JPH09224414A - Direction detector, traveling state display device and traveling controller for work wagon - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a direction detector for a work wagon improved in steerage and operability by improving detection accuracy by discriminating the position deviation direction of an image pickup object between images picked up at every set moving time or the like as a machine body moving direction by a moving direction detection means. SOLUTION: This detector is provided with an image pickup means S1 for picking up the image of the plural image pickup objects present with intervals with each other on a ground side, an area extraction means 9 for extracting an object area corresponding to the image area of the image pickup object based on the image pickup information of the image pickup means S1 and the moving direction detection means 101 for detecting the machine body moving direction based on the area information of the area extraction means 9. The image pickup operation of the image pickup means S1 is performed at every set moving time or moving distance and the moving direction detection means 101 discriminates the position deviation direction of the image pickup objects between both images continuously picked up at every set moving time or moving distance as the machine body moving direction. Also, it is preferable that the moving direction detection means 101 defines the direction of a straight line for connecting overlapped object areas between both images as the position deviation direction.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an image pickup means for picking up a plurality of image pickup objects which are present on the ground side at a distance from each other, and an image pickup device for displaying an image area of the image pickup object based on image pickup information of the image pickup means. A direction detecting device for a work vehicle provided with a region extracting means for extracting a corresponding object region and a moving direction detecting means for detecting a machine body moving direction on the basis of the region information of the region extracting means, and this boundary detection. The present invention relates to a traveling state display device that displays a traveling state with respect to a boundary detected by the device, and a traveling control device for automatically traveling along the detected boundary.

[0002]

2. Description of the Related Art In the above-mentioned work vehicle direction detecting apparatus, for example, planting work vehicles (rice planting) for planting seedlings of a crop as an imaging object in rows at set intervals in an unplanted work site adjacent to an already planted work site. Machine) to detect the moving direction of the machine, which is necessary when traveling along the row direction of a plurality of already planted seedlings, the predetermined direction of the screen of the image pickup means such as a TV camera (for example, the vertical direction of the screen) is detected. Adjust the state to match the front-back direction, and determine the seedling row direction by linear approximation or curve approximation processing such as Hough conversion based on the information of the seedling area (target area) corresponding to each seedling in the imaging screen, The direction in the machine front-rear direction, that is, the machine body movement direction is detected by the displacement between the seedling row direction and the screen direction corresponding to the machine body front-rear direction (see, for example, JP-A-6-149362).

[0003]

However, in the above-mentioned prior art, the state in which the image pickup means is attached to the machine body is held so that the predetermined direction of the image pickup screen (for example, the vertical direction of the screen) matches the front-back direction of the machine body in advance. However, if the image pickup direction of the image pickup unit changes due to a loose attachment mechanism of the image pickup unit to the airframe due to vibration during traveling, for example, the detection of the moving direction of the body becomes inaccurate, and as a result, There was a problem in running the seedlings along the seedlings in a proper condition.

The present invention has been made in view of the above circumstances, and an object thereof is, for example, in order to solve the above-mentioned problems of the prior art, for example, the mechanism for attaching the image pickup means to the body is loose and the image pickup direction of the image pickup means. Even if the change occurs, properly detect the moving direction of the aircraft, and display on the screen so that the operator who is manually controlling the traveling state of the moving direction of the aircraft in the seedling row direction, Alternatively, the work vehicle is automatically driven along the seedling row direction.

[0005]

According to the structure of claim 1, a plurality of image pickup objects existing on the ground side at a distance from each other are picked up for each set moving time or moving distance. The target object area corresponding to the image area of the target object is extracted, and the displacement direction of the imaged target object between both images captured continuously for each of the set moving time or moving distance is determined as the machine body moving direction. .

