Information processing method and information processing device

Abstract

To more appropriately evaluate the quantitative data acquired by a moving object, this invention provides a method for dividing the data into multiple locations, taking into account the evaluation of its movement path, and linking it to location information. [Solution] An information processing method for generating data using a target quantity acquired by a moving object and associated with time or position, and position information and orientation information of the moving object associated with time, characterized in that, based on the position information and orientation information of the moving object, multiple recording target locations in the lateral direction of the moving object are identified, and a divided target quantity is calculated by apportioning the target quantity to the recording target locations in a predetermined ratio.

Description

Technical Field

[0001] The present invention relates to an information processing method and an information processing apparatus.

Background Art

[0002] Conventionally, a technique of dividing a target movement area into a grid and allocating quantitative data collected by a moving body is known. (Patent Document 1)

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, in the technique of Patent Document 1, when the division unit of the grid is small, quantitative data is allocated corresponding to the position information of the moving body. Therefore, for example, there is a problem that a bias in allocation occurs, such as a section where data cannot be allocated, and appropriate data distribution evaluation cannot be performed.

Means for Solving the Problems

[0005] The present invention that solves the above problems is as follows.

[0006] That is, the invention according to claim 1 is an information processing method for generating data using a target quantity acquired over time by a moving body and associated with time or position, position information that is the current position of the moving body when the target quantity is acquired, and azimuth information that is the traveling direction of the aircraft, wherein based on the position information and the azimuth information of the moving body, a plurality of locations in the lateral width direction of the moving body are specified as recording target positions, and a divided target quantity obtained by dividing the target quantity at a predetermined ratio is calculated and associated with the recording target positions.

[0007] The invention described in claim 2 is an information processing apparatus capable of performing the information processing method described in claim 1. [Effects of the Invention]

[0008] According to the present invention, the target quantity can be converted into data that allows for more appropriate evaluation. [Brief explanation of the drawing]

[0009] [Figure 1] This is a front view of a combine harvester. [Figure 2] This is a left side view of a combine harvester. [Figure 3] This is a plan view of the control panel. [Figure 4] This is a power output / speed transmission diagram for the engine. [Figure 5] This is a connection diagram of the positioning unit. [Figure 6] This is a connection diagram of the first and second controllers of the combine harvester. [Figure 7] This is a connection diagram for the first controller. [Figure 8] This is an explanatory diagram for the datasheet. [Figure 9] This is a connection diagram for the second controller. [Figure 10] This is a diagram illustrating the automatic operation of a combine harvester. [Figure 11] This is an explanatory diagram of the method for calculating the weight ratio in the first embodiment. [Figure 12] This is an explanatory diagram of the method for calculating the weight ratio in the second embodiment. [Figure 13] This is a flowchart showing the steps involved in creating yield map data. [Figure 14] This is a flowchart showing how to create yield map data. [Figure 15] This is an explanatory diagram of the yield monitoring in the first embodiment. [Figure 16] This is an explanatory diagram of the yield monitoring in the second embodiment. [Figure 17] This is an explanatory diagram for generating yield information data. [Figure 18] It is an explanatory diagram of data generation of yield information. [Figure 19] It is an explanatory diagram of map creation of yield information. [Figure 20] It is a conceptual diagram of a field division data generator.

Embodiment for Carrying Out the Invention

[0010] As shown in FIGS. 1 and 2, the combine harvester is provided with a traveling device 2 composed of a pair of left and right crawlers that travel on the field surface below the body frame 1, a cutting device 3 for cutting the cereal straw in the field is provided in front of the body frame 1, a threshing device 4 for threshing and sorting the cut cereal straw is provided on the left rear side of the cutting device 3, and an operator's cab 5 for the operator to board is provided on the right rear side of the cutting device 3.

[0011] An engine room 6 for mounting the engine E is provided below the operator's cab 5, a grain tank 7 for storing the threshed and sorted grains is provided behind the operator's cab 5, and a discharge auger 8 composed of a grain elevating part extending in the vertical direction for discharging the grains to the outside and a horizontal discharge extending in the front-rear direction is provided behind the grain tank 7.

[0012] The cutting device 3 is formed by four lifting devices 3A arranged side by side in the left-right direction for lifting the cereal straw in the field, a cutting device 3B for cutting the base of the lifted cereal straw, a conveying device 3C for conveying the cereal straw with the base cut to the threshing device 4, and five weed separating bodies 3D arranged side by side in the left-right direction for guiding the cereal straw in the field to the lifting device 3A.

[0013] As shown in FIG. 3, a front panel 11 is provided in front of the driver's seat 10 of the operator's cab 5, a touch panel type monitor 12 for displaying the output rotation of the engine E, the traveling speed of the traveling device 2, etc. is provided at the center of the front panel 11, and an operation lever 13 for operating the turning of the traveling device 2 and the raising and lowering of the cutting device 3 is provided on the right side of the monitor 12.

[0014] When the operating lever 13 is tilted forward, the harvesting device 3 descends to the harvesting position; when tilted backward, the harvesting device 3 rises to the siding position; when tilted to the left, the traveling device 2 turns to the left; and when tilted to the right, the traveling device 2 turns to the right.

