JP6967958B2 - Field work support terminal, field work machine, and field work support program - Google Patents

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 farm work in the field. In particular, when working with a field work machine, a field work support system that supports workers is used so that the work can be performed efficiently.

As a field work machine equipped with such a field work support system, for example, in Patent Document 1, a photographing device is provided in a seedling planting section, and a display section for displaying an image captured by the photographing device is provided in front of the driver's seat. A equipped seedling transplanter is disclosed. According to this seedling transplanting machine, the worker can check the planting posture of the seedlings and the remaining amount of seedlings on the seedling stand without moving from the driver's seat, so the seedlings are transplanted for these confirmations. It is advantageous in that it is not necessary to interrupt the operation of the machine and the work efficiency is improved.

Further, Patent Document 2 discloses a rice transplanter including a rear photographing unit and a display unit for displaying an image captured by the rear photographing unit. According to this rice transplanter, the worker can check whether there are any obstacles or people near the planting part behind the driver's seat through the image taken by the rear shooting part, and after ensuring safety. It is advantageous in that the rice transplanter can be moved backward or the planting part can be driven.

Japanese Unexamined Patent Publication No. 2013-226888 Japanese Unexamined Patent Publication No. 2012-157333

By the way, in the technique as in Patent Document 1, when the image taken by the photographing device facing the rear direction of the driver's seat is displayed on the display unit installed in front of the driver's seat, the image displayed on the display unit is displayed. There is a problem that the left-right direction and the actual left-right direction with respect to the traveling aircraft are displayed in reverse. When the display with such inversion is performed, for example, when the operator checks the remaining amount of seedlings, he / she mistakenly recognizes which of the left and right seedling pedestals the remaining amount of seedlings is decreasing. There was a risk that it would end up.

Further, the technique as described in Patent Document 2 has the same problem as described above. When the display accompanied by the inversion as described above is performed, there is a possibility that the left-right direction of the steering may be erroneous when the operator steers with reference to the captured image displayed on the display unit. Such an erroneous operation is not preferable in view of the purpose of steering the rice transplanter while ensuring safety.

Therefore, it is desired to realize a field work support system that can prevent the worker from making a mistake in recognition and steering when providing the photographed image of the periphery of the machine to the worker.

The field work support terminal according to the present invention is a field work support terminal that supports field work by a field work machine including a traveling machine, a field work device for performing work on a field, and a plurality of photographing devices, and displays the display. Communication with the unit, the captured image acquisition unit that acquires the captured image by the photographing device, the display control unit that controls the display on the display unit, the traveling machine, the field work device, and the photographing device. The display control unit displays a normal image or a virtual image of the captured image on the display unit, and at least one of the photographing devices has a photographing direction in the forward direction of the traveling machine. The other image pickup device is installed so as to face the front direction, the other image pickup device is installed so as to face the rear direction which is the backward direction of the traveling machine, and the field work support terminal has the display unit in the front direction or the display unit. It is installed in a detachable state so as to face any of the rear directions, and the display control unit recognizes the installation direction of the imaging device and the installation direction of the field work support terminal, and displays the image on the display unit. When the photographing device for photographing the photographed image and the field work support terminal are installed in opposite directions to each other, the normal image of the photographed image is displayed and displayed on the display unit. When the photographing device for photographing the photographed image and the field work support terminal are installed in the same direction as each other, a virtual image of the photographed image is displayed on the display unit.

Further, the field work machine according to the present invention is a field work machine including a traveling machine, a field work device for performing work on a field, a plurality of imaging devices, and a field work support terminal for supporting field work. The field work support terminal includes a display unit, a captured image acquisition unit that acquires images captured by the imaging device, a display control unit that controls display on the display unit, a traveling machine, and the field work device. The display control unit has a communication unit that communicates with the photographing device, and the display control unit displays a normal image or a virtual image of the captured image on the display unit, and at least one of the photographing devices captures images. The other image pickup devices are installed so as to face the forward direction, which is the forward direction of the traveling machine, and the other imaging devices are installed so as to face the backward direction, which is the backward direction of the traveling machine. The display unit is installed in a detachable state so as to face either the front direction or the rear direction, and the display control unit determines the installation direction of the imaging device and the installation direction of the field work support terminal. When the photographing device that recognizes and captures the captured image displayed on the display unit and the field work support terminal are installed in opposite directions to each other, a normal image of the captured image is displayed. When the photographing device for photographing the photographed image displayed on the display unit and the field work support terminal are installed in the same direction as each other, a virtual image of the photographed image is displayed on the display unit. ..