Therefore, since the machine body moving direction is detected by the position shift direction of the image pickup object whose position shifts on the screen along the moving direction of the work vehicle, as in the conventional case, for example, in the image pickup screen. Matching the predetermined direction with the aircraft front-back direction, and determining the positional relationship of the imaged object in the screen with respect to the screen predetermined direction (for example, the angle between the arrangement direction of the imaged objects and the screen predetermined direction) In this case, it is not possible to properly detect the moving direction of the machine when the imaging direction changes due to loosening of the attachment mechanism of the imaging means to the machine Even if it is, the direction detection device of the work vehicle that can appropriately detect the moving direction of the machine body can be obtained.

According to the second aspect of the present invention, in the first aspect, the direction of the straight line connecting the object regions overlapping between the continuously captured images is determined as the position displacement direction of the imaged object.

Therefore, by discriminating the combination of the object areas that are overlapped while being displaced between the two images, the same object area that is displaced on the screen as the work vehicle is moved can be reliably captured. , It is possible to accurately detect the moving direction of the airframe by the direction of displacement of the target area,
Therefore, the preferred means of the constitution of claim 1 can be obtained.

According to the third aspect of the present invention, in the second aspect, the representative point of each object region obtained in either one of the two images captured continuously is included in the object region in the other image. If so, it is determined that the two object areas overlap between the two images, and the representative point of each object area in the one image is not included in the object area in the other image. Determines that the two object areas do not overlap between the two images.

Therefore, for example, in determining the overlapping state of the object regions between the two images without obtaining the representative points of the respective object regions, a large number of points constituting the object region in one image are detected. , It is necessary to determine whether or not the image is included in the target area in the other image, and the determination process is complicated, but the processing content can be simplified, and thus the determination process according to claim 2 is performed. A suitable means of construction is obtained.

According to the structure of claim 4, in claim 1, 2 or 3, the image picked up by the image pickup means, which is obtained by picking up the work site in a diagonally downward direction, is converted into an image in a vertically downward direction, and the image is taken in the vertically downward direction. The displacement direction of the imaged object in both consecutive images is determined as the machine body movement direction.

Therefore, while correcting the image distortion when the work site is imaged obliquely downward, a large number of image pickup objects existing in a wider range are captured compared with the case where the work site is imaged vertically downward. The detection accuracy of the machine body movement direction can be increased based on the positional displacement directions of the large number of image pickup objects, and thus the preferable means of the configuration of claim 1, 2 or 3 can be obtained.

According to the configuration of claim 5, claims 1, 2,
In the work vehicle 3 or 4, the column direction of the imaging target formed in a row along the machine body movement direction is detected, and the above-mentioned determination with respect to the column direction of the imaging target is obtained on the same screen of the image display means. An image showing the displacement in the moving direction of the machine body and a captured image obtained by capturing the image capturing object in a row are displayed.

Therefore, for example, as compared with a case where a worker who manually operates a work vehicle actually sees an image pickup object existing in a row on the ground side and judges the displacement in the machine movement direction with respect to the row direction. , It is possible to easily and accurately determine the displacement of the imaged object in the machine movement direction with respect to the column direction from the image of the actual imaged object displayed on the same screen and the image showing the above displacement, and thus the machine body is placed on the ground side. It is possible to obtain a traveling state display device for a work vehicle that is suitable when the vehicle is manually steered so as to move the imaging target in the column direction in an appropriate state.

According to the structure of claim 6, claims 1, 2,
In the work vehicle of 3 or 4, the row direction of the imaging object formed in a row along the machine movement direction is detected, and based on the displacement information of the obtained machine movement direction with respect to the row direction of the imaging object. The traveling device is automatically steered so as to cancel the displacement, and the work vehicle is steered so as to travel in the row direction of the imaging target.

Therefore, for example, when the operator manually operates the work vehicle (for example, the planting work vehicle) along the row direction of the object to be imaged (for example, the seedling of the planted crop). Also, even if you temporarily release your hands from the steering wheel for other work (supplementing seedlings, etc.), the machine can automatically run along the above-mentioned row direction, which is excellent in workability. A travel control device for a work vehicle is obtained.

