Yield measurement method, yield measurement system, and yield measurement program

Abstract

To measure a yield harvested by a harvesting machine without using a yield sensor.SOLUTION: A yield measuring method includes determination of a storage work time 510 that storage work performed when a harvester 100 stores crops in a storage tank 130 provided in the harvester 100 is performed, or a discharge time 550 that the crops stored in the storage tank 130 are discharged on the basis of information acquired from the harvester 100. The yield measuring method includes estimation of a yield of crops harvested by the harvester 100 on the basis of the storage work time 510 or the discharge time 550. The determination of the storage work time 510 or the discharge time 550 may include determination of the storage work time 510 for the crops discharged before the storage tank 130 is full as a non-full time on the basis of state information 700 on the harvester 100.SELECTED DRAWING: Figure 5

Description

[Technical Field]

[0001] The present invention relates to a yield measurement method, a yield measurement system, and a yield measurement program. [Background technology]

[0002] In recent years, research has been conducted into determining the yield in each field by measuring the yield using a harvester.

[0003] For example, Patent Document 1 discloses a technique for measuring yield based on the impact force applied by grains harvested by a harvester to a storage tank when the grains are dumped into the storage tank. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent No. 5893526 Summary of the Invention [Problem to be solved by the invention]

[0005] However, the yield sensor for measuring this yield has a problem of being expensive.

[0006] In view of the above circumstances, one object of the present disclosure is to measure the yield harvested by a harvester without using a yield sensor. Other objects can be understood from the following description and explanation of the embodiments. [Means for solving the problem]

[0007] The following describes the means for solving the problems using the numbers and symbols used in the description of the invention. These numbers and symbols are added in parentheses for reference purposes to show an example of the correspondence between the claims and the description of the invention. Therefore, the claims should not be interpreted as being limited by the parenthetical descriptions.

[0008] To achieve the above object, a yield measurement method according to one embodiment includes determining a storage operation time (510) during which the harvester (100) stores harvested products in a storage tank (130) provided in the harvester (100) or a discharge time (550) during which the harvested products stored in the storage tank (130) are discharged, based on information acquired from the harvester (100). The yield measurement method also includes estimating the yield of the harvested products harvested by the harvester (100) based on the storage operation time (510) or the discharge time (550).

[0009] To achieve the above object, a yield measurement system (1000) according to one embodiment includes a time determination unit (250) and a yield estimation unit (260). The time determination unit (250) determines a storage operation time (510) during which the harvester (100) stores harvested products in a storage tank (130) provided in the harvester (100) or a discharge time (550) during which the harvested products stored in the storage tank (130) are discharged, based on information acquired from the harvester (100). The yield estimation unit (260) estimates the yield of the harvested products harvested by the harvester (100) based on the storage operation time (510) or the discharge time (550).

[0010] To achieve the above object, a yield measurement program (410) according to one embodiment causes the calculation device (220, 320) to determine a storage operation time (510) during which the harvester (100) stores harvested products in a storage tank (130) provided in the harvester (100) or a discharge time (550) during which the harvested products stored in the storage tank (130) are discharged, based on information acquired from the harvester (100). The yield measurement program (410) also causes the calculation device (220, 320) to estimate the yield of the harvested products harvested by the harvester (100) based on the storage operation time (510) or the discharge time (550). [Effects of the Invention]

[0011] According to the above aspect, the yield harvested by the harvester can be measured without using a yield sensor. [Brief explanation of the drawings]

[0012] [Figure 1] 1 is a schematic diagram of a yield measurement system according to one embodiment. [Figure 2] 1 is a diagram illustrating a configuration of a harvester according to an embodiment. [Figure 3] 1 is a diagram illustrating the state of a harvester when harvesting a crop, in one embodiment. [Figure 4] FIG. 2 is a diagram illustrating functional blocks executed by the yield measurement system according to an embodiment. [Figure 5] 1 is a flowchart illustrating a process performed by a yield measurement system according to an embodiment. [Figure 6] FIG. 2 is a diagram illustrating a configuration of a detection sensor according to an embodiment. [Figure 7] 1 is a flowchart illustrating a process performed by a yield measurement system according to an embodiment. [Figure 8] 3A and 3B are diagrams for explaining detection information acquired by a detection sensor in one embodiment. [Figure 9]1 is a diagram illustrating the state of a harvester during harvest discharge in one embodiment; FIG. [Figure 10] FIG. 2 is a diagram illustrating functional blocks executed by the yield measurement system according to an embodiment. [Figure 11] 1 is a flowchart illustrating a process performed by a yield measurement system according to an embodiment. [Figure 12] 1 is a flowchart illustrating a process performed by a yield measurement system according to an embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0013] (Embodiment 1) A yield measurement system 1000 according to this embodiment of the present invention will be described with reference to the drawings. In this embodiment, as shown in Fig. 1, the yield measurement system 1000 includes one or more harvesters 100, a yield measurement device 200, and a terminal 300. The yield measurement device 200 is communicably connected to the harvesters 100 and the terminal 300 via a network 20, for example, the Internet.

[0014] As shown in FIG. 2, the harvester 100 has multiple parts, such as a reaping unit 110, a threshing unit 120, a storage tank 130, and a conveying unit 140. The reaping unit 110 harvests stalks in the field and conveys them to the threshing unit 120 at the rear. The threshing unit 120 threshers and sorts the grains at the tips of the transported stalks. The threshed and sorted grains are transported to the storage tank 130 and stored therein. The conveying unit 140 transports the stalks whose tips have been threshed to the straw waste processing unit 150 at the rear. The transported stalks are shredded as straw waste. The grains stored in the storage tank 130 are discharged by the discharge unit 160 to a transport vehicle that transports the grains.

[0015] For this reason, when harvesting crops, the harvester 100 drives the reaping unit 110, the threshing unit 120, the transport unit 140, etc. For example, when performing storage work for storing crops in the storage tank 130, such as reaping, threshing, or transporting the stalks, the harvester 100 connects the clutches for driving the reaping unit 110, the threshing unit 120, etc. For this reason, as shown in FIG. 3 , the harvester 100 harvests crops during storage work time 510, for example, when the threshing clutch that drives the threshing unit 120 is connected.

[0016] Meanwhile, the harvester 100 drives the discharge unit 160 when discharging grains stored in the storage tank 130. For example, when discharging grains, the harvester 100 connects a clutch for driving the discharge unit 160, such as an auger. Therefore, the harvester 100 discharges grains at discharge time 530 when the auger clutch for driving the discharge unit 160 is connected.

[0017] The yield measurement device 200 measures the yield of the harvester 100 based on the storage operation time 510 during which harvesting is performed by the harvester 100. In this way, the yield measurement system 1000 measures the yield of crops harvested by the harvester 100 without using a conventional yield sensor.

[0018] (Configuration of yield measurement system) The configuration of the harvester 100 included in the yield measurement system 1000 will be described. As shown in FIG. 2, the harvester 100 is used to harvest crops and is, for example, a combine harvester. The harvester 100 further includes a positioning device 170 and a communication device 180. The positioning device 170 measures the position of the harvester 100. The positioning device 170 is, for example, a GNSS (Global Navigation Satellite System) receiver, and receives radio waves from artificial satellites and the like to measure the position of the harvester 100 at each time it moves in a field.

[0019] The communication device 180 outputs position information indicating the position of the harvester 100 to the yield measurement device 200. The position information indicates the position of the harvester 100 at each time.

[0020] The communication device 180 also outputs status information indicating the status of moving parts of the harvester 100, such as the engine and various clutches, to the yield measurement device 200. The status information includes information indicating the connection status of the reaping clutch for driving the reaping unit 110, the threshing clutch for driving the threshing unit 120, the auger clutch for driving the discharge unit 160, and the like. The status information also includes information indicating the engine rotation speed. The engine rotation speed is measured, for example, by a tachometer 190. The status information indicates, for example, the status of the harvester 100 at each time the position of the harvester 100 is measured.

[0021] The communication device 180 outputs the position information and the status information at the same time. Alternatively, the communication device 180 may output the position information and the status information to the yield measurement device 200 at different times.