[0015] A side panel is provided on the left side of the cockpit 10. A main shift lever 16 for operating the continuously variable transmission 20, which increases and decreases the output speed of the engine E and switches the direction of rotation, is provided at the front of the side panel 15, and a sub-shift lever 17 for operating the transmission 21, which increases and decreases the output speed of the continuously variable transmission 20, is provided to the right rear of the main shift lever 16.

[0016] On the left rear side of the sub-transmission lever 17, there is a harvesting / threshing lever 18 that operates to connect and disconnect the harvesting clutch 22, which transmits the output rotation of the engine E to the harvesting device 3, and to connect and disconnect the threshing clutch 23, which transmits the output rotation of the engine E to the threshing device 4.

[0017] A discharge lever 19 is provided on the right rear side of the cutting lever 18 for operating the connection and disconnection of the discharge clutch 24, which transmits the output rotation of the engine E to the discharge auger 8.

[0018] As shown in Figure 4, the output rotation of engine E is transmitted to the continuously variable transmission 20. The output rotation of engine E transmitted to the input shaft of the continuously variable transmission 20 undergoes acceleration / deceleration and rotational direction switching within the continuously variable transmission 20 before being transmitted to the transmission 21 and the harvesting device 3.

[0019] The output rotation of the continuously variable transmission 20, transmitted to the input shaft of the transmission 21, is accelerated or decelerated by the multi-stage gears within the transmission 21 and then transmitted to the running gear 2. A harvesting clutch 22 is also provided between the output shaft of the continuously variable transmission 20 and the input shaft of the harvesting device 3.

[0020] The output rotation of engine E is transmitted to the threshing device 4. A threshing clutch 23 is also provided between the output shaft of engine E and the input shaft of the threshing device 4.

[0021] The output rotation of engine E is transmitted to the discharge auger 8. A discharge clutch 24 is provided between the output shaft of engine E and the input shaft of discharge auger 8.

[0022] As shown in Figure 5, the positioning unit 30, which uses an RTK-GPS positioning system or a differential positioning system, is composed of multiple positioning satellites 31A to 31D, a base station 32 located at a known location, and a mobile station 36 installed on the combine harvester. As a result, positioning signals transmitted from multiple positioning satellites 31A to 31D are received and positioned by GNSS receivers installed on the base station 32 and the mobile station 36. The mobile station 36 then performs high-precision positioning using correction signals from the base station 32, thereby accurately obtaining the combine harvester's position.

[0023] The base station 32 consists of a fixed communication device 33, a fixed GPS antenna 34 that receives position information from positioning satellites 31, and a fixed data transmission antenna 35 that transmits correction position information to the mobile station 36. A server can also be placed in the base station 32 instead of the second controller 45.

[0024] The mobile station 36 is comprised of a mobile communication device 37, a mobile GPS antenna 38 that receives position information from positioning satellites 31, and a mobile data receiving antenna 39 that receives correction position information from base station 32. The GPS antenna 38 is preferably positioned at the center of the combine harvester in both the front-to-back and left-to-right directions.

[0025] As shown in Figure 6, the first controller 40 of the combine harvester (the "controller" in the claim) The second controller 45 is connected by a wire, but it can also be connected wirelessly.

[0026] The first controller 40 is comprised of a processing unit 41 consisting of a CPU and the like, a storage unit 42 consisting of ROM, RAM, a hard disk drive, flash memory and the like, an input / output unit 43 to which information is input and output, and a transmitting / receiving unit 44 that exchanges information with the second controller 45 via a wire or the like.

[0027] The second controller 45 is comprised 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 ROM, RAM, a hard disk drive, flash memory, etc.; an input / output unit 48 that receives and receives information; and a receiving / transmitting unit 49 that exchanges information with the first controller 40 via wires or the like. Note that 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.

[0028] As shown in Figure 7, the input side of the input / output section 43 of the first controller 40 is connected via an input interface circuit to a setting switch 50 for setting a route for the combine to travel automatically, a travel switch 51A for switching the combine from manual to automatic travel, a stop switch 51B for stopping the combine's automatic travel, a speed sensor 52, a stalk sensor 53 for detecting the presence or absence of stalks being lifted by the lifting device 3A, a leak sensor 54A for detecting the presence or absence of grain leaking into the grain tank 7, a weight sensor 54B such as a load cell for detecting the weight of the grain, a moisture sensor 54C for detecting the moisture content of the grain, an impact-type weight sensor 55 such as a strain gauge or potentiometer, a GPS antenna 34 for receiving position information from positioning satellites 31, and a data receiving antenna 39 for receiving correction position information from base station 32. The speed sensor 52 consists of a speed sensor 52A that detects the output rotational speed of the engine E, a speed sensor 52B that detects the travel speed of the traveling device 2, a speed sensor 52C that detects the lifting speed of the lifting device 3A, and a speed sensor 52D that detects the return speed of the second grain of grain in the threshing device 4. In addition, an impact type weight sensor 55 is used, but it is not limited to this, and a weighing type that detects volume, height, supply time, grain count, etc., may also be used.

[0029] The setting switch 50, the travel 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 travel device 2, the speed sensor 52C is located on the hoisting device 3A, and the speed sensor 52D is located on the second spiral of the threshing device 4.

