JP7433198B2 - Field management system - Google Patents

Description

The present invention relates to a field management system that acquires data regarding crops harvested by a harvester.

As the above-mentioned field management system, for example, the one described in Patent Document 1 is already known. In this field management system ("field map generation system" in Patent Document 1), crop data or crop information based on the crop data is assigned to each polygon constructed by the polygon construction section. Further, position information is assigned to each polygon.

Note that the "polygon" here is not something formed on the actual field, but a virtual one that is constructed corresponding to each crop data corresponding to each harvest position in the field. . The polygon is rectangular. The width of the polygon is the working width of the harvester. The length of the polygon is calculated by the product of the harvester's vehicle speed and the crop data acquisition time interval.

JP 2019-8612 Publication

Patent Document 1 does not describe a case where the occupied regions of a plurality of polygons overlap. Note that the area occupied by a polygon means the area of the field that corresponds to the polygon.

When the occupied areas of multiple polygons overlap, it is assumed that crop data and crop information corresponding to those polygons do not match the actual situation.

For example, if the yield per unit area is assigned to a polygon as crop information and the yield per unit area is calculated by dividing the yield by the field area corresponding to the polygon to which the polygon is assigned, then Of the two overlapping polygons, the yield per unit area assigned to the polygon constructed at a later timing does not match the actual situation.

This means that when harvesting is performed in an area of the field that corresponds to a polygon constructed at a later timing, polygons constructed at an earlier timing and polygons constructed at a later timing will be separated. This is because the portion corresponding to the overlapping area has already been harvested. As a result, the yield per unit area allocated to polygons constructed at a later timing becomes lower than the actual situation.

An object of the present invention is to provide a field management system that easily avoids a situation where crop data and crop information corresponding to those polygons do not match the actual situation even when the occupied areas of multiple polygons overlap. be.

The features of the present invention include a crop data acquisition unit that acquires over time crop data that is data related to crops harvested by the harvesting unit of a harvesting machine, and a crop data acquisition unit that acquires over time position information indicating the harvesting position of crops in a field. a position information acquisition unit; and a polygon construction unit that constructs a polygon based on the working width of the harvester and the distance traveled by the harvester per unit time for each of the crop data acquired by the crop data acquisition unit. , a position information assignment unit that assigns the position information to each polygon constructed by the polygon construction unit; and data that assigns the crop data or crop information based on the crop data to each polygon constructed by the polygon construction unit. When the plurality of polygons are constructed with the allocation unit and the occupied areas of the plurality of polygons overlapping, the polygon constructed at the earlier timing and the polygon constructed at the later timing are determined from the polygon constructed at the later timing. The polygon updating unit is provided, which constructs a new polygon by subtracting the overlapping area with the polygon constructed previously, and updates the information.

According to the present invention, when a plurality of polygons are constructed with overlapping occupied areas, the polygon update unit changes the polygon constructed at a later timing from the polygon constructed at an earlier timing. The information is updated by constructing a new polygon by subtracting the overlapping area with the polygon constructed at a later timing. This makes it easier for crop data and crop information corresponding to those polygons to match the actual situation.

For example, if the yield per unit area is assigned to a polygon as crop information and the yield per unit area is calculated by dividing the yield by the field area corresponding to the polygon to which the polygon is assigned, then Of the two overlapping polygons, the overlapping area is subtracted from the polygon constructed at a later timing to construct a new polygon. Then, the yield per unit area calculated by dividing the yield by the field area corresponding to the new polygon matches the actual situation.

That is, according to the present invention, among the polygons constructed at a later timing, a portion that has already been harvested before the construction of the polygon is taken into consideration, a new polygon is constructed, and the information is updated. As a result, crop data and crop information corresponding to each polygon can more easily match the actual situation.

Therefore, with the present invention, even if the occupied areas of multiple polygons overlap, it is possible to realize a field management system that easily avoids the situation where the crop data and crop information corresponding to those polygons do not match the actual situation. .

Furthermore, in the present invention, a working state determining section that determines which range of the harvesting section the crop harvested by the harvesting section has invaded in the harvesting width direction of the harvesting section; and a determination made by the working state determining section. Preferably, the apparatus further includes a working width calculation section that calculates the working width based on the result.

When constructing polygons, it is conceivable to make the width of the polygon match the working width. In this case, it is conceivable to use the horizontal width of the harvesting part as the working width for constructing the polygon.

However, in reality, it is assumed that only the left half of the harvesting section is being harvested. That is, there are cases where only part of the harvesting section is harvesting. Therefore, the horizontal width of the harvesting section and the actual working width do not necessarily match.

Here, according to the above configuration, the accuracy of the working width is better than when the left and right width of the harvesting part is used as the working width to construct a polygon. This improves the accuracy of the width of the polygon constructed by the polygon construction section.

Furthermore, in the present invention, it is preferable that a field map generation unit is provided that generates a field polygon map as a collection of the polygons by gathering the polygons.

According to this configuration, the field polygon map shows the distribution of crop data or crop information in the field. Thereby, the operator can obtain data indicating the distribution of crop data or crop information in the field.

Furthermore, in the present invention, it is preferable that the crop data acquisition unit is capable of acquiring a plurality of types of crop data over time, and that the field map generation unit generates the field polygon map for each type of crop data. It is.

If the crop data acquisition unit is capable of acquiring multiple types of crop data over time, even if the field map generation unit can generate only one type of field polygon map, the timing for acquiring each type of crop data may be different. If so, it is possible to show the distribution of each type of crop data or crop information in the field by associating each polygon with crop data of the multiple types or crop information of multiple types based on the crop data of the multiple types. Various types of field polygon maps can be generated.

However, if the field map generation unit can generate only one type of field polygon map and the timing of acquiring each type of crop data is different, the field map generation unit may generate multiple types of crop data or crop information. Of these, only one type of crop data or crop information can be generated as a field polygon map. This is because if the timing of acquiring each type of crop data is different, the polygons constructed will also be different. Therefore, the operator can only know the distribution of one type of crop data or crop information among the plurality of types of crop data or crop information.

Here, according to the above configuration, the field map generation section generates a field polygon map for each type of crop data. Therefore, even if the timing of acquiring each type of crop data is different, a field polygon map can be generated for each type of crop data or crop information. This allows the operator to know the distribution in the field of each of the plurality of types of crop data or crop information.

Furthermore, in the present invention, the present invention further includes a map conversion unit that converts the field polygon map into a converted map partitioned into a plurality of index sections different from the polygons, and the crop data acquisition unit includes The data allocation unit allocates crop yields to polygons as the crop data, and the map conversion unit converts the crop yields allocated to each index plot into polygons. It is preferable to calculate it by adding up the area-proportioned yields of the portions included in each index section.

In one polygon, the area-proportioned yield of the part included in one index division is the ratio of the field area corresponding to the part included in that index division in that polygon to the field area corresponding to the entire polygon, and the It is calculated by multiplying the yield of the crop assigned to the polygon.

Then, for each polygon that overlaps with one indicator plot, calculate the area-proportioned yield of the portion included in that indicator plot, and add up the area-proportioned yields to calculate the crop yield in that index plot with precision. It can be calculated well.

Here, according to the above configuration, the map conversion unit calculates the yield of crops allocated to each index section by adding up the area-proportioned yields of the portions of each polygon included in each index section. Therefore, the accuracy of the crop yield assigned to each indicator plot is improved.

Furthermore, in the present invention, the present invention further includes a map conversion unit that converts the field polygon map into a converted map partitioned into a plurality of index sections different from the polygons, and the crop data acquisition unit includes The yield of the crop can be acquired over time, and the data allocation unit calculates the crop information by dividing the yield of the crop acquired by the crop data acquisition unit by the field area corresponding to the polygon to which it is allocated. The map conversion unit allocates the yield per unit area assigned to each index plot to the polygon, and assigns the sum of the area-proportioned yield of the portion included in each index plot of each polygon to the yield per unit area assigned to each index plot. It is preferable to calculate by dividing by the field area corresponding to the index section.

