 2 and the change in the difference in the above wind speed is extracted. Next, based on the correlation, the difference in the above wind speed according to the altitude of the multicopter 2 is derived as a second wind speed correction value. Then, a table showing the correspondence between the altitude of the multicopter 2 and the second wind speed correction value, or an arithmetic expression for finding the second wind speed correction value based on the altitude of the multicopter 2 is created, and correction data showing the table or arithmetic expression is stored in the memory unit 3b of the support device 3.

In addition to the first wind direction correction value and first wind speed correction value, or the second wind direction correction value and second wind speed correction value as described above, a wind correction vector that serves as a wind correction value may be obtained based on a vector indicating the wind direction and wind speed of the swirling wind in the sky detected by the wind detection unit 29d and a vector indicating the wind direction and wind speed of the swirling wind on the ground detected by a wind direction and speed meter on the ground.
In this case, specifically, for example, in the experimental terminal device, first, from the above-mentioned experimental results, an upper air swirling wind vector indicating the wind direction and wind speed of the swirling wind in the upper air detected by the wind detection unit 29d is calculated every time the rotation speed of the rotor 20d is set or changed. Also, a ground swirling wind vector indicating the wind direction and wind speed of the swirling wind on the ground detected by an anemometer on the ground is calculated every time the rotation speed of the rotor 20d is set or changed. Next, a first correction vector that becomes a ground swirling wind vector by combining with the upper air swirling wind vector is calculated as a first wind correction value (upper air swirling wind vector + first correction vector = ground swirling wind vector). Then, a table showing the correspondence between the rotation speed of the rotor 20d and the first wind correction value, or an arithmetic expression for finding the first wind correction value based on the rotation speed of the rotor 20d is created, and correction data indicating the table or arithmetic expression is stored in the storage unit 21a of the multicopter 2.

Or, each time the altitude of the multicopter 2 is set or changed, an upper air swirling wind vector indicating the wind direction and wind speed of the swirling wind in the sky detected by the wind detection unit 29d is calculated. Also, each time the altitude of the multicopter 2 is set or changed, a ground swirling wind vector indicating the wind direction and wind speed of the swirling wind on the ground detected by a wind vane anemometer on the ground is calculated. Next, a second correction vector that becomes the ground swirling wind vector by combining with the upper air swirling wind vector is calculated as the second wind correction value (upper air swirling wind vector + second correction vector = ground swirling wind vector). Then, a table showing the correspondence between the altitude of the multicopter 2 and the second wind correction value, or an arithmetic expression for finding the second wind correction value based on the altitude of the multicopter 2 is created, and correction data indicating the table or arithmetic expression is stored in the memory unit 21a of the multicopter 2.

When the farm management system 7 is in operation, the wind detection unit 29d detects the wind direction and wind speed above the farm field H while the multicopter 2 is flying (hovering), and obtains the rotation speed of the rotor 20d or the altitude of the multicopter 2 at the time of detection from the control unit 21 or the actuator 22. Then, the correction unit 21h reads out a wind correction value (first wind direction correction value and first wind speed correction value, or first wind correction value) corresponding to the rotation speed of the rotor 20d, or a wind correction value (second wind direction correction value and second wind speed correction value, or second wind correction value) corresponding to the altitude of the multicopter 2 from the memory unit 21a, and corrects the wind detection value indicating the wind direction and wind speed detected by the wind detection unit 29d with the wind correction value, thereby detecting the wind direction and wind speed of the wind blowing in the farm field H.

In detail, when, for example, a first wind direction correction value and a first wind speed correction value, or a second wind direction correction value and a second wind speed correction value are set as the wind correction value, the correction unit 21h reads out from the memory unit 21a the first wind direction correction value and the first wind speed correction value according to the rotation speed of the rotor 20d, or the second wind direction correction value and the second wind speed correction value according to the altitude of the multicopter 2. Then, the correction unit 21h detects the wind direction and wind speed of the wind blowing in the field H by adding the wind direction correction value (the first wind direction correction value or the second wind direction correction value) and the wind speed correction value (the first wind speed correction value or the second wind speed correction value) to the wind direction and wind speed detected by the wind detection unit 29d, respectively.

Alternatively, when, for example, a first wind correction value (first correction vector) or a second wind correction value (second correction vector) is set as the wind correction value, the correction unit 21h reads out the first wind correction value corresponding to the rotation speed of the rotor 20d or the second wind correction value corresponding to the altitude of the multicopter 2 from the memory unit 21a. Then, the correction unit 21h detects the wind direction and wind speed (ground wind vector) of the wind blowing in the field H by combining the upper air wind detection value (upper air wind vector) indicating the wind direction and wind speed detected by the wind detection unit 29d with the first wind correction value or the second wind correction value.

Then, the correction unit 21h associates the wind detection value, which indicates the wind direction and wind speed of the wind blowing in the field H detected as described above, with flight information including the rotation speed of the rotor 20d and the altitude of the multicopter 2 based on the time of the detection, and the position information of the multicopter 2 at the time of the detection, and stores it in the memory unit 21a. The operation of each part of the second embodiment other than the above is the same as the operation of each part of the first embodiment.

As another example, the multicopter 2 may not be equipped with an anemometer, and a wind detection unit consisting of a software program or IC may be provided in the control device 21. In this case, the wind detection unit provided in the control device 21 detects the wind blowing in the sky above the field H based on the attitude (tilt angle and tilt direction) of the aircraft 20a measured by the inertial measurement unit 22b mounted on the multicopter 2 when the multicopter 2 is hovering in the sky above the field H.

