JP2019097532A - Farm field work support terminal, farm field work machine, and farm field work support program - Google Patents

Abstract

To provide a farm field work support system capable of preventing an operator from making erroneous recognition and steering in providing the operator with a photographed image of the periphery of a machine body.SOLUTION: A farm field work support terminal 1 for supporting farm field work by a farm field work machine 2 provided with a travelling machine body 21, farm field work devices 22 and 23 for performing work for a farm field, and at least one photographing device 24 includes: a display unit 11; a photographed image acquisition unit 14 for acquiring a photographed image by the photographing device 24; a display control unit 15 for controlling the display to the display unit 11; the travelling machine body 21; the farm field work devices 22 and 23; and a communication unit 16 for performing communication with the photographing device 24. The display control unit 15 displays a normal image or a virtual image of the photographed image in the display unit 11.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a field work support terminal, a field work machine, and a field work support program.

  In recent years, various field work support systems have been used to support agricultural work in fields. In particular, in the field work machine, a field work support system is used which supports the worker so that the work can be efficiently performed.

  As a field work machine provided with such a field work support system, for example, in Patent Document 1, a display unit is provided which includes a photographing device in a seedling planting unit and displays a photographed image by the photographing device in front of a driver seat. A seedling transplanter provided is disclosed. According to this seedling transplanting machine, the worker can check the planting posture of the seedling and the remaining quantity of the seedling on the seedling platform without moving from the driver's seat, so for the seedling transplantation for these confirmations There is no need to interrupt the operation of the machine, which is advantageous in that the working efficiency is improved.

  In addition, Patent Document 2 discloses a rice transplanter including a rear imaging unit and a display unit that displays an image captured by the rear imaging unit. According to this rice transplanter, the operator can confirm whether there is an obstacle or a person in the vicinity of the planting section behind the driver's seat through the image taken by the rear imaging section, and after ensuring safety It is advantageous in that the rice transplanter can be moved backward or the planting section can be driven.

JP, 2013-226088, A JP 2012-157333 A

  By the way, in the technology as disclosed in Patent Document 1, when displaying a photographed image by a photographing device facing the back of the driver's seat on the display installed in front of the driver's seat, the image displayed on the display is displayed. There is a problem that the left and right direction and the actual left and right direction with respect to the traveling vehicle are displayed in reverse. When such a display with inversion is performed, for example, when the worker confirms the remaining amount of seedlings, it erroneously recognizes which of the left and right seedling platform the remaining amount of seedlings is reduced. There was a risk of

  Further, in the technology as disclosed in Patent Document 2, there is the same problem as described above. When the display including the above-described inversion is performed, there is a possibility that the left and right direction of the steering may be mistaken when the operator performs the steering with reference to the photographed image displayed on the display unit. Such erroneous operation is not preferable in light of the purpose of steering the rice transplanter after securing safety.

  Then, in providing a worker with a photographed image of the periphery of the machine, it is desirable to realize a field work support system that can prevent the worker from making an error in recognition and steering.

  The field work support terminal according to the present invention is a field work support terminal for supporting field work by a field work machine provided with a traveling machine body, a field work device for performing work on the field, and at least one photographing device, A display unit, a photographed image acquisition unit for acquiring a photographed image by the photographing device, a display control unit for controlling display on the display unit, the traveling body, the field work device, and the photographing device And the display control unit displays an orthographic or virtual image of the photographed image on the display unit.

  In addition, the field work machine according to the present invention is a field work machine provided with a traveling machine body, a field work device for performing work on the field, at least one imaging device, and a field work support terminal for supporting field work. The field work support terminal includes a display unit, a photographed image acquisition unit for acquiring a photographed image by the photographing device, a display control unit for controlling display on the display unit, the traveling machine body, and the field work device And a communication unit that communicates with the imaging device, and the display control unit displays an orthographic or virtual image of the photographed image on the display unit.

  A field work support program according to the present invention is a field work support program for supporting field work by a field work machine provided with a traveling machine body, a field work device for performing work on a field, and at least one photographing device. And a communication function for communicating with the traveling machine body, the field work device, and the imaging device, and selecting a normal image or a virtual image of the captured image. And a computer to realize a display control function having a function to be displayed on the display unit.

  According to these configurations, it is possible to provide an image that is easier for the worker to recognize among the regular image and the virtual image of the image captured by the imaging device.

  Hereinafter, preferred embodiments of the present invention will be described. However, the scope of the present invention is not limited by the preferred embodiments described below.

