CN113795140A

CN113795140A - Harvesting machine

Info

Publication number: CN113795140A
Application number: CN202080022639.3A
Authority: CN
Inventors: 安达贤二
Original assignee: Kubota Corp
Current assignee: Kubota Corp
Priority date: 2019-03-20
Filing date: 2020-03-17
Publication date: 2021-12-14
Also published as: WO2020189687A1

Abstract

The harvester includes a body, a camera for capturing an image of the periphery of the body to generate a peripheral image, a storage unit for storing body data indicating the external shape of the body, an image synthesizing unit, and a display unit. An image combining unit generates a combined image (100) which is an image of the body viewed from obliquely above and which represents the body and the periphery of the body, based on the peripheral image generated by the camera and the body data stored in the storage unit. The display unit displays the composite image (100) generated by the image composition unit.

Description

Harvesting machine

Technical Field

The invention relates to a harvester.

Background

Conventionally, a technique of displaying an overhead image on a display device is used in order to allow a driver to recognize the situation around a vehicle. The driving assistance device for a vehicle described in patent document 1 captures images of respective areas in front of, behind, and on both left and right sides of the vehicle by four onboard cameras, converts the captured image viewpoints into images looking down from a virtual viewpoint above the vehicle, and combines the images, and displays a virtual vehicle image on the combined image as an overhead image for allowing the driver to recognize the surroundings of the vehicle.

Documents of the prior art

Patent document

Patent document 1: japanese unexamined patent publication No. 2007-183877

Disclosure of Invention

Problems to be solved by the invention

[ first subject ]

In the above-described conventional technique, the overhead image displayed is an image viewed from a virtual viewpoint above the vehicle. The overhead image makes it easy to grasp the planar positional relationship between the vehicle and the surrounding objects, but on the contrary, it is difficult to grasp the height of the surrounding objects and the positional relationship with the own vehicle in the vertical direction. In this regard, there is still room for improvement when the above-described prior art is applied to a harvester. The invention aims to provide a means for easily grasping the working environment around a harvester.

[ second subject ]

In addition, in the above-described conventional art, the technology disclosed only for displaying an overhead image on a passenger car is left, and neither disclosure nor suggestion is made regarding the point that an image for recognizing surrounding situations is displayed on a harvester such as a combine harvester, and regarding the position of an on-vehicle camera suitable for the harvester. The present invention has been made in view of the above circumstances, and an object thereof is to provide a means for easily grasping a working environment around a harvester.

Means for solving the problems

As a means for solving the first problem, a harvester according to the present invention includes: a body; a camera that captures an image of the periphery of the body and generates a peripheral image; a storage unit that stores body data indicating an external shape of the body; an image synthesizing unit that generates a synthetic image that is an image of the body viewed from obliquely above and that represents the body and the periphery of the body, based on the peripheral image generated by the camera and the body data stored in the storage unit; and a display unit that displays the composite image generated by the image synthesis unit.

According to the above feature, the composite image of the body viewed from obliquely above is displayed on the display unit, and the body and its periphery are shown. That is, since the situation around the harvester is stereoscopically displayed, the working environment can be easily grasped. For example, many harvesters such as combine harvesters harvest crops extending upward from the ground in a field. According to the above feature, since the crop extending upward from the ground can be easily recognized, the area where the harvesting work has been completed (harvested land) and the area where the harvesting work has not been completed (non-harvested land) can be easily recognized in the composite image. Further, according to the above feature configuration, ridges around the field can be easily recognized in the composite image, which is preferable. Note that, in the present invention, the "image" and the "body data" may be data indicating a three-dimensional shape of the body or the like (for example, data indicating a 3D model) or may be a photograph obtained by taking the body or the like.

In the present invention, it is preferable that the machine body includes a harvesting portion that harvests crops from a field, the machine body data stored in the storage portion includes harvesting portion data indicating an external shape of the harvesting portion, the image synthesizing portion generates the synthetic image that is an image that observes the machine body from diagonally above and that shows the machine body, the harvesting portion, and the periphery of the machine body, based on the peripheral image generated by the camera, and the machine body data and the harvesting portion data stored in the storage portion, and the display portion displays the synthetic image generated by the image synthesizing portion.

According to this characteristic configuration, a composite image of the body viewed obliquely from the rear and upper side is displayed on the display unit, and the body, the harvesting unit, and the periphery thereof are shown. That is, the work environment can be grasped more easily because the state of the harvester and the surroundings of the harvesting unit is displayed stereoscopically by the image looking forward on the machine body. For example, since the positional relationship between the harvesting unit and the uncut, harvested and raised lands is stereoscopically shown in a state where the body is viewed from obliquely above and behind, the harvesting operation and the movement of the harvester can be easily performed. In particular, when the harvester is advanced to perform the harvesting operation, it is preferable that the state in front of the harvester and the harvesting unit can be observed and confirmed at the same time.

According to this characteristic configuration, a composite image of the body viewed obliquely from the front and upper side is displayed on the display unit, and the body, the harvesting unit, and the periphery thereof are shown. In other words, the situation around the harvester and the harvesting unit is stereoscopically displayed, and thus the working environment can be more easily grasped. For example, the positional relationship between the non-harvested region, the ridge, and the harvesting unit is stereoscopically shown in a state where the body is viewed from obliquely front and upward, and therefore the harvesting operation and the movement of the harvester can be easily performed. In particular, when the harvester is moved backward or turned around, the situation of the harvesting portion and the surroundings can be observed and confirmed at the same time, and therefore, contact between the harvesting portion and the surrounding objects or ridges is easily avoided, which is preferable.

In the present invention, it is preferable that the body includes a discharging device that discharges grains stored in a grain tank to the outside, the body data stored in the storage unit includes discharging device data indicating an external shape of the discharging device, the image synthesizing unit generates the composite image that is an image that observes the body from diagonally above right or diagonally above left and that indicates the body, the discharging device, and the periphery of the body, based on the peripheral image generated by the camera, the body data stored in the storage unit, and the discharging device data, and the display unit displays the composite image generated by the image synthesizing unit.

According to this feature, a composite image of the body viewed from diagonally above right or diagonally above left is displayed on the display unit, and the body, the ejection device, and the periphery thereof are shown. That is, since the surroundings of the harvester and the discharge device are stereoscopically shown, it is easier to grasp the working environment. For example, when grain is discharged from the discharging device and transferred to a grain container, the positional relationship between the discharging device and the grain container is stereoscopically shown in a state where the machine body is viewed from diagonally above right or diagonally above left, and therefore, it is possible to easily align the discharging device with the container or confirm that the container is full.

In the present invention, it is preferable that the body includes a harvesting portion configured to harvest crops from a field, the harvesting portion is configured to be capable of changing a posture between a first harvesting posture and a second harvesting posture different from the first harvesting posture, the body data stored in the storage portion includes first harvesting portion data indicating an external shape of the harvesting portion in the first harvesting posture and second harvesting portion data indicating an external shape of the harvesting portion in the second harvesting posture, and when the harvesting portion is in the first harvesting posture, the image synthesizing portion generates the synthetic image which is an image of the body viewed from obliquely above and which is an image of the body viewed from obliquely above, based on the peripheral image generated by the camera, the body data stored in the storage portion, and the first harvesting portion data, The image combining unit generates the composite image based on the peripheral image generated by the camera and the body data and the second harvesting unit data stored in the storage unit when the harvesting unit is in the second harvesting posture, the composite image being an image that observes the body from obliquely above and that shows the periphery of the body, the harvesting unit, and the body, and the display unit displays the composite image generated by the image combining unit.

According to this feature, the harvesting part of the first harvesting pose is shown in the composite image when the harvesting part is in the first harvesting pose, and the harvesting part of the second harvesting pose is shown in the composite image when the harvesting part is in the second harvesting pose. That is, since the posture of the harvesting unit shown in the composite image changes depending on the posture of the harvesting unit, the positional relationship between the harvesting unit and the surrounding objects with the changed posture can be easily grasped. For example, when the height of the harvesting unit is adjusted to match the crop in the field, the positional relationship between the harvesting unit and the crop in the vertical direction can be easily grasped, and the adjustment work is easy.

In the present invention, it is preferable that the body includes a discharge device that discharges grains stored in a grain tank to the outside, the discharge device is configured to be capable of changing a posture between a first discharge posture and a second discharge posture different from the first discharge posture, the body data stored in the storage unit includes first discharge device data indicating an external shape of the discharge device in the first discharge posture and second discharge device data indicating an external shape of the discharge device in the second discharge posture, and the image synthesizing unit generates the synthetic image based on the peripheral image generated by the camera and the body data and the first discharge device data stored in the storage unit when the discharge device is in the first discharge posture, the synthetic image being an image in which the body is observed from an obliquely upper side, and the display unit displays the composite image generated by the image combining unit, and when the discharge device is in the second discharge posture, the image combining unit generates the composite image which is an image showing the body from obliquely above and which shows the periphery of the body, the discharge device, and the body, based on the peripheral image generated by the camera and the body data and the second discharge device data stored in the storage unit, and the display unit displays the composite image generated by the image combining unit.