In more detail, generally, when the multicopter 2 is hovering in the sky, it maintains a fixed position by tilting the airframe 20a so that it faces directly into the wind. The degree of tilt (tilt angle) of the airframe 20a of the multicopter 2 when hovering depends on the wind speed in the sky, and the tilt direction of the airframe 20a depends on the wind direction in the sky. For this reason, the wind detection unit provided in the control device 21 detects the wind direction in the sky from the tilt direction of the airframe 20a measured by the inertial measurement unit 22b. The wind detection unit also detects the wind speed in the sky by applying the tilt angle of the airframe 20a measured by the inertial measurement unit 22b to a previously derived relational equation between the tilt angle of the multicopter 2 and the wind speed.

The water level detection unit 29g is composed of, for example, a laser radar attached to a predetermined position of the machine body 20a. In this case, a reflecting member is provided on the water surface at a predetermined position in the field H. It is preferable to provide the reflecting member on a float that floats on the water surface and connect an anchor (weight) to the float to restrict the movement of the float and the reflecting member in the field H. A measuring light (laser light) is projected from the light projecting unit of the water level detection unit 29g toward the water surface of the field H, and the light reflected by the reflecting member of the measuring light is received by the light receiving unit of the water level detection unit 29g. The water level detection unit 29g measures the distance to the reflecting member based on the time from projecting the measuring light to receiving the reflected light from the reflecting member (TOF (Time Of Flight) method). The water level detection unit 29g detects the water level at a predetermined position in the field H based on the distance to the reflecting member and the distance to the reference surface (e.g., the soil surface) of the field H stored in advance.

The water level detection unit 29g may also be configured with a green laser scanner or the like. The green laser scanner projects green laser light from the light projecting unit as measurement light. The green laser light is reflected by the water surface and objects other than the water surface, and also passes through the water and reflects off the bottom of the water. The green laser scanner can detect the water depth based on the difference between the time from when the measurement light is projected until the light receiving unit receives the reflected light of the measurement light from the water surface, and the time when the light receiving unit receives the reflected light of the measurement light from the bottom of the water. The water level detection unit 29g configured with such a green laser scanner detects the water level at a predetermined position in the field H.

As another example, similar to the water level detection unit 3g of the first embodiment, the control device 21 may be provided with a water level detection unit consisting of a software program that detects the water level of the field H from image data captured by an imaging device 28 or the like.
The correction unit 21h corrects the water level at a predetermined position in the field H detected by the water level detection unit 29g based on the wind detection value (wind information) of the field H detected by the wind detection unit 29d, and stores the corrected water level at the predetermined position in the memory unit 21a. The correction unit 21h also associates related information used when correcting the water level (water level detection value, correction value, wind information, position information, etc.) with the corrected water level and stores it in the memory unit 21a as water level information. The control device 21 provides the water level information stored in the memory unit 21a to the support device 3 via the communication device 23 or the like.

Then, the determination unit 3i of the support device 3 determines the water level at the specified position and the overall water level of the field H based on the corrected water level at the specified position included in the water level information acquired from the multicopter 2. The estimation unit 3j estimates the water levels at other specified positions. Furthermore, in the support device 3, as in the first embodiment, the need for water supply or drainage for the field H is determined based on the water level of the field H, and the water management device 1 supplies or drains water to the field H depending on the determination result. Furthermore, in the support device 3, the water level detection plan is reviewed, and the frequency and detection position of water level detection by the water level detection unit 29g are changed as necessary, and other plans included in the flight plan of the multicopter 2 and the field management plan are also changed.

<Examples of application to multiple other fields>
FIG. 16 is a plan view of other multiple farm fields H.
The farm field management system 7 of the embodiment described above can also be applied to a plurality of farm fields H as shown in Fig. 16. The plurality of farm fields H shown in Fig. 16 are not provided with an automatic water supply and drainage device (or an automatic water tap) such as the water management device 1. Water distribution channels 201-203 for distributing water to each of the farm fields H are provided around the plurality of farm fields H. The tops of the water distribution channels 201-207 are open, making it possible to visually confirm the flow of water in the water distribution channels 201-207 from above. As shown by the arrows in Fig. 16, water flows in each of the water distribution channels 201-207.

In more detail, of the multiple distribution channels 201-207, water flows from the first distribution channel 201 to the second distribution channel 202 and the fifth distribution channel 205. Water flows from the second distribution channel 202 to the third distribution channel 203 and the fourth distribution channel 204. Water flows from the fifth distribution channel 205 to the sixth distribution channel 206 and the seventh distribution channel 207. The second distribution channel 202 is provided upstream of the fifth distribution channel 205. The third distribution channel 203 is provided upstream of the fourth distribution channel 204. The sixth distribution channel 206 is provided upstream of the seventh distribution channel 207.

Water taps 211-216 that can be opened and closed manually are provided at the connections between the water distribution channels 201-207. When the water distribution taps 211 and 214 are opened, water flows from the first water distribution channel 201 to the second water distribution channel 202 and the fifth water distribution channel 205. When the water distribution taps 212 and 213 are opened, water flows from the second water distribution channel 202 to the third water distribution channel 203 and the fourth water distribution channel 204, and water is supplied to each of the fields H belonging to the upstream field groups Ha and Hb. When the water distribution taps 215 and 216 are opened, water flows from the fifth water distribution channel 205 to the sixth water distribution channel 206 and the seventh water distribution channel 207, and water is supplied to each of the fields H belonging to the downstream field groups Hc and Hd. In FIG. 16, the rectangular areas are fields H, and for convenience, only a portion of the fields H is labeled with a symbol.

When the water distribution taps 212, 213, 215, and 216 are blocked, water does not flow from the water distribution channels 202 and 205 to the water distribution channels 203, 204, 206, and 207, and water is not supplied to each of the fields H belonging to the field groups Ha, Hb, Hc, and Hd. Also, even if the water distribution taps 211 and 214 are blocked, water is not supplied to each of the fields H belonging to the field groups Ha, Hb, Hc, and Hd.
The multicopter 2 is flown above the water distribution channels 201-207 and the farm fields Ha-Hd to take aerial photographs using the imaging device 28. Then, when image data from the imaging device 28 is acquired by the acquisition unit 3e of the support device 3, the plan creation unit 3f changes the water level detection plan based on the image data.

