Work vehicle

Abstract

To provide a work vehicle capable of improving crop data calculation accuracy even when a work vehicle travels in the same place a plurality of times in harvesting work, as compared with a conventional configuration.SOLUTION: A farm field (300) is sectioned by a first mesh (301) aligned along a predetermined size and a predetermined direction. A second mesh (302) set on the basis of the width of a work machine (13) for harvesting crops and smaller than the first mesh (301) is created according to the travelling of a travelling vehicle body (2). Position information and yield are stored in association with each other for the first mesh (301) corresponding to the position information on the travelling vehicle body (2) at the time when the yield is measured so that crop data calculation accuracy can be improved even when a work vehicle travels in the same place a plurality of times in harvesting work, as compared with a conventional configuration.SELECTED DRAWING: Figure 6

Description

Technical Field

[0001] This invention relates to a work vehicle for harvesting crops such as a combine harvester.

Background Art

[0002] In a work vehicle for harvesting crops in a field, when harvesting while traveling, the yield of the crops is measured every second, and the protein is measured every two seconds. Crop data such as the yield and protein content, and the position information of the combine (10) are acquired over time. Along with the harvesting operation travel of the combine (10), polygons for yield and polygons for protein are sequentially constructed for the number of times the crop data is acquired, and a technique for creating a map in which the field is divided into polygons is known (Patent Document 1).

[0003] Also, in the operation of cutting, threshing, and transporting and storing the grains in a grain tank for cereal straws such as wheat and rice, according to the shift between the position of the combine when cutting and the position of the combine at the time when the harvest amount is measured due to the travel of the combine, a technique for correcting the yield assigned to the micro plots that divide the field is known (Patent Document 2).

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Patent Document 2

Summary of the Invention

Problems to be Solved by the Invention

[0005] When dividing a field into virtual sections as in the conventional technologies described in Patent Documents 1 and 2, there is no problem if the actual shape of the field is an ideal shape such as a square or a rectangle. However, in reality, the field may have a distorted shape such as a triangular shape, a trapezoidal shape, a parallelogram shape, a pentagonal shape, etc., or there may be obstacles such as utility poles in the field, making it impossible to harvest while traveling in a straight line. Therefore, in actual harvesting operations, it is difficult to harvest the entire field only by harvesting along parallel straight lines. It is sometimes necessary to cut while traveling obliquely with respect to one side of the reference field, cut around the outer periphery, or cut from the middle part instead of from the outside of the field (mid-cutting). Therefore, it often travels multiple times with partial or complete overlap over the area that has already been passed through once. Thus, when passing through a place that has already been passed through once with partial overlap, there may be a situation where, for example, even if it is an 8-row cut on the second pass, only 2 rows are cut. In particular, there may be a case where the second pass travels obliquely through the place that was passed through on the first pass. Also, when the last row of the harvest is a fraction, for example, in the case of a harvesting vehicle with an 8-row cut, there may be a situation where only 3 rows remain in the last row.

[0006] In the technologies described in Patent Documents 1 and 2, when traveling repeatedly over the same place or when there is a fraction, although the harvested amount is small (for example, 3 rows), the area is the same (for example, 8 rows), and values such as the harvested amount and the unit yield may become extremely small, resulting in a problem that the accuracy of calculating and estimating crop data such as the yield decreases.

[0007] An object of the present invention is to improve the calculation accuracy of crop data even when traveling over the same location multiple times during a harvesting operation, as compared with the conventional configuration.

Means for Solving the Problem

[0008] The above problems of the present invention are solved by the following means. The invention according to claim 1 includes a positioning means (130) for measuring the position information of a traveling vehicle body (2), and based on the map information of a field (300), divides the area of the field (300) into first meshes (301) that are aligned along a predetermined size and a predetermined direction, and the first meshes (301) including the outer edge (300a) of the field (300) are configured such that a part thereof protrudes outside the area of the field (300), and a first mesh creating means (120) for creating the first meshes (301) so that all of the outer edge (300a) of the field (300) is included; a second mesh creating means (160) for creating second meshes (302) that are set based on the width of a working machine (13) for harvesting crops and are smaller in size than the first meshes (301) as the traveling vehicle body (2) travels; a harvest amount measuring means (140) for measuring the harvest amount of crops for each of the second meshes (302); and a harvest information storage means (170) for associating and storing the position information and the harvest amount with respect to the first meshes (301) corresponding to the position information of the traveling vehicle body (2) at the time when the harvest amount is measured. The yield associated with the first mesh (301) including the outer edge (300a) of the field (300) is the average yield of the yield in the first mesh (301) adjacent to the inner side of the field. The work vehicle is characterized by the above.

