WO2018092718A1 - 収量分布算出装置及び収量分布算出方法 - Google Patents

収量分布算出装置及び収量分布算出方法 Download PDF

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Publication number
WO2018092718A1
WO2018092718A1 PCT/JP2017/040765 JP2017040765W WO2018092718A1 WO 2018092718 A1 WO2018092718 A1 WO 2018092718A1 JP 2017040765 W JP2017040765 W JP 2017040765W WO 2018092718 A1 WO2018092718 A1 WO 2018092718A1
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WIPO (PCT)
Prior art keywords
grain
amount
sensor
detection value
combine
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PCT/JP2017/040765
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English (en)
French (fr)
Japanese (ja)
Inventor
宮本　宗徳
和信 林
Original Assignee
ヤンマー株式会社
国立研究開発法人農業・食品産業技術総合研究機構
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Application filed by ヤンマー株式会社, 国立研究開発法人農業・食品産業技術総合研究機構 filed Critical ヤンマー株式会社
Priority to CN201780065454.9A priority Critical patent/CN109963457B/zh
Priority to KR1020197008758A priority patent/KR102245591B1/ko
Publication of WO2018092718A1 publication Critical patent/WO2018092718A1/ja

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    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D41/00—Combines, i.e. harvesters or mowers combined with threshing devices
    • A01D41/12—Details of combines
    • A01D41/127—Control or measuring arrangements specially adapted for combines
    • A01D41/1271—Control or measuring arrangements specially adapted for combines for measuring crop flow
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D41/00—Combines, i.e. harvesters or mowers combined with threshing devices
    • A01D41/12—Details of combines
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D41/00—Combines, i.e. harvesters or mowers combined with threshing devices
    • A01D41/12—Details of combines
    • A01D41/127—Control or measuring arrangements specially adapted for combines
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D91/00—Methods for harvesting agricultural products
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D91/00—Methods for harvesting agricultural products
    • A01D91/02—Products growing in the soil
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01F—PROCESSING OF HARVESTED PRODUCE; HAY OR STRAW PRESSES; DEVICES FOR STORING AGRICULTURAL OR HORTICULTURAL PRODUCE
    • A01F12/00—Parts or details of threshing apparatus
    • A01F12/50—Sack-filling devices; Counting or weighing devices
    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
    • G09B29/00—Maps; Plans; Charts; Diagrams, e.g. route diagram
    • G09B29/10—Map spot or coordinate position indicators; Map reading aids

Definitions

  • the present invention mainly relates to a yield distribution calculating apparatus for calculating a yield distribution.
  • a yield distribution calculation device for calculating a grain amount (yield distribution) according to the position of a field.
  • harvesting is performed using a combine equipped with a GNSS receiver and a grain sensor.
  • the yield distribution calculation device calculates the yield distribution based on the position of the combine detected by the GNSS receiver and the grain amount (yield) detected by the grain sensor.
  • Patent Document 1 discloses a combine having this type of yield distribution calculation device.
  • Patent Document 1 The combine disclosed in Patent Document 1 is provided with a GPS receiver, a grain sensor, and a straw sensor.
  • the yield detection device (yield distribution calculation device) of Patent Literature 1 creates a map showing the yield distribution based on the detection results of the GPS receiver and the grain sensor. Further, the yield detection device creates a map indicating the distribution of the amount of the harvested culm based on the detection results of the GPS receiver and the culm sensor.
  • the grain sensor detects the grain obtained by threshing the harvested cereal
  • the grain sensor detects the grain after the cereal is harvested by the combine.
  • the grain may be separated by the handling cylinder when it is conveyed along the feed chain, or it becomes a grain with a branch-branch when processed by the handling cylinder, and then selected and reprocessed. In some cases, the grains may be separated.
  • the time taken for the grain to separate from the cereal is not constant, it is not easy to correct the delay. Therefore, it is very difficult to accurately calculate the correspondence between the position of the field and the amount of grain.
  • the present invention has been made in view of the above circumstances, and a main object thereof is to provide a yield distribution calculating device capable of accurately calculating the correspondence between the position of the field and the amount of grain.
  • this yield distribution calculation apparatus includes an acquisition unit and a calculation unit.
  • the acquisition unit includes a detection value of a GNSS receiver that detects the position of the combine, a detection value of a culvert sensor that detects the amount of culm carried by the combine, and a grain that detects the amount of grain harvested by the combine. The detection value of the sensor is acquired.
