Combine harvester

Abstract

To provide a combine harvester capable of preparing a map by calculating the weight of each grain selected from grain culms planted in each row of a field.SOLUTION: This combine harvester is provided with a controller (40) for preparing yield map data based on position information of a machine body and a yield of an area to be measured (62) by using an area where a reaping device (3) reaps grain culms as the area to be measured (62) every time interval T or every prescribed traveling distance. The controller (40) is configured to preset the number of small regions into which the measurement target region (62) is divided, and during the yield monitoring state, the controller (40) calculates the second weight by dividing the first weight detected by the weight sensor (54B) by the number of small regions, calculates position information of the small regions, and associates the position information of the small regions with the second weight to create yield map data.SELECTED DRAWING: Figure 14

Description

[Technical Field]

[0001] The present invention relates to a combine harvester for harvesting cereal stalks in a field. [Background technology]

[0002] A conventional technique is known in which position information within a field is stored in association with yield and the operation status of a lodging switch, and a yield map is created that shows the distribution of yield within the harvested field (Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2008-212102 Summary of the Invention [Problem to be solved by the invention]

[0004] However, the technology in Patent Document 1 had the problem that if the mesh unit of the yield map was small and the positional information of the yield map data was near the boundary of the mesh, the yield of the mesh next to the boundary would be calculated as low. Also, because it was not possible to detect the weight of the grains sorted from the culms planted in each row of the field, it was not possible to grasp the growth rate or lodging rate of the culms planted in each row, and there was a problem that it was not possible to create a map with high accuracy to be used during the harvesting work in the next section.

[0005] Therefore, the present invention provides a combine harvester that generates data for more accurate yield mapping, and further provides a combine harvester that can calculate the yield of each grain selected from the stalks planted in each row of a field to create a more accurate yield map. [Means for solving the problem]

[0006] The present invention, which has solved the above problems, is as follows. That is, the invention described in claim 1 is a combine harvester in which a reaping device (3) for reaping stalks in a field is provided in front of a machine frame (1) on which an engine (E) is mounted, a threshing device (4) for threshing the reaped stalks is provided on the rear left side of the reaping device (3), a control section (5) on which an operator rides is provided on the rear right side of the reaping device (3), and a grain tank (7) for storing grain is provided behind the control section (5), A weight sensor (54B) is provided to detect the weight of the grain stored in the grain tank (7), and a controller (40) is provided to create yield map data based on the position information of the machine and the yield of the measurement target area (62), with the area where the reaper (3) has reaped the stalks at every time interval T or every predetermined travel distance being a measurement target area (62). and at least one row of planted stalks spaced a predetermined distance from the traveling direction of the combine harvester in the left and right directions. The combine harvester is configured such that the number of sub-areas into which the harvester is divided is set in advance, and during the yield monitoring state, the controller (40) reads a first weight detected by the weight sensor (54B), divides it by the number of sub-areas to calculate a second weight, calculates position information of the sub-areas, and links the position information of the sub-areas with the second weight to create the yield map data.

[0007] The invention described in claim 2 is a combine harvester described in claim 1 in which a forward-extending grass body (3D) is provided on the left side of the raising device (3A) that raises the culms of the harvesting device (3), and a culm sensor (53) that detects the presence or absence of culms is provided on the right side of the grass body (3D), and the controller (40) obtains the ON / OFF state of the culm sensor (53), and links the third weight obtained by dividing the first weight by the number of times the culm sensor (53) is ON with the positional information of the small area through which the culm sensor (53) passed when ON, to create the yield map data.

[0008] The invention described in claim 3 is a combine described in claim 1 or 2, which is provided with a moisture sensor (54C) that detects the moisture content of the grain stored in the grain tank (7), and which subtracts from the first weight the weight obtained by multiplying the first weight by the moisture content.

[0009] The invention described in claim 4 is a combine described in claim 3, in which the time for reading the first weight is changed depending on the output rotation speed of the engine (E), so that the reading time is made faster when the output rotation speed of the engine (E) is high, the reading time is made slower when the output rotation speed of the engine (E) is low, and the reading time is made slower when the output rotation speed of the engine (E) is high. [Effects of the Invention]

[0010] According to the invention of claim 1, a controller (40) is provided that creates yield map data based on the position information of the machine and the yield of the measurement target area (62), where the area where the reaper (3) has reaped the stalks at every time interval T or every predetermined travel distance is defined as the measurement target area (62). , so as to include at least one row of planted culms spaced a predetermined distance apart in the left and right directions from the traveling direction of the combine. The number of small areas into which the measurement target area (62) is divided is configured to be set in advance, and during the yield monitoring state, the controller (40) reads the first weight detected by the weight sensor (54B), then divides it by the number of small areas to calculate a second weight, calculates position information of the small areas, and links the position information of the small areas with the second weight to create yield map data.Since yield map data is generated for the small areas into which the measurement target area (62) is divided, the number of plots in the mesh increases when creating the yield map, making it possible to create a highly accurate yield map.