Further, the field work support program according to the present invention includes a vehicle body, and field working device for performing work on the field, and a plurality of imaging devices, and field work support terminal for supporting the field work, and the imaging apparatus At least one is installed so that the photographing direction faces the forward direction, which is the forward direction of the traveling machine, and the other photographing device is installed so as to face the rear direction , which is the backward direction of the traveling machine. field work support end end, the forward display unit, or a field work support program for supporting the field work by field work machine installed in a removable state so as to face one of the rear direction , The photographed image acquisition function for acquiring the photographed image by the photographing device, the communication function for communicating with the traveling machine, the field work device, and the photographing device, and the normal image or the imaginary image of the photographed image are selected. wherein the display control function having a function of displaying on the display unit, is realized on the computer, the display control function recognizes the installation direction and the installation direction of the field work support terminal of the imaging device, the display portion Te When the photographing device for capturing the captured image and the field work support terminal are installed in opposite directions to each other, the normal image of the captured image is displayed and displayed on the display unit. When the photographing device for photographing the photographed image and the field work support terminal are installed in the same direction as each other, the display unit functions to display a virtual image of the photographed image .

According to these configurations, it is possible to provide an image that is easy for the operator to recognize among the normal image and the virtual image of the image captured by the photographing device.

In addition , since the left-right direction when the operator steers the traveling aircraft and the left-right direction of the movement on the captured image displayed on the display unit match, it is possible to intuitively steer without misrecognition. can.

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 has a forward / backward switching means for switching the traveling direction of the traveling machine between forward and reverse, and each of the photographing devices itself. the has a photographing direction detection unit for detecting a relationship between the imaging direction and the traveling direction of the traveling machine body, and the display control unit includes information relating to the traveling direction of the traveling machine body obtained from the forward-reverse switching means, wherein It is preferable to recognize the installation direction of the photographing device based on the relationship between the photographing direction acquired from the photographing direction detecting unit and the traveling direction of the traveling machine.

According to this configuration, since the photographing device can automatically recognize its own installation direction, it is more suitable for the purpose of providing an appropriate image to the operator.

Field work support terminal according to the present invention, as an embodiment, the pre-Symbol display control unit selects at least one of the imaging device from a plurality of the imaging device, the captured image by the selected said imaging apparatus It is preferable to display it on the display unit.

According to this configuration, it is possible to select a captured image to be provided to the operator from a plurality of photographing devices according to the work and the surrounding situation.

As one aspect of the field work support terminal according to the present invention, the traveling machine has a forward / backward switching means for switching the traveling direction of the traveling machine between forward and reverse, and the display control unit has the traveling. It is preferable that the photographing device selected by acquiring the traveling direction of the aircraft from the forward / backward switching means is determined based on the traveling direction.

According to this configuration, it is possible to provide a captured image suitable for each of the case of moving forward and the case of moving backward. Further, the selection of such a captured image can be linked to the switching between forward and reverse.

Field work support terminal according to the present invention, as an embodiment, the pre-Symbol display control unit, said when the traveling machine body is retracted, the display unit the captured image by the installed the imaging device so as to face the rear direction It is preferable to display in.

According to this configuration, when the traveling aircraft moves backward, it is possible to provide a captured image for confirming the situation behind.

Field work support terminal according to the present invention, as one embodiment, at least one of the imaging apparatus photographs the farm work device, wherein the display control unit, when the traveling machine body is moving forward, capturing the field working device It is preferable to select the photographing apparatus.

According to this configuration, when the traveling aircraft moves forward, it is possible to provide a captured image for confirming the situation ahead.

Field work support terminal according to the present invention, as one aspect, at least one of the imaging device taken at least one working unit and storage unit of the field work device, wherein the display control unit, the traveling machine body is advanced When doing so, it is preferable to select the imaging device that images 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 at least one situation of the working part and the storage part of the field working apparatus when the traveling machine is advanced to perform the field work.

As one aspect of the field work support terminal according to the present invention, it is preferable that the imaging device to be selected can be determined by human operation.

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

Further features and advantages of the invention will be further clarified by the following illustration of exemplary and non-limiting embodiments described with reference to the drawings.

The figure which shows the structure of the field work support terminal of 1st Embodiment of this invention. The side view of the rice transplanter of the 1st Embodiment of this invention. Top view of the rice transplanter according to the first embodiment of the present invention during rice transplanting work. An example of screen display in the seedling remaining amount monitor mode according to the first embodiment of the present invention. The figure which shows the structure of the field work support terminal of 1st Embodiment of this invention. The side view of the rice transplanter of the 2nd Embodiment of this invention. A side view of a tractor according to another embodiment of the present invention.