  • the calculation unit is obtained based on the position of the combine acquired by the acquisition unit and the detection value of the amount of culm, and the culm amount distribution that is a change in the amount of culm according to the position or time, and the cereal acquired by the acquisition unit Based on the detected value of the grain amount, a yield distribution indicating the grain amount according to the position is calculated.
  • the above-described yield distribution calculation device preferably has the following configuration. That is, the said calculation part calculates the grain cocoon ratio which is the correspondence of a cocoon amount and a grain amount based on the detected value of a culm amount, and the detected value of a grain amount.
  • the calculation unit calculates the yield distribution based at least on the straw mass distribution and the grain straw ratio.
  • the calculation unit calculates the grain slag ratio for each predetermined area in the same field, and uses the grain slag ratio to calculate the yield distribution of the predetermined area. It is preferable to calculate.
  • the growth situation i.e., grain ratio
  • the yield distribution is improved by calculating the grain ratio for each predetermined area of the field and improving the accuracy of the yield distribution. it can.
  • the above-described yield distribution calculation device preferably has the following configuration. That is, when the period from the start of harvesting cereal till the end of continuous harvesting of cereal is referred to as one mowing, the calculation unit calculates the grain cocoon ratio for each mowing.
  • the growth situation that is, the grain ratio
  • the grain ratio differs depending on the location of the field, so that a more accurate yield distribution can be calculated by calculating the grain ratio every harvest.
  • the acquisition unit acquires a transition of a grain amount according to time or a combine position as a detection value of the grain sensor.
  • the transition of the grain amount (a value close to the yield distribution) can be acquired by the grain sensor, and for example, for the section where the grain amount has not changed so much, the yield distribution is calculated using the detected grain amount. it can.
  • the above-described yield distribution calculation device preferably has the following configuration. That is, the acquisition unit acquires a value related to the thickness of the heel from the heel amount sensor as a detection value, and acquires a value related to the heel gripping position from the heel gripping position sensor as a detection value. The calculation unit corrects the detection value of the wrinkle amount based on the detection value of the wrinkle gripping position sensor.
  • the thickness of the ridge varies depending on the gripping position. Therefore, the amount of the ridge can be detected more accurately by performing correction based on the position where the heel is gripped.
  • this yield distribution calculation method includes an acquisition process and a calculation process.
  • the acquisition process includes a detection value of a GNSS receiver that detects the position of the combine, a detection value of a culvert sensor that detects the amount of culm carried through the combine, and a grain that detects the amount of grain harvested by the combine.
  • the detection value of the sensor is acquired.
  • the calculation process calculates a culm amount distribution, which is a change in the culm amount according to the position, based on the detected position of the combine and the culm amount acquired in the acquisition process. Based on the detected value of the grain amount, a yield distribution indicating the yield corresponding to the position is calculated.
  • the side view which shows the whole structure of the combine which concerns on one Embodiment of this invention.
  • the top view of a combine. The power transmission diagram of a combine.
  • the block diagram which shows the electric structure of a combine.
  • the longitudinal cross-sectional view which shows the structure of a grain tank and a grain sensor.
  • the top view which shows the structure of the soot amount sensor provided in a waste chain.
  • the graph which arranged the detection result of each sensor in time series, and the graph which shows a grain ratio.
  • the flowchart which calculates yield distribution.
  • FIG. 1 is a side view of a combine 100 according to an embodiment of the present invention.
  • FIG. 2 is a plan view of the combine 100.
  • the combine 100 of this embodiment shown in FIG. 1 is configured as a so-called self-removing combine.
  • the combine 100 includes a machine body 1 supported by a pair of left and right traveling crawlers 2.
  • a 6-row mowing device (reaping unit) 3 for reaping cereal grains is arranged at the front part of the machine body 1.
  • the cutting device 3 includes a cutting input pipe 52.
  • the reaping device 3 is attached to the machine body 1 so as to be movable up and down around the axis of the reaping input pipe 52.
  • the combine 100 includes a hydraulic cylinder 4 that connects the reaping device 3 and the machine body 1, and the reaping device 3 can be moved up and down by expanding and contracting the hydraulic cylinder 4.
  • the machine 1 includes a threshing device (threshing unit) 5 having a feed chain 6, a grain tank 7 for storing grains after threshing, and a grain discharge auger for discharging grains in the grain tank 7 to the outside of the machine ( Discharge part) 8.
