JP2020039268A - Work support system for agricultural implement - Google Patents

Abstract

To provide a work support system for an agricultural implement capable of achieving a more correct farm work with respect to an agricultural implement attached to a tractor.SOLUTION: A work support system for an agricultural implement applied for an agricultural implement 30 which is attached to a tractor 1 and performs a farm work in a farm field, and the work support system for an agricultural implement, comprises: a camera 46 attached to the agricultural implement 30; and an arithmetic part 11. The camera 46 can photograph the agricultural implement 30 and a prescribed range of front/rear sides of the agricultural implement 30 from an upper side. The arithmetic part 11 sets a standard line 65 connecting a front standard point 66 which is on a front side of the agricultural implement 30 and is set to a specific position in the farm field 50 or the periphery of the farm field 50 and a rear standard point 67 which is on a rear side of the agricultural implement 30, with respect to an image photographed by the camera 46, further determines a movement point 64 on a specific point on the agricultural implement 30, and calculates a position of the movement point 64 to the standard line 65 and a travel direction of the agricultural implement 30.SELECTED DRAWING: Figure 6

Description

  The present invention relates to a work support system for a farm work machine, and more particularly to a work support system for a farm work machine that enables more accurate farm work on a farm work machine mounted on a tractor.

  2. Description of the Related Art Conventionally, in a farm work machine mounted on a tractor, an operator performs adjustment by operating the tractor and the farm work machine while visually checking the work position and direction of the farm work machine. At this time, depending on the size of the agricultural working machine or the position of the working unit that performs the agricultural work, blind spots may be present, making it difficult for the worker to visually check the work. Further, there were cases where it was difficult to operate the agricultural work machine properly and high-precision work was difficult, and work efficiency was reduced due to insufficient accuracy of the driving technique.

  For this reason, in Patent Literature 1, a position and orientation sensor is provided on the front side of the pretreatment body, and the position and orientation sensor detects the position of the original ridge so that a desired new ridge is formed with respect to the original ridge. Describes a technique for automatically controlling the position and orientation of a ridge coater.

  Further, in Japanese Patent Application Laid-Open No. H11-163, there is disclosed a technique for detecting a deviation between a predetermined target point in an image captured by a camera and a position corresponding to the target point in the latest image, and operating an offset actuator to correct the deviation. Is described.

JP-A-2004-254522 JP 2017-108653 A

  However, in Patent Literature 1, since the control is performed along the original ridge, if the original ridge is bent, the new ridge may also be bent, and it is difficult to work linearly.

  Further, in Patent Literature 2, accurate farming is possible by performing the operation with reference to the target point, but no consideration is given to the case where the operation is performed inclining with respect to the rear reference point or the traveling direction. Here, considering the rear reference point and the traveling direction, there is room for more accurate farming work.

  In addition to this, it is conceivable to install a positioning system that uses signals from positioning satellites to guide the traveling position of the tractor.However, at present, the positioning accuracy is insufficient for accurate agricultural work. Improvement is required.

  The present invention has been made in view of the above circumstances, and has as its object to provide a farm work machine operation support system that enables more accurate farm work to be performed on a farm work machine mounted on a tractor.

  In order to achieve the above object, one of the representative work support systems for a farm work machine of the present invention is a work support system for a farm work machine applied to a farm work machine mounted on a tractor and performing farm work in a field. A camera attached to the machine, and a computing unit, the camera can photograph a predetermined range before and after the agricultural working machine and the agricultural working machine from above, and the computing unit converts an image captured by the camera into an image. On the other hand, a reference line connecting a reference point ahead of the agricultural work machine and a reference point behind the agricultural work machine set at a specific position in the field or around the field is set. A moving point is determined at a specific position, and the position of the moving point with respect to the reference line and the traveling direction of the agricultural work machine are calculated.

Further, in one of the work support systems for agricultural work machines of the present invention, the camera has an angle of view of 180 ° or more.
Further, one of the work support systems for agricultural work machines of the present invention is characterized in that the center of the photographing range of the camera is the moving point.
Furthermore, one of the agricultural work machine work support systems of the present invention includes a display unit, and the display unit displays an image captured by the camera, the reference line, the moving point, and the traveling direction. It is characterized by.

Further, in one of the work support systems for agricultural work machines of the present invention, the moving point is displayed by a specific mark, and when the moving point is separated from the reference line by a predetermined distance or more, the specific mark is displayed. The display method is changed.
Further, in one of the work support systems for agricultural work machines of the present invention, the traveling direction is displayed by an arrow, and when the traveling direction is shifted by a predetermined angle or more with respect to the reference line, the arrow is displayed. It is characterized by changing.

Further, one of the work support systems for agricultural working machines of the present invention is characterized in that the arithmetic unit determines by image processing and sets the reference point at a specific position in a field or around a field.
Furthermore, one of the work support systems for agricultural work machines of the present invention includes a setting input unit, and the reference point can be set by operating the setting input unit.
Further, one of the work support systems for agricultural work machines of the present invention is characterized in that the display unit and the setting input unit are integrally configured by a touch panel in which a signal is input by touching a display on a display screen. I do.

ADVANTAGE OF THE INVENTION According to this invention, in the work support system for farm work machines, more accurate farm work can be performed for the farm work machine mounted on the tractor.
Problems, configurations, and effects other than those described above will be apparent from the following description of the embodiments.

