Harvest management method, harvest management system, and harvest management program

Abstract

To calculate a yield in a finer region in a field.SOLUTION: A harvest management device 100 comprises a data storage unit 160, a divided region calculation unit 170 and a yield calculation unit 180. The data storage unit 160 stores trajectory information of a harvester 300 that moves in a field 10 and harvests crops, a loading position 30 where the crops harvested by the harvester 300 are loaded onto a transport vehicle 400, and a weight of the crops loaded on the transport vehicle 400 at the loading position 30. The divided region calculation unit 170 calculates divided regions where heavy crops are harvested, based on the trajectory information and the loading position 30. The yield calculation unit 180 calculates the yield of the crops in the divided regions based on the divided regions and the weight.SELECTED DRAWING: Figure 6

Description

Technical Field

[0001] The present invention relates to a harvesting management method, a harvesting management system, a transport vehicle, and a harvesting management program.

Background Art

[0002] In recent years, research has been conducted on using information related to farm work in the field for the analysis of cultivation management. For example, the yield of root vegetables harvested from the ridges in the field, such as carrots, is grasped by measuring the weight of the crops harvested in the field at the sorting yard.

[0003] Patent Document 1 discloses a harvesting machine that pulls out root vegetables from the ridges in the field, harvests them, and stores them in a storage container, and when the storage container is full, discharges the full storage container to the field. The storage container is collected by a transport vehicle and carried to the sorting yard. By weighing the storage container carried to the sorting yard, the yield in the field is measured.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] However, even if the yield in the field can be measured, it is not possible to measure the yield in finer areas within the field.

[0006] In view of the above situation, one object of the present disclosure is to calculate the yield in finer areas within the field. Other objects can be understood from the following description and the description of the embodiments.

Means for Solving the Problems

[0007] The means for solving the problems will be described below using the numbers and symbols used in the embodiments for carrying out the invention. These numbers and symbols are added in parentheses for reference to show an example of the correspondence between the description of the claims and the embodiments for carrying out the invention. Therefore, the claims should not be construed in a limiting manner by the description in parentheses.

[0008] A harvesting management method according to an embodiment for achieving the above object includes storing the trajectory information of a harvester (300) that moves in a field (10) to harvest crops, the loading position (30) where the crops harvested by the harvester (300) are loaded onto a transport vehicle (400), and the weight of the crops loaded onto the transport vehicle (400) at the loading position (30). The harvesting management method also includes calculating a divided area in which crops of a certain weight are harvested based on the trajectory information and the loading position (30). Further, the harvesting management method includes calculating the harvest amount of the crops in the divided area based on the divided area and the weight.

[0009] A harvesting management system (1000) according to an embodiment for achieving the above object includes a data storage unit (160), a divided area calculation unit (170), and a harvest amount calculation unit (180). The data storage unit (160) stores the trajectory information of a harvester (300) that moves in a field (10) to harvest crops, the loading position (30) where the crops harvested by the harvester (300) are loaded onto a transport vehicle (400), and the weight of the crops loaded onto the transport vehicle (400) at the loading position (30). The divided area calculation unit (170) calculates a divided area in which crops of a certain weight are harvested based on the trajectory information and the loading position (30). The harvest amount calculation unit (180) calculates the harvest amount of the crops in the divided area based on the divided area and the weight.

[0010] A carrier (400) according to an embodiment for achieving the above object includes a weight sensor (440), a positioning device (450), and a communication device (430). The weight sensor (440) measures the weight of crops harvested and loaded in the field (10). The positioning device (450) measures the loading position (30) where the crops are loaded. The communication device (430) outputs information representing the associated measured loading position (30) and weight.

[0011] A harvest management program (500) according to an embodiment for achieving the above object causes the arithmetic unit (120) to store the trajectory information of the harvester (300) that moves in the field (10) to harvest crops, the loading position (30) where the crops harvested by the harvester (300) are placed on the carrier (400), and the weight of the crops placed on the carrier (400) at the loading position (30). Further, the harvest management program (500) causes the arithmetic unit (120) to calculate a divided area where crops of a certain weight are harvested based on the trajectory information and the loading position (30). Furthermore, the harvest management program (500) causes the arithmetic unit (120) to calculate the harvest amount of the crops in the divided area based on the divided area and the weight.

Advantages of the Invention

[0012] According to the above aspect, it is possible to measure the harvest amount in a divided area obtained by dividing the field.

Brief Description of the Drawings

[0013]

Figure 1

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Figure 9

[0014] (Embodiment) The harvest management system 1000 according to the present embodiment of the present invention will be described with reference to the drawings. In the present embodiment, as shown in FIG. 1, the harvest management system 1000 includes a harvest management device 100, a terminal 200, a harvester 300, and a transport vehicle 400. The harvest management device 100 is communicably connected to the terminal 200, the harvester 300, and the transport vehicle 400 via a network 50, for example, the Internet.