According to this feature, the discharge device in the first discharge attitude is shown in the composite image when the discharge device is in the first discharge attitude, and the discharge device in the second discharge attitude is shown in the composite image when the discharge device is in the second discharge attitude. That is, since the posture of the discharge device shown in the composite image changes depending on the posture of the discharge device, the positional relationship between the discharge device having changed posture and the surrounding object can be easily grasped. For example, when the discharge device and the grain container are aligned, the positional relationship between the discharge device and the grain container can be easily grasped in the directions including the vertical direction, and the alignment operation is easy.

In the present invention, it is preferable that the body includes steered wheels configured to be capable of changing a posture between a first steered posture and a second steered posture different from the first steered posture, the body data stored in the storage unit includes first steered wheel data indicating an appearance shape of the steered wheels in the first steered posture and second steered wheel data indicating an appearance shape of the steered wheels in the second steered posture, and when the steered wheels are in the first steered posture, the image synthesizing unit generates the synthesized image which is an image of the body viewed from obliquely above and which is an image representing the body, the steered wheels, and a periphery of the body based on the peripheral image generated by the camera, the body data stored in the storage unit, and the first steered wheel data, the display unit displays the composite image generated by the image synthesis unit, and when the steerable wheels are in the second steered position, the image synthesis unit generates the composite image that is an image of the body viewed from obliquely above and that shows the body, the steerable wheels, and the periphery of the body, based on the peripheral image generated by the camera and the body data and the second steerable wheel data stored in the storage unit, and the display unit displays the composite image generated by the image synthesis unit.

Since the steerable wheels are generally disposed at the lower part of the body of the harvester, it is difficult to confirm the posture (orientation) of the steerable wheels as viewed from the driver. According to this feature, the steering device of the first steering orientation is shown in the composite image when the steering device is in the first steering orientation, and the steering device of the second steering orientation is shown in the composite image when the steering device is in the second steering orientation. That is, the posture of the steering device shown in the composite image changes depending on the posture of the steering device, and therefore the posture of the steered wheel can be easily confirmed.

In the present invention, it is preferable that the image processing apparatus further includes a viewpoint determining unit that determines a viewpoint from a plurality of viewpoints from which the body is observed obliquely upward based on an operating state of the body, the image synthesizing unit generates the synthetic image that is an image observed from the viewpoint determined by the viewpoint determining unit and that represents the body and the periphery of the body based on the peripheral image generated by the camera and the body data stored in the storage unit, and the display unit displays the synthetic image generated by the image synthesizing unit.

According to this characteristic configuration, the viewpoint determining unit determines the viewpoint based on the operating state of the body, and the display unit displays the synthesized image viewed from the viewpoint. That is, since an appropriate viewpoint corresponding to the operating state of the machine body is selected and the state of the surroundings of the harvester is stereoscopically displayed by using an image viewed from the viewpoint, it is easier to grasp the working environment.

In the present invention, it is preferable that the body includes an operation device, the body data stored in the storage unit includes operation device data indicating an external shape of the operation device, the viewpoint determining unit determines a viewpoint based on an operation state of the operation device, the image synthesizing unit generates the synthetic image based on the peripheral image generated by the camera and the body data and the operation device data stored in the storage unit, the synthetic image being an image observed from the viewpoint determined by the viewpoint determining unit and indicating the periphery of the body, the operation device, and the body, and the display unit displays the synthetic image generated by the image synthesizing unit.

According to this characteristic configuration, the viewpoint determining unit determines the viewpoint based on the operating state of the operating device, and the display unit displays the composite image viewed from the viewpoint. That is, since an appropriate viewpoint corresponding to the operating state of the operating device is selected and the situation around the harvester and the operating device is stereoscopically displayed by using an image viewed from the viewpoint, it is easier to grasp the working environment.

In the present invention, it is preferable that the body includes a harvesting portion that harvests crops from a field as the operating device, the body data stored in the storage portion includes harvesting portion data indicating an external shape of the harvesting portion, the viewpoint determining portion determines a viewpoint of the composite image generated by the image synthesizing portion as a viewpoint from diagonally above and behind the body when the body is moving forward, the image synthesizing portion generates the composite image, which is an image observed from the viewpoint determined by the viewpoint determining portion and is an image indicating the body, the harvesting portion, and the periphery of the body, based on the peripheral image generated by the camera and the body data and the harvesting portion data stored in the storage portion when the body is moving forward, the display unit displays the composite image generated by the image combining unit while the body is moving forward.

According to this feature, when the living body is moving forward, the composite image for observing the living body from diagonally above and behind is automatically displayed on the display unit by the viewpoint determining unit and the image synthesizing unit, and the living body, the harvesting unit, and the surroundings thereof are shown. That is, since the state of the harvester and the surroundings of the harvesting unit is automatically displayed stereoscopically by the image looking forward on the front side of the machine body when the machine is moving forward, the working environment when the machine is moving forward can be grasped more easily. For example, since the positional relationship between the harvesting unit and the uncut, harvested and raised lands is automatically and stereoscopically shown in a state where the machine body is viewed obliquely from the rear and upward during forward movement, the harvesting operation and the movement of the harvester can be easily performed. That is, when the harvester is advanced to perform the harvesting operation, the state in front of the harvester and the harvesting unit can be observed and confirmed at the same time, which is preferable.

In the present invention, it is preferable that the body includes a harvesting portion that harvests crops from a field as the operating device, the body data stored in the storage portion includes harvesting portion data indicating an external shape of the harvesting portion, the viewpoint determining portion determines a viewpoint of the composite image generated by the image synthesizing portion as a viewpoint that observes the body from diagonally above and forward when the body is moving backward, the image synthesizing portion generates the composite image that is an image observed from the viewpoint determined by the viewpoint determining portion and that shows the periphery of the body, the harvesting portion, and the body based on the body data and the harvesting portion data stored in the storage portion and the peripheral image generated by the camera when the body is moving backward, the display unit displays the composite image generated by the image combining unit when the body is moving backward.

According to this feature, when the body is moving backward, the composite image for observing the body from diagonally above and forward is automatically displayed on the display unit by the viewpoint determining unit and the image synthesizing unit, and the body, the harvesting unit, and the periphery thereof are shown. That is, since the state of the harvester and the surroundings of the harvesting unit is automatically stereoscopically displayed by the image looking rearward of the machine body at the time of backward movement, the working environment at the time of backward movement can be grasped more easily. For example, since the positional relationship between the harvesting unit and the uncut, harvested and raised lands is automatically and stereoscopically shown in a state where the machine body is viewed obliquely from the front and upward during the backward movement, the harvesting operation and the movement of the harvester can be easily performed. That is, it is preferable that the harvesting unit and the surroundings can be observed and confirmed at the same time when the harvester retreats, and the harvesting unit is easily prevented from coming into contact with the surrounding objects or ridges.

In the present invention, it is preferable that the body includes, as the operation device, a discharge device that discharges grains stored in a grain tank to the outside, the body data stored in the storage unit includes discharge device data indicating an external shape of the discharge device, the viewpoint determining unit determines a viewpoint of the composite image generated by the image combining unit as a viewpoint from which the body is observed from diagonally upper right or diagonally upper left when the discharge device is discharging grains, and the image combining unit generates the composite image, which is an image observed from the viewpoint determined by the viewpoint determining unit and is an image of the body, based on the peripheral image generated by the camera and the body data and the discharge device data stored in the storage unit when the discharge device is discharging grains, And an image showing the periphery of the discharge device and the body, wherein the display unit displays the composite image generated by the image combining unit when the discharge device is discharging grains.

According to this feature, when the discharge device is discharging grains, the composite image for viewing the body from diagonally above right or diagonally above left is automatically displayed on the display unit by the viewpoint determining unit and the image synthesizing unit, and the body, the discharge device, and the surroundings thereof are shown. That is, since the state around the harvester and the discharge device is automatically displayed in a three-dimensional manner by using the image desired to the right or left of the machine body when the grains are discharged, the work environment when the grains are discharged can be grasped more easily. For example, when grain is discharged from the discharging device and transferred to a grain container, the positional relationship between the discharging device and the grain container is automatically stereoscopically shown in a state where the machine body is viewed from diagonally above right or diagonally above left, and therefore, it is possible to easily align the discharging device with the container or confirm that the container is full.

In the present invention, it is preferable that the body is shown in a transparent or translucent state in the composite image generated by the image combining section.

According to this feature, the location originally hidden in the body is shown in a state where the body is transparent or translucent, and this can be displayed in the composite image for observation and confirmation. This makes it easier to grasp the work environment.

In the present invention, it is preferable that the machine body includes a traveling device, and a portion of the machine body other than the traveling device is shown in a transparent or translucent state in the composite image generated by the image combining unit.

According to this feature, the location originally hidden in the body is shown in a state where the body is transparent or translucent, and this can be displayed in the composite image for observation and confirmation. Further, since the travel device can be displayed in the composite image and observed, the positional relationship between the travel device and the surrounding object can be easily grasped. This makes it easier to grasp the work environment.

In the present invention, it is preferable that the body includes an operation device, the camera captures an image of the periphery of the body and the operation device to generate the peripheral image, and the composite image generated by the image combining unit includes an image of the operation device captured by the camera.

According to this feature, the actual state of the operation device can be observed and confirmed using the composite image, and therefore the current state of the operation device and the progress of the work can be easily grasped, which is preferable.

