WO2015083322A1

WO2015083322A1 - Combine

Info

Publication number: WO2015083322A1
Application number: PCT/JP2014/005606
Authority: WO
Inventors: 佐藤　昇一
Original assignee: ヤンマー株式会社
Priority date: 2013-12-02
Filing date: 2014-11-07
Publication date: 2015-06-11
Also published as: TW201526783A; KR20160093591A; CN105992513A

Abstract

This combine is provided with: a plurality of cameras that acquire periphery video, which is video of the periphery of the machine in question; a storage unit that stores a plan view of the machine in question and the position of a crawler unit in the plan view; and a display unit. The combine generates an overhead view video that is a mockup video seen from above the machine in question on the basis of the periphery video acquired by the cameras and the plan view of the machine in question stored in the storage unit. The combine displays, at a display unit, the overhead view video containing a grain culm conveyance video or a crawler image (12a), which is an image indicating the crawler unit.

Description

Combine

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

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

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

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

JP 2013-1333098 A JP 2011-72259 A

Incidentally, Patent Document 1 only discloses a technique for displaying a bird's-eye view image of a passenger car, and does not disclose or suggest that a bird's-eye view image of a farm machine such as a combine is displayed. In addition, since a passenger car does not perform a work such as a mowing work, it is difficult to recall a concept of grasping a work situation.

Patent Document 2 discloses a configuration including a camera for photographing a handling mouth, but it is necessary for an operator to check not only the handling mouth but also a cutting portion, a side, and the like during a cutting operation. There is a need. In this regard, the configuration of Patent Document 2 cannot confirm the side of the combine. Further, the operator needs to check by switching the video appropriately.

In addition, since the combine is not suitable for running on the road, it is common to move the combine on a truck when moving the combine for a long distance. In order to place the combine on the truck, a sturdy plate-like member called a step board is installed between the truck and the road (see FIG. 6 described later). Then, the combine can be placed on the truck by the combine traveling on the step board.

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

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

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

As described above, it is necessary for the operator to check the periphery, side, and lower part of the combine. However, it has been difficult to intuitively understand the conventional combine.

The present invention has been made in view of the above circumstances, and its main purpose is not only to the surroundings of the combine, but also to the state that the cereals are conveyed by the feed chain on the side of the combine, The purpose is to provide a combine that can intuitively grasp the position.

Means and effects for solving the problems

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

According to an aspect of the present invention, a combine having the following configuration is provided. That is, the combine includes a cutting unit, a crawler unit, a threshing device, a plurality of surrounding video acquisition units, an overhead video creation unit, and a display unit. The harvesting unit harvests cereal grains. The crawler unit supports the aircraft and causes the aircraft to travel. The threshing device threshs the cereals harvested by the reaping part while conveying it with a feed chain. The plurality of surrounding image acquisition units acquire surrounding images that are images around the own device. The bird's-eye view image creation unit is a bird's-eye view image that is a pseudo image of the subject device viewed from above based on the surrounding image obtained by the surrounding image obtaining unit and a plan view of the subject device stored in advance. Create The display unit includes a crawler image indicating a position of the crawler unit stored in advance, or a bird's-eye view image including a cereal conveyance image that is an image of a cereal that is conveyed through the feed chain acquired by the surrounding image acquisition unit. Display video.

This makes it possible to intuitively grasp not only the surroundings of the combine but also the crawler part of the combine or the feed chain by referring to the overhead view video.

In the above combine, the following configuration is preferable. That is, the combine includes a storage unit that stores the position of the crawler unit and the crawler image. The display unit displays the overhead image including the crawler image stored in advance.

This makes it possible to intuitively and accurately grasp the surroundings of the combine and the position of the crawler part by viewing the overhead view video. Therefore, when the step board is run to place the combine on the track, the crawler portion and the step board can be easily aligned. Further, the operator can intuitively and easily grasp the positional relationship between the combine and the tilt portion of the truck (the wall-like body provided at the end of the loading platform) by viewing the same screen.

In the above combine, the following configuration is preferable. That is, the storage unit stores the position and size of the bottom portion of the crawler unit. The display unit displays the overhead view image including a position and a size of a bottom surface portion of the crawler unit.