  • the threshing device 5 and the glen tank 7 are provided side by side, and the threshing device 5 is arranged on the left side and the glen tank 7 is arranged on the right side.
  • An operation unit 10 is provided in front of the right side of the fuselage 1 and in front of the Glen tank 7.
  • the driving unit 10 includes a cabin 11 that constitutes a living space for the operator, a driving seat 12 on which the operator sits, and an operation unit 13 that is operated by the operator.
  • the driver seat 12 and the operation unit 13 are disposed inside the cabin 11.
  • the aircraft 1 includes an engine 20 as a power source disposed below the driver seat 12.
  • the engine 20 is configured as a diesel engine.
  • left and right track frames 21 are arranged at the bottom of the fuselage 1.
  • the track frame 21 is provided with a drive sprocket 22, a tension roller 23, and a plurality of track rollers 24.
  • the drive sprocket 22 transmits the power of the engine 20 to the traveling crawler 2 to drive it.
  • the tension roller 23 holds the tension of the traveling crawler 2.
  • the track roller 24 holds the ground side of the traveling crawler 2 in a grounded state.
  • the cutting device 3 includes a cutting frame including a cutting input pipe 52 and a pipe member (not shown).
  • the cutting frame is attached to the body 1 so as to be rotatable about the axis of the cutting input pipe 52.
  • the reaping device 3 includes a cutting blade device 47, a culm pulling device 48, a culm conveying device (conveying device) 49, and a weeding body 50.
  • the cutting blade device 47 has a clipper type cutting blade, and can cut the stock of uncut grain culm in the field.
  • the grain raising device 48 causes an uncut grain meal in the field.
  • the cereal conveying device 49 conveys the cereal that has been cut by the cutting blade device 47.
  • the weeding body 50 weeds the six strips of the uncut grain culm 101 indicated by a circle in FIG. 2 one by one.
  • a cutting blade device 47 is arranged below the cutting frame, and a grain raising device 48 is arranged in front of the cutting frame.
  • a corn straw transporting device 49 is disposed between the pallet raising device 48 and the front end (feed start end side) of the feed chain 6.
  • the weed body 50 is provided in a protruding shape in front of the lower portion of the grain raising device 48.
  • the combine 100 can drive the reaping device 3 while driving the traveling crawler 2 by the engine 20 and continuously chopping the uncut cereals in the field.
  • the threshing device 5 includes a handling cylinder 26 for threshing threshing, a rocking sorter 27, a tang fan 28, a processing cylinder 29, and a dust exhaust fan 30.
  • the handle 26 is provided with a number of teeth handling teeth (not shown), and the rotation of the handle cylinder 26 allows the grain to be separated from the cereal by the teeth handling.
  • the swing sorting board 27 is configured as a swing sorting mechanism that sorts out the fallen particles falling below the handling cylinder 26.
  • the Chinese fan 28 supplies the sorting wind to the swing sorter 27.
  • the processing cylinder 29 reprocesses the threshing discharge taken from the rear part of the handling cylinder 26.
  • the dust exhaust fan 30 discharges dust at the rear part of the swing sorter 27 to the outside of the machine.
  • the stocker side of the harvested cereal that has been sent from the reaping device 3 by the culm transporting device 49 is inherited to the front end side (feed start side) of the feed chain 6. Then, by feeding the feed chain 6, the tip side of the cereal is introduced into the threshing device 5 and threshed by the handling cylinder 26.
  • a waste chain 34 is disposed on the rear end side (feed end side) of the feed chain 6.
  • the waste passed down from the rear end side of the feed chain 6 to the waste chain 34 is discharged to the rear of the machine body 1 in a long state or by the waste cutting device 35 provided on the rear side of the threshing device 5. After being cut short to an appropriate length, it is discharged to the rear lower side of the machine body 1.
  • the waste indicated here is the cereal after the cereal has been separated.
  • first conveyor 31 for taking out the grain (first sort) selected by the swing sorter 27 and a second sort such as a grain with a branch raft are taken out.
  • Second conveyor 32 is provided below the swing sorter 27 .
  • the first conveyor 31 and the second conveyor 32 are arranged in this order from the front side in the traveling direction of the machine body 1 in the left-right direction of the machine body.
  • the swing sorter 27 is configured to swing sort (specific gravity sort) the cereals that have fallen below the handling cylinder 26.
