Information processing method, information processing device, and combine harvester

Abstract

Provided is an information processing method for generating data using a target amount acquired by a moving body and position information and orientation information of the moving body. The data is generated by: identifying a plurality of recording target positions in the lateral width direction of the moving body on the basis of the position information and the orientation information of the moving body; and calculating post-division target amounts, each obtained by apportioning the target amount to the recording target positions at a predetermined ratio, and associating the post-division target amounts with the recording target positions. Thus, in order to more appropriately evaluate quantitative data acquired by the moving body, the method divides the data into a plurality of positions in consideration of the evaluation of the movement history, and associates the divided data with the position information.

Description

Information processing method, information processing device and combine

[0001] The present invention relates to an information processing method, an information processing device, and a combine harvester.

[0002] A technique has been known in the past in which a target area for movement is divided into a grid and quantitative data collected by a moving object is allocated to the grid (see Patent Document 1).

[0003] JP 2022-78408 A

[0004] However, in the technology of Patent Document 1, when the grid division unit is small, quantitative data is assigned in accordance with the location information of the moving body, which causes bias in the assignment, such as the occurrence of sections to which no data is assigned, and there is a problem that appropriate data distribution evaluation cannot be performed.

[0005] The present invention, which has solved the above problems, is as follows.

[0006] That is, the invention described in claim 1 is an information processing method for generating data using a target quantity acquired by a moving body and position information and orientation information of the moving body, characterized in that the data is generated by identifying multiple locations in the width direction of the moving body as recording target positions based on the position information and orientation information of the moving body, calculating divided target quantities by dividing the target quantity at a predetermined ratio, and associating the divided target quantities with the recording target positions.

[0007] A second aspect of the present invention is an information processing device that executes the information processing method according to the first aspect.

[0008] The invention described in claim 3 is a combine harvester equipped with a weight sensor (54B) that detects the weight of grain stored in a grain tank (7), and a controller (40) is provided that defines a measurement target area (62) as an area where a harvesting device (3) harvests stalks at time intervals T or for a predetermined traveling distance, and creates yield map data based on the machine's position information and the yield of the measurement target area (62), and the controller (40) is configured to pre-set the number of small areas into which the measurement target area (62) is divided, and the controller (40) reads a first weight detected by the weight sensor (54B), then divides it by the number of small areas to calculate a second weight, calculates position information of the small areas, and links the position information of the small areas to the second weight to create the yield map data.

[0009] The invention described in claim 4 is a combine described in claim 3 in which a grass division body (3D) extending forward is provided on the left side of the raising device (3A) that raises the culms of the harvesting device (3) of the combine, and a grain stalk sensor (53) that detects the presence or absence of grain stalks is provided on the right side of the grass division body (3D), and the controller (40) obtains the ON / OFF state of the grain stalk sensor (53) and links a third weight obtained by dividing the first weight by the number of ON states of the grain stalk sensor (53) with the positional information of the small area through which the grain stalk sensor (53) passed in the ON state to create the yield map data.

[0010] The invention described in claim 5 is a combine described in claim 3 or 4, which is provided with a moisture sensor (54C) that detects the moisture content of the grain stored in the grain tank (7), and which subtracts the weight obtained by multiplying the first weight by the moisture content from the first weight.

[0011] According to the present invention, the target quantity can be converted into data that can be more appropriately evaluated.

[0012] FIG. 1 is a front view of a combine harvester. FIG. 2 is a left side view of a combine harvester. FIG. 3 is a plan view of a control section. FIG. 4 is a transmission diagram of engine output rotation. FIG. 5 is a connection diagram of a positioning unit. FIG. 6 is a connection diagram of a first controller and a second controller of a combine harvester. FIG. 7 is a connection diagram of the first controller. FIG. 8 is an explanatory diagram of a data sheet. FIG. 9 is a connection diagram of the second controller. FIG. 10 is an explanatory diagram of automatic driving of a combine harvester. FIG. 11 is an explanatory diagram of a method for calculating a weight ratio in the first embodiment. FIG. 12 is an explanatory diagram of a method for calculating a weight ratio in the second embodiment. FIG. 13 is a flowchart showing the steps of a process for creating yield map data. FIG. 14 is a flowchart showing a method for creating yield map data. FIG. 15 is an explanatory diagram of yield monitoring in the first embodiment. FIG. 16 is an explanatory diagram of yield monitoring in the second embodiment. FIG. 17 is an explanatory diagram of data generation of yield information. FIG. 18 is an explanatory diagram of map creation of yield information. FIG. 19 is a conceptual diagram of a pro rata data generator.

[0013] As shown in Figures 1 and 2, the combine harvester has a traveling device 2 consisting of a pair of left and right crawlers that travels on the field below the body frame 1, a harvesting device 3 that harvests the stalks in the field is provided in front of the body frame 1, a threshing device 4 that threshers and sorts the harvested stalks is provided to the rear left of the harvesting device 3, and a control unit 5 on which an operator rides is provided to the rear right of the harvesting device 3.

[0014] An engine room 6 in which an engine E is mounted is provided below the control unit 5, and a grain tank 7 for storing threshed and sorted grains is provided behind the control unit 5. Behind the grain tank 7 is a discharge auger 8 consisting of a grain lifting section extending in the vertical direction to discharge grains to the outside and a horizontal discharge section extending in the front-to-back direction.

[0015] The harvesting device 3 is composed of four raising devices 3A arranged side by side in the left-right direction to raise the culms in the field, a cutting device 3B that cuts the base of the raised culms, a transporting device 3C that transports the culms whose bases have been cut to the threshing device 4, and five dividing plants 3D arranged side by side in the left-right direction to guide the culms in the field to the raising devices 3A.