[0009] The invention according to claim 2 For the yield The work vehicle according to claim 1 is characterized by including a unit yield calculation means (180) for calculating a unit yield, which is the harvest amount per unit area for each of the second meshes (302), based on the above.

[0010] Claim 3 The invention according to where the yield is the stored first meshes (301) to When the traveling vehicle body (2) passes through again, the work vehicle according to claim 1 is characterized by giving priority to the information on the harvest amount registered for the first time with respect to the first meshes (301).

[0011] Claim 4 The invention according to yield the stored first meshes (301) to When the traveling vehicle body (2) passes again, the working vehicle according to claim 1, characterized in that the information on the yield at the time of passing through the center position of the first mesh (301) is prioritized.

[0012] Claim 5 The invention described in claim 1 is a working vehicle characterized by comprising map creation means (190) for creating a yield map that maps the distribution of the unit yield for each of the first meshes (301) in the field (300) based on the unit yield for each of the first meshes (301).

[0013] Claim 6 The invention described in claim 1 is characterized by comprising the map creation means (190) for creating a yield map in which the deviation between the actual position where the crop is harvested and the position registered in the first mesh (301) is corrected based on the measurement position of the positioning device (41) for measuring the position of the traveling vehicle body (2) and the vehicle speed of the traveling vehicle body (2). Claim 5 The working vehicle described in claim 1.

[0014] Claim 7 The invention described in claim 1 is characterized by comprising interpolation means (210) for calculating and interpolating the unit yield of the unregistered first mesh (301) based on the unit yield of the first mesh (301) adjacent to the unregistered first mesh (301) when there is a first mesh (301) with an unregistered unit yield in the yield map in which the deviation of the position is corrected. Claim 6 The working vehicle described in claim 1.

[0015] Claim 8 The invention described in claim 1 is a working vehicle characterized in that the second mesh (302) is set such that the length along the traveling direction of the traveling vehicle body (2) is equal to or less than the total length of the traveling vehicle body (2), and the length in the width direction intersecting the traveling direction of the traveling vehicle body (2) is equal to or less than the width of the working machine (13), and the first mesh (301) is set such that the side length is an integer multiple of the second mesh (302).

Effect of the Invention

[0016] According to the invention described in claim 1, by associating the position information and the yield with the first mesh (301) that is larger than the second mesh (302) created according to the running of the traveling vehicle body (2), even when the same location is traveled multiple times during the harvesting operation, the calculation accuracy of the crop data can be improved compared to the conventional configuration. Further, according to the invention described in Claim 1, by taking in the yield inside the first mesh (301) including the outer edge (300a), the yield of the first mesh (301) with a part missing at the outer edge (300a) can be estimated by the yield of the adjacent inner first mesh (301) compared to the inner first mesh (301). According to the invention described in claim 2, in addition to the effect of the invention described in claim 1, the unit yield can be calculated for each second mesh (302).

[0017] Claim 3 According to the invention described, in addition to the effect of the invention described in claim 1, the crop data in the first mesh (301) can be estimated using the information on the yield registered for the first time with less likelihood of including a fraction.

[0018] Claim 4 According to the invention described, in addition to the effect of the invention described in claim 1, by using the information on the yield when passing through the center of the first mesh (301), the crop data in the first mesh (301) can be estimated with crop data that is most likely to reflect the situation of the crops in the first mesh (301). Claim 5 According to the invention described, in addition to the effect of the invention described in claim 1, the distribution of the unit yield can be confirmed in the yield map.

[0019] Claim 6 According to the invention described, Claim 5 In addition to the effect of the invention described, the distribution of the unit yield at the actual position where the crops are harvested can be confirmed. Claim 7 According to the invention described, Claim 6 In addition to the effect of the invention described, generation of a yield map in a state where a part of the first mesh (301) is unregistered can be prevented. Claim 8 According to the invention described, in addition to the effect of the invention described in claim 1, the processing load is reduced compared to the case where the side length of the first mesh (301) is not an integer multiple of the second mesh (302).

Brief Description of the Drawings

[0020]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Embodiments for Carrying Out the Invention

[0021] Embodiments of the present invention will be described below. FIG. 1 is a side view of a combine as an example of a work vehicle according to an embodiment of the present invention. FIG. 2 is a front view of the work vehicle of FIG. 1. FIG. 3 is a plan view of the work vehicle of FIG. 1. FIG. 4 is a rear view of the work vehicle of FIG. 1.