[First Embodiment]
The first embodiment of the field work support terminal according to the present invention will be described with reference to FIGS. 1 to 4. In the present embodiment, the field work support terminal 1 according to the present invention is based on a rice transplanter 2 (example of a field work machine) provided with a seedling planting device 22 (example of a field work device) in a paddy field P (example of a field). The case of supporting the seedling planting work will be described as an example. The field work supported by the field work support terminal is not limited to the seedling planting work, and may be other rice cultivation work such as cultivation work or harvesting work, and is a field other than rice cultivation such as field cultivation work. It may be work. Further, 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 (example of a display unit), an aircraft position information acquisition unit 12, a work information acquisition unit 13, a photographed image acquisition unit 14, a display control unit 15, and a communication unit 16. To prepare for.

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 input from the worker. The touch panel 11 can display, for example, a group of icons assigned to various functions, and the operator can operate the field work support terminal 1 by touching each icon.

The aircraft position information acquisition unit 12 communicates with the rice transplanter 2 via the communication unit 16 and acquires the aircraft 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 to acquire 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 total width of the work width of the seedling planting device 22, the number of planting rows actually operated, and the like. It includes the work width based on the number of planting rows actually operated, the distance between plants, the type of fertilizer, and the amount of fertilizer applied. This information can be displayed on the touch panel 11 automatically as needed or by human operation of the operator.

The captured image acquisition unit 14 acquires captured images (normal images 31A to 31D) taken by the cameras 24A to 24D mounted on the rice transplanter 2. Further, the captured image acquisition unit 14 can generate virtual images 32A to 32D of the captured images taken 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 captured images by the cameras 24A to 24D. When displaying the captured image, the display control unit 15 selects at least one captured image selected from the group consisting of the normal images 31A to 31D and the virtual images 32A to 32D and displays them on the touch panel 11.

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

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

The field work support terminal 1 is attached to and detached from the first position fixed to the spare nursery provided on the right front side of the driver's seat 211 or the second position fixed to the frame provided on the right rear side of the driver's seat 211. It can be installed freely. The installation position of the field work support terminal 1 can be arbitrarily selected by the operator according to the work situation. In the first position, the field work support terminal 1 is installed in the first direction in which the touch panel 11 faces the rear of the driver's seat 211, that is, the seated worker is installed in the direction facing the touch panel 11. In the second position, the field work support terminal 1 is installed in the second direction in which the touch panel 11 faces the front of the driver's seat 211, that is, in the direction facing the touch panel 11 when the seated worker 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 installed state, the operator can visually recognize various information displayed on the touch panel 11 while the rice transplanter 2 is in operation, and can receive support for field work.

The seedling planting device 22 includes a seedling loading table 221 (an example of a storage section), a seedling planting working section 222 (an example of a working section), a fertilizing working section 223 (another example of a working section), and a seedling planting device. It has a control unit 224 and. The seedling planting device 22 is configured in a multi-row planting format (for example, 8-row planting), and the number of planting rows can be changed by operating each row clutch (not shown).

The fertilizer application device 23 includes a fertilizer hopper 231 (another example of a storage unit) and a feeding device (not shown). The fertilizer application device 23 dispenses a predetermined amount of fertilizer stored in the fertilizer hopper 231 from the delivery device, feeds it to the fertilizer application work unit 223 equipped on the seedling planting device 22 via a supply route (not shown), and feeds it to the paddy field P. It is configured to supply.

The camera 24A is provided at the lower front portion of the traveling machine body 21 so as to include the front side of the traveling machine body 21 in the shooting range. The camera 24B is provided behind the driver's seat 211 so as to include the rear of the traveling machine 21 in the shooting range. The camera 24C is provided in the vicinity of the seedling stand 221 so as to include the seedling stand 221 in the photographing range. The camera 24D is provided on the upper lid of the fertilizer hopper 231 so as to include the fertilizer storage portion located below the fertilizer hopper 231 in the photographing range. Of 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). The cameras 24A to 24D each have shooting direction detection units 241A to 241D.