As mentioned above, for each polygon that overlaps with one indicator plot, calculate the area-proportioned yield of the portion included in that indicator plot, and add these area-proportioned yields to calculate the crop yield in that index plot. , can be calculated with high accuracy.

Then, by dividing the crop yield calculated in this way by the field area corresponding to the indicator plot, the yield per unit area in the indicator plot can be calculated with high accuracy.

Here, according to the above configuration, the map conversion unit calculates the yield per unit area allocated to each index section, and converts the sum of the area-proportioned yields of the portions of each polygon included in each index section into the index of the allocation destination. Calculated by dividing by the field area corresponding to the plot. Therefore, the accuracy of the yield per unit area assigned to each indicator plot is improved.

Furthermore, in the present invention, the present invention further includes a map conversion unit that converts the field polygon map into a converted map partitioned into a plurality of index sections different from the polygons, and the crop data acquisition unit includes It is possible to acquire over time a quality value that is a value indicating the quality of the crop data, and the data allocation unit allocates the quality value to the polygon as the crop data, and the map conversion unit A quality value is calculated as an average value of the quality values assigned to polygons that overlap with each index section among each polygon, and the map conversion section calculates the quality value as an average value of the quality values assigned to polygons that overlap with each index section among each polygon. It is preferable to perform weighting based on the field area corresponding to the included portion.

If the quality value in one index section is calculated as the average value of the quality values assigned to each polygon that overlaps with that index section, the quality value in that index section can be calculated with high accuracy.

The magnitude of the influence on the average quality value assigned to one polygon that overlaps with the index section depends on the size of the field area corresponding to the portion included in that polygon in the index section.

Here, according to the above configuration, when calculating the average value, the map conversion unit performs weighting based on the field area corresponding to a portion of each polygon included in each index section. Thereby, the average value can be calculated while taking into consideration the magnitude of the influence of the quality values assigned to each polygon on the average value. Therefore, the accuracy of the quality value assigned to each index section is improved.

It is a side view of a combine. It is a top view of a combine. It is a top view of a reaping part. FIG. 1 is a block diagram showing the configuration of a field management system. FIG. 3 is an explanatory diagram showing the relationship between a working width and a polygon. FIG. 3 is an explanatory diagram showing the relationship between a working width and a polygon. FIG. 3 is an explanatory diagram showing the relationship between a working width and a polygon. FIG. 3 is an explanatory diagram showing the relationship between a working width and a polygon. FIG. 3 is an explanatory diagram showing the relationship between a working width and a polygon. FIG. 3 is an explanatory diagram showing the relationship between a working width and a polygon. FIG. 3 is an explanatory diagram showing the relationship between a working width and a polygon. FIG. 3 is an explanatory diagram showing the relationship between a working width and a polygon. FIG. 2 is an explanatory diagram comparing polygons constructed when crops at the same location are harvested along different travel routes. FIG. 2 is a diagram showing a harvesting work travel route of a combine harvester in a field. It is a figure showing a yield polygon map. It is a partially enlarged view of the yield polygon map before duplication processing. It is a partially enlarged view of the yield polygon map after duplication processing. This is a table showing the return, etc. in each index section on the mesh map.

Embodiments for carrying out the present invention will be described based on the drawings. In the following description, unless otherwise specified, the direction of arrow F shown in FIGS. 1 and 2 will be referred to as "front", and the direction of arrow B will be referred to as "rear". Further, the direction of arrow L shown in FIG. 2 is "left" and the direction of arrow R is "right." Further, the direction of arrow U shown in FIG. 1 is defined as "up", and the direction of arrow D is defined as "down".

[Composition of combine harvester]
1 and 2 show a self-extracting combine harvester C (corresponding to the "harvester" according to the present invention) included in the field management system SY (see FIG. 4) of the present embodiment. A reaping section 1 (corresponding to the "harvesting section" according to the present invention) is provided at the front of the combine harvester C. The reaping unit 1 reaps crops in the field. More specifically, the reaping unit 1 reaps the planted grain culms in the field. Thereby, the reaping unit 1 harvests the crops in the field.

More specifically, the reaping section 1 includes a clipper-type cutting device 100 and a reaping conveyance device 101. The cutting device 100 is configured to cut planted grain culms.

The reaping unit 1 is set around the swing axis X shown in FIG. 1 in a descending state when performing reaping work, and when turning at the edge of a ridge (near a ridge) or when driving on a road. It is possible to swing up and down throughout the raised state.

As shown in FIG. 1, a driving section 2 is provided above the reaping section 1. A worker can board the driving section 2. Further, as shown in FIG. 2, a grain tank 3 is provided behind the driving section 2. A threshing device 4 is provided on the left side of the grain tank 3. As shown in FIGS. 1 and 2, an unloader 5 is provided above the grain tank 3 and the threshing device 4.

Further, a crawler-type traveling device 6 is provided at the lower part of the fuselage of the combine C. The combine C can be self-propelled by the traveling device 6.

Grain culm harvested by the reaping section 1 is conveyed to the threshing device 4 along a conveyance path T by a reaping conveyance device 101.

An engine EG is provided below the operating section 2 of the combine C. The power of the engine EG is transmitted to a transmission (not shown) and a reaping HST (not shown). Power is then transmitted from the transmission to the traveling device 6, and from the reaping HST to the reaping conveyance device 101. Thereby, the conveyance speed of the harvested grain culm in the harvest conveyance device 101 changes in general in conjunction with the traveling speed of the combine C. That is, the reaping conveyance device 101 is configured to be able to change the conveyance speed.

Further, as shown in FIGS. 1 and 2, the combine C is equipped with a feed chain FC that receives the harvested grain culm from the harvesting conveyance device 101 and conveys it rearward. The feed chain FC transports the harvested grain culm rearward by holding the stock end side portion of the harvested grain culm in a state where the tip side portion of the harvested grain culm is fed into the threshing device 4.

In the threshing device 4, the harvested grain culm is subjected to threshing processing. The grains obtained by the threshing process are stored in a grain tank 3. The grains stored in the grain tank 3 are discharged to the outside of the machine by the unloader 5, if necessary.

Further, as shown in FIGS. 1 and 2, a satellite positioning module G is provided on the roof section 2A of the driving section 2. The satellite positioning module G receives a GNSS (Global Navigation Satellite System) signal from an artificial satellite and outputs satellite positioning data indicating the combine C's body position. GNSS signals include signals such as GPS, QZSS, Galileo, GLONASS, and BeiDou.

The satellite positioning module G is provided at the front end of the roof portion 2A on the side of the center of the fuselage (left side in this example), and is located at approximately the center of the combine C in the left-right direction of the fuselage.

As shown in FIG. 2, the threshing device 4 is provided with a horizontal screw 41. The horizontal screw 41 extends in the left-right direction of the machine body. Then, the horizontal screw 41 transports grains obtained by the threshing process in the threshing device 4 toward the grain tank 3.

Further, as shown in FIGS. 1 and 2, a grain lifting device 9 is provided between the grain tank 3 and the threshing device 4. The grain frying device 9 has a vertical screw 91.

The grains transported by the horizontal screw 41 are transported upward by the vertical screw 91. The grains conveyed to the upper end of the vertical screw 91 are discharged into the grain tank 3 by a blade-like member 91a provided at the upper end of the vertical screw 91.

A yield sensor M1 is provided near the upper end of the vertical screw 91. Yield sensor M1 detects the amount of grain released into grain tank 3.

Specifically, the yield sensor M1 is configured to receive a pressing force from the grains released from the upper end of the vertical screw 91. Then, the yield sensor M1 detects this pressing force. The yield sensor M1 calculates the grain yield (corresponding to "crop data" according to the present invention) based on the detected pressing force. Thereby, the yield sensor M1 detects the grain yield.

The yield sensor M1 may be configured by, for example, a beam type load cell.

Moreover, as shown in FIG. 2, a quality sensor M2 is provided inside the grain tank 3. The quality sensor M2 has a box-like outer shape that is open upward. Quality sensor M2 receives a portion of the grains released by vane-like member 91a. Then, the quality sensor M2 determines the moisture value (corresponding to "crop data" and "quality value" according to the present invention) and protein content (corresponding to the "crop data" according to the present invention) and protein content (corresponding to the "crop data" according to the present invention) and protein content (corresponding to the "crop data" according to the present invention) and the The system is configured to be able to measure such "crop data" and "quality values". Thereby, the quality sensor M2 detects the moisture value and protein content of the grain.