[0022] In FIGS. 1 to 4, as an example of the work vehicle according to the embodiment of the present invention, a combine 1 has a vehicle body 2. At the lower part of the vehicle body 2, there is a pair of left and right traveling devices 11. The traveling device 11 of the embodiment is, for example, constituted by a so-called crawler of an endless track. In the right front of the vehicle body 2, there is a boarding section 12 where an operator can board. At the front part of the vehicle body 2, a harvesting device 13 (an example of a working machine) for harvesting crops in the field is arranged. Behind the harvesting device 13, a conveying device 14 for conveying the harvested grains is arranged. Behind the conveying device 14, a threshing device 16 for threshing the grains conveyed by the conveying device 14 is arranged. On the right side of the threshing device 16, a grain tank 17 (an example of a container) for storing the grains processed by the threshing device 16 is arranged. At the rear part of the grain tank 17, a discharging device 18 for discharging the grains from the grain tank 17 to the container of a truck outside the field is connected. At the rear part of the vehicle body 2, a straw discharging device 19 for discharging straw is arranged. The straw discharging device 19 of the embodiment is constituted by a so-called dropper, which is a device capable of discharging the straw in a bundled state by temporarily storing the straw. That is, when the dropper function is in operation, the straw can be discharged in a bundled state, and when the dropper function is stopped, the straw after harvesting is discharged as it is without being bundled.

[0023] In the combine 1 of the embodiment, a receiver 41 as an example of a positioning device is installed on the upper surface of the cab 12. The receiver 41 can receive signals from the artificial satellite 42 for GNSS and measure the current position of the combine 1. Therefore, the combine 1 of the embodiment can perform autonomous driving (automatic driving, unmanned driving) using GNSS, or a worker can board the cab 12 and drive in response to an operation (manual driving, manned driving). During autonomous driving, the worker who operates the terminal 51 capable of wireless communication with the combine 1 can be outside the combine 1 (outside or inside the field), or can board the cab 12 while carrying the terminal 51. The terminal 51 is provided with, as an example of a display unit, a touch panel 51a as an example of an input unit, an input button 51b, a speaker (not shown) as an example of a notification means, a microphone (not shown) as an example of a voice input unit, and the like. The terminal 51 can be a dedicated terminal, or can be in a form where application software is installed on a tablet terminal or a smartphone.

[0024] The combine 1 of the embodiment incorporates a wireless communication module (not shown) as an example of a communication device, and can transmit and receive information to and from a server 62 and a terminal 51 as examples of information processing devices via a communication line 61.

[0025] (Description of the control unit of the work vehicle) FIG. 5 is a functional block diagram of the control unit of the embodiment. The combine 1 of the embodiment has a control unit 100 that controls each function. The control unit 100 has an input / output interface I / O for inputting and outputting signals to and from the outside. Further, the control unit 100 has a ROM: read-only memory in which programs, information, etc. for performing necessary processes are stored. Further, the control unit 100 has a RAM: random access memory for temporarily storing necessary data. Further, the control unit 100 has a CPU: central processing unit that performs processes according to programs stored in the ROM and the like. Therefore, the control unit 100 of the embodiment is configured by a small information processing device, so-called microcomputer. Thus, the control unit 100 can realize various functions by executing programs stored in the ROM and the like.

[0026] Signals from signal input elements such as an input button (an example of an input unit) (not shown) installed in the cab 12, a receiver 41 for GNSS, a grain meter SN1 installed in the grain conveyance path from the threshing device 16 to the grain tank 17, a moisture meter SN2 installed in the grain conveyance path from the threshing device 16 to the grain tank 17, and various other sensors (not shown) are input to the control unit 100. Further, the control unit 100 can transmit and receive signals to and from the server 62 and the terminal 51.

[0027] The control unit 100 transmits control signals to a traveling device 11, a harvesting device 13, a conveying device 14, a threshing device 16, a discharging device 18, etc., which are examples of controlled elements, and can control the traveling of the combine 1 and the execution / stop of the harvesting operation. Further, the control unit 100 can output a control signal to a monitor (an example of a display unit) (not shown) installed in the cab 12 to display work information and work status.

[0028] FIG. 6 is an explanatory diagram of an example of map information and field mesh of the embodiment. FIG. 6(A) is an explanatory diagram of map information before creating the field mesh, and FIG. 6(B) is an explanatory diagram of a state in which the field mesh has been created. The control unit 100 of the embodiment has the following functional means (program modules). The map information storage means 110 stores the map information of the field 300 where the harvesting work is performed by the combine 1. The map information can use publicly known map information prepared in advance in the management system S.