Thereby, since the portion of the crawler portion that contacts the step board or the like is displayed, the positional relationship between the crawler portion and the step board or the like can be grasped more accurately. Therefore, alignment between the crawler unit and the walk board can be performed more accurately.

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

This makes it possible to accurately match the positional relationship between the crawler and the step board when the combine is driven toward the step board.

In the above combine, the following configuration is preferable. That is, during advance, the virtual extension portion extended forward is automatically displayed. During reverse travel, the virtual extension portion extended backward is automatically displayed.

This makes it possible to display a necessary virtual extension while preventing a drop in the visibility of the overhead view video.

In the above combine, the following configuration is preferable. That is, at least one of the surrounding image acquisition units is disposed above the feed chain, and the surrounding image acquired by the surrounding image acquisition unit includes the cereal conveyance image. The said display part displays the said bird's-eye view image | video containing the said cereal grain conveyance image | video.

This allows the operator to check how the cereals are being conveyed by the feed chain simply by referring to the overhead view video. Therefore, the operator can immediately grasp that, for example, the feed chain is clogged and the handling depth of the cereal is not appropriate. In addition, during the cutting operation, it is necessary to check the positional relationship between the cutting unit and the cereal cocoon, the positional relationship between the side cocoons, and the like. In this regard, since the above points can be confirmed simultaneously by viewing the above-described overhead view video, the time for the operator's confirmation work can be reduced and work efficiency can be improved.

In the combine, based on the cereal conveyance image, the determination as to whether cereals are being conveyed one after another in the feed chain and the handling depth of the cereals conveyed in the feed chain are It is preferable to include a determination unit that performs at least one of determinations as to whether or not it is appropriate.

This allows not only the operator to visually check, but also the combine side to check the clogging of the feed chain and the handling depth of the cereal. Therefore, the occurrence of a failure can be detected more reliably and quickly.

In the combine, it is preferable that the surrounding image acquisition unit that acquires the cereal conveyance image is attached to the threshing device or a machine body outside the threshing device.

This makes it possible to acquire the cereal conveyance image from the vicinity of the feed chain, so that the influence of image distortion can be suppressed even when the cereal conveyance image is converted into a plan view. Moreover, the threshing device is often arranged at a relatively high position in the vicinity of the center in the front-rear direction of the combine. Therefore, even if the combine is long in the front-rear direction, an appropriate overhead view image can be created without adding a surrounding image acquisition unit separately.

The right view of the combine which concerns on 1st Embodiment. The top view of a combine. The figure which shows schematically the right view and top view of a threshing apparatus. The block diagram of a combine. The figure which shows the bird's-eye view image containing a crawler image. The figure which shows a mode that a combine is loaded on a truck. The figure which shows the process which a bird's-eye view image preparation part performs regarding the display of a virtual extension part. The figure which shows the bird's-eye view image displayed when loading a combine on a truck. The figure which shows the bird's-eye view image displayed when taking down a combine from a truck. The block diagram of the combine which concerns on 2nd Embodiment. The figure which shows the bird's-eye view image displayed on the display part of the combine which concerns on 2nd Embodiment. The flowchart which shows the process which a determination part performs.

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

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

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

The plurality of weeding bodies 31 are provided side by side in the left-right direction of the body 11 at the front lower part of the cutting unit 13. The weed body 31 is for defining the width to which the cereals 71 should be cut by being inserted between the cereals 71 and 71 (FIG. 2). In addition, the grass body 31 scoops up the culm 71 in a collapsed state, thereby facilitating the harvesting of the culm 71. In the cutting unit 13, a cutting blade (not shown) is provided behind the weed body 31. The cereal basket 71 inserted between the weed bodies 31 is cut and cut near the root by a cutting blade. The cereals harvested by the mowing unit 13 are conveyed to a feed chain 81 (described later) by an unillustrated conveying unit (such as a conveying chain).