[0011] According to the invention described in claim 2, in addition to the effects of the invention described in claim 1, a forward-extending grass body (3D) is provided on the left side of the raising device (3A) that raises the culms of the harvesting device (3), and a culm sensor (53) that detects the presence or absence of culms is provided on the right side of the grass body (3D).The controller (40) obtains the ON / OFF state of the culm sensor (53) and links the third weight obtained by dividing the first weight by the number of times the culm sensor (53) is ON with the position information of the small area through which the culm sensor (53) passed in the ON state to create yield map data.Therefore, highly accurate yield map data can be created by determining the presence or absence of culms in the small area by detecting the presence or absence of culms using the culm sensor (53).

[0012] According to the invention described in claim 3, in addition to the effects of the invention described in claim 1 or 2, a moisture sensor (54C) is provided to detect the moisture content of the grain stored in the grain tank (7), and the weight obtained by multiplying the first weight by the moisture content is subtracted from the first weight, so that the first weight of the grain sorted from the stalks planted in the field can be calculated more accurately.

[0013] According to the invention described in claim 4, in addition to the effects of the invention described in claim 3, the time for reading the first weight is changed depending on the output rotation speed of the engine (E), so that the reading time is faster when the output rotation speed of the engine (E) is high, the reading time is faster when the output rotation speed of the engine (E) is low, and the reading time is slower when the output rotation speed of the engine (E) is high.This reduces the effect of the delay time between the time when the stalks are harvested by the harvesting device (3) and the time when the weight sensor (54B) detects the weight of the grains sorted from the stalks, making it possible to more accurately calculate the weight of the grains sorted from the stalks harvested by the harvesting device (3). [Brief explanation of the drawings]

[0014] [Figure 1] FIG. [Figure 2] FIG. [Figure 3] FIG. [Figure 4] 1 is a transmission diagram of the engine output rotation. [Figure 5] FIG. 2 is a connection diagram of the positioning unit. [Figure 6] FIG. 2 is a connection diagram of the first controller and the second controller of the combine harvester. [Figure 7] FIG. 2 is a connection diagram of a first controller. [Figure 8] FIG. 1 is an explanatory diagram of a data sheet. [Figure 9] FIG. 10 is a connection diagram of a second controller. [Figure 10] FIG. 1 is an explanatory diagram of automatic travel of a combine harvester. [Figure 11] FIG. 3 is an explanatory diagram of a method for calculating a weight ratio in the first embodiment. [Figure 12] FIG. 10 is an explanatory diagram of a method for calculating a weight ratio in the second embodiment. [Figure 13] 10 is a flowchart showing a procedure for creating yield map data. [Figure 14] 10 is a flowchart showing a method for creating yield map data. [Figure 15] FIG. 2 is an explanatory diagram of yield monitoring in the first embodiment. [Figure 16] FIG. 10 is an explanatory diagram of yield monitoring in the second embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0015] As shown in Figures 1 and 2, a combine harvester has a traveling device 2 consisting of a pair of left and right crawlers that travels on the field, mounted on the underside of a body frame 1, a reaping device 3 that harvests the stalks in the field, mounted on the front side of the body frame 1, a threshing device 4 that threshers and sorts the harvested stalks, mounted on the rear left side of the reaping device 3, and a control unit 5 on which an operator rides, mounted on the rear right side of the reaping device 3.

[0016] An engine room 6, which houses the engine E, is provided below the control unit 5, and a grain tank 7, which stores threshed and sorted grain, is provided behind the control unit 5. Behind the grain tank 7, a discharge auger 8 is provided, which consists of a grain lifting section extending vertically to discharge the grain to the outside, and a horizontal discharge section extending longitudinally.

[0017] The harvesting device 3 is composed of four raising devices 3A arranged side by side in the left-right direction to raise the culms in the field, a cutting device 3B that cuts the base of the raised culms, a transporting device 3C that transports the culms whose bases have been cut to the threshing device 4, and five dividing plants 3D arranged side by side in the left-right direction to guide the culms in the field to the raising devices 3A.

[0018] As shown in Figure 3, a front panel 11 is provided in front of the operator's seat 10 of the control unit 5, and a touch panel monitor 12 is provided in the center of the front panel 11 to display the output rotation of the engine E and the running speed of the traveling device 2, etc., and an operating lever 13 is provided on the right side of the monitor 12 to operate the rotation of the traveling device 2 and the raising and lowering of the reaping device 3.

[0019] When the operating lever 13 is tilted forward, the mowing device 3 descends to the mowing position, when it is tilted backward, the mowing device 3 rises to the waiting position, when it is tilted left, the traveling device 2 turns left, and when it is tilted right, the traveling device 2 turns right.

[0020] It is provided on the left side of the cockpit 10. A main speed change lever 16 is provided in front of the side panel 15 to operate a continuously variable transmission 20 that increases or decreases the output rotation of the engine E and switches the rotation direction, and an auxiliary speed change lever 17 is provided on the right rear side of the main speed change lever 16 to operate a transmission 21 that increases or decreases the output rotation of the continuously variable transmission 20.