[0029] The field mesh creation means 120 as an example of the first mesh creation means creates a field mesh 301 as an example of the first mesh based on the map information. Each field mesh 301 in the embodiment is set in a rectangular shape with a predetermined size as an example, and the sides of the rectangle are arranged along the north-south direction or the east-west direction. Each field mesh 301 in the embodiment has a width W1 set to a length that is, as an example of an integer multiple, twice the width W3 of the harvesting device 13 (four times the width W2 of the working machine mesh 302 described later). Note that the shape of the field mesh 301 is not limited to a rectangle and can also be a square.

[0030] Then, the field meshes 301 in the embodiment are arranged in an aligned state in the east-west or north-south direction. Also, the field meshes 301 are generated so as to include all of the outer edge 300a of the field 300. Therefore, in the portion including the outer edge 300a of the field 300, the field meshes 301 are in a mode where a part protrudes outside the area of the field 300. Thus, the entire field meshes 301 cover the entire outer edge 300a of the field 300, and the total area of the field meshes 301 is larger than the area of the field 300.

[0031] The generation of the field meshes 301 can be automatically generated in commercially available map data. For example, when the user inputs and designates the four corners of the field 300 with the terminal 51 or when the combine 1 travels in a non-working state to designate them, the outer edge 300a is automatically generated from the map data, and the field meshes 301 having sides along the meridians (north-south direction) or latitudes (east-west direction) with the four corners as a reference are generated, thereby enabling the automatic generation of the field meshes 301. Note that it is not limited to designating the four corners. For example, it is also possible to designate the entrances and exits to the field, etc., or to adopt a configuration in which a plurality of locations on the outer edge 300a are designated. Also, when there is no commercially available map data, it is also possible to use a work vehicle such as a combine 1 or a tractor to drive along the outer periphery of the field 300 to obtain information on the outer edge 300a and generate field meshes 301 from the specified four corners.

[0032] The positioning means 130 measures the current position of the combine 1 based on the received information of the GNSS receiver 41. The positioning means 130 in the embodiment measures the position information of the traveling combine 1 during the harvesting operation. The harvest amount measuring means 140 measures the harvest amount as an example of crop data from the amount of grains that have passed during the measurement period based on the measurement result of the grain meter SN1. The harvest amount measuring means 140 measures the harvest amount every predetermined measurement period (for example, 2 seconds). The measurement by the grain meter SN1 is performed during the period from the start to the end of the harvesting operation. The start of the harvesting operation is linked to the start of the operation of the harvesting device 13, which is a work implement. However, since there is a time lag in the measurement by the grain meter SN1 on the downstream side of the threshing device 16 even when the harvesting device 13 stops, the measurement by the grain meter SN1 continues for the time lag period even when the harvesting device 13 stops.

[0033] The moisture content measuring means 150 measures the moisture content of the grains as an example of crop data based on the measurement result of the moisture meter SN2. The moisture content measuring means 150 outputs the average value of the moisture content of the grains measured during a predetermined measurement interval (for example, 2 seconds). Note that it is not limited to the average value, and it is possible to use the maximum value, the minimum value, or the cumulative value. Also, although it is preferable that the harvest amount and the moisture content are measured at the same timing because the measurement times are common, it is also possible to use different timings.

[0034] In the embodiment, the grain counter SN1 and the moisture meter SN2 were exemplified as measuring the grains after threshing, but it is not limited thereto. For example, it is also possible to measure the grains before threshing. As an example, the grain counter SN1 can use a piezoelectric impact sensor in which an electric current flows when the grains collide, but it is not limited thereto. It is also possible to configure to measure the flow rate of the grains by measuring the amount of rotation or inclination of a blade, plate, etc. that rotates when the grains pass through. In addition, although the case of measuring the flow rate of the grains is exemplified for the grain counter SN1 like a piezoelectric sensor, it is not limited thereto. For example, it is also possible to configure to measure the change in the weight of the grain tank 17 or to provide a tank for weighing on the downstream side of the threshing device 16 and measure the yield from the change in the weight of the tank. Therefore, the unit of the yield or the average yield can be in weight conversion or in volume conversion.