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

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

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

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

As shown in FIGS. 3A and 3B, the threshing apparatus 14 includes a handling cylinder 82 for threshing the cereal basket 71. This handling cylinder 82 is installed in the front part and upper part in the threshing apparatus 14. The central axis of the handling cylinder 82 is arranged so as to be substantially along the conveying direction of the feed chain 81, and a plurality of handling teeth 83 are provided on the outer periphery of the handling cylinder 82. In addition, a crimp net 84 for rough selection is provided below the handling cylinder 82. The crimp net 84 is formed in a circular arc shape so as to cover the lower portion of the handling cylinder 82. A sorting device 15 is disposed under the crimp net 84.

With this configuration, the cereal basket 71 is conveyed to the threshing device 14 while being sandwiched by the feed chain 81, and threshed by an impact action by the rotation of the handling cylinder 82, a squeezing action by the tooth handling 83, or the like. In FIG. 3 (b), the culm 71 is shown sparsely in order to make the drawing easy to understand.

Here, when threshing the grains 71, the handling depth is an important factor. The handling depth is the length of the cereal basket 71 inserted into the threshing device 14 (the handling cylinder 82). For example, when the handling depth is too shallow, a phenomenon in which grains remain in the cereal 71 after threshing (unhandled) is likely to occur. Moreover, when the handling depth is too deep, the grain basket 71 is hooked on the handling cylinder 82 (applying resistance), excessive power is required, or the second thing increases. Therefore, when threshing is performed using the combine 10, it is important to set the handling depth to an appropriate value. In this embodiment, the operator and the combine 10 can each check the handling depth.

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

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

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

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

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

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

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

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

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

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

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

The front camera 51 is attached to the distal end portion 17 c of the discharge auger 17. The front camera 51 acquires a front surrounding image. The front camera 51 is arranged with its lens facing forward and obliquely downward so that the cutting unit 13 and the image in front of it can be acquired. In addition, the structure which acquires only the image | video of the front of the cutting part 13 with the front camera 51 may be sufficient. Further, as shown in FIG. 2, the driver's seat 41 is disposed on the right side from the center in the left-right direction of the fuselage 11, and the front camera 51 is on the left side from the center in the left-right direction of the fuselage 11 (opposite to the driver seat 41). Is attached.

The left camera 52 is attached to the left side surface of the airframe 11, specifically, to the airframe 11 where the threshing device 14 is built. The left camera 52 is arranged with the lens facing obliquely downward to the left so that a left surrounding image of the combine 10 can be acquired. When the threshing device 14 is covered with an openable / closable cover, the left camera 52 may be attached to the cover. In this case, the combine 10 can detect the opening / closing of the cover by analyzing the video of the left camera 52. Therefore, for example, an operator can be warned when attempting to perform a cutting operation with the cover open.

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

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

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

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

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

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

The overhead view video creation unit 61 creates an overhead view video (see FIG. 5 and the like) based on the videos obtained from the four cameras. Since the method for creating the bird's-eye view image is known, the details are omitted, but the overlapping portions are deleted while overlapping the surrounding images obtained from the four cameras, and the distortion is corrected as necessary. In addition, in order to show the area | region acquired from each camera, the boundary line 78 is superimposed on a bird's-eye view image | video. The boundary line 78 may be omitted or may be configured to be switched between display and non-display.

The overhead image creation unit 61 synthesizes the plan view of the combine 10 stored in the storage unit 65 with the portion corresponding to the combine 10 in the superimposed image (combine image 10a in FIG. 5 and the like). In addition, since the front camera 51 has acquired a part of the cutting unit 13 as a video, only the part acquired by the front camera 51 in the cutting unit 13 is used as an actual video, and the remaining part is supplemented with a photograph. The overhead view video creation unit 61 creates the overhead view video by performing the above processing. Note that the entire combine 10 included in the surrounding image in the front may be displayed as a photograph.

Also, the bird's-eye view image creation unit 61 creates a bird's-eye view image including an image showing the position of the crawler unit 12 (crawler image 12a in FIG. 5 and the like). In the present embodiment, the crawler image 12a is a rectangular broken line, but the display mode is arbitrary. For example, a figure or a photograph imitating the crawler unit 12 may be displayed. In the present embodiment, the bottom portion of the crawler unit 12 is displayed as the crawler image 12a. However, a plan view of the crawler unit 12 (that is, an image that is longer than the bottom portion) may be displayed. Furthermore, a line indicating only the center of the crawler unit 12 in the left-right direction may be displayed for each of the two crawler units 12 arranged on the left and right.

