JP2015104375A - Combine harvester - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a combine harvester allowing intuitive grasping of the periphery of the combine harvester and an accurate position of its crawlers.SOLUTION: The combine harvester includes a plurality of cameras for acquiring periphery images which are images of periphery of its machine body, a storage unit for storing a plan view of its machine body and storing positions of its crawlers in the plan view, and a display unit. The combine harvester creates an overhead image which is a virtual image in which the machine body is virtually viewed from the above on the basis of the periphery images acquired by the camera, the plan view stored in the storage unit, and the position of the crawler. The combine harvester displays the overhead image including the position of the crawler (crawler image 12a) on the display.

Description

  The present invention relates to a combiner that can display a bird's-eye view image around its own device.

  2. Description of the Related Art Conventionally, as shown in Patent Document 1, a system that supports parking of a passenger car, which is called an around view monitor, is known. This system includes a camera, a video processing device, and a display device installed on the front, rear, left and right of the passenger car.

  Each of the four cameras is disposed so as to acquire an image of a diagonally lower side (outer side and lower side) of the passenger car. The video processing device synthesizes each video obtained from the four cameras and a pre-stored plan view (such as a photograph) of the passenger car, and creates a video (overhead video) of the passenger car viewed from above. . The display device is installed in the vehicle and displays a bird's-eye view video created by the video processing device. The driver can perform parking while grasping the surrounding situation by viewing the overhead view video.

  Patent Document 2 discloses a combine including a camera. Specifically, the combine of Patent Document 2 includes two cameras that capture the front of the harvesting unit, one camera that captures the rear of the combine, and one camera that captures the handle of the combine body. The operator can check the video acquired by each camera from a display device arranged in the vicinity of the driver's seat. The display device can also divide and display the video acquired by each camera.

JP 2013-1333098 A JP 2011-72259 A

  By the way, since the combine is not suitable for running on the road, when the combine is moved for a long distance, it is generally moved on a truck. In order to place the combine on the truck, a sturdy plate-like member called a step board is installed between the truck and the road (see FIG. 5 described later). Then, the combine can be placed on the truck by the combine traveling on the step board.

  However, it is difficult to properly place the crawler unit included in the combine on the walking board. The reason is that since the crawler part is arranged on the inner side of the side surface of the combine, it is difficult for an operator to intuitively grasp the position of the crawler part. In particular, it is difficult to grasp the position of the step board from the combine driver's seat because the cutting part is in the way and the visibility in front of the aircraft is poor.

  Therefore, it is necessary to go down from the driver's seat and check the positional relationship between the crawler unit and the walk board or to be guided by another person.

  In addition to the case where the step board is placed on a truck, the step board is also used when the combine is allowed to enter the field or when traveling on a step. The same kind of problem arises not only when using a walk board but also when traveling on a narrow road.

  The present invention has been made in view of the above circumstances, and a main object thereof is to provide a combine capable of intuitively grasping the periphery of the combine and the accurate position of the crawler portion.

Means and effects for solving the problems

  The problems to be solved by the present invention are as described above. Next, means for solving the problems and the effects thereof will be described.

  According to the viewpoint of this invention, the combine of the following structures is provided. That is, the combine includes a cutting unit, a crawler unit, a plurality of surrounding video acquisition units, a storage unit, an overhead video creation unit, and a display unit. The harvesting unit harvests cereal grains. The crawler unit supports the aircraft and causes the aircraft to travel. The plurality of surrounding image acquisition units acquire surrounding images that are images around the own device. The said memory | storage part memorize | stores the position of the said crawler part in the top view of the own machine, and the said top view. The bird's-eye view image creation unit views the own device from above based on the surrounding image acquired by the surrounding image acquisition unit, a plan view of the own device stored in the storage unit, and a position of the crawler unit. Create a bird's-eye view video that is a simulated video. The display unit displays the overhead image including the position of the crawler unit.