[0030] The four grain stalk sensors 53 are positioned on the left side of the front of the plant divider 3D. Grain stalk sensor 53A is positioned on the first plant divider 3D from the left, grain stalk sensor 53B is positioned on the second plant divider 3D from the left, grain stalk sensor 53C is positioned on the third plant divider 3D from the left, and grain stalk sensor 53D is positioned on the fourth plant divider 3D from the left. This allows for the detection of whether or not grain stalks have been planted in each row of the field that is lifted by the lifting device 3A. For example, if grain stalks are planted in rows 1 to 4 of the field, the contacts of grain stalk sensors 53A to 53D are pressed by the grain stalks, and the state of grain stalk sensors 53A to 53D is turned ON. If grain stalks are planted in rows 1 to 3 of the field but not in row 4, the state of grain stalk sensors 53A to 53C is turned ON, but the contact of grain stalk sensor 53D is not pressed by the grain stalk, and the state of grain stalk sensor 53D is turned OFF.

[0031] The leak sensor 54A, weight sensor 54B, moisture sensor 54C, and weight sensor 55 are located in the grain tank 7.

[0032] When the drive switch 51A is pressed, the timer (not shown) of the first controller 40 is activated and the elapsed time is measured. When the stop switch 51B is pressed, the timer of the first controller 40 is stopped.

[0033] 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 unit 57 that automatically operates the control lever 13 of the control unit 5 to move the combine along the path, and a data sheet 58 that stores the detected values ​​of the speed sensor 52A, grain stalk sensor 53A, etc., 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 increase in grain weight at times t1, t2, etc. (corresponding to the yield at times t1, t2, etc.).

[0034] The measurement target area 62 is defined as the area in which the combine harvester measures the yield of crops harvested at predetermined time intervals or at predetermined travel distances. Within the measurement target area 62, sub-regions are pre-defined, separated by the trajectory of the grass divider of the harvesting device. For example, when an operator sets the number of sub-regions in the left-right direction of the measurement target area 62 on a setting screen (not shown), the first controller 40 records parameters in the storage unit 42 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 position and number of each sub-region, and information from the grain stalk sensor 53 passing through each sub-region. 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 first controller 40 of the combine harvester is further connected via an input interface circuit to the yield monitoring switch 60, which starts and ends the creation of yield map data, and the yield mapping switch 63, which creates a yield map based on position information. This allows for the collection of yield map data with a large amount of location information, and because more yield map data can be assigned to each mesh than before, it is possible to create more accurate yield maps.

[0035] 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.

[0036] The present invention enables yield monitoring whether the combine harvester is in manual or automatic driving mode. For example, yield monitoring can be performed in harvesting operations that combine manual and automatic driving. As shown in Figure 10, when an operator manually drives the combine harvester counterclockwise along the edge of the field 70 and then presses the setting switch 50, the first controller 40 sets a driving path 72 for the combine harvester to automatically drive counterclockwise. The distance between the driving path 72 and adjacent driving paths 72 is set to the cutting width of the combine harvester's harvesting device 3. Reference numeral 71 indicates the manual driving path when the operator manually drives the combine harvester.

[0037] Next, after the worker moves the combine harvester to the starting position of the travel path 72, the travel switch 51A is pressed to activate the automatic steering system 57, which causes the combine harvester to automatically travel along the travel path 72.

[0038] Furthermore, when the drive switch 51A is pressed, the timer in the first controller 40 is activated, and detected values ​​from the speed sensor 52A, grain stalk sensor 53, leakage sensor 54A, drive switch 51A, etc., as well as position information from the GPS antenna 34, are continuously input to the input side of the input / output unit 43, and a datasheet 58 is continuously generated on the output side of the input / output unit 43.

[0039] When the operator presses the stop switch 51B, the drive of the automatic steering system 57 stops, and the combine harvester's automatic movement stops.

[0040] Furthermore, 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, grain stalk sensor 53, leak sensor 54A, travel switch 51A, etc. on the input side of the input / output unit 43, as well as position information from the GPS antenna 34, stops, and the creation of the datasheet 58 on the output side of the input / output unit 43 also stops.

[0041] Next, we will explain how to calculate the yield in a small area. The yield in a small area is calculated based on the ON / OFF state of the stalk sensor 53 as it passes through the small area. As an example of an embodiment, we will explain how to calculate the yield in a small area using a combine harvester in which the stalk sensor 53 is installed to detect stalks passing through all of the tiller plants 3D, and how to calculate the yield in a small area using a combine harvester in which the stalk sensor 53 is installed to detect stalks passing through some of the tiller plants 3D.

[0042] <Method for calculating the weight ratio in the first embodiment> As an example of a first embodiment of a method for calculating yield in a small area using a combine harvester equipped with a grain stalk sensor 53 to detect grain stalks passing through all the tillering bodies 3D, a 4-row combine harvester will be described as an example. As shown in Figure 11, the weight ratio of grains selected from grain stalks planted in the 1st to 4th rows of the field can be calculated according to the detection values ​​of the grain stalk sensor 53 attached to the tillering body 3D. This makes it possible to understand the growth rate of grain stalks planted in each row of the field.