[0015] As shown in FIG. 2, the harvester 300 moves within the farmland 10 and harvests crops, for example, crops planted along the ridges. For example, the harvester 300 moves along the entry trajectory 20 to the position of the ridge where the crops are to be harvested in order to harvest the crops planted along the ridge. When the harvester 300 arrives at one end of the ridge where the crops are to be harvested, it moves along the first harvest trajectory 21-1 and harvests the crops. When moving from one end to the other end of the ridge where the harvesting has started, the harvester 300 turns and moves along the second harvest trajectory 21-2 to harvest the crops. Further, the harvester 300 turns further and moves along the third harvest trajectory 21-3 to harvest the crops. In this way, the harvester 300 repeatedly moves along the ridges and turns within the farmland to harvest the crops and stores the harvested crops in a storage container provided in the harvester 300. When not distinguishing the first harvest trajectory 21-1, the second harvest trajectory 21-2, etc., the trajectory along which the harvester 300 moves is called the harvest trajectory 21.

[0016] For example, when the harvester 300 moves along the third harvesting trajectory 21-3 and reaches the first loading position 30-1, the storage container becomes full of the harvested crop. The full storage container is loaded onto the transport vehicle 400 at the first loading position 30-1. The transport vehicle 400 measures the weight of the crop by subtracting the weight of only the storage container from the weight of the loaded storage container. The measured weight of the crop represents the harvest amount of the crop harvested on the first harvesting trajectory 21-1, the second harvesting trajectory 21-2, and the third harvesting trajectory 21-3 along which the harvester 300 has moved so far. Similarly, at the second loading position 30-2, the transport vehicle 400 loads the storage container and measures the weight of the crop from the weight of the loaded storage container. The measured weight of the crop represents the harvest amount of the crop harvested on the fourth harvesting trajectory 21-4, the fifth harvesting trajectory 21-5, the sixth harvesting trajectory 21-6, and the seventh harvesting trajectory 21-7. In the field 10, the weight of the crop measured from the weight of the storage container when the harvesting of the crop is completed represents the harvest amount of the crop harvested on the eighth harvesting trajectory 21-8, the ninth harvesting trajectory 21-9, and the tenth harvesting trajectory 21-10. When the first loading position 30-1 and the second loading position 30-2 are not distinguished, the position where the transport vehicle 400 loads the storage container is called the loading position 30.

[0017] The harvest management device 100 shown in FIG. 1 acquires the harvesting trajectory 21 along which the harvester 300 has moved, the loading position 30 where the transport vehicle 400 has loaded the storage container, and the weight of the storage container from the harvester 300 or the transport vehicle 400. Based on the acquired information, the harvest management device 100 calculates the harvest amount of the crop harvested in each divided area of the field 10, for example, the area from the first harvesting trajectory 21-1 to the third harvesting trajectory 21-3. Each divided area represents, for example, an area obtained by dividing the trajectory information along which the harvester 300 has moved at the loading position 30. The calculated harvest amount is output to the input / output device 210 of the terminal 200 and notified to the user, for example, the operator, the owner of the field 10.

[0018] In this way, the harvest management system 1000 notifies the user of the harvest amount of the crop in the divided areas obtained by dividing the field 10.

[0019] (Configuration of the Harvest Management System) As shown in FIG. 3, the harvester 300 includes an input / output device 310, an arithmetic unit 320, a communication device 330, a sensor 340, and a positioning device 350. Information for the arithmetic unit 320 to execute processing is input to the input / output device 310. Further, the input / output device 310 outputs the result of the processing executed by the arithmetic unit 320. The input / output device 310 includes various input devices and output devices, and includes, for example, a keyboard, a mouse, a microphone, a display, a speaker, a touch panel, and the like.

[0020] The communication device 330 is electrically connected to the network 50 and communicates with each device via the network 50. The communication device 330 transfers the signal acquired from the harvest management device 100 to the arithmetic unit 320. Further, the signal generated by the arithmetic unit 320 is transferred to the harvest management device 100. The communication device 330 includes, for example, transceivers used for wireless communication such as wireless LAN (Local Area Network) and cellular networks, various interfaces such as NIC (Network Interface Card) and USB (Universal Serial Bus).

[0021] The sensor 340 detects the amount of crops stored in the storage container provided in the harvester 300. For example, the sensor 340 detects that the amount of crops stored in the storage container exceeds a threshold value. The sensor 340 includes, for example, an infrared sensor at a predetermined height, and determines that the amount of crops exceeds the threshold value when the height of the stored crops exceeds the height of the infrared sensor. Further, the sensor 340 may measure the height of the stored crops and determine that the amount of crops exceeds the threshold value when the measured height exceeds the threshold value. When the amount of crops stored in the storage container exceeds the threshold value, the sensor 340 notifies that the storage container is nearly full. Based on the notification from the sensor 340, the user moves the storage container to the transport vehicle 400.