  Thereby, by seeing a bird's-eye view image, it is possible to intuitively and accurately grasp the periphery of the combine and the position of the crawler unit. Therefore, when the step board is run to place the combine on the track, the crawler portion and the step board can be easily aligned. Further, the operator can intuitively and easily grasp the positional relationship between the combine and the tilt portion of the truck (the wall at the end of the loading platform) by viewing the same screen.

  The above combine is preferably configured as follows. That is, the storage unit stores the position and size of the bottom portion of the crawler unit. The display unit displays the overhead view image including a position and a size of a bottom surface portion of the crawler unit.

  Thereby, since the part which contacts a step board etc. among crawler parts is displayed, the positional relationship of a crawler part and a step board etc. can be grasped | ascertained more correctly. Therefore, alignment between the crawler unit and the walk board can be performed more accurately.

  The above combine is preferably configured as follows. That is, the bird's-eye view image creation unit creates, in addition to the position of the crawler unit, a virtual extension unit that extends from the position of the crawler unit to at least one of the front and rear. The display unit displays the overhead image including the position of the crawler unit and the virtual extension unit.

  Thereby, when making a combine drive toward a walk board etc., the positional relationship of a crawler part and a walk board can be match | combined correctly.

  The above combine is preferably configured as follows. That is, during advance, the virtual extension portion extended forward is automatically displayed. During reverse travel, the virtual extension portion extended backward is automatically displayed.

  Thereby, a required virtual extension part can be displayed, preventing the fall of the visibility of a bird's-eye view image.

The right view of the combine which concerns on this embodiment. The top view of a combine. The block diagram of a combine. The figure which shows the bird's-eye view image displayed on a display part at the time of cutting work. The figure which shows a mode that a combine is loaded on a truck. The figure which shows the process which a bird's-eye view image preparation part performs regarding the display of a virtual extension part. The figure which shows the bird's-eye view image displayed when loading a combine on a truck. The figure which shows the bird's-eye view image displayed when taking down a combine from a truck.

  Preferred embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a right side view of a combine according to the present embodiment, and FIG. 2 is a plan view of the combine. In the following description, “left”, “right”, and the like mean left and right in the direction in which the combine 10 advances during cutting.

  The combine 10 of this embodiment is comprised as what is called a self-desorption type combine. As shown in FIG. 1, crawler portions 12 for running the machine body 11 are provided on the left and right sides of the lower part of the machine body 11 of the combine 10. The crawler unit 12 includes a plurality of wheels and flexible rollers arranged side by side in the front-rear direction, and a crawler wound around the outside. Further, the combine 10 can be turned by driving the left crawler unit 12 and the right crawler unit 12 at different rotational speeds.

  Moreover, the combine 10 is provided with the cutting part 13 in front of the body 11 for cutting the stock of the grain straw 71, such as rice and wheat. The cutting part 13 includes a plurality of weed bodies 31 and a cutting blade (not shown).

  The plurality of weed bodies 31 are provided side by side in the left-right direction of the body 11 at the front lower part of the cutting unit 13. The weed body 31 is for defining the width to which the cereals 71 should be cut by being inserted between the cereals 71 and 71 (FIG. 2). In addition, the grass body 31 scoops up the culm 71 in a collapsed state, thereby facilitating the harvesting of the culm 71. In the cutting unit 13, a cutting blade (not shown) is provided behind the weed body 31. The cereal basket 71 inserted between the weed bodies 31 is cut and cut near the root by a cutting blade.

  In addition, the cutting unit 13 is connected to the body 11 of the combine 10 via a lifting mechanism (not shown). This elevating mechanism is configured to be able to drive the mowing unit 13 up and down. Thereby, according to the inclination of a farm field, etc., the height of the cutting part 13 can be adjusted to an appropriate height, and cutting can be performed appropriately.

  A cutting part cover 32 is provided on each of the left and right sides of the cutting part 13. Work lamps (downward illumination lights) 33 for illuminating the front diagonally lower side and the left (right) diagonal lower side of the harvesting part 13 are provided on the upper parts of the respective harvesting part covers 32.