Note that hereinafter, the moisture value and protein content are collectively referred to as "quality value."

[About the configuration of the reaping section]
As shown in FIG. 3, the reaping section 1 has seven dividers 110 lined up in the left-right direction, and there are six introduction paths between the adjacent dividers 110, a first introduction path R1 to a sixth introduction path R1. R6 is formed. Six raising devices 111 are provided corresponding to the first introduction route R1 to the sixth introduction route R6. The planted grain culm is raised to an appropriate posture by the raising device 111, and the base of the planted grain culm is harvested by the cutting device 100. The reaping section 1 is capable of reaping the planted grain culms of six planting rows in a state in which the grass is separated for each row. The distance between the left end divider 110 and the right end divider 110 is the harvestable width W of the reaping section 1.

The reaping conveyance device 101 first transfers the reaped grain culms introduced from the first introduction route R1 to the sixth introduction route R6 to the first introduction route R1, the second introduction route R2, the third introduction route R3, and the fourth introduction route. Two rows of harvested grain culms are merged for each of R4, the fifth introduction route R5, and the sixth introduction route R6. The reaping conveyance device 101 then causes the conveyance route 130, which is the confluence of the third introduction route R3 and the fourth introduction route R4, to join the conveyance route 120, which is the confluence of the fifth introduction route R5 and the sixth introduction route R6. The reaping conveyance device 101 finally merges the converging conveyance route 140 of the first introduction route R1 and the second introduction route R2, and transfers six rows of harvested grain culms to the feed chain FC. It is configured as follows.

[About each stock sensor]
As shown in FIG. 3, a first stock sensor S1 (left) is provided in a conveyance path 140 that is a confluence of the first introduction path R1 and the second introduction path R2. A second stock source sensor S2 (middle) is provided on the conveyance path 130 at the confluence of the third introduction path R3 and the fourth introduction path R4. A third stock sensor S3 (right) is provided on the conveyance path 120 at the confluence of the fifth introduction path R5 and the sixth introduction path R6.

The first stock sensor S1, the second stock sensor S2, and the third stock sensor S3 are contact-type sensors that swing in contact with the stock base of the harvested grain culm. The presence of harvested grain culms in paths 140, 130, 120 is detected.

[Overall configuration of field management system]
As shown in FIG. 4, the field management system SY in this embodiment includes a management server 7 and an operation terminal 8. The operating terminal 8 is operated by a worker. Further, the operating terminal 8 is configured to be able to communicate with the management server 7. The operating terminal 8 is composed of, for example, a personal computer installed in a farmhouse or the like.

The ECU 50 included in the combine harvester C includes a work state determination section 11 and a work width calculation section 12. Further, the ECU 50 is configured to be able to communicate with the management server 7. Note that the ECU 50 includes a memory (HDD, nonvolatile RAM, etc., not shown) that stores programs corresponding to each functional unit, and a CPU (not shown) that executes the programs. The functions of each functional unit are realized by executing the program by the CPU. The same applies to the management server 7.

The work state determination unit 11 receives detection results from the first stock sensor S1, the second stock sensor S2, and the third stock sensor S3. Then, the work state determination unit 11 determines, based on the received detection result, into which range of the reaping unit 1 the crop harvested by the reaping unit 1 has invaded in the harvesting width direction of the reaping unit 1.

That is, the field management system SY includes a working state determination unit 11 that determines into which range of the reaping unit 1 the crops harvested by the reaping unit 1 have invaded in the harvesting width direction of the reaping unit 1.

The determination by the work state determination unit 11 will be described in detail. A1 to A6 shown in FIGS. 5 to 12 indicate the intrusion range of the harvested grain culm. The range A1 corresponds to the first introduction route R1, the range A2 corresponds to the second introduction route R2, the range A3 corresponds to the third introduction route R3, and the range A4 corresponds to the fourth introduction route R4, range A5 corresponds to the fifth introduction route R5, and range A6 corresponds to the sixth introduction route R6. The illustrated range marked with a circle is the range determined as the range where the harvested grain culm has invaded. The range marked with an x mark is the range determined to be free from invasion by harvested grain culms.

The width of the range A1 is the interval between the two dividers 110 that sandwich the first introduction route R1. The width of the range A2 is the interval between the two dividers 110 that sandwich the second introduction route R2. The width of the range A3 is the interval between the two dividers 110 that sandwich the third introduction route R3. The width of the range A4 is the interval between the two dividers 110 that sandwich the fourth introduction route R4. The width of the range A5 is the interval between the two dividers 110 that sandwich the fifth introduction route R5. The width of the range A6 is the interval between the two dividers 110 that sandwich the sixth introduction route R6.

Note that the widths of range A1 to range A6 may be equal to each other or may be different.

As shown in FIG. 5, when the first stock sensor S1, the second stock sensor S2, and the third stock sensor S3 are in the detection state (ON), the number of cutting rows in which reaping is being performed is 6. It is determined that there is. Further, it is determined that the intrusion range of the cut grain culms is six locations from range A1 to range A6.

As shown in FIG. 6, when the first stock sensor S1 and the second stock sensor S2 are in the detection state (ON) and the third stock sensor S3 is in the non-detection state (OFF), reaping is not performed. It is determined that the number of reaping rows currently being cut is 4. Further, it is determined that the intrusion range of the cut grain culms is four ranges from range A1 to range A4.

As shown in FIG. 7, when the first stock sensor S1 is in the detection state (ON) and the second stock sensor S2 and the third stock sensor S3 are in the non-detection state (OFF), reaping is not performed. It is determined that the number of reaping rows currently being cut is 2. Further, it is determined that the intrusion range of the cut grain culm is two ranges, range A1 and range A2.

As shown in FIG. 8, when the first stock sensor S1 is in the non-detection state (OFF) and the second stock sensor S2 and the third stock sensor S3 are in the detection state (ON), reaping is not performed. It is determined that the number of reaping rows currently being cut is 4. Further, it is determined that the intrusion range of the cut grain culms is four areas from range A3 to range A6.

As shown in FIG. 9, when the first stock sensor S1 and the second stock sensor S2 are in a non-detection state (OFF) and the third stock sensor S3 is in a detection state (ON), reaping is not performed. It is determined that the number of reaping rows currently being cut is 2. Further, the intrusion range of the cut grain culms is determined to be two ranges, ranges A5 and A6.

As shown in FIG. 10, when the first stock sensor S1 and the third stock sensor S3 are in a non-detection state (OFF) and the second stock sensor S2 is in a detection state (ON), reaping is not performed. It is determined that the number of reaping rows currently being cut is 2. Further, the intrusion range of the cut grain culms is determined to be two ranges, ranges A3 and A4.

As shown in FIG. 11, when the first stock sensor S1 and the third stock sensor S3 are in the detection state (ON) and the second stock sensor S2 is in the non-detection state (OFF), reaping is not performed. It is determined that the number of reaping rows currently being cut is 4. Furthermore, the intrusion range of the cut grain culms is determined to be four ranges, ranges A1, A2, A5, and A6.

As shown in FIG. 12, when the first stock sensor S1, the second stock sensor S2, and the third stock sensor S3 are in a non-detection state, the number of cutting rows being harvested is zero. It will be judged. Further, it is determined that there is no intrusion range of grain culms.

As shown in FIG. 4, the determination result by the work state determination unit 11 is sent to the work width calculation unit 12. Then, the working width calculating section 12 calculates the working width of the combine harvester C based on the determination result by the working state determining section 11.

For example, if it is determined that the intrusion range of the reaped grain culm is in six ranges from range A1 to range A6, the working width of combine harvester C is calculated as the width from range A1 to range A6. Further, when it is determined that the intrusion range of the reaped grain culm is in four ranges from range A1 to range A4, the working width of combine harvester C is calculated as the width from range A1 to range A4.