The example of the block diagram in the work support system for agricultural working machines of this invention is shown. 1 shows a plan view of an embodiment of a work support system for a farm work machine of the present invention. 1 shows a side view of an embodiment of a work support system for an agricultural work machine of the present invention. It is a figure showing an example when a farm work machine to which the work support system for a farm work machine of the present invention is applied is in a forward work state. It is an image figure showing the example of the picture picturized with the camera in the work support system for farm work machines of the present invention. It is a figure showing the example of a display of the 1st state in the work support system for farm work machines of the present invention. It is a figure showing the example of a display of the 2nd state in the work support system for farm work machines of the present invention. It is a figure showing the example of the operation part in the work support system for farm work machines of the present invention. It is a flow chart which shows an example of processing in the work support system for farm work machines of the present invention. It is a figure which shows another example of the example of a display of the 1st state in the work support system for agricultural working machines of this invention.

  An embodiment for carrying out the present invention will be described.

  FIG. 1 shows an example of a block diagram of a work support system for an agricultural work machine according to the present invention. The work support system for a farm work machine according to the present invention is applied to a farm work machine that performs farm work by attaching a main body to a tractor. The work support system for an agricultural work machine includes a calculation unit 11, a control unit 12, a storage unit 13, a camera unit 16, a setting input unit 17, and a display unit 18. Further, an information input / output unit 14 and an external storage medium 15 may be provided in addition to or instead of the storage unit 13. When the actuator is controlled, an output unit 19 and an actuator 20 are provided. At this time, the state detection unit 21 can be provided as needed. These arrangement places are installed in places suitable for the purpose as described later. The calculation unit 11 and the control unit 12 are integrally configured as a control system unit 10. Note that the arithmetic unit 11 and the control unit 12 may be configured separately.

  The calculation unit 11 includes information from the camera unit 16, information input from the setting input unit 17, information from the state detection unit 21 when the state detection unit 21 is provided, information from the storage unit 13 or the external storage medium 15, and the like. The arithmetic processing necessary for the work support system is performed based on the. In particular, it is possible to calculate the state of the reference line, the positions of the reference points, their mutual positional relationship, and the like, and also calculate the traveling direction of the agricultural work machine. The result is displayed on the display unit 18 based on this calculation. In the case where the actuator 20 is provided, an operation for controlling the actuator 20 is performed. Also, necessary information is recorded in the storage unit 13 or the external storage medium 15. Specific calculation contents in the calculation unit 11 will be described later. In addition, the calculation unit 11 also performs processing for displaying the video captured by the camera unit 16 on the display unit 18.

  The control unit 12 also issues a command for displaying on the display unit 18 and a command for recording information in the storage unit 13 or the external storage medium 15. In addition, an operation command is issued to the output unit 19 based on the calculation result of the calculation unit 11 to control the actuator 20.

  The storage unit 13 is a storage device that records information necessary for the arithmetic processing of the arithmetic unit 11 and further records a result of the arithmetic processing of the arithmetic unit 11. For example, a hard disk drive (HDD) or a solid state drive (SSD) can be applied. The storage unit 13 may be configured integrally with the calculation unit 11 and the control unit 12 (control system unit 10).

  The information input / output unit 14 is a means for recording information processed by the arithmetic unit 11 in the external storage medium 15. In addition, information can be taken out from the external storage medium 15 and transmitted to the calculation unit 11. Note that information may be input and output by wireless communication.

  The external storage medium 15 is a storage medium for recording a result of the arithmetic processing of the arithmetic unit 11, is detachable from the information input / output unit 14, and can be carried alone by an operator. As the external storage medium 15, for example, an SD memory card, a USB memory (USB flash memory), or the like can be applied. Further, information necessary for the arithmetic processing of the arithmetic unit 11 can be recorded.

  The camera unit 16 can be applied as a configuration including a camera capable of photographing a wide range such as a semi-celestial sphere camera, a spherical camera, an ultra-wide-angle camera, and a camera using a fish-eye lens. As will be described later, this camera is a camera that can photograph a range including a front reference point, a rear reference point, and a working unit for performing agricultural work at a time. This camera is installed facing downward, and when the angle of view is 170 ° or more, or 180 ° or more, for example, a wide range of images can be captured. For example, a camera having an angle of view of about 180 ° can be used. The camera unit 16 is installed on the main body of the agricultural work machine at an appropriate position for work support. In particular, it is preferable that the center of the photographing range or a specific position in the photographing range be set as a reference position for the work on the farm work machine side, by being installed in a work unit that performs farm work. A general light receiving type can be applied to the camera by the camera unit 16, and a video camera that can capture a predetermined number of frames per unit time and shoot an image can be applied. Specifically, for example, the light collected by the lens is imaged on an image sensor (CCD or CMOS), the light is converted into an electric signal, and the information is sent to the arithmetic unit 11 as digital information. The camera by the camera unit 16 may include a light source in addition to a general light receiving type, and may be a camera that can detect not only visible light but also infrared light.

  The setting input unit 17 is an input unit for performing necessary settings. For example, information necessary for calculation in the calculation unit 11 based on the image of the camera from the camera unit 16 is input. As the configuration of the setting input unit 17, for example, a touch panel to which a signal is input by touching a display on a display screen, or switches such as a push button switch and a toggle switch can be applied. The setting input section 17 may be arranged near the driver's seat of the tractor so that the operator can easily operate the setting input section. Then, an operation signal is transmitted from the setting input unit 17 to the calculation unit 11. Here, the setting input unit 17 and the calculation unit 11 may be a wired transmission / reception system or a wireless transmission / reception system.

  The display unit 18 is a unit that displays an image of the camera from the camera unit 16 and information obtained by the processing of the arithmetic unit 11. The display unit 18 displays information by various display means such as a liquid crystal, an organic EL, and an LED. The display unit 18 may be arranged near the driver's seat of the tractor so that the operator can easily confirm the display. Here, the display unit 18 and the arithmetic unit 11 may be a wired transmission / reception system or a wireless transmission / reception system. Further, the display section 18 can be formed integrally with the setting input section 17. At this time, the display and the setting operation may be performed on the same screen as the display by the touch panel. A specific example of the display will be described later.