  As one aspect of the field work support terminal according to the present invention, the traveling machine body has a driver's seat, the installation direction of the imaging device is a first direction in which the imaging direction faces the front of the driver seat, and the imaging direction Is selected from a direction including the second direction facing the rear of the driver's seat, the installation direction of the field work support terminal is a first direction where the display unit faces the rear of the driver seat, and the display unit The imaging device is selected from a direction including the second direction facing the front of the driver's seat, and the display control unit is configured to capture the captured image displayed on the display unit, and the field work support terminal, The imaging device for displaying an orthographic image of the captured image and capturing the captured image displayed on the display unit, when installed in the first direction or in the second direction. And the field work support terminal , To either the first direction and the other in the second direction, when installed, it is preferable to display a virtual image of the captured image on the display unit.

  According to this configuration, the left and right direction when the operator steers the traveling machine body and the left and right direction of the movement on the photographed image displayed on the display unit coincide with each other. It can be performed.

  The field work support terminal according to the present invention, as one aspect, the traveling machine body includes forward and backward switching means for switching the traveling direction of the traveling machine body between forward and reverse, and the photographing device takes a picture of itself A photographing direction detection unit for detecting a relationship between a direction and a traveling direction of the traveling vehicle body, the display control unit including information on the traveling direction of the traveling vehicle body from the forward / backward switching means, and the photographing direction detection unit It is preferable to recognize whether the imaging | photography direction by the said imaging device is said 1st direction or said 2nd direction based on the relationship between the imaging | photography direction from and the advancing direction of the said traveling body.

  According to this configuration, since the imaging device can automatically recognize the installation direction of itself, it is more preferable for the purpose of providing an operator with an appropriate image.

  As one aspect, the field work support terminal according to the present invention includes a plurality of the imaging devices, and the display control unit selects at least one imaging device from the plurality of imaging devices, It is preferable to display an image captured by the selected imaging device on the display unit.

  According to this configuration, it is possible to select a photographed image to be provided to the worker from among a plurality of photographing devices according to the work and the surrounding conditions.

  As one aspect, the field work support terminal according to the present invention includes forward and reverse switching means for switching the traveling direction of the traveling body between forward and reverse, and the display control unit performs the traveling It is preferable that the traveling direction of the vehicle is acquired from the forward / backward switching means, and the selected photographing device is determined based on the traveling direction.

  According to this configuration, it is possible to provide a photographed image suitable for forward and reverse travel respectively. In addition, such selection of a photographed image can be interlocked with switching between forward and reverse.

  As one aspect of the field work support terminal according to the present invention, the traveling machine body has a driver's seat, the installation direction of the imaging device is a first direction in which the imaging direction faces the front of the driver seat, and the imaging direction Is selected from a direction including the second direction facing the rear of the driver's seat, at least one imaging device is installed in the second direction, and the display control unit is configured to: It is preferable to display an image captured by the imaging device installed in two directions on the display unit.

  According to this configuration, when the traveling machine moves backward, it is possible to provide a photographed image for confirming a rear situation.

  As one aspect of the field work support terminal according to the present invention, at least one photographing device shoots the field work device, and the display control unit takes a picture of the field work device when the traveling machine advances. Preferably, the imaging device is selected.

  According to this configuration, when the traveling body advances, it is possible to provide a photographed image for confirming a situation in front.

  In the field work support terminal according to the present invention, as one aspect, at least one photographing device photographs at least one of the working unit and the storage unit of the field work device, and the display control unit advances the traveling machine body At the same time, it is preferable to select the photographing device for photographing at least one of the working unit and the storage unit.

  According to this configuration, it is possible to provide a photographed image for confirming the condition of at least one of the working unit and the storage unit of the field work device when the traveling machine body is advanced to carry out the field work.

  As for the field work support terminal concerning the present invention, as one mode, it is preferred that the photographing device chosen can be decided by human operation.

  According to this configuration, the operator can arbitrarily select the photographed image displayed on the display unit.

  Further features and advantages of the present invention will become more apparent from the following description of exemplary and non-limiting embodiments, which will be described with reference to the drawings.

The figure showing the composition of the field work support terminal of a first embodiment of the present invention. The side view of the rice transplanter of 1st embodiment of this invention. The top view in the rice planting operation of the rice transplanter of 1st embodiment of this invention. The example of the screen display of the seedling residual amount monitor mode of 1st embodiment of this invention. The figure showing the composition of the field work support terminal of a first embodiment of the present invention. The side view of the rice transplanter of 2nd embodiment of this invention. The side view of the tractor of other embodiments of the present invention.

First Embodiment
A first embodiment of a field work support terminal according to the present invention will be described with reference to FIGS. In the present embodiment, the field work support terminal 1 according to the present invention is a rice transplanter 2 (example of a field work machine) including a seedling planting device 22 (example of a field work device) in a paddy field P (example of field). The case of supporting seedling planting work will be described as an example. In addition, the field work that is supported by the field work support terminal is not limited to the seedling planting work, and may be, for example, other rice cultivation work such as tillage work and harvesting work, and a field other than rice cultivation such as upland farming work It may be a task. In addition, the field work machine equipped with the field work support terminal is not limited to the rice transplanter, and may be, for example, a tractor, a combine, a passenger management machine, or the like.

