JP6148147B2 - Combine - Google Patents

Description

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

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

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

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

  Further, in a combine equipped with a discharge auger, a configuration in which a camera is provided at the tip of the discharge auger is known. The operator aligns the discharge auger and the container of the discharge destination while referring to the video acquired by the camera, or confirms the discharge state of the grain and stops the discharge.

JP 2013-1333098 A JP 2011-72259 A

  By the way, the alignment of the discharge auger and the container is specifically performed as follows. That is, the operator first moves the combine near a container or the like. Thereafter, the operator turns the discharge auger in the vertical direction or the horizontal direction so that the discharge port of the discharge auger is positioned in the upper part of the container or the like.

  However, after stopping the combine, it may be noticed that the discharge auger does not reach the container or the like. In this case, it is necessary to adjust the position by moving the combine again. In addition, since the combine is often located at the end of the field when discharging the grain, the operator should ensure that the combine does not collide with the straw and the positional relationship between the discharge auger and the container is appropriate. It is necessary to drive to become. This work is burdensome for the operator and takes time because it is necessary to frequently perform confirmation work.

  With the combine of patent document 2, the image | video of the left and the right cannot be acquired, and the positional relationship of a discharge auger, a container, etc. cannot be grasped | ascertained. Therefore, the operator has to get out of the combine in order to grasp the positional relationship between the side of the combine and the kite, or to make another person check in order to grasp the positional relationship between the discharge auger and the container, etc. .

  The present invention has been made in view of the above circumstances, and its main object is to provide a combine that can easily adjust the position of the machine body and the position of the discharge auger when discharging the grain with the discharge auger. There is.

Means and effects for solving the problems

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

According to the viewpoint of this invention, the combine of the following structures is provided. That is, the combine includes a cutting unit, a discharge auger, a plurality of surrounding video acquisition units, an overhead video creation unit, and a display unit. The harvesting unit harvests cereal grains. The discharge auger has a discharge port , and discharges the grain from the discharge port . The surrounding video acquisition unit acquires a surrounding video that is a video around the own device. The bird's-eye view image creation unit generates a bird's-eye view image that is a pseudo image of the subject device viewed from above based on the surrounding image obtained by the surrounding image obtaining unit and a pre-stored plan view of the subject device. create. The display unit displays the overhead video created by the overhead video creation unit. An auger image acquisition unit for acquiring images is attached to the discharge auger. When the position of the discharge auger changes from the standby position, in addition to the overhead view video, the auger video that is the video acquired by the auger video acquisition unit and including the discharge port is automatically displayed on the display unit. And the position of the discharge auger displayed on the overhead image automatically changes according to the actual position of the discharge auger .

Thereby, the operator can adjust the stop position of the combine while visually recognizing the surrounding situation by referring to the bird's-eye view image when discharging the grain to the outside. Further, the operator can easily and accurately adjust the height and angle of the discharge auger to the discharge destination (such as a container packed in a truck) by referring to the image of the auger image acquisition unit. Therefore, the grain discharging operation can be performed quickly and accurately. Further, since the position of the discharge auger displayed in the overhead view image changes according to the actual position, the position of the discharge auger can be easily adjusted. In addition, since the auger video is automatically displayed, it is possible to save the operator from switching the display.

  The above combine is preferably configured as follows. In other words, the auger video acquisition unit also functions as the ambient video acquisition unit that acquires the surrounding video in front. When the position of the discharge auger changes from the standby position, the overhead view video creation unit creates the overhead view video based on the ambient video acquired by the surrounding video acquisition unit other than the auger video acquisition unit.

  Thereby, the number of image acquisition units can be suppressed. In addition, the discharge auger is disposed above the aircraft away from the aircraft. For this reason, since the airframe does not interfere with imaging, it is possible to image both the cutting portion and the front thereof over a wide range.

  The combine preferably includes the surrounding video acquisition unit that acquires the surrounding video in front of the auger video acquisition unit.