[0017]

BEST MODE FOR CARRYING OUT THE INVENTION The present invention will be described below with reference to the drawings in which a rice transplanter (planting work vehicle) as a work vehicle travels in a field while planting work.

As shown in FIGS. 1 and 2, on the rear side of the body of the work vehicle V having the front wheels 1F and the rear wheels 1R, the crop seedlings T are provided.
The seedling planting device 2 for planting the plant in the field is provided so as to be able to move up and down, and the work vehicles V are set in a row with respect to the unplanted work site in a row with a set planting interval along the machine traveling direction and in the machine lateral direction. A plurality of seedlings T are planted in a state where the planting widths are separated to form a planted work site. That is, a plurality of seedlings T, which are present on the ground side and are spaced apart from each other, as imaging targets are formed in rows along the machine body moving direction.

On the front side of the work vehicle V as an image pickup means for picking up the seedling T including the seedling Tn located at the boundary between the planted work site and the unplanted work site adjacent to the lateral side of the machine. A TV camera S1 is provided, and the TV camera S1 is
It is attached to the tip of a support member 4 that projects outward from the fuselage in a state in which the work area is imaged obliquely from above. The work vehicle V reverses its traveling direction with respect to the field every time it travels through one working stroke set in a state in which the working vehicles V are arranged in parallel in the machine lateral direction from one end side to the other end side of the field. Since the position of the boundary with respect to the work vehicle V is horizontally reversed, the television camera S1 is
One is provided on each of the left and right sides, and the television camera S1 on the side to be used is switched and controlled as described later. In FIG.
The position of the boundary is on the left side of the work vehicle V, and the image pickup information of the left TV camera S1 is used. Then, in each work step, the operator manually steers the work vehicle V while looking at the display screen of the TV monitor 13 described later showing the displacement state in the machine movement direction with respect to the seedling row direction, or as described below. The steering of the work vehicle V is automatically controlled based on the displacement information.

Explaining the structure of the work vehicle V,
As shown in FIG. 3, the output of the engine E is transmitted to each of the front wheels 1F and the rear wheels 1R via the transmission device 5, and the transmission state detecting potentiometer R3 for detecting the transmission operation state of the transmission device 5 and the potentiometer R3 are provided. An electric motor 6 for shifting the transmission 5 for shifting the transmission 5 and an accelerator pedal 17 for manual shifting are provided. In the figure, S2 is a distance sensor for detecting the moving distance of the machine body based on the output speed of the transmission 5.

Front wheel 1F as a traveling device which can be freely steered
Also, the rear wheels 1R are configured to be individually steered by hydraulic cylinders 7F and 7R, respectively, and steering angle detecting potentiometers R1 and R2 for detecting steering angles of the front and rear wheels 1F and 1R, and a steering wheel for manual operation. 16, a steering wheel operation angle detection potentiometer R0 for detecting the operation angle of the steering wheel 16, and electromagnetically operated control valves 8F, 8R for operating the hydraulic cylinders 7F, 7R are provided. In addition, front and rear wheels 1F, 1R
Of the same phase and at the same angle for the parallel steering type, the front and rear wheels 1F, 1R for the opposite phase and at the same angle for the four-wheel steering type, and the front wheel 1F for steering only the two-wheel steering type. Three types of steering,
It can be selectively used by a changeover switch (not shown). However, when the vehicle automatically travels along each work stroke, the two-wheel steering type is selected.

Microcomputer-based control unit 12
The control device 12 is provided with the steering angle detecting potentiometers R1 and R2, the steering wheel operating angle detecting potentiometer R0, the shift state detecting potentiometer R3, the distance sensor S2, and the automatic traveling switch for starting the automatic traveling mode. Each signal from 15 is input, and the control device 12 outputs drive signals for the electric motor 6 for shifting and the control valves 8F and 8R. Then, in the automatic traveling mode in which the automatic traveling switch 15 is turned on, the control device 12 drives the electric motor 6 for shifting so that the transmission device 5 is in an operation state corresponding to a preset traveling speed, and The control valves 8F, 8 are adjusted so that the steering angles of the front and rear wheels 1F, 1R become the set steering angles.
In the manual traveling mode in which R is driven and the automatic traveling switch 15 is turned off, the control valves 8F and 8R are driven so that the front and rear wheels 1F and 1R have the operating angles designated by the steering wheel 16. In the manual traveling mode, the operator operates the accelerator pedal 17 to shift gears.