[0021] On the left rear side of the sub-speed change lever 17 is provided a harvesting / detaching lever 18 which operates to connect and disconnect the harvesting clutch 22 which transmits the output rotation of the engine E to the harvesting device 3, and the threshing clutch 23 which transmits the output rotation of the engine E to the threshing device 4.

[0022] A discharge lever 19 is provided on the right rear side of the cutting / removal lever 18 to operate the connection and disconnection of a discharge clutch 24 that transmits the output rotation of the engine E to the discharge auger 8.

[0023] As shown in Fig. 4, the output rotation of engine E is transmitted to continuously variable transmission 20. The output rotation of engine E transmitted to the input shaft of continuously variable transmission 20 is accelerated or decelerated and the rotation direction is switched within continuously variable transmission 20, and then transmitted to transmission 21 and harvesting device 3.

[0024] The output rotation of the continuously variable transmission 20 transmitted to the input shaft of the transmission 21 is increased or decreased by multiple gears within the transmission 21 and then transmitted to the traveling device 2. In addition, a mowing clutch 22 is provided between the output shaft of the continuously variable transmission 20 and the input shaft of the mowing device 3.

[0025] The output rotation of the engine E is transmitted to the threshing device 4. In addition, a threshing clutch 23 is provided between the output shaft of the engine E and the input shaft of the threshing device 4.

[0026] The output rotation of the engine E is transmitted to the discharge auger 8. In addition, a discharge clutch 24 is provided between the output shaft of the engine E and the input shaft of the discharge auger 8.

[0027] 5, the positioning unit 30, which uses an RTK-GPS positioning method or a differential positioning method, is made up of multiple positioning satellites 31A-31D, a base station 32 installed at a known location, and a mobile station 36 installed on the combine. As a result, positioning signals transmitted from the multiple positioning satellites 31A-31D are received and positioned by GNSS receivers installed in the base station 32 and the mobile station 36, and the mobile station 36 performs high-precision positioning using correction signals from the base station 32, thereby accurately determining the running position of the combine.

[0028] The base station 32 is made up of a fixed communication device 33, a fixed GPS antenna 34 that receives position information from the positioning satellite 31, and a fixed data transmission antenna 35 that transmits corrective position information to the mobile station 36. Note that a server can also be placed in the base station 32 instead of the second controller 45.

[0029] The mobile station 36 is made up of a mobile communication device 37, a mobile GPS antenna 38 that receives position information from the positioning satellite 31, and a mobile data receiving antenna 39 that receives corrective position information from the base station 32. The GPS antenna 38 is preferably positioned at the center of the combine in the longitudinal and lateral directions.

[0030] As shown in FIG. 6, the first controller 40 ("controller" in the claims) and the second controller 45 of the combine are connected by wire, but can also be connected wirelessly.

[0031] The first controller 40 is composed of a processing unit 41 consisting of a CPU or the like, a memory unit 42 consisting of a ROM, RAM, a hard disk drive, a flash memory or the like, an input / output unit 43 through which information is input and output, and a transmitter / receiver unit 44 that exchanges information with the second controller 45 via a wire or the like.

[0032] The second controller 45 is made up of a processing unit 46 consisting of a high-speed processing chip such as a GPU, FPGA, or ASIC, a storage unit 47 consisting of a ROM, RAM, hard disk drive, flash memory, etc., an input / output unit 48 for inputting and outputting information, and a transmitter / receiver unit 49 for exchanging information with the first controller 40 via a wire, etc. If the processing capacity is small, it is possible to perform the processing using only the first controller 40 without providing the second controller 45.

[0033] As shown in Figure 7, the input side of the input / output unit 43 of the first controller 40 is connected via an input interface circuit to a setting switch 50 that sets the route for the combine to travel automatically, a travel switch 51A that switches the combine from manual travel to automatic travel, a stop switch 51B that stops the automatic travel of the combine, a speed sensor 52, a grain stalk sensor 53 that detects the presence or absence of grain stalks raised by the lifting device 3A, a leakage sensor 54A that detects the presence or absence of grain leaking into the grain tank 7, a weight sensor 54B such as a load cell that detects the weight of the grain, a moisture sensor 54C that detects the moisture content of the grain, an impact-type weight sensor 55 using a strain gauge or potentiometer, a GPS antenna 34 that receives position information from a positioning satellite 31, and a data receiving antenna 39 that receives position information for correction from a base station 32. The speed sensor 52 comprises a speed sensor 52A that detects the output rotation speed of the engine E, a speed sensor 52B that detects the traveling speed of the traveling device 2, a speed sensor 52C that detects the raising speed of the raising device 3A, and a speed sensor 52D that detects the reduction speed of the second grain in the threshing device 4. Furthermore, although an impact type is applied to the weight sensor 55, it is not limited to this, and a weighing type that detects the volume, height, supply time, grain count, etc. may also be used.

[0034] The setting switch 50, the traveling switch 51A, and the stop switch 51B are located on the front panel 11 of the control unit 5, the speed sensor 52A is located on the engine E, the speed sensor 52B is located on the traveling device 2, the speed sensor 52C is located on the lifting device 3A, and the speed sensor 52D is located on the second spiral of the threshing device 4.