  In addition, as shown in FIG. 1, the left and right work lights 33 are arranged to be higher than the tip of the grain basket 71. Thereby, the front of the cutting part 13 can be illuminated by the work lamp 33 without being obstructed by the tip of the grain basket 71.

  A threshing device 14 is provided behind the mowing unit 13 and on the left side of the combine 10. More specifically, the threshing device 14 is provided from the approximate center in the front-rear direction of the combine 10 to a little rearward and from the approximate center in the vertical direction of the combine 10 to a little upward. Moreover, the threshing apparatus 14 is covered with the outer plate. The threshing device 14 threshs the cereals harvested by the reaping unit 13. In addition, the threshing apparatus 14 may be covered with the outer plate (cover) which can be opened and closed.

  A sorting device 15 is provided below the threshing device 14. The sorting device 15 sorts and takes out the grains threshed by the threshing device 14.

  A grain tank 16 is provided behind the mowing unit 13 and on the right side of the combine 10. More specifically, the Glen tank 16 is provided from approximately the center in the front-rear direction of the combine 10 to the rear, and from approximately the center in the vertical direction of the combine 10 to the upper side. The Glen tank 16 stores the grain selected by the sorting device 15.

  The combine 10 includes a discharge auger 17 for discharging the grains in the Glen tank 16 to the outside. The discharge auger 17 includes a proximal end portion 17a, a central portion 17b, and a distal end portion 17c.

  The base end portion 17 a of the discharge auger 17 is supported by an auger turning mechanism 18 provided on the right rear side of the combine 10 so as to be turnable. Specifically, by operating the auger turning mechanism 18, the discharge auger 17 can be turned horizontally and vertically.

  In addition, the position (position shown in FIG. 2) of the discharge auger 17 when the grain is not discharged is referred to as a standby position. When the discharge auger 17 is in the standby position, the discharge auger 17 is supported by an auger rest 19 provided on the upper side of the machine body 11 and substantially at the center.

  The central portion 17b of the discharge auger 17 is an elongated cylindrical member, and is arranged obliquely left frontward from the base end portion 17a at the standby position. A screw conveyor (not shown) is provided inside the central portion 17b of the discharge auger 17, and the grains can be conveyed by rotating the screw conveyor.

  The distal end portion 17 c of the discharge auger 17 is located above the cutting portion 13 on the side opposite to the cabin 22. A discharge port 17d is formed in the distal end portion 17c. The discharge port 17d can discharge the grain conveyed by the screw conveyor to the outside (such as a truck).

  Further, a waste chain 20 is provided behind the threshing device 14 and the sorting device 15. The waste chain 20 conveys the sawdust from which the grain has been removed from the grain basket to the rear. The waste conveyed by the waste chain 20 is cut into an appropriate length by a waste cutter device 21 provided at the rear portion of the combine 10 and discharged outside the machine.

  A cabin 22 for an operator to board is disposed in front of the Glen tank 16. As shown in FIG. 1, a driver seat 41, a steering wheel 42, an operation panel 43, a display unit 44, and the like are disposed inside the cabin 22.

  The driver seat 41 is a seat for an operator who drives the combine 10 to sit. The steering wheel 42 is an operating tool that performs an operation for turning the combine 10. The steering wheel 42 may be provided with a display capable of displaying an image.

  On the operation panel 43, buttons, levers and the like are arranged. The operator can give various instructions to the combine 10 by operating the operation panel 43. The display unit 44 is configured by an LCD or the like disposed above the steering wheel 42, and can display a pseudo video (overhead video, details will be described later) of the combine 10 viewed from above. The position of the display unit 44 is arbitrary, and can be embedded, for example, in the steering wheel 42 or various mirrors, or disposed below the windshield.