[0022] The positioning device 350 measures the position of the own vehicle, for example, the latitude and longitude, at each moment. The position information representing the measured position is transmitted to the arithmetic unit 320. The positioning device 350 measures the position of the harvester 300 at each moment by being provided on the harvester 300. The positioning device 350 is, for example, a receiver of GNSS (Global Navigation Satellite System).

[0023] The arithmetic unit 320 transmits the operation information of the harvester 300 to the harvest management device 100. The operation information includes the position information of the harvester 300 measured by the positioning device 350. Further, the operation information includes information representing the state of the harvester 300 when working in the field 10, and may include, for example, the speed, steering angle, engine speed, and ON / OFF status of various clutches of the harvester 300.

[0024] As shown in FIG. 4, the transport vehicle 400 includes an input / output device 410, an arithmetic unit 420, a communication device 430, a weight sensor 440, and a positioning device 450. Information for the arithmetic unit 420 to execute processing is input to the input / output device 410. Further, the input / output device 410 outputs the result of the processing executed by the arithmetic unit 420. The input / output device 410 includes various input devices and output devices, and includes, for example, a keyboard, a mouse, a microphone, a display, a speaker, a touch panel, and the like.

[0025] The communication device 430 is electrically connected to the network 50 and communicates with each device via the network 50. The communication device 430 transfers the signal acquired from the harvest management device 100 to the arithmetic unit 420. Further, the signal generated by the arithmetic unit 420 is transferred to the harvest management device 100. The communication device 430 includes, for example, transceivers used for wireless communication such as wireless LAN (Local Area Network) and cellular network, various interfaces such as NIC (Network Interface Card) and USB (Universal Serial Bus).

[0026] The weight sensor 440 measures the weight of the crop from the weight of the storage container loaded on the transport vehicle 400. For example, the weight sensor 440 is zero-adjusted so that the measured weight is subtracted by the weight of only the storage container, and by measuring the weight of the storage container loaded on the transport vehicle 400, the weight of the crop stored in the storage container is measured. The weight sensor 440 may include, for example, a load cell and may be provided on the rear lift 445 as shown in FIG. 5. In this case, the weight sensor 440 measures the weight of the storage container placed on the loading part 447 of the rear lift 445.

[0027] The positioning device 450 shown in FIG. 4 measures the position of the own vehicle at each time, for example, the latitude and the longitude. The position information representing the measured position is transmitted to the arithmetic unit 420. By being provided on the transport vehicle 400, the positioning device 450 measures the position of the transport vehicle 400 at each time. The positioning device 450 is, for example, a receiver of GNSS (Global Navigation Satellite System).

[0028] The arithmetic unit 420 transmits information regarding the loading amount of the transport vehicle 400 to the harvesting management device 100. The information regarding the loading amount includes information representing the weight measured by the weight sensor 440 and the position information of the transport vehicle 400 measured by the positioning device 450. For example, the information regarding the loading amount represents the weight of the crop loaded on the transport vehicle 400 and the loading position 30 where the crop is loaded on the transport vehicle 400.

[0029] As shown in FIG. 1, the harvesting management device 100 includes an input / output device 110, an arithmetic device 120, a communication device 130, and a storage device 140. The harvesting management device 100 calculates the harvest amount in the divided area of the farmland 10 based on the information obtained from the harvester 300 and the transport vehicle 400. The harvesting management device 100 is, for example, a computer. Information for the arithmetic device 120 to execute processing is input to the input / output device 110. Also, the input / output device 110 outputs the result of the processing executed by the arithmetic device 120. The input / output device 110 includes various input devices and output devices, and includes, for example, a keyboard, a mouse, a microphone, a display, a speaker, a touch panel, and the like. The input / output device 110 may be omitted.

[0030] The communication device 130 is electrically connected to the network 50 and communicates with each device via the network 50. The communication device 130 transfers the signals obtained from the terminal 200, the harvester 300, and the transport vehicle 400 to the arithmetic device 120. Also, it transfers the signal generated by the arithmetic device 120 to any one of the terminal 200, the harvester 300, and the transport vehicle 400. The communication device 130 includes various interfaces such as, for example, a NIC (Network Interface Card) and a USB (Universal Serial Bus).

[0031] The storage device 140 stores various data for calculating the harvest amount in the divided area, for example, the harvesting management program 500. The storage device 140 is used as a non-transitory tangible storage medium for storing the harvesting management program 500. The harvesting management program 500 may be provided as a computer program product recorded on a computer-readable storage medium 1, or may be provided as a computer program product downloadable from a server.

[0032] The arithmetic unit 120 reads the harvesting management program 500 from the storage device 140 and performs various data processes for calculating the harvest amount in the divided area. For example, the arithmetic unit 120 includes a central processing unit (CPU).