As shown in FIG. 4, the reflected light from the seedling T or the like in the field scene is a polarizing filter for preventing the direct reflected light from the water surface or the like and the visible light for blocking the incident of the visible light. Optical filter 14 consisting of a cut filter
After being transmitted, it is incident on the television camera S1.
That is, from the TV camera S1, the seedling T in the field scene is displayed.
An infrared image of infrared light of the like is obtained as analog image information (see FIG. 9A). The television camera S1 is operated to pick up images for each set moving distance, as will be described later.
In addition, since the television camera S1 images the front side of the field in a diagonally downward direction, the image appears to have a shorter distance as the image on the far side.

Next, based on the image pickup information of the television camera S1, the image processing device G for detecting the line direction L of the seedlings Tn adjacent to the unplanted work site, that is, the line segment L corresponding to the boundary and the machine body moving direction. Explaining (FIGS. 3 and 4),
The analog image signal from the television camera S1 is processed and a digital image signal obtained by binarizing the information of the seedling area Ta (see FIG. 9B or the perspective distortion correction of this image is shown in FIG. 9C) is output. The video signal processing unit 9 and the digital image signal thereof are provided with a preset pixel density (32 × 32 pixels / 1
An image memory 11 that stores image data corresponding to a screen) and an image processing unit 10 that processes the image data in the image memory 11 are provided.

The image processing unit 10 converts an image having a smaller distance toward a farther side image into a vertically downward image, and processes image data continuously captured for each set moving distance to change the machine body moving direction. An image processing unit that performs each process of obtaining and processing one image data to obtain the line segment L, and outputs a switching signal of the left and right television cameras S1 and an image capturing signal to the video signal processing unit 9. And 10 are provided. Then, the image processing unit 10 determines the displacement state in the machine body movement direction with respect to the line segment L indicating the row direction of the seedlings T, outputs the determination information to the control device 12, and is configured by a liquid crystal panel or the like. TV monitor 1
3 is operated to display the captured image of the television camera S1 and the displacement state on the screen.

As described above, the video signal processing unit 9 is used to extract the seedling area Ta (corresponding to the target area) corresponding to the image area of each seedling T based on the image pickup information of the television camera S1. Using the image memory 11 and the image processing unit 10 together with the extraction means, the imaged image of the television camera S1 (actually, the information on the seedling area Ta) is converted into an image in a vertically downward imaged state. The image conversion means 104 and the moving direction detecting means 101 for detecting the moving direction of the machine body are configured based on the information of the seedling area Ta which is created by the area extracting means 9.

The moving direction detecting means 101 is configured to determine the direction of the displacement of the seedling T between the two images of the television camera S1 taken continuously for each set moving distance as the machine moving direction. . Specifically, FIG.
As shown in (d) and FIG. 10, when the two images are overlapped at the same screen position, the seedling areas Ta that overlap each other (in the seedling area Ta, the seedling area g1 of the previous image in time) is overlapped. And the direction of the straight line connecting the seedling region g2) of the image that is later in time is the direction of the positional deviation. Since a large number of straight lines can be obtained from the determination of the overlap in each of a large number of seedling areas Ta existing in the screen, the overall machine body movement direction is obtained as the average direction of these. Then, it is determined whether or not the above areas are overlapped with each other by using a representative point of each seedling area Ta obtained in one of the two images (g2 in FIG. 10), for example, the center of gravity position (x2, y2) of the other image (FIG. In 10, when it is included in the seedling area Ta in g1), it is determined that both seedling areas Ta are overlapped between the both images. The representative point of each seedling area Ta may be obtained not for the image g2 that is later in time but for the image g1 that is earlier in time. From the above, the set moving distance is set to such a distance that the seedling areas Ta overlap each other between the continuous images.