[0022] The storage tank 130 is equipped with a detection sensor 131. The detection sensor 131 outputs detection information when the amount of harvested product stored in the storage tank 130 is equal to or greater than the detected amount, for example, when the storage tank 130 is full. The detection information output by the detection sensor 131 is output to the yield measurement device 200 by the communication device 180. The detection information is output at the same timing as the position information and / or the status information. Furthermore, the detection information may be output at a different timing from the position information.

[0023] Next, the configuration of the yield measurement device 200 shown in Fig. 1 will be described. The yield measurement device 200 includes an input / output device 210, a calculation device 220, a communication device 230, and a storage device 240. The yield measurement device 200 is, for example, a computer. Information used by the calculation device 220 to execute processing is input to the input / output device 210. The input / output device 210 also outputs the results of processing executed by the calculation device 220. The input / output device 210 includes various input and output devices, such as a keyboard, a mouse, a microphone, a display, a speaker, and a touch panel. The input / output device 210 may be omitted.

[0024] The communication device 230 is electrically connected to the network 20 and communicates with each device via the network 20. The communication device 230 transfers various information acquired from the harvester 100, such as position information and status information, to the arithmetic device 220. The communication device 230 also transfers signals generated by the arithmetic device 220 to the terminal 300. The communication device 230 includes various interfaces, such as a network interface card (NIC) and a universal serial bus (USB).

[0025] The storage device 240 stores various data for estimating yield, such as farm field data 400, and a yield measurement program 410. The storage device 240 is used as a non-transitory tangible storage medium that stores the yield measurement program 410. The yield measurement program 410 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.

[0026] The farm field data 400 stores information about the farm field where the harvester 100 harvests crops. For example, the farm field data 400 stores information that indicates the area and location of the farm field.

[0027] The arithmetic unit 220 reads out and executes the yield measurement program 410 from the storage device 240, and performs various data processing for estimating the yield. For example, the arithmetic unit 220 includes a central processing unit (CPU) and the like.

[0028] By reading and executing the yield measurement program 410, the arithmetic device 220 realizes a time determination unit 250, a yield estimation unit 260, and an output unit 270, as shown in FIG. 4. The time determination unit 250 determines a storage operation time 510 that indicates the time during which the harvester 100 performed storage operations, such as reaping and threshing, based on the position information and / or status information of the harvester 100. The yield estimation unit 260 estimates the yield harvested by the harvester 100. The output unit 270 outputs yield information that indicates the yield harvested by the harvester 100.

[0029] The yield estimation unit 260 includes a less-than-cup yield estimation unit 261, a full-cup yield estimation unit 262, and an adder 263. The less-than-cup yield estimation unit 261 estimates a less-than-cup yield, which represents the amount of harvested product discharged before the storage tank 130 becomes full of harvested product. The full-cup yield estimation unit 262 estimates a full-cup yield, which represents the amount of harvested product discharged when the storage tank 130 is full of harvested product. The adder 263 adds the less-than-cup yield and the full-cup yield to determine the yield harvested by the harvester 100. Here, a state in which the storage tank 130 is full of harvested product is referred to as a full state, and a state in which the storage tank 130 is not full of harvested product is referred to as an less-than-cup state.

[0030] Next, the configuration of the terminal 300 will be described. The terminal 300 includes an input / output device 310, an arithmetic device 320, a communication device 330, and a storage device 340. The terminal 300 includes, for example, a computer, a tablet, a mobile phone, etc. Information used by the arithmetic device 320 to execute processing is input to the input / output device 310. The input / output device 310 also outputs the results of processing executed by the arithmetic device 320. The input / output device 310 includes various input devices and output devices, such as a keyboard, a mouse, a microphone, a display, a speaker, and a touch panel.

[0031] The communication device 330 is electrically connected to the network 20 and communicates with each device via the network 20. The communication device 330 transfers signals acquired from the yield measurement device 200 to the calculation device 320. The communication device 330 also transfers signals generated by the calculation device 320 to the yield measurement device 200. The communication device 330 includes various interfaces such as a transceiver used for wireless communication such as a wireless LAN (Local Area Network) or a cellular network, a NIC (Network Interface Card), and a USB (Universal Serial Bus).

[0032] The storage device 340 stores various data, such as a display program 420, for displaying the yield of crops harvested by the harvester 100. The storage device 340 is used as a non-transitory tangible storage medium for storing the display program 420. The display program 420 may be provided as a computer program product recorded on the computer-readable storage medium 2, or may be provided as a computer program product downloadable from a server.

[0033] 4, the arithmetic device 320 reads and executes the display program 420, thereby realizing the display unit 350 in cooperation with the input / output device 310. The display unit 350 displays the yield information acquired from the yield measurement device 200 on the input / output device 310.

[0034] (Operation of yield measurement system) The operation of the yield measurement system 1000 to estimate the yield of crops harvested by the harvester 100 will be described. To harvest crops in the field, an operator starts the engine of the harvester 100 and performs work in the field. When the engine of the harvester 100 is started, the positioning device 170 of the harvester 100 acquires position information indicating the position of the harvester 100 at each time. The harvester 100 also acquires status information indicating the state of the harvester 100, such as the engine rotation speed and the engagement status of various clutches. The harvester 100 also acquires detection information indicating a full state of the storage tank 130, i.e., when the storage tank 130 is filled with harvested crops. The position information, status information, and detection information are output from the communication device 180 of the harvester 100 to the yield measurement device 200.

[0035] When the calculation device 220 of the yield measurement device 200 receives the position information, status information, and detection information from the communication device 180 of the harvester 100, it executes the yield measurement program 410 and performs the processing shown in FIG. 5 , which is part of the yield measurement method. In step S110, the time determination unit 250 realized by the calculation device 220 determines a storage operation time 510 during which the harvester 100 performs the storage operation. For example, as shown in FIG. 3 , the time determination unit 250 determines the time during which the parts of the harvester 100 that perform the storage operation, such as the reaping unit 110 and the threshing unit 120, are operating as the storage operation time 510. For example, the time determination unit 250 determines the time during which the threshing clutch that transmits power to the threshing unit 120 is engaged as the storage operation time 510. Alternatively, the time determination unit 250 may determine the time during which the reaping clutch that transmits power to the reaping unit 110 is engaged as the storage operation time 510. The time determination unit 250 may determine the storage operation time 510 as the time when at least one of the various clutches that transmit power to the parts that perform the storage operation, or a predetermined number or more, are connected.

[0036] 5, the full-capacity yield estimation unit 262 estimates the full-capacity yield, which represents the amount of harvested product discharged when the storage tank 130 is full, based on the status information and detection information of the harvester 100. For example, the full-capacity yield estimation unit 262 estimates the full-capacity yield based on the number of full-capacity discharges, which represents the number of times harvested product was discharged when the storage tank 130 was full, and the capacity of the storage tank 130. Here, the capacity of the storage tank 130 is a fixed value that corresponds to the harvester 100.

[0037] The full-capacity yield estimation unit 262 determines the number of full-capacity discharges, in which the harvested product was discharged when the harvester was in the full-capacity state, based on, for example, a full-capacity time 520, which indicates the time when the harvested product was in the full-capacity state, and a discharge time 530, in which the harvested product was discharged. For example, the full-capacity yield estimation unit 262 first determines, as shown in FIG. 3 , the time when the auger clutch that transmits power to the discharge unit 160 is engaged as the discharge time 530. For example, the discharge time 530 indicates the time when the auger clutch changes from an engaged state to a disengaged state. The discharge time 530 may also indicate the time when the auger clutch changes from a disengaged state to an engaged state.

[0038] The full yield estimation unit 262 then determines the full time 520 based on the detection information of the harvester 100. For example, the full yield estimation unit 262 determines the time when the detection sensor 131 detects that the storage tank 130 is full as the full time 520. The full time 520 may represent any time during the period when the detection sensor 131 detects that the storage tank 130 is full. For example, the full time 520 represents the time when the detection sensor 131 changes from a state where it does not detect fullness to a state where it detects fullness. The full time 520 may also represent the time when the detection sensor 131 changes from a state where it detects fullness to a state where it does not detect fullness.