[Operation mode of field work support terminal 1]
Next, the operation mode of the field work support terminal 1 according to the present embodiment will be described. In the rice transplanting work in the rice transplanter P, the field work support terminal 1 has a front monitor mode for visually recognizing the situation of the front lower part of the traveling machine 21, a back monitor mode for checking the situation behind the traveling machine 21, and a seedling stand. A group consisting of a seedling remaining amount monitor mode for checking the remaining amount of seedlings in 221, a fertilizer remaining amount monitor mode for checking the remaining amount of fertilizer in the fertilizer hopper 231 and a guidance mode for guiding the running of the rice transplanter 2. Operates in one mode selected from. The operation mode is automatically selected according to the operating condition of the rice transplanter 2 as described later, and can also be selected by human operation. When the operation mode is selected by human operation, the selection takes precedence over the automatically selected selection. The field work support terminal 1 may have an operation mode other than the above group.

When the operation of the rice transplanter 2 is started, the shooting direction detection units 241A to 241D analyze the images continuously shot, so that the cameras 24A to 24D face forward with respect to the traveling direction of the traveling machine 21, respectively. Recognize whether you are facing backwards or not. At this time, the shooting direction detection units 241A to 241D acquire information on whether the traveling machine 21 is moving forward or backward from the forward / backward switching means 212. The shooting direction detection units 241A to 241D combine these 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 21, when the traveling machine 21 is advanced, in the normal image 31A or the virtual image 32A of the continuous captured image by the camera 24A, the object reflected in the back of the screen is timed. A mode that approaches the front of the screen with the passage of time is photographed. 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 information that the traveling machine 21 is moving forward from the forward / backward switching means 212. By combining these, the shooting direction detecting unit 241A recognizes that the camera 24A is facing forward with respect to the traveling direction when the traveling machine body 21 moves forward, that is, is installed in the first direction.

The front monitor mode is used when the traveling machine body 21 is advanced, and at this time, the display control unit 15 displays the normal image 31A of the captured image of the camera 24A on the touch panel 11. Since the camera 24A is provided in the lower front part of the traveling machine 21 so as to include the front of the traveling machine 21 in the shooting range, the operator can visually recognize the front of the traveling machine 21 from the photographed image. In particular, the situation of the portion behind the traveling machine 21 that cannot be visually recognized can be visually recognized by the normal image 31A from the operator seated in the driver's seat 211. With this function, for example, the rice transplanter 2 can be operated so as to recognize an obstacle in front and avoid it. When the traveling machine 21 is operated to move forward, the field work support terminal 1 acquires information that the traveling machine 21 is moving forward from the forward / backward switching means 212, and automatically shifts to the front monitor mode. It may be configured as.

The back monitor mode is used when the traveling machine body 21 is moved backward, and at this time, the display control unit 15 displays a virtual image 32B of the captured image of the camera 24B on the touch panel 11. Since the camera 24B is installed facing the rear of the traveling machine 21 (second direction), the normal image 31A of the captured 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 due to steering of the handle and the direction in which the rice transplanter 2 moves on the virtual image 32B displayed on the touch panel 11 are reversed left and right. Therefore, by displaying the virtual image 32B instead of the normal image 31B, the direction of steering of the steering wheel and the direction of movement on the touch panel 11 match, so that steering can be performed intuitively. With this function, for example, the rice transplanter 2 can be safely moved backward while visually recognizing the blind spot behind the seedling planting device 22. When the traveling machine 21 is operated to move backward, the field work support terminal 1 acquires information that the traveling machine 21 is moving backward from the forward / backward switching means 212, and automatically shifts to the back monitor mode. It may be configured as.

The seedling remaining amount monitor mode is mainly used in the work running in which the traveling machine 21 is advanced while planting the seedlings by operating the seedling planting device 22, and at this time, the display control unit 15 is a virtual image of the captured 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 pedestal 221 in the photographing range, the operator can visually recognize the remaining amount of the seedling S of the seedling pedestal 221 from the photographed image. Since the seedling stand 221 is provided behind the driver's seat 211, the operator who drives the rice transplanter 2 cannot directly see it, but with the above configuration, the operator can take a picture displayed on the touch panel 11. From the image, the remaining amount of seedling S can be confirmed while facing forward. Further, since the camera 24C is also installed in the second direction like the camera 24B, by selecting the virtual image 32C as the captured image to be displayed on the touch panel 11, the actual left-right direction and the movement on the touch panel 11 can be obtained. It can match the direction. As a result, the virtual image 32C can intuitively recognize which number of seedlings S is reduced in the left-right direction among the seedling mounting stands 221 provided corresponding to each row of the multi-row planting type. Can be done. When the traveling machine 21 is operated to move forward, the field work support terminal 1 acquires information that the traveling machine 21 is moving forward from the forward / backward switching means 212, and automatically shifts to the seedling remaining amount monitor mode. It may be configured to do so. Alternatively, when the field work support terminal 1 automatically monitors the remaining amount of seedlings when it is detected by image recognition of the captured image or by a physical sensor or other detection means that the remaining amount of seedlings has fallen below a preset amount. The mode may be changed so that the virtual image 32C is displayed together with an alarm notifying that the remaining amount of the seedling S is decreasing.