As a means for solving the second problem, a harvester according to the present invention includes: a body; a front camera, a rear camera, and two side cameras that capture images of the periphery of the body to generate a peripheral image; a storage unit that stores body data indicating an external shape of the body; an image synthesizing unit that generates a synthesized image representing the body and the periphery of the body based on the peripheral image generated by the front camera, the rear camera, and the two side cameras and the body data stored in the storage unit; and a display unit that displays the composite image generated by the image synthesis unit; the body is provided with: a harvesting unit that harvests a crop in a field; a driving part arranged behind the harvesting part; a threshing device which is provided behind the driving unit and which threshes the harvested material harvested by the harvesting unit; a grain box disposed above the threshing device, for storing grains obtained by the threshing device; and a lower cover part arranged at the rear end part of the machine body; the front camera is arranged at the front part of the driving part, the rear camera is arranged at the lower cover part, one of the two side cameras is arranged at one side part of the grain box, and the other of the two side cameras is arranged at the other side part of the grain box.

According to the above feature configuration, a composite image based on the peripheral image generated by the front camera, the rear camera, and the two side cameras and the body data is displayed on the display unit, and the body and the periphery thereof are shown. In other words, the situation around the harvester is displayed, and thus the working environment can be easily grasped. Further, since the front camera is provided in the front of the cab, the rear camera is provided in the lower cover, and the side camera is provided in the side of the grain tank, the harvester in which the harvesting unit, the cab, the threshing device, the grain tank, and the lower cover are arranged as described above can photograph a wide range of four sides of the machine body. This makes it possible to display a wide range around the body in the composite image, and to easily grasp the working environment around the harvester.

In the present invention, it is preferable that the driving unit includes a driving cab covering the driving unit, and the front camera is provided in an upper front portion of the driving cab.

According to this feature, since the front camera is provided in the front upper portion of the driving cab, the front camera can be directed obliquely downward to capture an image over a wide range from the vicinity of the body to a distant place. This makes it possible to display a wide range including the vicinity of the machine body in front of the machine body in the composite image, and to more easily grasp the working environment around the harvester.

In the present invention, it is preferable that the cab include a ceiling portion and a windshield extending downward from a front end of the ceiling portion, the ceiling portion includes a protruding portion protruding further forward than the windshield, and the front camera is provided directly below the protruding portion.

According to this feature, since the projection suppresses the direct sunlight from entering the front camera, the quality of the surrounding image generated by the front camera can be improved. This can improve the quality of the composite image, and can make it easier to grasp the working environment around the harvester.

In the present invention, it is preferable that the cab include a front upper frame extending in the left-right direction below a front portion of the ceiling portion and supporting the windshield, and the front camera is supported by the front upper frame.

According to this feature, since the front camera is supported by the strong front upper frame that supports the windshield, the front camera can be reliably supported, and the quality of the surrounding image captured by the front camera can be improved. This can improve the quality of the composite image, and can make it easier to grasp the working environment around the harvester.

In the present invention, it is preferable that the lower cover portion includes a lower cover and a bracket, and the rear camera is supported by the bracket in a state of being positioned above an upper end of the lower cover.

According to this feature, since the rear camera is located above the upper end of the lower cover, the rear camera can be oriented obliquely downward to capture an image over a wide range from the vicinity of the body to a distance. This makes it possible to display a wide range including the vicinity of the machine body in front of the machine body in the composite image, and to more easily grasp the working environment around the harvester.

In the present invention, preferably, the side camera is provided at an upper corner of a side of the grain box.

According to this feature, since the side camera is positioned at the upper corner of the grain box, the rear camera can be directed obliquely downward to capture an image over a wide range from the vicinity of the body to a distance. This makes it possible to display a wide range including the vicinity of the machine body on the side of the machine body in the composite image, and to more easily grasp the working environment around the harvester.

In the present invention, it is preferable that an inclined portion inclined downward is provided at an upper corner of a side portion of the grain box, and the side camera is provided at the inclined portion.

According to this feature, the side camera is provided in the inclined portion so that the end of the grain box viewed from the side camera is located relatively below the inclined portion. This can prevent the grain box from being reflected in the surrounding image, and can image an area closer to the body. This makes it possible to show the region closer to the body in the composite image, and to more easily grasp the working environment around the harvester.

Drawings

Fig. 1 is a right side view of a body of a full-feed type combine.

Fig. 2 is a plan view of a body of the full-feed type combine.

Fig. 3 is a left side view of the body of the full-feed combine.

Fig. 4 is a front view of a body of the full-feed type combine harvester.

Fig. 5 is a rear view of the body of the full-feed combine.

Fig. 6 is a rear sectional view showing a tilting state of the grain box.

Fig. 7 is a vertical cross-sectional view showing the interior of the cab and the cab.

Fig. 8 is a front view showing a driver's part and a driving cab.

Fig. 9 is a rear view showing the lower cover portion.

Fig. 10 is a longitudinal sectional view of the lower cover portion.

Fig. 11 is a plan view showing an opening of a grain box.

Fig. 12 is a block diagram showing a control structure.

Fig. 13 is a diagram showing an example of a composite image.

Fig. 14 is a diagram showing an example of a composite image.

Fig. 15 is a diagram showing an example of a composite image.

Fig. 16 is a diagram showing an example of a composite image.

Fig. 17 is a right side view of the body of the full feed combine harvester according to the other embodiment.

Fig. 18 is a plan view of a body of a full-feed type combine harvester according to another embodiment.

Fig. 19 is a left side view of the body of the full feed combine harvester according to the other embodiment.

Fig. 20 is a front view of a body of the full feed type combine harvester according to another embodiment.

Fig. 21 is a rear view of a body of the full feed type combine harvester according to another embodiment.

Detailed Description

Embodiments of the present invention will be described based on the drawings. Note that in the following description, the direction of arrow F is taken as "front side of the body", the direction of arrow B is taken as "rear side of the body", the direction of arrow L is taken as "left side of the body", and the direction of arrow R is taken as "right side of the body".

[ integral structure of combine harvester ]

A full-feed combine as an example of the harvester is shown in fig. 1 to 5. The body a of the whole-feed combine harvester includes a pair of left and right front wheels 2 and a pair of left and right rear wheels 3 (steering wheels, an example of an operation device) as a traveling device on a traveling body 1. The front wheels 2 are configured to be driven by power from the engine 4. The rear wheels 3 are configured to be capable of steering operation. The traveling machine body 1 includes a driving unit 5 at its front portion. The cab 5 is covered with a cab 6. The driver unit 5 includes pedal portions 21 on the left and right sides thereof. The left step portion 21 includes a riding step 17.

A cutting and conveying part 8 is provided at the front part of the machine frame 7. The harvesting and conveying unit 8 includes a harvesting unit 9 (an example of a harvesting unit) as an example of a harvesting unit for harvesting standing grain stalks and a grain stalk conveying device 10 for conveying harvested grain stalks (an example of a harvested material) to the rear. The harvesting unit 9 includes a rotary reel 11 for pulling in the planted grain stalks rearward, a cutter 12 for cutting the roots of the planted grain stalks, a screw 13 for gathering the harvested grain stalks in the cutting width direction, and the like.

A threshing device 14 for threshing the cut grain stalks transported by the grain stalk transport device 10 is provided at the rear part of the travel machine body 1. The straw conveyor 10 is connected to the front part of the threshing device 14 so as to be swingable up and down around a transverse shaft core P1. As shown in fig. 2, the threshing device 14 is placed on the machine body frame 7 in a state of being offset to the left side in the lateral direction of the traveling machine body 1 with respect to the center in the lateral width direction of the traveling machine body 1, and is supported by the machine body frame 7 in a fixed state. A grain tank 15 (an example of an operation device) for storing grains obtained by the threshing process is provided above the threshing device 14. A waste straw treatment device 16 is connected to the rear part of the threshing device 14. A lower cover 40 is provided at the rear end of the travel machine body 1.

The entire harvesting and conveying section 8 including the grain straw conveying device 10 and the harvesting section 9 is configured to be swingably lifted around a horizontal axis P1 by a hydraulic harvesting and lifting cylinder CY 1. By performing the swing up-and-down operation of the cutting conveyor 8 by the cutting lift cylinder CY1, the cutting unit 9 can be lifted up and down between a working posture (an example of the first harvesting posture) in which it is lowered near the ground and a non-working posture (an example of the second harvesting posture) in which it is raised to a position higher than the ground.

The rotary reel 11 is supported by the frame of the cutting section 9 so as to be movable up and down around a rear horizontal axis P2. The reel lift cylinder CY2 is provided to extend across the middle portion of the reel 11 and the frame of the cutting portion 9. The height of the rotary reel 11 can be changed and adjusted by operating the reel lift cylinder CY 2.

The grain discharging device 18 (discharging device, an example of an operation device) is provided to discharge the grains stored in the grain tank 15 to the outside of the machine body. A discharge auger 19 is rotatably disposed at the bottom of the grain tank 15 so as to be positioned on the lateral right end side in the lateral width direction of the travel machine body 1. A connection box 20 is connected to the front part of the grain box 15 at a position corresponding to the discharge auger 19 in a communicating manner.

As shown in fig. 1 and 2, a grain discharge device 18 capable of conveying grains to the outside of the machine body is connected to the discharge auger 19 via a connection box 20. The grain discharging device 18 includes a vertical conveying unit 18A of an auger conveyor type that conveys grain upward from the end of the discharge auger 19, and a horizontal conveying unit 18B of an auger conveyor type that conveys grain in the horizontal direction from the upper end of the vertical conveying unit 18A. The grain discharging device 18 can convey the grains by rotationally driving the grain discharging device 18 by a hydraulic motor not shown, and the hydraulic motor is switched to an operating state by a switching operation of a discharging switch not shown.