In this way, the field management system SY includes the working width calculating section 12 that calculates the working width based on the determination result by the working state determining section 11.

Moreover, as shown in FIG. 4, the combine C is equipped with a vehicle speed sensor S4. The ECU 50 includes a vehicle speed acquisition section 13. Vehicle speed sensor S4 detects the vehicle speed of combine C. Although not particularly limited, the vehicle speed sensor S4 may be configured to detect the vehicle speed of the combine C, for example, by detecting the driving speed of the traveling device 6.

The vehicle speed acquisition unit 13 receives the detection result of the vehicle speed sensor S4. Then, the vehicle speed acquisition unit 13 calculates the distance traveled by the combine harvester C per unit time based on the received detection results. Thereby, the vehicle speed acquisition unit 13 acquires the distance traveled by the combine harvester C per unit time.

As shown in FIG. 4, the ECU 50 includes a crop data acquisition section 14. Further, the crop data acquisition section 14 includes a yield acquisition section 15 and a quality acquisition section 16.

The yield acquisition unit 15 receives the detection results of the yield sensor M1 over time. Thereby, the yield acquisition unit 15 acquires the grain yield over time. In this embodiment, the yield sensor M1 detects the grain yield at one-second intervals. That is, the yield acquisition unit 15 acquires the grain yield every second. Further, the yield acquired by the yield acquisition unit 15 is the amount of grains harvested per second.

Moreover, the quality acquisition unit 16 receives the detection results by the quality sensor M2 over time. Thereby, the quality acquisition unit 16 acquires the quality value of the grains harvested by the combine C over time. In this embodiment, the quality sensor M2 detects the quality value of the grain every 2 seconds. That is, the quality acquisition unit 16 acquires the quality value of grains every 2 seconds. Furthermore, the quality value acquired by the quality acquisition unit 16 is the quality value of grains harvested in 2 seconds.

In this way, the field management system SY includes the crop data acquisition unit 14 that acquires crop data, which is data related to the crops harvested by the reaping unit 1 of the combine harvester C, over time. Further, the crop data acquisition unit 14 can acquire crop data of multiple types over time. Further, the crop data acquisition unit 14 can acquire crop yields over time as crop data. Moreover, the crop data acquisition unit 14 can acquire quality values, which are values indicating the quality of crops, over time as crop data.

As shown in FIG. 4, the ECU 50 includes a position information acquisition section 17. The position information acquisition unit 17 acquires satellite positioning data from the satellite positioning module G over time. The position information acquisition unit 17 calculates the position of the combine C over time based on the acquired satellite positioning data. Thereby, the position information acquisition unit 17 acquires the position of the combine harvester C over time.

Further, as shown in FIG. 4, the position information acquisition unit 17 receives the determination result by the work state determination unit 11. Then, the position information acquisition unit 17 calculates position information indicating the harvesting position of crops in the field over time based on the position of the combine harvester C and the determination result by the work state determination unit 11. Thereby, the position information acquisition unit 17 acquires position information indicating the harvesting position of crops in the field over time.

For example, in the state shown in FIG. 5, the position information acquisition unit 17 calculates the position information assuming that the position of the combine harvester C (the position of the satellite positioning module G) at the time of harvesting the crops is equal to the harvest position of the crops. However, in the state shown in FIG. 6, the position information is calculated assuming that the position a predetermined distance to the left of the position of the combine C machine (the position of the satellite positioning module G) at the time of harvesting the crops is the crop harvesting position. However, in the state shown in FIG. 8, position information is calculated assuming that the crop harvesting position is a position a predetermined distance to the right from the position of the combine C machine (the position of the satellite positioning module G) at the time of harvesting the crops. It may be configured to do so.

That is, the field management system SY includes a position information acquisition unit 17 that acquires position information indicating the harvesting position of crops in the field over time.

[Management server configuration]
As shown in FIG. 4, the management server 7 includes a yield polygon construction unit 21 (corresponding to the “polygon construction unit” according to the present invention) and a yield data allocation unit 22 (corresponding to the “data allocation unit” according to the present invention). , yield polygon map generation unit 23 (corresponding to the “field map generation unit” according to the present invention), polygon construction unit 24 for yield per unit area (corresponding to the “polygon construction unit” according to the present invention), Yield data allocation unit 25 (corresponding to the “data allocation unit” according to the present invention), yield per unit area polygon map generation unit 26 (corresponding to the “field map generation unit” according to the present invention), quality polygon construction unit 27 (corresponding to the "polygon construction section" according to the present invention), quality data allocation section 28 (corresponding to the "data assignment section" according to the present invention), quality polygon map generation section 29 (corresponding to the "field map generation section" according to the present invention) ), a position information allocation section 30 , a polygon map storage section 31 , and a map conversion section 32 .

The working width of the combine harvester C calculated by the working width calculation section 12 is sent to the yield polygon construction section 21 , the yield polygon construction section 24 per unit area, and the quality polygon construction section 27 . Further, the distance traveled by the combine harvester C per unit time, which is acquired by the vehicle speed acquisition unit 13, is sent to the yield polygon construction unit 21, the yield polygon construction unit 24 per unit area, and the quality polygon construction unit 27.

The yield polygon construction unit 21 constructs a yield polygon for each crop yield acquired by the yield acquisition unit 15. For example, if the yield of a crop is acquired five times as the combine C runs, the yield polygon constructing unit 21 constructs five yield polygons. At this time, the yield polygon constructing unit 21 constructs a yield polygon based on the working width of the combine harvester C and the distance traveled by the combine harvester C per unit time.

More specifically, as shown in FIGS. 5 and 15, the yield polygon has a rectangular shape. The width WP of each polygon is the working width of the combine C. Further, the length L of each polygon is calculated by multiplying the distance traveled by the combine C per unit time and the time interval for acquiring the crop yield.

Further, the polygon construction unit 24 for yield per unit area constructs a polygon for yield per unit area for each crop yield acquired by the yield acquisition unit 15. For example, when the yield of a crop is acquired five times as the combine C runs, the polygon construction unit 24 for yield per unit area constructs five polygons for yield per unit area. At this time, the polygon construction unit 24 for yield per unit area constructs a polygon for yield per unit area based on the working width of combine C and the distance traveled by combine C per unit time. .

More specifically, the polygon for yield per unit area is rectangular like the polygon for yield. The width WP of each polygon is the working width of the combine C. Further, the length L of each polygon is calculated by multiplying the distance traveled by the combine C per unit time and the time interval for acquiring the crop yield.

Furthermore, the quality polygon construction unit 27 constructs a quality polygon for each quality value of the crop acquired by the quality acquisition unit 16. For example, when the quality value of a crop is acquired five times as the combine C runs, the quality polygon construction unit 27 constructs five quality polygons. At this time, the quality polygon construction unit 27 constructs a quality polygon based on the working width of the combine C and the distance traveled by the combine C per unit time.

More specifically, the polygon for quality is rectangular, similar to the polygon for yield. The width WP of each polygon is the working width of the combine C. Further, the length L of each polygon is calculated by the product of the distance traveled by the combine C per unit time and the acquisition time interval of crop quality values.

In this way, the field management system SY constructs a yield polygon based on the working width of the combine C and the distance traveled by the combine C per unit time for each crop data acquired by the crop data acquisition unit 14. It includes a construction section 21, a polygon construction section 24 for yield per unit area, and a polygon construction section 27 for quality.

In the state shown in FIG. 5, the width WP of the polygon constructed by the yield polygon construction section 21, the yield polygon construction section 24 per unit area, and the quality polygon construction section 27 is from range A1 to range A6. equal to width.

In addition, in the state shown in FIG. 6, the width WP of the polygon constructed by the yield polygon construction section 21, the yield polygon construction section 24 per unit area, and the quality polygon construction section 27 is from range A1 to range A4. equal to width.

In addition, in the state shown in FIG. 7, the width WP of the polygon constructed by the yield polygon construction section 21, the yield polygon construction section 24 per unit area, and the quality polygon construction section 27 is the width of the range A1 and the range A2. be equivalent to.