[Basic Configuration of Field Work Support Terminal 1]
First, the basic configuration of the field work support terminal 1 according to the present embodiment will be described (FIG. 1). The field work support terminal 1 includes a touch panel 11 (an example of a display unit), a machine position information acquisition unit 12, a work information acquisition unit 13, a captured image acquisition unit 14, a display control unit 15, and a communication unit 16. Equipped with

  The touch panel 11 functions as a display unit that displays information necessary for supporting field work and presents it to the worker, and also functions as an input device that receives an input from the worker. The touch panel 11 can display, for example, a group of icons assigned to various functions, and the worker can operate the field work support terminal 1 by a touch operation on each icon.

  The vehicle position information acquisition unit 12 communicates with the rice transplanter 2 via the communication unit 16, and acquires the vehicle position information 41 by the global positioning satellite system (GNSS) 213 mounted on the rice transplanter 2.

  The work information acquisition unit 13 communicates with the seedling planting device 22 mounted on the rice transplanter 2 via the communication unit 16, and acquires work information regarding the content of the work to be performed. The information included in the work information acquired by the work information acquisition unit 13 includes, for example, the model name of the seedling planting device 22, the full width of the working width of the seedling planting device 22, the number of planting strips actually operated, The work width based on the number of planting bars actually operated, the distance between stocks, the type of fertilizer, and the amount of fertilization are included. These pieces of information can be displayed on the touch panel 11 automatically as needed or by an operator's manual operation.

  The photographed image acquisition unit 14 acquires photographed images (normal images 31A to 31D) by the cameras 24A to 24D mounted on the rice transplanter 2. In addition, the captured image acquisition unit 14 can generate virtual images 32A to 32D of images captured by the cameras 24A to 24D.

  The display control unit 15 has a function of controlling the content to be displayed on the touch panel 11, and includes a function of displaying an image captured by the cameras 24A to 24D. When displaying the photographed image, the display control unit 15 selects at least one photographed image selected from the group consisting of the positive images 31A to 31D and the virtual images 32A to 32D and displays the selected image on the touch panel 11.

[Basic configuration of rice transplanter 2]
The rice transplanter 2 includes a traveling machine body 21, a seedling planting device 22, a fertilization device 23 (another example of a field work device), four cameras 24A, 24B, 24C, 24D (examples of a photographing device), and a field And a work support terminal 1 (FIG. 2). The arrangement and role of the four cameras will be described later.

  The traveling body 21 has a driver's seat 211, a forward / reverse switching unit 212, and a GNSS 213. In the following description, the front direction of the worker is "front", the back direction of the worker is "back", and the right hand side of the worker is "right", based on the worker sitting on the driver's seat 211, The left hand side of the worker is defined as "left". Information relating to the traveling state such as the traveling direction and speed of the traveling body 21 is transmitted to the field work support terminal 1 by the forward / backward switching means 212. In addition, machine position information by the GNSS 213 is also transmitted to the field work support terminal 1.

  The field work support terminal 1 is attached and detached at a first position fixed to a spare seedling pad provided on the right front of the driver's seat 211 or at a second position fixed to a frame provided on the right rear of the driver's seat 211 It will be installed freely. The installation position of the field work support terminal 1 can be arbitrarily selected by the worker according to the state of work. In the first position, the field work support terminal 1 is installed in a first direction in which the touch panel 11 faces the rear of the driver's seat 211, that is, a seated worker is installed in a direction facing the touch panel 11. In the second position, the field work support terminal 1 is installed in a second direction in which the touch panel 11 faces the front of the driver's seat 211, that is, installed in a direction facing the touch panel 11 when the seated operator looks back. In the following description, a case where the field work support terminal 1 is installed at the first position (first direction) will be described as an example. In this installation state, the operator can visually recognize various information displayed on the touch panel 11 while the rice transplanter 2 is in operation, and can thereby receive support of the field work.

  The seedling planting device 22 includes a seedling platform 221 (an example of a storage unit), a seedling planting operation unit 222 (an example of an operation unit), a fertilization operation unit 223 (another example of the operation unit), and a seedling planting device And a control unit 224. The seedling planting device 22 is configured in a multi-row planting type (for example, eight-row planting), and the number of planting bars can be changed by operating each bar clutch (not shown).

  The fertilization device 23 has a fertilizer hopper 231 (another example of the storage unit) and a feeding device (not shown). The fertilization device 23 feeds out the fertilizer stored in the fertilizer hopper 231 by a predetermined amount from the feeding device and feeds it to the fertilization work unit 223 equipped in the seedling planting device 22 through the supply path (not shown). It is configured to supply.