  • the grain that has fallen from the swing sorter 27 (the first sort) is removed from the grain by the sorting wind from the tang fan 28 and falls to the first conveyor 31.
  • a first cereal cylinder 33 extending in the vertical direction is connected to a terminal portion of the first conveyor 31 that protrudes outward from one side wall (in the embodiment, the right side wall) of the threshing device 5 near the grain tank 7. .
  • the grain taken out from the first conveyor 31 is carried into the Glen tank 7 and stored by a first cereal conveyor (not shown) in the first cereal cylinder 33.
  • Oscillating sorter 27 performs second sorting such as grain with branches and branches (reduction reprocessed product for resorting in which grain and sawdust are mixed) by second sorting by swing sorting (specific gravity sorting). It is comprised so that it may fall to 32.
  • the second sorted product taken out by the second conveyor 32 is returned to the upper surface side of the swing sorting board 27 via the second reduction conveyor 36 and the second processing unit 37 and is re-sorted. Further, sawdust, dust and the like in the crushed material from the barrel 26 are discharged from the rear portion of the machine body 1 toward the field by the sorting wind from the Kara fan 28.
  • FIG. 3 is a power transmission diagram of the combine 100.
  • the power of the engine 20 included in the combine 100 of the present embodiment is such that the continuously variable transmission 15 that drives the traveling crawler 2 from the output shaft 20 a of the engine 20, each part of the threshing device 5, It is branched and transmitted to the grain discharge auger 8 and the reaping device 3.
  • the continuously variable transmission 15 is configured as a hydrostatic hydraulic continuously variable transmission (HST) transmission. Since the continuously variable transmission 15 has a known structure including a pair of a hydraulic pump and a hydraulic motor (not shown), detailed description thereof is omitted.
  • HST hydrostatic hydraulic continuously variable transmission
  • a part of the driving force of the engine 20 is transmitted to the reaping device 3 via a reaping clutch 46 that can switch whether or not the driving force is transmitted to the reaping device 3.
  • description is abbreviate
  • a part of the driving force of the engine 20 is transmitted to each component of the threshing device 5 via the threshing clutch 25 that can switch the presence or absence of transmission of the driving force to the threshing device 5. Specifically, after the driving force is transmitted to the Kara fan 28 and the first conveyor 31, it is further transmitted to the second conveyor 32, the swing sorter 27, the waste cutting device 35, and the feed chain 6. .
  • the first conveyor 31 is for sending out the fine particles selected by the swing sorter 27 to the outside.
  • the cereal conveyor 41 is connected to the end of the first conveyor 31 via a bevel gear, and the cereal conveyor 41 is driven by the driving force transmitted to the first conveyor 31.
  • the cereal conveyor 41 is arranged inside the first cereal cylinder 33 and can carry the grains to the glen tank 7. With the above configuration, the refined particles sorted by the rocking sorter 27 and the like are transported to the Glen tank 7 through the first conveyor 31 and the cereal conveyor 41 and stored in the Glen tank 7.
  • a reduction conveyor 42 is connected to the end of the second conveyor 32 via a bevel gear. Further, a second processing unit 37 is connected to the end of the reduction conveyor 42 via a bevel gear. As a result, the driving force transmitted to the second conveyor 32 is further transmitted to the reduction conveyor 42 and the second processing unit 37.
  • the second conveyor 32 and the reduction conveyor 42 are for transporting the second product (grains with branches, cut ears, etc.) separated from the fine grains to the second processing unit 37.
  • the second product is removed by the second processing unit 37 and then returned to the swing sorting board 27 and sorted again.
  • part of the driving force of the engine 20 is transmitted to the handling cylinder 26 and the processing cylinder 29.
  • the driving force transmitted to the handling cylinder 26 is further transmitted to a waste chain 34 for conveying the waste treated by the handling cylinder 26 to the waste cutting device 35.
  • the waste cutting device 35 cuts and discharges the waste conveyed by the waste chain 34 with a rotary blade (not shown).
  • the grains stored in the Glen tank 7 are sent to the grain discharge auger 8 by a plurality of conveyors.
  • the grain discharge auger 8 can discharge the grain by driving a conveyor provided inside the grain discharge auger 8.
  • FIG. 4 is a block diagram showing an electrical configuration of the combine 100.
  • FIG. 5 is a longitudinal sectional view showing the configuration of the Glen tank 7 and the grain sensor 62.