The entire grain discharging device 18 can be rotated about the vertically oriented rotation axis P3 of the vertical conveying unit 18A by the expansion and contraction operation of the hydraulic rotary cylinder CY 4. By the telescopic operation of the rotary cylinder CY4, the grain discharging device 18 can be rotated between a storage posture (an example of a first discharging posture) in which the horizontal conveying unit 18B is along the front-rear direction of the machine body and a discharging posture (an example of a second discharging posture) in which the horizontal conveying unit 18B is along the left-right direction of the machine body.

The grain box 15 is configured to be able to directly discharge stored grains from the right side to the outside by tilting the whole grain box 15 around the rotation axis of the discharge auger 19, in addition to discharging grains by the grain discharge device 18. That is, as shown in fig. 6, the grain box 15 is opened widely at the right side in the lateral direction to form the discharge port 22. The discharge port 22 is formed in a state of being opened to the right outer side in the lateral direction of the travel machine body 1, and a right side wall 23 of the grain tank 15 closing the discharge port 22 is provided so as to be swingable around a lower front and rear axial center.

As shown in fig. 6, the grain tank 15 is supported by the machine frame 7 so as to be relatively rotatable around a shaft center P4 of the discharge auger 19, which extends forward and backward toward the rotation support shaft 19 a. A hydraulic tilting cylinder CY5 is pivotally connected to the body frame 7 across the lower part of the grain tank 15. The grain tank 15 is configured to be capable of switching between a storage posture (a posture shown by a two-dot chain line) and an inclined discharge posture (a posture shown by a solid line) by being rotated about the shaft core P4 by the telescopic operation of the tilt cylinder CY 5.

An opening 15c is formed in the bottom surface of the grain box 15 above the discharge auger 19, and the opening 15c is configured to be switchable between a closed state and an open state by an openable and closable shutter 25. Further, although not shown, a link mechanism is provided that is linked as follows: the right side wall 23 is switched to the open state in conjunction with the switching of the posture of the grain tank 15 from the storage posture to the discharge posture.

When the grain tank 15 is switched to the discharge posture in a state where the shutter 25 is closed, the right side wall 23 is opened as shown in fig. 6, and grains can be discharged from the discharge port 22. The grain tank 15 is provided with a vertical wall 26 for restricting the flow rate of grains during discharge. The right side wall 23 is formed in a channel shape having a wall surface portion at the front and rear center and front and rear surfaces at the front and rear sides, and becomes a chute for guiding grain flowing down when it is opened. Further, when the grain discharging device 18 is driven to discharge the grains to the outside, the shutter 25 needs to be switched to the open state.

At the right rear portion of the machine body a, a radiator tank 27, an intake tank 28, and a radiator 29 are provided. The radiator tank 27 is a box-shaped member. An intake net 27a is provided at the right side portion of the radiator tank 27. The internal space of the radiator tank 27 communicates with the outside of the machine body a via an intake net 27 a. The intake box 28 is a box-like member. The internal space of the intake box 28 communicates with the internal space of the radiator box 27 via the opening of the lower surface. The front surface, the rear surface, the right side surface, and the left side surface of the intake box 28 are formed in a mesh shape, and the internal space of the intake box 28 communicates with the outside through these four surfaces. The radiator 29 cools the cooling water of the engine 4. The radiator 29 is disposed further to the left than the radiator tank 27. A fan 29a is disposed on the left side of the heat sink 29. When the fan 29a is operated, the outside air is sucked from the four surfaces of the intake net 27a of the radiator box 27 and the intake box 28. The drawn-in outside air flows through the inside of the intake box 28 and the inside of the radiator box 27 to cool the radiator 29.

At the left rear portion of the machine body a, a left cover 36 and a support frame 37 are provided. The left hood 36 covers the threshing device 14 from the left. The left cover 36 is supported by the support frame 37 so as to be swingable about an axial center P5 along the front-rear direction.

[ operation structure of steering section ]

As shown in fig. 1 to 4, the driver unit 5 includes a steering tower 51 in front of the driver seat 50, and a steering wheel 52 above the steering tower 51. The rear wheels 3 are steered by a power steering device, not shown, by rotating the steering wheel 52.

An operation panel portion 53 is provided on the lateral right side of the driver seat 50. The operation panel portion 53 is provided with a main shift lever 54 and the like. The main shift lever 54 is provided with a cut-off/up-down switch 55.

The tilt control device includes a rotation switch 56 that commands operation of a rotation cylinder CY4, and a tilt switch 57 that commands operation of a tilt cylinder CY5 (see fig. 12). Although not shown, the rotation switch 56 and the tilt switch 57 are provided in the driver section 5 in an operable state.

[ vidicon ]

A body a of the all-feed type combine harvester is provided with a front camera 61 (an example of a camera), a rear camera 63 (an example of a camera), a right camera 65 (a camera, an example of a side camera), and a left camera 67 (a camera, an example of a side camera). These four cameras capture images of the periphery of the body a of the full-feed combine to generate a peripheral image, and output the peripheral image to an image processing device 70 (described later). Note that in the present embodiment, the peripheral image, a peripheral composite image, and a composite image, which will be described later, may be a still picture or a moving picture or a video that is obtained by continuously displaying still pictures.

[ arrangement of front camera ]

As shown in fig. 1 to 4, a front camera 61 is provided in front of the cab 5. Specifically, the front camera 61 is provided at the front upper portion of the driving cab 6. The front camera 61 is located at the center portion in the left-right direction of the body of the driving cab 6 and at the center portion in the left-right direction of the body a. Specifically, the front camera 61 is located slightly to the left of the center of the body a in the left-right direction of the body. The front camera 61 is directed diagonally downward and forward, and photographs the front of the body a.

The arrangement and support structure of the front camera 61 will be described in detail with reference to fig. 7 and 8. The cab 6 includes a ceiling portion 30, a front upper frame 31, and a windshield 32. The ceiling portion 30 includes a protruding portion 30a that protrudes forward from the windshield 32. The front upper frame 31 extends in the left-right direction below the front portion of the ceiling portion 30, and supports the windshield 32. The upper portion of the windshield 32 is supported by the front upper frame 31, and the windshield 32 extends downward from the front end of the roof portion 30. The front upper frame 31 includes a bulging portion 31a bulging upward. A wiper 33 and a wiper drive unit 34 are provided on the bulging portion 31a of the front upper frame 31. In fig. 8, a swing range 33a of the wiper 33 is shown.

A front camera mount 62 is provided on the driving cab 6. The front camera mount 62 is supported by the bulging portion 31a of the front upper frame 31. A front camera 61 is supported by a front end portion of the front camera holder 62. The front camera 61 is provided directly below the protruding portion 30a of the ceiling portion 30.

[ arrangement of rear camera ]

As shown in fig. 1, 2, and the like, the rear camera 63 is provided in the lower cover 40 provided at the rear end of the body a. The rear camera 63 is located at the center portion in the left-right direction of the body of the lower cover portion 40 and at the center portion in the left-right direction of the body a. The rear camera 63 is directed diagonally downward and rearward, and photographs the rear of the body a.

The arrangement and support structure of the rear camera 63 will be described in detail with reference to fig. 9 and 10. The lower cover portion 40 includes a lower cover 41, a bracket 42, a right support frame 43, and a left support frame 44. The lower hood 41 is located behind the threshing device 14 and above the waste stalk treatment device 16. The bracket 42 is a member formed by bending a rod-shaped member into a U shape, and is provided on the upper surface of the lower cover 41 in an inverted U shape when the body is viewed from the rear.

The right support frame 43 supports right upper and lower portions of the lower cover 41. The right support frame 43 supports the right end portion of the bracket 42. The right support frame 43 has two upper and lower branch portions 43a extending in the front-rear direction of the machine body. The front end of the branch portion 43a is fixed to the radiator tank 27. In other words, the right support frame 43 is supported by the radiator tank 27.

The left support frame 44 supports the upper left portion and the lower left portion of the lower cover 41. The left support frame 44 supports the left end portion of the bracket 42. The left support frame 44 has two upper and lower branch portions 44a extending in the front-rear direction of the machine body. The front end of the branch portion 44a is fixed to the support frame 37 that supports the left cover 36. In other words, the left support frame 44 is supported by the threshing device 14 via the support frame 37.

As shown in fig. 10, the lower cover 41 and the bracket 42 are fastened to the upper end portions of the right support frame 43 and the left support frame 44 at the same time by one bolt 45.

A rear camera mount 64 is provided in the lower cover portion 40. The rear camera mount 64 is supported by the mount 42 at a central portion of the mount 42. A rear camera 63 is supported at a rear end portion of the rear camera support 64. The rear camera 63 is located on the upper side than the upper end of the lower cover 41.

[ arrangement of Right Camera ]

As shown in fig. 1, 2, and the like, the right camera 65 is provided at an upper corner of a right side portion of the grain box 15. The right camera 65 is located at the front end of the grain tank 15, at the center in the front-rear direction of the travel machine body 1, and at a position behind the center in the front-rear direction of the machine body a. The right camera 65 is directed obliquely right and downward, and photographs the right side of the body a.