  The combine 10 includes four cameras for acquiring respective images (peripheral images) of the front, rear, left, and right of the combine 10. Specifically, the combine 10 includes a front camera 51, a left camera 52, a right camera 53, and a rear camera 54 as surrounding image acquisition units. Hereinafter, the front camera 51 to the rear camera 54 may be collectively referred to simply as a camera. Each camera is capable of capturing a wide-angle image, and is composed of a CCD camera, a CMOS camera, or the like.

  The front camera 51 is attached to the distal end portion 17 c of the discharge auger 17. The front camera 51 acquires a front surrounding image. The front camera 51 is arranged with its lens facing forward and obliquely downward so that the cutting unit 13 and the image in front of it can be acquired. In addition, the structure which acquires only the image | video of the front of the cutting part 13 with the front camera 51 may be sufficient.

  The left camera 52 is attached to the left side surface of the airframe 11, specifically, the airframe 11 where the threshing device 14 is built. The left camera 52 is arranged with the lens facing obliquely downward to the left so that a left surrounding image of the combine 10 can be acquired. When the threshing device 14 is covered with an openable / closable cover, the left camera 52 may be attached to the cover.

  The right camera 53 is attached to the right side surface of the body 11, specifically, the right side surface of the Glen tank 16. The right camera 53 is arranged with the lens facing diagonally downward to the right so that a surrounding image on the right side of the combine 10 can be acquired.

  The rear camera 54 is attached to the rear surface of the airframe 11, specifically, to the airframe 11 where the rejection cutter device 21 is incorporated. The rear camera 54 is arranged with the lens facing rearward and downward so that a surrounding image behind the combine 10 can be acquired.

  In addition, when it is thought that the threshing apparatus 14 and the waste cutter apparatus 21 are exposed outside, the left camera 52 and the rear camera 54 can be directly attached to the threshing apparatus 14 and the waste cutter apparatus 21. . Further, when the Glen tank 16 is considered to be located inside the airframe 11, the right camera 53 can be attached to the airframe 11 where the Glentank 16 is built.

  As shown in FIG. 1, in the combine 10 of the present embodiment, the cameras (particularly the front camera 51, the left camera 52, and the right camera 53) are arranged at a position higher than the work light 33. As described above, since the work lamp 33 is arranged at a position higher than the ear of the grain lamp 71, the camera arranged at a position higher than the work lamp 33 is at a position higher than the ear of the grain basket 71. Will be placed. By arranging the camera at such a high position, the camera does not come into contact with the cereal and the lens of the camera is less likely to get dirty. In addition, since the camera is arranged at a position higher than the work light 33, it is possible to prevent the light of the work light 33 from being reflected in the image and to obtain a clear image.

  The video acquired by each camera is sent to the control unit 60 as shown in the block diagram of FIG. The control unit 60 performs control of each unit of the combine 10, for example, control related to an image displayed on the display unit 44. The control unit 60 includes an overhead video creation unit 61 and a display control unit 62.

  Moreover, the combine 10 is provided with the memory | storage part 65 which memorize | stores the information required when the control part 60 performs various controls. The storage unit 65 stores a plan view of the combine 10 as information for creating a bird's-eye view video. This plan view may be a photograph or a diagram. Further, the storage unit 65 stores not only the appearance of the combine 10 but also the position and size of the crawler unit 12 (the range occupied by the crawler unit 12 in the combine 10). Here, the size of the crawler portion 12 indicates a bottom portion of the crawler portion 12 (a portion that is grounded during traveling).

  The bird's-eye view video creation unit 61 creates a bird's-eye view video (see FIG. 4 and the like) based on the videos obtained from the four cameras. Since the method for creating the bird's-eye view image is known, the details are omitted, but the overlapping portions are deleted while overlapping the surrounding images obtained from the four cameras, and the distortion is corrected as necessary. In addition, a boundary line 78 is superimposed on the bird's-eye view video to indicate the area acquired from each camera. The boundary line 78 may be omitted or may be configured to be switched between display and non-display.