In addition, in the state shown in FIG. 8, the width WP of the polygon constructed by the yield polygon construction section 21, the yield polygon construction section 24 per unit area, and the quality polygon construction section 27 is from range A3 to range A6. equal to width.

In addition, in the state shown in FIG. 9, the width WP of the polygon constructed by the yield polygon construction section 21, the yield polygon construction section 24 per unit area, and the quality polygon construction section 27 is the width of the range A5 and the range A6. be equivalent to.

In addition, in the state shown in FIG. 10, the width WP of the polygon constructed by the yield polygon construction section 21, the yield polygon construction section 24 per unit area, and the quality polygon construction section 27 is the width of the range A3 and the range A4. be equivalent to.

In the state shown in FIG. 11, two polygons are constructed by the yield polygon construction section 21, the yield polygon construction section 24 per unit area, and the quality polygon construction section 27. Among these polygons, the width WP of the polygon located on the left side of the fuselage of combine C is equal to the widths of range A1 and range A2. The width WP of the polygon located on the right side of the fuselage of combine C is equal to the widths of range A5 and range A6.

Note that the present invention is not limited to this. In the state shown in FIG. 11, the yield polygon construction section 21, the yield polygon construction section 24 per unit area, and the quality polygon construction section 27 construct polygons having a width equal to the width from range A1 to range A6. It's okay.

Further, in the state shown in FIG. 12, no polygons are constructed by the yield polygon construction section 21, the yield polygon construction section 24 per unit area, and the quality polygon construction section 27.

In addition, in FIGS. 5 to 12, the traveling route LI of the combine C is shown. In this embodiment, the travel route LI of the combine C is equal to the travel route (trajectory) of the satellite positioning module G.

Further, the position information acquired by the position information acquisition unit 17 shown in FIG. 4 is sent to the position information allocation unit 30. As described above, this positional information indicates the harvesting position of crops in the field. Then, the position information allocation unit 30 allocates the position information received from the position information acquisition unit 17 to each of the polygons for yield, the polygon for yield per unit area, and the polygon for quality.

In this way, the field management system SY has a positional information allocation unit that allocates positional information to each polygon constructed by the yield polygon construction unit 21, the yield polygon construction unit 24 per unit area, and the quality polygon construction unit 27. It is equipped with 30.

Note that, as described above, the position information assigned to the polygon is calculated based on the position of the combine harvester C and the determination result by the work state determination unit 11. As a result, the harvest position indicated by the position information assigned to the polygon corresponds to the position in the actual field corresponding to the polygon with high accuracy.

Furthermore, as shown in FIG. 13, when there are two rows of unstubbed stubble and the surrounding area is a cut area, the reaping section 1 of the combine harvester C can cut the unstubbed stubble for those two rows. When a polygon is constructed by cutting a row of , the positional information assigned to the polygon is constant regardless of the position of the combine C traveling route LI. That is, in this case, the same polygon will be constructed regardless of the position of the travel route LI of the combine C.

With the above configuration, yield polygons are sequentially constructed in accordance with the crop yield corresponding to each position of the cut area in the field. It should be noted that the "already cut field" is a part of the field where the combine C has been used for cutting. Similarly, polygons for yield per unit area and polygons for quality are sequentially constructed.

Note that the "polygon" in this specification is not formed on an actual field, but is a virtual one constructed corresponding to each crop data corresponding to each harvest position in the field. .

However, the present invention is not limited to this. The field management system SY is configured such that each polygon is constructed after the combine C has finished reaping, rather than sequentially constructing various polygons as the combine C reaps. good.

Moreover, as shown in FIG. 4, the combine C is equipped with a cutting/disengaging clutch sensor S5 and a cutting height sensor S6.

The combine C is equipped with a cutting/disengaging clutch (not shown). When the reaping clutch is in the engaged state, power is transmitted from the engine EG to the reaping section 1 and the threshing device 4. When the reaping clutch is in the disengaged state, power is not transmitted from the engine EG to the reaping section 1 and the threshing device 4. The mowing/disengaging clutch sensor S5 detects the on/off state of the mowing/disengaging clutch.

The reaping height sensor S6 detects the vertical swing position of the reaping section 1 around the swing axis X. Thereby, the reaping height sensor S6 detects the height of the reaping section 1.

The working state determination unit 11 receives detection results from the mowing/disengaging clutch sensor S5 and the cutting height sensor S6. Then, the working state determining section 11 determines whether the reaping section 1 is in a working state or in a non-working state based on the received detection result.

To explain in detail, the working state determination unit 11 determines that the reaping part 1 is in the working state when the mowing/disengaging clutch is in the engaged state and the reaping part 1 is in the lowered state. On the other hand, in other cases, the working state determining section 11 determines that the reaping section 1 is in a non-working state.

The determination result by the work state determination unit 11 is sent to the management server 7. When it is determined that the reaping section 1 is in the working state, the yield polygon construction section 21, the yield polygon construction section 24 per unit area, and the quality polygon construction section 27 construct polygons. Further, when it is determined that the reaping section 1 is in a non-working state, the yield polygon construction section 21, the yield polygon construction section 24 per unit area, and the quality polygon construction section 27 do not construct polygons.

The crop yield acquired by the yield acquisition section 15 is sent to the yield data allocation section 22 and the yield data allocation section 25 per unit area. Further, the quality values of the crops acquired by the quality acquisition unit 16 are sent to the quality data allocation unit 28.

The yield data allocation unit 22 allocates the crop yield received from the yield acquisition unit 15 to the yield polygon constructed by the yield polygon construction unit 21.

In addition, to explain this allocation in detail, the yields of crops acquired by the yield acquisition unit 15 are assigned numbers according to the order in which they were acquired. The yield polygons constructed by the yield polygon constructing unit 21 are assigned numbers according to the order in which they were constructed. The yield polygon is assigned the yield of the crop assigned the same number as that polygon.

Note that the present invention is not limited to this. In order to allocate the yield of a crop to a yield polygon, the time period from the time when a planted grain culm is harvested by the reaping unit 1 to the time when the grain yield obtained from the grain culm is detected by the yield sensor M1 is calculated. The configuration may be such that the first delay time, which is time, is calculated. By assigning the yield detected by the yield sensor M1 after the first delay time from the time when the combine C passes the position in the field corresponding to the yield polygon to that yield polygon, the accuracy of assignment is good. becomes.

In addition, as mentioned above, the conveyance speed of the harvested grain culm in the harvest conveyance device 101 changes in general in conjunction with the travel speed of the combine C. Furthermore, in the present embodiment, the time from when the grain culm is clamped by the feed chain FC until the grain obtained from the grain culm reaches the yield sensor M1 is constant regardless of the traveling speed of the combine C. be. Therefore, the first delay time described above can be calculated based on the transport speed of the harvested grain culm in the reaping transport device 101 or the traveling speed of the combine harvester C.

Further, the yield data allocation unit 25 per unit area calculates the yield per unit area (corresponding to “crop information” according to the present invention) from the crop yield received from the yield acquisition unit 15. Then, the yield per unit area data allocation unit 25 allocates the yield per unit area to the polygon for yield per unit area constructed by the polygon construction unit 24 for yield per unit area.

The yield per unit area is calculated by dividing the crop yield by the field area corresponding to the polygon for yield per unit area to which it is allocated.

In addition, to explain this allocation in detail, the yield per unit area calculated by the yield per unit area data allocation section 25 is assigned a number in the same way as the yield of crops. The polygons for yield per unit area constructed by the polygon construction unit 24 for yield per unit area are assigned numbers according to the order in which they were constructed. The yield per unit area polygon is assigned the same number as the polygon.

Note that the present invention is not limited to this. In order to allocate the yield per unit area to the polygon for the yield per unit area, the above-described first delay time may be calculated. Divide the yield detected by the yield sensor M1 after a first delay time from the time when the combine C passes the position in the field corresponding to the polygon for yield per unit area by the field area corresponding to the polygon. By calculating the yield per unit area and assigning the yield per unit area to the polygon, the accuracy of the assignment can be improved.