[0033] By reading and executing the harvesting management program 500, the arithmetic unit 120 realizes a data storage unit 160, a divided area calculation unit 170, and a harvest amount calculation unit 180 as shown in FIG. 6. The data storage unit 160 stores information acquired from the harvester 300 or the transport vehicle 400. The divided area calculation unit 170 calculates a divided area for calculating the harvest amount based on the information acquired from the harvester 300 and the transport vehicle 400. The harvest amount calculation unit 180 calculates the harvest amount of each divided area based on the information acquired from the harvester 300 and the transport vehicle 400, and transmits an output signal representing the calculated harvest amount to the terminal 200.

[0034] The terminal 200 shown in FIG. 1 includes an input / output device 210, an arithmetic unit 220, a communication device 230, and a storage device 240. The terminal 200 includes, for example, a computer, a tablet, a mobile phone, and the like. Information for the arithmetic unit 220 to execute processing is input to the input / output device 210. Further, the input / output device 210 outputs the result of the processing executed by the arithmetic unit 220. The input / output device 210 includes various input devices and output devices, and includes, for example, a keyboard, a mouse, a microphone, a display, a speaker, a touch panel, and the like.

[0035] The communication device 230 is electrically connected to the network 50 and communicates with each device via the network 50. The communication device 230 transfers the signal acquired from the harvesting management device 100 to the arithmetic unit 220. Further, the signal generated by the arithmetic unit 220 is transferred to the harvesting management device 100. The communication device 230 includes various interfaces such as a transceiver used for wireless communication such as a wireless LAN (Local Area Network) and a cellular network, a NIC (Network Interface Card), and a USB (Universal Serial Bus).

[0036] The memory device 240 stores various data for displaying information representing the harvested amount acquired from the harvest management device 100, such as a display program 510. The memory device 240 is used as a non-transitory tangible storage medium for storing the display program 510. The display program 510 may be provided as a computer program product recorded on a computer-readable storage medium 2, or may be provided as a computer program product downloadable from a server. The display program 510 may be recorded and provided on the storage medium 1.

[0037] By reading and executing the display program 510, the arithmetic device 220 realizes a display unit 260 that, as shown in FIG. 6, cooperates with the input / output device 210 to display information representing the harvested amount acquired from the harvest management device 100.

[0038] (Operation of the Harvest Management System) The positioning device 350 of the harvester 300 shown in FIG. 3 acquires position information representing the position of the harvester 300 at each moment when harvesting in the field 10. For example, as shown in FIG. 2, when the harvester 300 moves along the entry trajectory 20 and the harvesting trajectory 21, the positioning device 350 measures the position on the entry trajectory 20 or the harvesting trajectory 21. The position information representing the position of the harvester 300 at each moment when it moves in the field 10 is transmitted from the positioning device 350 to the arithmetic device 320. The arithmetic device 320 transmits the acquired position information as trajectory information representing the trajectory of the harvester 300 to the harvest management device 100. For example, the trajectory information is included in the operation information transmitted to the harvest management device 100.

[0039] At the first loading position 30-1, a storage container for storing the harvested crop is loaded onto the transport vehicle 400. The positioning device 450 of the transport vehicle 400 measures the first loading position 30-1 where the storage container is loaded. Also, the weight sensor 440 of the transport vehicle 400 measures the weight of the loaded crop. Similarly, at the second loading position 30-2, the second loading position 30-2 and the weight of the crop are measured. Further, when the harvesting in the field 10 is completed, the storage container is loaded onto the transport vehicle 400 at the position where the harvesting is completed, so that the positioning device 450 and the weight sensor 440 measure the loading position 30 and the weight of the crop. The arithmetic unit 420 acquires the measured loading position 30 from the positioning device 450 and acquires the weight of the crop at each loading position 30 from the weight sensor 440. The arithmetic unit 420 transmits information regarding the loading amount representing the loading position 30 and the weight of the crop to the harvesting management device 100.

[0040] When the arithmetic unit 120 of the harvesting management device 100 shown in FIG. 1 receives, for example, operation information and information regarding the loading amount, it reads and executes the harvesting management program 500. By executing the harvesting management program 500, the arithmetic unit 120 executes the process shown in FIG. 7 which is a part of the harvesting management method. In step S110, the data storage unit 160 realized by the arithmetic unit 120 acquires operation information from the harvester 300 and extracts trajectory information representing the trajectory of the harvester 300 from the operation information.

[0041] In step S120, the data storage unit 160 acquires information regarding the loading amount from the transport vehicle 400 and extracts the loading position 30 and the weight of the crop at each loading position 30 from the acquired information.

[0042] In step S130, the divided region calculation unit 170 calculates a divided region for calculating the harvest amount based on the trajectory information and the loading position 30. The divided region calculation unit 170 divides the trajectory of the harvester 300 represented by the trajectory information at the loading position 30 and calculates the region including each divided trajectory as the divided region.