  The overhead image creation unit 61 synthesizes the plan view of the combine 10 stored in the storage unit 65 with the portion corresponding to the combine 10 in the superimposed image (combine image 10a in FIG. 4 and the like). In addition, since the front camera 51 has acquired a part of the cutting unit 13 as a video, only the part acquired by the front camera 51 in the cutting unit 13 is used as an actual video, and the remaining part is supplemented with a photograph. The overhead view video creation unit 61 creates the overhead view video by performing the above processing. Note that the entire combine 10 included in the surrounding image in the front may be displayed as a photograph.

  The overhead view video creation unit 61 combines the images indicating the position of the crawler unit 12 to create the overhead view video (crawler image 12a in FIG. 4 and the like). In the present embodiment, the crawler image 12a is a rectangular broken line, but the display mode is arbitrary. For example, a figure or a photograph imitating the crawler unit 12 may be displayed. In the present embodiment, the bottom portion of the crawler unit 12 is displayed as the crawler image 12a. However, a plan view of the crawler unit 12 (that is, an image that is longer than the bottom portion) may be displayed. Furthermore, you may display the line which shows only the center of the left-right direction of the crawler part 12, respectively.

  Moreover, the overhead view image creation unit 61 further synthesizes the virtual extension portion 12b that is an image extending forward or backward from the position of the crawler portion 12 to create an overhead view image (virtual extension portion 12b in FIG. 4 and the like). In the present embodiment, the virtual extension portion 12b is a line (chain line) obtained by extending the left and right end portions of the crawler portion 12 forward. The virtual extension part 12b may be extended rearward, or may be a line extending the center in the left-right direction of the crawler part 12 forward or rearward. Furthermore, the virtual extension part 12b does not need to be linear, and for example, may have a configuration in which the display mode of a rectangular part corresponding to the front or rear of the crawler part 12 is changed.

  Note that the bird's-eye view image creation unit 61 can switch the display of the crawler image 12a and the virtual extension unit 12b based on information from other sensors. Specifically, the overhead view image creation unit 61 performs the control shown in FIG. The bird's-eye view image creation unit 61 can determine whether the combine 10 is moving forward, moving backward, or stopped according to an instruction to the mission device of the crawler unit 12. When it is determined that the combine 10 is moving forward (S101), the overhead image creation unit 61 displays the virtual extension 12b that extends forward (S102). Further, when it is determined that the combine 10 is moving backward (S103), the bird's-eye view video creation unit 61 displays the virtual extension unit 12b extending backward (S104). The overhead image creation unit 61 continues this process. Thereby, the required virtual extension part 12b will be displayed automatically.

  Note that the bird's-eye view image creation unit 61 can switch the extension direction of the virtual extension unit 12b or hide the crawler image 12a or the virtual extension unit 12b based on an instruction from the operator.

  The display control unit 62 performs control to display the overhead view image created by the overhead view image creation unit 61 on the display unit 44. The display control unit 62 adds related information to the bird's-eye view video, enlarges and displays a part thereof, or displays the bird's-eye view video and other videos side by side according to an instruction from the operator.

  The overhead image of FIG. 4 includes a combine image 10a, a crawler image 12a, a virtual extension 12b, an uncut grain culm 71 located around it, a residue 72 after the grain culm 71 has been cut, 73 is displayed.

  Next, an overhead view image displayed on the display unit 44 of the present embodiment, particularly an overhead view image displayed when the combine 10 is loaded on a truck will be described.

  As shown in FIG. 5, when the combine 10 is moved from the field to the field, the combine 10 is loaded on the truck 75 and transported by the truck 75. In order to place the combine 10 on the track 75, a step board 74 is used.

  As shown in FIGS. 5 and 7, the step board 74 is two sturdy boards. The two walking boards 74 are attached side by side so as to connect the ground and the loading platform of the truck 75. The combine 10 is loaded on the truck 75 such that the two crawler portions 12 travel on the two step boards 74. In addition, the wall-like body arrange | positioned in the edge part of the side of a loading platform among the trucks 75 is called the tilt part 76, and the part which comprises the front from the loading platform of the truck 75 is called the front part 77.