[0016] As shown in Figure 3, a front panel 11 is provided in front of the operator's seat 10 of the operating unit 5, and a touch panel monitor 12 is provided in the center of the front panel 11 to display the output rotation of the engine E and the running speed of the traveling device 2, etc., and an operating lever 13 is provided on the right side of the monitor 12 to operate the rotation of the traveling device 2 and the raising and lowering of the reaping device 3.

[0017] When the operating lever 13 is in a forward tilted position, the mowing device 3 descends to a mowing position, when it is in a rearward tilted position, the mowing device 3 rises to a waiting position, when it is in a left tilted position, the traveling device 2 turns left, and when it is in a right tilted position, the traveling device 2 turns right.

[0018] A side panel 15 is provided on the left side of the cockpit 10. A main speed change lever 16 is provided in the front of the side panel 15 to operate a continuously variable transmission 20 that increases or decreases the output rotation of the engine E and switches the rotation direction, and an auxiliary speed change lever 17 is provided on the right rear side of the main speed change lever 16 to operate a transmission 21 that increases or decreases the output rotation of the continuously variable transmission 20.

[0019] On the left rear side of the sub-speed change lever 17 is provided a harvesting / decoupling lever 18 which operates to connect and disconnect the harvesting clutch 22 which transmits the output rotation of the engine E to the harvesting device 3, and the threshing clutch 23 which transmits the output rotation of the engine E to the threshing device 4.

[0020] A discharge lever 19 is provided on the right rear side of the cutting lever 18 to engage and disengage a discharge clutch 24 that transmits the output rotation of the engine E to the discharge auger 8 .

[0021] As shown in Fig. 4, the output rotation of the engine E is transmitted to the continuously variable transmission 20. The output rotation of the engine E transmitted to the input shaft of the continuously variable transmission 20 is accelerated or decelerated and the rotation direction is switched within the continuously variable transmission 20, and then transmitted to the transmission 21 and the harvesting device 3.

[0022] The output rotation of the continuously variable transmission 20 transmitted to the input shaft of the transmission 21 is increased or decreased by multiple gears within the transmission 21 and then transmitted to the traveling device 2. In addition, a mowing clutch 22 is provided between the output shaft of the continuously variable transmission 20 and the input shaft of the mowing device 3.

[0023] The output rotation of the engine E is transmitted to the threshing device 4. In addition, a threshing clutch 23 is provided between the output shaft of the engine E and the input shaft of the threshing device 4.

[0024] The output rotation of the engine E is transmitted to the discharge auger 8. In addition, a discharge clutch 24 is provided between the output shaft of the engine E and the input shaft of the discharge auger 8.

[0025] 5, the positioning unit 30, which uses an RTK-GPS positioning system or a differential positioning system, is made up of multiple positioning satellites 31A-31D, a base station 32 installed at a known location, and a mobile station 36 installed on the combine harvester. As a result, positioning signals transmitted from the multiple positioning satellites 31A-31D are received and positioned by GNSS receivers installed in the base station 32 and the mobile station 36, and the mobile station 36 performs high-precision positioning using correction signals from the base station 32, thereby accurately determining the running position of the combine harvester.

[0026] The base station 32 is made up of a fixed communication device 33, a fixed GPS antenna 34 that receives position information from the positioning satellite 31, and a fixed data transmission antenna 35 that transmits corrective position information to the mobile station 36. Note that a server can also be placed in the base station 32 instead of the second controller 45.

[0027] The mobile station 36 is made up of a mobile communication device 37, a mobile GPS antenna 38 that receives position information from the positioning satellite 31, and a mobile data receiving antenna 39 that receives corrective position information from the base station 32. The GPS antenna 38 is preferably positioned at the center of the combine harvester in the front-to-rear and left-to-right directions.

[0028] As shown in FIG. 6, the first controller 40 (the "controller" in the claims) and the second controller 45 of the combine are connected by wire, but can also be connected wirelessly.

[0029] The first controller 40 is composed of a processing unit 41 consisting of a CPU or the like, a memory unit 42 consisting of a ROM, RAM, hard disk drive, flash memory or the like, an input / output unit 43 through which information is input and output, and a transmitter / receiver unit 44 that exchanges information with the second controller 45 via a wire or the like.

[0030] The second controller 45 is made up of a processing unit 46 consisting of a high-speed processing chip such as a GPU, FPGA, or ASIC, a storage unit 47 consisting of a ROM, RAM, hard disk drive, flash memory, etc., an input / output unit 48 for inputting and outputting information, and a transmitting / receiving unit 49 for exchanging information with the first controller 40 via a wire, etc. If the processing capacity is small, it is possible to perform the processing using only the first controller 40 without providing the second controller 45.

[0031] As shown in Figure 7, the input side of the input / output unit 43 of the first controller 40 is connected via an input interface circuit to a setting switch 50 that sets the route for the combine to travel automatically, a travel switch 51A that switches the combine from manual travel to automatic travel, a stop switch 51B that stops the automatic travel of the combine, a speed sensor 52, a grain stalk sensor 53 that detects the presence or absence of grain stalks raised by the lifting device 3A, a leakage sensor 54A that detects the presence or absence of grain leaking into the grain tank 7, a weight sensor 54B such as a load cell that detects the weight of the grain, a moisture sensor 54C that detects the moisture content of the grain, an impact-type weight sensor 55 using a strain gauge or potentiometer, a GPS antenna 34 that receives position information from a positioning satellite 31, and a data receiving antenna 39 that receives position information for correction from a base station 32. The speed sensor 52 comprises a speed sensor 52A that detects the output rotation speed of the engine E, a speed sensor 52B that detects the traveling speed of the traveling device 2, a speed sensor 52C that detects the raising speed of the raising device 3A, and a speed sensor 52D that detects the reduction speed of the second grain in the threshing device 4. Furthermore, although an impact type is applied to the weight sensor 55, it is not limited to this, and a weighing type that detects the volume, height, supply time, grain count, etc. may also be used.