Specifically, for example, the plan creation unit 3 f performs image analysis on the image data from the imaging device 28 to detect the water distribution state, i.e., whether or not water is flowing in each of the water distribution channels 201 to 207. Next, the plan creation unit 3 f detects the water supply state, i.e., whether or not water is being supplied to the groups of fields Ha, Hb, Hc, and Hd, based on the water distribution state of each of the water distribution channels 201 to 207.
Then, the plan creation unit 3f sets the frequency of water level detection low (longer detection cycle) for the fields H belonging to the group of fields to which water is not supplied, and sets the frequency of water level detection high (shorter detection cycle) for the fields H belonging to the group of fields to which water is supplied. In this case, the plan creation unit 3f then changes the frequency of water level detection high in each field H if the difference (water level fluctuation value) between the water level detection value (water level before or after correction) by the water level detection unit or the like and the previous water level detection value of the field H is equal to or greater than a predetermined threshold. Furthermore, the plan creation unit 3f changes the frequency of water level detection low in each field H if the difference between the water level detection value by the water level detection unit or the like and the previous water level detection value of the field H is less than a predetermined threshold. The detection of the water level of the field H may be performed using at least one of the water level detection units 3g, 29g, 49g described above.

The plan creation unit 3f may also set the water level detection position so as to detect only the water level of the field H located most upstream in the group of fields to which water is being supplied. In this case, if the difference between the water level detection value of the field H located most upstream and the previous water level detection value of that field H is equal to or greater than a predetermined threshold, the plan creation unit 3f then changes the water level detection position so as to detect the water levels of other fields H belonging to the same group of fields. Furthermore, after that, if the difference between the water level detection value by a water level detection unit or the like and the previous water level detection value of that field H is less than a predetermined threshold, in each field H belonging to the same group of fields, the plan creation unit 3f changes the water level detection position so as not to detect the water level of that field H.

In response to the creation or modification of the water level detection plan as described above, the plan creation unit 3f creates or modifies a flight plan (flight route and flight schedule) for the multicopter 2, and restricts the flight of the multicopter 2. The same multicopter 2 may be used to monitor the water distribution channels 201-207 and the farm field H (for water level detection, etc.), or different multicopters may be used to monitor the water distribution channels 201-207 and the farm field H.
In the example shown in Figure 16, the detection frequency or detection position of the water level in field H is changed based on the water distribution state of the water distribution channel, but the plan creation unit 3f may also change the detection frequency or detection position of the water level in field H based on the state of water flowing in the drainage channel through which water is discharged from field H.

<Other embodiments>
In the above embodiment, the water level detection unit 3g, 29g is provided in the support device 3 or the multicopter 2, but as shown in Fig. 17, a water level sensor 49g may be provided as a water level detection unit in the field H. The water level sensor 49g shown in Fig. 17 is installed at a predetermined position in the field H and detects the water level at the predetermined position. Although only one water level sensor 49g is shown in Fig. 17, an appropriate number of water level sensors 49g are installed according to the number of predetermined positions at which the water level in the field H is detected.

In the example shown in FIG. 17, the water level sensor 49g transmits the water level detection value at a predetermined position in the field H to the water management device 11 via wired or wireless communication. When the water management device 1 receives the water level detection value from the water level sensor 49g, it associates the water level detection value with position information indicating the position where the water level detection value was detected (the installation position of the water level sensor 49g, which is stored in advance), and transmits it to the support device 3 or the multicopter 2. In the support device 3 or the multicopter 2, the correction unit 3h, 21h corrects the water level detection value received from the water management device 1 based on the wind information of the field H. Note that a correction unit that corrects the water level detection value may be provided in the water management device 1.

In addition to the water level sensor 49g, a sensor unit having detection parts such as various sensors that detect the temperature, humidity, wind conditions, or other specified phenomena in the field H may be installed at a specified position in the field H, and the detection results of each detection part of the sensor unit may be transmitted to the water management device 1 by wire or wirelessly. In this case, the detection device 50 or the surveillance camera 80 may be omitted from the water management device 1.

At least one of the water level detection units 3g and 29g may be used in combination with the water level sensor 49g. In this case, the plan creation unit 3f may compare the first water level of the field H that the water level detection units 3g and 29g can detect by flying the multicopter 2 (the water level detection value of the water level detection unit 3g based on the image data of the imaging device 28 or the water level detection value of the water level detection unit 29g) with the second water level of the field H that the water level detection units 3g and 49g can detect without flying the multicopter 2 (the water level detection value of the water level detection unit 3g based on the image data of the monitoring camera 80 or the water level detection value of the water level sensor 49g). Based on the comparison result, the plan creation unit 3f may change the detection frequency or detection position of the water level, and further change the flight plan of the multicopter 2.

As another example, at least two of the water level detection units 3g, 29g, and 49g may be used, with the water level detection value of one of the water level detection units set as the priority value and the water level detection value of the other water level detection unit set as the backup value. Also, the multicopter 2 may be provided with both the water level detection unit 29g and a water level detection unit that detects the water level of the field H based on image data captured from the air by the imaging device 28.

In addition, a wind detection unit 50d may be provided in the field H (water management device 1), and a wind detection unit 29d may be provided in the multicopter 2, and the control unit 3a of the support device 3 may determine the wind conditions (wind direction or wind speed) in the field H based on the wind direction or wind speed detected by both wind detection units 50d, 29d. Then, the correction units 3h, 21h may correct the water level in the field H detected by the water level detection units 3g, 29g, 49g based on the determined wind conditions.