The arrangement and support structure of the right camera 65 will be described in detail. As shown in fig. 5, the grain box 15 includes a right upper wall portion 15a in a posture in which a normal line of an upper surface is along a vertical direction. A right camera mount 66 is provided on the grain tank 15. The right camera mount 66 is attached to the front right end portion of the right upper wall portion 15a of the grain box 15. The right camera bracket 66 is fastened and fixed to the front wall and the top plate of the grain box 15 by bolts. A right camera 65 is supported at a right end portion of the right camera mount 66. The right camera 65 is located on the right side of the right end of the right upper wall portion 15a of the grain box 15.

[ configuration of left vidicon ]

As shown in fig. 2 and 3, the left camera 67 is provided at an upper corner of the left side of the grain box 15. The left camera 67 is located at the front end of the grain tank 15, at the center of the travel machine body 1 in the machine body longitudinal direction, and at a position behind the center of the machine body a in the machine body longitudinal direction. The left camera 67 is directed diagonally downward and leftward to capture an image of the left side of the body a.

The arrangement and support structure of the left camera 67 will be described in detail. As shown in fig. 4 and 5, the grain box 15 includes a left upper wall portion 15b (an example of an inclined portion) inclined downward to the side with the normal line of the upper surface oriented in the obliquely upward-left direction. As shown in fig. 11, a maintenance opening 15c is formed in the left upper wall 15b of the grain tank 15. A cover 15d capable of opening and closing the opening 15c is provided.

The left camera 67 is attached to the front left end of the left upper wall 15b of the grain box 15. The left camera 67 is located on the front side of the front end portion of the opening 15c of the left upper wall portion 15b and on the left side of the left end portion of the opening 15 c.

[ image processing apparatus ]

The following describes a configuration of an image processing device 70 provided in a full-feed combine harvester, with reference to a block diagram of fig. 12.

An image processing device 70 and a display unit 80 are provided on a body a of the whole-feed combine harvester. The image processing device 70 generates a composite image based on the peripheral images output from the front camera 61, the rear camera 63, the right camera 65, and the left camera 67, and outputs the composite image to the display unit 80. The display unit 80 displays the composite image output from the image processing apparatus 70. The image processing device 70 is configured to include a microcomputer and execute image processing according to a preset program.

As shown in fig. 2 and 4, the image processing device 70 is disposed in the lower left portion of the driver section 5. As shown in fig. 4 and 7, the display unit 80 is disposed diagonally to the left and forward of the driver seat 50 of the driver unit 5. That is, the image processing device 70 and the display unit 80 are disposed together on the left side portion of the driver unit 5, and are disposed on the same side of the body a in the left-right direction of the body. The display unit 80 is supported by the left front frame 58 of the cab 5.

The image processing device 70 is connected to a front camera 61, a rear camera 63, a right camera 65, and a left camera 67. The image processing device 70 inputs a front peripheral image obtained by imaging the front periphery of the body a from the front camera 61, inputs a rear peripheral image obtained by imaging the rear periphery of the body a from the rear camera 63, inputs a right peripheral image obtained by imaging the right periphery of the body a from the right camera 65, and inputs a left peripheral image obtained by imaging the left periphery of the body a from the left camera 67.

The image processing apparatus 70 is connected to a viewpoint operating unit 83 and a body control apparatus 86. The viewpoint operating unit 83 receives an operation of changing or designating a viewpoint from an operator, and outputs operation data to the image processing device 70. The viewpoint operating unit 83 may be an operating element such as a button, a potentiometer, or a joystick, or may be an input mechanism such as a touch panel provided in the display unit 80.

The body control device 86 transmits operation state data indicating the operation state of the body a of the all-feed combine to the image processing device 70. The operational state data includes data indicating operational states such as forward, backward, turning, and stop of the traveling machine body 1, data indicating operational states such as operation, stop, operation posture, non-operation posture, and swing position of the cutting unit 9, data indicating operational states such as operation, stop, storage posture, discharge posture, and swing position of the grain discharge device 18, data indicating operational states such as a steering operation position of the rear wheel 3, and data indicating operational states such as discharge posture, and storage posture of the grain tank 15.

The body control device 86 is connected with operation elements such as a steering wheel 52, a main shift lever 54, a cutting/raising switch 55, a turning switch 56, and a tilt switch 57. The body control device 86 generates operation state data based on the operation input to these operation elements, and transmits the operation state data to the image processing device 70. Note that the body control device 86 may generate the operation state data based on the output of a sensor (not shown) provided in the operator, the harvesting and conveying unit 8, the grain discharging device 18, or the like.

The image processing device 70 includes a viewpoint determining unit 71, a storage unit 72, and an image synthesizing unit 73.

The viewpoint determining unit 71 determines the viewpoint of the synthesized image generated by the image synthesizing unit 73 based on the operation data output from the viewpoint operating unit 83 or the operation state data transmitted from the body control device 86, and outputs the determined viewpoint to the image synthesizing unit 73 as viewpoint data. In particular, the viewpoint determining unit 71 determines the viewpoint from a plurality of viewpoints from which the body a is observed obliquely upward, based on the operating state of the body a indicated by the operating state data transmitted from the body control device 86.

The "viewpoint of observing the body a from obliquely above" includes, for example, a viewpoint of observing the body a from obliquely front and upper, a viewpoint of observing the body a from obliquely rear and upper, a viewpoint of observing the body a from obliquely right and upper, and a viewpoint of observing the body a from obliquely left and upper, and does not include a viewpoint of observing the body a from directly above.

The storage unit 72 stores body data indicating the external shape of the body a. The body data is data indicating a three-dimensional shape of the body a, and is data indicating a 3D model of the body a, for example. The body data includes data indicating the external shape of the harvesting unit 9 (an example of harvesting unit data and operation device data), data indicating the external shape of the grain discharging device 18 (an example of discharging device data and operation device data), data indicating the external shape of the rear wheel 3, and data indicating the external shape of the grain tank 15.

The body data further includes data (an example of first harvesting unit data and operating device data) indicating the external shape of the harvesting unit 9 in the working posture, data (an example of second harvesting unit data and operating device data) indicating the external shape of the harvesting unit 9 in the non-working posture, data (an example of first discharging device data and operating device data) indicating the external shape of the grain discharging device 18 in the storage posture, data (an example of second discharging device data and operating device data) indicating the external shape of the grain discharging device 18 in the discharging posture, data (an example of first steering wheel data and operating device data) indicating the external shape of the rear wheel 3 in the posture turned to the straight position (an example of first steering posture), and data (a example of second steering device data) indicating the external shape of the rear wheel 3 in the posture turned to the right-turn position (an example of second steering posture) Examples of the two-turn wheel data and the operation device data), data (examples of the second turn wheel data and the operation device data) indicating the external shape of the rear wheel 3 in a posture (an example of the second turn posture) of being turned to the left turn position, data indicating the external shape of the grain box 15 in the stored posture, and data indicating the external shape of the grain box 15 in the discharged posture. The body data is prepared in advance and stored in the storage unit 72.

The image synthesizing unit 73 generates a synthesized image, which is an image observed from the viewpoint determined by the viewpoint determining unit 71 and which shows the surroundings of the body a and the body a, based on the four peripheral images input from the front camera 61, the rear camera 63, the right camera 65, and the left camera 67 and the body data stored in the storage unit 72, and outputs the synthesized image to the display unit 80. In the composite image, the cutting unit 9, the grain discharging device 18, the rear wheel 3, and the grain tank 15 are shown. However, when the viewpoint determined by the viewpoint determining unit 71 is a viewpoint at which any of these parts on the body a is not visible, the part is not shown in the synthetic image.

First, the image synthesis unit 73 performs viewpoint conversion and synthesis processing on the peripheral images from the four cameras, converts the images into images observed from viewpoints indicated by the viewpoint data input from the viewpoint determination unit 71, and generates a peripheral synthesized image. As a specific method of image processing, planar projection conversion using a homography matrix, projection processing in a three-dimensional space, or the like can be applied.

Next, the image synthesizing unit 73 reads the body data from the storage unit 72, and generates an image (body image) of the body a observed from the viewpoint indicated by the viewpoint data, based on the body data. At this time, the image combining unit 73 refers to the operating state data received from the body control device 86, and generates a body image corresponding to the operating state using body data corresponding to the operating state of the cutting unit 9, the grain discharging device 18, the rear wheel 3, and the grain tank 15. Then, the image combining unit 73 combines the body image with the previously generated surrounding combined image to generate a combined image.

[ example of composite image (FIG. 13) ]

The harvesting operation is performed while assuming that the full-feed combine is advancing in the field. Fig. 13 shows an example of the composite image generated by the image combining unit 73 as the composite image 100.

In this case, the machine body a is in the forward and straight running states, the cutting unit 9 is in the working posture and operates, the grain discharging device 18 is in the storage posture and stops, the rear wheel 3 is turned to the straight running position, and the grain tank 15 is in the storage posture. The body control device 86 transmits operation state data indicating the operation state of the body a to the image processing device 70.