[0032] The setting switch 50, the traveling switch 51A, and the stop switch 51B are located on the front panel 11 of the control unit 5, the speed sensor 52A is located on the engine E, the speed sensor 52B is located on the traveling device 2, the speed sensor 52C is located on the lifting device 3A, and the speed sensor 52D is located on the second spiral of the threshing device 4.

[0033] The four culm sensors 53 are arranged on the left side of the front of the plant body 3 D. The culm sensor 53A is arranged on the first plant body 3 D from the left, the culm sensor 53B is arranged on the second plant body 3 D from the left, the culm sensor 53C is arranged on the third plant body 3 D from the left, and the culm sensor 53D is arranged on the fourth plant body 3 D from the left. This makes it possible to detect whether or not culms are planted in each row of the field that is raised by the raising device 3A. For example, if stalks are planted in rows 1 to 4 of the field, the contacts of stalk sensors 53A to 53D will be pressed down by the stalks and stalk sensors 53A to 53D will be turned ON; if stalks are planted in rows 1 to 3 of the field but not in row 4, stalk sensors 53A to 53C will be turned ON, but the contacts of stalk sensor 53D will not be pressed down by the stalks and stalk sensor 53D will be turned OFF.

[0034] The leak sensor 54A, weight sensor 54B, moisture sensor 54C, and weight sensor 55 are arranged in the grain tank 7.

[0035] When the travel switch 51A is pressed, a timer (not shown) of the first controller 40 is started to measure the elapsed time, and when the stop switch 51B is pressed, the timer of the first controller 40 is stopped.

[0036] The output side of the input / output unit 43 of the first controller 40 is connected, via an output interface circuit, to an automatic steering device 57 that automatically operates the operating lever 13 of the steering unit 5 to run the combine along the route, and a data sheet 58 that stores the detected values ​​of the speed sensor 52A, the stalk sensor 53A, etc. that are input to the input side of the input / output unit 43 at predetermined time intervals, as shown in Figure 8. The column for the weight sensor 54B in Figure 8 displays the increased weight of grain at times t1, t2, etc. (equivalent to the yield at times t1, t2, etc.).

[0037] The area where the yield of the crop harvested by the combine harvester at predetermined time intervals or for each predetermined travel distance is measured is defined as the measurement target area 62. Small areas are set in advance within the measurement target area 62, divided by the trajectory of the grass segments 3D of the harvesting device 3. For example, when the operator sets the number of small areas in the left and right directions of the measurement target area 62 on a settings screen (not shown), the first controller 40 records in the memory unit 42 parameters used to determine the weight ratio of grains when generating yield map data, such as the cutting width (corresponding to the width of the measurement target area 62), the relative positions of each small area, the number of small areas, and information from the stalk sensor 53 passing through each small area. When the yield monitoring switch 60 is pressed, the combine harvester enters the yield monitoring state, and collection of yield map data begins. 9, the input side of the input / output unit 43 of the combine harvester's first controller 40 is further connected via an input interface circuit to a yield monitoring switch 60 that starts and stops the creation of yield map data, and a yield mapping switch 63 that creates a yield map based on the positional information of the yield map data. This makes it possible to collect yield map data with a large amount of positional information, and since more yield map data can be assigned to meshes than before, it is possible to create a highly accurate yield map.

[0038] The yield monitoring switch 60 and the yield mapping switch 63 are located at the front of the side panel 15 of the control unit 5.

[0039] The present invention allows yield monitoring whether the combine harvester is in manual or automatic driving mode. For example, yield monitoring can be performed during harvesting operations that combine manual and automatic driving. As shown in FIG. 10 , when an operator manually drives the combine harvester counterclockwise along the edge of a field 70 and then presses the setting switch 50, the first controller 40 sets a travel path 72 for automatically driving the combine harvester counterclockwise. The distance between the travel path 72 and the adjacent travel path 72 is set to the mowing width of the combine harvester's harvesting device 3. Reference numeral 71 indicates the manual travel path along which the operator manually drives the combine harvester.

[0040] Next, when the operator moves the combine to the starting position of the travel route 72 and then presses the travel switch 51A to make the combine travel automatically, the automatic steering device 57 is activated and the combine travels automatically along the travel route 72.

[0041] In addition, when the running switch 51A is pressed, the timer in the first controller 40 is started, and the input side of the input / output unit 43 is continuously input with the detected values ​​of the speed sensor 52A, the grain straw sensor 53, the leakage sensor 54A, the running switch 51A, etc., as well as the position information of the GPS antenna 34, and the like, and the data sheet 58 is continuously created on the output side of the input / output unit 43.

[0042] When the operator presses the stop switch 51B, the drive of the automatic steering device 57 stops, and the automatic travel of the combine harvester stops.