[0035] The four culm sensors 53 are arranged on the left side of the front of the plant body 3D. The culm sensor 53A is arranged on the first plant body 3D from the left, the culm sensor 53B is arranged on the second plant body 3D from the left, the culm sensor 53C is arranged on the third plant body 3D from the left, and the culm sensor 53D is arranged on the fourth plant body 3D from the left. This makes it possible to detect whether or not culms are planted in each row of the field that is raised by the raising device 3A. For example, if culms are planted in rows 1 to 4 of the field, the contacts of culm sensors 53A to 53D will be pressed down by the culms and the state of culm sensors 53A to 53D will be ON; if culms are planted in rows 1 to 3 of the field but not in row 4 of the field, the state of culm sensors 53A to 53C will be ON, but the contacts of culm sensor 53D will not be pressed down by the culms and the state of culm sensor 53D will be OFF.

[0036] The leak sensor 54A, weight sensor 54B, moisture sensor 54C, and weight sensor 55 are disposed in the grain tank 7.

[0037] When the travel switch 51A is pressed, a timer (not shown) of the first controller 40 starts to measure the elapsed time, and when the stop switch 51B is pressed, the timer of the first controller 40 stops.

[0038] The output side of the input / output unit 43 of the first controller 40 is connected, via an output interface circuit, to an automatic steering device 57 that automatically operates the operating lever 13 of the steering unit 5 to run the combine along a route, and a data sheet 58 that stores the detected values ​​of the speed sensor 52A, the stalk sensor 53A, etc. that are input to the input side of the input / output unit 43 at predetermined time intervals, as shown in Figure 8. The column for the weight sensor 54B in Figure 8 displays the increased weight of grain at times t1, t2, etc. (equivalent to the yield at times t1, t2, etc.).

[0039] The area where the yield of the crop harvested by the combine harvester at predetermined time intervals or for each predetermined travel distance is measured is defined as the measurement target area 62. Small areas divided by the trajectory of the cutting device's grass bodies are set in advance within the measurement target area 62. For example, when the operator sets the number of small areas in the left and right directions of the measurement target area 62 on a setting screen (not shown), the first controller 40 records in the memory unit 42 parameters for determining the weight ratio of grains when generating yield map data, such as the cutting width (corresponding to the width of the measurement target area 62), the relative positions of each small area, the number of small areas, and information from the stalk sensor 53 passing through each small area. When the yield monitoring switch 60 is pressed, the combine harvester enters yield monitoring mode and begins collecting yield map data. As shown in Figure 9, the input side of the input / output unit 43 of the combine's first controller 40 is further connected via an input interface circuit to a yield monitoring switch 60 that starts and stops the creation of yield map data, and a yield mapping switch 63 that creates a yield map based on the positional information of the yield map data. This makes it possible to collect yield map data with a large amount of positional information, and since more yield map data can be assigned to meshes than before, it is possible to create highly accurate yield maps.

[0040] The yield monitoring switch 60 and the yield mapping switch 63 are located at the front of the side panel 15 of the control unit 5.

[0041] The present invention allows yield monitoring whether the combine is in manual or automatic driving mode. For example, yield monitoring can be performed during harvesting operations that combine manual and automatic driving. As shown in FIG. 10, when an operator manually drives the combine in a counterclockwise direction along the edge of a field 70 and then presses the setting switch 50, the first controller 40 sets a travel path 72 for automatically driving the combine in a counterclockwise direction. The distance between the travel path 72 and the adjacent travel path 72 is set to the mowing width of the combine's harvesting device 3. Reference numeral 71 indicates the manual travel path along which the operator manually drives the combine.

[0042] Next, when the operator moves the combine to the starting position of the travel path 72 and then presses the travel switch 51A, which causes the combine to travel automatically, the automatic steering device 57 is activated and the combine is caused to travel automatically along the travel path 72.

[0043] In addition, when the travel switch 51A is pressed, the timer in the first controller 40 starts, and the input side of the input / output unit 43 is continuously input with the detected values ​​of the speed sensor 52A, the stalk sensor 53, the leakage sensor 54A, the travel switch 51A, etc., as well as the position information of the GPS antenna 34, and the like, and the data sheet 58 is continuously created on the output side of the input / output unit 43.

[0044] When the operator presses the stop switch 51B, the drive of the automatic steering device 57 stops, and the automatic traveling of the combine harvester stops.

[0045] In addition, when the stop switch 51B is pressed, the timer in the first controller 40 stops, and the input of detection values ​​from the speed sensor 52A, the stalk sensor 53, the leakage sensor 54A, the running switch 51A, etc. on the input side of the input / output unit 43, as well as the input of position information from the GPS antenna 34, etc., stops, and the creation of the data sheet 58 on the output side of the input / output unit 43 also stops.