  Thereby, even when the position of the discharge auger changes from the standby position, it is possible to display a bird's-eye view image including the front of the combine. Therefore, when discharging the grain to the outside, it is possible to adjust the position of the discharge auger by advancing the combine while confirming the surrounding situation.

The right view of the combine which concerns on this embodiment. The top view of a combine. The block diagram of a combine. The figure which shows the bird's-eye view image displayed on a display part at the time of cutting work. Explanatory drawing which shows a mode when discharging | emitting a grain outside. An auger image and an overhead image displayed on the display unit when the position of the discharge auger is aligned with the container. An auger image and a bird's-eye view image displayed on the display unit during grain discharge. The right view of the combine which concerns on a modification. The bird's-eye view image and the auger image displayed on the display unit according to the modification.

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

  The combine 10 of this embodiment is comprised as what is called a self-desorption type combine. As shown in FIG. 1, a crawler unit 12 for running the machine body 11 is provided at the lower part of the machine body 11 of the combine 10. Moreover, the combine 10 is provided with the cutting part 13 in front of the body 11 for cutting the stock of the grain straw 71, such as rice and wheat.

  The cutting part 13 includes a plurality of weed bodies 31 and a cutting blade (not shown).

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

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

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

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

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

  A sorting device 15 is provided below the threshing device 14. The sorting device 15 sorts and takes out the grains threshed by the threshing device 14.

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

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

  The base end portion 17 a of the discharge auger 17 is supported by an auger turning mechanism 18 provided on the right rear side of the combine 10 so as to be turnable. Specifically, by operating the auger turning mechanism 18, the discharge auger 17 can be turned in the horizontal direction and the vertical direction (see the chain lines in FIGS. 1 and 2).

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

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

  The distal end portion 17 c of the discharge auger 17 is located above the cutting portion 13 on the side opposite to the cabin 22. A discharge port 17d is formed in the distal end portion 17c. The discharge port 17d can discharge the grain conveyed by the screw conveyor to the outside (such as a truck). Although the discharge port 17d of the present embodiment is formed so as to face downward, a discharge auger that can change the direction of the discharge port 17d may be used.

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

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

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

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

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

  The front camera 51 is attached to the distal end portion 17 c of the discharge auger 17. The front camera 51 acquires a front surrounding image. The front camera 51 is arranged with its lens facing forward and obliquely downward so that the cutting unit 13 and the image in front of it can be acquired. In addition, the structure which acquires only the image | video of the front of the cutting part 13 with the front camera 51 may be sufficient.

  Since the front camera 51 is attached to the discharge auger 17, the video acquired by the front camera 51 can also be expressed as a video showing the periphery of the discharge auger 17 (auger video).

  The left camera 52 is attached to the left side surface of the airframe 11, specifically, the airframe 11 where the threshing device 14 is built. The left camera 52 is arranged with the lens facing obliquely downward to the left so that a left surrounding image of the combine 10 can be acquired. When the threshing device 14 is covered with an openable / closable cover, the left camera 52 may be attached to the cover.

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

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

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

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

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

  The bird's-eye view image creation unit 61 creates a bird's-eye view image (see FIGS. 4, 6, and 7) based on the images obtained from the four cameras. Since the method for creating the bird's-eye view image is known, the details are omitted, but the overlapping portions are deleted while overlapping the surrounding images obtained from the four cameras, and the distortion is corrected as necessary. In addition, in order to show the area | region acquired from each camera, the boundary line 78 is superimposed on a bird's-eye view image | video. The boundary line 78 may be omitted or may be configured to be switched between display and non-display.

  The bird's-eye view video creation unit 61 synthesizes a pre-stored photograph of the combine 10 in a portion corresponding to the combine 10 in the superimposed video (combined image 10x in FIG. 4 and the like). In addition, since the front camera 51 has acquired a part of the cutting unit 13 as a video, only the part acquired by the front camera 51 in the cutting unit 13 is used as an actual video, and the remaining part is supplemented with a photograph. The overhead view video creation unit 61 creates the overhead view video by performing the above processing. In addition, you may display the whole front of the combine 10 with a photograph.