[0043] For example, in the example shown in FIG. 2, the division area calculation unit 170 divides the trajectory along which the harvester 300 has moved at the first loading position 30-1 and the second loading position 30-2, and calculates the division area. Specifically, the division area calculation unit 170 calculates, as the first division area, an area including a first harvesting trajectory 21-1, a second harvesting trajectory 21-2, and a third harvesting trajectory 21-3, which represent the trajectory of the harvester 300 moving from the start of harvesting to the first loading position 30-1. Further, the division area calculation unit 170 calculates, as the second division area, an area including a fourth harvesting trajectory 21-4, a fifth harvesting trajectory 21-5, a sixth harvesting trajectory 21-6, and a seventh harvesting trajectory 21-7, which represent the trajectory of the harvester 300 moving from the first loading position 30-1 to the second loading position 30-2. Furthermore, the division area calculation unit 170 calculates, as the third division area, an area including an eighth harvesting trajectory 21-8, a ninth harvesting trajectory 21-9, and a tenth harvesting trajectory 21-10, which represent the trajectory of the harvester 300 moving from the second loading position 30-2 until the harvesting in the field 10 is completed.

[0044] In addition, the division area may include a trajectory along the ridges of the field 10 and may not include a trajectory along which the harvester 300 is turning. For example, the direction of the ridges is registered in the division area calculation unit 170. The division area calculation unit 170 may calculate the division area so as to include trajectory information moving in the ridge direction, such as the first harvesting trajectory 21-1 and the second harvesting trajectory 21-2, and not to include trajectory information not moving in the ridge direction, such as the trajectory from the end point of the first harvesting trajectory 21-1 to the start point of the second harvesting trajectory 21-2. The division area calculation unit 170 determines whether the trajectory information is moving in the ridge direction based on the angle formed by the ridge direction and the moving direction represented by the trajectory information. When the angle formed by the moving direction represented by the trajectory information and the ridge direction is equal to or less than the threshold value, the division area calculation unit 170 determines that the trajectory information is moving in the ridge direction. The moving direction represented by the trajectory information is represented by, for example, the change in a plurality of temporally adjacent position information included in the trajectory information.

[0045] The divided area may be a set of position information represented in the trajectory information. For example, as shown in FIG. 8, the first divided area from the first harvesting trajectory 21-1 to the third harvesting trajectory 21-3 shown in FIG. 2 represents a set of the first trajectory information 40-1, the second trajectory information 40-2, and the third trajectory information 40-3. Here, the first trajectory information 40-1 is the position information representing the first harvesting trajectory 21-1, the second trajectory information 40-2 is the position information representing the second harvesting trajectory 21-2, and the third trajectory information 40-3 is the position information representing the third harvesting trajectory 21-3.

[0046] Also, as shown in FIG. 8, the second divided area from the fourth harvesting trajectory 21-4 to the seventh harvesting trajectory 21-7 shown in FIG. 2 represents a set of the fourth trajectory information 40-4, the fifth trajectory information 40-5, the sixth trajectory information 40-6, and the seventh trajectory information 40-7. Here, the fourth trajectory information 40-4 is the position information representing the fourth harvesting trajectory 21-4, the fifth trajectory information 40-5 is the position information representing the fifth harvesting trajectory 21-5, the sixth trajectory information 40-6 is the position information representing the sixth harvesting trajectory 21-6, and the seventh trajectory information 40-7 is the position information representing the seventh harvesting trajectory 21-7.

[0047] Also, as shown in FIG. 8, the third divided area from the eighth harvesting trajectory 21-8 to the tenth harvesting trajectory 21-10 shown in FIG. 2 represents a set of the eighth trajectory information 40-8, the ninth trajectory information 40-9, and the tenth trajectory information 40-10. Here, the eighth trajectory information 40-8 is the position information representing the eighth harvesting trajectory 21-8, the ninth trajectory information 40-9 is the position information representing the ninth harvesting trajectory 21-9, and the tenth trajectory information 40-10 is the position information representing the tenth harvesting trajectory 21-10.

[0048] In step S140 shown in FIG. 7, the yield calculation unit 180 calculates the yield of each divided area based on the information regarding the loading amount. For example, the yield calculation unit 180 calculates the yield of the crops harvested in the calculated divided area from the information regarding the loading amount. Specifically, the yield of the crops harvested in the first divided area from the first harvesting trajectory 21-1 to the third harvesting trajectory 21-3 shown in FIG. 2 corresponds to the weight of the crops measured at the first loading position 30-1. Therefore, the yield calculation unit 180 calculates the yield of the crops harvested in the first divided area based on the weight measured at the first loading position 30-1.