The viewpoint determining unit 71 of the image processing apparatus 70 determines the viewpoint of the composite image 100 generated by the image combining unit 73 as the viewpoint from which the subject a is viewed obliquely from the rear and upward direction, based on the operation state data indicating that the subject a is moving forward, and outputs viewpoint data indicating this viewpoint to the image combining unit 73. In the example of fig. 13, the image synthesis unit 73 performs viewpoint conversion and synthesis of the peripheral images input from the four cameras, and converts the images into images viewed from the viewpoint indicated by the viewpoint data input from the viewpoint determination unit 71, that is, from the viewpoint of observing the body a obliquely from the rear and upper direction, thereby generating the peripheral synthesized image 101.

Next, the image synthesizer 73 generates the body image 102 by referring to the operation state data received from the body control device 86 and the viewpoint data input from the viewpoint determiner 71. Specifically, the image synthesizing unit 73 generates the body image 102 representing the body a as viewed from the viewpoint of viewing the body a obliquely from the rear upper side, using the data representing the external shape of the harvesting unit 9 in the working posture, the data representing the external shape of the grain discharging device 18 in the storage posture, the data representing the external shape of the rear wheel 3 in the posture turned to the straight position, the data representing the external shape of the grain box 15 in the storage posture, and the body data relating to the remaining part of the body a.

Then, the image combining unit 73 combines the generated body image 102 with the previously generated surrounding combined image 101, thereby generating a combined image 100. Fig. 13 shows a composite image 100 generated by the image combining unit 73. A body image 102 showing the body a viewed from diagonally above and behind is synthesized at a position slightly to the left of the center of the synthesized image 100. The body image 102 includes a cutting unit image 103 showing the cutting unit 9 in the working posture, a grain discharging unit image 104 showing the grain discharging device 18 in the storage posture, a rear wheel image 105 showing the rear wheel 3 turned to the straight position, and a grain box image 106 showing the grain box 15 in the storage position. In the peripheral composite image 101 around the body image 102, the right and rear harvested areas D of the body a and the left and front non-harvested areas E of the body a are shown. The region 107 shown at a position corresponding to the lower side of the body a is a dead-angle region that cannot be captured because it is outside the imaging region of each camera. In other words, the region around the body a other than the region 107 is captured by each camera and shown as the peripheral composite image 101 in the composite image 100.

[ example of composite image (FIG. 14) ]

Suppose that a full-feed combine is retreating in the field. Fig. 14 shows an example of the composite image generated by the image combining unit 73 as the composite image 110.

In this case, the machine body a is in the backward and forward movement state, the cutting unit 9 is in the non-working posture and stopped, the grain discharging device 18 is in the storage posture and stopped, the rear wheel 3 is turned to the forward movement position, and the grain tank 15 is in the storage posture. The body control device 86 transmits operation state data indicating the operation state of the body a to the image processing device 70.

The viewpoint determining unit 71 of the image processing apparatus 70 determines the viewpoint of the synthesized image 110 generated by the image synthesizing unit 73 as the viewpoint for observing the body a from diagonally forward and upward based on the operation state data indicating that the body a is moving backward, and outputs viewpoint data indicating this viewpoint to the image synthesizing unit 73. The image synthesis unit 73 performs viewpoint conversion and synthesis of the peripheral images input from the four cameras, and converts the images into images viewed from the viewpoint indicated by the viewpoint data input from the viewpoint determination unit 71, that is, from the viewpoint of observing the body a obliquely forward and upward, thereby generating the peripheral synthesized image 111.

Next, the image synthesizer 73 generates the body image 112 by referring to the operation state data received from the body control device 86 and the viewpoint data input from the viewpoint determiner 71. Specifically, the image synthesizing unit 73 generates the body image 112 representing the body a as viewed from the viewpoint of viewing the body a obliquely from the front and upper side, using the data representing the external shape of the cutting unit 9 in the non-working posture, the data representing the external shape of the grain discharging device 18 in the storage posture, the data representing the external shape of the rear wheel 3 in the posture turned to the straight position, the data representing the external shape of the grain box 15 in the storage posture, and the body data relating to the remaining part of the body a.

Then, the image combining unit 73 combines the generated body image 112 with the previously generated surrounding combined image 111, thereby generating a combined image 110. Fig. 14 shows a composite image 110 generated by the image combining unit 73. In the center of the composite image 110, a body image 112 showing the body a viewed from diagonally above and forward is synthesized. The body image 112 includes a cutting unit image 113 showing the cutting unit 9 in the non-working posture, a grain discharging unit image 114 showing the grain discharging device 18 in the storage posture, a rear wheel image 115 showing the rear wheel 3 turned to the straight position, and a grain box image 116 showing the grain box 15 in the storage position. In the peripheral composite image 111 around the body image 112, the right, front, and rear harvested spots D of the body a and the left non-harvested spots E of the body a are shown. The region 117 shown at a position corresponding to the lower side of the body a is a dead-angle region that cannot be captured because it is outside the imaging region of each camera. In other words, the region around the body a other than the region 117 is captured by each camera and shown as the peripheral composite image 111 in the composite image 110.

[ example of composite image (FIG. 15) ]

Assuming that the full-feed combine is operating the grain discharging device 18 at the field side, the grains stored in the grain tank 15 are discharged to the container H. Fig. 15 shows an example of the composite image generated by the image combining unit 73 as the composite image 120.

In this case, the machine body a is in a stopped state, the cutting unit 9 is stopped in a non-working posture, the grain discharging device 18 is operated in a discharging posture, the rear wheel 3 is turned to a left-hand turning position, and the grain tank 15 is in a storing posture. The body control device 86 transmits operation state data indicating the operation state of the body a to the image processing device 70.

The viewpoint determining unit 71 of the image processing apparatus 70 determines the viewpoint of the composite image 120 generated by the image synthesizing unit 73 as the viewpoint for observing the body a from diagonally above and left, based on the operation state data indicating that the grain discharging apparatus 18 is operating, and outputs the viewpoint data indicating this to the image synthesizing unit 73. The image synthesizing unit 73 performs viewpoint conversion and synthesis of the peripheral images input from the four cameras, and converts the images into images viewed from the viewpoint indicated by the viewpoint data input from the viewpoint determining unit 71, that is, from the viewpoint of observing the body a obliquely from the upper left, thereby generating the peripheral synthesized image 121.

Next, the image synthesizer 73 generates the body image 122 by referring to the operation state data received from the body control device 86 and the viewpoint data input from the viewpoint determiner 71. Specifically, the image synthesizing unit 73 generates the body image 122 representing the body a as viewed from the viewpoint of viewing the body a obliquely from the upper left, using the data representing the external shape of the cutting unit 9 in the non-working posture, the data representing the external shape of the grain discharging device 18 in the discharging posture, the data representing the external shape of the rear wheel 3 in the posture turned to the left-hand turning position, the data representing the external shape of the grain box 15 in the stored posture, and the body data relating to the remaining parts of the body a.

Then, the image combining unit 73 combines the generated body image 122 with the previously generated surrounding combined image 121, thereby generating a combined image 120. Fig. 15 shows a composite image 120 generated by the image combining unit 73. In the center of the composite image 120, a body image 122 is synthesized which shows the body a as viewed from diagonally above left. The body image 122 includes a cutting unit image 123 showing the cutting unit 9 in the non-working posture, a grain discharging unit image 124 showing the grain discharging device 18 in the discharging posture, a rear wheel image 125 showing the rear wheel 3 turned to the left turning position, and a grain box image 126 showing the grain box 15 in the storage position. In the peripheral composite image 121 around the body image 122, the left, front and rear harvested areas D of the body a and the right ridge G and container H of the body a are shown. The area 127 shown in a position corresponding to the lower side of the body a is a dead-angle area that cannot be captured because it is outside the imaging area of each camera. In other words, the area around the body a other than the area 127 is captured by each camera and shown as the peripheral composite image 121 in the composite image 120.

[ example of composite image (FIG. 16) ]

In the example of the composite image shown in fig. 14 and 15, the body a is shown in an opaque state. Thus, objects located in the periphery of the opposite side of the body a, the front wheels 2, the rear wheels 3, and the like are not shown in the composite image. In the composite image, the whole or a part of the body a may be displayed in a transparent or translucent state. In this case, the outline and ridge of the body a may be indicated by solid lines and broken lines in the composite image. In the example of fig. 16, in the composite image 130, the part of the body a other than the front wheels 2 and the rear wheels 3 is shown in a transparent state. The outline and the ridge of the body a are shown by the two-dot chain lines.

In order to make the whole or a part of the body a transparent or translucent in the composite image, the following method may be used. The body data stored in the storage unit 72 is data indicating a transparent or translucent body a, and when the image combining unit 73 generates a body image, a transparent or translucent body image is generated based on the body data. Alternatively, when the image combining unit 73 generates the body image, the transparency (or translucency) processing may be performed based on the body data to generate transparent or semitransparent body data.

Fig. 16 shows a composite image 130 generated by the image combining unit 73. In the center of the composite image 130, a body image 132 is composed which shows the body a as viewed from diagonally above and to the left. The body image 132 includes a transparent cutting portion image 133 showing the cutting portion 9 in the non-working posture, a transparent grain discharging portion image 134 showing the grain discharging device 18 in the discharging posture, an opaque rear wheel image 135 showing the rear wheel 3 turned to the left turning position, an opaque front wheel image 136 showing the front wheel 2, and a transparent grain box image 137 showing the grain box 15 in the storing position. In the peripheral composite image 131 around the body image 132, the left, front, and rear harvested areas D of the body a and the right ridge G and container H of the body a are shown. By showing a portion of the body a in a transparent state, ridges G and vehicles J transporting containers H on opposite sides of the body a are seen in perspective. The region 138 shown at a position corresponding to the lower side of the body a is a dead-angle region that cannot be captured because it is outside the imaging region of each camera. In other words, the area around the body a other than the area 138 is captured by each camera and shown as the peripheral composite image 131 in the composite image 130.