Furthermore, the quality data allocation unit 28 allocates the quality value of the crop received from the quality acquisition unit 16 to the quality polygon constructed by the quality polygon construction unit 27.

In addition, to explain this allocation in detail, the quality values of crops acquired by the quality acquisition unit 16 are assigned numbers according to the order in which they were acquired. The quality polygons constructed by the quality polygon construction unit 27 are assigned numbers according to the order in which they were constructed. The quality polygon is assigned the quality value of the crop assigned the same number as that polygon.

Note that the present invention is not limited to this. In order to assign the quality value of the crop to the quality polygon, from the time when the planted grain culm is harvested by the reaping unit 1, to the time when the quality value of the grain obtained from the grain culm is detected by the quality sensor M2. The configuration may be such that a second delay time, which is the time until the end, is calculated. By assigning the quality value detected by the quality sensor M2 after the second delay time from the time when the combine C passes the position in the field corresponding to the quality polygon to the quality polygon, the accuracy of the assignment can be improved. Becomes good.

In addition, as mentioned above, the conveyance speed of the harvested grain culm in the harvest conveyance device 101 changes in general in conjunction with the travel speed of the combine C. Furthermore, in this embodiment, the time from when the grain culm is clamped by the feed chain FC until the grain obtained from the grain culm reaches the quality sensor M2 is constant regardless of the running speed of the combine C. be. Therefore, the second delay time described above can be calculated based on the transport speed of the harvested grain culm in the reaping transport device 101 or the traveling speed of the combine harvester C.

In this way, the field management system SY assigns crop data or crops based on the crop data to each polygon constructed by the yield polygon construction section 21, the yield polygon construction section 24 per unit area, and the quality polygon construction section 27. It includes a yield data assignment section 22 that assigns information, a yield data assignment section 25 per unit area, and a quality data assignment section 28.

Further, the yield data allocation unit 22 allocates crop yields to polygons as crop data. In addition, the yield per unit area data allocating unit 25 uses, as crop information, the yield per unit area calculated by dividing the crop yield acquired by the crop data acquiring unit 14 by the field area corresponding to the polygon to which the allocation is made. Assign the yield to the polygon. Furthermore, the quality data allocation unit 28 allocates crop quality values to polygons as crop data.

As shown in FIG. 15, the yield polygon map generation unit 23 creates a yield polygon map (corresponding to the "field polygon map" according to the present invention) as a collection of yield polygons by assembling polygons for yield. generate. The generated yield polygon map is stored in the polygon map storage section 31.

The worker can view the yield polygon map by accessing the management server 7 via the operating terminal 8. As mentioned above, the yield of a crop is assigned to the polygon for yield. Therefore, by looking at the yield polygon map, the operator can know the yield of crops at each harvesting position in the field.

Similarly to the yield polygon map generation section 23, the yield per unit area polygon map generation section 26 generates a collection of polygons for yield per unit area by collecting polygons for yield per unit area. A yield polygon map per unit area (corresponding to the "field polygon map" according to the present invention) is generated. The generated polygon map of yield per unit area is stored in the polygon map storage section 31.

By accessing the management server 7 via the operating terminal 8, the worker can view the polygon map of yield per unit area. As mentioned above, the yield per unit area is assigned to the polygon for the yield per unit area. Therefore, by viewing the yield per unit area polygon map, the operator can know the yield per unit area at each harvesting position in the field.

Similarly to the yield polygon map generation unit 23, the quality polygon map generation unit 29 generates a quality polygon map as a collection of quality polygons (“field polygon map). The generated quality polygon map is stored in the polygon map storage section 31.

The operator can view the quality polygon map by accessing the management server 7 via the operating terminal 8. As mentioned above, the quality polygon is assigned the quality value of the crop. Therefore, by viewing the quality polygon map, the operator can know the quality value of the crop at each harvesting position in the field.

In this way, the field management system SY includes the yield polygon map generation unit 23 that generates a yield polygon map as a collection of yield polygons by assembling the yield polygons. In addition, the field management system SY generates a yield per unit area polygon map as a collection of polygons for yield per unit area by assembling polygons for yield per unit area. A polygon map generation section 26 is provided. The field management system SY also includes a quality polygon map generation unit 29 that generates a quality polygon map as a collection of quality polygons by gathering quality polygons.

Further, in this way, the yield polygon map generation unit 23 and the quality polygon map generation unit 29 generate a yield polygon map and a quality polygon map for each type of crop data.

[About the polygon update section]
As shown in FIG. 4, the management server 7 includes a polygon update section 34. The polygon update unit 34 may be provided separately from the yield polygon construction unit 21, the yield polygon construction unit 24 per unit area, and the quality polygon construction unit 27, or may be provided separately from the yield polygon construction unit 21, the yield polygon construction unit 24 per unit area, and the quality polygon construction unit 27. It may be provided as part of the polygon construction unit 24 for winning yield and the polygon construction unit 27 for quality. The functions of the polygon update section 34 will be explained below.

When a plurality of polygons are constructed in a state where the occupied regions of the plurality of polygons overlap, the polygon update unit 34 updates the polygons constructed at the earlier timing from the polygons constructed at the later timing to the polygons constructed at the later timing. It is configured to subtract the overlapping area with the constructed polygon, construct a new polygon, and update the information.

In other words, when a plurality of polygons are constructed with their occupied areas overlapping, the field management system SY is able to differentiate between the polygons constructed at the earlier timing and the later polygons from the polygons constructed at a later timing. A polygon updating unit 34 is provided which constructs a new polygon by subtracting the overlapping area with the polygon constructed at the timing and updates the information.

Below, as an example of a case where a new polygon is constructed by the polygon updating unit 34, a case where a combine harvester performs reaping travel in a field shown in FIG. 14 will be described. In this example, a polygon for yield will be explained, but the following explanation applies equally to polygons for yield per unit area and polygons for quality.

The field shown in FIG. 14 has a first area E1, a second area E2, and a third area E3. The first area E1 is an uncut area. There are no uncut crops in the second area E2 and the third area E3. Note that the second area E2 and the third area E3 may be areas where crops are harvested earlier than the first area E1, or may be areas where no crops are planted.

In this example, the combine harvester C performs reaping travel in the direction of the arrow shown in FIG. The combine C first runs in circles around the outer circumferential side of the field. During this lap, the combine C changes direction by making an α turn. Moreover, after traveling in laps, the combine C performs reciprocating travel in the inner part of the field. During this reciprocation, the combine C changes direction by making a U-turn. When the reaping run in the fourth area E4 located at the center of the first area E1 ends, the reaping run in this field is completed.

When the reaping drive in the field shown in FIG. 14 is completed, the yield polygon map generation unit 23 generates a yield polygon map as shown in FIG. 15. As shown in FIG. 15, the width WP of the second polygon Pg2 corresponding to a part of the fourth region E4 is narrower than the width WP of the first polygon Pg1 constructed during the round trip. This is because the fourth region E4 is the region where the combine harvester C travels at the end of the reaping run in this field, and the width of the fourth region E4 is narrower than the horizontal width of the reaping section 1.

FIG. 16 shows an enlarged view of the lower left portion of the yield polygon map shown in FIG. 15. As shown in FIG. 16, the area occupied by the third polygon Pg3 and the area occupied by the fourth polygon Pg4 overlap. Among these polygons, the third polygon Pg3 is constructed at a timing earlier than the fourth polygon Pg4. That is, among these polygons, the polygon constructed at the earlier timing is the third polygon Pg3, and the polygon constructed at the later timing is the fourth polygon Pg4.

Further, FIG. 16 shows a first overlapping area OL1, which is an overlapping area between the third polygon Pg3 and the fourth polygon Pg4.

In this case, the polygon update unit 34 performs the following duplication process. That is, the polygon update unit 34 subtracts the first overlapping area OL1 from the fourth polygon Pg4 to construct an overlapping processing polygon Pm4, which is a new polygon, as shown in FIG. As a result, the information of the fourth polygon Pg4 is updated to the duplication processing polygon Pm4.