Also, the bird's-eye view image creation unit 61 creates a bird's-eye view image by further synthesizing the virtual extension portion 12b that is an image extending forward or backward from the position of the crawler portion 12 (virtual extension portion 12b in FIG. 5 and the like). In the present embodiment, the virtual extension portion 12b is a line (chain line) obtained by extending the left and right end portions of the crawler portion 12 forward. The virtual extension portion 12b may be extended rearward, may be extended both forward and rearward, or may be a line extending the center in the left-right direction of the crawler portion 12 forward or rearward. good. Further, the virtual extension portion 12b may not be linear, and for example, the display mode of a portion (rectangular portion) corresponding to the front or rear of the crawler portion 12 is changed (for example, the rectangular portion is half-finished). It may be configured to be transparent).

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

The bird's-eye view image creation unit 61 switches whether to extend the virtual extension portion 12b forward or backward based on an instruction from the operator, or hides the crawler image 12a or the virtual extension portion 12b. You can also.

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

The overhead view image of FIG. 5 includes a combine image 10a, a crawler image 12a, a virtual extension portion 12b, an uncut grain culm 71 located around it, a remnant 72 after the grain culm 71 is cut, 73 is displayed.

Next, a bird's-eye view image displayed on the display unit 44 of the present embodiment, particularly a bird's-eye view image displayed when the combine 10 is loaded on a truck will be described.

As shown in FIG. 6, when the combine 10 is moved from the field to the field, the combine 10 is loaded onto the truck 75 and transported by the truck 75. In order to place the combine 10 on the track 75, a step board 74 is used.

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

As described above, the crawler portion 12 of the combine 10 is disposed from the side surface of the body 11 to the inside. Moreover, from the driver's seat 41 of the combine 10, the cutting part 13 grade | etc., Gets in the way, and the visibility just ahead of the combine 10 is bad. In particular, in this embodiment, the driver's seat 41 is on the right side, so the left front visibility is poor. For this reason, it is difficult to place the combine 10 on the step board 74.

In this regard, in this embodiment, an overhead video including the crawler image 12a is displayed on the display unit 44. Moreover, the virtual extension part 12b extended forward automatically by the control mentioned above by advancing the combine 10 and approaching the step board 74 is displayed. Further, by bringing the combine 10 closer to the walking board 74, the walking board 74 is displayed in the overhead view image as shown in FIG.

The operator simply confirms whether the virtual extension 12b is parallel to the step board 74 and whether the virtual extension 12b passes through the step board 74, so that the positional relationship between the crawler 12 and the step board 74 is appropriate. It can be determined whether or not. In particular, in this embodiment, since the crawler image 12a is the same size as the bottom surface portion of the crawler unit 12, the timing when the crawler unit 12 is placed on the step board 74 can be accurately grasped.

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

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

Further, as shown in FIG. 9, the same applies when the combine 10 is unloaded from the track 75. That is, when the combine 10 is moved backward, the virtual extension portion 12b extended backward is automatically displayed by the above-described control. Therefore, the operator can intuitively grasp whether or not the positional relationship between the crawler unit 12 and the step board 74 is appropriate. Further, since the tilt part 76 and the front part 77 around the combine 10 are also displayed on the same screen, it can be simultaneously confirmed that the combine 10 does not collide with the tilt part 76 or the front part 77.

Next, with reference to FIG. 10 to FIG. 12, a second embodiment in which an overhead view image including a cereal conveying image is displayed on the display unit 44 will be described.