[0043] In the typical case 1, if the detection values ​​of the grain stalk sensors 53A to 53D are ON, that is, if grain stalks are planted in the 1st to 4th rows of the field corresponding to the grain stalk sensors 53A to 53D, it can be seen that 25% of the grain stored in the grain tank 7 was selected from the grain stalks planted in the 1st to 4th rows.

[0044] In Case 2, when the detection values ​​of grain stalk sensors 53A to 53C are ON and the detection value of grain stalk sensor 53D is OFF, that is, when grain stalks are planted in the 1st to 3rd rows of the field corresponding to grain stalk sensors 53A to 53C, and no grain stalks are planted in the 4th row, it can be seen that approximately 33% of the grain stored in the grain tank 7 is sorted from the grain stalks planted in the 1st to 3rd rows, and no grain is sorted from the 4th row.

[0045] In Case 4, when the detection values ​​of grain stalk sensors 53A and 53B are ON and the detection values ​​of grain stalk sensors 53C and 53D are OFF, that is, when grain stalks are planted in the first and second rows of the field corresponding to grain stalk sensors 53A and 53B, but not in the third and fourth rows, it can be seen that 50% of the grain stored in the grain tank 7 is sorted from the grain stalks planted in the first and second rows, and 50% is sorted from the grain stalks planted in the third and fourth rows.

[0046] In Case 8, if the detection value of grain stalk sensor 53A is ON and the detection values ​​of grain stalk sensors 53B to 53D are OFF, that is, if grain stalks are planted in the first row of the field corresponding to grain stalk sensor 53A, and no grain stalks are planted in the second to fourth rows, then it can be seen that 100% of the grain stored in the grain tank 7 is sorted from the grain stalks planted in the first row, and no grain is sorted from the second to fourth rows.

[0047] In Case 16, if the detection values ​​of the grain stalk sensors 53A to 53D are OFF, that is, if grain stalks are not planted in the 1st to 4th rows of the field corresponding to the grain stalk sensors 53A to 53D, it can be seen that the grain stored in the grain tank 7 has not been sorted from the 1st to 4th rows.

[0048] Furthermore, since the harvesting operation is performed while aligning the grass divider 3D, located on the far left of the harvesting device 3, with the rows of unharvested grain stalks, cases 3, 5-7, and 9-15 are rare.

[0049] Furthermore, without calculating the weight ratio for each row of grain stalks in the field, it is also possible to calculate the weight ratio of the left sub-region, which is the sum of the weight ratios of the first and second rows of grain stalks, and the weight ratio of the right sub-region, which is the sum of the weight ratios of the third and fourth rows of grain stalks. This helps to suppress the impact of lodging of grain stalks on the weight ratio of each row. In typical cases, for example, in case 1, the weight ratio of the left sub-region is calculated to be 50% and the weight ratio of the right sub-region is calculated to be 50%; in case 2, the weight ratio of the left sub-region is calculated to be approximately 66% and the weight ratio of the right sub-region is calculated to be approximately 33%; in case 4, the weight ratio of the left sub-region is calculated to be 100% and the weight ratio of the right sub-region is calculated to be approximately 0%; and in case 4, the weight ratio of the left sub-region is calculated to be 100% and the weight ratio of the right sub-region is calculated to be approximately 0%.

[0050] <Method for calculating the weight ratio in the second embodiment> Next, as an example of a second embodiment of a method for calculating yield in a small area using a combine harvester equipped with grain stalk sensors 53 to detect grain stalks passing through some of the tillering bodies 3D, a four-row combine harvester will be described as an example. Figure 12 shows the method for calculating the weight ratio in the second embodiment. In the second embodiment, grain stalk sensor 53A is positioned at the first tillering body 3D from the left, and grain stalk sensor 53D is positioned at the second tillering body 3D from the left. Also, grain stalk sensors 53B and 53C from the first embodiment are not positioned. This makes it easy to arrange the grain stalk sensors 53 and to grasp the growth rate of grain stalks planted in the left and right rows of the field in front of the harvesting device 3.

[0051] In the typical case 1, when the detection values ​​of the grain stalk sensors 53A and 53D are ON, it is assumed that grain stalks are planted in the first to fourth rows of the field, and the grain stored in the grain tank 7 is presumed to have been sorted 50% from the left row of the first and second rows and 50% from the right row of the third and fourth rows.

[0052] In Case 2, if the detection value of grain stalk sensor 53A is ON and the detection value of grain stalk sensor 53D is OFF, it is assumed that grain stalks have been planted in the first and second rows of the field, but not in the third and fourth rows. It is therefore assumed that 100% of the grain stored in the grain tank 7 has been sorted from the left-hand row of the first and second rows, and that no grain has been sorted from the right-hand row of the third and fourth rows.

[0053] In Case 4, if the detection values ​​of the grain stalk sensors 53A and 53D are OFF, that is, if no grain stalks are planted in the 1st to 4th rows of the field corresponding to the grain stalk sensors 53A and 53D, it can be inferred that the grain stored in the grain tank 7 has not been sorted from the 1st to 4th rows.