  • FIG. 6 is a plan view showing the configuration of the soot amount sensor 63 provided in the waste chain 34.
  • the combine 100 includes a GNSS receiver 61, a grain sensor 62, a culm amount sensor 63, a culm detection sensor 64, and a handling depth sensor 65 as sensors.
  • the GNSS receiver 61 is connected to a GNSS antenna (not shown).
  • the GNSS receiver 61 calculates the latitude / longitude information of the position of the combine 100 (specifically, the position of the GNSS antenna) based on the signal received by the GNSS antenna from the positioning satellite.
  • the positioning performed by the GNSS receiver 61 may be single positioning, or may be relative positioning using the calculation result of another GNSS receiver. Moreover, as relative positioning, differential GNSS may be used and interference positioning may be used.
  • the position of the combine 100 detected by the GNSS receiver 61 is output to the management device 70 together with the detected time. The association with the time may be performed on the GNSS receiver 61 side or may be performed on the management device 70 side (the same applies to other sensors).
  • the grain sensor 62 detects the amount of grain harvested by the combine 100. Specifically, as shown in FIG. 5, the grain sensor 62 is attached to the upper surface of the Glen tank 7. As described above, the grain 102 obtained by the threshing device 5 or the like is conveyed toward the grain tank 7 by the cereal conveyor 41 provided inside the first cereal cylinder 33. A discharge blade 43 is connected to the downstream end of the shaft of the cereal conveyor 41. The discharge blade 43 jumps the grain 102 conveyed by the cereal conveyor 41 toward the glen tank 7.
  • the grain sensor 62 is provided with an impact detection unit such as a strain gauge or a piezoelectric element. With this configuration, the grain sensor 62 detects an impact force when the grain 102 that the release blade 43 has jumped off collides with. The grain sensor 62 detects the grain amount based on this impact force. The grain sensor 62 outputs the detected grain amount to the management device 70.
  • the grain sensor 62 calculates the grain amount by, for example, averaging the impact force obtained at regular intervals. By performing this process, the grain sensor 62 can detect a temporal change in the grain amount.
  • the grain sensor 62 may be configured to detect the grain amount by using a method other than the impact force.
  • the grain amount can be detected by using the weight of the harvested grain.
  • the amount of grain it is difficult to detect the change in the amount of grain during cutting, but for example after the end of cutting, the amount of grain (of the amount of grain obtained by cutting) Total) can be detected accurately.
  • the amount sensor 63 detects the amount of cereals harvested by the combine 100.
  • the combine 100 includes a pinch 81 that is disposed so as to face the waste chain 34.
  • the waste chain 103 is transported by driving the waste chain 34 in a state where the waste chain 103 is sandwiched between the waste chain 34 and the clamp 81.
  • the clamp 81 is supported by the support shaft 82 and is urged by the urging member 83 in a direction approaching the waste chain 34.
  • the clamp 81 and the support shaft 82 move in the axial direction of the support shaft 82 in accordance with the amount of the rejecting rod 103 to be conveyed.
  • a saddle amount sensor 63 is provided at the end of the support shaft 82 on the opposite side to the sandwiching 81.
  • the eaves sensor 63 includes an arm part 63a and an angle sensor 63b.
  • the arm part 63 a is configured to rotate according to the position of the support shaft 82.
  • the angle sensor 63b detects the rotation angle of the arm portion 63a.
  • the soot amount sensor 63 can detect a temporal change in the soot amount.
  • the soot amount sensor 63 outputs the detected temporal change of the soot amount to the management device 70.
  • the dredge sensor 63 of the present embodiment is configured to detect the amount of the waste 103 by the total thickness of the stems of the waste 103 to be transported. It may be configured to detect the amount of the ridge 103.
  • the culm detection sensor 64 is provided in the reaping device 3, for example, and is a sensor configured to detect the culm by contacting the culm being conveyed.
  • the culm detection sensor 64 detects whether or not the culm is being transported, that is, whether a cutting operation is being performed.
  • the position at which the cereal detection sensor 64 is provided is arbitrary, and may be provided, for example, in the cereal conveyance device 49.
  • the cereal detection sensor 64 outputs the detection result to the management device 70.
  • the handling depth sensor 65 is provided, for example, in the cereal conveyance device 49, and detects the handling depth.