The left camera 52 of this embodiment is attached above the feed chain 81 as in the first embodiment. Therefore, the left camera 52 can acquire not only a left surrounding image of the combine 10 but also an image in which the cereal is conveyed by the feed chain 81 (hereinafter, cereal conveyance image). In particular, in this embodiment, since the left camera 52 is attached to the body 11 outside the threshing device 14, a cereal conveyance image can be acquired from the vicinity of the feed chain 81, and the cereal conveyance image is converted into a plan view. Even in this case, the influence of image distortion can be suppressed. Further, in the present embodiment, the threshing device 14 is arranged at a relatively high position in the vicinity of the center in the front-rear direction of the combine. Therefore, a surrounding image acquisition unit that acquires the surrounding image on the left side is added separately. It is possible to create an appropriate overhead view video.

Since the left camera 52 has acquired the cereal conveyance image including the feed chain 81, the overhead image creation unit 61 creates an overhead image including the corn straw conveyance image (see FIG. 11). At this time, the combine 10 that is not shown in the video acquired by the left camera 52 is supplemented with a photograph or the like.

Moreover, the combine 10 of this embodiment is further provided with the determination part 63 in addition to the structure demonstrated in 1st Embodiment (refer FIG. 10). The determination unit 63 determines whether or not the grains 71 are being conveyed one after another by the feed chain 81 (whether clogging has not occurred). Further, instead of or in addition to this determination, the determination unit 63 determines whether the handling depth of the cereal basket 71 conveyed by the feed chain 81 is appropriate. Details of the determination method will be described later.

Next, after describing the problem in the conventional combine, it will be described that the problem is solved by the overhead view image displayed in the second embodiment.

The combine driver's seat is generally arranged on the right side, and the feed chain is located on the opposite side. Therefore, it is not possible to confirm how the cereals are conveyed by the feed chain from the driver seat.

Therefore, for example, even if a large amount of cereals is conveyed and the feed chain is clogged, the operator cannot immediately grasp the occurrence of clogging. However, if the occurrence of clogging is delayed, a load may be applied to some parts. Therefore, it is preferable that the occurrence of clogging can be immediately grasped.

Also, since the operator cannot confirm how the cereal is conveyed by the feed chain, the operator cannot grasp whether or not the handling depth is appropriate. For example, if threshing is continued when the handling depth is too shallow, unhandled items will continue to be generated, and if threshing is continued when the handling depth is too deep, the threshing device will continue to be loaded. Become. In addition, although the combine provided with the automatic adjustment mechanism of the handling depth is also known, it is not reliable.

In addition, the operator needs to check whether the weeds are properly inserted between the grains during the cutting operation. Furthermore, the operator needs to confirm whether there are people or obstacles around the combine.

∙ Even when confirming the above-mentioned various matters based on the video obtained from the camera attached to the combine, it is necessary to confirm the direction in which the camera is not attached by another method. Even if a camera is attached in all directions, it is necessary for the operator to switch images because it is necessary to switch images.

In consideration of the above circumstances, the present embodiment can display a bird's-eye view image (FIG. 11) including an image of the grain culm transport image and the image of the reaping unit 13. In FIG. 11, the culm 71 is shown sparsely in order to make the drawing easy to understand. The operator can grasp that the clogging has not occurred when the grains 71 are being conveyed one after another by looking at the grains conveying image in the overhead view image. If the transportation of the grain basket 71 is stopped, slow, or the transportation speed is uneven, it can be understood that clogging (or a defect similar to this) has occurred. Thereby, occurrence of clogging can be immediately grasped.

Also, the operator can grasp the handling depth by looking at the length of the cereal 71 that has jumped out of the combine 10. That is, the operator can grasp that the handling depth is shallow when the length of the grain basket 71 is long. On the contrary, the operator can grasp that the handling depth is deep when the popping length of the grain basket 71 is short.

Further, the operator sees other parts of the bird's-eye view video, whether or not the weeding body 31 is properly inserted between the grains 71 and whether the combine 10 and the obstacle such as the basket 73 collide with each other. Etc.

That is, the operator can collectively check information necessary for the cutting operation by viewing the overhead view video of the present embodiment. Accordingly, the labor of the operator can be reduced.

Next, processing performed by the determination unit 63 will be described. As described above, the operator can grasp the presence / absence of clogging of the feed chain 81 and the appropriateness of the handling depth by looking at the cereal conveyance image. However, the determination unit 63 also performs the above-described determination in order to detect the above-described problem more reliably.