The fertilizer remaining amount monitor mode is mainly used in the work running in which the traveling machine 21 is advanced while fertilizing by operating the seedling planting device 22 and the fertilizer applying device 23, and at this time, the display control unit 15 is a photographed image of the camera 24D. The virtual image 32D of the above is displayed on the touch panel 11. Since the camera 24D is provided on the upper lid of the fertilizer hopper 231 so as to include the fertilizer storage portion located below the fertilizer storage portion in the photographing range, 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 operator who drives the rice transplanter 2 cannot directly see it, but with the above configuration, the operator can see the photographed image displayed on the touch panel 11. Allows you to check the amount of fertilizer remaining while facing forward. As in the seedling remaining amount monitor mode, by selecting the virtual image 32D as the captured image to be displayed on the touch panel 11, the actual left-right direction and the direction of movement on the touch panel 11 can be matched. When the left-right directions match in this way, the shaking direction of the fertilizer liquid surface on the virtual image 32D matches the actual left-right direction, which is preferable in that the operator can easily accept it and prevent problems such as image sickness. .. When the seedling planting device 22 and the fertilizer application device 23 are operated so as to perform fertilization, the seedling planting device control unit 224 indicates that the seedling planting device 22 and the fertilizer application device 23 have started fertilization. The field work support terminal 1 may be configured to automatically shift to the fertilizer remaining amount monitor mode. Alternatively, when it is detected by the image recognition of the captured image or the liquid level gauge or other detection means that the fertilizer has fallen below the preset remaining amount, the field work support terminal 1 automatically monitors the fertilizer remaining amount. The mode may be changed so that the virtual image 32D is displayed together with an alarm notifying that the remaining amount of fertilizer is decreasing.

In the guidance mode, the work information acquisition unit 13 grasps that the rice transplanter 2 is equipped with the seedling planting device 22 by communication with the seedling planting device 22 via the communication unit 16, and the work to be performed is performed. Recognize that it is a seedling planting work. Further, the aircraft position information acquisition unit 12 starts acquiring the aircraft position information 41 by the GNSS 213 by communicating with the rice transplanter 2 via the communication unit 16. In addition, a travel route 42 suitable for efficiently planting seedlings in the entire area of the paddy field P is determined. When the guidance by the field work support terminal 1 that has completed the above preparation steps is started, the display control unit 15 displays the aircraft 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 ocher, which indicates that it is an unworked area 43. When the rice transplanter 2 is run while operating the seedling planting device 22 with the guidance function executed, the running history 44 of the rice transplanter 2 is displayed on the touch panel 11. Then, a region having a width corresponding to the working width of the seedling planting device 22 along the traveling history 44 is colored green as the seedling planted region 45 (FIG. 3). The work information acquisition unit 13 recognizes how many rows of the seedling planting device 22 are actually operated by communicating with the seedling planting device 22 via the communication unit 16, and the display control unit 15 is used. , The width recognized as the seedling planted area 45 is adjusted according to the recognized number of rice planting rows. When the work width for planting seedlings and the work width for fertilizing are different, the width of the fertilized area 46 is different from that of the seedling planted area 45, and the color of the fertilized area 46 is different from that of the seedling planted area 45 (for example, white). Display with.

When the seedling planting work is carried out in the main part P1 of the paddy field P, it eventually reaches the shoreline P2. Then, the worker performs a turning operation of the rice transplanter 2, causes the rice transplanter 2 to enter the next traveling path parallel to the immediately preceding traveling path, and continues the seedling planting work. At this time, the seedling planted area 45 and the fertilized area 46 are continuously colored, but the seedling planting work is performed overlappingly in the area already recognized as the seedling planted area 45 and the fertilized area 46. In this case, the overlapping region 47 is colored in a color different from that of the seedling planted region 45 and the fertilized region 46 (for example, red). In this way, the overlapping area 47 is colored in a color different from that of the seedling planted area 45 and the fertilized area 46, so that the worker recognizes the presence or absence and the size of the area where the overlapping work is performed. Can be done. If the overlapping area 47 can be recognized, the operation method of the rice planting machine 2 can be adjusted so as to reduce the overlapping area 47, so that the seedling planting work can be performed efficiently. When the traveling machine 21 is operated to move forward, the field work support terminal 1 acquires information that the traveling machine 21 is moving forward from the forward / backward switching means 212, and automatically shifts to the guidance mode. It may be configured.