  The camera 24A is provided at a lower front portion of the traveling body 21 so as to include the front of the traveling body 21 in the imaging range. The camera 24 </ b> B is provided behind the driver's seat 211 so as to include the rear of the traveling body 21 in the imaging range. The camera 24C is provided near the seedling platform 221 so as to include the seedling platform 221 in the imaging range. The camera 24D is provided on the upper lid of the fertilizer hopper 231 so as to include a fertilizer storage portion located below it in the imaging range. Among these cameras, the camera 24A is installed facing the front of the traveling vehicle (first direction), and the cameras 24B to 24C are installed facing the rear of the traveling vehicle (second direction). Each of the cameras 24A to 24D has shooting direction detection units 241A to 241D.

[Operation mode of the field work support terminal 1]
Next, the driving | running form of the field work assistance terminal 1 which concerns on this embodiment is demonstrated. In the field planting work in the paddy field P, the field work support terminal 1 is a front monitor mode for visually recognizing the condition of the lower front of the traveling machine body 21, a back monitor mode for confirming the situation behind the traveling vehicle 21, a seedling platform A group consisting of a seedling residual amount monitoring mode for confirming the residual amount of seedlings in 221, a fertilizer residual amount monitoring mode for confirming the residual amount of fertilizer in the fertilizer hopper 231, and a guidance mode for guiding the traveling of the rice transplanter 2 Operate in one mode selected from The operation mode is automatically selected according to the operation condition of the rice transplanter 2 as described later, and can also be selected by human operation. When the operation mode is selected by manual operation, the selection takes precedence over the selection made automatically. Field work support terminal 1 may have operation modes other than the above-mentioned group.

  When driving of the rice transplanter 2 is started, the imaging direction detection units 241A to 241D analyze the images that are continuously captured so that the cameras 24A to 24D face forward with respect to the traveling direction of the traveling body 21 respectively. Recognize if you are facing or looking backwards. Further, at this time, the photographing direction detection units 241A to 241D acquire, from the forward / reverse switching unit 212, information as to whether the traveling body 21 is moving forward or backward. The imaging direction detection units 241A to 241D combine these pieces of information to recognize whether the cameras 24A to 24D are facing the first direction or the second direction, respectively.

  The above recognition process will be described by taking the camera 24A as an example. Since the camera 24A is installed facing the front of the traveling machine body 21, when the traveling machine body 21 is advanced, in the normal image 31A or virtual image 32A of the continuous photographed image by the camera 24A, an object captured in the back of the screen A mode is taken that approaches the front of the screen as it progresses. By analyzing this, the shooting direction detection unit 241A determines that the camera 24A is facing forward with respect to the traveling direction. Next, the shooting direction detection unit 241A acquires, from the forward-reverse switching unit 212, information that the traveling machine body 21 is moving forward. By combining these, the shooting direction detection unit 241A recognizes that the camera 24A faces forward with respect to the traveling direction when the traveling body 21 advances, that is, is installed in the first direction.

  The front monitor mode is used when moving the traveling body 21 forward, and at this time, the display control unit 15 displays the normal image 31A of the image captured by the camera 24A on the touch panel 11. The camera 24A is provided at the lower front of the traveling unit 21 so as to include the front of the traveling unit 21 in the imaging range, so that the operator can visually recognize the front of the traveling unit 21 by the photographed image. In particular, it is possible for the operator sitting on the driver's seat 211 to visually recognize the condition of the invisible portion of the traveling machine body 21 with the normal image 31A. With this function, for example, the rice transplanter 2 can be operated to recognize and avoid an obstacle ahead. It should be noted that when the traveling machine body 21 is operated to move forward, the field work support terminal 1 acquires information from the forward / backward switching means 212 that the traveling machine body 21 is moving forward, and automatically shifts to the front monitor mode. You may configure it.

  The back monitor mode is used when moving the traveling machine 21 backward, and at this time, the display control unit 15 displays the virtual image 32B of the image captured by the camera 24B on the touch panel 11. Since the camera 24B is installed facing the rear of the traveling machine body 21 (second direction), the normal image 31A of the photographed image of the camera 24B is displayed on the touch panel 11 of the field work support terminal 1 installed in the first direction. Then, the direction in which the rice transplanter 2 actually moves by steering wheel steering and the direction in which the rice transplanter 2 moves on the virtual image 32B displayed on the touch panel 11 are reversed horizontally. Therefore, by displaying the virtual image 32B instead of the normal image 31B, the direction of steering wheel steering matches the direction of movement on the touch panel 11, so that steering can be performed intuitively. By this function, it is possible to safely reverse the rice transplanter 2 while, for example, visually recognizing a blind spot behind by the seedling planting device 22. In addition, when the traveling machine body 21 is operated to move backward, the field work support terminal 1 acquires information that the traveling machine body 21 is moving backward from the forward / backward switching unit 212 and automatically shifts to the back monitor mode. You may configure it.