  As described above, the crawler portion 12 of the combine 10 is disposed on the inner side from the side surface of the body 11. Moreover, from the driver's seat 41 of the combine 10, the cutting part 13 grade | etc., Gets in the way, and the visibility just ahead of the combine 10 is bad. In particular, in this embodiment, the driver's seat 41 is on the right side, so the left front visibility is poor.

  Therefore, it is difficult to operate the combine 10 and place it on the step board 74. In this regard, in the present embodiment, the crawler unit 12 is displayed as a bird's-eye view video. Moreover, the virtual extension part 12b extended forward automatically by the control mentioned above by advancing the combine 10 and approaching the step board 74 is displayed. Further, by bringing the combine 10 closer to the walking board 74, the walking board 74 is displayed in the overhead view video.

  The operator simply confirms whether the virtual extension 12b is parallel to the step board 74 and whether the virtual extension 12b passes through the step board 74, so that the positional relationship between the crawler 12 and the step board 74 is appropriate. It can be determined whether or not. In particular, in this embodiment, since the crawler image 12a and the virtual extension portion 12b have the same width as the bottom surface portion, this determination can be made more accurately.

  Accordingly, when the positional relationship between the crawler unit 12 and the step board 74 is appropriate, the combine 10 can be put on the track 75 by advancing the combine 10 as it is. On the other hand, when there is a deviation in the positional relationship between the crawler unit 12 and the step board 74, it is possible to intuitively know how much the deviation is in which direction, and thus the deviation can be easily corrected.

  In the present embodiment, since the video around the combine 10 is displayed, the operator can simultaneously confirm that there are no people or obstacles just by looking at the same screen.

  The same applies when the combine 10 is lowered from the track 75 as shown in FIG. That is, when the combine 10 is moved backward, the virtual extension portion 12b extended backward is automatically displayed by the above-described control. Therefore, the operator can intuitively grasp whether or not the positional relationship between the crawler unit 12 and the step board 74 is appropriate. Further, since the tilt part 76 and the front part 77 around the combine 10 are also displayed on the same screen, it can be simultaneously confirmed that the combine 10 does not collide with the tilt part 76 or the front part 77.

  As described above, the combine 10 according to the present embodiment includes the cutting unit 13, the crawler unit 12, a plurality of cameras, the storage unit 65, the overhead view image creation unit 61, and the display unit 44. The reaping unit 13 reaps the grain 71. The crawler unit 12 supports the machine body 11 and causes the machine body 11 to travel. The plurality of cameras acquire surrounding images that are images of the surroundings of the own device. The memory | storage part 65 memorize | stores the position of the crawler part 12 in the top view of the own machine, and the said top view. The bird's-eye view image creation unit 61 is a pseudo image of the device viewed from above based on the surrounding image acquired by the camera, the plan view of the device stored in the storage unit 65, and the position of the crawler unit 12. Create a bird's-eye view video. The display unit 44 displays an overhead video including the position of the crawler unit 12 (crawler image 12a).

  Thereby, the periphery of the combine 10 and the position of the crawler part 12 can be grasped intuitively and accurately by looking at the overhead view video. Therefore, when the step board 74 is traveled to place the combine 10 on the track 75, the crawler unit 12 and the step board 74 can be easily aligned. Further, the operator can intuitively and easily grasp the positional relationship between the combine 10 and the tilt part 76 and the front part 77 of the track 75 by viewing the same screen.

  Further, this effect can be exhibited not only when the track 75 is placed on the two walking boards 74 but also when the truck 10 is placed on one wide walking board and when the combine 10 travels on a narrow road. . In addition, the same effect can be exhibited when there is a portion (such as an uncut grain mash) that the crawler unit 12 does not want to step on during the cutting operation.

  The preferred embodiment of the present invention has been described above, but the above configuration can be modified as follows, for example.