As another example, both wind detectors 50d and 29d may be used, with the wind detection value of one of the wind detectors set as the priority value and the wind detection value of the other wind detector set as the backup value.
Also, the acquisition unit 3e, plan creation unit 3f, water level detection unit 3g, correction unit 3h, determination unit 3i, estimation unit 3j, or control unit 3a may be omitted from the support device 3, and an acquisition unit, plan creation unit, water level detection unit, correction unit, determination unit, estimation unit, or control unit having the same functions as these may be provided in the water management device 1 or the multicopter 2. In this case, the support device 3 may be omitted from the field management system 7 by having the multicopter 2 and the water management device 1 communicate with each other, or by determining whether or not water supply and drainage is required for the field H based on the water level of the field H after correction by the multicopter 2 or the water management device 1.

In addition, without providing a support device 3, an application program having the same functions as the acquisition unit 3e, the plan creation unit 3f, the water level detection unit 3g, the correction unit 3h, the determination unit 3i, the estimation unit 3j, or the control unit 3a may be provided on the cloud.
In addition, if the water level in the field H is detected by the water level detection unit 3g based on image data from the surveillance camera 80, or the water level in the field H is detected by a water level sensor 49g installed in the field H, the multicopter 2 may be omitted from the field management system 7.

In addition, instead of the multicopter 2, a mobile object such as a small robot capable of moving on the water surface, underwater, or on the bottom of the water in the field H, or a machine capable of moving along a wire rope or rail installed across multiple water management devices 1 or fences installed around the field H, may be provided with a water level detection unit such as a water level sensor or a laser scanner, or a monitoring unit such as a surveillance camera, to detect the water level at a predetermined position in the field H. In this case, the mobile object may be provided with a position detection unit such as a positioning device, or the position of the mobile object may be detected based on image data captured by the surveillance camera 80 of the water management device 1. In addition, the mobile object may be provided with a communication unit capable of transmitting the water level detected by the water level detection unit of the mobile object or image data captured by the camera of the mobile object to the water management device 1 or the support device 3.

In addition, when an agricultural worker manually opens or closes the water supply tap or drain tap of field H managed by the field management system 7, a water supply command or drainage command can be sent from the support device 3 to the terminal device 4 owned by the agricultural worker.
In addition, artificial intelligence (AI) may be used to determine the tendency of the water level to fluctuate according to the wind conditions in the field H and detect the water level in the field H. Specifically, for example, the wind direction or wind speed in the field H is detected by the wind detection units 50d, 29d, etc. based on a water level detection plan during a predetermined period required for the growth of the crop U, and the water level in the field H (water levels before and after correction) is detected by the water level detection units 3g, 29g, 49g and the correction units 3h, 21h, etc., and the wind detection value and the water level detection value are associated with each other and stored in a database provided on the support device 3 or the cloud. Then, the artificial intelligence provided on the support device 3 or the cloud reads out the wind detection value and the water level detection value from the database, executes deep learning, and constructs the tendency of the water level to fluctuate according to the wind blowing in the field H as a learned model. Then, the control unit 3a detects the water level at a specified position or the overall water level of the field H when it is not affected by wind based on the learned model, wind detection values detected by wind detection units 50d, 29d, etc., and water level detection values detected by water level detection units 3g, 29g, 49g, etc.

In addition, the artificial intelligence may be used to change the detection plan for a predetermined phenomenon such as the water level of the field H in response to changes in the field information. Specifically, for example, the acquisition unit 3e of the support device 3 acquires field information indicating the external shape of the field H, the atmosphere, the water supply and drainage, or the state of the crop U, etc., based on the water level detection plan during a predetermined period required for the growth of the crop U, and the water level of the field H (the water level before or after correction) is detected by the water level detection units 3g, 29g, 49g, etc., and the field information and the water level detection value are associated and stored in the database of the support device 3. Then, the artificial intelligence provided in the support device 3 reads out the field information and the water level detection value from the database, performs deep learning, and constructs a learned model of the tendency of the water level to change according to the field information. The control unit 3a then changes the detection frequency or detection position of the water level in the field H based on the trained model, the field information acquired by the acquisition unit 3e, and the water level detection values detected by the water level detection units 3g, 29g, 49g, etc.

In addition, in the above embodiment, an example was shown in which the water level of the field H was corrected based on the state of the wind blowing in the field H, but the present invention may correct the detection results of a predetermined phenomenon that varies due to the influence of wind, such as air temperature, humidity, or water temperature other than the water level of the field, based on wind information indicating the wind direction, wind speed, or wind volume in the field. In addition, a detection plan such as the detection frequency, detection position, or detection procedure of a predetermined phenomenon other than the water level of the field H may be changed based on field information, water level information, or wind information. Furthermore, the present invention is applicable not only to water management of the field H, but also to cases in which the timing of performing other agricultural work, such as spraying fertilizer or chemicals on the field H, is set based on the detection results of a predetermined phenomenon, to manage crops U or soil, etc.

<Configuration and Effects of This Embodiment>
The farm land management system 7 of the present embodiment has the following configuration and provides the following effects.
<Regarding correction of detection results of a specified phenomenon>
The farm field management system 7 of this embodiment includes first detection units (wind detection units) 50d, 29d that detect the state of wind blowing in the farm field H, second detection units 3g, 29g, 49g (water level detection units 3g, 29g, water level sensor 49g) that detect the state of a predetermined phenomenon other than wind in the farm field H, and correction units 3h, 21h that correct the detection results of the second detection units 3g, 29g, 49g based on the detection results of the first detection units 50d, 29d. This improves the detection accuracy of the state of the predetermined phenomenon in the farm field H even if wind blows in the farm field H, and makes it possible to appropriately manage the farm field H based on the detection results.