[0039] Next, when the full time 520 is included in a harvesting section 540 representing a period separated by discharge times 530, the full yield estimation unit 262 determines that the harvested products were discharged when the storage tank 130 was full. For example, the full yield estimation unit 262 determines the period sandwiched between two adjacent discharge times 530 as the harvesting section 540. For example, the harvesting section 540 represents a period in which the harvested products to be discharged at the later of the two corresponding discharge times 530 were harvested. When the full time 520 is included in the determined harvesting section 540, the full yield estimation unit 262 determines that the harvested products were discharged in a full state at the discharge time 530 at which the harvested products harvested during the harvesting section 540 were discharged.

[0040] The full yield estimation unit 262 determines the number of times that it was determined that the harvested product was finally discharged in a full state as the number of full discharges. The full yield estimation unit 262 may also determine the number of full times 520 as the number of full discharges in which the harvested product was discharged in a full state.

[0041] In the example shown in FIG. 3 , the full-capacity yield estimator 262 determines the period before the first discharge time 530-1 as the first harvesting division 540-1. The full-capacity yield estimator 262 also determines the period between the first discharge time 530-1 and the second discharge time 530-2 as the second harvesting division 540-2. Similarly, the full-capacity yield estimator 262 determines the period between the second discharge time 530-2 and the third discharge time 530-3 as the third harvesting division 540-3, and determines the period between the third discharge time 530-3 and the fourth discharge time 530-4 as the fourth harvesting division 540-4. The full-capacity yield estimator 262 also determines the period between the fourth discharge time 530-4 and the fifth discharge time 530-5 as the fifth harvesting division 540-5.

[0042] Because first harvesting section 540-1 includes first full time 520-1, full yield estimator 262 determines that storage tank 130 was discharged when it was full at first discharge time 530-1. Similarly, because second harvesting section 540-2 includes second full time 520-2 and fourth harvesting section 540-4 includes third full time 520-3, full yield estimator 262 determines that storage tank 130 was discharged when it was full at second discharge time 530-2 and fourth discharge time 530-4.

[0043] Additionally, because the third harvesting section 540-3 does not include the full time 520, the full yield estimation unit 262 determines that the storage tank 130 was discharged when it was not full at the third discharge time 530-3. Similarly, because the fifth harvesting section 540-5 does not include the full time 520, the full yield estimation unit 262 determines that the storage tank 130 was discharged when it was not full at the fifth discharge time 530-5.

[0044] Therefore, the full yield estimation unit 262 determines that the number of full discharges, in which the harvested product was discharged when the storage tank 130 was full, is "3."

[0045] The full yield estimation unit 262 estimates the full yield as a value obtained by multiplying the determined number of full discharges, the capacity of the storage tank 130, and the specific gravity of the harvested product. Here, the specific gravity of the harvested product represents a fixed value determined according to the harvested product.

[0046] 5, the less-than-full cup yield estimation unit 261 estimates the less-than-full cup yield, which represents the yield of harvested product discharged when the storage tank 130 is not full, based on the storage operation time 510 during which the storage operation is performed by the harvester 100. For example, the less-than-full cup yield estimation unit 261 estimates the less-than-full cup yield based on the full time, which represents the time during which the storage operation is performed until the storage tank 130 is full, and the less-than-full cup time, which represents the time during which the storage operation is performed for harvested product discharged when the storage tank 130 is not full. For example, the less-than-full cup yield estimation unit 261 estimates the less-than-full cup yield based on the ratio of the less-than-full cup time to the full time.

[0047] The fill time is determined, for example, based on the storage operation time 510 in the harvest section 540 in which the storage tank 130 is full. For example, the less-than-cup yield estimation unit 261 determines, as the fill time, a statistical value, such as the average value or median value, of the storage operation time 510 in multiple harvest sections 540 in which the storage tank 130 is full.

[0048] 3, the less-than-full cup yield estimation unit 261 extracts, from the multiple harvesting sections 540, the first harvesting section 540-1, the second harvesting section 540-2, and the fourth harvesting section 540-4, in which the storage tank 130 is full. The less-than-full cup yield estimation unit 261 determines the average value of the storage work time 510 for the extracted harvesting sections 540. For example, the less-than-full cup yield estimation unit 261 determines the full time as the sum of the first storage work time 510-1, the second storage work time 510-2, the fourth storage work time 510-4, and the fifth storage work time 510-5, divided by the number of harvesting sections 540, which is "3."

[0049] The incomplete cup time is determined, for example, based on the storage operation time 510 in the harvesting section 540 in which the storage tank 130 was not full. For example, the incomplete cup yield estimation unit 261 determines the incomplete cup time as the sum of the storage operation time 510 in each harvesting section 540 in which the storage tank 130 was not full.

[0050] 3, the less-than-perfect-cup yield estimation unit 261 extracts the third harvesting division 540-3 and the fifth harvesting division 540-5, in which the storage tank 130 was not full, from among the multiple harvesting divisions 540. The less-than-perfect-cup yield estimation unit 261 determines the third storage operation time 510-3 as the less-than-perfect-cup time for the extracted third harvesting division 540-3. Furthermore, the less-than-perfect-cup yield estimation unit 261 determines the sixth storage operation time 510-6 as the less-than-perfect-cup time for the extracted fifth harvesting division 540-5.

[0051] The under-cup yield estimation unit 261 determines the ratio of the total under-cup time to the full time. Because the storage tank 130 is filled during the storage operation during the full time, this ratio represents the ratio of the amount of harvested product harvested during the storage operation during the under-cup time to the amount of harvested product stored in the storage tank 130 when it is full. Therefore, the under-cup yield estimation unit 261 estimates the under-cup yield based on the ratio of the total under-cup time to the full time, the capacity of the storage tank 130, and the specific gravity of the harvested product. For example, the under-cup yield estimation unit 261 estimates the under-cup yield as the product of the ratio of the total under-cup time to the full time, the capacity of the storage tank 130, and the specific gravity of the harvested product. In the example shown in FIG. 3, the total under-cup time represents the sum of the third storage operation time 510-3 and the sixth storage operation time 510-6.

[0052] 5, the adder 263 estimates the yield harvested by the harvester 100 based on the full-cup yield and the less-than-cup yield. Specifically, the adder 263 estimates the yield as the sum of the full-cup yield and the less-than-cup yield.

[0053] In step S150, the output unit 270 outputs yield information indicating the estimated yield to the terminal 300. For example, the yield information may indicate the estimated yield in association with the field where the harvested product was harvested. In this case, the output unit 270 determines the field where harvesting work was performed by the harvester 100 based on the field data 400 and the position information of the harvester 100. For example, the output unit 270 extracts from the field data 400 a field that includes the position of the harvester 100 during work, for example, during storage work. The output unit 270 determines the extracted field as the field where the harvested product was harvested by the harvester 100.

[0054] In step S160, the display unit 350 of the terminal 300 displays the yield information acquired from the yield measurement device 200. For example, the display unit 350 displays information indicating the yield harvested by the harvester 100 in association with the field where the harvester 100 performed the harvesting operation. For example, the display unit 350 may display an image on a map indicating the area and yield of the field where the harvester 100 performed the harvesting operation.

[0055] In this way, the yield measurement system 1000 can estimate the yield harvested by a harvester 100 that is not equipped with a yield sensor, based on the status information and detection information of the harvester 100. This allows a user, for example, an operator, to easily check the yield even when working with an inexpensive harvester 100 that is not equipped with a yield sensor.

[0056] In step S130 shown in FIG. 5, the less-than cup yield estimation unit 261 may estimate the less-than cup yield using the storage operation time 510 and the speed of the harvester 100. For example, the operator operating the harvester 100 may increase the speed when performing the storage operation when the amount of harvested product per unit area is small. In this case, the amount of harvested product stored per unit time may be smaller than when the amount of harvested product per unit area is large. For this reason, the less-than cup yield estimation unit 261 may estimate the less-than cup yield for each of the storage operations classified according to the speed of the harvester 100. For example, the less-than cup yield estimation unit 261 may estimate the less-than cup yield when the speed of the harvester 100 is equal to or greater than a reference speed and when the speed of the harvester 100 is less than the reference speed.