[0046] Next, a method for calculating the yield in a small area will be described. The yield in a small area is calculated based on the ON / OFF state of the culm sensor 53 that passes through the small area. As an example of an embodiment, a method for calculating the yield in a small area using a combine harvester in which the culm sensor 53 is installed so as to detect culms that pass through all of the plant bodies 3D, and a method for calculating the yield in a small area using a combine harvester in which the culm sensor 53 is installed so as to detect culms that pass through some of the plant bodies 3D will be described.

[0047] <Method of calculating weight ratio in first embodiment> As an example of a first embodiment of the method for calculating the yield in a small area using a combine harvester equipped with a culm sensor 53 to detect culms passing through all of the plant segments 3D, a four-row combine harvester will be used. As shown in Figure 11, the weight ratio of the weights of grains selected from the culms planted in the first to fourth rows of the field can be calculated based on the detection value of the culm sensor 53 attached to the plant segment 3D. This makes it possible to grasp the growth rate, etc. of the culms planted in each row of the field.

[0048] In typical case 1, when the detection values ​​of the culm sensors 53A to 53D are ON, that is, when culms are planted in the first to fourth rows of the field corresponding to the culm sensors 53A to 53D, it is determined that 25% of the grains stored in the grain tank 7 have been selected from the culms planted in the first to fourth rows.

[0049] In case 2, when the detection values ​​of culm sensors 53A to 53C are ON and the detection value of culm sensor 53D is OFF, that is, when culms are planted in the first to third rows of the field corresponding to culm sensors 53A to 53C and no culms are planted in the fourth row, it can be seen that approximately 33% of the grains stored in grain tank 7 are sorted from the culms planted in the first to third rows, and no grains are sorted from the fourth row.

[0050] In case 4, when the detection values ​​of culm sensors 53A and 53B are ON and the detection values ​​of culm sensors 53C and 53D are OFF, that is, when culms are planted in the first and second rows of the field corresponding to culm sensors 53A and 53B, and no culms are planted in the third and fourth rows, it can be seen that 50% of the grain stored in grain tank 7 is selected from the culms planted in the first and second rows, and 50% is not selected from the culms planted in the third and fourth rows.

[0051] In case 8, when the detection value of culm sensor 53A is ON and the detection values ​​of culm sensors 53B to 53D are OFF, that is, when culms are planted in the first row of the field corresponding to culm sensor 53A and no culms are planted in the second to fourth rows, it can be seen that the grains stored in grain tank 7 are 100% sorted from the culms planted in the first row and not sorted from the second to fourth rows.

[0052] When the detection values ​​of the culm sensors 53A to 53D in case 16 are OFF, that is, when no culms are planted in the first to fourth rows of the field corresponding to the culm sensors 53A to 53D, it is determined that the grains stored in the grain tank 7 have not been sorted from the first to fourth rows.

[0053] Incidentally, since the reaping operation is performed while aligning the grass segment 3D located at the leftmost side of the reaping device 3 with the row of uncut culms, cases 3, 5 to 7, and 9 to 15 are rare cases.

[0054] Furthermore, without calculating the weight ratio for each row of culms in the field, it is possible to calculate the weight ratio of the left small area, which is the sum of the weight ratios of the first and second rows of culms, and the weight ratio of the right small area, which is the sum of the weight ratios of the third and fourth rows of culms. This reduces the impact of culm lodging, etc., on the weight ratio for each row. In a typical case, Case 1, the weight ratio of the left small area is calculated to be 50% and the weight ratio of the right small area is 50%. In Case 2, the weight ratio of the left small area is calculated to be approximately 66% and the weight ratio of the right small area is calculated to be approximately 33%. In Case 4, the weight ratio of the left small area is calculated to be 100% and the weight ratio of the right small area is approximately 0%. In Case 5, the weight ratio of the left small area is calculated to be 100% and the weight ratio of the right small area is approximately 0%.

[0055] <Method of calculating weight ratio in second embodiment> Next, a four-row combine harvester will be used as an example of a second embodiment of a method for calculating yield in a small area using a combine harvester equipped with a culm sensor 53 to detect culms passing through some of the plant bodies 3D. FIG. 12 shows a method for calculating weight ratios in the second embodiment. In the second embodiment, culm sensor 53A is located on the first plant body 3D from the left, and culm sensor 53D is located on the second plant body 3D from the left. Furthermore, culm sensors 53B and 53C of the first embodiment are not installed. This makes it easy to arrange the culm sensor 53, and makes it possible to determine the growth rates of culms planted in the left and right rows of the field in front of the harvesting device 3.

[0056] In typical case 1, when the detection values ​​of the culm sensors 53A and 53D are ON, it is assumed that culms are planted in the first to fourth rows of the field, and it is estimated that 50% of the grains stored in the grain tank 7 are selected from the left row of the first and second rows and the right row of the third and fourth rows.

[0057] In case 2, when the detection value of the culm sensor 53A is ON and the detection value of the culm sensor 53D is OFF, it is assumed that culms are planted in the first and second rows of the field, and that no culms are planted in the third and fourth rows, and that the grains stored in the grain tank 7 are 100% sorted from the left row of the first and second rows, and not sorted from the right row of the third and fourth rows.