[0049] In addition, the yield calculation unit 180 calculates the yield per unit area, for example, per mu, in each divided area. The yield calculation unit 180 calculates the number of mu included in the divided area based on the harvesting trajectories 21 included in the divided area. When the trajectory of moving one mu is represented by two harvesting trajectories 21, the yield calculation unit 180 calculates the number of mu included in the divided area based on the ratio of the lengths of the harvesting trajectories 21. For example, since no other harvesting trajectory 21 is included on the straight line along which the first harvesting trajectory 21-1 shown in FIG. 2 extends, the first harvesting trajectory 21-1 represents the trajectory of moving across the entire one mu. Similarly, the second harvesting trajectory 21-2 also represents the trajectory of moving across the entire one mu. However, since the third harvesting trajectory 21-3 extends on the same straight line as the fourth harvesting trajectory 21-4, the trajectory of moving one mu is represented by the third harvesting trajectory 21-3 and the fourth harvesting trajectory 21-4. Therefore, the yield calculation unit 180 calculates the number of mu corresponding to the third harvesting trajectory 21-3 based on the ratio of the length of the third harvesting trajectory 21-3 to the length of the fourth harvesting trajectory 21-4. For example, the yield calculation unit 180 calculates the number of mu corresponding to the third harvesting trajectory 21-3 as 0.7 mu. In this case, the yield calculation unit 180 calculates the number of mu in the first divided area as 2.7 mu.

[0050] Similarly, the yield calculation unit 180 calculates the number of ridges in the second divided area shown in FIG. 2. The number of ridges corresponding to the seventh harvesting locus 21-7 is calculated as 0.8 mu based on the ratio of the length of the seventh harvesting locus 21-7 to the length of the eighth harvesting locus 21-8. Therefore, the yield calculation unit 180 calculates the number of ridges in the second divided area as 3.1 mu based on the number of ridges corresponding to the fourth harvesting locus 21-4 to the seventh harvesting locus 21-7. Similarly, the yield calculation unit 180 calculates the number of ridges in the third divided area as 2 mu based on the number of ridges corresponding to the eighth harvesting locus 21-8 to the tenth harvesting locus 21-10.

[0051] The yield calculation unit 180 calculates the yield per mu in each divided area by dividing the yield in the corresponding divided area by the number of ridges in the divided area. The yield calculation unit 180 may calculate the yield per unit length in each divided area based on the length of the harvesting locus 21 included in the divided area.

[0052] When the yield is calculated, the yield calculation unit 180 outputs an output signal representing the yield to the arithmetic unit 220 of the terminal 200 shown in FIG. 1. When receiving the output signal, the arithmetic unit 220 of the terminal 200 reads and executes the display program 510. The display unit 260 realized by the arithmetic unit 220 displays a screen representing the yield on the input / output device 210 based on the output signal. The display unit 260 associates and displays, for example, the locus information 40 and the yield corresponding to the locus information 40 as shown in FIG. 8. Thereby, the user can confirm the yield in the divided area of the farmland 10.

[0053] The display unit 260 may further superimpose and display information related to the cultivation of the crop, such as an aerial photograph during cultivation and the fertilization status, on the screen representing the yield. The user can perform a more detailed analysis of cultivation management by comparing the situation of the farmland 10 during cultivation with the yield. For example, when cultivating the crop next time, the user increases the fertilization amount for the ridges with a low yield. Thereby, a yield similar to that of other ridges is expected.

[0054] For example, as shown in FIG. 9, the display unit 260 of the terminal 200 may display a screen in which information regarding pesticide spraying performed in the farm field 10 is superimposed on an image representing the yield. The display unit 260 may display, for example, the boom sprayer 600, the spraying trajectory 620 along which the boom sprayer 600 has moved, and the first nozzle 610-1 to the fourth nozzle 610-4 connected to the boom sprayer 600. In the example shown in FIG. 9, the yield of the ridges corresponding to the ninth trajectory information 40-9 and the yield of the ridges corresponding to the tenth trajectory information 40-10 are less than the yields of other ridges. On the other hand, pesticides are sprayed from the fourth nozzle 610-4 onto the ridges corresponding to the ninth trajectory information 40-9 and the ridges corresponding to the tenth trajectory information 40-10. Therefore, the user inspects the fourth nozzle 610-4 in order to investigate the cause of the low yield.

[0055] Further, the display unit 260 may display an image in which an aerial photograph of the farm field 10 after rain has fallen during cultivation is superimposed on an image representing the yield. When puddles are shown outside the ridges corresponding to the ninth trajectory information 40-9 and the ridges corresponding to the tenth trajectory information 40-10 in the aerial photograph, the user improves the drainage of the farm field 10. For example, when cultivating the next crop, the user increases the height of the ridges corresponding to the ninth trajectory information 40-9 and the ridges corresponding to the tenth trajectory information 40-10.

[0056] In this way, the harvest management system 1000 supports the user in analyzing cultivation management by displaying the situation of the farm field 10 and the yield.

[0057] (Modification example) The configurations described in the embodiments are examples, and the configurations can be changed as long as the functions are not impaired. For example, the operation information of the harvester 300 may be transmitted to the harvest management device 100 using any method. For example, the operation information may be stored in a storage medium, such as a USB memory, from the harvester 300 and transmitted to the harvest management device 100 via the terminal 200. Further, the operation information may be transmitted from the communication device 330 of the harvester 300 to the carrier vehicle 400 using wireless communication capable of short-range communication, and then transmitted to the harvest management device 100 via the carrier vehicle 400.