  • the handling depth is the length of the culm inserted into the threshing device 5 (handle cylinder 26). For example, when the handling depth is too shallow, a phenomenon that the grain remains in the cereal after threshing (unhandled) is likely to occur. In addition, if the handling depth is too deep, the cereal basket is caught on the handling drum 26 (resisting), excessive power is required, or the number of items increases.
  • the handling depth sensor 65 has the 1st detection part and the 2nd detection part which can detect the contact of a grain candy.
  • the 1st detection part and the 2nd detection part are provided in the part which the tip of the grain straw conveyed by the grain straw conveying device 49 can contact.
  • Each of the first detection unit and the second detection unit is configured to output a predetermined electrical signal when the ear of the cereal is in contact.
  • the second detection unit is arranged to be longer from the holding position than the length from the holding position to the first detection unit. ing. Therefore, when the handling depth is less than or equal to the predetermined value, the cereals contact only the first detection unit. Moreover, when the handling depth is deeper than a predetermined depth, the cereal is in contact with both the first detection unit and the second detection unit.
  • the handling depth sensor 65 detects the handling depth.
  • the handling depth is detected in two stages, but it may be three or more stages, or the handling depth may be measured by a camera or the like.
  • the handling depth sensor 65 outputs the detection result to the management device 70.
  • the management device 70 is provided in the cabin 11 and can display various information according to the operation of the operator.
  • the management device 70 includes a control unit 71, a display unit 75, a storage unit 76, and an operation unit 77.
  • the control unit 71 is an arithmetic device such as a CPU disposed in the management device 70, but may be an arithmetic device such as an FPGA or an ASIC.
  • the control unit 71 can perform various processes by reading the program stored in the ROM into the RAM and executing it.
  • the control unit 71 includes an acquisition unit 72 and a calculation unit 74.
  • the acquisition unit 72 acquires detection values of the GNSS receiver 61, the grain sensor 62, the culm amount sensor 63, the culm detection sensor 64, the handling depth sensor 65, and the like.
  • the calculation unit 74 calculates the yield distribution based on the detection value acquired by the acquisition unit 72 (detailed calculation method will be described later).
  • the display unit 75 is composed of a liquid crystal display or the like, and displays the detection value acquired by the acquisition unit 72, the yield distribution calculated by the calculation unit 74, and the like.
  • the storage unit 76 is a non-volatile memory such as a flash memory (such as a flash disk and a memory card), a hard disk, or an optical disk.
  • the storage unit 76 stores the detection value acquired by the acquisition unit 72, the yield distribution calculated by the calculation unit 74, and the like.
  • the operation unit 77 is a hardware key, a touch panel, or the like, and outputs an operation content of the operator to the control unit 71.
  • FIG. 7A is a graph in which the detection results of the sensors are arranged in time series.
  • FIG.7 (b) is a graph which shows a grain cocoon ratio.
  • FIG. 8 is a flowchart for calculating the yield distribution.
  • the cereal harvested by the reaping device 3 may be separated into grains by the handling cylinder 26 and conveyed to the grain tank 7 via the cereal conveyor 41, or bellows by the handling cylinder 26.
  • the grains are attached, and after the grains are separated by the second processing unit 37, the grains are conveyed to the grain tank 7 via the cereal conveyor 41. Therefore, the detection value of the grain sensor 62 does not accurately indicate the grain amount of the cereal harvested before a certain time. In addition, it is difficult to estimate how much of the harvested cereals pass through the second processing unit 37.
  • FIG. 7A shows the result of confirming these.
  • FIG. 7A is a graph showing the detection results of the grain sensor 62, the culm amount sensor 63, and the culm detection sensor 64 on the same time axis.
  • the grain sensor 62 and the culling amount sensor 63 detect the cereal and the culm.
  • the grain sensor 62 takes a long time to stabilize the detection value due to the above-described circumstances.
  • the detection value of the weight sensor 63 is stabilized at an early timing.
  • the grain-ratio ratio which is the ratio between the grain and the amount of straw, varies depending on the crop and the growth situation. Conversely, if the crop and the growth situation are the same, the grain ratio will be the same value.
  • the grain slag ratio is obtained based on the detection values of the grain sensor 62 and the culling amount sensor 63, and based on the detection value of the culling amount sensor and the grain cocoon ratio, Calculate the yield distribution. Thereby, it is possible to accurately calculate the correspondence between the position of the field and the grain amount. Specific processing will be described below. Note that the process shown in FIG. 8 may be performed during cutting or after the entire field has been cut.
