Fecha de publicación: 31/08/1999 Fuente: Wipo "precision farming" PROBLEM TO BE SOLVED: To improve mucking or insect control efficiency and to easily obtain an increase in yield, etc., by detecting a yielding position and a yield and automatically forming a yielding map. SOLUTION: A GPS receiver 78 which receives a radio wave from a GPS satellite is connected to an operation controller 74 to recognize an yielding operation position by a combine with high precision. On the basis of the yielding operation position, a yielding crop haulm quantity, and a yielding crop grain quantity detected by the receiver 78 and sensors 51 and 55, a yielding map generation controller 79 form the yielding map showing a grain yielding state. Then a compatible magnetic disk 80 is loaded and the yielding map is recorded. On the basis of the yielding map, next mucking, insect control, etc., can be performed and a mucking quantity or insect control quantity is prevented from being too large or small to improve the mucking or insect control efficiency and increase the yield. Further, the control function of a mucking machine or insect control machine can be increased by automatically performing mucking quantity control or insect control quantity control and the labor can be saved.COPYRIGHT: (C)1999,JPO