Further, as shown in FIG. 16, the area occupied by the fifth polygon Pg5 and the area occupied by the sixth polygon Pg6 overlap. Among these polygons, the fifth polygon Pg5 is constructed at a timing earlier than the sixth polygon Pg6. That is, among these polygons, the polygon constructed at the earlier timing is the fifth polygon Pg5, and the polygon constructed at the later timing is the sixth polygon Pg6.

Further, FIG. 16 shows a second overlapping area OL2, which is an overlapping area between the fifth polygon Pg5 and the sixth polygon Pg6.

In this case, the polygon update unit 34 performs the following duplication process. That is, the polygon update unit 34 subtracts the second overlapping area OL2 from the sixth polygon Pg6 to construct an overlapping processing polygon Pm6, which is a new polygon, as shown in FIG. As a result, the information of the sixth polygon Pg6 is updated to the duplicate processing polygon Pm6.

Note that when performing the overlap process described above, the polygon update unit 34 calculates an overlap area based on the length and width of each of the multiple polygons that overlap with each other, and the position information assigned to each one. .

In addition, in this embodiment, the polygon updating unit 34 performs the overlap process described above to subtract the field area corresponding to the overlapping region from the field area corresponding to the polygon constructed at a later timing. , calculate the field area of the new polygon. Calculating the field area of a new polygon in this way corresponds to "subtracting the overlapping area, constructing a new polygon, and updating information" according to the present invention.

Note that the present invention is not limited to this. The polygon update unit 34 may be configured to change the shape of a polygon constructed at a later timing to a new polygon shape by performing the duplication process described above. In this case, the yield polygon map after the duplication process may be stored in the polygon map storage section 31. Further, in this case, the polygon constructed by the polygon updating unit 34 is not limited to a rectangular shape, and may have various shapes. Furthermore, one polygon constructed at a later timing may be divided into a plurality of new polygons due to the duplication process described above.

When duplication processing is performed by the polygon update unit 34, the crop data and crop information assigned to each polygon before the duplication process may be assigned as is to each polygon after the duplication process, or may be assigned to each polygon after the duplication process. It may be updated accordingly. In this embodiment, the yield that was assigned to the yield polygon before the duplication process is assigned as is to each polygon after the duplication process. Furthermore, the quality values assigned to the quality polygons before the duplication process are assigned as they are to each polygon after the duplication process. Furthermore, the yield per unit area that was assigned to the polygon for yield per unit area before the duplication process is updated based on the field area of the new polygon constructed by the duplication process.

Furthermore, as shown in FIGS. 16 and 17, the polygon update unit 34 performs the overlap process described above not only for the first overlap area OL1 and the second overlap area OL2, but also for all overlap areas in the yield polygon map. conduct. As a result, as shown in FIG. 17, there is no overlap area in the yield polygon map after the overlap processing has been performed by the polygon update unit 34.

[About the map after conversion]
The map conversion unit 32 converts the yield polygon map, the yield polygon map per unit area, and the quality polygon map stored in the polygon map storage unit 31 into converted maps partitioned into a plurality of index sections different from polygons. do.

In this way, the farmland management system SY has a map conversion unit 32 that converts a yield polygon map, a yield polygon map per unit area, and a quality polygon map into converted maps divided into a plurality of index sections different from polygons. We are prepared.

Although not shown, in this embodiment, the map conversion unit 32 divides the yield polygon map, the yield polygon map per unit area, and the quality polygon map into a plurality of index sections using the same division method. It is configured. However, the present invention is not limited to this, and the map conversion unit 32 can divide the yield polygon map, the yield polygon map per unit area, and the quality polygon map into a plurality of index sections using different partitioning methods. It may be configured as follows.

Furthermore, in the present embodiment, the map converting unit 32 is configured to convert the yield polygon map, yield polygon map per unit area, and quality polygon map after the above-described duplication process has been performed into a post-conversion map. ing.

Below, conversion of the yield polygon map, the yield polygon map per unit area, and the quality polygon map will be described in detail.

As shown in FIG. 15, the yield polygon map is converted by the map converter 32 into a mesh map divided into a plurality of index sections Q1, Q2, Q3, . . . . Note that the mesh map is a specific example of the above-mentioned "post-conversion map."

At this time, the map converting unit 32 calculates the yield of crops allocated to each index section by adding up the area-proportioned yields of the portions of each polygon included in each index section.

To be more specific, in one polygon, the area-proportioned yield of the portion included in one index section is the ratio of the field area corresponding to the portion included in that index section in that polygon to the field area corresponding to the entire polygon. It is the product of the ratio and the yield of the crop assigned to that polygon.

Then, for each polygon that overlaps with one index section, the map conversion unit 32 calculates the area-proportioned yield of the portion included in that index section, and adds up these area-proportioned yields. Calculate crop yield.

Above, the conversion of the yield polygon map has been described, but the above description basically applies to the conversion of the yield polygon map per unit area and the quality polygon map as well.

However, the conversion of the yield polygon map and the quality polygon map per unit area differs from the conversion of the yield polygon map in the following points.

The polygon map of yield per unit area is converted by the map conversion unit 32 into a converted map divided into a plurality of index sections. At this time, the map conversion unit 32 calculates the yield per unit area assigned to each index plot by calculating the sum of the area-proportioned yields of the portions included in each index plot out of each polygon, based on the field area corresponding to the assigned index plot. Calculated by dividing by

To be more specific, as mentioned above, in one polygon, the area-proportioned yield of the portion included in one index section corresponds to the portion of that polygon included in that index section with respect to the field area corresponding to the entire polygon. It is the product of the ratio of the field area to the polygon and the yield of the crop assigned to that polygon.

In one polygon, the area-proportioned yield of the part included in one indicator plot is the field area corresponding to the part included in that index plot in that polygon, and the yield per unit area allocated to that polygon. is equal to the product of and.

The map converting unit 32 calculates the area-proportioned yield of the portion included in the index section for each polygon that overlaps with one index section, and converts the sum of these area-proportioned yields into the field corresponding to the assigned index section. By dividing by the area, the yield per unit area in the indicator plot is calculated.

Further, the quality polygon map is converted by the map conversion unit 32 into a converted map divided into a plurality of index sections. At this time, the map conversion unit 32 calculates the quality value assigned to each index section as the average value of the quality values assigned to polygons that overlap with each index section among the polygons. Then, when calculating the average value, the map converting unit 32 performs weighting based on the field area corresponding to the portion of each polygon included in each index section.

Specifically, the quality value in one index section can be calculated as the average value of the quality values assigned to each polygon that overlaps with the index section.

The magnitude of the influence on the average quality value assigned to one polygon that overlaps with the index section depends on the size of the field area corresponding to the portion included in that polygon in the index section.

Therefore, when calculating the average value, the map conversion unit 32 performs weighting based on the field area corresponding to the portion of each polygon included in each index section. Thereby, the average value can be calculated while taking into consideration the magnitude of the influence of the quality values assigned to each polygon on the average value.

More specifically, when calculating the quality value to be assigned to one index section, the map converting unit 32 first calculates, for each polygon that overlaps with that index section, the portion of the polygon that is included in that index section. The product of the corresponding field area and the quality value assigned to that polygon is calculated. Then, the calculated products are added together and divided by the field area corresponding to the index section.

As a result, when calculating the average value of quality values, weighting is performed based on the field area.

Furthermore, the map conversion unit 32 in this embodiment can convert the yield polygon map into a mesh map and output the table shown in FIG. 18. The table shown in FIG. 18 shows the total yield, reaped area, and return yield for each of the index sections Q1, Q2, Q3, . . . on the mesh map. In addition, in this table, not only the total yield, reaped area, and yield, but also quality values, etc. may be shown.

By accessing the management server 7 via the operating terminal 8, the worker can view the mesh map (post-conversion map) and the table shown in FIG.

Note that the above-described redundant processing by the polygon update unit 34 may be performed when the yield polygon map, the yield polygon map per unit area, and the quality polygon map are generated, or when the yield polygon map, the yield polygon map per unit area, and the quality polygon map are generated. It may be performed when a polygon map or a quality polygon map is converted into a mesh map (post-conversion map).