The farm field management system 7 of this embodiment is equipped with a water management device 1 installed in the farm field H, which performs a water supply operation to supply water to the farm field H or a drainage operation to drain water from the farm field based on the detection results of the second detection units 3g, 29g, 49g after correction by the correction units 3h, 21h. This allows the water management device 1 to supply water to or drain water from the farm field H based on the accurate detection results of the state of a specific phenomenon in the farm field H that is not affected by wind, making it possible to appropriately manage the water in the farm field H.

In addition, in this embodiment, the first detection units 50d, 29d detect the wind direction or speed of the wind blowing in the field H, the second detection units 3g, 29g, 49g detect the water level in the field H, and the correction units 3h, 21h correct the water level detected by the second detection units 3g, 29g, 49g based on the wind direction or wind speed detected by the first detection units 50d, 29d. This makes it possible to accurately detect the water level in the field H without being affected by the wind direction or wind speed of the wind blowing in the field H, and to appropriately manage the field H.

In addition, in this embodiment, the second detection units 3g, 29g, 49g detect the water level at one or more predetermined positions set in the field H, the correction units 3h, 21h correct the water level at the predetermined position detected by the second detection units based on the predetermined position and the wind direction or wind speed detected by the first detection units 50d, 29d, and the field management system 7 includes a determination unit 3i that determines the water level of the field H based on the water level corrected by the correction units 3h, 21h. This improves the detection accuracy of the water level in the field H, making it possible to more appropriately manage the field H.

In addition, the farm field management system 7 of this embodiment is equipped with a mobile body (multicopter) 2 that moves around the farm field H, enabling the second detection units 3g, 29g to detect the water level in the farm field H in a predetermined procedure.
As a result, the water level of the field H can be detected with high accuracy by the second detection units 3g, 29g and the correction units 3h, 21h, without installing an electrical water level detection means such as a water level sensor in the field H. In addition, it is possible to reduce the cost of installing the electrical water level detection means and the electrical wiring for inputting and outputting power and signals to the water level detection means in the field H. In particular, when managing a large number of fields H, the water level of each field H can be detected by the second detection units 3g, 29g and the correction units 3h, 21h by moving the mobile body 2 to the periphery of each field H, so that it is possible to omit a large number of electrical water level detection means and their electrical wiring, which have been used conventionally, thereby reducing a large amount of costs and eliminating the effort required for adjusting the water level detection means. Furthermore, since the water level in the field H can be detected by the second detection units 3g, 29g and the correction units 3h, 21h even if the electrical water level detection means, the electrical wiring, and the mobile body 2 are not always installed in the field H, it is possible to prevent the water level detection means, the electrical wiring, and the mobile body 2 from getting in the way when performing agricultural work in the field H. On the other hand, when the water level sensor 49g is installed in the field H and the water level sensor 49g and the second detection units 3g, 29g are used in combination, the water level in the field H can be accurately detected in a plurality of different modes by the detection units 3g, 29g, 49g and the correction units 3h, 21h. In addition, even if a problem occurs in one detection mode, the water level in the field H can be reliably detected in the other detection mode.

In addition, in this embodiment, the mobile object 2 is an aircraft (multicopter) 2 capable of flying above the field H, and the field management system 7 is equipped with monitoring units 28, 80 (imaging device 28, monitoring camera 80) that are provided in the aircraft 2 or the field H and monitor the field H, and the second detection unit 3g detects the water level at one or more predetermined positions set in the field H based on the monitoring results of the monitoring units 28, 80.

As described above, when the water level at a predetermined position in the field H is detected by the second detection unit 3g and the correction unit 3h based on the monitoring results of the monitoring unit 28 provided in the flying object 2, the flying object 2 can be flown to any position above the field H, and the water level at the predetermined position in the field H can be indirectly detected with high accuracy. Also, when the water level at a predetermined position in the field H is detected by the second detection unit 3g and the correction unit 3h based on the monitoring results of the monitoring unit 80 provided in the field H, the water level at the predetermined position in the field H can be indirectly detected with high accuracy without flying the flying object 2, thereby reducing the cost and effort required for the flying object 2 and its flight. Also, when the monitoring unit 80 is provided in the water management device 1 installed in the field H, power can be easily supplied to the monitoring unit 80 from the power supply device 41 of the water management device 1 to protect the monitoring unit 80. Furthermore, when the water level at a predetermined position in the field H is detected by the second detection unit 3g and the correction unit 3h based on the monitoring results of the monitoring units 28, 80 installed in the aircraft 2 and the field H, the water level in the field H can be detected with high accuracy in a number of different modes. In addition, even if a problem occurs with one detection mode, the water level in the field H can be reliably detected with the other detection mode.

In addition, in this embodiment, the mobile body 2 consists of an aircraft 2 capable of flying above the field H, and the second detection units 29g, 49g are provided on the aircraft 2 or the field H and detect the water level at one or more predetermined positions set in the field H.
As described above, when the water level at a predetermined position in the field H is detected by the second detection unit 29g (laser radar or green laser scanner) and the correction unit 21h provided on the flying object 2, the flying object 2 can be flown to any position above the field H, and the water level at the predetermined position in the field H can be detected indirectly or directly with high accuracy. Also, when the water level at a predetermined position is detected by the second detection unit 49g (water level sensor) and the correction unit 3h provided on the predetermined position in the field H, the water level at the predetermined position in the field H can be directly detected with high accuracy without flying the flying object 2, thereby reducing the cost and effort required for the flying object 2 and its flight. Furthermore, when the water level at a predetermined position in the field H is detected by the second detection units 29g, 49g and the correction units 21h, 3h provided on the flying object 2 and the field H, respectively, the water level in the field H can be detected with high accuracy in a number of different ways. In addition, even if a problem occurs in one detection mode, the water level in the field H can be reliably detected in the other detection mode.