[0058] In case 4, when the detection values ​​of the culm sensors 53A, 53D are OFF, that is, when no culms are planted in the first to fourth rows of the field corresponding to the culm sensors 53A, 53D, it is assumed that the grains stored in the grain tank 7 have not been sorted from the first to fourth rows.

[0059] Furthermore, since the harvesting operation is performed while aligning the grass segment 3D located at the leftmost side of the harvesting device 3 with the row of unharvested stalks, case 3 is a rare case.

[0060] In other words, the weight ratio in both the first and second embodiments is the ratio of the area of ​​each small area in which the ON state of the grain stalk sensor 53 was detected to the total area of ​​the small areas in which the ON state of the grain stalk sensor 53 was detected. Furthermore, if the measurement target area 62 is equally divided into small areas, the weight ratio is determined by the number of small areas in which the ON state of the grain stalk sensor 53 was detected. The yield in each small area can then be estimated by multiplying the increased weight of the grain tank by this weight ratio. Alternatively, by recording a table showing the relationship between the ON / OFF state of the grain stalk sensor 53 and the weight ratio in the memory unit, the yield in each small area can be estimated by multiplying the increased weight of the grain tank by the weight ratio derived from this table.

[0061] <How to create yield map data> FIG. 13 is a flowchart showing the steps of the process for creating yield map data. A yield map is an image showing the yield distribution of crops in a field, and the yield distribution is expressed by the yield for each mesh. A mesh refers to one section when a field is divided into multiple sections, and can be a square with dimensions of 5m x 5m, for example. When the yield monitoring switch 60 is pressed and turned ON, collection of yield map data begins, and the system enters a yield map data collection state. When the yield monitoring switch 60 is pressed while in the yield map data collection state, the yield monitoring switch 60 turns OFF, and yield monitoring ends. Yield monitoring in the first embodiment and yield monitoring in the second embodiment will be described below.

[0062] <Yield Monitoring in the First Embodiment> (Yield monitoring) When the operator presses the yield monitoring switch 60, the system enters a yield map data collection state and begins creating yield map data based on the values ​​set on the setting screen. In the first embodiment of yield monitoring, yield map data is created by dividing the measurement target area 62 into four parts horizontally, based on the weight of grains sorted from the first to fourth rows of stalks at time intervals T or at predetermined travel distances along the travel path 72.

[0063] The method for creating yield map data will be described with reference to the flowchart in FIG. 14. First, the position information of each small area in the measurement target area 62 is determined from the received position information (S201). The position information of each small area can be calculated from the position information including the vehicle's traveling direction and the horizontal positional relationship of each small area relative to the vehicle. For example, the positional relationship between the position of the mobile station 36 that acquires the vehicle's position information and the center of each small area can be stored in advance, and the position information of each small area can be calculated from the position information acquired when creating the yield map data and the positional relationship. Next, the yield of the measurement target area 62 is calculated based on the detection value of the weight sensor (54B) (S202). Next, the ON / OFF state of the stalk sensor 53 is acquired (S203), and the yield of each small area in the measurement target area 62 is determined according to the weight ratio calculation method of the first embodiment described above (S203). Next, the position information of the small area calculated in S201 and the yield of that small area calculated in S203 are linked and output as yield map data for each small area (S205). The order of steps S201 to S203 shown in the flowchart may be changed.

[0064] For example, if the weight of the grains sorted from the first to fourth rows of stalks detected by weight sensor 54B is 4 kg, in case 1 of FIG. 11, the weight is divided by 4, which is the number of stalk sensors 53 whose detection value is ON, to obtain 1 kg, which divides the measurement target area 62 of FIG. 15 into four parts horizontally. Small Areas Also, in case 2, the weight is divided by 3 to obtain 1.3 kg, which is assigned to the first to third small areas of the measurement target area 62, and 0 kg is assigned to the fourth small area. In case 4, the weight is divided by 2 to obtain 2 kg, which is assigned to the first and second small areas of the measurement target area 62, and 0 kg is assigned to the third and fourth small areas. In case 8, the weight is divided by 1 to obtain 4 kg, which is assigned to the first small area of ​​the measurement target area 62, and 0 kg is assigned to the second to fourth small areas. Note that the weights are rounded to one decimal place.

[0065] Here, it is preferable to multiply the calculated weight by the moisture percentage detected by the moisture sensor 54C, thereby removing the moisture content and more accurately calculating the weight of the grains sorted from the stalks harvested by the harvesting device 3.

[0066] For example, if the moisture percentage detected by the moisture sensor 54C is 10%, in the above-mentioned case 1, the weight is divided by 4 (the number of stalk sensors 53 with their detection value turned ON), resulting in 1 kg, which is multiplied by 0.9, and 0.9 kg is assigned to the first to fourth small regions of the measurement target region 62; in case 2, 1.3 kg is multiplied by 0.9, resulting in 1.2 kg, which is assigned to the first to third small regions of the measurement target region 62, with 0 kg assigned to the fourth small region; in case 4, 2 kg is multiplied by 0.9, resulting in 1.8 kg, which is assigned to the first and second small regions of the measurement target region 62, with 0 kg assigned to the third and fourth small regions; and in case 8, 4 kg is multiplied by 0.9, resulting in 3.6 kg, which is assigned to the first small region of the measurement target region 62, with 0 kg assigned to the second to fourth small regions. Note that the weights are rounded to one decimal place.