A column direction detecting means 10 for detecting the column direction of the seedlings T using the image memory 11 and the image processing section 10.
And 3 are configured. Explaining the specific configuration of the column direction detecting means 103, as shown in FIG.
The image pickup screen of the TV camera S1 is divided into both sides in the screen direction along the lateral direction of the machine body (divided into left and right in the figure), and the area ratio of the seedling region Ta to the screen is large in each divided screen GL, GR. The side (in the figure, the left side because the area ratio in the left split screen GL is larger) is determined to be the planted work site side, and the determination information is used as shown in FIG. At each position in the screen direction (vertical direction in the figure) along the machine body front-rear direction of the TV camera S1, the seedling area T that is closest to the unplanted work site side in the screen direction along the machine body width direction.
a is obtained, and the line segment L is obtained by linear approximation so as to connect the seedling areas Ta arranged in a row along the longitudinal direction of the machine body.

Further, using the television monitor 13, an image showing the displacement in the machine body moving direction obtained by the moving direction detecting means 101 with respect to the row direction of the seedlings T obtained by the row direction detecting means 103 and the above-mentioned image. The image display means for displaying the captured image of the television camera S1 on the same screen is configured, and the display control means 102 for operating the television monitor 13 to display is configured by using the image processing unit 10. That is, as shown in FIG. 11, on the screen of the television monitor 13, the captured image of the television camera S1, the obtained line segment L, and the displacement of the straight line Li indicating the machine body moving direction with respect to the line segment L, that is, its An image showing the angle deviation θs formed by the two straight lines L and Li is displayed. Therefore,
The operator looks at the display screen of the television monitor 13 and manually steers the work vehicle V.

Further, by using the control device 12, the row direction of the seedlings T obtained by the row direction detection means 103,
The front and rear wheels 1 based on the displacement information (angle deviation θs) in the machine body movement direction obtained by the movement direction detection means 101.
A control means 100 for steering and controlling the F and 1R is configured. That is, the steering control is automatically performed so that the angle deviation θs becomes zero.

Next, the control operation by the control device 12 and the image processing device G will be described with reference to the flow charts shown in FIGS. When the control starts, in the main flow (FIG. 5), the detection processing of the machine body movement direction and the seedling row detection processing based on the information of the TV camera S1 are performed,
Next, determine whether it is an automatic driving mode or a manual driving mode,
In the manual traveling mode, traveling state display processing is performed, and in the automatic traveling mode, direction control processing based on the angle deviation θs information is performed. In the moving direction detection process (FIG. 6), first, every time the vehicle travels the set distance, a captured image from the television camera S1 is captured (FIG. 9A), and a filter process for noise removal is performed on this image. And a process of binarizing a seedling region Ta corresponding to the seedling T by binarization with a set threshold value, and a shrinking / expanding process for removing a minute false seedling region Ta ′ as shown in FIG. Then, the perspective correction process is performed to obtain the seedling area Ta image shown in FIG. The figure shows a state in which 15 seedling areas Ta1 to Ta15 are extracted in a three-row state. Next, the barycentric position of each seedling area Ta is obtained, and it is determined whether or not the center of gravity of each seedling area Ta is included in each seedling area Ta of the previously captured image. The center of gravity determination processing (FIG. 7) is performed, the inclination of the straight line connecting the corresponding centers of gravity between the two images is calculated, and the direction is obtained.

In the corresponding center-of-gravity discrimination processing (FIG. 7), the center of gravity of each seedling area Ta in the current image (g2) is plotted on the previous image (g1) (see FIG. 10), and is plotted. Each seedling area Ta in the previous image (g1) including the center of gravity (x2, y2) of each seedling area Ta in this image (g2) is detected, and the detected previous image (g1) in The center of gravity (x1, y1) of each seedling area Ta is set as the corresponding center of gravity.