[0035] Furthermore, alternatively, instead of measuring the grains, it is also possible to configure to measure the amount of crop straw and estimate and calculate the yield from the amount of crop straw. When measuring the crop straw, it is possible to measure the crop straw after threshing, but it is also possible to measure it immediately after harvesting by the harvesting device 13. Also, it is possible to provide both a crop straw sensor that measures immediately after harvesting and the grain counter SN1, measure the time (time lag) from harvesting to measurement by the grain counter SN1, and present it to the user or use it for automatic correction of the time lag. Also, in the case of providing a crop straw sensor that measures the crop straw immediately after harvesting, the state where the crop straw sensor does not measure the crop straw is a situation where the crop has not been harvested even though the harvesting device 13 is operating. Therefore, it is also possible to perform registration of the working machine mesh 302, the yield, etc. only when the crop straw sensor measures the crop straw. At this time, since there is a time lag from when the crop straw sensor stops measuring the crop straw until the grains reach the grain counter SN1, even after the crop straw sensor stops measuring the crop straw, it is preferable to continue measuring the yield, etc. during the time lag period.

[0036] FIG. 7 is an explanatory diagram of the mesh of the embodiment. FIG. 7(A) is an explanatory diagram of an example of the field mesh and the work implement mesh in the field. FIG. 7(B) is an explanatory diagram of the respective sizes of the work implement mesh and the field mesh. FIG. 7(C) is an explanatory diagram of the size relationship between the work implement mesh and the field mesh. As an example of the second mesh creation means, the work implement mesh creation means 160 creates a work implement mesh 302, which is an example of the second mesh, according to the travel of the combine 1. The work implement mesh creation means 160 of the embodiment creates the work implement mesh 302 when the combine 1 is traveling and the harvesting device 13, which is an example of the work implement, is operating (during the harvesting operation). Therefore, the work implement mesh 302 is created along the travel locus of the combine 1 while the harvesting device 13 is operating.

[0037] The work implement mesh 302 of the embodiment is set to a size smaller than the field mesh 301, is set to a rectangular shape as an example, and is set based on the width of the harvesting device 13 (an example of the work implement) of the combine 1. As an example, the width W2 of the work implement mesh 302 is set to 1 / 2 of the width W3 of the harvesting device 13 as an example of the work implement. Also, the length L2 of the work implement mesh 302 along the traveling direction of the combine 1 is set to 1 / 3 of the length L1 of the field mesh 301 as an example. In other words, in the embodiment, the length of one side of the field mesh 301 is set to 3 times, which is an example of an integer multiple, the length of the work implement mesh 302.

[0038] Note that the sizes of the field mesh 301 and the work implement mesh 302 are not limited to those illustrated and can be appropriately changed according to the design, specifications, etc. Therefore, although it is desirable to be an integer multiple, it is also possible not to be an integer multiple. Also, the length of the work implement mesh 302 along the traveling direction can be set according to the traveling speed of the combine 1 during work, the measurement interval (sampling interval) such as the grain meter SN1, etc., and by making the length as short as possible, it is possible to increase the detail level (resolution in the map) of the crop data. In addition, it is also possible to enable the user to specify the size of the field mesh.

[0039] The harvest information storage means 170 has a work implement mesh storage means 171 and a field mesh storage means 172, and stores information such as the work implement mesh 302, the field mesh 301, the harvest amount, and the moisture content associated with the harvesting work. The stored information can be sequentially transmitted to the server 62 and the terminal 51, or can be transmitted in a batch after the work is completed. The work implement mesh storage means 171 stores (registers) the position information and orientation of the work implement mesh 302 created by the work implement mesh creation means 160 as the combine 1 travels, and also associates and stores the harvest amount measured in each work implement mesh 302, the moisture content of the harvested crop, and the time when the harvest amount and moisture content were measured, with the work implement mesh 302 corresponding to the current position at the time when the harvest amount etc. was measured.

[0040] In the embodiment, the field mesh storage means 172 stores the position information of each field mesh 301 and the harvest amount and moisture content of each field mesh 301 in association with each field mesh 301. The field mesh storage means 172 of the embodiment stores (registers) the registration information (harvest amount etc.) of the work implement mesh 302 in the field mesh 301 containing the work implement mesh 302 each time the work implement mesh 302 is created for each pre-created field mesh 301. In the embodiment, a plurality of work implement meshes 302 are included in one field mesh 301, and the information of all the work implement meshes 302 included in the corresponding field mesh 301 is stored in association.

[0041] Therefore, for example, for one field mesh 301, a plurality of harvest amounts may be registered, a plurality of measurement results of moisture content may be registered, or the times when each harvest amount and each moisture content were measured may be registered. Also, in the field mesh storage means 172 of the embodiment, when one work implement mesh 302 straddles a plurality of field meshes 301, the value of the harvest amount is prorated and stored according to the area straddling each field mesh 301.