In addition, in this embodiment, the correction units 3h and 21h correct at least one of the water levels of the first water level in the field H that the second detection units 3g and 29g can detect in a predetermined procedure by flying the aircraft 2 over the field H, and the second water level in the field H that the second detection units 3g and 49g can detect in a different predetermined procedure even if the aircraft 2 does not fly over the field H, or the water level determined based on the first water level and the second water level. This allows the second detection units 3g, 29g and 49g and the correction units 3h and 21h to detect the water level in the field H with greater accuracy in multiple different modes. Furthermore, even if a problem occurs in one detection mode, the water level in the field H can be reliably detected in the other detection mode.

The farm field management system 7 of this embodiment also includes a change unit (plan creation unit) 3f that changes the frequency or position of water level detection by the second detection units 3g, 29g, 49g based on the water level of the farm field H detected by the second detection units 3g, 29g, 49g and then corrected by the correction units 3h, 21h, and can limit the flight of the aircraft 2 in accordance with the change. This allows the water level of the farm field H to be detected efficiently, and allows the aircraft 2 to fly efficiently. In other words, unnecessary detection of the water level of the farm field H and unnecessary flight of the aircraft 2 can be suppressed.

In addition, in this embodiment, the correction units 3h, 21h correct the water level detected by the second detection units 3g, 29g, 49g based on a predetermined water level correction value according to the flight state of the flying object 2. This makes it possible to accurately detect the water level in the field H without being affected by the wind (not natural wind, but swirling wind caused by the rotation of the blades 20e of the multicopter 2) generated by the flying object 2 flying above the field H.

In addition, in this embodiment, the first detection unit 29d is provided on the flying object 2, and the correction unit 21h corrects the wind direction or wind speed in the field H detected by the first detection unit 29d based on a predetermined wind correction value according to the flight state of the flying object 2. This makes it possible to accurately detect the wind direction or wind speed blowing in the field H without being affected by the wind caused by the flying object 2 flying above the field H. Then, based on the accurate detection result of the wind direction or wind speed, the correction units 21h, 3h correct the water level detected by the second detection units 29g, 3g, 49g, making it possible to detect the water level in the field H with even greater accuracy.

Furthermore, in this embodiment, a support device 3 capable of communicating with the water management device 1 and the aircraft 2 installed in the field H is provided, and the support device 3 transmits a water supply command or a drainage command to the water management device 1 based on the water level detected by the second detection units 3g, 29g, 49g and then corrected by the correction units 3h, 21h, and the water management device 1 supplies water to or drains water from the field H based on the water supply command or drainage command received from the support device 3. In this way, the water management device 1, the aircraft 2, and the support device 3 can be linked to improve the detection accuracy of the water level in the field H, and the water management of the field H can be appropriately performed.

<Changes to detection plans for specified phenomena>
The farm land management system 7 of this embodiment includes an acquisition unit 3e that acquires field information indicating the state of the field H, detection units 3g, 29g, 49g (water level detection units 3g, 29g, water level sensor 49g) that detect the state of a predetermined phenomenon not included in the field information of the field H, and a change unit (plan creation unit) 3f that changes the detection plan for the predetermined phenomenon by the detection units 3g, 29g, 49g based on the field information. As a result, the detection plan for the predetermined phenomenon in the field is changed according to the state of the field H, and therefore, a decrease in the detection accuracy of the state of the predetermined phenomenon and unnecessary detection are suppressed, and the detection efficiency of the state of the predetermined phenomenon is improved, making it possible to appropriately manage the field H.

In addition, in this embodiment, the change unit 3f changes the detection frequency or detection position of the specified phenomenon included in the detection plan based on the field information. This changes the detection frequency or detection position of the specified phenomenon in the field according to the state of the field H, thereby suppressing a decrease in the detection accuracy of the state of the specified phenomenon and unnecessary detection, improving the detection efficiency of the state of the specified phenomenon, and making it possible to appropriately manage the field H.

The farm field management system 7 of this embodiment is equipped with a water management device 1 installed in the farm field H, which performs a water supply operation to supply water to the farm field H or a drainage operation to drain water from the farm field H based on the detection results of the detection units 3g, 29g, and 49g. This allows the water management device 1 to supply water to or drain water from the farm field H based on the detection results of the state of a specific phenomenon in the farm field H that is detected efficiently with reduced accuracy, making it possible to appropriately manage the water in the farm field H.

In addition, in this embodiment, the field information includes information indicating the external shape of the field H, the atmosphere, the water supply and drainage, or the state of the crops U. As a result, the detection plan for the specified phenomenon in the field is changed according to changes in the external shape of the field H, the atmosphere, the water supply and drainage, or the state of the crops U, so that it is possible to improve the detection efficiency of the state of the specified phenomenon by suppressing a decrease in the detection accuracy of the state of the specified phenomenon and unnecessary detection.

Furthermore, in this embodiment, the detection units 3g, 29g, 49g detect the water level of the field H, and the change unit 3f judges the trend and magnitude of the water level fluctuation in the field H based on the field information, and changes the detection frequency or detection position of the water level by the detection unit included in the detection plan according to the judgment result. As a result, the detection frequency or detection position of the water level in the field is changed according to the trend and magnitude of the water level fluctuation in the field H, so that it is possible to suppress a decrease in the detection accuracy of the water level and unnecessary detection, and to further improve the detection efficiency of the water level.
In addition, the farm field management system 7 of this embodiment is equipped with a mobile body (multicopter) 2 that moves around the farm field H, enabling the detection units 3g, 29g to detect the water level in the farm field H in a predetermined procedure.