[ other embodiments ]

Fig. 17 to 21 show a whole-feed combine harvester according to a different embodiment from the above-described embodiment. In the following description, the same components as those of the above-described embodiment are denoted by the same reference numerals, and detailed description thereof may be omitted.

As shown in fig. 18, a pedal portion 221 is provided at the rear of the machine body a. The right rear end portion of the step portion 221 includes a mounting step 217.

The driver unit 5 includes pedal portions 21 on the left and right sides thereof. The left step portion 21 includes a riding step 17 at a rear end portion thereof.

As shown in fig. 18, the threshing device 14 is located at the center in the lateral width direction of the travel machine body 1, and is supported by the machine body frame 7 in a fixed state. A grain tank 15 is provided above the threshing device 14. As shown in fig. 18, the grain box 15 extends from the right end to the left end of the body a.

The grain discharging device 18 is located at the left end of the body a and is connected to the lower part of the grain tank 15. The grain discharging device 18 can be operated to turn between a storage posture (fig. 17 to 21) extending in the front-rear direction of the machine body and a discharge posture extending in the left-right direction of the machine body and projecting leftward from the grain tank 15.

As shown in fig. 17 to 20, the front camera 61 is provided at the front of the cab 5 in the same manner as in the above-described embodiment.

As shown in fig. 17 to 19 and 21, the rear camera 63 is provided in the lower cover 40 provided at the rear end of the body a. In the present embodiment, as shown in fig. 21, the rear camera 63 is disposed in an opening 247 provided in the center portion in the left-right direction of the body of the lower cover 41.

As shown in fig. 17 to 18 and 20 to 21, the right camera 65 is provided at the upper corner of the right side of the grain box 15 in the same manner as in the above-described embodiment. In the present embodiment, the grain box 15 includes a right upper wall portion 15a (an example of an inclined portion) inclined to a lower side in a posture in which a normal line of an upper surface is directed obliquely upward and rightward. The right camera 65 is attached to the front right end of the right upper wall 15a of the grain box 15.

As shown in fig. 18 to 21, the left camera 67 is provided at the upper corner of the left side of the grain tank 15 in the same manner as in the above-described embodiment. In the present embodiment, the grain box 15 includes a left upper wall portion 15b (an example of an inclined portion) inclined downward to the side with the normal line of the upper surface oriented in the obliquely upward left direction. The left camera 67 is attached to the front left end of the left upper wall 15b of the grain box 15.

In the present embodiment, as shown in fig. 18 and 20, the image processing device 70 is disposed in the lower right portion of the driver's part 5. As shown in fig. 17 to 20, the display unit 80 is disposed diagonally right in front of the driver seat 50 of the driver's part 5. That is, the image processing device 70 and the display unit 80 are disposed together on the right side portion of the driver unit 5, and are disposed on the same side of the body a in the left-right direction of the body.

The body data stored in the storage unit 72 is not limited to three-dimensional data (for example, 3D model) as long as it is data representing the three-dimensional shape of the body a. For example, the body data may be a photographic image or the like actually taken of the body a. In this case, when the image synthesis unit 73 generates a body image from the body data, the photographic image is converted into an image viewed from the viewpoint indicated by the viewpoint data input from the viewpoint determination unit 71 by the same method as the generation of the surrounding synthesized image, and the body image is generated.

In the above-described embodiment, the front camera 61 captures an image of the front side of the body a, and an image representing the clipping unit 9 generated from the body data is shown in the composite image. The front camera 61 may capture images of the cutting unit 9 in addition to the front side of the body a, and the cutting unit 9 actually captured may be shown in the peripheral composite image shown in the composite image.

Although the above-described embodiment has described an example in which four cameras are provided in the body a, the number of cameras is not limited to this, and may be one, two, three, or five or more.

Although the front camera 61 is disposed directly below the protruding portion 30a of the ceiling portion 30 in the above embodiment, the front camera 61 may be disposed at the distal end portion of the protruding portion 30 a.

In the above embodiment, the viewpoint of the composite image and the body image displayed in the composite image are changed according to the operating state of the body a, specifically, the operating state and posture of the rear wheels 3, the harvesting unit 9, and the grain discharge device 18. The change of the body image may be performed according to the operation state and posture of other parts of the body a. For example, the body image may be changed according to a change from the storage posture to the discharge posture of the grain tank 15 or a change in the posture of the body cover or the maintenance door.

The body a of the full-feed combine harvester includes a plurality of operating devices (the harvesting unit 9, the grain discharging device 18, and the like), and the viewpoint of the composite image and the body image are changed according to the operating states and postures of the plurality of operating devices, so that the composite image displayed on the display unit 80 reflects the states of the plurality of operating devices, and the states of a plurality of portions of the body a of the full-feed combine harvester can be grasped at a glance. That is, the present invention is particularly suitable for use in a harvester having a plurality of operating devices.

In the above-described embodiment, the example has been described in which the viewpoint determining unit 71 determines the viewpoint of the synthetic image 100 generated by the image synthesizing unit 73 as the viewpoint (the example of fig. 13) for viewing the body a from diagonally right and rear upward when the body a is moving forward. Instead, the viewpoint determining unit 71 may determine the viewpoint from which the body a is observed from diagonally above and directly behind, may determine the viewpoint from which the body a is observed from diagonally above and horizontally behind, or may determine the viewpoint from any viewpoint from among viewpoints from diagonally above and obliquely above in a region that is expanded to the left and right by a predetermined angle (for example, 45 ° to the left and right) around the position directly behind the body a.

In the above-described embodiment, the example in which the viewpoint determining unit 71 determines the viewpoint of the composite image 100 generated by the image combining unit 73 as the viewpoint (the example of fig. 14) for observing the body a from diagonally right front and upper when the body a is moving backward has been described. Instead, the viewpoint determining unit 71 may determine the viewpoint from which the body a is observed obliquely upward from the front, may determine the viewpoint from which the body a is observed obliquely upward from the front left, or may determine the viewpoint from which the body a is observed obliquely upward in a region that is expanded leftward and rightward by a predetermined angle (for example, leftward and rightward 45 °) around the front of the body a.

In the above-described embodiment, the example in which the viewpoint determining unit 71 determines the viewpoint of the composite image 100 generated by the image combining unit 73 as the viewpoint to observe the body a from diagonally above and to the left (the example in fig. 15 and 16) when the grain discharging device 18 is being operated has been described. Instead, the viewpoint determining unit 71 may determine the viewpoint of observing the body a obliquely from the front left, may determine the viewpoint of observing the body a obliquely from the rear left, or may determine the viewpoint of observing the body a obliquely from the upper left in a region that extends a predetermined angle (for example, 45 ° forward and backward) forward and backward with the center of the front left of the body a. The viewpoint determining unit 71 may determine the viewpoint of observing the body a from diagonally above and to the right, may determine the viewpoint of observing the body a from diagonally above and to the right front, may determine the viewpoint of observing the body a from diagonally above and to the right rear, and may determine the viewpoint of observing the body a from diagonally above and to either the viewpoint of observing the body a from an area that extends forward and backward by a predetermined angle (for example, forward and backward 45 °) around the right front surface of the body a.

Industrial applicability

The present invention can be applied to a harvester that travels while harvesting a planted crop, and can be applied to a semi-feeding type combine harvester, a corn harvester, and the like, in addition to a full-feeding type combine harvester.

Description of the reference numerals

3: rear wheel (steering wheel)

5: driving part

6: driving shed

9: cutting part (harvesting part, operating device)

14: threshing device

15: grain box (operating device)

15 a: right upper wall part (inclined part)

15 b: left upper wall (inclined part)

18: grain discharge (discharge, operating device)

30: ceiling part

30 a: projection part

31: front upper frame

32: windscreen

40: lower cover part

41: lower cover

42: support frame

61: front vidicon (vidicon)

63: rear vidicon (vidicon)

65: right vidicon (vidicon, side vidicon)

67: left vidicon (vidicon, side vidicon)

70: image processing apparatus

71: viewpoint determining unit

72: storage unit

73: image synthesizing unit

80: display unit

100: composite image

110: composite image

120: composite image

130: composite image

A: machine body

Claims

1. A harvester, wherein the harvester is provided with:

a body;

a camera that captures an image of the periphery of the body and generates a peripheral image;

a storage unit that stores body data indicating an external shape of the body;

an image synthesizing unit that generates a synthetic image that is an image of the body viewed from obliquely above and that represents the body and the periphery of the body, based on the peripheral image generated by the camera and the body data stored in the storage unit; and

a display unit that displays the composite image generated by the image synthesis unit.

2. The harvester of claim 1,

the body is provided with a harvesting part for harvesting crops from a field,

the body data stored in the storage unit includes harvesting unit data indicating an external shape of the harvesting unit,

the image synthesizing unit generates the synthetic image that is an image of the body viewed from diagonally above and rearward and that represents the body, the harvesting unit, and the periphery of the body, based on the peripheral image generated by the camera and the body data and the harvesting unit data stored in the storage unit,

the display unit displays the composite image generated by the image combining unit.