In the seedling row detecting process (FIG. 8), first, the perspective-corrected seedling area Ta information stored in the moving direction detecting process (FIG. 6) is input, and as shown in FIG. , The screen is divided into left and right, and the area ratio of the seedling region Ta is calculated on each of the left and right screens GL and GR. Specifically, each screen G
In L and GR, 32 vertical pixels x 16 horizontal pixels (51 in total)
When the number of pixels (pixel value is “1”) corresponding to the seedling area Ta out of 2 pixels is counted, the area ratio becomes (seedling area Ta
Number of pixels) / 512, but here the seedling area T
If the number SL of pixels on the left side screen is larger than the number SR of pixels on the right side screen, the left side of the screen is the planted work site, and conversely the right side. If the number of pixels SR on the screen is larger than the number of pixels SL on the left screen, it is determined that the right side of the screen is a planted work site. Then, if the left side of the screen is a planted work site, the rightmost seedling area Ta in the lateral direction of the screen, that is, the pixel at the right end point of the planted work site is determined. The leftmost seedling area Ta in the direction, that is, the pixel at the left end point of the planted work site is determined. Then, the line segment L connecting the pixels at the end points of the planted worksite adjacent to the unplanted worksite is obtained by linear approximation.

It should be noted that it is also determined based on the image pickup information of the television camera S1 whether or not the end of the work process has been reached. Specifically, as shown in FIG. 12, a line segment that connects each of the plurality of seedling regions Ta arranged in the machine lateral width direction in the machine lateral width direction is obtained by linear approximation, and the straight line approximated to the left and right of the imaging screen is obtained. The values of the distances P1 and P2 from the upper edge of the screen at both ends are
It is obtained as position information corresponding to the distance to the end of the work process. Then, when the average value of the distances P1 and P2 becomes equal to or greater than the set value, it is determined that the vehicle has traveled to the work stroke end portion, and in the automatic travel mode, the vehicle automatically stops after traveling the set distance.

[Other Embodiments] In the above embodiment, a television camera S1 is used as an image pickup means to obtain a picked-up image by infrared rays in which visible light is cut, and the infrared image is binarized to obtain an image pickup object (seedling T). Although the target area (seedling area Ta) corresponding to the image area is extracted, for example, a color type television camera for capturing a color image based on the three primary color information R, G, B is used, and an image is captured in the color image. The target area may be extracted based on the color difference between the target (seedling T) and the background (mud).

In the above embodiment, the image pickup means (television camera S1) is operated for each set moving distance. However, the set moving distance is set using the vehicle speed information obtained from the detection information of the shift state detecting potentiometer R3, for example. It is also possible to discriminate the set movement time corresponding to, and perform the imaging operation for each of the set movement times.

In the above embodiment, the moving direction detecting means 101
However, the direction of the straight line connecting the object regions (seedling regions Ta) that overlap each other between the two images is obtained as the position shift direction of the imaged target (seedling T) between the continuously captured images. It is not limited to this to determine the misalignment direction. For example, when the imaged objects are present at relatively large intervals, the direction of the straight line connecting the object areas closest to each other in the non-overlapping state may be obtained.

Further, in order to determine the overlap of the object areas (seedling areas Ta) between the two images, a representative point (center of gravity) of the object areas in one image is obtained, and each of the centers of gravity represents the other. It was determined that they overlap when they are included in the object region in the image, but without obtaining such a representative point, the overlap is determined by whether or not one of the object regions is included in the other object region. You may make it discriminate.

In the above embodiment, the work vehicle is the planting work vehicle, and the seedlings T of a plurality of crops as the image pickup objects are planted in the unplanted work site. It may be an agricultural work vehicle such as a chemical spraying vehicle for spraying a chemical agent as fertilizer onto the seedling T, or another work vehicle. The object to be imaged is not limited to the seedling T of the crop, and may be a plurality of objects to be imaged on the ground side at intervals.