  The seedling residual amount monitor mode is mainly used in work travel to advance the traveling machine body 21 while planting seedlings by operating the seedling planting device 22. At this time, the display control unit 15 is a virtual image of a photographed image of the camera 24C. 32C is displayed on the touch panel 11 (FIGS. 3 and 4). Since the camera 24C is installed so as to include the seedling loading stand 221 in the imaging range, the operator can visually recognize the remaining amount of the seedling S on the seedling loading stand 221 by the photographed image. Since the seedling loading stand 221 is provided behind the driver's seat 211, the worker operating the rice transplanter 2 can not directly view it, but in the case of the above configuration, the worker displays the image displayed on the touch panel 11 The remaining amount of the seedling S can be confirmed while looking forward by the image. Further, as in the case of the camera 24B, the camera 24C is also installed in the second direction, so by selecting the virtual image 32C as a photographed image to be displayed on the touch panel 11, an actual horizontal direction and movement on the touch panel 11 can be obtained. The direction can be matched. By this, it is intuitively recognized by the virtual image 32C what number S of seedlings S are decreasing in the left-right direction among the seedling stand 221 provided corresponding to each row of the multiple row planting type Can. In addition, when the traveling machine body 21 is operated to move forward, the field work support terminal 1 acquires information that the traveling machine body 21 is moving forward from the forward / backward switching means 212, and automatically shifts to the seedling residual amount monitoring mode It may be configured to Alternatively, the field work support terminal 1 automatically monitors the remaining amount of the seedling when it is detected that the seedling has fallen below the preset remaining amount by image recognition of the photographed image or by a physical sensor or other detection means. The virtual image 32C may be displayed together with an alarm notifying that the remaining amount of the seedling S has decreased by shifting to the mode.

  The fertilizer residual amount monitor mode is mainly used in work travel for advancing the traveling machine body 21 while performing fertilization by operating the seedling planting device 22 and the fertilization device 23. At this time, the display control unit 15 takes a photographed image of the camera 24D. Is displayed on the touch panel 11. The camera 24D is provided on the upper lid of the fertilizer hopper 231 so as to include the fertilizer storage portion located below it in the imaging range, so the operator visually recognizes the remaining amount of fertilizer in the fertilizer hopper 231 by the photographed image. be able to. Since the fertilizer hopper 231 is provided behind the driver's seat 211, the worker operating the rice transplanter 2 can not directly view it, but in the case of the above configuration, the worker can display the photographed image displayed on the touch panel 11 The amount of remaining fertilizer can be checked while facing forward. As in the seedling residual amount monitor mode, by selecting the virtual image 32D as a photographed image to be displayed on the touch panel 11, it is possible to make the actual lateral direction coincide with the direction of movement on the touch panel 11. As described above, when the right and left directions match, the shaking direction of the liquid surface of the fertilizer on the virtual image 32D matches the actual left and right directions, which is preferable in that it is easy for the operator to accept sensuously and prevent defects such as video sickness. . When the seedling planting device 22 and the fertilizing device 23 are operated to fertilize, the seedling planting device control unit 224 controls the field work support terminal 1 that the seedling planting device 22 and the fertilizing device 23 have started fertilization. The field work support terminal 1 may be configured to automatically shift to the remaining amount of fertilizer monitoring mode. Alternatively, the field work support terminal 1 automatically monitors the remaining amount of fertilizer when it is detected that the amount of fertilizer has fallen below a preset residual amount by image recognition of the captured image, or by a liquid level gauge or other detection means. It may be configured that the virtual image 32D is displayed together with an alarm indicating that the amount of remaining fertilizer has decreased, by transitioning to the mode.

  In the guidance mode, the work information acquisition unit 13 recognizes that the seedling planting device 22 is attached to the rice transplanter 2 by communication with the seedling planting device 22 via the communication unit 16, and the work to be performed is Recognize that it is a seedling planting operation. In addition, the machine position information acquisition unit 12 starts acquisition of the machine position information 41 by the GNSS 213 by communication with the rice transplanter 2 via the communication unit 16. In addition, a travel route 42 suitable for efficiently carrying out the seedling planting operation for the entire area of the paddy field P is determined. When guidance is started by the field work support terminal 1 after the preparation step described above, the display control unit 15 displays the machine position information 41 and the traveling route 42 on the touch panel 11. Further, at this time, the entire area of the paddy field P displayed on the touch panel 11 is colored in yellowish color to indicate that it is the unworked area 43. When the rice planter 2 is caused to travel while driving the seedling planting device 22 in a state where the guidance function is executed, the traveling history 44 of the rice planter 2 is displayed on the touch panel 11. And the area | region of the width | variety corresponding to the working width | variety of the seedling planting apparatus 22 along the traveling history 44 is colored green as a planted area 45 (FIG. 3). The operation information acquisition unit 13 recognizes how many rows the seedling planting device 22 is actually operated by communication with the seedling planting device 22 via the communication unit 16, and the display control unit 15 The width to be recognized as the planted area 45 is adjusted in accordance with the recognized number of field shoots. If the work width for planting seedlings and the work width for fertilization are different, the fertilized area 46 is different in width from the planted area 45 (for example, white) by a width different from that of the planted area 45. Display with.