3. The harvester of claim 1 or 2,

the body is provided with a harvesting part for harvesting crops from a field,

the image synthesizing unit generates the synthetic image that is an image of the body viewed from diagonally above and forward and that represents the body, the harvesting unit, and the periphery of the body, based on the peripheral image generated by the camera and the body data and the harvesting unit data stored in the storage unit,

4. The harvester of any one of claims 1 to 3,

the machine body is provided with a discharging device for discharging grains stored in the grain box to the outside,

the body data stored in the storage unit includes discharge device data indicating an external shape of the discharge device,

the image synthesizing unit generates the synthetic image that is an image of the body viewed from diagonally upper right or diagonally upper left and that represents the periphery of the body, the ejection device, and the body, based on the peripheral image generated by the camera and the body data and the ejection device data stored in the storage unit,

5. The harvester of any one of claims 1 to 4,

the body is provided with a harvesting part for harvesting crops from a field,

the harvesting part is configured to be capable of changing the posture between a first harvesting posture and a second harvesting posture different from the first harvesting posture,

the body data stored in the storage unit includes first harvesting unit data indicating an external shape of the harvesting unit in the first harvesting attitude and second harvesting unit data indicating an external shape of the harvesting unit in the second harvesting attitude,

the image synthesizing unit generates the synthetic image based on the peripheral image generated by the camera and the body data and the first harvesting unit data stored in the storage unit when the harvesting unit is in the first harvesting attitude, the synthetic image being an image in which the body is viewed from obliquely above and which represents the periphery of the body, the harvesting unit, and the body, and the display unit displays the synthetic image generated by the image synthesizing unit,

when the harvesting unit is in the second harvesting orientation, the image synthesizing unit generates the synthetic image that is an image of the body viewed from obliquely above and that shows the body, the harvesting unit, and the periphery of the body, based on the peripheral image generated by the camera and the body data and the second harvesting unit data stored in the storage unit, and the display unit displays the synthetic image generated by the image synthesizing unit.

6. The harvester of any one of claims 1 to 5,

the discharge device is configured to be capable of changing a posture between a first discharge posture and a second discharge posture different from the first discharge posture,

the body data stored in the storage unit includes first discharge device data indicating an external shape of the discharge device in the first discharge posture and second discharge device data indicating an external shape of the discharge device in the second discharge posture,

the image synthesizing unit generates the synthetic image that is an image of the body viewed from obliquely above and that shows the periphery of the body, the discharge device, and the body, based on the peripheral image generated by the camera and the body data and the first discharge device data stored in the storage unit when the discharge device is in the first discharge posture, and the display unit displays the synthetic image generated by the image synthesizing unit,

when the discharge device is in the second discharge posture, the image combining unit generates the composite image that is an image showing the periphery of the body, the discharge device, and the body from obliquely above and that is an image of the body, based on the peripheral image generated by the camera and the body data and the second discharge device data stored in the storage unit, and the display unit displays the composite image generated by the image combining unit.

7. The harvester of any one of claims 1 to 6,

the machine body is provided with a steering wheel,

the steering wheel is configured to be capable of changing a posture between a first steering posture and a second steering posture different from the first steering posture,

the body data stored in the storage unit includes first steered wheel data indicating an apparent shape of the steered wheel in the first steered posture and second steered wheel data indicating an apparent shape of the steered wheel in the second steered posture,

the image synthesizing section generates the synthetic image which is an image of the body viewed from obliquely above and which represents the periphery of the body, the steerable wheels, and the body, based on the peripheral image generated by the camera and the body data and the first steerable wheel data stored in the storage section when the steerable wheels are in the first steered position, and the display section displays the synthetic image generated by the image synthesizing section,

when the steerable wheels are in the second steered position, the image synthesizing unit generates the synthetic image that is an image showing the body, the steerable wheels, and the periphery of the body, based on the peripheral image generated by the camera and the body data and the second steered wheel data stored in the storage unit, the synthetic image being an image showing the body from obliquely above, and the display unit displays the synthetic image generated by the image synthesizing unit.

8. The harvester of any one of claims 1 to 7,

the harvester is provided with a viewpoint determining part for determining a viewpoint from a plurality of viewpoints for observing the machine body from an upper oblique direction based on the operating state of the machine body,

the image synthesizing unit generates the synthetic image that is an image observed from the viewpoint determined by the viewpoint determining unit and that represents the body and the periphery of the body, based on the peripheral image generated by the camera and the body data stored in the storage unit,

9. The harvester of claim 8,

the machine body is provided with an operating device,

the body data stored in the storage unit includes operation device data indicating an external shape of the operation device,

the viewpoint determining unit determines the viewpoint based on the operating state of the operating device,

the image synthesizing unit generates the synthetic image that is an image observed from the viewpoint determined by the viewpoint determining unit and that represents the periphery of the body, the operating device, and the body, based on the peripheral image generated by the camera and the body data and the operating device data stored in the storage unit,

10. The harvester of claim 9,

the machine body is provided with a harvesting part for harvesting crops from a field as the operation device,

the viewpoint determining unit determines a viewpoint of the synthesized image generated by the image synthesizing unit as a viewpoint for observing the body from diagonally above and behind when the body is moving forward,

the image synthesizing unit generates the synthetic image that is an image observed from the viewpoint determined by the viewpoint determining unit and that represents the body, the harvesting unit, and the periphery of the body, based on the peripheral image generated by the camera and the body data and the harvesting unit data stored in the storage unit while the body is moving forward,

the display unit displays the composite image generated by the image combining unit while the body is moving forward.

11. The harvester of claim 9 or 10,

the viewpoint determining unit determines a viewpoint of the synthesized image generated by the image synthesizing unit as a viewpoint for observing the body from diagonally above and forward when the body is moving backward,

the image synthesizing unit generates the synthetic image that is an image observed from the viewpoint determined by the viewpoint determining unit and that represents the body, the harvesting unit, and the periphery of the body, based on the peripheral image generated by the camera and the body data and the harvesting unit data stored in the storage unit when the body is moving backward,

the display unit displays the composite image generated by the image combining unit when the body is moving backward.

12. The harvester of any one of claims 9 to 11,

the machine body is provided with a discharging device for discharging grains stored in the grain box to the outside as the operating device,

the viewpoint determining unit determines a viewpoint of the composite image generated by the image synthesizing unit as a viewpoint for observing the body from diagonally above-right or diagonally above-left when the grain is being discharged by the discharge device,

the image synthesizing unit generates the synthetic image that is an image observed from the viewpoint determined by the viewpoint determining unit and that represents the periphery of the body, the discharge device, and the body, based on the peripheral image generated by the camera, the body data stored in the storage unit, and the discharge device data when the discharge device is discharging grains,

the display unit displays the composite image generated by the image combining unit when the discharge device is discharging grains.

13. The harvester of any one of claims 1 to 12,

the body is shown in a transparent or translucent state in the composite image generated by the image composition section.

14. The harvester of any one of claims 1 to 13,

the machine body is provided with a running device,

in the composite image generated by the image combining section, a portion of the body other than the travel device is shown in a transparent or translucent state.

15. The harvester of any one of claims 1 to 14,

the machine body is provided with an operating device,

the camera captures an image of the periphery of the body and the operation device to generate the peripheral image,

the composite image generated by the image combining unit includes an image of the operation device captured by the camera.

16. A harvester, wherein the harvester is provided with:

a body;

a front camera, a rear camera, and two side cameras that capture images of the periphery of the body to generate a peripheral image;

a storage unit that stores body data indicating an external shape of the body;

an image synthesizing unit that generates a synthesized image representing the body and the periphery of the body based on the peripheral image generated by the front camera, the rear camera, and the two side cameras and the body data stored in the storage unit; and

a display unit that displays the synthesized image generated by the image synthesizing unit;

the body is provided with: a harvesting unit that harvests a crop in a field; a driving part arranged behind the harvesting part; a threshing device which is provided behind the driving unit and which threshes the harvested material harvested by the harvesting unit; a grain box disposed above the threshing device, for storing grains obtained by the threshing device; and a lower cover part arranged at the rear end part of the machine body;

the front camera is arranged at the front part of the driving part,

the rear camera is arranged on the lower cover part,

one of the two side cameras is arranged at one side part of the grain box,

the other of the two side cameras is arranged at the other side part of the grain box.

17. The harvester of claim 16,

the driving part is provided with a driving shed for covering the driving part,

the front camera is arranged at the front upper part of the driving shed.

18. The harvester of claim 17,

the cab includes a ceiling portion and a windshield extending downward from a front end of the ceiling portion,

the ceiling portion includes a protruding portion protruding further toward the front side than the windshield,

the front camera is disposed directly below the protruding portion.

19. The harvester of claim 18,

the cab includes a front upper frame extending in the left-right direction below a front portion of the roof portion and supporting the windshield,

the front camera is supported by the front upper frame.

20. The harvester of any one of claims 16 to 19,

the lower cover part is provided with a lower cover and a bracket,

the rear camera is supported by the bracket in a state of being positioned above an upper end of the lower cover.

21. The harvester of any one of claims 16 to 20,

the side camera is arranged at the upper corner of the side part of the grain box.

22. The harvester of claim 21,

an inclined part inclined towards the lower side is arranged at the upper corner of the side part of the grain box,

the side camera is provided to the inclined portion.