[Second embodiment]
Subsequently, a second embodiment of the field working machine according to the present invention will be described with reference to FIGS. 5 and 6. In the present embodiment, the case where the field work support terminal 1'according to the present invention supports the sowing work by the rice transplanter 2'provided with the sowing device 22'(another example of the field work device) in the paddy field P is taken as an example. explain. In the following, the differences from the first embodiment will be mainly described. The points not particularly specified are the same as those in the first embodiment, and the same reference numerals are given and detailed description thereof will be omitted.

[Basic configuration of rice transplanter 2']
First, the basic configuration of the rice transplanter 2'according to the present embodiment will be mainly described as being different from the rice transplanter 2 according to the first embodiment. The rice transplanter 2'is provided with a sowing device 22'instead of the seedling planting device 22 and is provided with a chemical supply device 25 (another example of a field work device) which was not provided in the rice transplanter 2. , Different from the first embodiment (FIGS. 5 and 6).

The seeding device 22'is a seed fir tank 221'(another example of a storage unit), a sowing work unit 222'(another example of a working unit), a fertilizer application working unit 223'(another example of a working unit), and a seeding device control. It has a portion 224'and (FIGS. 5 and 6). The sowing device 22'is configured in a multi-row planting format (for example, 4-row planting), and the number of planting rows can be changed by operating a minority row clutch (not shown).

The drug supply device 25 includes two drug hoppers 251 (another example of the storage section) for storing powdery and granular drugs (insecticide, bactericide, etc.), four drug delivery sections 252 for delivering the drugs of the drug hopper 251. It is provided with four drug supply units 253 for supplying the drug to the field. Here, the four drug delivery 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 multi-row planting type (for example, four-row planting). It is possible to independently control the drug supply for each planting row corresponding to the above. Further, the drug hopper 251 is made of a transparent synthetic resin, and the inside can be visually observed from the outside. The number of the drug supply devices 25 is not limited to one. For example, if the two drug supply devices 25A and 25B are provided, the insecticide and the herbicide can be sprayed at the same time. ..

The rice transplanter 2'is provided with a camera 24C'provided to include the seed fir tank 221'in the shooting range in place of the camera 24C in the rice transplanter 2, and the sowing work unit 222'is a work target point for sowing the seed fir. The camera 24E is provided so as to include the two drug hoppers 251 in the photographing range, and the camera 24F is provided so as to include the two drug hoppers 251 in the photographing range. The cameras 24C'and 24F are installed facing the front of the traveling aircraft (first direction), and the cameras 24E are installed facing the rear of the traveling aircraft (second direction).

[Operation mode of field work support terminal 1']
The field work support terminal 1'that supports the sowing work by the rice transplanter 2'is replaced with the seedling remaining amount monitor mode in the field work support terminal 1, and the seed fir remaining amount monitor for checking the seed fir remaining amount of the seed fir tank 221'. Has a mode. In addition, it has a seeding monitor mode for confirming the status of the seeding work by the seeding work unit 222'and a drug remaining amount monitor mode for confirming the remaining amount of the drug in the drug hopper 251.

Since the form of the seed fir remaining amount monitor mode is the same as that of the seedling remaining amount monitor mode in the field work support terminal 1, detailed description thereof will be omitted. However, since the camera 24C was installed in the second direction in the rice transplanter 2, the virtual image 32C was selected as the captured image, but in the rice transplanter 2', the camera 24C' was installed in the first direction, so that the image was taken. The difference is that the normal image 31C'is selected as the image. By selecting the normal image 31C', among the seed fir tanks 221'provided corresponding to each row of the multi-row planting type, the number of seed fir tanks 221' in the left-right direction has a small remaining amount. It can be recognized intuitively.

The seeding monitor mode is mainly used in the work running in which the traveling machine 21 is advanced while sowing by operating the seeding device 22', and at this time, the display control unit 15 displays the virtual image 32E of the captured image of the camera 24E on the touch panel 11. indicate. Since the camera 24E is provided so that the sowing work unit 222'includes the work target point for sowing the seed fir in the photographing range, the operator can visually recognize the situation of the sowing work from the photographed image. Unlike the seedling planting work in which seedlings are planted in the paddy field P, the seed fir sown in the paddy field P is small in the sowing work, so the operator remains seated in the driver's seat 211 to check whether the seeding is performed correctly. It was difficult to judge by. With the above configuration, the camera 24E provided near the work point can provide the worker with an image taken from a distance so that the seed fir can be visually recognized, so that it is confirmed whether or not the seed fir is sown correctly. be able to.