  When the video of the crawler unit 12 can be acquired by the left camera 52 or the right camera 53, the video of the left camera 52 or the right camera 53 can be displayed instead of the overhead view video or arranged in the overhead view video. .

  The bird's-eye view image creation unit 61 may further display other information related to the crawler unit 12. For example, the bird's-eye view image creation unit 61 can detect the rotation speed and the rotation direction of each crawler unit 12 in accordance with an instruction given to the mission device of the crawler unit 12. Then, the bird's-eye view image creation unit 61 displays information indicating the rotation speed or rotation direction of each crawler unit 12 (for example, an arrow with a length corresponding to the rotation speed and a direction matching the rotation direction) on the display unit 44.

  Although the combine 10 of the said embodiment is provided with the cabin 22, this invention is applicable also to the combine 10 of the type which is not provided with the cabin 22 but the driver's seat 41 is exposed.

  In the above description, an image obtained by actually obtaining a part of the harvesting unit 13 in the combine displayed in the overhead view image is used. However, an actual image of the combine may be included in another part. Moreover, it is good also as a top view which memorize | stored beforehand all the combine displayed on a bird's-eye view image | video.

  In the above description, the work lamp 33 is formed over both the front side and the side surface side of the combine 10, but it may be formed only on the front side or only on the side surface side.

  In the above description, the configuration in which one direction is acquired by one camera is disclosed, but at least one of the surrounding images of the front, left, right, and rear may be acquired by two cameras. For example, a configuration in which a front surrounding image is acquired by two front cameras 51 attached to the discharge auger 17 and the cabin 22 may be used.

  The installation position of the camera that acquires the surrounding video can be changed as appropriate. For example, the front camera 51 can be disposed on the upper side of the cabin 22 or on the upper side of the cutting unit 13. Further, depending on the layout of the combine, the left camera 52 can be attached to the sorting device 15 or the Glen tank 16, and the right camera 53 can be attached to the cabin 22 or the threshing device 14. The rear camera 54 can also be attached to a bundling device that binds the waste.

DESCRIPTION OF SYMBOLS 10 Combine 11 Airframe 12 Crawler part 12a Crawler image 12b Virtual extension part 13 Mowing part 14 Threshing apparatus 15 Sorting device 16 Glen tank 17 Discharge auger 18 Auger turning mechanism 19 Auger rest 20 Exclusion chain 51 Front camera (Ambient image acquisition part)
52 Left camera (Ambient image acquisition unit)
53 Right camera (Ambient image acquisition unit)
54 Rear camera (Ambient image acquisition unit)
44 Display Unit 60 Control Unit 61 Overhead Video Creation Unit 62 Display Control Unit 65 Storage Unit 74 Walking Board

Claims (4)

A harvesting section for harvesting cereals;
A crawler unit that supports the aircraft and travels the aircraft;
A plurality of surrounding image acquisition units for acquiring surrounding images that are surrounding images of the own device;
A storage unit for storing a plan view of the own machine and a position of the crawler unit in the plan view;
It is a pseudo image of the device viewed from above based on the surrounding image acquired by the surrounding image acquisition unit, a plan view of the device stored in the storage unit, and the position of the crawler unit. An overhead view video creation unit for creating an overhead view video;
A display unit for displaying the overhead view image including the position of the crawler unit;
The combine characterized by comprising. The combine according to claim 1,
The storage unit stores the position and size of the bottom portion of the crawler unit,
The said display part displays the said bird's-eye view image containing the position and magnitude | size of the bottom face part of the said crawler part, The combine characterized by the above-mentioned. The combine according to claim 1 or 2,
In addition to the position of the crawler part, the overhead view image creation part creates a virtual extension part that extends from the position of the crawler part to at least one of the front and rear,
The said display part displays the said bird's-eye view image including the position of the said crawler part, and the said virtual extension part, The combine characterized by the above-mentioned. A combine according to claim 3,
The display unit
While moving forward, the virtual extension that extends forward is automatically displayed,
The combine that automatically displays the virtual extension portion extended backward when the vehicle is moving backward.

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