[0043] In addition, when the stop switch 51B is pressed, the timer in the first controller 40 stops, and the input of detection values ​​from the speed sensor 52A, straw sensor 53, leakage sensor 54A, running switch 51A, etc. on the input side of the input / output unit 43, as well as the input of position information from the GPS antenna 34, etc., stops, and the creation of the data sheet 58 on the output side of the input / output unit 43 also stops.

[0044] Next, a method for calculating the yield in a small area will be described. The yield in a small area is calculated based on the ON / OFF state of the culm sensor 53 that passes through the small area. As an example of an embodiment, a method for calculating the yield in a small area using a combine harvester in which a culm sensor 53 is installed so as to detect culms that pass through all of the plant segments 3D, and a method for calculating the yield in a small area using a combine harvester in which a culm sensor 53 is installed so as to detect culms that pass through some of the plant segments 3D will be described.

[0045] <Method of calculating weight ratio according to the first embodiment> A four-row combine harvester will be used as an example of a first embodiment of a method of calculating yield in a small area using a combine harvester equipped with a culm sensor 53 to detect culms passing through all of the plant segments 3D. As shown in Figure 11, the weight ratio of the weights of grains selected from the culms planted in the first to fourth rows of the field can be calculated based on the detection value of the culm sensor 53 attached to the plant segment 3D. This makes it possible to grasp the growth rate, etc. of the culms planted in each row of the field.

[0046] In typical case 1, when the detection values ​​of the stalk sensors 53A to 53D are ON, that is, when stalks are planted in the first to fourth rows of the field corresponding to the stalk sensors 53A to 53D, it is determined that 25% of the grain stored in the grain tank 7 has been selected from the stalks planted in the first to fourth rows.

[0047] In case 2, when the detection values ​​of culm sensors 53A to 53C are ON and the detection value of culm sensor 53D is OFF, that is, when culms are planted in the first to third rows of the field corresponding to culm sensors 53A to 53C and no culms are planted in the fourth row, it can be seen that approximately 33% of the grain stored in grain tank 7 is selected from the culms planted in the first to third rows, and no grain is selected from the fourth row.

[0048] In case 4, when the detection values ​​of the stalk sensors 53A and 53B are ON and the detection values ​​of the stalk sensors 53C and 53D are OFF, that is, when stalks are planted in the first and second rows of the field corresponding to the stalk sensors 53A and 53B, and no stalks are planted in the third and fourth rows, it can be seen that 50% of the grain stored in the grain tank 7 is selected from the stalks planted in the first and second rows, and 50% is not selected from the stalks planted in the third and fourth rows.

[0049] When the detection value of the stalk sensor 53A in case 8 is ON and the detection values ​​of the stalk sensors 53B to 53D are OFF, that is, when stalks are planted in the first row of the field corresponding to the stalk sensor 53A and no stalks are planted in the second to fourth rows, it is clear that the grains stored in the grain tank 7 are 100% selected from the stalks planted in the first row and are not selected from the stalks planted in the second to fourth rows.

[0050] When the detection values ​​of the stalk sensors 53A to 53D in case 16 are OFF, that is, when no stalks are planted in the first to fourth rows of the field corresponding to the stalk sensors 53A to 53D, it is determined that the grains stored in the grain tank 7 have not been sorted from the first to fourth rows.

[0051] Furthermore, since the harvesting operation is carried out while aligning the grass segment 3D located on the far left side of the harvesting device 3 with the row of unharvested stalks, cases 3, 5 to 7, and 9 to 15 are rare cases.

[0052] Furthermore, without calculating the weight ratio for each row of culms in the field, it is possible to calculate the weight ratio of the left subregion, which is the sum of the weight ratios of the first and second rows of culms, and the weight ratio of the right subregion, which is the sum of the weight ratios of the third and fourth rows of culms. This reduces the impact of culm lodging, etc., on the weight ratio for each row. In a typical case, Case 1, the weight ratio of the left subregion is calculated to be 50% and the weight ratio of the right subregion is calculated to be 50%. In Case 2, the weight ratio of the left subregion is calculated to be approximately 66% and the weight ratio of the right subregion is calculated to be approximately 33%. In Case 4, the weight ratio of the left subregion is calculated to be 100% and the weight ratio of the right subregion is 0%. In Case 5, the weight ratio of the left subregion is calculated to be 100% and the weight ratio of the right subregion is 0%.

[0053] <Method of Calculating Weight Ratio in Second Embodiment> Next, a four-row combine harvester will be used as an example of a second embodiment of a method of calculating yield in a small area using a combine harvester equipped with a scull sensor 53 to detect sculls passing through some of the grass bodies 3D. Figure 12 shows the method of calculating weight ratio in the second embodiment. In the second embodiment, the scull sensor 53A is located on the first grass body 3D from the left, and the scull sensor 53D is located on the second grass body 3D from the left. Furthermore, the scull sensors 53B and 53C of the first embodiment are not located. This makes it easy to arrange the scull sensor 53, and makes it possible to grasp the growth rates of the sculls planted in the left and right rows in the field in front of the harvesting device 3.

[0054] In typical case 1, when the detection values ​​of the stalk sensors 53A and 53D are ON, it is assumed that stalks are planted in the first to fourth rows of the field, and it is estimated that 50% of the grains stored in the grain tank 7 are selected from the left rows of the first and second rows and the right rows of the third and fourth rows.

[0055] In case 2, when the detection value of the stalk sensor 53A is ON and the detection value of the stalk sensor 53D is OFF, it is assumed that stalks are planted in the first and second rows of the field, and that no stalks are planted in the third and fourth rows, and it is assumed that the grains stored in the grain tank 7 are 100% sorted from the left row of the first and second rows, and that no grains are sorted from the right row of the third and fourth rows.