[0057] For example, the less-than-full cup yield estimator 261 estimates a first less-than-full cup yield in a harvesting section 540 where the speed of the harvester 100 is equal to or greater than a reference speed. For example, the less-than-full cup yield estimator 261 first determines a first fill time at which the storage tank 130 becomes full when the speed of the harvester 100 is equal to or greater than the reference speed. For example, the less-than-full cup yield estimator 261 determines, as the first fill time, a statistical value, such as an average value or a median, of the storage operation time 510 in a harvesting section 540 where the speed of the harvester 100, for example, an average speed, is equal to or greater than the reference speed. The first fill time may be a predetermined fixed value. Next, the less-than-full cup yield estimator 261 estimates the first less-than-full cup yield based on the first fill time and the storage operation time 510 when the speed of the harvester 100 is equal to or greater than the reference speed. Specifically, the first less-than-full-cup yield is determined by determining the ratio between the storage operation time 510 and the first full time in the corresponding harvesting section 540 in which the harvested product was discharged when the speed of the harvester 100 was equal to or greater than the reference speed and the storage tank 130 was not full. Based on the determined ratio, the capacity of the storage tank 130, and the specific gravity of the harvested product, the less-than-full-cup yield estimation unit 261 estimates the first less-than-full-cup yield.

[0058] Similarly, the less-than-cup yield estimator 261 estimates a second less-than-cup yield in the harvesting section 540 where the speed of the harvester 100 is less than the reference speed. For example, the less-than-cup yield estimator 261 first determines a second fill time at which the storage tank 130 becomes full when the speed of the harvester 100 is less than the reference speed. Next, the less-than-cup yield estimator 261 estimates the second less-than-cup yield based on the second fill time and the storage operation time 510 when the speed of the harvester 100 is less than the reference speed.

[0059] The undersized cup yield estimation unit 261 estimates the undersized cup yield by summing the first undersized cup yield and the second undersized cup yield. Here, the reference speed represents, for example, a statistical value of the speed of the harvester 100, such as an average value or a median value. The reference speed may also be a predetermined fixed value.

[0060] Furthermore, the less-than-perfect cup yield estimation unit 261 may determine whether or not to use the speed of the harvester 100 when estimating the less-than-perfect cup yield. For example, the less-than-perfect cup yield estimation unit 261 determines whether or not to use the speed of the harvester 100 based on the variance in the speed of the harvester 100. For example, when the variance in the speed is large, the less-than-perfect cup yield estimation unit 261 estimates the less-than-perfect cup yield using the speed of the harvester 100, and when the variance in the speed is small, the less-than-perfect cup yield estimation unit 261 determines that the variance in the speed is large when the variance in the speed is larger than a threshold, and determines that the variance in the speed is small when the variance in the speed is smaller than the threshold. Here, the threshold represents, for example, a predetermined fixed value.

[0061] The undercup yield estimation unit 261 may estimate the undercup yield based on the full time and undercup time, which are classified into three or more groups according to the speed of the harvester 100.

[0062] 5, the less-than-full cup yield estimation unit 261 may estimate the less-than-full cup yield for each harvest section 540 in which the storage tank 130 was not full. In this case, the less-than-full cup yield estimation unit 261 estimates the less-than-full cup yield for the corresponding harvest section 540 using a value obtained by dividing the less-than-full cup time in the harvest section 540 in which the storage tank 130 was not full by the full cup time.

[0063] For example, in the example shown in FIG. 3 , the under-cup yield estimator 261 determines the ratio of the third storage operation time 510-3 to the full time to determine the yield in the third harvesting section 540-3. The under-cup yield estimator 261 estimates the under-cup yield for the third harvesting section 540-3 by multiplying the determined ratio by the capacity of the storage tank 130 and the specific gravity of the harvest. Similarly, the under-cup yield estimator 261 determines the ratio of the sixth storage operation time 510-6 to the full time to determine the yield in the fifth harvesting section 540-5. The under-cup yield estimator 261 estimates the under-cup yield for the fifth harvesting section 540-5 by multiplying the determined ratio by the capacity of the storage tank 130 and the specific gravity of the harvest.

[0064] In this case, the yield information may represent the yield for each harvesting section 540 in association with the position of the harvester 100 in that harvesting section 540. In this case, the display unit 350 displays an image on a map that represents the position of the harvester 100 in the harvesting section 540 in association with the corresponding yield. This allows the user to check the yield at each point in the field. The position of the harvester 100 may be represented by a line connecting the positions of the harvester 100 in the order of the time of measurement.

[0065] (Embodiment 2) The unfilled yield may be estimated based on detection by a plurality of detection sensors 131 provided in the storage tank 130. The storage tank 130 may be equipped with a plurality of detection sensors 131 as shown in FIG. 6. The plurality of detection sensors 131 detect that the storage tank 130 has reached a predetermined detection amount. For example, the detection sensor 131 includes a pressure sensor that detects pressure from the harvested product stored in the storage tank 130, and detects that the detection amount has been reached by being pressed by the harvested product.

[0066] For example, the first detection sensor 131-1 is provided at a position one-quarter of the height from the bottom of the storage tank 130, and the second detection sensor 131-2 is provided at a position two-quarters of the height from the bottom of the storage tank 130. The third detection sensor 131-3 is provided at a position three-quarters of the height from the bottom of the storage tank 130, and the fourth detection sensor 131-4 is provided at a position four-quarters of the height from the bottom of the storage tank 130. In this case, the first detection sensor 131-1 detects that the harvested product stored in the storage tank 130 has reached one-quarter of its full capacity, and the second detection sensor 131-2 detects that the harvested product stored in the storage tank 130 has reached two-quarters of its full capacity. The third detection sensor 131-3 detects that the harvested product stored in the storage tank 130 has reached three-quarters of its full capacity. The fourth detection sensor 131-4 detects that the harvested product stored in the storage tank 130 has reached four-quarters of its full capacity. In other words, the fourth detection sensor 131-4 detects that the storage tank 130 is full. The position at which the detection sensor 131 is disposed may be set arbitrarily depending on the amount of harvested product to be detected.

[0067] The yield measurement system 1000 in this embodiment estimates the under-cup yield based on the detection of the harvest yield by the multiple detection sensors 131 and the under-cup time in each harvest section 540.

[0068] (Configuration of yield measurement system) The configuration of the yield measurement system 1000 is the same as that of the first embodiment, and therefore a description thereof will be omitted.

[0069] (Operation of yield measurement system) As in the first embodiment, when the calculation device 220 of the yield measurement device 200 receives the position information, status information, and detection information from the communication device 180 of the harvester 100, it executes the yield measurement program 410 and performs the processing shown in Fig. 7, which is part of the yield measurement method. The processing of steps S110 and S120 is the same as in the first embodiment, and therefore description thereof will be omitted.

[0070] In step S130B, the less-than-full cup yield estimator 261 estimates the less-than-full cup yield, which represents the yield of harvested product discharged when the storage tank 130 was not full, based on the storage operation time 510 during which the storage operation was performed by the harvester 100. For example, the less-than-full cup yield estimator 261 estimates the less-than-full cup yield for a corresponding harvesting section 540 into which harvested product was discharged when the storage tank 130 was in an less-than-full state, based on the storage operation time 510 until detection by the detection sensor 131. For example, the less-than-full cup yield estimator 261 estimates the less-than-full cup yield for a corresponding harvesting section 540 based on the detected amount detected by one or more detection sensors 131 in one harvesting section 540 and the storage operation time 510 until the detected amount was reached.

[0071] For example, the less-than-full cup yield estimation unit 261 estimates the increase in the amount of harvested product stored in the storage tank 130 in one harvesting section 540 based on the storage work time 510 until detection by the detection sensor 131 and the amount detected by the detection sensor 131. The less-than-full cup yield is estimated based on the estimated increase and the storage work time 510 in the harvesting section 540.