[0042] The unit yield calculation means 180 calculates the average yield for each field mesh 301 based on the yield information stored in the field mesh storage means 172. In the embodiment, by adding all the yields stored in each field mesh 301 and dividing by the area of the field mesh 301, the average yield per unit area, that is, the unit yield, can be calculated for each field mesh 301. At this time, for the field mesh 301 including the outer edge 300a of the field 300, the area used is the area of the part inside the outer edge 300a, that is, the area corresponding to the inside of the field 300.

[0043] Note that the field mesh 301 including the outer edge 300a of the field 300 is not limited to this mode. For example, when the area inside the field is small, errors are likely to occur. Therefore, it is possible to incorporate the average yield of the field mesh 301 adjacent to the field mesh 301 including the outer edge 300a and not including the outer edge 300a into the average yield of the field mesh 301 including the outer edge 300a. Specifically, it is also possible to adopt a mode in which the average yield of the adjacent field mesh 301 is added and averaged to the average yield of the field mesh 301 including the outer edge 300a, or the average yield of the adjacent field mesh 301 is used as the average yield of the field mesh 301 including the outer edge 300a.

[0044] In addition, the unit yield calculation means 180 calculates the total amount of the yields registered in all the field meshes 301, and calculates the unit yield of the entire field by dividing the total amount by the total area of the field. Further, the unit yield calculation means 180 also calculates the unit yield for each work machine mesh 302. The unit yield calculation means 180 in the embodiment calculates the unit yield when the harvesting operation in the field is completed, but is not limited thereto, and it is also possible to adopt a configuration in which the unit yield is calculated and updated at any time during the operation.

[0045] Based on the information stored in the harvest information storage means 170, the map creation means 190 creates a map-like harvest map that maps the harvest information. The harvest map of the embodiment has a yield map that maps the yield, an average yield map that maps the average yield in each mesh 301, 302, a moisture content map that maps the distribution of the moisture content, etc., and can be displayed on the touch panel 51a of the terminal 51. The yield map and the like can be displayed in a form of simultaneous display, or each map can be switched and displayed according to the operation of the user. Also, in the embodiment, the harvest map can be switched between enlargement (detailed view) and reduction (wide area view) according to the operation of the user. In the detailed view, the yield, average yield, and average moisture content in the work machine mesh 302 are displayed. In the wide area view, it is also possible to display the yield in the field map 201 (the total value of the yields in the included work machine meshes 302), the average yield, the average moisture content, or the yield, unit yield, and average moisture content of the entire field. The display can be such that numerical values are displayed within the frames of each mesh 301, 302, or any display method can be adopted, such as performing color separation in high and low ranges with respect to the average of the entire field and then displaying.

[0046] The information update means 200 updates the information stored in the harvest information storage means 170 according to the content operated by the user while checking the harvest map. For example, in the harvest map, when the user makes an input to change the position (the position of the working machine mesh 302) where the harvest amount is registered, the working machine mesh 302 associated with the harvest amount information is changed. That is, a time lag occurs between when the crop is harvested by the harvesting device 13 until it is threshed and measured by the grain meter SN1. First, the working machine mesh 302 registered first is the working machine mesh 302 at the position of the combine 1 at the time when the measurement is performed by the grain meter SN1. Regarding this time lag, when the user refers to the time when the harvest amount is registered and performs an operation to shift (shift) to the position of the combine 1 where the harvest is performed, the information update means 200 re-registers (updates) the harvest amount information to the working machine mesh 302 at the position of the combine 1 where the harvest is performed according to the input. When the information in the harvest information storage means 170 is updated by the information update means 200, recalculation (update) of the unit yield and update of the map are performed according to the updated information.

[0047] When the harvest information is updated by the information update means 200, the information interpolation means 210, if there are working machine meshes 302 or field meshes 301 in which the harvest information does not exist among the working machine meshes 302, interpolates and registers and updates the average value of the harvest information of the surrounding meshes 301, 302 of the meshes 301, 302 as the harvest information of the meshes 301, 302.