  • the detection value of each sensor included in the combine 100 is output to the management device 70.
  • the acquisition unit 72 of the control unit 71 of the management device 70 detects the detection values of the sensors included in the combine 100 (particularly, the GNSS receiver 61, the grain sensor 62, the weight sensor 63, and the handling depth sensor 65). Detection value) is acquired (S101 in FIG. 8).
  • the calculation unit 74 of the control unit 71 corrects the detection value of the weight sensor 63 based on the detection value of the handling depth sensor 65 (S102). If it demonstrates concretely, the thickness will differ according to the position of a longitudinal direction (specifically, it will become so thin that it approaches the tip side, and it will become so thick that it approaches the root side). Therefore, even if the culm amount sensor 63 shows the same detection value, the culling amount will be different if the position where the culm is gripped is different. In consideration of the above circumstances, for example, the deeper the handling depth (position for gripping the corn straw) detected by the handling depth sensor 65, the more the root of the corn straw is gripped. Correction for decreasing the detected value of 63 is performed.
  • the calculation unit 74 calculates the grain slag ratio based on the integrated value of the detected value of the grain sensor 62 and the integrated value of the detected value of the culling amount sensor 63 for a predetermined period (S103).
  • the timing for calculating the kernel ratio (that is, what to do with the predetermined period) is arbitrary, but the kernel ratio changes frequently depending on the growth situation as described above, so the kernel ratio is frequently calculated. It is preferable to do. For example, it is preferable to calculate a plurality of grain ratios in the same field. Specifically, the calculation unit 74 calculates the grain sorghum ratio for each predetermined region in the same field. And when calculating
  • the calculation part 74 calculates
  • the integrated value of the grain amount detected from the start to the completion of cutting corresponds to the integrated value of the dredging amount, so that the kernel-rough ratio can be calculated with high accuracy.
  • the calculation unit 74 calculates the grain amount at each cutting time based on the time change of the culling amount sensor 63 and the grain culling ratio (S104). As described above, it is possible to calculate how far the detected value of the culm amount sensor 63 is the culm that has been trimmed before (the amount of delay) by considering the transport speed of the culm transport device. For example, when the transport device depends on the vehicle speed, the delay amount is calculated based on the vehicle speed. By considering this delay amount, it is possible to grasp at what time the dredging amount detected by the dredging amount sensor 63 has been cut. Furthermore, the amount of grains at each cutting time (time change of the amount of grains) can be calculated by obtaining the amount of grains from the amount of straw using the grain ratio.
  • the calculation unit 74 calculates a grain amount (yield distribution) according to the position of the field based on the grain amount at each cutting time and the position at each time detected by the GNSS receiver 61. (S105).
  • the position of the combine 100 detected by the GNSS receiver 61 is stored in association with the time. Therefore, the grain amount (yield distribution) according to the position of the field can be calculated by applying the correspondence relationship between the position and the time to the grain amount at each cutting time calculated in S104.
  • This yield distribution is data indicating the change in the amount of grain according to the position where the combine 100 has traveled. Based on this data, for example, a field can be divided into predetermined regions, and a yield map (see FIG. 9) showing the amount of grains obtained in the regions can be created.
  • FIG. 10 is a diagram illustrating a configuration for calculating a yield distribution in another embodiment.
  • the acquisition of the sensor detection result and the calculation of the yield distribution are performed by the management device (computer) 70 provided in the combine 100.
  • these processes can be performed by other than the combine 100.
  • the detection result of each sensor provided in the combine 100 is transmitted to the PC 200 owned by the operator using wireless communication or wired communication, or using a recording medium. Then, the PC 200 transmits the sensor detection result to the server 210 via the Internet. The server 210 acquires the detection result of the sensor, and calculates the yield distribution using the method described in the above embodiment. Then, the yield distribution is transmitted to the PC 200. The producer can view the yield distribution on the PC 200, for example.
  • the server 210 does not have to be a single server.
  • a plurality of servers may share the calculation.
  • the device that acquires or stores the detection result of the sensor and the device that calculates the yield distribution may be physically separated (in this case, the two devices are connected by appropriate communication means). These cases also correspond to the “yield distribution calculation device, computer” in the present invention.
  • the detection result of each sensor provided in the combine 100 is transmitted to the PC 200 owned by the operator, as in the example shown in FIG.