[0072] For example, as shown in FIG. 8 , the less-than-full cup yield estimation unit 261 first estimates the storage operation time 510 when a detected amount of harvested product is stored in the storage tank 130 in the corresponding harvesting section 540 based on the detection information 610 acquired from the harvester 100 at each time. For example, the less-than-full cup yield estimation unit 261 estimates a detection time representing the storage operation time 510 when the harvested product stored in the storage tank 130 reaches the detected amount based on one or more pieces of detection information 610 when one or more detected amounts of harvested product are first detected. Next, the less-than-full cup yield estimation unit 261 estimates the increase in the amount of harvested product relative to the storage operation time 510 based on the detection time when the harvested product reaches each detected amount. Finally, the less-than-full cup yield estimation unit 261 estimates the less-than-full cup yield based on the estimated increase and the storage operation time 510 in the harvesting section 540.

[0073] In the fourth harvest section 540-4 in FIG. 3, there is a period during which storage work is not performed between the fourth storage work time 510-4 and the fifth storage work time 510-5. As shown in FIG. 8, the undercup yield estimation unit 261 estimates the storage work time 510 excluding the period during which storage work is not performed. In FIG. 8, the detection information 610 represents the time at which the harvester 100 acquires each piece of detection information 610 and the state at which the detection sensor 131 detects the storage of harvested products. For example, in the horizontal axis direction, the interval between the detection information 610 represents the sampling interval 660 at which the harvester 100 acquires the detection information 610.

[0074] 8, first detection information 610-1 represents the amount of harvest detected by the detection sensors 131 at the time when the fourth storage operation time 510-4 started. For example, first detection information 610-1 represents that none of the detection sensors 131 detected the storage of harvest. Second detection information 610-2 represents that none of the detection sensors 131 detected the storage of harvest when the harvester 100 acquired second detection information 610-2.

[0075] The third detection information 610-3 indicates that the first detection sensor 131-1 detected the accumulation of harvested product when the harvester 100 acquired the third detection information 610-3. The third detection information 610-3 also indicates that the remaining second detection sensor 131-2, third detection sensor 131-3, and fourth detection sensor 131-4 did not detect the accumulation of harvested product. Therefore, the third detection information 610-3 indicates that the accumulated harvested product has reached one-quarter of the height from the bottom in the storage tank 130 shown in FIG. 6.

[0076] 8 indicates that the first and second detection sensors 131-1 and 131-2 have detected the accumulation of harvested produce, while the third and fourth detection sensors 131-3 and 131-4 have not detected the accumulation of harvested produce. Therefore, the third detection information 610-3 indicates that the harvested produce stored in the storage tank 130 shown in FIG. 6 has reached two-quarters of the height from the bottom.

[0077] In the example shown in FIG. 8 , the less-than-full cup yield estimation unit 261 first estimates the detection time at which the harvested product stored in the storage tank 130 reached the detected amount based on one or more detection information 610 indicating the first detection of one or more detection amounts of harvested product. For example, the less-than-full cup yield estimation unit 261 determines the time of detection information 610 indicating the first detection of one of the detection sensors 131 in the corresponding harvest section 540 as the detection time at which the detected amount of harvested product was stored in the storage tank 130. For example, the less-than-full cup yield estimation unit 261 determines the time at which third detection information 610-3 was acquired as the detection time at which the detected amount of harvested product was stored in the storage tank 130, specifically, one-quarter of the storage tank 130's capacity. Similarly, the less-than-full cup yield estimation unit 261 determines the time at which fourth detection information 610-4 was acquired as the detection time at which the detected amount of harvested product was stored in the storage tank 130, specifically, two-quarters of the storage tank 130's capacity.

[0078] Next, the less-than-full-cup yield estimation unit 261 determines an approximate straight line 620 for one or more detection information 610 that first detected one or more detected amounts of harvest, for example, the third detection information 610-3 and the fourth detection information 610-4, as the increase in the amount of harvest in the corresponding harvest section 540, as shown in Figure 8.

[0079] Finally, the less-than-full cup yield estimation unit 261 determines the less-than-full cup yield for the corresponding harvesting section 540 based on the end point 630 on the approximation line 620 at the time when the storage operation ends in the harvesting section 540. For example, the less-than-full cup yield estimation unit 261 determines the yield at the end point 630 as the less-than-full cup yield. In this way, the less-than-full cup yield estimation unit 261 estimates the less-than-full cup yield for each harvesting section 540 where the harvested product was discharged in a less-than-full state.

[0080] The processes from step S140 to step S160 shown in FIG. 7 are the same as those in the first embodiment, and therefore the description thereof will be omitted.

[0081] In this way, the yield measurement system 1000 can estimate the yield of crops harvested by the harvester 100 using the amounts detected by the multiple detection sensors 131.

[0082] 7, the less-than-full cup yield estimation unit 261 may determine, based on one or more pieces of detection information 610 indicating the first detection of one or more detected amounts of harvested product, a time different from the time indicated by the detection information 610 as the detection time at which the harvested product reaches the detected amount. For example, the less-than-full cup yield estimation unit 261 may determine, as the detection time, correction point 670, which indicates a time earlier than the time indicated by the detection information 610 by correction time 650. For example, the less-than-full cup yield estimation unit 261 may determine, as the detection time, first correction point 670-1, which indicates a time earlier than the time indicated by the third detection information 610-3 by correction time 650, as the detection time at which the storage tank 130 is filled to one-fourth of its full capacity. Furthermore, the less-than-full cup yield estimation unit 261 determines the second correction point 670-2, which represents a time that is correction time 650 before the time represented by the fourth detection information 610-4, as the detection time when the storage tank 130 was filled to two-quarters of its full capacity. The less-than-full cup yield estimation unit 261 determines the approximate line 680 between the first correction point 670-1 and the second correction point 670-2 as the increase in the harvested product in the corresponding harvest section 540. The less-than-full cup yield estimation unit 261 determines the less-than-full cup yield in the corresponding harvest section 540 based on an end point 690 on the approximate line 680 at the time when the storage operation in the harvest section 540 ended.

[0083] Here, the correction time 650 may be a fixed value or may be determined based on the sampling interval 660. For example, the correction time 650 may be half the sampling interval 660. The correction time 650 may also be determined based on the status information of the harvester 100 at the time indicated by the detection information 610 when the detected amount of harvested product was first detected (hereinafter referred to as the detection time) and the status information of the harvester 100 measured immediately before that time. For example, the partial cup yield estimation unit 261 may determine the correction time 650 based on the speed of the harvester 100 at the detection time and the speed of the harvester 100 measured immediately before that time. For example, the partial cup yield estimation unit 261 may determine the correction time 650 as a time obtained by dividing the sampling interval 660 by the ratio of two speeds. For example, the partial cup yield estimation unit 261 may determine the correction time 650 as a value obtained by multiplying the ratio of the speed at the detection time to the sum of the two speeds by the sampling interval 660.

[0084] The less-than cup yield estimator 261 may also correct the less-than cup yield based on the speed of the harvester 100 from the last detection time onward among the detection times represented by one or more detection information 610 first detected by one or more detection sensors 131. For example, as shown in FIG. 8 , the less-than cup yield estimator 261 corrects the estimated less-than cup end based on the speed from the last detection time onward corresponding to fourth detection information 610-4. The less-than cup yield estimator 261 determines a speed difference between one or more speeds measured from the detection time onward corresponding to fourth detection information 610-4 and a statistical value, such as an average or median, of speeds measured before the detection time corresponding to fourth detection information 610-4. When one or more determined speed differences include a speed difference greater than a threshold, the less-than cup yield estimator 261 corrects the less-than cup yield based on the speed ratio between the number of speeds measured from the time corresponding to fourth detection information 610-4 onward and the number of speed differences greater than the threshold. The speed ratio indicates the number of speeds whose speed difference is greater than a threshold value relative to the number of speeds measured after the time corresponding to the fourth detection information 610-4.