  The output unit 19 operates the actuator 20 based on an operation command from the control unit 12.

  The actuator 20 is an actuator for moving a part of the main body of the agricultural work machine as needed. The actuator 20 is, for example, a cylinder such as a hydraulic cylinder or an electric hydraulic cylinder, a motor, or the like. In particular, by controlling the actuator that moves the position of the work unit that performs the agricultural work, which is a part of the main body of the farm work machine, work support as described below can be performed.

  The state detection unit 21 is a unit that detects the current state of the actuator 20 or a part of the agricultural work machine operated by the actuator 20. For example, the state may be detected using various sensors such as a stroke sensor and a rotation sensor. Further, the current state may be detected from the current or voltage value of the actuator 20. The information of the state detector 21 can be used for accurate control of the actuator 20.

  Here, the arithmetic unit 11 and the control unit 12 (control system unit 10) can be installed on the main body side of the agricultural work machine mounted on the tractor. If the setting input unit 17 is a wired connection, these may be installed integrally with the setting input unit 17 or in the vicinity of the setting input unit 17. The same applies to the storage unit 13. The arithmetic unit 11 and the control unit 12 can apply an electronic device such as a CPU. Further, the information input / output unit 14 and the external storage medium 15 can be configured integrally with the arithmetic unit 11 and the control unit 12 (control system unit 10). Further, the information input / output unit 14 and the external storage medium 15 can be provided on the setting input unit 17 and the display unit 18 side.

  FIG. 2 shows a plan view of one embodiment of the work support system for an agricultural work machine of the present invention. FIG. 3 shows a side view of one embodiment of the work support system for an agricultural work machine of the present invention. In this embodiment, an example is shown in which the present invention is applied to a ridge coating machine 30 that performs a ridge coating operation as a farm work machine. In addition, the upper part of FIG. 2 shows the front side (the forward direction of the ridge coating work), the lower part shows the rear side, and the left-right direction of FIG. 2 shows the lateral (left-right) direction. The left side of FIG. 3 is the front side, and the right side is the rear side. 2 and 3, the illustration of the tractor 1 is simplified.

  The ridge coating machine 30 has a mounting portion 32 mounted on a rear portion of the tractor 1. One end of the intermediate frame 33 is rotatably connected to the mounting section 32, and the other end of the intermediate frame 33 is connected to a working section 35 having a rotating mechanism 34. The working section 35 has a tillage section 37 on the front side and a disk section 38 provided behind it. The PTO power from the tractor 1 is sent to the working unit 35 via a transmission mechanism not shown. The working unit 35 is configured to send the soil of the old ridge to the disk unit 38 by rotating the claws 37a and the like of the tilling unit 37, and to shape the soil into a new ridge shape by rotating the disk unit 38. The upper part of the plurality of claws 37a of the tilling unit 37 is covered with a tilling unit cover 37b. Further, the disc portion 38 is composed of a conical slope disc 38b for solidifying the slope of the ridge and a cylindrical upper surface roller 38a for solidifying the upper face of the ridge, and these are rotated with the left-right direction as the rotation axis direction. Here, the end 38c of the disk 38 (the inner end of the disk 38) on the center side of the tractor 1 in the left-right direction is located at the lower end of the slope of the ridge.

  The control box 40 is attached to the mounting unit 32, and stores the arithmetic unit 11, the control unit 12, the storage unit 13, the information input / output unit 14, the external storage medium 15, and the like as shown in FIG. be able to.

  The camera unit 45 corresponds to the camera unit 16 of FIG. 1 and includes a camera 46 and a mounting member 47. The camera 46 is located above the rotation axis of the disk unit 38 in the front-rear direction and at the end 38c of the disk unit 38 in the horizontal direction. The camera 46 has a predetermined height via a mounting member 47 mounted on the disk cover 39. The camera 46 is installed so as to be able to photograph the lower side from a predetermined height, and the angle of view is set such that the front corner 57 and the rear corner 58 of the horizontal ridge 52 described later also fall within the photographing range. . At this time, the ridge coating machine 30 also comes into the photographing range. Here, the center of the angle of view is directly below, and by setting it exactly at the intersection of the end portion 38c of the disk portion 38 and the rotation axis of the disk portion 38, it is possible to use the reference as an easy-to-understand operation. . The height at which the camera 46 is mounted via the mounting member 47 can be a height that satisfies the above-described shooting range. In the example of FIG. 3, the height is set higher than the tractor 1. The attachment member 47 is formed of a necessary frame such as a rod-shaped member or a plate-shaped member. The attachment member 47 is configured by, for example, providing and fixing a frame in the left-right direction of the camera 46 so as not to obstruct the photographing range of the camera 46 as much as possible.

  Further, the ridge coating machine 30 is provided with a first cylinder 41 and a second cylinder 42. By the expansion and contraction of the first cylinder 41, the offset amount of the working unit 35 (position in the lateral direction with respect to the tractor 1) can be adjusted. Further, the working unit 35 can be offset-moved to the center by sufficiently contracting the first cylinder 41 from the forward working state in FIG. Further, by extending the second cylinder 42 from the retracted state, the working section 35 is rotated to enable the return work in the back work state. At this time, the working unit 35 projects to the left opposite to the left and right, and the front and rear of the working unit 35 are reversed. The first cylinder 41 and the second cylinder 42 correspond to the actuator 20 in FIG.