[0054] It should be noted that the harvesting operation is performed while aligning the grass divider 3D, located on the far left of the harvesting device 3, with the rows of unharvested grain stalks, so Case 3 is a rare case.

[0055] In other words, both the weight ratio in the first embodiment and the weight ratio in the second embodiment are the ratio of the area of ​​each small region where the ON state of the grain stalk sensor 53 was detected to the total area of ​​the small regions where the ON state of the grain stalk sensor 53 was detected. Furthermore, if the measurement target area 62 is equally divided into small regions, the weight ratio is determined by the number of small regions where the ON state of the grain stalk sensor 53 was detected. The yield in each small region can then be estimated by multiplying the increased weight of the grain tank by this weight ratio. Alternatively, by recording a table in the storage unit showing the relationship between the ON / OFF state of the grain stalk sensor 53 and the weight ratio, the yield in each small region can be estimated by multiplying the increased weight of the grain tank by the weight ratio derived from this table.

[0056] <How to create yield map data> Figure 13 is a flowchart showing the procedure for creating yield map data. A yield map is an image that shows the yield distribution of crops in a field, representing the yield distribution by the yield for each mesh. A mesh refers to one of the sections into which a field is divided, such as a 5m x 5m square. When the yield monitoring switch 60 is pressed and turned ON, the collection of yield map data begins, and the system enters the yield map data collection state. If the yield monitoring switch 60 is pressed while the system is in the yield map data collection state, the yield monitoring switch 60 turns OFF and yield monitoring ends. The yield monitoring of the first embodiment and the yield monitoring of the second embodiment will be described below.

[0057] <Yield Monitoring in the First Embodiment> (Yield monitoring) When the operator presses the yield monitoring switch 60, the system enters yield map data collection mode and begins creating yield map data based on the values ​​set on the settings screen. In the yield monitoring of the first embodiment, yield map data is created by dividing the target area 62 into four sections horizontally and measuring the weight of grains selected from the first to fourth rows of grain stalks along the travel path 72 at time intervals T or at predetermined travel distances.

[0058] The method for creating yield map data will be explained according to the flowchart in Figure 14. First, the position information of each sub-region of the measurement target area 62 is determined from the received position information (S201). The position information of each sub-region can be calculated from the position information including the direction of travel of the machine and the left-right positional relationship of each sub-region with respect to the machine. For example, the positional relationship between the position of the mobile station 36 that acquires the position information of the machine and the center of each sub-region can be stored in advance, and the position information of each sub-region can be calculated from the position information acquired when creating the yield map data and its positional relationship. Next, the yield of the measurement target area 62 is calculated based on the detected value of the weight sensor (54B) (S202). Next, the ON / OFF state of the grain stalk sensor 53 is acquired (S203), and the yield of each sub-region of 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 sub-region calculated in S201 and the yield of that sub-region calculated in S203 are linked and output as yield map data for each sub-region (S205). Note that the order of steps S201 to S203 shown in the flowchart may be changed.

[0059] For example, if the weight of grains sorted from the first to fourth rows of grain stalks detected by the weight sensor 54B is 4 kg, in Case 1 of Figure 11, the weight is divided by 4, the number of grain stalk sensors 53 with an ON detection value, resulting in 1 kg, which divides the measurement target area 62 in Figure 15 into four sections horizontally. In Case 2, the weight is divided by 3, resulting in 1.3 kg, which is allocated to the first to third sub-regions of the measurement target area 62, and 0 kg to the fourth sub-region. In Case 4, the weight is divided by 2, resulting in 2 kg, which is allocated to the first and second sub-regions of the measurement target area 62, and 0 kg to the third and fourth sub-regions. In Case 8, the weight is divided by 1, resulting in 4 kg, which is allocated to the first sub-region of the measurement target area 62, and 0 kg to the second to fourth sub-regions. Note that the weight is rounded to two decimal places.

[0060] It is preferable to multiply the calculated weight by the moisture content detected by the moisture sensor 54C. This allows for a more accurate calculation of the weight of grains separated from the stalks harvested by the harvesting device 3 after removing the water content.

[0061] For example, if the moisture content detected by the moisture sensor 54C is 10%, in case 1 above, 0.9 kg (1 kg, obtained by dividing the weight by the number of grain stalk sensors 53 with an ON value of 4, multiplied by 0.9) is allocated to the 1st to 4th sub-regions of the measurement target area 62; in case 2, 1.2 kg (1.3 kg multiplied by 0.9) is allocated to the 1st to 3rd sub-regions of the measurement target area 62, and 0 kg is allocated to the 4th sub-region; in case 4, 1.2 kg (2 kg multiplied by 0.9) is allocated to the 1st to 3rd sub-regions of the measurement target area 62; and in case 4, 1.2 kg (2 kg multiplied by 0.9) is allocated to the 4th sub-region. 8 kg is allocated to the first and second sub-regions of the measurement area 62, and 0 kg is allocated to the third and fourth sub-regions. In case 8, 3.6 kg (4 kg multiplied by 0.9) is allocated to the first sub-region of the measurement area 62, and 0 kg is allocated to the second to fourth sub-regions. Note that the weight is rounded to two decimal places.