[0067] Furthermore, the stalks harvested by the harvesting device 3 are transported to the threshing device 4, where they are threshed and sorted to select the grains, and the sorted grains are transported to the grain tank 7 and their weight is detected by the weight sensor 54B. Therefore, the time at which the weight sensor 54B detects the weight of the grains is longer than the time at which the stalks are harvested by the harvesting device 3, resulting in a delay time. The delay time becomes longer as the output rotation speed of the engine E becomes slower, and the engine output rotation speed becomes shorter.

[0068] It is preferable to change the weight increase of the grains to be added according to the output rotation speed of the engine E detected by the speed sensor 52A. This reduces the effect of delay time and makes it possible to more accurately calculate the weight of the grains sorted from the stalks harvested by the harvesting device 3.

[0069] For example, at time interval T, 4 kg is calculated by adding the weight of 1 kg at elapsed time t1 and the weight of 3 kg at elapsed time t2 in Figure 8, but if the output rotation speed of engine E is high, the weight of 3 kg at elapsed time t2 and the weight of 3 kg at elapsed time t3 are added to get 6 kg, and if the output rotation speed of engine E is low, the weight of 3 kg at elapsed time t3 and the weight of 2 kg at elapsed time t4 are added to get 5 kg.

[0070] When the output rotation speed of the engine E is high, in the above-mentioned case 1, the weight is divided by 4 (the number of grain stalk sensors 53 with ON detection values), 1.5 kg, and multiplied by the coefficient k1 to obtain 1.4 kg, which is assigned to each of the first to fourth small regions of the measurement target region 62. In case 2, 2.0 kg is multiplied by k1 to obtain 1.8 kg, which is assigned to the first to third small regions of the measurement target region 62, and 0 kg is assigned to the fourth small region. In case 4, 3 kg is multiplied by k1 to obtain 2.7 kg, which is displayed in the first and second small regions of the measurement target region 62, and 0 kg is assigned to the third and fourth small regions. In case 8, 6 kg is multiplied by k1 to obtain 5.4 kg, which is displayed in the first small region of the measurement target region 62, and 0 kg is assigned to the second to fourth small regions. Note that the weights are rounded to one decimal place.

[0071] When the output rotation speed of the engine E is low, in the above-mentioned case 1, the weight is divided by 4, which is the number of grain stalk sensors 53 with detection values ​​turned ON, to obtain 1.3 kg, which is multiplied by the coefficient k2, and the result is 1.2 kg, which is assigned to each of the first to fourth small regions of the measurement target region 62; in case 2, 1.7 kg is multiplied by k2 to obtain 1.5 kg, which is assigned to the first to third small regions of the measurement target region 62, and 0 kg is assigned to the fourth small region; in case 4, 2.5 kg is multiplied by k2 to obtain 2.3 kg, which is assigned to the first and second small regions of the measurement target region 62, and 0 kg is assigned to the third and fourth small regions; and in case 8, 5 kg is multiplied by k2 to obtain 4.5 kg, which is assigned to the first small region of the measurement target region 62, and 0 kg is assigned to the second to fourth small regions. Note that the weights are rounded to one decimal place.

[0072] The weight detected by weight sensor 55 can be used instead of the weight detected by weight sensor 54B, or can be used in combination. Also, the detection time of weight sensor 54B can be corrected in accordance with the detection values ​​of speed sensor 52B, which detects the traveling speed of traveling device 2, or speed sensor 52C, which detects the conveying speed of reaping device 3, instead of the detection value of speed sensor 52A.

[0073] If the stalk sensor 53 is not installed or if the stalk sensor 53 breaks down, the yield map data may be created assuming that the stalk sensor 53 is always ON. Also, while Figure 15 shows an example of small areas divided vertically into four, it is also possible to further divide it horizontally to increase the number of small areas.

[0074] (Creating yield maps) When the yield monitoring switch 60 is pressed during yield monitoring, the collection of yield map data is stopped and yield monitoring is terminated. When the operator presses the yield mapping switch 63, the second controller (45) creates a yield map by allocating the collected yield map data to a mesh of a pre-set field work map based on its position information.

[0075] <Yield monitoring of the second embodiment> (Creating yield map data) When the operator presses the yield monitoring switch 60, the system enters a yield map data collection state and begins creating yield map data based on the values ​​set on the settings screen. In the second embodiment of yield monitoring, yield map data is created by dividing the measurement target area 62 into two in the left and right directions, based on the weight of grains sorted from the stalks in the left small area of ​​the first and second rows and the weight of grains sorted from the stalks in the right small area of ​​the third and fourth rows at time intervals T or for a predetermined travel distance along the travel path 72.