  In the vicinity of the driver's seat 5 of the tractor 1, a tablet 60 and an operation box 70 can be arranged. The image of the camera by the camera unit 45 can be displayed on the tablet 60. The operation of the first cylinder 41 and the second cylinder 42 and the setting operation can be performed by the operation box 70 or the tablet 60. Here, the display unit 18 in FIG. 1 corresponds to the tablet 60, and the setting input unit 17 in FIG. 1 corresponds to the operation box 70 or the tablet 60.

  FIG. 4 is a diagram illustrating an example of a case where the agricultural work machine to which the agricultural work machine work support system of the present invention is applied is in a forward work state.

  The field 50 usually has ridges 51 on four sides. The ridge 51 is formed of an upper surface 51a whose upper surface is parallel to the ground, and a slope 51b formed by an inclined surface descending from the upper surface 51a toward the field 50 side. The lower end 51c of the slope 51b is located on the field 50 side. Here, the upper surface 51a is formed by the upper surface roller 38a of the disk section 38, and the slope 51b is formed by the slope disk 38b of the disk section 38.

  As shown in FIG. 4, in the ridge coating machine 30 attached to the tractor 1, the working unit 35 protrudes to the right side of the width of the tractor 1, and the position of the horizontal ridge 52 corresponding to the ridge 51 on the lateral side. Are arranged to match. Then, by moving the tractor 1 forward, it is possible to newly form the horizontal row 52 with respect to the old row. At this time, the tractor 1 and the ridge coating machine 30 are inclined toward the horizontal ridge 52 by an angle θ with respect to a direction parallel to the horizontal ridge 52. This is due to receiving a reaction force from the horizontal ridge 52 when the ridge is formed in the working part 35, and the levee painting operation is performed by moving forward while being inclined and in parallel with the horizontal ridge 52.

  In front of the horizontal furrow 52, it intersects with a front furrow 53 corresponding to the furrow 51 on the front side. The intersection between the lower ends 51c of the slopes 51b at this time is the front corner 57. Further, behind the horizontal furrow 52, it intersects with a rear furrow 54 corresponding to the furrow 51 on the rear side. The intersection of the lower ends 51c of the slopes 51b at this time is the rear corner 58.

  The camera unit 45 can photograph the lower side widely, and simultaneously photographs the front corner 57, the rear corner 58, and the ridge coating machine 30. The center of the photographing range of the camera unit 45 is located at the intersection of the rotation axis of the disk unit 38 and the end 38 c of the disk unit 38, which is the installation position of the camera unit 45. For this reason, in the case of the ridge painting work at an accurate position, the left and right centers of the photographing range of the camera unit 45 coincide with the lower end 51c of the slope 51b.

  FIG. 5 is an image diagram showing an example of an image photographed by a camera in the work support system for an agricultural work machine of the present invention. The photographing here shows an example in which the camera 46 is photographed with a fisheye lens. Examples of the projection method of the fisheye lens include an equidistant projection method, an equal solid angle projection method, an orthographic projection method, and the like. The lines 101, 102, 103, 104, and 105 in the figure are virtual lines that represent the locus of points moving as the tractor 1 advances.

  Here, the center of the shooting by the camera 46 is the point 103b. The point 103b is also a place where the camera 46 is installed. In FIG. 5, the line 103 at the center in the left-right direction in the traveling direction is shown as the center line in the left-right direction. Here, points 101a, 102a, 103a, 104a, and 105a arranged in the horizontal direction on the front side of the center, points 101b, 102b, 103b, 104b, and 105b arranged in the horizontal direction near the center, and on the rear side of the center in the horizontal direction The arranged points 101c, 102c, 103c, 104c, and 105c actually represent points that are arranged at equal intervals and at equal distances. However, in the captured image, it can be seen that the intervals between the points 101b, 102b, 103b, 104b, and 105b arranged in the horizontal direction near the center are wide due to the distortion of the lens. Each of the lines 101, 102, 103, 104, and 105 is actually a line that indicates the position of a parallel line that extends back and forth. However, the captured image draws an outwardly curved arc trajectory as it goes to the lines 102 and 104 on both sides outside the center line 103 and further to the outside lines 101 and 105. As described above, when a plane is photographed, the image photographed by the fisheye lens is photographed such that the lines near the center on the left and right sides are straight lines, but the further away from the center, the more outwardly the circular arc trajectory is drawn.

  In the processing by the arithmetic unit 11, based on these characteristics, the distortion of the lens is removed from the image taken by the camera 46, and the position of the ridge coating machine 30 and the traveling direction of the ridge coating machine 30 by the tractor 1 are calculated. Is done. FIG. 5 shows an example in which the tractor 1 and the ridge coating machine 30 are moving forward while tilting with respect to the traveling direction. It should be noted that the same processing can be performed on a lens other than the fisheye lens, which causes distortion in order to set a wide angle of view.

  FIG. 6 is a diagram showing a display example of the first state in the agricultural work machine work support system of the present invention. FIG. 7 is a diagram showing a display example of a second state in the work support system for an agricultural work machine of the present invention.

  The display here shows an example using the tablet 60. On the display screen 61 of the tablet 60, an image photographed by the camera 46 and subjected to image processing is displayed. On the display screen 61, the tractor 1, the ridge coating machine 30, the horizontal ridge 52, the front ridge 53, the rear ridge 54, and the like are displayed as images viewed from above. Here, in FIGS. 6 and 7, the center of the display screen 61 in the front, rear, left, and right directions is displayed so as to be the center of shooting by the camera 46. That is, the disk portion 38 of the furrowing machine 30 is displayed in the center, and when the tractor 1 and the furrowing machine 30 move forward, the landscape around the horizontal furrow 52, the front furrow 53, the back furrow 54, etc. is on the rear side. Move to. In this case, the image is processed from the image of FIG. 5 described above, the distortion of the lens of the camera 46 is removed, and the image is displayed in a planar manner so as to be reduced in scale at a fixed ratio to the actual one. Have been. When the field 50 is long, the scale may be changed in the image so that both the first reference point 66 and the second reference point 67 can be displayed on the display screen 61. Further, the disk unit 38 of the ridge coater 30 may be displayed off-center from the display screen 61 so that both the first reference point 66 and the second reference point 67 can be displayed.