[0056] When the detection values ​​of the stalk sensors 53A and 53D in Case 4 are OFF, that is, when no stalks are planted in the first to fourth rows of the field corresponding to the stalk sensors 53A and 53D, it is assumed that the grains stored in the grain tank 7 have not been sorted from the first to fourth rows.

[0057] Furthermore, since the harvesting operation is carried out while aligning the grass segment 3D located on the far left side of the harvesting device 3 with the row of uncut stalks, case 3 is a rare case.

[0058] In other words, the weight ratio in both the first and second embodiments is the ratio of the area of ​​each small area in which the ON state of the grain stalk sensor 53 was detected to the total area of ​​the small areas in which the ON state of the grain stalk sensor 53 was detected. Furthermore, if the measurement target area 62 is equally divided into small areas, the weight ratio is determined by the number of small areas in which the ON state of the grain stalk sensor 53 was detected. The yield in each small area can then be estimated by multiplying the increased weight of the grain tank 7 by this weight ratio. Alternatively, by recording a table showing the relationship between the ON / OFF state of the grain stalk sensor 53 and the weight ratio in the memory unit, the yield in each small area can be estimated by multiplying the increased weight of the grain tank 7 by the weight ratio derived from this table.

[0059] <Method of Creating Yield Map Data> Figure 13 is a flowchart showing the steps of the process of creating yield map data. A yield map is an image showing the yield distribution of crops in a field, and the yield distribution is expressed by the yield for each mesh. A mesh refers to one section when a field is divided into multiple sections, and can be a square with dimensions of 5m x 5m, for example. When the yield monitoring switch 60 is pressed and turned ON, collection of yield map data begins, and the system enters a yield map data collection state. When the yield monitoring switch 60 is pressed while in the yield map data collection state, the yield monitoring switch 60 turns OFF, and yield monitoring ends. Yield monitoring in the first embodiment and yield monitoring in the second embodiment are described below.

[0060] <Yield Monitoring in the First Embodiment> (Yield Monitoring) When the operator presses the yield monitoring switch 60, the system enters a yield map data collection state, and the creation of yield map data begins based on the values ​​set on the setting screen. In the yield monitoring in the first embodiment, yield map data is created by dividing the measurement target area 62 into four parts in the left-right direction based on the weight of grains sorted from the first to fourth rows of stalks at time intervals T or for each specified travel distance along the travel path 72.

[0061] The method for creating yield map data is described with reference to the flowchart in FIG. 14 . First, the location information of each small area in the measurement target area 62 is determined from the received location information (S201). The location information of each small area can be calculated from the location information, including the vehicle's traveling direction, and the horizontal positional relationship of each small area relative to the vehicle. For example, the positional relationship between the center of each small area and the position of the mobile station 36 that acquires the vehicle's location information can be stored in advance, and the location information of each small area can be calculated from the location information acquired when creating the yield map data and the positional relationship. Next, the yield of the measurement target area 62 is calculated based on the detection value of the weight sensor (54B) (S202). Next, the ON / OFF status of the stalk sensor 53 is acquired (S203), and the yield of each small area in the measurement target area 62 is determined according to the weight ratio calculation method described in the first embodiment (S204). Next, the location information of the small area calculated in S201 and the yield of that small area calculated in S203 are linked and output as yield map data for each small area (S205). The order of steps S201 to S203 shown in the flowchart may be changed.

[0062] For example, if the weight of the grains sorted from the first to fourth rows of stalks detected by weight sensor 54B is 4 kg, in case 1 of Figure 11, the weight is divided by 4, which is the number of stalk sensors 53 with their detection value turned ON, to obtain 1 kg, which divides the measurement target area 62 of Figure 15 into four parts horizontally. Small Areas Also, in case 2, the weight is divided by 3 to obtain 1.3 kg, which is assigned to the first to third small areas of the measurement target area 62, and 0 kg is assigned to the fourth small area. In case 4, the weight is divided by 2 to obtain 2 kg, which is assigned to the first and second small areas of the measurement target area 62, and 0 kg is assigned to the third and fourth small areas. In case 8, the weight is divided by 1 to obtain 4 kg, which is assigned to the first small area of ​​the measurement target area 62, and 0 kg is assigned to the second to fourth small areas. Note that the weights are rounded to one decimal place.

[0063] Here, it is preferable to multiply the calculated weight by the moisture percentage detected by the moisture sensor 54C, thereby removing the moisture content and more accurately calculating the weight of the grains sorted from the stalks harvested by the harvesting device 3.

[0064] For example, if the moisture percentage detected by the moisture sensor 54C is 10%, in the above-mentioned case 1, the weight is divided by 4 (the number of stalk sensors 53 with a detection value of ON), resulting in 1 kg, which is multiplied by 0.9, and the result is 0.9 kg, which is assigned to the first to fourth small regions of the measurement target region 62. In case 2, 1.3 kg is multiplied by 0.9, resulting in 1.2 kg, which is assigned to the first to third small regions of the measurement target region 62, with 0 kg assigned to the fourth small region. In case 4, 2 kg is multiplied by 0.9, resulting in 1.8 kg, which is assigned to the first and second small regions of the measurement target region 62, with 0 kg assigned to the third and fourth small regions. In case 8, 4 kg is multiplied by 0.9, resulting in 3.6 kg, which is assigned to the first small region of the measurement target region 62, with 0 kg assigned to the second to fourth small regions. Note that the weights are rounded to one decimal place.