In the above-described embodiment, the displacement used as the steering control information for the automatic display is displayed on the image display means 13 as the information for the manual steering, or in the column direction of the object to be imaged (seedling T). Although the angle deviation θs in the machine body movement direction with respect to is calculated, the position deviation in the machine width direction with respect to the boundary L may be calculated in addition to the angle deviation θs.

The traveling device may be, for example, a crawler traveling device in addition to the wheel type traveling devices 1F and 1R as in the above embodiment.

In the claims, reference numerals are provided for convenience of comparison with the drawings, but the present invention is not limited to the configuration of the attached drawings by the entry.

[Brief description of drawings]

FIG. 1 is a schematic plan view of a planting work vehicle.

FIG. 2 is a schematic side view of the same.

FIG. 3 is a block diagram of a control configuration.

FIG. 4 is a block diagram of a control configuration.

FIG. 5 is a flowchart of a control operation.

FIG. 6 is a flowchart of a body movement direction detection process.

FIG. 7 is a flowchart of processing for detecting a machine body movement direction.

FIG. 8: Flow chart of seedling detection processing

FIG. 9 is an explanatory diagram of image processing.

FIG. 10 is an explanatory diagram of image processing.

FIG. 11: Display screen of image display means

FIG. 12 is an explanatory diagram of end detection at the end of the work process.

[Explanation of symbols]

 S1 image pickup means 9 area extraction means 101 moving direction detection means 104 image conversion means 103 column direction detection means 13 image display means 102 display control means 1F, 1R traveling device 100 control means

Claims (6)

[Claims] 1. An image pickup means (S1) for picking up a plurality of image pickup objects existing at intervals on the ground side, and an image area of the image pickup object based on image pickup information of the image pickup means (S1). Area extracting means (9) for extracting the corresponding object area, and moving direction detecting means (101) for detecting the moving direction of the body based on the area information of the area extracting means (9).
A direction detection device for a working vehicle, wherein the image pickup means (S1) performs image pickup operation for each set moving time or moving distance, and the moving direction detecting means (101) sets the set moving time or A direction detecting device for a work vehicle configured to determine a direction in which a position of the imaged object is displaced between two images continuously captured for each moving distance as a machine body moving direction. 2. The work according to claim 1, wherein the moving direction detecting means (101) is configured to set a direction of a straight line connecting the object regions overlapping each other between the images as the position shift direction. Vehicle direction detection device. 3. The moving direction detecting means (101), when a representative point of each of the object areas obtained in one of the images is included in the object area in the other image, 3. The configuration according to claim 2, wherein it is configured to determine that the object regions overlap between the images.
A device for detecting the direction of the work vehicle described. 4. The image conversion means (S1) is configured to image a work site in a diagonally downward direction, and converts an image captured by the imaging means (S1) into an image in a vertically downward imaged state. The work vehicle direction detection device according to claim 1, 2 or 3, further comprising (104). 5. The row of the imaged objects is formed on the work vehicle in the direction detecting device for the work vehicle according to claim 1, 2, 3 or 4, wherein the imaged objects are formed in a row along a moving direction of the machine body. A column direction detecting means (103) for detecting the direction, and this column direction detecting means (10
The image showing the displacement in the machine body movement direction obtained by the movement direction detection means (101) with respect to the column direction of the image pickup target obtained in 3) and the image pickup image of the image pickup means (S1) are displayed on the same screen. Image display means (13) for displaying and display control means (1) for displaying and operating the image display means (13).
02) and a traveling state display device for a work vehicle. 6. The traveling object is capable of being steered by a work vehicle in the direction detecting device for a work vehicle according to claim 1, wherein the imaged objects are formed in a row along a moving direction of the machine body. Equipment (1F, 1
R), a column direction detecting means (103) for detecting the column direction of the image capturing object, and the moving direction detecting means (with respect to the column direction of the image capturing object obtained by the column direction detecting means (103) ( 101) A traveling control device for a work vehicle, which is provided with a control means (100) for controlling the steering of the traveling devices (1F, 1R) based on the displacement information in the machine body movement direction.