  A reference point can be set and displayed on the display screen 61 at a specific location in the field or around the field. The reference point is set on the front side and the rear side of the ridge coating machine 30. 6 and 7, in the field 50, a first reference point 66 is set at a position corresponding to the front corner 57 described in FIG. Point 67 is set. The setting method will be described later. Then, the line connecting these becomes the reference line 65, which is the line of the lower end 51c of the target ridge 51 (lateral ridge 52).

  Further, the moving point 64 can be displayed on the display screen 61. Here, the moving point is a point that is always at a fixed position with respect to the shooting range of the camera 46. It can be set at a specific position on the ridge coater 30. In particular, a position, such as on the working unit 35 of the ridge coating machine 30 or on the disk unit 38, which is a reference for work on the agricultural working machine side is preferable. Here, the center of photographing by the camera 46 is applied, and the position where the camera 46 is installed on the display screen 61 (the position of the end 38c of the disk unit 38 on the ridger 30) is the moving point 64. For this reason, the moving point 64 moves with the movement of the ridge coating machine 30 with respect to the field 50, but is located at the center which is a fixed position on the display screen 61.

  Further, the current traveling direction of the ridge coater 30 can be vector-displayed on the display screen 61 with an arrow or the like. In this case, the traveling direction of the ridge coater 30 with respect to the reference line 65 can be calculated by image processing and the direction can be displayed. 6 and 7 show display examples of the vector display 68 and the vector display 68 'indicated by arrows from the moving point 64. The vector displays 68 and 68 'can be displayed at different places on the display screen 61 other than the moving point 64.

  Here, the first reference point 66, the second reference point 67, the reference line 65, the moving point 64, the vector display 68, and the vector display 68 'are superimposed on an actual image captured by the camera 46 as an AR (Augmented Reality). Can be displayed. The first reference point 66, the second reference point 67, and the moving point 64 can be displayed using a specific mark such as a circle. At this time, it is easy to understand that different colors, shapes, sizes, and the like are used so that each mark is distinguished, and at least one of them is different. In particular, if the reference points 66 and 67 and the reference line 65 are distinguished from the mark of the moving point 64, the display becomes easy to understand. When the reference line 65 is represented by a specific color or line, the display becomes easy to understand.

  In the state of FIG. 6, the ridger 30 is in a state of traveling along the reference line 65. Here, the vector display 68 is indicated by an arrow pointing forward from the moving point 64 along the reference line 65.

  In the state of FIG. 7, the ridger 30 shows a state in which the ridger 30 is traveling obliquely from the reference line 65 to the field 50 side. Here, the vector display 68 ′ is indicated by an arrow directed forward, which is obliquely shifted from the movement point 64 toward the field 50 with respect to the reference line 65. Since the direction of this arrow indicates the calculated traveling direction of the ridge coating machine 30, it indicates that the direction in which the ridge is painted is shifted.

  FIG. 8 is a diagram illustrating an example of an operation unit in the work support system for an agricultural work machine according to the present invention.

  The operation box 70 is an operation unit that can be operated and input remotely. Here, a wireless example is shown, and information can be transmitted and received wirelessly with the arithmetic unit 11 and the control unit 12 (control system unit 10) installed in the control box 40 of the ridge coating machine 30. An operation switch unit 71 for inputting a signal for a basic operation of the ridge coating machine 30 is provided at an upper portion, and a setting switch portion for inputting settings necessary for calculating a traveling direction while watching the display unit 18 (display screen 61) is provided at a lower portion. 72 are provided. For example, a push button switch can be applied to these switches.

  The operation switch unit 71 includes a power switch 71a, an on switch 71b, an out switch 71c, a shallow switch 71d, a deep switch 71e, a front work switch 71f, a storage switch 71g, a rear work switch 71h, and a watering switch 71i. The power switch 71a is a switch for turning on and off the power. The ON switch 71b is a switch for moving and adjusting the position of the work section 35 of the ridge toward the tractor 1 side. The outgoing switch 71c is a switch for moving and adjusting the position of the work section 35 of the ridge to the ridge 51 side. The shallow switch 71d is a switch for reducing the depth of the tilling unit 37. The depth switch 71e is a switch for increasing the depth of the tilling unit 37. The front operation switch 71f is a switch for setting the ridge coating machine 30 to the forward operation state. The storage switch 71g is a switch for setting the ridge coating machine 30 in the storage state. The post-operation switch 71h is a switch for setting the ridge coating machine 30 to the back operation state. The watering switch 71i is a switch for turning on and off the watering device when it is provided.

  The setting switch section 72 includes a setting switch 72a, a decision switch 72b, a display changeover switch 72c, a return switch 72d, an upper switch 72e, a lower switch 72f, a left switch 72g, and a right switch 72h.

  The setting switch 72a is a switch for setting a setting screen on the display screen 61 of the tablet 60. For example, when the button is pressed, a mode for setting the first reference point 66 and the second reference point 67 shown in FIGS.

  The decision switch 72b is a switch for deciding what is selected on the setting screen on the display screen 61. For example, when the button is pressed, it is a switch for determining the setting of the first reference point 66 and the second reference point 67 as shown in FIGS.