[0065] Furthermore, the stalks harvested by the harvesting device 3 are transported to the threshing device 4, where they are threshed and sorted to select the grains, and the sorted grains are transported to the grain tank 7 and their weight is detected by the weight sensor 54B. Therefore, the time at which the weight sensor 54B detects the weight of the grains is longer than the time at which the stalks are harvested by the harvesting device 3, resulting in a delay time. The delay time becomes longer as the output rotation speed of the engine E decreases, and the engine output rotation speed becomes shorter.

[0066] It is preferable to change the weight increase of the grains to be added according to the output rotation speed of the engine E detected by the speed sensor 52A. This suppresses the influence of delay time and makes it possible to more accurately calculate the weight of the grains sorted from the stalks harvested by the harvesting device 3.

[0067] For example, at time interval T, 4 kg is calculated by adding together the weight of 1 kg at elapsed time t1 and the weight of 3 kg at elapsed time t2 in Figure 8, but if the output rotation speed of engine E is high, the weight of 3 kg at elapsed time t2 and the weight of 3 kg at elapsed time t3 are added together to get 6 kg, and if the output rotation speed of engine E is low, the weight of 3 kg at elapsed time t3 and the weight of 2 kg at elapsed time t4 are added together to get 5 kg.

[0068] When the output rotation speed of the engine E is high, in the above-mentioned case 1, the weight is divided by 4, which is the number of grain stalk sensors 53 with ON detection values, to obtain 1.5 kg, which is multiplied by the coefficient k1, and 1.4 kg is assigned to each of the first to fourth small regions of the measurement target region 62. In case 2, 2.0 kg is multiplied by k1 to obtain 1.8 kg, which is assigned to the first to third small regions of the measurement target region 62, and 0 kg is assigned to the fourth small region. In case 4, 3.0 kg is multiplied by k1 to obtain 2.7 kg, which is assigned to the first and second small regions of the measurement target region 62, and 0 kg is assigned to the third and fourth small regions. In case 8, 6.0 kg is multiplied by k1 to obtain 5.4 kg, which is assigned to the first small region of the measurement target region 62, and 0 kg is assigned to the second to fourth small regions. Note that the weights are rounded to one decimal place.

[0069] When the output rotation speed of the engine E is low, in the above-mentioned case 1, the weight is divided by 4, which is the number of grain stalk sensors 53 with ON detection values, to obtain 1.3 kg, which is multiplied by the coefficient k2, and the result is 1.2 kg, which is assigned to each of the first to fourth small regions of the measurement target region 62. In case 2, 1.7 kg is multiplied by k2 to obtain 1.5 kg, which is assigned to the first to third small regions of the measurement target region 62, and 0 kg is assigned to the fourth small region. In case 4, 2.5 kg is multiplied by k2 to obtain 2.3 kg, which is assigned to the first and second small regions of the measurement target region 62, and 0 kg is assigned to the third and fourth small regions. In case 8, 5 kg is multiplied by k2 to obtain 4.5 kg, which is assigned to the first small region of the measurement target region 62, and 0 kg is assigned to the second to fourth small regions. Note that the weights are rounded to one decimal place.

[0070] The weight detected by weight sensor 55 can be used instead of the weight detected by weight sensor 54B, or can be used in combination. Also, the detection time of weight sensor 54B can be corrected in accordance with the detection values ​​of speed sensor 52B, which detects the traveling speed of traveling device 2, or speed sensor 52C, which detects the conveying speed of reaping device 3, instead of the detection value of speed sensor 52A.

[0071] If the grain stalk sensor 53 is not installed or if the grain stalk sensor 53 breaks down, the yield map data may be created assuming that the grain stalk sensor 53 is always ON. Also, while Figure 15 shows an example of small areas divided vertically into four, it is also possible to further divide it horizontally to increase the number of small areas.

[0072] (Creating a yield map) When the yield monitoring switch 60 is pressed during yield monitoring, collection of yield map data is stopped and yield monitoring is terminated. When the operator presses the yield mapping switch 63, the second controller 45 creates a yield map by allocating the collected yield map data to a mesh of a pre-set field work map based on its position information.

[0073] <Yield Monitoring in Second Embodiment> (Creation of Yield Map Data) When the operator presses the yield monitoring switch 60, the system enters a yield map data collection state, and creation of yield map data begins based on the values ​​set on the setting screen. In yield monitoring in the second embodiment, yield map data is created by dividing the measurement target area 62 in half horizontally, based on the weight of grains sorted from the stalks in the left small area of ​​the first and second rows and the weight of grains sorted from the stalks in the right small area of ​​the third and fourth rows at time intervals T or for each specified travel distance along the travel path 72.

[0074] The method for creating yield map data will be described with reference to the flowchart in Figure 14. First, the position information of each small area in the measurement target area 62 is determined from the received position information (S201). Next, the yield of the measurement target area 62 is calculated based on the detection value of the weight sensor (54B) (S202). Next, the ON / OFF status of the stalk sensor 53 is acquired (S203), and the yield of each small area in the measurement target area 62 is determined according to the weight ratio calculation method of the second embodiment described above (S204). Next, the position information of the small area calculated in S201 and the yield of that small area calculated in S203 are linked and output as yield map data for each small area (S205). Note that the order of steps S201 to S203 in the flowchart may be reversed.