[0085] For example, the undersized cup yield estimation unit 261 corrects the undersized cup yield based on the undersized cup yield estimated by the approximation line 620, the detected amount detected in the last detection information 610 in the corresponding harvest section 540, and the speed ratio. The undersized cup yield estimation unit 261 corrects the undersized cup yield based on the difference between the estimated undersized cup yield and the detected amount and the speed ratio. For example, when the speed measured after the last detection time is greater than the statistical value of the speed before the last detection time, the undersized cup yield estimation unit 261 corrects the undersized cup yield by adding a value obtained by multiplying the difference between the estimated undersized cup yield and the detected amount by the speed ratio and a coefficient to the undersized cup yield. When the speed measured after the last detection time is smaller than the statistical value of the speed before the last detection time, the incomplete cup yield estimation unit 261 corrects the incomplete cup yield by subtracting the value obtained by multiplying the difference between the estimated incomplete cup yield and the detected amount by the speed ratio and a coefficient from the incomplete cup yield.

[0086] Here, the coefficient may be a fixed value determined in advance using tests, simulations, or the like, or may be calculated from the speed at the last detection time. Alternatively, the coefficient may be calculated from statistics of the speed before the last detection time. Alternatively, the coefficient may be calculated from the speed at the last detection time and statistics of the speed before the last detection time.

[0087] Here, when speeds greater than the statistical value by a threshold or more and speeds less than the statistical value by a threshold or more exist after the time corresponding to the fourth detection information 610-4, the number of speed differences greater than the threshold may be determined by subtracting the number of speeds less than the statistical value by a threshold or more from the number of speeds greater than the statistical value by a threshold or more. For example, when the obtained number is positive, the incomplete cup yield estimation unit 261 corrects the incomplete cup yield by adding a value obtained by multiplying the difference between the estimated incomplete cup yield and the detected amount by the speed ratio and a coefficient to the incomplete cup yield. When the obtained number is negative, the incomplete cup yield estimation unit 261 corrects the incomplete cup yield by subtracting from the incomplete cup yield the absolute value of the value obtained by multiplying the difference between the estimated incomplete cup yield and the detected amount by the speed ratio and a coefficient.

[0088] (Embodiment 3) As shown in FIG. 9, the yield measurement system 1000 may measure the yield of the harvester 100 based on the discharge time 550 during which the harvested products stored in the storage tank 130 are discharged.

[0089] (Configuration of yield measurement system) The configuration of yield measurement system 1000 is the same as that of embodiment 1, except for the time determination unit 250 and yield estimation unit 260, which are realized by the calculation device 220 of yield measurement device 200, and therefore description thereof will be omitted. The time determination unit 250 determines a discharge time 550 based on status information of the harvester 100. As shown in FIG. 10 , the yield estimation unit 260 includes a discharge amount estimation unit 265. The discharge amount estimation unit 265 estimates the yield of the harvester 100 based on the discharge time 550.

[0090] (Operation of yield measurement system) As in the first embodiment, when the calculation device 220 of the yield measurement device 200 receives the position information and status information from the communication device 180 of the harvester 100, it executes the yield measurement program 410 and performs the processing shown in FIG. 11 , which is part of the yield measurement method. In step S210, the time determination unit 250 determines the discharge time 550 based on the status information of the harvester 100. For example, the discharge time 550 represents the time during which the discharge unit 160 of the harvester 100 is operating. For example, the discharge time 550 represents the time during which the auger clutch that transmits power to the discharge unit 160 is engaged.

[0091] In step S220, the discharge amount estimation unit 265 estimates the amount of harvested product discharged by the harvester 100 during the discharge time 550 based on the discharge time 550. For example, the discharge amount estimation unit 265 estimates the discharge amount based on the full discharge time required to discharge all of the harvested product when the storage tank 130 is full of the harvested product and the determined discharge time 550. For example, the full discharge time is a fixed value depending on the model of the harvester 100. In this case, the discharge amount estimation unit 265 estimates the yield of the harvester 100 based on the ratio of the discharge time 550 to the full discharge time, the capacity of the storage tank 130, and the specific gravity of the harvested product. For example, the discharge amount estimation unit 265 estimates the yield of the harvester 100 by multiplying the ratio of the discharge time 550 to the full discharge time, the capacity of the storage tank 130, and the specific gravity of the harvested product.

[0092] The processing in steps S230 and S240 is similar to the processing in steps S150 and S160 in the first embodiment, and therefore a description thereof will be omitted.

[0093] In this way, the yield measurement system 1000 can estimate the yield harvested by the harvester 100 that does not have a yield sensor, based on the status information of the harvester 100.

[0094] In step S220 shown in FIG. 11, the discharge amount estimation unit 265 may estimate the amount of harvest product discharged using the engine rotation speed. The amount of product discharged per unit time by the discharge unit 160 may vary depending on the engine rotation speed. As shown in FIG. 9, the harvester 100 acquires status information 700 indicating the engine rotation speed at predetermined intervals. In FIG. 9, first status information 700-1 and second status information 700-2 indicate that the auger clutch is not engaged. Therefore, the first status information 700-1 and second status information 700-2 are not included in the discharge time 550.

[0095] On the other hand, the third status information 700-3 and the fourth status information 700-4 indicate that the auger clutch is engaged. Therefore, the third status information 700-3 and the fourth status information 700-4 are included in the discharge time 550.

[0096] The emission amount estimation unit 265 estimates the amount of emission at the time indicated by the status information 700 included in the emission time 550, for example, the third status information 700-3, based on the interval at which the status information 700 is acquired and the engine speed indicated by the third status information 700-3. For example, the emission amount estimation unit 265 determines the amount of emission per unit time based on the engine speed. For example, the amount of emission per unit time corresponding to the engine speed is determined in advance based on tests, simulations, etc. For example, the amount of emission per unit time may monotonically increase with the engine speed. The emission amount estimation unit 265 determines the amount of emission at the time indicated by the third status information 700-3 as the amount of emission obtained by multiplying the determined amount of emission per unit time by the interval at which the status information 700 is acquired. The discharge amount estimation unit 265 determines the yield at the time indicated by the corresponding status information 700 based on one or more pieces of status information 700 included in the discharge times 550, for example, the first discharge time 550-1 and the second discharge time 550-2. The discharge amount estimation unit 265 estimates the yield by the harvester 100 by summing up the determined yields.

[0097] Furthermore, in step S220 shown in FIG. 11 , the discharge amount estimation unit 265 may estimate the discharge amount of the harvested product using the elapsed time since the discharge unit 160 started operating. The discharge amount of the harvested product may decrease when the discharge unit 160 starts operating. Therefore, the discharge amount estimation unit 265 estimates the yield at the time represented by the status information 700 based on the interval at which the status information 700 is acquired and the elapsed time from the time the discharge unit 160 started operating. For example, the discharge amount estimation unit 265 estimates the elapsed time from the time the discharge unit 160 started operating to the time the status information 700 was acquired for the corresponding discharge time 550. The discharge amount estimation unit 265 estimates the discharge amount at the time the status information 700 was acquired by multiplying a coefficient corresponding to the estimated elapsed time by the discharge amount per unit time by the discharge unit 160. The discharge amount estimation unit 265 estimates the yield by the harvester 100 by adding up the discharge amounts corresponding to each piece of status information 700. Here, the coefficient according to the elapsed time is determined in advance based on tests, simulations, etc., and has a value between 1 and 0, for example.

[0098] 11 , the discharge amount estimation unit 265 may estimate the amount of harvest product discharged using the remaining time, which indicates the time from the time indicated in the status information 700 until the time when harvest product discharge is completed. The discharge unit 160 may reduce the amount of harvest product discharged when the amount of harvest product stored in the storage tank 130 decreases. Therefore, the discharge amount estimation unit 265 estimates the yield at the time indicated by the status information 700 based on the interval at which the status information 700 is acquired and the remaining time. For example, the discharge amount estimation unit 265 estimates the remaining time, which indicates the time from the time indicated in the status information 700 until the time when harvest product discharge is completed, for the corresponding discharge time 550. The discharge amount estimation unit 265 estimates the discharge amount at the time when the status information 700 is acquired as the product of a coefficient corresponding to the estimated remaining time and the amount of harvest product discharged per unit time by the discharge unit 160. By summing up the discharge amounts corresponding to each piece of status information 700, the discharge amount estimation unit 265 estimates the yield by the harvester 100. Here, the coefficient according to the remaining time is determined in advance based on testing, simulation, etc., and has a value between 1 and 0, for example.