  The display changeover switch 72c is a switch for switching to a different screen on the display screen 61. For example, when the button is pressed, the screen shown in FIGS. 6 and 7 is switched to another screen. Examples of other screens include the screen shown in FIG. 5 and the screen showing information on the depth of the tilling section, information on the offset amount of the working section, information on the current working speed, information on the angle of the posture, and the like. .

  The return switch 72d is a switch for returning to the previous screen on the display screen 61.

  The upper switch 72e, the lower switch 72f, the left switch 72g, and the right switch 72h are switches for moving a target position on the display screen 61 in the vertical and horizontal directions from the current position. For example, while these are being pressed, the positions of the first reference point 66 and the second reference point 67 as shown in FIGS. 6 and 7 can be moved in each direction.

  By configuring the setting input unit 17 of FIG. 1 with the operation box 70 alone as shown in FIG. 8, it is possible to increase the waterproofness and to make the farm work machine easy to operate and the operation switches arranged. On the other hand, the above-described switches of the operation box 70 may be displayed on the tablet 60. In this case, since the tablet 60 is constituted by a touch panel, the function of the setting input unit 17 as well as the display unit 18 shown in FIG. Thus, the setting input unit 17 can be omitted.

  FIG. 9 is a flowchart illustrating an example of a process in the agricultural work machine work support system of the present invention. The flow of the process for the actual work will be described with reference to FIG. This processing is performed by the calculation unit 11 shown in FIG. 1 unless otherwise specified.

  First, the worker attaches the ridge coater 30 to the tractor 1 and turns on the power by pressing the power switch 71a of the operation box 70 shown in FIG. And Then, the ridge coating machine 30 is arranged along the horizontal ridge 52 shown in FIG.

  When the process starts (S101), an image is obtained (S102). In this case, the image acquired from the camera 46 of the camera unit 45 is acquired.

  Next, a reference point is set (S103). The reference point is set based on the image acquired in S102, the first reference point 66 and the second reference point 67 shown in FIGS. The setting at this time is performed by image processing on the acquired image, for example, by specifying automatically by image processing such as luminance and color gamut determination for each pixel. Thus, it is possible to determine that the front corner 57 is the first reference point 66 and the rear corner 58 is the second reference point 67. Then, the calculation unit 11 displays the first reference point 66 and the second reference point 67 on the display screen 61 of the tablet 60 so as to be superimposed on the actual captured image. At this time, if the operator is satisfied with this position, each reference point can be fixed by pressing the determination switch 72b of the operation box 70 or the like. When the operator wants to correct the position of each reference point, the operator corrects the position with the upper switch 72e, the lower switch 72f, the left switch 72g, and the right switch 72h of the operation box 70, and determines the position with the determination switch 72b. Modifications are possible.

  On the other hand, when the front corner 57 or the rear corner 58 cannot be determined by the image processing performed by the arithmetic unit 11, a display to that effect is displayed on the display screen 61, and the operator manually sets the first reference point 66. The second reference point 67 is set. The operator manually sets the position of the reference point, which has not been determined, by determining the position with the upper switch 72e, the lower switch 72f, the left switch 72g, and the right switch 72h of the operation box 70, and determining with the determination switch 72b. It becomes possible.

  Next, the reference line 65 is set (S104). The reference line 65 can be set as a line connecting the two reference points set in S103. Specifically, a reference line 65 is automatically set as a line connecting the first reference point 66 and the second reference point 67 shown in FIGS. Then, the calculation unit 11 displays the reference line 65 on the display screen 61 of the tablet 60 so as to overlap the actual captured image.

  Next, it is determined whether the moving point 64 is on the reference line 65 (S105). Here, the determination is made based on the image acquired in S102. The reference line 65 is set in S104, and the moving point is set as a point on the ridge coating machine 30, such as the center point of the photographing range. 6 and 7, when the moving point 64 can be regarded as being on the reference line 65, it is determined that the moving point 64 is on the reference line 65. At this time, it can be determined that the moving point 64 can be regarded as being on the reference line 65 because the moving point 64 is within a certain distance from the reference line 65. This fixed distance can be predetermined. If the moving point 64 is more than a certain distance from the reference line 65, it can be determined that the moving point 64 is not on the reference line 65.

  If it is determined in S105 that the moving point 64 is not on the reference line 65, an instruction is given so that the moving point 64 is on the reference line 65 (S106). At this time, for example, it is possible to make the display unit 61 display characters and figures on the display screen 61 so that the moving point 64 is on the reference line 65. The instruction here can be given by displaying in which direction and how much the work unit 35 should be moved with respect to the reference line 65 (ridge 51). The operator moves the working unit 35 so that the moving point 64 is on the reference line 65. The movement at this time is performed, for example, by adjusting the position of the working unit 35 by operating the switch 71b and the switch 71c of the operation box 70 shown in FIG. It is conceivable to change the position of the ridge coater 30 itself. Then, the above determination is made again in S105.

  If it is determined in S105 that the moving point 64 is on the reference line 65, the operation is started (S107). Here, for example, the operator may start the work by operating the tractor 1 or the ridge coating machine 30 by displaying the fact that the work can be started on the display screen 61 by characters or figures by the calculation unit 11. Can be. Whether or not the work has been started can be determined by performing image processing on images continuously taken by the camera 46 and continuously sending the ridge coating machine 30 forward.

  Next, an image is obtained (S108). The images photographed by the camera 46 are sent, and the arithmetic unit 11 acquires a specified number of images photographed per unit time.

  Next, it is determined whether or not the moving point 64 is on the reference line 65 (S109). Here, the determination is made based on the image acquired in S108. This determination method is the same as in S105.