As a result, the water level of the field H can be detected by the detection units 3g and 29g without installing electrical water level detection means such as a water level sensor in the field H, and the detection plan for the water level can be changed by the change unit 3f to improve the detection accuracy and detection efficiency of the water level. In addition, the cost of installing electrical water level detection means and electrical wiring for inputting and outputting power and signals to the water level detection means in the field H can be reduced. In particular, when managing multiple fields H, the water level of each field H can be detected by the detection units 3g and 29g by moving the mobile body 2 around each field H, so that it is possible to omit the multiple electrical water level detection means and their electrical wiring that were conventionally used, reduce large costs, and eliminate the effort required to adjust the water level detection means. Furthermore, since the detection units 3g and 29g can detect the water level of the field H without the need to constantly install the electrical water level detection means, electrical wiring, and the mobile body 2 in the field H, it is possible to prevent the water level detection means, electrical wiring, and the mobile body 2 from getting in the way when performing agricultural work in the field H. On the other hand, when the water level sensor 49g is installed in the field H and the water level sensor 49g and the detection units 3g and 29g are used in combination, the detection units 3g, 29g, and 49g can detect the water level of the field H in a number of different ways, and the detection plan for the water level can be changed by the change unit 3f to improve the detection accuracy and detection efficiency of the water level of the field H. In addition, even if a problem occurs in one detection mode, the water level of the field H can be reliably detected in the other detection mode.

In addition, in this embodiment, the mobile object 2 is an aircraft (multicopter) 2 capable of flying above the field H, the field management system 7 is equipped with monitoring units 28, 80 (imaging device 28, monitoring camera 80) that are installed in the aircraft 2 or the field H and monitor the field H, the detection unit 3g detects the water level at one or more predetermined positions set in the field H based on the monitoring results of the monitoring units 28, 80, and the change unit 3f changes the detection frequency or detection position of the water level by the detection unit 3g included in the detection plan based on the field information and the detection results of the detection unit 3g.

As described above, when the water level at a predetermined position in the field H is detected by the detection unit 3g based on the monitoring results of the monitoring unit 28 provided on the flying object 2, the flying object 2 can be flown to any position above the field H to indirectly detect the water level at the predetermined position in the field H, and the detection plan for the water level can be changed by the change unit 3f to improve the detection accuracy and detection efficiency of the water level. Also, when the water level at a predetermined position in the field H is detected by the detection unit 3g based on the monitoring results of the monitoring unit 80 provided on the field H, the water level at a predetermined position in the field H can be indirectly detected without flying the flying object 2, reducing the cost and effort required for the flying object 2 and its flight, and the detection plan for the water level can be changed by the change unit 3f to improve the detection accuracy and detection efficiency of the water level. Also, when the monitoring unit 80 is provided in the water management device 1 installed on the field H, power can be easily supplied to the monitoring unit 80 from the power supply device 41 of the water management device 1 to protect the monitoring unit 80. Furthermore, when the detection unit 3g detects the water level at a predetermined position in the field H based on the monitoring results of the monitoring units 28, 80 installed in the aircraft 2 and the field H, respectively, the water level in the field H can be detected in a number of different ways, and the detection plan for the water level can be changed by the change unit 3f, making it possible to improve the detection accuracy and detection efficiency of the water level. In addition, even if a problem occurs with one detection mode, the water level in the field H can be reliably detected with the other detection mode.

In addition, in this embodiment, the moving body 2 comprises an aircraft 2 capable of flying above the field H, the detection units 29g, 49g are provided in the aircraft 2 or the field H and detect the water level at one or more predetermined positions set in the field H, and the change unit 3f changes the frequency or position of water level detection by the detection units 29g, 49g included in the detection plan based on the field information and the detection results of the detection unit.
As described above, when the water level at a predetermined position in the field H is detected by the detection unit 29g (laser radar or green laser scanner) provided on the flying object 2, the flying object 2 can be flown to any position above the field H to indirectly or directly detect the water level at the predetermined position in the field H, and the detection plan for the water level can be changed by the change unit 3f to improve the detection accuracy and detection efficiency of the water level. Also, when the water level at a predetermined position is detected by the detection unit (water level sensor) 49g provided at a predetermined position in the field H, the water level at the predetermined position in the field H can be directly detected without flying the flying object 2, reducing the cost and effort required for the flying object 2 and its flight, and the detection plan for the water level can be changed by the change unit 3f to improve the detection accuracy and detection efficiency of the water level. Furthermore, when the water level at a predetermined position in the field H is detected by the detection units 29g, 49g provided in the aircraft 2 and the field H, respectively, the water level in the field H can be detected in a number of different modes, and the detection plan for the water level can be changed by the change unit 3f, thereby making it possible to improve the detection accuracy and detection efficiency of the water level. In addition, even if a problem occurs in one detection mode, the water level in the field H can be reliably detected by the other detection mode.

In addition, in this embodiment, the change unit 3f changes the detection frequency or detection position of the water level based on a first water level at a predetermined position in the field H that can be detected by the detection units 3g and 29g by the flying object 2 flying over the field H, and a second water level at a predetermined position in the field H that can be detected by the detection units 3g and 49g even if the flying object 2 does not fly over the field H. This allows the detection units 3g, 29g, and 49g to detect the water level in the field H in a number of different modes, and the detection plan for the water level can be changed by the change unit 3f to improve the detection accuracy and detection efficiency of the water level. In addition, even if a problem occurs with one detection mode, the water level in the field H can be reliably detected with the other detection mode.

Furthermore, in this embodiment, the change unit 3f can limit the flight of the aircraft 2 in response to a change in the detection frequency or detection position of the water level. This allows the water level of the field H to be detected accurately and efficiently, and allows the aircraft 2 to fly efficiently. In other words, unnecessary detection of the water level of the field H and unnecessary flight of the aircraft 2 can be suppressed.
In this embodiment, the change unit 3f changes the flight schedule or flight route of the aircraft 2 in response to a change in the detection frequency or detection position of the water level. This makes it possible to detect the water level in the field H with high accuracy and efficiency, and to fly the aircraft 2 more efficiently.