According to the configuration described above, when a plurality of polygons are constructed with the occupied areas of the plurality of polygons overlapping, the polygon updating unit 34 updates the polygons constructed at an earlier timing from the polygons constructed at a later timing. A new polygon is constructed by subtracting the overlapping area between the polygon created at a later time and a polygon constructed at a later timing, and the information is updated. This makes it easier for crop data and crop information corresponding to those polygons to match the actual situation.

For example, if the yield per unit area is assigned to a polygon as crop information and the yield per unit area is calculated by dividing the yield by the field area corresponding to the polygon to which the polygon is assigned, then Of the two overlapping polygons, the overlapping area is subtracted from the polygon constructed at a later timing to construct a new polygon. Then, the yield per unit area calculated by dividing the yield by the field area corresponding to the new polygon matches the actual situation.

In other words, with the configuration described above, among the polygons constructed at a later timing, the parts that have already been harvested before the construction of that polygon are taken into account, new polygons are constructed, and the information is updated. Ru. As a result, crop data and crop information corresponding to each polygon can more easily match the actual situation.

Therefore, with the configuration described above, even if the occupied areas of multiple polygons overlap, the field management system can easily avoid situations where crop data and crop information corresponding to those polygons do not match the actual situation. SY can be realized.

[Other embodiments]
(1) The quality sensor M2 may be configured so that it cannot detect the moisture value of grains. Furthermore, the quality sensor M2 may be configured such that it cannot detect the protein content of grains.

(2) The taste of the grain may be calculated based on the protein content, moisture value, etc. of the grain. In this case, it can be configured to include a taste polygon construction section, a taste data allocation section, and a taste polygon map generation section to generate a taste polygon map.

(3) The yield sensor M1 may be configured to detect the grain yield at predetermined intervals other than 1 second, or may be configured to detect the yield at irregular intervals. good. Further, the yield acquisition unit 15 may be configured to acquire the grain yield every predetermined period other than 1 second, or may be configured to acquire the grain yield irregularly. good.

(4) The quality sensor M2 may be configured to detect the quality value of the grain at every predetermined period other than 2 seconds, or may be configured to detect the quality value of the grain irregularly. It's okay. Further, the quality acquisition unit 16 may be configured to acquire the quality value of the grain at every predetermined period other than 2 seconds, or may be configured to acquire the quality value of the grain irregularly. It's okay.

(5) The map conversion unit 32 may be configured to determine the size of the index section according to the size set by the operator via the operation terminal 8.

(6) The map conversion unit 32 may be configured not to perform weighting based on the field area corresponding to a portion of each polygon included in each index section when calculating the average value of the quality values.

(7) The crop data acquisition unit 14 may be configured to acquire only one type of crop data over time. For example, the crop data acquisition unit 14 may be configured to acquire only the grain yield over time.

(8) Yield polygon construction unit 21, yield data allocation unit 22, yield polygon map generation unit 23, yield polygon construction unit per unit area 24, yield data allocation unit 25 per unit area, yield polygon per unit area One of the map generation section 26, the quality polygon construction section 27, the quality data allocation section 28, the quality polygon map generation section 29, the position information allocation section 30, the polygon map storage section 31, the map conversion section 32, and the polygon update section 34. Some or all of them may be included in the combine C.

(9) The crop data acquisition unit 14 may be configured to acquire a value indicating the appearance (for example, color) of the crop. A value indicating the appearance of a crop corresponds to a "quality value" according to the present invention.

(10) The working width calculation unit 12 may not be provided. In this case, the yield polygon construction section 21, the yield polygon construction section 24 per unit area, and the quality polygon construction section 27 are configured to construct polygons assuming that the working width of the combine C is a constant value. It's okay.

(11) In the above embodiment, polygons for yield, polygons for yield per unit area, and polygons for quality are constructed. That is, three types of polygons are constructed. However, the present invention is not limited thereto. The number of types of polygons to be constructed may be two or less, or four or more. Alternatively, a configuration may be adopted in which only one type of polygon is constructed, and a plurality of types of crop data and crop information are assigned to that polygon.

The present invention can be used not only for self-extracting combine harvesters, but also for various harvesting machines such as ordinary combine harvesters, corn harvesters, potato harvesters, and carrot harvesters.

1 Reaping Department (Harvesting Department)
11 Working state determination unit 12 Working width calculation unit 14 Crop data acquisition unit 17 Position information acquisition unit 21 Yield polygon construction unit (polygon construction unit)
22 Yield Data Allocation Department (Data Allocation Department)
23 Yield polygon map generation unit (field map generation unit)
24 Polygon construction section for yield per unit area (polygon construction section)
25 Yield per unit area data allocation unit (data allocation unit)
26 Yield per unit area polygon map generation unit (field map generation unit)
27 Quality polygon construction department (polygon construction department)
28 Quality data allocation section (data allocation section)
29 Quality polygon map generation unit (field map generation unit)
30 Position information allocation unit 32 Map conversion unit 34 Polygon update unit C Combine (harvester)
Q1-Q3 Indicator section SY Field management system

Claims (7)

a crop data acquisition unit that acquires crop data over time, which is data regarding crops harvested by the harvesting unit of the harvesting machine;
a position information acquisition unit that acquires position information indicating the harvest position of crops in the field over time;
a polygon construction unit that constructs a polygon for each of the crop data acquired by the crop data acquisition unit based on a working width of the harvester and a distance traveled by the harvester per unit time;
a position information allocation unit that allocates the position information to each polygon constructed by the polygon construction unit;
a data allocation unit that allocates the crop data or crop information based on the crop data to each polygon constructed by the polygon construction unit;
When the plurality of polygons are constructed in a state in which the occupied areas of the plurality of polygons overlap, a polygon constructed at a later timing becomes a polygon constructed at an earlier timing and a polygon constructed at the later timing. A field management system comprising a polygon update section that updates information by constructing a new polygon by subtracting overlapping areas with polygons. a working state determining unit that determines into which range of the harvesting unit the crops harvested by the harvesting unit have invaded in the harvesting width direction of the harvesting unit;
The farmland management system according to claim 1, further comprising: a working width calculating section that calculates the working width based on a determination result by the working state determining section. 3. The farmland management system according to claim 1, further comprising a farmland map generation unit that generates a farmland polygon map as an aggregation of the polygons by aggregating the polygons. The crop data acquisition unit is capable of acquiring multiple types of crop data over time,
The field management system according to claim 3, wherein the field map generation unit generates the field polygon map for each type of crop data. comprising a map conversion unit that converts the field polygon map into a converted map partitioned into a plurality of index sections different from the polygons;
The crop data acquisition unit is capable of acquiring crop yield over time as the crop data,
The data allocation unit allocates crop yield to polygons as the crop data,
The field management system according to claim 3 or 4, wherein the map conversion unit calculates the yield of the crop allocated to each index division by adding up the area-proportioned yield of the portion included in each index division among each polygon. . comprising a map conversion unit that converts the field polygon map into a converted map partitioned into a plurality of index sections different from the polygons;
The crop data acquisition unit is capable of acquiring crop yield over time as the crop data,
The data allocation unit allocates, as the crop information, a yield per unit area calculated by dividing the crop yield acquired by the crop data acquisition unit by the field area corresponding to the allocation destination polygon to the polygon. ,
The map conversion unit divides the yield per unit area allocated to each index plot by the field area corresponding to the index plot to which it is allocated, by the sum of the area-proportioned yields of the portions of each polygon included in each index plot. The field management system according to claim 3 or 4, wherein the field management system is calculated by: comprising a map conversion unit that converts the field polygon map into a converted map partitioned into a plurality of index sections different from the polygons;
The crop data acquisition unit is capable of acquiring a quality value, which is a value indicating the quality of the crop, over time as the crop data,
The data allocation unit allocates the quality value to a polygon as the crop data,
The map conversion unit calculates the quality value assigned to each index section as an average value of the quality values assigned to polygons that overlap with each index section out of each polygon,
The farm field management system according to any one of claims 3 to 6, wherein the map conversion unit weights the field area corresponding to a portion of each polygon included in each index section when calculating the average value.

Images