  When the seedling planting operation is advanced in the main part P1 of the paddy field P, the border P2 is reached in due course. Then, the worker turns the rice transplanter 2 and makes the rice transplanter 2 approach the next traveling route parallel to the immediately preceding traveling route, and continues the seedling planting work. At this time, although the seedling planted area 45 and the fertilized area 46 are continuously colored, the planting operation is performed overlapping the area already recognized as the seedling planted area 45 and the fertilized area 46. In this case, the overlapping area 47 is colored in a color (for example, red) different from the planted area 45 and the fertilized area 46. In this manner, the operator can recognize the presence or absence and the size of the area in which the overlapping work is performed by coloring the overlapping area 47 in a color different from the seedling planted area 45 and the fertilized area 46. Can. If the overlapping area 47 can be recognized, the operation method of the rice transplanter 2 can be adjusted to reduce this, so that the seedling planting operation can be performed efficiently. It should be noted that when the traveling machine body 21 is operated to move forward, the field work support terminal 1 acquires information from the forward / backward switching means 212 that the traveling machine body 21 is moving forward, and automatically shifts to the guidance mode. It may be configured.

Second Embodiment
Subsequently, a second embodiment of the field work machine according to the present invention will be described with reference to FIGS. In the present embodiment, the field work support terminal 1 'according to the present invention supports the sowing work by the rice planter 2' including the sowing device 22 '(another example of the field work device) in the paddy field P, as an example. explain. In the following, differences from the first embodiment will be mainly described. The points not specifically described are the same as in the first embodiment, and the same reference numerals are given and detailed description will be omitted.

[Basic configuration of rice transplanter 2 ']
First, the difference between the basic configuration of a rice transplanter 2 'according to the present embodiment and the rice transplanter 2 according to the first embodiment will be mainly described. Rice planter 2 'is replaced with seedling planting device 22 and is provided with seeding device 22', and the point provided with medicine supply device 25 (another example of field work device) which was not equipped with rice planter 2 , Different from the first embodiment (FIGS. 5 and 6).

  The seeding device 22 ′ includes a seeding tank 221 ′ (other example of the storage unit), a seeding operation unit 222 ′ (another example of the working unit), a fertilization operation unit 223 ′ (another example of the working unit), and a seeding apparatus control And a portion 224 '(FIGS. 5 and 6). The sowing device 22 'is configured in a multi-row planting type (for example, four-row planting), and the number of planting bars can be changed by operating a minor bar clutch (not shown).

  The drug supply device 25 includes two drug hoppers 251 (other examples of the storage unit) for storing powdery drug (such as an insecticide and a bactericide), and four drug delivery units 252 for delivering the drug in the drug hopper 251. And four medicine supply parts 253 for supplying medicine to the field. Here, the four drug supply units 253 are connected to four different drug delivery units 252, that is, the four drug delivery units 252 are independently controlled to form a multiple-row planting type (for example, four-row planting) The drug supply can be controlled independently for each planting stripe corresponding to. Further, the medicine hopper 251 is made of a transparent synthetic resin, so that the inside can be viewed from the outside. In addition, the number provided with the chemical | medical agent supply apparatus 25 is not limited to one, for example, when comprised so that two chemical | medical agent supply apparatuses 25A and 25B may be comprised, the spraying of an insecticide and the spraying of a herbicide can be performed simultaneously. .

  The rice planter 2 'is replaced with the camera 24C in the rice planter 2, and provided with a camera 24C' provided so as to include the seed fir tank 221 'in the imaging range, and a work target point for seeding the seeding operation unit 222' The camera 24E is provided to include in the imaging range, and the camera 24F is provided to include two medicine hoppers 251 in the imaging range. The cameras 24C 'and 24F are installed facing the front of the traveling vehicle (first direction), and the cameras 24E are installed facing the rear of the traveling vehicle (second direction).

[Driving form of farm work support terminal 1 ']
The field work support terminal 1 'which supports the sowing work by the rice transplanter 2' is changed to the seedling residual amount monitoring mode in the field work supporting terminal 1, and a seed residual quantity monitor for confirming the seed residual quantity of the seed seedling tank 221 '. Have a mode. In addition, it has the seeding monitor mode for confirming the condition of the seeding operation | work by seeding operation part 222 ', and the chemical | medical agent residual amount monitor mode for confirming the chemical | medical agent residual amount of the chemical | medical agent hopper 251.