In addition, the farm field management system 7 of this embodiment includes a correction unit 3h, 21h that corrects the water level at a predetermined position detected by the detection unit 3g, 29g, 49g based on farm field information, a memory unit 3b that stores the water level detected by the detection unit 3g, 29g, 49g, the water level corrected by the correction unit 3h, 21h, and position information indicating the detection position of the water level in association with each other, and an estimation unit 3j that estimates the water level at the other predetermined position (predetermined positions Pa, Pc) based on the water level at one predetermined position (reference position Pb) detected by the detection unit 3g, 29g, 49g and the water level and position information stored in the memory unit 3b. This makes it possible to detect the water level at the predetermined position of the farm field H more accurately and efficiently. In addition, by changing the change unit 3f between one of the predetermined positions in the field H where the water level is detected by the detection units 3g, 29g, and 49g and the other predetermined position where the water level is estimated by the estimation unit 3j, the water level at the predetermined position in the field H can be detected even more efficiently.

The field management system 7 of this embodiment also includes a support device 3 capable of communicating with the water management device 1 and the aircraft 2 installed in the field H, and the support device 3 transmits a water supply command or a drainage command to the water management device 1 based on the water level detected by the detection units 3g, 29g, 49g, and the water management device 1 supplies water to or drains water from the field H based on the water supply command or drainage command received from the support device 3. This allows the water management device 1, the aircraft 2, and the support device 3 to work together to improve the detection accuracy and detection efficiency of the water level in the field H, and to appropriately manage the water in the field H.

The present invention has been described above, but the embodiments disclosed herein should be considered to be illustrative and not restrictive in all respects. The scope of the present invention is indicated by the claims, not the above description, and is intended to include all modifications within the meaning and scope of the claims.

1 Water management device 2 Multicopter (aircraft, mobile object)
3 Support device 3e Acquisition unit 3f Plan creation unit (change unit)
3g, 29g Water level detection unit (detection unit)
3h, 21h correction unit 3j estimation unit 7 water management system 28 imaging device (monitoring unit)
49g Water level sensor (detection part)
80 Surveillance camera (surveillance section)
H, H1 to H5: Field Pa, Pc: Predetermined position Pb: Reference position (predetermined position)

Claims (12)

an acquisition unit that acquires farm field information including information indicating at least one of the size of the farm field, meteorological elements, water supply and drainage conditions, power generation conditions of the power generation device, and crop conditions;
a detection unit that detects a state of a predetermined phenomenon related to water management of the farm field that is not included in the farm field information;
a change unit that determines a fluctuation state of the detection result of the specified phenomenon by the detection unit based on the field information, and changes the detection frequency or detection position included in the detection plan for the specified phenomenon by the detection unit in accordance with the determination result. The farm management system according to claim 1, wherein the modification unit determines the magnitude of the fluctuation as a fluctuation state of the detection result based on the farm field information, and modifies the detection plan so as to increase the detection frequency or detection location of the specified phenomenon included in the detection plan as the fluctuation becomes larger. The farm field management system according to claim 1 or 2, further comprising a water management device installed in the farm field, the water management device performing a water supply operation to supply water to the farm field or a drainage operation to drain water from the farm field based on the detection result of the detection unit. The detection unit detects a water level in the field as the predetermined phenomenon ,
The farm field management system according to any one of claims 1 to 3, wherein the modification unit determines the trend and magnitude of water level fluctuations in the farm field based on the farm field information, and if the water level fluctuations tend to correspond to either water supply or drainage, the modification unit modifies the detection plan so as to increase the frequency or detection location of the water level detection by the detection unit included in the detection plan the larger the water level fluctuation. The farm land management system according to claim 4 , further comprising a mobile object that moves around the farm land to enable the detection unit to detect the water level in the farm land in a predetermined procedure. The moving object is an aircraft capable of flying above the farm field,
a monitoring unit provided in the aircraft or the water management device installed in the field to monitor the field;
The detection unit detects a water level at one or more predetermined positions set in the farm field based on a monitoring result of the monitoring unit,
The farm land management system according to claim 5 , wherein the change unit determines a trend and a magnitude of a water level fluctuation in the farm land based on the farm land information and a detection result of the detection unit. The moving object is an aircraft capable of flying above the farm field,
The detection unit is provided in the aircraft or the field and detects a water level at one or more predetermined positions set in the field,
The farm land management system according to claim 5 , wherein the change unit determines a trend and a magnitude of a water level fluctuation in the farm land based on the farm land information and a detection result of the detection unit. A farm management system as described in claim 6 or 7, wherein the change unit changes the detection frequency or detection position of the water level based on a first water level at a predetermined position in the farm field that can be detected by the detection unit by the aircraft flying above the farm field, and a second water level at a predetermined position in the farm field that can be detected by the detection unit even if the aircraft is not flying above the farm field. The farm land management system according to claim 6 , wherein the change unit is capable of restricting the flight of the aircraft in accordance with a change in the detection frequency or detection position of the water level. The farmland management system according to claim 9 , wherein the change unit changes a flight schedule or a flight route of the aircraft in response to a change in the detection frequency or detection position of the water level. a correction unit that corrects the water level at the predetermined position detected by the detection unit based on the farm field information;
a storage unit that stores the water level detected by the detection unit, the water level corrected by the correction unit, and position information indicating the detection position of the water level in association with each other;
The farm land management system according to any one of claims 6 to 10, further comprising an estimation unit that estimates the water level at another predetermined position based on the water level at the predetermined position detected by the detection unit, the water level stored in the memory unit, and the position information. A water management device installed in the field and a support device capable of communicating with the aircraft,
The support device transmits a water supply command or a drainage command to the water management device based on the water level detected by the detection unit,
The farm land management system according to claim 6 , wherein the water management device supplies water to or drains water from the farm land based on the water supply command or the drainage command received from the support device.

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