[0062] Furthermore, the stalks harvested by the harvesting device 3 are transported to the threshing device 4, where they are threshed and sorted to separate the grains. The sorted grains are then transported to the grain tank 7, where their weight is detected by the weight sensor 54B. Therefore, the time it takes for the weight sensor 54B to detect the weight of the grains is later than the time it takes for the stalks to be harvested by the harvesting device 3, resulting in a delay time. The delay time increases as the output rotational speed of the engine E decreases, and decreases as the engine's output rotational speed decreases.

[0063] It is preferable to change the added weight of grain according to the output rotational speed of the engine E detected by the speed sensor 52A. This suppresses the effect of delay time and makes it possible to calculate the weight of grain selected from the stalks harvested by the harvesting device 3 with greater accuracy.

[0064] For example, in time interval T, the weight of 1 kg at elapsed time t1 and the weight of 3 kg at elapsed time t2 are added together to calculate 4 kg. However, if the output rotational 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 together to calculate 6 kg. If the output rotational 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 together to calculate 5 kg.

[0065] When the output rotational speed of engine E is high, in the case described above, in case 1, 1.4 kg is assigned to the 1st to 4th sub-regions of the measurement target area 62, which is obtained by dividing the weight by 4, the number of grain stalk sensors 53 with detected values ​​ON, and multiplying the result by the coefficient k1. In case 2, 1.8 kg is assigned to the 1st to 3rd sub-regions of the measurement target area 62, and 0 kg is assigned to the 4th sub-region. In case 4, 2.7 kg is displayed in the 1st and 2nd sub-regions of the measurement target area 62, and 0 kg is assigned to the 3rd and 4th sub-regions. In case 8, 5.4 kg is displayed in the 1st sub-region of the measurement target area 62, and 0 kg is assigned to the 2nd to 4th sub-regions. Note that the weight is rounded to two decimal places.

[0066] When the output rotational speed of engine E is low, in case 1 above, 1.2 kg is assigned to the 1st to 4th sub-regions of the measurement target area 62, which is obtained by dividing the weight by 4, the number of grain stalk sensors 53 with detected values ​​ON, and multiplying that by the coefficient k2. In case 2, 1.5 kg is assigned to the 1st to 3rd sub-regions of the measurement target area 62, with 0 kg assigned to the 4th sub-region. In case 4, 2.3 kg is assigned to the 1st and 2nd sub-regions of the measurement target area 62, with 0 kg assigned to the 3rd and 4th sub-regions. In case 8, 4.5 kg is assigned to the 1st sub-region of the measurement target area 62, with 0 kg assigned to the 2nd to 4th sub-regions. Note that the weight is rounded to two decimal places.

[0067] The weight detected by weight sensor 55 can be used instead of the weight detected by weight sensor 54B, or they can be used in combination. In addition, the detection time of weight sensor 54B can be corrected according to the detection values ​​of speed sensor 52B, which detects the travel speed of the travel device 2, or speed sensor 52C, which detects the conveying speed of the harvesting device 3, instead of the detection value of speed sensor 52A.

[0068] If the grain stalk sensor 53 is not installed or if the grain stalk sensor 53 malfunctions, the yield map data may be created assuming that the grain stalk sensor 53 is always ON. Also, Figure 15 shows an example of a small area divided vertically into four sections, but it is also possible to further divide it horizontally to increase the number of small areas.

[0069] (Creating a yield map) When the yield monitoring switch 60 is pressed while in yield monitoring mode, the collection of yield map data stops and yield monitoring ends. When the operator presses the yield mapping switch 63, the second controller 45 creates a yield map by assigning the collected yield map data to the mesh of the field work map, which is set in advance based on its location information.

[0070] <Yield Monitoring in the Second Embodiment> (Creation of yield map data) When the operator presses the yield monitoring switch 60, the system enters yield map data collection mode and begins creating yield map data based on the values ​​set on the settings screen. In the yield monitoring of the second embodiment, yield map data is created by dividing the measurement target area 62 into two halves horizontally, based on the weight of grains selected from the stalks in the left small area of ​​the first and second columns and the weight of grains selected from the stalks in the right small area of ​​the third and fourth columns, along the travel path 72 at time intervals T or at predetermined travel distances.

[0071] The method for creating yield map data will be explained according to the flowchart in Figure 14. First, the location information of each sub-region of the measurement target area 62 is determined from the received location information (S201). Next, the yield of the measurement target area 62 is calculated based on the detected value of the weight sensor (54B) (S202). Next, the ON / OFF state of the grain stalk sensor 53 is obtained (S203), and the yield of each sub-region of the measurement target area 62 is determined according to the weight ratio calculation method of the second embodiment described above (S203). Next, the location information of the sub-region calculated in S201 and the yield of that sub-region calculated in S203 are linked and output as yield map data for each sub-region (S205). Note that the order of steps S201 to S203 shown in the flowchart may be changed.