  The form of the seedling remaining amount monitoring mode is the same as the seedling remaining amount monitoring mode in the field work support terminal 1, and thus the detailed description will be omitted. However, in the rice transplanter 2, since the camera 24C was installed in the second direction, the virtual image 32C was selected as the photographed image, but in the rice transplanter 2 ', the camera 24C' was installed in the first direction. The difference is that the normal image 31C 'is selected as the image. By selecting the regular image 31C ', the number of seeds in the left and right direction among the seed tanks 221' provided corresponding to each row of the plural row planting type is the remaining amount of the tank 221 ', It can be recognized intuitively.

  The seeding monitor mode is mainly used in work travel to advance the traveling machine body 21 while performing seeding by operating the seeding apparatus 22 ′, and at this time, the display control unit 15 sets the virtual image 32E of the photographed image of the camera 24E to the touch panel 11. indicate. The camera 24E is provided such that the operation target point at which the sowing work unit 222 'sows seeds is included in the imaging range, so that the worker can visually recognize the state of the sowing operation by the photographed image. Unlike the seedling planting work of planting seedlings in paddy field P, in the sowing work, since the seeds to be sown in paddy field P are small, the posture that the worker is sitting on the driver's seat 211 whether or not sowing is performed correctly It was difficult to judge by When configured as described above, the camera 24E provided near the work point can provide the operator with a photographed image from close enough to see seeds and seeds, so it is checked whether seeds and seeds are sown correctly. be able to.

  The drug residual amount monitor mode is mainly used in work travel for advancing the traveling machine body 21 while performing the drug supply operation by operating the drug supply device 25. At this time, the display control unit 15 corrects the normal image of the photographed image of the camera 24F. 31F is displayed on the touch panel 11. The camera 24F is provided to include the two medicine hoppers 251 in the imaging range, so that the operator can visually recognize the remaining amount of medicine of the medicine hopper 251 by the photographed image. Even in the drug remaining amount monitor mode, the actual left and right direction coincides with the left and right direction on the displayed normal image 31F, so it is intuitive to determine which of the two drug hoppers 251 has the remaining amount of the drug decreased. Easy to recognize.

Other Embodiments
Finally, another embodiment of the field work machine according to the present invention will be described. The configurations disclosed in each of the following embodiments can be applied in combination with the configurations disclosed in the other embodiments as long as no contradiction arises.

  In said embodiment, the field work assistance terminal 1 separate from the rice transplanter 2 was demonstrated as an example the structure which installs and uses the rice transplanter 2 in it. However, without being limited to such a configuration, for example, the field work support terminal may be configured as a field work machine equipped in advance.

  In the above embodiment, the configuration in which the field work support terminal 1 in which the rice transplanter 2 is the dedicated terminal is provided has been described as an example. However, without being limited to such a configuration, for example, in a general-purpose portable terminal such as a smartphone or a tablet terminal, a machine position information acquisition function, a work information acquisition function, a photographed image acquisition function, and a communication function The program may be configured as a program for realizing a display control function having a function of selecting a normal image or a virtual image of a captured image and displaying the selected image on the display unit.

In said embodiment, the field work assistance terminal 1 which concerns on this invention demonstrated as an example the structure which supports a seedling planting operation, and the structure which supports a seeding operation. However, the field work to be supported by the field work support terminal according to the present invention is not limited to seedling planting work or sowing work, for example, tilling work, standing work, standing sowing work, fertilizing work, drug dispersion work , Harvest work, etc. In addition, the field work support terminal which concerns on this invention can be mounted in the field work machine provided with the field work apparatus according to the kind of field work to implement. Such a field work machine may be a tractor, a combine, a passenger management machine, etc., and such a field work machine may be a setting machine, a stand sowing device, a multi-working device, a fertilizer spreading device, a boom sprayer device, a harvesting device, etc. It may be. As an example, the case where the field work support terminal 1 according to the present invention is mounted on a tractor 2 ′ ′ equipped with a tillage work device 22 ′ ′ is shown in FIG.
Also, regardless of which work is supported, the work control area is colored in the color corresponding to each field work device (field work) for each type of display control unit and field work device (field work) Good.

  With regard to the other configurations, it is to be understood that the embodiments disclosed herein are illustrative in all respects, and the scope of the present invention is not limited by them. Those skilled in the art will easily understand that appropriate modifications can be made without departing from the spirit of the present invention. Therefore, other embodiments modified within the scope of the present invention are naturally included in the scope of the present invention.

  The present invention can be used, for example, in a rice transplanter.