[0075] For example, if the weight of the grains sorted from the first to fourth rows of stalks detected by weight sensor 54B is 4 kg, in case 1 of Fig. 11, the weight is divided by 4, which is the number of stalk sensors 53 with ON detection values, and a left subregion of 2 kg, which is the sum of the first and second rows, and a right subregion of 2 kg, which is the sum of the third and fourth rows, are assigned to the left and right subregions that divide the measurement target area 62 in Fig. 16 horizontally. In case 2, the weight is divided by 3, and a left subregion of 2.6 kg and a right subregion of 1.3 kg are assigned to the left and right subregions of the measurement target area 62. In case 4, the weight is divided by 2, and a left subregion of 4 kg and a right subregion of 0 kg are assigned to the left and right subregions of the measurement target area 62. In case 8, the weight is divided by 1, which is the number of columns, and a left subregion of 4 kg and a right subregion of 0 kg are assigned to the left and right subregions of the measurement target area 62.

[0076] It is preferable to multiply the calculated weight by the moisture percentage detected by the moisture sensor 54C. This removes the moisture content, allowing a more accurate grain weight to be assigned to the measurement target area 62. It is also preferable to vary the added grain weight increase according to the output rotation speed of the engine E detected by the speed sensor 52A. This reduces the effect of delay time, allowing the weight of the grains sorted from the stalks harvested by the harvesting device 3 to be more accurately calculated for the measurement target area 62.

[0077] If the grain stalk sensor 53 is not installed or if the grain stalk sensor 53 breaks down, the yield map data may be created assuming that the grain stalk sensor 53 is always ON. Also, while Figure 16 shows an example of small areas divided into two vertically, it is also possible to further divide it horizontally to increase the number of small areas.

[0078] (Creating a yield map) When the yield monitoring switch 60 is pressed during yield monitoring, collection of yield map data is stopped and yield monitoring is terminated. When the operator presses the yield mapping switch 63, the second controller 45 creates a yield map by allocating the collected yield map data to a mesh of a pre-set field work map based on its position information.

[0079] 15 and 16, the grain yield (weight) for each small region is illustrated as being assigned to a rectangular region for convenience, but in actual data generation, it is linked to a representative coordinate value and is generally assigned to the center of each small region (center of area gravity position). Therefore, yield data for a certain small region A1 is generated in the form of (m1, x1, y1). Note that m1 is the weight of the grain, and x1, y1 are two-dimensional representative coordinate values. The representative coordinate values ​​x1, y1 do not necessarily have to be at the center of the small region, but can be shifted in the extension direction of the travel path 72 as long as they are at the center of the small region in the width direction.

[0080] FIG. 17 shows a yield map in which the measurement target area 62 is not divided into multiple small areas. The yield data obtained as a result of a work travel process based on three travel routes 72 is illustrated, with the white dots on the travel routes indicating the coordinate positions to which the yield of each measurement target area 62 is assigned. FIG. 18 shows an example in which the measurement target area 62 is divided into two small areas, similar to the "Yield Monitoring of the Second Embodiment" described above, with the black dot indicating the coordinate position to which the end is assigned. Note that in the following explanation, the yield information for each coordinate in FIGS. 17 to 19 may be described in the format of m(x,y). For example, the yield information for the upper leftmost area in FIG. 17 is represented as m(3,7), and the yield information for the upper leftmost area in FIG. 18 is represented as m(3b,7).

[0081] The yield information recorded in this manner and linked to the representative coordinate values ​​may be assigned to a grid-like mesh as shown in Figure 19 and evaluated during work or in managing work information after work is completed. For each cell of the mesh, the weight of the yield information contained in that cell is summed to determine the weight value of that cell. This can be used to visualize the weight value of each cell by changing the color depending on its size, or to evaluate the degree of growth by comparing it with other work information (for example, the amount of fertilizer applied during the growth process).

[0082] 19 shows cell C and its surrounding eight cells superimposed on the yield data described in FIGS. 17 and 18. Focusing on cell C, if measurement target area 62 is not divided into multiple small areas, cell C includes m(2,3), m(2,4), and m(2,5). In contrast, if measurement target area 62 is divided into two small areas, of m(2a,3) and m(2b,3) corresponding to m(2,3), m(2b,3) is not included, but m(1b,5), m(2b,6), and m(3a,4) are included.

[0083] By dividing the measurement area 62 into multiple small areas in this way and generating yield information, it is possible to give more accurate weight values ​​to each cell, not only when the distribution ratio is unequal based on the grain stalk sensor 53, etc., but also when the distribution ratio is equal, even though the configuration of the weight sensor 54B, etc. is the same, and without significantly increasing the amount of calculation, thereby enabling appropriate evaluation.

[0084] (Application to Data Other Than Yield Information) While the above description has been given using an example of allocating yield information to a mesh, the present invention can be applied to any quantitative data that changes with movement. In the agricultural field, examples of the yield obtained from the target work area include the yield information and the amount of grass cut by a mower; the amount of materials applied to the target work area, such as seeds, transplanted seedlings, pesticides, and fertilizers, and the amount of fuel consumed and workload values ​​as changes in the vehicle itself. Depending on the evaluation perspective, the vehicle's inclination and travel speed can also be treated similarly. Note that the method for calculating the representative value of a cell, such as whether to sum the data contained in the mesh cells or to average or evaluate the maximum and minimum values, should be considered individually and specifically according to the characteristics of the data.

[0085] (Generalized Proportional Data Generator) From the above description, the following proportional data generator of the present invention can be understood. An outline of the proportional data generator 100 is shown in FIG.

[0086] The data acquisition unit 110 includes a target quantity data acquisition unit 111 that acquires target quantities as quantitative data to be divided, a vehicle position acquisition unit 112 that identifies the position of the vehicle within the work area, and a reference direction acquisition unit 113 that acquires information necessary to specify the division direction when dividing. Each acquisition unit in the data acquisition unit 110 acquires data in a format linked to time.