[0058] Similarly, information regarding the loading capacity of the transporter 400 may be transmitted to the harvesting management device 100 using any method. For example, the information regarding the loading capacity may be stored in a storage medium, such as a USB memory, from the transporter 400 and transmitted to the harvesting management device 100 via the terminal 200. Further, the information regarding the loading capacity may be transmitted from the communication device 430 of the transporter 400 to the harvester 300 using wireless communication capable of short-distance communication, and then transmitted to the harvesting management device 100 via the harvester 300.

[0059] The loading position 30 may be measured using any method as long as the field 10 can be divided into divided areas corresponding to the weight of the measured crops. For example, the positioning device 350 of the harvester 300 may measure the position of the loading position 30. The storage container may be stopped so that the harvester 300 and the transporter 400 are adjacent to each other, and may be transferred from the harvester 300 to the transporter 400. In this case, for example, the arithmetic unit 320 of the harvester 300 detects that the storage container is being transferred from the harvester 300 to the transporter 400, and measures the position of the harvester 300 at the time when the transfer is detected using the positioning device 350 as the loading position 30. The arithmetic unit 320 of the harvester 300 transmits information representing the measured loading position 30 and the measured time to the harvesting management device 100. Further, the arithmetic unit 420 of the transporter 400 transmits information representing the measured weight of the crops and the measured time to the harvesting management device 100. The harvesting amount calculation unit 180 of the harvesting management device 100 associates the information representing the loading position 30 acquired from the harvester 300 with the information representing the weight of the crops based on the measured time. For example, the harvesting amount calculation unit 180 determines that the crops with the weight measured at the same time are loaded on the transporter 400 at the loading position 30.

[0060] Further, the harvester 300 may transmit information associating the measured loading position 30 with the weight of the crop measured by the weight sensor 440 of the carrier vehicle 400 to the harvest management device 100. For example, the arithmetic unit 320 of the harvester 300 acquires the loading position 30 at which the storage container is transferred from the harvester 300 to the carrier vehicle 400 from the positioning device 350. Also, when the transfer is performed, the arithmetic unit 420 of the carrier vehicle 400 acquires the weight of the crop from the weight sensor 440 and transmits information representing the acquired weight to the arithmetic unit 320 of the harvester 300. The harvester 300 transmits information representing the loading position 30 acquired from the positioning device 350 and the weight acquired from the arithmetic unit 420 of the carrier vehicle 400 to the harvest management device 100.

[0061] Note that the sensor 340 of the harvester 300 may detect that the storage container has been transferred from the harvester 300 to the carrier vehicle 400. For example, the sensor 340 of the harvester 300 detects that the amount of the crop stored in the storage container has changed from a state where it exceeds the threshold value to a state where it is equal to or less than the threshold value. The sensor 340 includes, for example, an infrared sensor at a predetermined height, and determines that the storage container has been transferred when the height of the stored crop becomes lower than the height of the infrared sensor from a state where it exceeds the height of the infrared sensor.

[0062] The storage container may be discharged from the harvester 300 to the field 10 when it is full of the harvested crop and collected by the transport vehicle 400. In this case, the arithmetic unit 320 of the harvester 300 may acquire from the positioning device 350 the position where the storage container was discharged as the loading position 30. For example, the arithmetic unit 320 of the harvester 300 transmits information associating the loading position 30 with the order in which the storage containers were discharged to the harvesting management device 100. The transport vehicle 400 loads the storage containers in the order in which they were discharged from the harvester 300. For example, in the example shown in FIG. 2, the transport vehicle 400 first loads the storage container placed at the first loading position 30-1 discharged first. Next, the transport vehicle 400 loads the storage container placed at the second loading position 30-2 discharged second. The arithmetic unit 420 of the transport vehicle 400 transmits information associating the weight of the loaded crop with the order in which it was loaded to the harvesting management device 100. The harvest amount calculation unit 180 of the harvesting management device 100 associates the loading position 30 with the weight based on the order in which the containers were discharged from the harvester 300 and the order in which they were loaded onto the transport vehicle 400. Specifically, the harvest amount calculation unit 180 determines that the weight of the crop loaded first was loaded onto the transport vehicle 400 at the loading position 30 discharged first from the harvester 300.

[0063] Further, the arithmetic unit 420 of the transport vehicle 400 may measure the position where the discharged storage container is placed on the transport vehicle 400 as the loading position 30.

[0064] The weight of the crop stored in the storage container may be calculated by any arithmetic unit, such as the arithmetic unit 420 of the transport vehicle 400, the arithmetic unit 120 of the harvesting management device 100, etc. For example, the weight sensor 440 of the transport vehicle 400 measures the weight of the loaded storage container and transmits the measured weight of the storage container to the arithmetic unit 420 of the transport vehicle 400. The arithmetic unit 420 may store only the weight of the storage container and calculate the weight of the crop from the weight of the storage container. Also, the weight of the crop may be calculated from the weight of the storage container by the arithmetic unit 120 of the harvesting management device 100.