The drug remaining amount monitor mode is mainly used in the work running in which the traveling machine 21 is advanced while operating the drug supply device 25 to perform the drug supply work. At this time, the display control unit 15 is a normal image of the captured image of the camera 24F. 31F is displayed on the touch panel 11. Since the camera 24F is provided so as to include the two drug hoppers 251 in the photographing range, the operator can visually recognize the remaining amount of the drug in the drug hopper 251 from the photographed image. Even in the drug remaining amount monitor mode, the actual left-right direction and the left-right direction on the displayed normal image 31F match, so it is intuitive to know which of the two drug hoppers 251 the remaining amount of the drug is decreasing. Easy to recognize.

[Other embodiments]
Finally, other embodiments 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 other embodiments as long as there is no contradiction.

In the above embodiment, a configuration in which a field work support terminal 1 separate from the rice transplanter 2 is installed and used in the rice transplanter 2 has been described as an example. However, the configuration is not limited to such a configuration, and may be configured as, for example, a field work machine equipped with a field work support terminal in advance.

In the above embodiment, the configuration in which the rice transplanter 2 is provided with the field work support terminal 1 which is a dedicated terminal has been described as an example. However, it is not limited to such a configuration, and for example, a general-purpose portable terminal such as a smartphone or a tablet terminal has an aircraft position information acquisition function, a work information acquisition function, a captured image acquisition function, and a communication function. It may be configured as a program that realizes a display control function having a function of selecting a normal image or a virtual image of a captured image and displaying it on a display unit.

In the above embodiment, the configuration in which the field work support terminal 1 according to the present invention supports the seedling planting work and the configuration in which the sowing work is supported have been described as an example. However, the field work supported by the field work support terminal according to the present invention is not limited to the seedling planting work or the sowing work, and for example, the tilling work, the ridge work, the ridge sowing work, the fertilization work, and the chemical spraying work. , Harvesting work, etc. The field work support terminal according to the present invention can be mounted on a field work machine equipped with a field work device according to the type of field work to be performed. The field work machine may be a tractor, a combine, a passenger management machine, or the like, and the field work device may be a ridge device, a ridge sowing device, a multi-work device, a fertilizer spraying device, a boom sprayer device, a harvesting device, or the like. May be. As an example, FIG. 7 shows a case where the field work support terminal 1 according to the present invention is mounted on a tractor 2 ″ equipped with a tilling work device 22 ″.
In addition, regardless of which work is supported, the work area is colored for each type of display control unit and field work device (field work) in a color corresponding to each field work device (field work). good.

It should be understood that with respect to other configurations, the embodiments disclosed herein are exemplary in all respects and the scope of the invention is not limited thereto. Those skilled in the art will be able to easily understand that modifications can be made as appropriate without departing from the spirit of the present invention. Therefore, another embodiment modified without departing from the spirit of the present invention is 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: Aircraft position information acquisition unit 13: Work information acquisition unit 14: Photographed image acquisition unit 15: Display control unit 16: Communication unit 2: Rice transplanter 21: Traveling aircraft 211: Driver's seat 212 : Forward / backward switching means 213: GNSS
22: Seedling planting device 221: Seedling stand 222: Seedling planting work section 223: Fertilizer application work section 224: Seedling planting device control section 22': Seeding device 221': Seed fir tank 222': Seeding work section 223': Fertilizer application work unit 224': Seeding device control unit 23: Fertilizer application device 231: Fertilizer hopper 24: Camera 241: Imaging direction detection unit 25: Drug supply device 251: Drug hopper 252: Drug delivery unit 253: Drug supply unit 2': Tractor 22': Tillage work equipment

Claims (10)