[0087] The intermediate data generation unit 120 has a pro rata distribution ratio determination unit 121 and a generation position estimation unit 122. The intermediate data generation unit 120 determines at what ratio and to what position the target quantity should be distributed. The intermediate data generation unit 120 instructs the pro rata distribution ratio determination unit 121 and the generation position estimation unit 122 to specify division conditions for dividing by the stored division number N.

[0088] In response to this, the occurrence position estimation unit 122 estimates the positions of the N occurrence points. This estimation is performed mainly based on the vehicle position information acquired by the vehicle position acquisition unit 112 and the direction information acquired by the reference direction acquisition unit 113. In other words, a straight line that passes through the vehicle position and has a slope equal to the direction is calculated, and a pre-stored reference width W is divided into N equal parts, and the midpoints of the N occurrence points are determined.

[0089] In addition, if the position of the working unit is deviated from the vehicle position (such as the mounting position of the GNSS antenna or the center position of the vehicle), the intermediate data generation unit 120 needs to calculate a straight line based on an offset position that takes that deviation into account. Also, as with the combine harvester yield information mentioned above, if there is a deviation between the timing of generation (the timing of reaping) and the timing of detection (the timing of grain storage), it is necessary to evaluate the amount of deviation and refer to the position information at the time of going back. Also, if the working width changes, it is necessary to be able to acquire that change.

[0090] The pro rata ratio determination unit 121 basically needs to generate data in which the target amount is divided into N equal parts, but there are also cases in which the amount is pro rata divided at unequal ratios, such as the yield data of the combine harvester described above.

[0091] The post-division data generation unit 130 divides the target quantity pro rata based on the rule determined by the intermediate data generation unit 120, and stores the data as data including at least (m1, x1, y1) as described above.

[0092] By dividing a single measurement quantity (target quantity) into multiple points and linking them in this way, data with a more preferable evaluation granularity can be obtained when evaluating the distribution of the target quantity in comparison with other work data, etc. In particular, when calculating a representative value for each cell of a mesh from data assigned to a representative point, if the mesh spacing is less than about three times the work width or the data acquisition pitch (i.e., either the front, back, left, or right pitch of data acquisition), the distribution tends to be biased, so the data division (upsampling) of the present invention is effective.

[0093] It is preferable that the target quantity data acquisition unit 111 can acquire data that affect the location and time characteristics that should be used as the basis for target quantity evaluation, in addition to the target quantity that is the target of division. For example, if the relationship between the work point and the vehicle position changes due to the movement or deformation of the work unit, or if the work width changes, it is necessary to acquire information on these conditions.

[0094] The vehicle position acquisition unit 112 preferably acquires the absolute position using a highly accurate satellite positioning system, but may also use a relative position using information on a reference position and an inertial navigation system.

[0095] The reference direction acquisition unit 113 preferably acquires direction information from a direction sensor such as a magnetic compass or a gyrocompass, but it can also use the direction defined by multiple positioning points from a satellite positioning system as the vehicle's traveling direction. In this case, the direction may be calculated using two adjacent consecutive points, or multiple discontinuous points, or a regression line may be calculated and used.

[0096] When the vehicle is automatically steered along the travel route, the vehicle position may be determined by using a corresponding point on the travel route (straight line) instead of using the position information from the vehicle position acquisition unit 112. In this case, the direction of the travel route (straight line) may be used as the vehicle's heading. In other words, a straight line that passes through the vehicle's position and intersects the travel route at right angles is calculated, and the intersection of the travel route and this perpendicular line is used as the vehicle's position, and N generation points are positioned on the perpendicular line.

[0097] Furthermore, although the intermediate data generating unit 120 determines the division conditions based on the number of divisions stored in advance, the number of divisions N may be dynamically determined depending on the working state, the traveling state, and the like.

[0098] Furthermore, the data generation by the series of pro rata data generators 100 can be performed in real time during work, when work is completed, or at the time of evaluation when each piece of data is kept linked to a time and compared with other data.

[0099] (Other Embodiments) Although the embodiments of the present invention have been described above, the present invention is not limited to the above-described embodiments and can be implemented in various modified forms.

Claims

1. An information processing method for generating data using a target quantity acquired by a moving body and position information and orientation information of the moving body, wherein the data is generated by identifying multiple locations in the width direction of the moving body as recording target positions based on the position information and orientation information of the moving body, calculating divided target quantities by dividing the target quantity at a predetermined ratio, and associating the divided target quantities with the recording target positions.

2. An information processing device that executes the information processing method according to claim 1.

3. A combine harvester equipped with a weight sensor (54B) for detecting the weight of grain stored in a grain tank (7), wherein a controller (40) is provided for creating yield map data based on the position information of the machine and the yield of the measurement target area (62), with the area where the reaping device (3) has harvested the stalks at time intervals T or for a predetermined travel distance being defined as a measurement target area (62), and the controller (40) is configured to preset the number of small areas into which the measurement target area (62) is divided, and the controller (40) reads a first weight detected by the weight sensor (54B), then divides it by the number of small areas to calculate a second weight, calculates position information of the small areas, and links the position information of the small areas to the second weight to create the yield map data.

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

5. A combine harvester as described in claim 3 or 4, which is provided with a moisture sensor (54C) for detecting the moisture content of the grain stored in the grain tank (7), and which subtracts the weight obtained by multiplying the first weight by the moisture content from the first weight.

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