[0099] The discharge amount estimation unit 265 may estimate the discharge amount of the harvest using two or more of the engine rotation speed, the elapsed time since the discharge unit 160 started operating, and the remaining time indicating the time from the time indicated in the status information 700 until the discharge of the harvest is completed. For example, the discharge amount estimation unit 265 estimates the yield by the harvester 100 based on the discharge amount per unit time corresponding to the engine rotation speed and a coefficient corresponding to the elapsed time. The discharge amount estimation unit 265 may also estimate the yield by the harvester 100 based on the discharge amount per unit time corresponding to the engine rotation speed, a coefficient corresponding to the elapsed time, and a coefficient corresponding to the remaining time. In this case, the discharge amount estimation unit 265 estimates the discharge amount at the time the status information 700 is acquired as the multiplication value of the coefficient corresponding to the elapsed time, the coefficient corresponding to the remaining time, and the discharge amount per unit time by the discharge unit 160.

[0100] 11 , the discharge amount estimation unit 265 may estimate the discharge amount of the harvest based on the number of times the status information 700 is acquired during the discharge time 550. In this case, the discharge amount estimation unit 265 estimates the discharge amount of the harvest based on the ratio between the value obtained by dividing the full discharge time by the interval at which the status information 700 is acquired and the number of times the status information 700 is acquired during the discharge time 550.

[0101] The discharge amount per unit time may also represent the volume of harvested products discharged per unit time. In this case, the discharge amount estimation unit 265 estimates the weight of the harvested products discharged per unit time by multiplying the volume of the harvested products discharged per unit time by the specific gravity of the harvested products.

[0102] (Fourth embodiment) The yield measurement system 1000 may determine the discharge time 550 based on the position information of the harvester 100. The configuration of the yield measurement system 1000 is the same as that of the third embodiment, and therefore a description thereof will be omitted.

[0103] (Operation of yield measurement system) As in the first embodiment, when the calculation device 220 of the yield measurement device 200 receives position information from the communication device 180 of the harvester 100, it executes the yield measurement program 410 and executes the process shown in FIG. 12 , which is part of the yield measurement method. In step S210B, the time determination unit 250 determines the discharge time 550 based on the position information of the harvester 100. The harvester 100 is often stopped in the field while discharging harvested products. Therefore, the time determination unit 250 determines the period during which the harvester 100 is stopped in the field as the discharge time 550. For example, the time determination unit 250 determines that the harvester 100 is discharging harvested products when the period during which the positions represented by two pieces of position information adjacent in time are equal to or less than the distance threshold continues for a period of time equal to or greater than the time threshold. Therefore, the time determination unit 250 extracts the period during which the positions represented by two pieces of position information adjacent in time are equal to or less than the distance threshold, and determines the period during which the extracted period continues for a period of time equal to or greater than the time threshold as the discharge time 550.

[0104] The processing from step S220 onwards is the same as in the third embodiment, and therefore the description thereof will be omitted.

[0105] In this way, the yield measurement system 1000 can estimate the yield harvested by the harvester 100 that does not have a yield sensor, based on the position information of the harvester 100.

[0106] (Variation) The configuration described in the embodiment is an example, and the configuration can be changed as long as the function is not impaired. For example, in step S120 shown in Figure 5, the under-cup yield estimation unit 261 may determine the harvest category 540 discharged when the storage tank 130 is not full.

[0107] 5, the user may input information indicating the field where the harvesting operation was performed by the harvester 100. For example, the user inputs information indicating the field where the harvesting operation was performed to the input / output device 310 of the terminal 300. The display unit 350 of the terminal 300 outputs the input information to the yield measurement device 200. The output unit 270 of the yield measurement device 200 determines the field where the harvesting operation was performed based on the information input by the user.

[0108] 5, the yield information output by the output unit 270 may represent the yield in association with the harvester 100 that performed the harvesting operation. In this case, the output unit 270 determines the harvester 100 that performed the harvesting operation based on the source of the location information and / or status information. The location information and status information may also include information that represents the harvester 100 that performed the harvesting operation.

[0109] The above-described embodiments and modifications are merely examples, and the configurations described in each embodiment and modification may be arbitrarily modified and / or combined as long as the functionality is not impaired. Furthermore, some of the functions described in the embodiments and modifications may be omitted as long as the required functionality can be realized. For example, the yield measurement system 1000 may not include the terminal 300 and may output yield information to an external device. Furthermore, the yield measurement system 1000 may not include the harvester 100.

[0110] Furthermore, all or part of the processing of the yield measurement device 200 may be executed by the terminal 300. Furthermore, all or part of the processing of the terminal 300 may be executed by the yield measurement device 200. The yield measurement program 410 may include a display program 420.

[0111] Furthermore, yield measurement device 200 does not need to acquire information that is not used to estimate the yield of harvester 100, such as location information or status information. In this case, harvester 100 does not need to include a device for acquiring unused information, such as positioning device 170. For example, when yield measurement device 200 estimates the yield of harvester 100 based on status information 700 and detection information 610, it does not need to acquire location information.

[0112] (Addendum) The yield measurement method, yield measurement system, and yield measurement program described in each embodiment can be described as follows.

[0113] The yield measurement method according to the first aspect includes: determining a storage time for storing harvested products in a storage tank provided on the harvester, or a discharge time for discharging the harvested products stored in the storage tank, based on information acquired from the harvester; Estimating a yield of the crop harvested by the harvester based on the storage operation time or the discharge time; Includes.

[0114] A yield measurement method according to a second aspect is the yield measurement method according to the first aspect, Determining the storage operation time or the discharge time includes: determining, based on status information representing the status of the movable parts of the harvester, a time period during the storage operation that is less than full between a first discharge time at which the harvested product is discharged from the storage tank before the storage tank is filled with the harvested product and a second discharge time at which the harvested product is discharged from the storage tank immediately before the first discharge time; determining a number of full discharges of the harvested product when the storage tank is full based on the detection information indicating that the storage tank is full and the status information; Including, estimating the yield of the harvested crop, estimating an under-cup yield of the harvested product discharged from the storage tank before the storage tank is full based on the under-cup time; estimating a full yield of the harvested product discharged from the storage tank when the storage tank is full based on the number of full discharges; estimating the yield of the harvested crop based on the undercup yield and the fullcup yield; Includes.

[0115] A yield measurement method according to a third aspect is the yield measurement method according to the second aspect, estimating the subcup yield The under-cup yield is estimated based on a full time during which the storage operation is performed from when the harvested product is discharged from the storage tank until the storage tank is filled with the harvested product, and the under-cup time. Includes.

[0116] A yield measurement method according to a fourth aspect is the yield measurement method according to the third aspect, estimating the subcup yield estimating the undercup yield based on a plurality of the full times categorized according to the speed of the harvester and a plurality of the undercup times categorized according to the speed of the harvester; Includes.

[0117] A yield measurement method according to a fifth aspect is the yield measurement method according to the second aspect, determining a detection time representing the storage operation time until the harvested product stored in the storage tank reaches a detection amount from the first discharge time to the second discharge time; Estimating the under-cup yield based on the detected amount, the detected time, and the under-cup time; Includes.

[0118] A yield measurement method according to a sixth aspect is the yield measurement method according to the fifth aspect, estimating the subcup yield estimating an increase in the amount of the harvested product stored in the storage tank per unit time during the storage operation time from the first discharge time to the second discharge time based on the detection time and the detected amount; estimating the amount of the unfilled cup discharged from the storage tank at the second discharge time based on the increase and the unfilled cup time from the first discharge time to the second discharge time; Includes.