It is a field work support terminal that supports field work by a field work machine equipped with a traveling machine, a field work device for performing work on a field, and a plurality of photographing devices.
Communication with the display unit, the captured image acquisition unit that acquires the captured image by the photographing device, the display control unit that controls the display on the display unit, the traveling machine, the field work device, and the photographing device. With a communication unit that does
The display control unit displays a normal image or a virtual image of the captured image on the display unit .
At least one of the photographing devices is installed so that the photographing direction faces the forward direction, which is the forward direction of the traveling machine, and the other photographing device faces the rear direction, which is the backward direction of the traveling machine. Installed,
The field work support terminal is installed in a detachable state so that the display unit faces either the front direction or the rear direction.
The display control unit
Recognizing the installation direction of the imaging device and the installation direction of the field work support terminal,
When the photographing device for photographing the photographed image displayed on the display unit and the field work support terminal are installed in opposite directions to each other, the normal image of the photographed image is displayed and the photographed image is displayed.
When the photographing device for photographing the photographed image displayed on the display unit and the field work support terminal are installed in the same direction as each other, the field work for displaying a virtual image of the photographed image on the display unit. Support terminal. The traveling machine has a forward / backward switching means for switching the traveling direction of the traveling machine between forward and reverse.
Each of the imaging device has a photographing direction detection unit that detects a relationship between the photographing direction of itself and the traveling direction of the vehicle body,
The display control unit is based on the information regarding the traveling direction of the traveling machine acquired from the forward / backward switching means and the relationship between the shooting direction and the traveling direction of the traveling machine acquired from the shooting direction detection unit. The field work support terminal according to claim 1 , which recognizes the installation direction of the photographing device. Prior Symbol display control unit selects at least one of the imaging device from a plurality of the imaging devices, field according to an image captured by said selected photographic apparatus to claim 1 or 2 displayed on the display unit Work support terminal. The traveling machine has a forward / backward switching means for switching the traveling direction of the traveling machine between forward and reverse.
The display control unit acquires the traveling direction of the traveling aircraft from the forward / backward switching means, and obtains the traveling direction.
The field work support terminal according to claim 3 , wherein the photographing device selected is determined based on the traveling direction. Prior Symbol display control unit, when the traveling machine body is retracted, the field work support terminal according to claim 4 for displaying an image taken by the installed the imaging device so as to face the rear direction on the display unit. At least one of the imaging apparatus photographs the farm working device,
The field work support terminal according to claim 4 or 5 , wherein the display control unit selects the photographing device for photographing the field working device when the traveling machine moves forward. At least one of the imaging device taken at least one working unit and storage unit of the field working device,
The field work support terminal according to claim 4 or 5 , wherein the display control unit selects the photographing device that photographs at least one of the working unit and the storage unit when the traveling machine moves forward. The field work support terminal according to any one of claims 3 to 7 , wherein the imaging device to be selected can be determined by human operation. It is a field work machine provided with a traveling machine, a field work device for performing work on a field, a plurality of photographing devices, and a field work support terminal for supporting field work.
The field work support terminal includes a display unit, a captured image acquisition unit that acquires a captured image by the photographing device, a display control unit that controls display on the display unit, the traveling machine, the field work device, and the field work support terminal. , A communication unit that communicates with the photographing device,
The display control unit displays a normal image or a virtual image of the captured image on the display unit .
At least one of the photographing devices is installed so that the photographing direction faces the forward direction, which is the forward direction of the traveling machine, and the other photographing device faces the rear direction, which is the backward direction of the traveling machine. Installed,
The field work support terminal is installed in a detachable state so that the display unit faces either the front direction or the rear direction.
The display control unit
Recognizing the installation direction of the photographing device and the installation direction of the field work support terminal,
When the photographing device for photographing the photographed image displayed on the display unit and the field work support terminal are installed in opposite directions to each other, the normal image of the photographed image is displayed and the photographed image is displayed.
When the photographing device for photographing the photographed image displayed on the display unit and the field work support terminal are installed in the same direction as each other, the field work for displaying a virtual image of the photographed image on the display unit. Machine. A traveling machine, a field work device for performing work on a field, a plurality of photographing devices, and a field work support terminal for supporting field work are provided , and at least one of the photographing devices has a shooting direction of the traveling machine. is disposed so as to face the front direction is the forward direction, the other of the imaging device, the installed so as to face the rear direction is the backward direction of the vehicle body, the field work support end end, the display unit before It is a field work support program that supports field work by a field work machine installed in a detachable state so as to face either the direction or the rear direction.
Select a captured image acquisition function for acquiring a captured image by the photographing device, a communication function for communicating with the traveling machine, the field work device, and the photographing device, and a normal image or a virtual image of the photographed image. A computer has a display control function having a function of displaying on the display unit .
The display control function is
Recognizing the installation direction of the photographing device and the installation direction of the field work support terminal,
When the photographing device for photographing the photographed image displayed on the display unit and the field work support terminal are installed in opposite directions to each other, the normal image of the photographed image is displayed and the photographed image is displayed.
When the photographing device for photographing the photographed image displayed on the display unit and the field work support terminal are installed in the same direction as each other, the virtual image of the photographed image is displayed on the display unit. A functioning field work support program.

Images