[0072] For example, if the weight of grains sorted from the first to fourth rows of grain stalks detected by the weight sensor 54B is 4 kg, in Case 1 of Figure 11, the weight is divided by 4, the number of grain stalk sensors 53 with an ON detection value, and the left sub-region of 2 kg (the sum of the first and second rows) and the right sub-region of 2 kg (the sum of the third and fourth rows) are allocated to the left and right sub-regions of the measurement target area 62 in Figure 16, which is divided into two parts horizontally. In Case 2, the weight is divided by 3, and the left sub-region of 2.6 kg and the right sub-region of 1.3 kg are allocated to the left and right sub-regions of the measurement target area 62. In Case 4, the weight is divided by 2, and the left sub-region of 4 kg and the right sub-region of 0 kg are allocated to the left and right sub-regions of the measurement target area 62. In Case 8, the weight is divided by the number of rows (1), and the left sub-region of 4 kg and the right sub-region of 0 kg are allocated to the left and right sub-regions of the measurement target area 62.

[0073] It is preferable to multiply the calculated weight by the moisture content detected by the moisture sensor 54C. This removes the water content and allows for a more accurate allocation of the grain weight to the measurement target area 62. It is also preferable to change the added weight of the grain according to the output rotational speed of the engine E detected by the speed sensor 52A. This suppresses the effect of delay time and allows for a more accurate calculation of the weight of the grain sorted from the stalks harvested by the harvesting device 3 to be placed in the measurement target area 62.

[0074] If the grain stalk sensor 53 is not installed or if the grain stalk sensor 53 malfunctions, the yield map data may be created assuming that the grain stalk sensor 53 is always ON. Also, Figure 16 shows an example of a small area divided vertically into two sections, but it is also possible to further divide it horizontally to increase the number of small areas.

[0075] (Creating a yield map) When the yield monitoring switch 60 is pressed while in yield monitoring mode, the collection of yield map data stops and yield monitoring ends. When the operator presses the yield mapping switch 63, the second controller 45 creates a yield map by assigning the collected yield map data to the mesh of the field work map, which is set in advance based on its location information.

[0076] In Figures 15 and 16, the grain yield (weight) for a small area is illustrated as being assigned to a rectangular area for convenience. However, in actual data generation, it is linked to a representative coordinate value and is generally assigned to the center (area centroid) of each small area. Therefore, the yield data for a small area A1 is generated in the form (m1, x1, y1). Here, m1 is the weight of the grain, and x1 and y1 are the 2D representative coordinate values. The representative coordinate values ​​x1 and y1 do not necessarily have to be at the center of the small area, but in the width direction, they can be shifted in the extension direction of the travel path 72 as long as they are at the center of the small area.

[0077] Figure 17 shows a yield map in which the measurement target area is not divided into multiple sub-regions. It illustrates the yield data obtained as a result of the work travel process based on three travel routes 72, and the white dots on the travel routes indicate the coordinate positions to which the yield of each measurement target area is assigned. Figure 18 shows an example in which the measurement target area is divided into two sub-regions, similar to the "Yield Monitoring of the Second Embodiment" described above, and the black dots indicate the coordinate positions to which the end is assigned. In the following explanation, yield information for each coordinate in Figures 17 to 19 may be described in the form m(x, y). For example, the yield information for the top-left region of Figure 17 is represented as m(3, 7), and the yield information for the top-left region of Figure 18 is represented as m(3b, 7).

[0078] Yield information recorded in this way, linked to representative coordinate values, can be evaluated by assigning it to a grid-like mesh, as shown in Figure 19, during or after the work is completed. For each cell in the mesh, the weight of the yield information contained within that cell is summed up to obtain the cell's weight value. This can be used to visualize the results by changing the color according to the magnitude of each cell's weight value, or to evaluate the degree of growth by comparing it with other work information (e.g., the amount of fertilizer applied during the growth process).

[0079] Figure 19 shows cell C and the eight surrounding cells superimposed on the yield data explained in Figures 17 and 18. Focusing on cell C, if the measurement area is not divided into multiple sub-regions, cell C contains m(2,3), m(2,4), and m(2,5). In contrast, if the measurement area is divided into two sub-regions, m(2b,3) is no longer included among m(2a,3) and m(2b,3), while m(1b,5), m(2b,6), and m(3a,4) are included.

[0080] By dividing the measurement target area into multiple sub-regions in this way and generating yield information, it becomes possible to provide more accurate weight values ​​to each cell without significantly increasing the computational load, even when the distribution ratio is uneven based on the grain stalk sensor 53, etc., or even when it is divided equally, while using the same configuration of weight sensors 54B, etc., and enabling appropriate evaluation.

[0081] (Application to information other than yield information) The above explanation used an example of assigning yield information to a mesh, but the present invention can be used for any quantitative data that changes with movement. In the case of agriculture, this could include the amount obtained from the work area, such as the yield information mentioned above and the amount of grass cut by a lawnmower; the amount of materials applied to the work area, such as seeds, transplanted seedlings, pesticides, and fertilizers; and changes in the vehicle itself, such as fuel consumption and workload values. Depending on the evaluation perspective, the vehicle's inclination and speed can also be treated similarly. How to calculate the representative value of a cell, such as summing the data contained in the mesh cells or averaging or evaluating the maximum / minimum values, should be considered on a case-by-case basis according to the characteristics of the data.

[0082] (Generalized apportionment data generator) From the above description, the allocation data generator of the present invention can be understood as follows. Figure 20 shows an overview of the allocation data generator 100.