First, the flow of processing in which the determination unit 63 determines whether or not the feed chain 81 is clogged will be described with reference to the flowchart of FIG.

The determination unit 63 determines whether the current cutting operation is in progress (S201). This is because the grain basket 71 is not conveyed unless the cutting operation is being performed. The determination unit 63 can determine whether or not a cutting operation is being performed based on an operator's operation or control performed by the control unit 60.

判定 Determining unit 63 performs image processing of the cereal conveyance video when the cutting operation is in progress (S202). The image processing performed here will be described. Since the left camera 52 is fixed to the combine 10, the portion of the video acquired by the left camera 52 that shows how the grain 71 is conveyed is determined. Therefore, the determination unit 63 calculates how the portion in which the grain 71 is reflected changes with time by image processing.

Then, the determination unit 63 determines whether or not the grains 71 are being conveyed one after another based on the result of the image processing (S203). If the determination unit 63 determines that the cereal basket 71 is not being conveyed (clogging occurs), the determination unit 63 notifies the operator to that effect (S204). This notification is performed by a warning sound, a warning display on the display unit 44, or the like.

Next, the flow in which the determination unit 63 determines the handling depth will be described with reference to the flowchart of FIG.

判定 Determining unit 63 detects the entire length of the culm 71 based on the sensor (S301). As this sensor, a sensor for detecting the height of the uncut mushroom 71, a sensor for detecting the length when the harvested mushroom 71 is conveyed, or the like can be used. As the type of sensor, an optical sensor, a contact sensor, or the like can be used. In addition, it is preferable to make the whole length of the grain stalk 71 detected here into the average length of the stalk 71 harvested in a fixed time.

Next, the determination unit 63 detects the jumping length of the cereal 71 based on the cereal conveyance image acquired by the left camera 52 (S302). As described above, since the portion of the video obtained by the left camera 52 is reflected in the cereal 71, it is possible to detect the jumping length of the cereal 71. In addition, it is preferable to also make the protrusion length of the grain basket 71 detected here into the average length of the grain basket 71 conveyed by fixed time.

Next, the determination unit 63 calculates the handling depth by subtracting the average value of the jumping length from the average value of the overall length (S303). Then, the determination unit 63 determines whether or not the handling depth is appropriate (S304). When the handling depth is not appropriate, the determination unit 63 notifies the operator to that effect (S305). This notification is performed by a warning sound, a warning display on the display unit 44, and the like as described above.

From the above, not only the operator can visually check, but also the clogging of the feed chain 81 and the handling depth of the grain basket 71 can be checked on the combine 10 side. Therefore, the occurrence of a failure can be detected more reliably and in a short time.

As described above, the combine 10 according to the present embodiment includes the reaping unit 13, a plurality of cameras, the overhead view video creation unit 61, and the display unit 44. The reaping unit 13 reaps the grain 71. The plurality of cameras acquire surrounding images that are images of the surroundings of the own device. The bird's-eye view image creation unit 61 creates a bird's-eye view image, which is a pseudo image of the device viewed from above, based on the surrounding image acquired by the camera and the plan view of the device stored in the storage unit 65. To do. The display unit 44 displays an image of the crawler unit 12 (crawler image 12 a) stored in the storage unit 65 in advance, or a bird's-eye view image including a cereal conveyance image acquired by the left camera 52.

Thereby, by referring to the bird's-eye view image, it is possible to intuitively grasp not only the surroundings of the combine but also the position of the crawler unit 12 or the state of the cereals conveyed through the feed chain 81. Further, by displaying the crawler unit 12 (crawler image 12a) on the display unit 44, the crawler unit 12 and the step plate 74 are aligned when the step board 74 is traveled to place the combine 10 on the track 75. Can be easily performed. Further, by displaying the cereal conveyance image on the display unit 44, the operator can immediately recognize that, for example, the feed chain 81 is clogged and the handling depth of the cereal is not appropriate.