1: Field work support terminal 11: Touch panel 12: Vehicle position information acquisition part 13: Work information acquisition part 14: Photographed image acquisition part 15: Display control part 16: Communication part 2: Rice planter 21: Traveling machine body 211: Driver seat 212 : Forward and reverse switching means 213: GNSS
22: Seedling planting apparatus 221: Seedling platform 222: Seedling planting section 223: Fertilizing section 224: Seedling planting apparatus control section 22 ': Seeding apparatus 221': Seed seedling tank 222 ': Seeding section 223': Fertilizing section 224 ': seeding apparatus control section 23: fertilization apparatus 231: fertilizer hopper 24: camera 241: imaging direction detection section 25: drug supply apparatus 251: drug hopper 252: drug delivery section 253: drug supply section 2 ′ ′: Tractor 22:: tillage work equipment

Claims (11)

A field work support terminal for supporting field work by a field work machine comprising a traveling machine body, a field work device for performing work on a field, and at least one imaging device,
A display unit, a photographed image acquisition unit for acquiring a photographed image by the photographing device, a display control unit for controlling display on the display unit, the traveling body, the field work device, and the photographing device And a communication unit to
The field work support terminal, wherein the display control unit displays an orthographic or virtual image of the photographed image on the display unit. The traveling body has a driver's seat,
The installation direction of the imaging device is selected from a direction including a first direction in which the imaging direction faces the front of the driver seat, and a second direction in which the imaging direction faces the rear of the driver seat,
The installation direction of the field work support terminal is selected from a direction including a first direction in which the display unit faces the rear of the driver seat, and a second direction in which the display unit faces the front of the driver seat,
The display control unit
When the imaging device for capturing the captured image displayed on the display unit and the field work support terminal are both installed in the first direction or in the second direction, the imaging Display the correct image of the image, and
When the photographing device for photographing the photographed image displayed on the display unit and the field work support terminal are installed in one of the first direction and the other in the second direction, The field work support terminal according to claim 1, wherein a virtual image of the photographed image is displayed on the display unit. The traveling airframe has forward and reverse switching means for switching the traveling direction of the traveling airframe between forward and reverse.
The imaging device includes an imaging direction detection unit that detects a relationship between an imaging direction of the imaging device and a traveling direction of the traveling vehicle body.
The display control unit is configured to set the photographing device based on the information on the traveling direction of the traveling vehicle from the forward / backward switching means, and the relationship between the photographing direction from the photographing direction detection unit and the traveling direction of the traveling vehicle. The field work support terminal according to claim 2, wherein it is recognized whether the photographing direction according to the first direction or the second direction. The field work machine includes a plurality of the photographing devices.
The field work support terminal according to claim 1 or 2, wherein the display control unit selects at least one imaging device from among the plurality of imaging devices, and displays an image captured by the selected imaging device on the display unit. . The traveling airframe has forward and reverse switching means for switching the traveling direction of the traveling airframe between forward and reverse.
The display control unit acquires the traveling direction of the traveling airframe from the forward and reverse switching means.
The field work support terminal according to claim 4, wherein the selected imaging device is determined based on the traveling direction. The traveling body has a driver's seat,
The installation direction of the imaging device is selected from a direction including a first direction in which the imaging direction faces the front of the driver seat, and a second direction in which the imaging direction faces the rear of the driver seat,
At least one imaging device is installed in the second direction;
The agricultural field work support terminal according to claim 5, wherein the display control unit displays an image captured by the imaging device installed in the second direction on the display unit when the traveling body retracts. At least one imaging device captures the field work device;
The field work support terminal according to claim 5 or 6, wherein the display control unit selects the photographing device for photographing the field work device when the traveling body advances. At least one imaging device captures at least one of the working unit and the storage unit of the field work device;
The agricultural field work support terminal according to claim 5 or 6, wherein the display control unit selects the imaging device for imaging at least one of the working unit and the storage unit when the traveling body advances.   The field work support terminal according to any one of claims 4 to 8, wherein the photographing device to be selected can be determined by human operation. A field work machine comprising a traveling machine body, a field work device for performing work on a field, at least one photographing device, and a field work support terminal for supporting field work,
The field work support terminal includes a display unit, a photographed image acquisition unit that acquires a photographed image by the photographing device, a display control unit that controls display on the display unit, the traveling machine body, the field work device, and And a communication unit that communicates with the imaging device,
A field work machine, wherein the display control unit displays an orthographic or virtual image of the photographed image on the display unit. A field work support program for supporting field work by a field work machine provided with a traveling machine body, a field work device for performing work on a field, and at least one imaging device, comprising:
A normal image or a virtual image of the photographed image is selected by selecting a photographed image acquiring function of acquiring a photographed image by the photographing device, a communication function for communicating with the traveling machine body, the field work device, and the photographing device A field work support program which causes a computer to realize a display control function having a function to be displayed on a display unit.

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