[0119] A yield measurement method according to a seventh aspect is the yield measurement method according to the sixth aspect, estimating the subcup yield correcting the under-cup yield discharged from the storage tank at the second discharge time based on the speed of the harvester after the last detection time and the speed of the harvester before the last detection time during the detection time from the first discharge time to the second discharge time; Includes.

[0120] A yield measurement method according to an eighth aspect is the yield measurement method according to the first aspect, Determining the storage operation time or the discharge time includes: determining the discharge time based on status information representative of the status of moving parts of the harvester; Including, estimating the yield Estimating the yield based on the discharge time and the discharge amount of the harvested product per unit time by the harvester. Includes.

[0121] A yield measurement method according to a ninth aspect is the yield measurement method according to the eighth aspect, estimating the yield determining the discharge amount per unit time at each time based on the engine rotation speed of the harvester; estimating the yield based on the discharge amount per unit time at each time and the discharge time; Includes.

[0122] A yield measurement method according to a tenth aspect is the yield measurement method according to the eighth or ninth aspect, estimating the yield determining the yield at each time based on the elapsed time since a discharge unit that discharges the harvested product in the harvester started to operate; Estimating the yield based on the yield at each time and the discharge time; Includes.

[0123] A yield measurement method according to an eleventh aspect is the yield measurement method according to any one of the eighth to tenth aspects, estimating the yield determining the yield at each time based on the remaining time from each time until the discharge unit of the harvester completes discharge of the harvested product; Estimating the yield based on the yield at each time and the discharge time; Includes.

[0124] A yield measurement method according to a twelfth aspect is the yield measurement method according to the first aspect, determining the discharge time based on the harvester's position information; Including, estimating the yield Estimating the yield based on the discharge time and the discharge amount of the harvested product per unit time by the harvester. Includes.

[0125] A yield measurement system according to a thirteenth aspect includes: a time determination unit that determines a storage time during which the harvester stores the harvested product in a storage tank provided in the harvester, or a discharge time during which the harvested product stored in the storage tank is discharged, based on information acquired from the harvester; a yield estimation unit that estimates a yield of the harvested product harvested by the harvester based on the storage operation time or the discharge time; Equipped with.

[0126] A yield measurement program according to a fourteenth aspect includes: determining a storage time for storing harvested products in a storage tank provided on the harvester, or a discharge time for discharging the harvested products stored in the storage tank, based on information acquired from the harvester; Estimating a yield of the crop harvested by the harvester based on the storage operation time or the discharge time; The calculation device executes the following. [Explanation of symbols]

[0127] 1, 2: Storage medium 20: Network 100: Harvester 110: Reaping part 120: Threshing Department 130: Storage tank 131: Detection sensor 140: Transport unit 150: Straw disposal unit 160: Discharge section 170: Positioning device 180:Communication equipment 190: Tachometer 200: Yield measurement device 210: Input / output device 220: Arithmetic device 230:Communication equipment 240: Storage device 250: Time determination unit 260: Yield Estimation Section 261: Less than 1000 cup yield estimation section 262: Full yield estimation section 263: Addition section 265: Emission Estimation Department 270: Output section 300: Terminal 310: Input / output device 320: Arithmetic device 330: Communication equipment 340 :Storage device 350:Display section 400: Field data 410: Yield measurement program 420: Display program 510: Storage work time 520: Full time 530: Discharge time 540: Harvest classification 550: Ejection time 610: Detection information 620: Approximate straight line 630: End point 650: Correction time 660: Sampling interval 670: Correction point 680: Approximate straight line 690: End point 700: Status information 1000: Yield measurement system

Claims

1. Determining the storage time during which the harvester stores the harvested product in a storage tank provided on the harvester, or the discharge time during which the harvested product stored in the storage tank is discharged, based on information obtained from the harvester; Estimating a yield of the crop harvested by the harvester based on the storage operation time or the discharge time; Including, Determining the storage operation time or the discharge time includes: determining, based on status information representing the status of the movable parts of the harvester, a time period during the storage operation that is less than full between a first discharge time at which the harvested product is discharged from the storage tank before the storage tank is filled with the harvested product and a second discharge time at which the harvested product is discharged from the storage tank immediately before the first discharge time; determining a number of full discharges of the harvested product when the storage tank is full based on the detection information indicating that the storage tank is full and the status information; Including, estimating the yield of the harvested crop, estimating an under-cup yield of the harvested product discharged from the storage tank before the storage tank is full based on the under-cup time; estimating a full yield of the harvested product discharged from the storage tank when the storage tank is full based on the number of full discharges; estimating the yield of the harvested crop based on the undercup yield and the fullcup yield; A yield measurement method including:

2. estimating the subcup yield The under-cup yield is estimated based on a full time during which the storage operation is performed from when the harvested product is discharged from the storage tank until the storage tank is filled with the harvested product, and the under-cup time. The yield measurement method of claim 1 , comprising:

3. estimating the subcup yield estimating the undercup yield based on a plurality of the full times categorized according to the speed of the harvester and a plurality of the undercup times categorized according to the speed of the harvester; The yield measurement method of claim 2, comprising:

4. estimating the subcup yield determining a detection time representing the storage operation time until the harvested product stored in the storage tank reaches a detection amount from the first discharge time to the second discharge time; Estimating the under-cup yield based on the detected amount, the detected time, and the under-cup time; The yield measurement method of claim 1 , comprising:

5. estimating the subcup yield estimating an increase in the amount of the harvested product stored in the storage tank per unit time during the storage operation time from the first discharge time to the second discharge time based on the detection time and the detected amount; estimating the amount of the unfilled cup discharged from the storage tank at the second discharge time based on the increase and the unfilled cup time from the first discharge time to the second discharge time; The yield measurement method of claim 4, comprising:

6. estimating the subcup yield correcting the under-cup yield discharged from the storage tank at the second discharge time based on the speed of the harvester after the last detection time and the speed of the harvester before the last detection time during the detection time from the first discharge time to the second discharge time; The yield measurement method of claim 5, comprising:

7. a time determination unit that determines a storage time during which the harvester stores the harvested product in a storage tank provided in the harvester, or a discharge time during which the harvested product stored in the storage tank is discharged, based on information acquired from the harvester; a yield estimation unit that estimates a yield of the harvested product harvested by the harvester based on the storage operation time or the discharge time; Equipped with The time determination unit Based on status information representing the status of the movable parts of the harvester, a time period during the storage operation is determined that is an unfilled time between a first discharge time at which the harvested product is discharged from the storage tank before the storage tank is filled with the harvested product and a second discharge time at which the harvested product is discharged from the storage tank immediately before the first discharge time; determining a number of full discharges of the harvested product when the storage tank is full based on the detection information indicating that the storage tank is full and the status information; The yield estimation unit estimating an under-cup yield of the harvested product that is discharged from the storage tank before the storage tank is full based on the under-cup time; estimating a full yield of the harvested product discharged from the storage tank when the storage tank is full based on the number of full discharges; estimating the yield of the harvest based on the undercup yield and the fullcup yield. Yield measurement system.

8. determining a storage time for storing harvested products in a storage tank provided on the harvester, or a discharge time for discharging the harvested products stored in the storage tank, based on information acquired from the harvester; Estimating a yield of the crop harvested by the harvester based on the storage operation time or the discharge time; causing a computing device to execute Determining the storage operation time or the discharge time includes: determining, based on status information representing the status of the movable parts of the harvester, a time period during the storage operation that is less than full between a first discharge time at which the harvested product is discharged from the storage tank before the storage tank is filled with the harvested product and a second discharge time at which the harvested product is discharged from the storage tank immediately before the first discharge time; determining a number of full discharges of the harvested product when the storage tank is full based on the detection information indicating that the storage tank is full and the status information; Including, estimating the yield of the harvested crop, estimating an under-cup yield of the harvested product discharged from the storage tank before the storage tank is full based on the under-cup time; estimating a full yield of the harvested product discharged from the storage tank when the storage tank is full based on the number of full discharges; estimating the yield of the harvested crop based on the undercup yield and the fullcup yield; Yield measurement programs including.

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