  • the PC 200 not the server 210, acquires the detection result of the sensor and calculates the yield distribution.
  • a yield distribution calculation program necessary for this processing is provided from the server 210.
  • the PC 200 corresponds to the “yield distribution calculation device” in the present invention.
  • the yield distribution calculation method of the present invention is performed by the PC 200 executing the yield distribution calculation program.
  • a smartphone or a tablet terminal can be used instead of the PC 200. Further, when the combine 100 is connected to the Internet or the like, the detection result of the sensor can be transmitted without going through the PC 200.
  • the management device 70 includes the acquisition unit 72 and the calculation unit 74.
  • the acquisition unit 72 includes a detection value of the GNSS receiver 61 that detects the position of the combine 100, a detection value of the straw sensor 63 that detects the amount of straw transported through the combine 100, and the amount of grain harvested by the combine 100 And a detection value of the grain sensor 62 for detecting (acquisition processing).
  • the calculation unit 74 is obtained based on the position of the combine 100 acquired by the acquisition unit 72 and the detection value of the selection amount, and the acquisition unit 72 acquires the distribution of the amount of variation depending on the position or time. Based on the detected value of the grain amount, a yield distribution indicating the grain amount corresponding to the position is calculated (calculation process).
  • a grain cocoon ratio that is a correspondence relationship between the cocoon amount and the grain amount is calculated based on the detected value of the culm amount and the detected value of the cereal amount.
  • the yield distribution is calculated based on at least the straw mass distribution and the grain straw ratio.
  • the calculation part 74 calculates the said grain slag ratio for every predetermined area
  • the growth situation i.e., grain ratio
  • the yield distribution is improved by calculating the grain ratio for each predetermined area of the field and improving the accuracy of the yield distribution. it can.
  • the calculation unit 74 calculates the cereal culm ratio for each reaping.
  • the growth situation that is, the grain ratio
  • the grain ratio differs depending on the location of the field, so that a more accurate yield distribution can be calculated by calculating the grain ratio every harvest.
  • the acquisition unit 72 acquires the transition of the grain amount according to the time or the position of the combine 100 as the detection value of the grain sensor 62.
  • the yield distribution is determined using the detected grain amount. It can be calculated.
  • the acquisition unit 72 of the management device 70 acquires a value related to the thickness of the heel as a detection value from the heel amount sensor 63, and acquires a value related to the heel gripping position from the handling depth sensor 65 as a detection value. .
  • the calculation unit 74 corrects the detection value of the amount of wrinkles based on the detection value of the handling depth sensor 65.
  • the thickness of the ridge varies depending on the gripping position. Therefore, the amount of the ridge can be detected more accurately by performing correction based on the position where the heel is gripped.
  • the management device 70 provided in the combine 100 acquires the sensor detection results and calculates the yield distribution.
  • another control device provided in the combine 100 for example, controls each part of the combine 100. The same processing may be performed by the apparatus.
  • the yield distribution is calculated based on the detection value of the culm amount sensor 63 and the grain cocoon ratio at all positions in the field, but the detection value of the grain sensor 62 is not stable ( That is, the above method may be used only at the start and end of cutting), and the detected value of the grain sensor 62 may be used at other positions.
  • the grain ratio can be calculated (in other words, the grain ratio can be calculated without using the integrated value of the detected values for a predetermined period).
  • the straw amount detected by the straw sensor 63 was used in order to calculate a grain straw ratio, in order to correct
  • the soot amount sensor 63 may be provided in a transport device other than the waste chain 34 (for example, the grain transport device 49, the feed chain 6, etc.).
  • the grain sensor 62, the culling amount sensor 63, the handling depth sensor 65, and the like detect the amount of cereal, the culling amount, and the handling depth and output them to the management device 70.
  • the values for calculating the handling depth are output to the management device 70, and the amount of grain on the management device 70 side It is also possible to calculate the dredging amount and the handling depth.
  • the grain amount corresponding to the time is calculated using the detection value of the paddy quantity sensor 63 corresponding to the time (S104), and then the grain amount corresponding to the position of the field is calculated.
  • the amount of grain corresponding to the position of the field may be calculated by obtaining in advance the detection value of the weight sensor 63 corresponding to the position of the field and applying the grain ratio to that value.
  • the process performed in S105 may be performed before S104 (for example, between S101 and S102, or between S102 and S103).

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