Further, the effect of displaying the crawler unit 12 (crawler image 12a) on the display unit 44 is not only when the track 75 is placed on the two walking boards 74, but also when the truck 75 is placed on one wide walking board, and Even when the combine 10 travels on a narrow road, it can be exhibited. In addition, the same effect can be exhibited when there is a portion (such as an uncut grain mash) that the crawler unit 12 does not want to step on during the cutting operation.

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

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

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

Although the combine 10 of the above embodiment includes the cabin 22, the present invention can also be applied to a combine 10 in which the driver seat 41 is exposed without the cabin 22.

In the above embodiment, a part of the harvesting unit 13 of the combine displayed in the bird's-eye view image is actually acquired. However, the other part may be combined with the actual image of the combine. Moreover, it is good also as a top view which memorize | stored beforehand (combined) all the combine displayed on a bird's-eye view image | video.

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

In the above embodiment, an example is shown in which the bird's-eye view image including only one of the crawler image 12a and the corn straw transport video is displayed. May be displayed.

The determination unit 63 may be configured to determine only one of the clogging or the handling depth of the feed chain 81. Moreover, the determination method of the determination part 63 demonstrated above is an example, and can be changed suitably.

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

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

DESCRIPTION OF SYMBOLS 10 Combine 11 Airframe 12 Crawler part 12a Crawler image 12b Virtual extension part 13 Mowing part 14 Threshing apparatus 15 Sorting device 16 Glen tank 17 Discharge auger 18 Auger turning mechanism 19 Auger rest 20 Exclusion chain 51 Front camera (Ambient image acquisition part)
52 Left camera (Ambient image acquisition unit)
53 Right camera (Ambient image acquisition unit)
54 Rear camera (Ambient image acquisition unit)
44 Display Unit 60 Control Unit 61 Overhead Video Creation Unit 62 Display Control Unit 63 Judgment Unit 65 Storage Unit 74 Walking Board

Claims

A harvesting section for harvesting cereals;
A crawler unit that supports the aircraft and travels the aircraft;
A threshing device that threshs while conveying the cereals harvested by the mowing unit with a feed chain,
A plurality of surrounding image acquisition units for acquiring surrounding images that are surrounding images of the own device;
Based on the ambient video acquired by the ambient video acquisition unit and a plan view of the host device stored in advance, an overhead video creation unit that creates a bird's-eye video that is a pseudo image of the host device viewed from above When,
A crawler image indicating a position of the crawler unit stored in advance, or a cereal conveyance image that is an image acquired by the surrounding image acquisition unit and is an image of the cereal conveyed through the feed chain A display unit for displaying the overhead view video including:
The combine characterized by comprising.
The combine according to claim 1,
A storage unit for storing the position of the crawler unit and the crawler image;
The combine is characterized in that the display unit displays the overhead video including the crawler image.
The combine according to claim 2,
The storage unit stores the position and size of the bottom portion of the crawler unit,
The said display part displays the said bird's-eye view image containing the position and magnitude | size of the bottom face part of the said crawler part, The combine characterized by the above-mentioned.
The combine according to claim 2 or 3,
In addition to the position of the crawler part, the overhead view image creation part creates a virtual extension part that extends from the position of the crawler part to at least one of the front and rear,
The said display part displays the said bird's-eye view image including the position of the said crawler part, and the said virtual extension part, The combine characterized by the above-mentioned.
The combine according to claim 4,
The display unit
While moving forward, the virtual extension that extends forward is automatically displayed,
The combine that automatically displays the virtual extension portion extended backward when the vehicle is moving backward.
The combine according to claim 1,
At least one of the surrounding image acquisition unit is disposed above the feed chain, and the surrounding image acquired by the surrounding image acquisition unit includes the cereal conveyance image,
The said display part displays the said bird's-eye view image | video containing the said cereal conveyance image | video, The combine characterized by the above-mentioned.
The combine according to claim 6,
Based on the cereal conveyance image, determination of whether cereals are being conveyed one after another by the feed chain, and determination whether the handling depth of the cereals conveyed by the feed chain is appropriate A combine unit comprising a determination unit that performs at least one of the above.
The combine according to claim 6 or 7,
The combine, wherein the surrounding image acquisition unit that acquires the cereal conveyance image is attached to the threshing device or a body outside the threshing device.