[0048] (Operation of the Embodiment) In the combine 1 of the embodiment having the above configuration, during the harvesting operation in the field 300, as the combine 1 travels, the working machine mesh 302 is sequentially created, and the measurement results of the harvest amount and the moisture content are registered in the working machine mesh 302. Then, in the field mesh 301 larger than the working machine mesh 302, the average yield and the average moisture content are calculated based on the information of the working machine meshes 302 included therein, and are displayed on the harvest map. Therefore, even if the combine 1 travels while harvesting the same field mesh 301 multiple times, the average yield is calculated from the area of the field mesh 301 after adding the harvest amounts of the working machine meshes 302 in the field mesh 301. Thus, even in a field where the combine travels diagonally or travels to avoid obstacles, so that the combine 1 travels with the harvesting device 13 in a duplicated state, or in a case where the harvesting device 13 harvests a fractional number of rows, the error in the calculation of the unit yield is reduced. Therefore, in the embodiment, compared with the conventional configuration, even when traveling the same location multiple times during the harvesting operation, the calculation accuracy of the harvest amount of the area of the field mesh 301 and crop data such as the average yield and the average moisture content is improved.

[0049] Particularly, at the corners of the field, for the turning of the combine 1, the operator cuts beforehand with a sickle or the like (hand cuts), although it is not recommended, and directly places the cut rice ears or the like on the spot, and sometimes only performs threshing by collecting them when the combine 1 passes. In the embodiment, even the crop data of only this threshing can be registered and reflected in the working machine mesh 302, and the situation of the crops in the field can be accurately measured. Also, in the embodiment, the average yield is calculated. For example, even when working with working vehicles of different models, such as harvesting with a 6-row combine up to the middle of the field 300 and then working with a 4-row combine, it is possible to register in the field mesh 301. That is, it is possible to cope with the differences between models, and it is possible to synthesize, so to speak, the data of the harvesting operations with different models. Therefore, it is also possible to use a common harvest map for different models.

[0050] In the embodiment, a configuration is exemplified in which data of all the work implement meshes 302 included in the field mesh 301 is used, but the present invention is not limited thereto. In the embodiment, the size of the work implement mesh 302 is 1 / 12 of the field mesh 301. However, when the size of the work implement mesh 302 is close to the size of the field mesh 301 (for example, in the case of 1 / 2), even if a plurality of work implement meshes 302 are included in the field mesh 301, it is regarded as almost harvested at the first pass, and the calculation of the average yield and the like can be performed by prioritizing the information on the harvested amount registered for the first time in the work implement mesh 302 within the field mesh 301. The harvested amount registered for the first time is likely to be appropriate when estimating the crop data in the field mesh 301 with less likelihood of including a fraction.

[0051] In addition, in the first registration, since there may be a case where only the end portion of the field mesh 301 is passed through, it is also possible to adopt a configuration in which the information on the harvested amount of the work implement mesh 302 when passing through the center position of the field mesh 301 is used. Therefore, by using the information on the harvested amount when passing through the center of the field mesh 301, the crop data in the field mesh 301 can be estimated with crop data that is most likely to reflect the situation of the crops in the field mesh 301.

[0052] Also, in the embodiment, the calculated crop data is mapped so that the user can confirm it on the terminal 51. Then, when the time lag between the harvesting time by the harvesting device 13 and the measurement time by the grain meter SN1 or the like is corrected by the operation of the user, the corrected yield map is also updated and displayed so that the user can confirm it. At this time, when meshes 301 and 302 with no (blank) harvested amount or the like occur due to the time lag correction by the user, interpolation is performed from the data of the surrounding meshes 301 and 302. Therefore, it is possible to suppress the creation of a harvest map in which data does not exist unnaturally.

[0053] In the embodiment, the harvest map before the correction of the time lag is in an undetermined state, so to speak, a provisional map, and the user can check the state of the provisional map. When automatically correcting the time lag with the combine 1 as in the prior art, only the result can be seen, and the user cannot check whether the time lag has been appropriately corrected. In addition, there is also a problem of a large processing load when performing processing in parallel with the harvesting operation with the combine 1. On the other hand, displaying the provisional map enables the user to check, and the processing load is reduced because automatic calculation is not performed.

[0054] Furthermore, in the embodiment, the length of one side of the work implement mesh 302 is set to an integer multiple of the length of one side of the field mesh 301. Therefore, when the combine 1 reciprocates without linearly overlapping in the central part of the field 300, the field mesh 301 is easily filled in a state where it is aligned with the work implement mesh 302, and for the harvested amount and the like, no apportionment or the like is required, and the calculation load is also reduced. Note that when the processing speed of the CPU or the like of the combine 1 is improved and there is room for the processing load, it is also possible to adopt a configuration in which the combine 1 performs automatic calculation of the time lag and the like. Therefore, it is also possible to register crop data such as the harvested amount in the work implement mesh 302 at the position after automatic correction of the time lag. The calculation of the time lag is related to the threshing speed of the threshing device 16, the conveyance speed of the conveyance device 14, the vehicle speed of the combine 1, etc. However, it is possible to calculate the vehicle speed from the GNSS data, and it is also possible to use a speedometer, the rotational speed of the wheels, etc. Also, the traveling speed during operation can be calculated from the GNSS each time, but it is also possible to use the traveling speed during operation set for each type of combine 1.