  If it is determined in S109 that the moving point 64 is not on the reference line 65, the moving point 64 is displayed by blinking (S110), and an instruction is given so that the moving point 64 is on the reference line 65 (S111). . In FIGS. 6 and 7, since the moving point 64 on the display screen 61 is displayed by a mark in a specific shape, if this is blinked, the operator can easily notice this. Further, as a method of instructing the moving point 64 to be on the reference line 65, a method similar to S106 can be applied. The operator moves the working unit 35 so that the moving point 64 is on the reference line 65. Then, the above determination is made again in S109.

  When it is determined in S109 that the moving point 64 is on the reference line 65, the moving point 64 is lit and displayed (S112). 6 and 7, by keeping the moving point 64 lit on the display screen 61, the operator can recognize that he or she is working within a normal range. By changing the display method of the moving point 64 depending on whether or not the moving point 64 is on the reference line 65 as in S110 and S112, the operator can notice the difference between the two. The method of changing the display method may be a method of changing the color of the mark of the moving point 64, a method of changing the size, or the like, in addition to the method of changing the display time such as blinking and lighting.

  Next, the traveling direction is determined (S113). Here, it is possible to determine the advancing direction of the ridge coating machine 30 by performing image processing on images continuously captured by the camera 46 and sent. Here, the traveling direction can be calculated by specifying the movement of the position of the moving point 64 with respect to the field 50 within a predetermined time by image processing. In this case, the calculation may be performed using an average of a certain time. As a display method, as shown in FIGS. 6 and 7, the traveling direction can be displayed on the display screen 61 by the vector display 68, 68 'by the arrow from the moving point 64. The traveling direction may be calculated by specifying a point other than the moving point 64 on the ridger 30 or the working unit 35.

  Next, it is determined whether the traveling direction is parallel to the reference line 65 (S114). Here, the traveling direction of S113 is compared with the direction of the reference line 65 to determine whether or not they are parallel. The determination here may be made by comparing, for example, an average value in the traveling direction calculated within a predetermined time. In addition, it is possible to determine a range of a certain direction for determining parallelism, and determine that the object is not parallel when the traveling direction deviates from the direction of the reference line 65 by a predetermined angle or more.

  If it is determined in S114 that the traveling direction is not parallel to the reference line 65, the vector is displayed in red (S115), and an instruction is given so that the traveling direction is parallel to the reference line 65 (S116). FIG. 7 shows a case where the traveling direction of the ridge coating machine 30 is not parallel to the reference line 65. At this time, the color of the vector display 68 'is displayed in red. Thus, the operator can properly notice that the traveling direction of the ridge coating machine 30 is deviated from the direction of the reference line 65. Further, the instruction to make the traveling direction parallel to the reference line 65 is, for example, a display instructing the computing unit 11 to make the traveling direction parallel to the reference line 65 on the display screen 61 by text or drawing. This is possible. The instruction here can be given by displaying which direction and how much the traveling direction should be changed. Accordingly, the operator operates the tractor 1 to change the traveling direction of the furrowing machine 30. Then, the above determination is made again in S114.

  If it is determined in S114 that the traveling direction is parallel to the reference line 65, the vector is displayed in green and displayed (S117). FIG. 6 shows a case where the traveling direction of the ridge coating machine 30 is parallel to the reference line 65. At this time, the color of the vector display 68 is displayed in green. Thus, the operator can recognize that the traveling direction of the ridge coating machine 30 matches the direction of the reference line 65. By changing the display method of the vector displays 68 and 68 'depending on whether the traveling direction is parallel to the reference line 65 as in S115 and S117, the operator can notice the difference between the two. As the change of the display method, besides the color difference, a method of changing the size of the vector display 68, 68 ', a method of changing the display time such as lighting or blinking, and the like can be applied. Note that this method may be distinguished easily by adopting a method different from the method of changing the display method of the moving point 64 in S110 and S112.

  Next, it is determined whether or not the work is continued (S118). If the work is continued, the process returns to S108 to repeat the process, and if not, the process ends (S119).

  As described above, it is determined whether or not the moving point 64 is on the reference line 65, and whether or not the traveling direction is parallel to the reference line 65 and the result is displayed on the display screen 61. It is possible to know the position of the coating machine 30 with respect to the target and the state of deviation in the traveling direction. Further, by instructing the moving point 64 to be on the reference line 65 and instructing the traveling direction to be parallel to the reference line 65, the worker can accurately position and move the levee coating machine 30. The traveling direction can be corrected, and the ridge 51 can be formed more accurately. In particular, even when the directions of the tractor 1 and the ridger 30 deviate from the actual traveling directions as shown in FIG. 4, accurate agricultural work can be supported.

  Further, the configuration of the work support system is simple because only one camera 46 does not need to use a GPS or another sensor, and the installation accuracy does not need to be high. Further, since the position and the direction can be detected only by the camera 46, the present invention can be applied to a configuration without using a GPS (global positioning system) or a sensor. In addition, the accuracy can be further improved by combining GPS and other sensors.

  Further, instead of the instructions in S106, S111 and S116, a system for automatically adjusting may be applied. For example, instead of the instructions in S106 and S111, the first cylinder 41 is automatically controlled to adjust the offset amount of the working unit 35, and the position of the working unit 35 is adjusted so that the moving point 64 is on the reference line 65. Can be modified. The control amount at this time is calculated by the calculation unit 11 in FIG. Further, the state detection unit 21 may be used for accurate control.

  When the tractor 1 is capable of automatic operation, a terminal that can be connected to the tractor 1 is provided or the like, so that the tractor 1 can cooperate with automatic operation of the tractor 1. In this case, instead of the instructions in S106 and S111, the position of the ridge coating machine 30 can be corrected by the automatic operation of the tractor 1 so that the moving point 64 is on the reference line 65. Further, instead of the instruction in S116, the traveling direction of the ridge coater 30 can be corrected by the automatic operation of the tractor 1 so that the traveling direction is parallel to the reference line 65. Information such as the amount of correction of these positions and directions is sent from the calculation unit 11 to the tractor 1.