[0083] The data acquisition unit 110 includes a target quantity data acquisition unit 111 that acquires the target quantity as quantitative data to be allocated, a vehicle position acquisition unit 112 that identifies the position of the vehicle within the work area, and a reference direction acquisition unit 113 that acquires information necessary for specifying the division direction when allocating. In each acquisition unit of the data acquisition unit 110, data is acquired in a format in which time and data are linked.

[0084] The intermediate data generation unit 120 includes an allocation ratio determination unit 121 and an occurrence location estimation unit 122. The intermediate data generation unit 120 determines the ratio and location of the distribution of the target quantity. The intermediate data generation unit 120 instructs the allocation ratio determination unit 121 and the generation location estimation unit 122 to specify the division conditions for dividing the quantity using the stored number of divisions N.

[0085] In response, the occurrence location estimation unit 122 estimates the locations of N occurrence points. This estimation is mainly based on the vehicle position information acquired by the vehicle position acquisition unit 112 and the direction information acquired by the reference direction acquisition unit 113. In other words, it calculates a straight line passing through the vehicle position with the direction as its slope, divides the pre-stored reference width W into N equal parts, and sets the midpoints as the N occurrence points.

[0086] Furthermore, if the position of the work unit is offset from the vehicle position (such as the mounting position of the GNSS antenna or the center position of the vehicle), the intermediate data generation unit 120 needs to calculate a straight line based on an offset position that takes this offset into account. Also, as with the combine harvester yield information mentioned above, if the timing of occurrence (harvesting timing) and detection (grain storage timing) are out of sync, it is necessary to evaluate the amount of the discrepancy and refer to the position information at a later point in time. In addition, for equipment where the working width changes, it is necessary to ensure that this change can be acquired.

[0087] The allocation ratio determination unit 121 basically only needs to generate data by dividing the target amount into N equal parts, but there are also cases where the allocation is done using unequal ratios, as in the combine harvester yield data mentioned above.

[0088] The allocated data generation unit 130 allocates the target quantity based on the rules determined by the intermediate data generation unit 120 and stores it as data that includes at least (m1, x1, y1) as described above.

[0089] By dividing a single measurement quantity (target quantity) across multiple locations and linking them in this way, it becomes possible to obtain data with a more favorable evaluation granularity when evaluating the distribution of the target quantity by comparing it with other work data, etc. In particular, when calculating representative values ​​for each cell of a mesh from data assigned to representative locations, the distribution tends to become biased if the mesh spacing is less than about three times the work width or the data acquisition pitch (i.e., the front, back, left, or right pitch of data acquisition), so the data division (upsampling) of the present invention is effective.

[0090] Furthermore, it is preferable that the target quantity data acquisition unit 111 can acquire data that affects the positional and temporal properties that should be used as criteria for evaluating the target quantity, in addition to the target quantity that is to be divided. For example, if the relationship between the work point and the vehicle position changes or the work width changes due to the movement or deformation of the work unit, it is necessary to acquire information about these conditions.

[0091] The vehicle position acquisition unit 112 preferably acquires the absolute position using a high-precision satellite positioning system, but it can also use relative position information from a reference position and an inertial navigation system.

[0092] The reference direction acquisition unit 113 preferably acquires direction information from direction sensors such as magnetic compasses or gyrocompasses, but it can also substitute with the direction defined by multiple positioning points from a satellite positioning system and the direction of travel of the vehicle. In this case, the direction may be calculated using two consecutive adjacent points, multiple non-contiguous points may be used, or a regression line may be calculated and used.

[0093] Furthermore, when the vehicle is automatically steering along the travel path, the position information from the vehicle position acquisition unit 112 itself may not be used; instead, a corresponding point on the travel path (straight line) may be used as the vehicle's position. In this case, the direction of the travel path (straight line) may be used as the vehicle's direction of travel. In other words, a straight line passing through the vehicle's position and perpendicular to the travel path is calculated, the intersection of the travel path and this perpendicular line is used as a substitute for the vehicle's position, and N generation points are positioned on the perpendicular line.

[0094] Furthermore, although the intermediate data generation unit 120 determines the division conditions based on a pre-stored number of divisions, the number of divisions N may be dynamically determined according to the work status, driving status, etc.

[0095] Furthermore, the generation of data by the series of apportionment data generators 100 may be performed in real time during the work, upon completion of the work, or by keeping each data linked to the time and performing the generation during evaluation when comparing it with other data.

[0096] (Other embodiments) Although various embodiments of the present invention have been described above, the present invention is not limited to the embodiments described above and can be implemented in various modified forms.

Claims

1. A quantity acquired over time by a moving object and associated with time or location, The position information, which is the current position of the moving object when the aforementioned target quantity was acquired, and the direction information, which is the direction of movement of the object, An information processing method that generates data using, Based on the position information and orientation information of the moving body, multiple locations in the lateral direction of the moving body are identified as recording target locations, and the target quantity is divided by a predetermined ratio to calculate a divided target quantity, which is then associated with the recording target locations. An information processing method characterized by the following:

2. An information processing apparatus capable of performing the information processing method described in claim 1.

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