[0055] In the above-described embodiment, when the operation of the harvesting device 13 stops due to turning or the like in the middle of the work implement mesh 302 with respect to the work implement mesh 302, the information on the harvested amount will be in an incomplete state. In this case, it is possible to register it as the information of the work implement mesh 302, but it is also possible to add and register the information on the incomplete harvested amount to the work implement mesh 302 adjacent to the front side in the traveling direction of the combine 1.

Explanation of Signs

[0056] 1 Work vehicle, 2 Traveling vehicle body, 13 Work implement, 41 Positioning device, 120 First mesh creating means, 130 Positioning means, 140 Harvested amount measuring means, 160 Second mesh creating means, 170 Harvesting information storage means, 180 Unit yield calculating means, 190 Map creating means, 210 Interpolation means, 300 Field, 300a Outer edge, 301 First mesh, 302 Second mesh.

Claims

1. Position measuring means (130) for measuring the position information of the traveling vehicle body (2); Based on the map information of the field (300), the area of the field (300) is divided into first meshes (301) aligned along a predetermined size and a predetermined direction, and the first mesh (301) including the outer edge (300a) of the field (300) is made to protrude partially outside the area of the field (300) so that the first mesh creating means (120) for creating the first mesh (301) including all of the outer edge (300a) of the field (300); A second mesh (302) that is set based on the width of the working machine (13) for harvesting crops and is smaller in size than the first mesh (301), and second mesh creating means (160) for creating the second mesh (302) according to the travel of the traveling vehicle body (2); Harvest amount measuring means (140) for measuring the harvest amount of crops for each of the second meshes (302); Harvest information storage means (170) for associating and storing the position information and the harvest amount with respect to the first mesh (301) corresponding to the position information of the traveling vehicle body (2) at the time when the harvest amount is measured; Comprising The harvest amount associated with the first mesh (301) including the outer edge (300a) of the field (300) is the average yield of the harvest amount in the first mesh (301) adjacent to the inside of the field A work vehicle characterized by the above.

2. Unit yield calculation means (180) for calculating a unit yield, which is the harvest amount per unit area for each of the second meshes (302), based on the harvest amount; The work vehicle according to claim 1, further comprising the above.

3. When the traveling vehicle body (2) passes through the first mesh (301) in which the harvest amount has been stored again, the information on the harvest amount registered for the first time with respect to the first mesh (301) is prioritized The work vehicle according to claim 1, characterized by the above.

4. When the traveling vehicle body (2) passes through the first mesh (301) in which the harvest amount has been stored again, the information on the harvest amount when passing through the center position of the first mesh (301) is prioritized The work vehicle according to claim 1, characterized by the above.

5. Map creation means (190) for creating a yield map that maps the distribution of the unit yield for each of the first meshes (301) in the field (300) based on the unit yield for each of the first meshes (301). The work vehicle according to claim 1, characterized in that it is provided with the above.

6. Based on the measurement position of the positioning device (41) that measures the position of the traveling vehicle body (2) and the vehicle speed of the traveling vehicle body (2), the actual position where the crop is harvested and the position registered in the first mesh (301). The map creation means (190) for creating a yield map in which the deviation is corrected. The work vehicle according to claim 5, characterized in that it is provided with the above.

7. In the yield map in which the deviation of the position is corrected, when there is a first mesh (301) where the unit yield is not registered, based on the unit yield of the first mesh (301) adjacent to the unregistered first mesh (301). Interpolation means (210) for calculating and interpolating the unit yield of the unregistered first mesh (301). The work vehicle according to claim 6, characterized in that it is provided with the above.

8. The length of the second mesh (302) along the traveling direction of the traveling vehicle body (2) is set to be equal to or less than the total length of the traveling vehicle body (2), and the length in the width direction intersecting the traveling direction of the traveling vehicle body (2) is the width of the work machine (13) or less. The side length of the first mesh (301) is set to be an integer multiple of the second mesh (302). The work vehicle according to claim 1, characterized in that it is as described above.

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