  Further, the above processing can be similarly performed at the time of the return operation described with reference to FIG. In this case, the rear work switch 71h of the operation box 70 shown in FIG. 8 is pressed to bring the ridge coating machine 30 into the back work state. At this time, the tractor 1 performs the work by the back, but if the traveling direction (back direction) is the front side, the position and the traveling direction can be displayed and corrected in the same manner as described above. Accordingly, accurate farming work can be supported even during return work.

  FIG. 10 is a diagram showing another example of the display example of the first state in the work support system for an agricultural work machine of the present invention.

  As shown in FIG. 10, the vicinity of the tractor 1 and the ridge coating machine 30 may be enlarged and displayed on the display screen 61. At this time, the first reference point 66 (front corner 57) and the second reference point 67 (rear corner 58) are not displayed, but the state of the horizontal ridge 52 near the ridge coating machine 30 and the like can be confirmed in more detail. it can. The range is from 5 m to 10 m from the ridge coater 30. Further, by fixing the display position of the moving point 64 (camera 46) slightly below the center of the display screen 61, the display range on the front side becomes wider than that of the ridger 30, and the state on the front side can be checked earlier. can do. The screen shown in FIG. 10 may be switchable from the screen shown in FIGS. 6, 7 and 5 by using the display changeover switch 72c of the operation box 70 shown in FIG. With this configuration, an obstacle that cannot be seen visually can be found from an image from above.

  As described above, the embodiments of the present invention have been described, but the present invention is not limited to the above embodiments, and includes various modified examples other than the above. For example, the invention is not limited to the one having all the configurations provided in the above-described embodiment. In addition, a part of the configuration of an embodiment can be deleted or replaced with another configuration.

  For example, in the embodiment, the case where the present invention is applied to a ridge coater has been described. However, the present invention can be applied to an agricultural work machine attached to other tractors. For example, a rotary machine, a scraping machine, or the like is used. In this case, the camera units 45 are installed near the ends of the tillage working width on both sides. Then, an image is taken with the camera 46 downward from the upper part of the working width end, and the position of the camera 46 is set as a moving point. The reference point can be set on the front side and the back side by image processing using the boundary between the untiled portion and the tilled portion, or can be set manually. A reference line is set connecting these reference points. Here, the same processing as described above can be performed by calculating the moving point, the position of the reference line, and the traveling direction.

  Further, a terminal that can be connected to the GPS may be added to cooperate with the GPS. This makes it possible to work while avoiding a specific position. For example, the display screen 61 may display the position of a pre-registered water supply / drainage port or display a warning that the water supply / drainage port is approaching so that work can be performed while avoiding the water supply / drainage port at the ridge. it can.

  Note that the reference point can be set and applied to a specific point around the field even if it is not within the field.

REFERENCE SIGNS LIST 1 tractor 10 control system unit 11 arithmetic unit 12 control unit 16 camera unit 17 setting input unit 18 display unit 20 actuator 30 ridge coating machine 35 work unit 37 tillage unit 38 disk unit 38c end 41 first cylinder 42 second cylinder 45 camera Unit 46 Camera 47 Mounting member 60 Tablet 61 Display screen 64 Moving point 65 Reference line 66 First reference point 67 Second reference point 68, 68 'Vector display 70 Operation box 71 Operation switch unit 72 Setting switch unit

Claims (9)

In a farm work machine work support system applied to a farm work machine attached to a tractor and performing farm work in a field,
A camera attached to the farm work machine, and an arithmetic unit,
The camera can photograph a predetermined range before and after the agricultural working machine and the agricultural working machine from above,
The calculation unit, for the image captured by the camera, a reference point ahead of the agricultural working machine and a reference point behind the agricultural working machine set at a specific position in the field or around the field, Setting a reference line to be connected, further defining a moving point at a specific position on the agricultural working machine, and calculating a position of the moving point with respect to the reference line and a traveling direction of the agricultural working machine. Work support system. The work support system for an agricultural work machine according to claim 1,
The work support system for an agricultural work machine, wherein the camera has an angle of view of 180 ° or more. In the work support system for an agricultural work machine according to claim 1 or 2,
A work support system for an agricultural work machine, wherein the center of the shooting range of the camera is the moving point. In the work support system for an agricultural work machine according to any one of claims 1 to 3,
A work support system for an agricultural work machine, comprising a display unit, wherein the display unit displays an image captured by the camera, the reference line, the moving point, and the traveling direction. The work support system for an agricultural work machine according to claim 4,
The moving point is displayed by a specific mark, and when the moving point is separated from the reference line by a predetermined distance or more, the display method of the specific mark is changed, Support system. In the work support system for an agricultural work machine according to claim 4 or 5,
The traveling direction is indicated by an arrow, and when the traveling direction deviates by more than a predetermined angle with respect to the reference line, a display method of the arrow is changed, and a work support system for an agricultural work machine is provided. The work support system for an agricultural work machine according to any one of claims 1 to 6,
The work support system for an agricultural work machine, wherein the calculation unit determines by image processing and sets the reference point at a specific position in a field or around a field. The work support system for an agricultural work machine according to any one of claims 1 to 7,
A work support system for an agricultural work machine, comprising a setting input unit, wherein the reference point can be set by operating the setting input unit. The work support system for an agricultural work machine according to claim 8, wherein any one of claims 4 to 6 is cited,
The work support system for an agricultural work machine, wherein the display unit and the setting input unit are integrally configured by a touch panel to which a signal is input by touching a display on a display screen.

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