[0076] The method for creating yield map data will be described with reference to the flowchart in Figure 14. First, the position information of each small area in the measurement target area 62 is determined from the received position information (S201). Next, the yield of the measurement target area 62 is calculated based on the detection value of the weight sensor (54B) (S202). Next, the ON / OFF state of the stalk sensor 53 is acquired (S203), and the yield of each small area in the measurement target area 62 is determined according to the weight ratio calculation method of the second embodiment described above (S203). Next, the position information of the small area calculated in S201 and the yield of that small area calculated in S203 are linked and output as yield map data for each small area (S205). Note that the order of steps S201 to S203 shown in the flowchart may be reversed.

[0077] For example, if the weight of the grains sorted from the first to fourth rows of stalks detected by weight sensor 54B is 4 kg, in case 1 of Fig. 11, the weight is divided by 4, which is the number of stalk sensors 53 with their detection value turned ON, and a left small area of ​​2 kg, which is the sum of the first and second rows, and a right small area of ​​2 kg, which is the sum of the third and fourth rows, are assigned to the left and right small areas that divide the measurement target area 62 in Fig. 16 in half horizontally. In case 2, the weight is divided by 3, and a left small area of ​​2.6 kg and a right small area of ​​1.3 kg are assigned to the left and right small areas of the measurement target area 62. In case 4, the weight is divided by 2, and a left small area of ​​4 kg and a right small area of ​​0 kg are assigned to the left and right small areas of the measurement target area 62. In case 8, the weight is divided by 1, which is the number of columns, and a left small area of ​​4 kg and a right small area of ​​0 kg are assigned to the left and right small areas of the measurement target area 62.

[0078] It is preferable to multiply the calculated weight by the moisture percentage detected by moisture sensor 54C. This removes the moisture content, allowing a more accurate grain weight to be assigned to measurement target area 62. It is also preferable to vary the added grain weight increase according to the output rotation speed of engine E detected by speed sensor 52A. This reduces the effect of delay time, allowing the weight of grains sorted from the stalks harvested by the harvesting device 3 to be more accurately calculated for measurement target area 62.

[0079] If the grain stalk sensor 53 is not installed or if the grain stalk sensor 53 breaks down, the yield map data may be created assuming that the grain stalk sensor 53 is always ON. Also, while Figure 16 shows an example of small areas divided into two vertically, it is also possible to further divide it horizontally to increase the number of small areas.

[0080] (Creating yield maps) When the yield monitoring switch 60 is pressed during yield monitoring, the collection of yield map data is stopped and yield monitoring is terminated. When the operator presses the yield mapping switch 63, the second controller (45) creates a yield map by allocating the collected yield map data to a mesh of a pre-set field work map based on its position information.

[0081] (Other embodiments) Although the embodiments of the present invention have been described above, the present invention is not limited to the above-described embodiments and can be practiced in various modified forms. [Explanation of symbols]

[0082] 1 Aircraft frame 3 Reaping device 3A lifting device 3D splitting plant 4. Threshing equipment 5 Control Unit 7. Glentank 40 First Controller (Controller) 53 Grain stalk sensor 54B Weight Sensor 54C Moisture Sensor 62 Measurement area E-Engine

Claims

1. A combine harvester is provided in front of a body frame (1) on which an engine (E) is mounted, with a reaping device (3) for reaping stalks in a field, with a threshing device (4) for threshing the reaped stalks provided on the rear left side of the reaping device (3), with a control section (5) for an operator to ride on provided on the rear right side of the reaping device (3), and with a grain tank (7) for storing grain provided behind the control section (5), a weight sensor (54B) for detecting the weight of the grain stored in the grain tank (7); a controller (40) for creating yield map data based on the position information of the machine and the yield of the measurement target area (62) where the reaping device (3) has reaped stalks at every time interval T or every predetermined travel distance; The controller (40) is configured to preset the number of small areas into which the measurement target area (62) is divided, During the yield monitoring state, the controller (40) reads the first weight detected by the weight sensor (54B), then divides it by the number of small areas to calculate a second weight, calculates position information of the small areas, and links the position information of the small areas with the second weight to create the yield map data.

2. A forward-extending grass body (3D) is provided on the left side of the raising device (3A) of the reaping device (3) that raises the culms, and a grain culm sensor (53) that detects the presence or absence of grain culms is provided on the right side of the grass body (3D), The combine harvester of claim 1, wherein the controller (40) acquires the ON / OFF status of the stalk sensor (53), and creates the yield map data by linking a third weight obtained by dividing the first weight by the number of ON states of the stalk sensor (53) with positional information of the small area through which the stalk sensor (53) passed when in the ON state.

3. a moisture sensor (54C) for detecting the moisture content of the grain stored in the grain tank (7); 3. The combine harvester according to claim 1, wherein a weight obtained by multiplying the first weight by a moisture content is subtracted from the first weight.

4. 4. A combine harvester according to claim 3, wherein the time for reading the first weight is changed according to the output rotation speed of the engine (E), so that the reading time is made faster when the output rotation speed of the engine (E) is high, the reading time is made slower when the output rotation speed of the engine (E) is low, and the reading time is made slower when the output rotation speed of the engine (E) is high.

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