[0065] The embodiments and modification examples described above are merely examples. The configurations described in each of the embodiments and modification examples may be arbitrarily changed or / and arbitrarily combined within a range that does not inhibit the functions. Further, if the required functions can be realized, some of the functions described in the embodiments and modification examples may be omitted. For example, when the positioning device 350 of the harvester 300 measures the loading position 30, the positioning device 450 of the transport vehicle 400 may be omitted. Also, all or part of the data storage unit 160, the divided area calculation unit 170, and the harvested amount calculation unit 180 may be realized by the terminal 200. In this case, all or part of the harvest management program 500 is stored in the storage device 240 of the terminal 200. Also, the harvest management program 500 may include a display program 510.

Explanation of Signs

[0066] 1, 2: Storage Medium 10: Field 20: Entrance Trajectory 21: Harvest Trajectory 30: Loading Position 40: Trajectory Information 50: Network 100: Harvest Management Device 110: Input / Output Device 120: Arithmetic Unit 130: Communication Device 140: Storage Device 160: Data Storage Unit 170: Divided Area Calculation Unit 180: Harvested Amount Calculation Unit 200: Terminal 210: Input / Output Device 220: Arithmetic Unit 230: Communication Device 240: Storage Device 260: Display Unit 300: Harvester 310: Input / Output Device 320: Arithmetic Unit 330: Communication Device 340: Sensor 350: Positioning Device 400: Carrier vehicle 410: Input / output device 420: Arithmetic unit 430: Communication device 440: Weight sensor 445: Rear lift 447: Loading section 450: Positioning device 500: Harvest management program 510: Display program 600: Boom sprayer 610-1: First nozzle 610-2: Second nozzle 610-3: Third nozzle 610-4: Fourth nozzle 620: Spraying trajectory 1000: Harvest management system

Claims

1. A data storage unit stores trajectory information of a harvester that moves in a field to harvest crops, a loading position where the crops harvested by the harvester are placed on a transport vehicle, and the weight of the crops placed on the transport vehicle at the loading position. A division area calculation unit calculates a divided area in which the crops of the weight are harvested based on the trajectory information and the loading position. A harvest amount calculation unit calculates a harvest amount of the crops in the divided area based on the divided area and the weight. The method includes: The loading position is represented by a position where the crops harvested by the harvester are discharged onto the field. A harvest management method.

2. A data storage unit stores trajectory information of a harvester that moves in a field to harvest crops, a loading position where the crops harvested by the harvester are placed on a transport vehicle, and the weight of the crops placed on the transport vehicle at the loading position. A division area calculation unit calculates a divided area in which the crops of the weight are harvested based on the trajectory information and the loading position. A harvest calculation unit calculates a harvest amount of the crops in the divided area based on the divided area and the weight. The method includes: The loading position is represented by a position where the crops discharged from the harvester onto the field are placed on the transport vehicle. A harvest management method.

3. The weight is represented in association with the loading order on the transport vehicle. The position where the crops harvested by the harvester are discharged onto the field is represented in association with the discharge order in which the harvester discharges the crops. Calculating the divided area includes: Calculating the divided area based on a trajectory obtained by dividing the trajectory of the harvester represented in the trajectory information at the loading position. The method includes: Calculating the harvest amount includes: Calculating the harvest amount in the divided area divided at the loading position corresponding to the discharge order that matches the loading order based on the weight corresponding to the loading order. The harvest management method according to claim 1.

4. Calculating the divided area includes calculating the divided area based on a trajectory obtained by dividing the trajectory of the harvester represented in the trajectory information at the loading position. The harvest management method according to claim 2.

5. A data storage unit that stores the trajectory information of a harvester that moves in a field to harvest crops, the loading position where the crops harvested by the harvester are placed on a transport vehicle, and the weight of the crops placed on the transport vehicle at the loading position; A divided area calculation unit that calculates a divided area in which the crops of the weight are harvested based on the trajectory information and the loading position; A harvested amount calculation unit that calculates the harvested amount of the crops in the divided area based on the divided area and the weight; Comprising; The loading position is represented by the position where the harvester discharged the harvested crops to the field or the position where the crops discharged from the harvester to the field were placed on the transport vehicle. Harvest management system.

6. Storing the trajectory information of a harvester that moves in a field to harvest crops, the loading position where the crops harvested by the harvester are placed on a transport vehicle, and the weight of the crops placed on the transport vehicle at the loading position; Calculating a divided area in which the crops of the weight are harvested based on the trajectory information and the loading position; Calculating the harvested amount of the crops in the divided area based on the divided area and the weight; Causing an arithmetic device to execute; The loading position is represented by the position where the harvester discharged the harvested crops to the field or the position where the crops discharged from the harvester to the field were placed on the transport vehicle. Harvest management program.

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