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

  Next, an example of the use of the overhead view video when the harvesting operation is performed by the combine 10 will be briefly described with reference to FIG. In FIG. 4, an uncut grain culm 71 and a residue 72 after the grain culm 71 is cut off are displayed.

  At the time of the cutting operation, it is necessary to insert the weed body 31 between the cereal grains 71, so the positional relationship between the weed body 31 and the cereal grain 71 is important. This point operator can confirm the positional relationship between the weed body 31 and the grain pod 71 including the left side that is a blind spot by looking at the bird's-eye view video, and can adjust the positional relationship as necessary.

  Further, as shown in FIG. 4, when the harvesting is performed by bringing the left side of the combine 10 to the edge of the reed 73, the operator needs to grasp the interval in order to prevent the combine 10 and the reed 73 from colliding. is there. The operator can check the positional relationship (interval) between the combine 10 and the kite 73 by looking at the bird's-eye view video, and can drive so as not to collide with the kite 73.

  In addition, there is a person in the field in order to mow a part of the grain basket 71 during the cutting operation. In this case, it is necessary for the operator to always check the surroundings (omnidirectional) for safety. The operator can confirm the presence or absence of a person around the combine 10 (omnidirectional) by looking at the overhead view video.

  Thus, the operator needs to confirm the surroundings of the combine 10 and acquire various information during the harvesting operation of the combine 10. In this respect, in the present embodiment, the operator can confirm them only by looking at the overhead view video. For example, in the case of a configuration in which only the surrounding image in the front is displayed as in Patent Document 2, it is necessary to frequently check not only the image but also visually, so that the work required for the operator becomes complicated. The workability is also reduced.

  Next, an image displayed on the display unit 44 when the grain is discharged using the discharge auger 17 will be described with reference to FIGS. 5 to 7.

  As the cutting operation proceeds, grains are stored in the Glen tank 16. The operator discharges the grains in the Glen tank 16 to the outside (such as the container 75 packed in the truck 74 in FIG. 5) at an appropriate timing.

  When discharging the grain, the operator first brings the combine 10 close to the container 75 and stops it. In this case, the combine 10 may be moved backward as shown in FIG. 5, or the combine 10 may be moved forward. Further, there may be a case where there is a ridge 73 on the left side and a case where there is a ridge 73 on the right side. In this respect, in this embodiment, since all directions of the combine 10 can be confirmed simultaneously from the overhead view video, it is possible to prevent a collision between the combine 10 and the overhead view only by referring to the overhead view image in any of the above cases. The combine 10 can be moved.

  After the operator brings the combine 10 close to the container 75, the operator operates the operation panel 43 or a remote controller (not shown) to turn the discharge auger 17 at the holding position in the vertical direction and the horizontal direction. Stop at the timing located at the top of. In the example shown in FIG. 5, there is a basket 73 between the combine 10 and the container 75, and the container 75 is packed in a truck 74. Therefore, the container 75 is located higher than the combine 10. Further, the camera is arranged to face obliquely downward. Therefore, since it is difficult to capture the container 75 at a high position only with the above-described bird's-eye view image, it is difficult to determine when to stop the discharge auger 17 even if only the bird's-eye view image is referred to. .

  In this regard, when the discharge auger 17 turns, the control unit 60 of the present embodiment switches the image displayed on the display unit 44 to the image shown in FIG. This video switching is automatically performed by the control unit 60. The control unit 60 detects that the discharge auger 17 has started to turn, for example, by a switch attached to the auger rest 19, an instruction from the operator to turn the discharge auger 17, an angle sensor attached to the discharge auger 17, or the like. Can do.

  The video at the bottom of FIG. 6 is the above-described overhead video. However, since the front camera 51 attached to the discharge auger 17 is pivoted together with the discharge auger 17, the image in front of the combine 10 is not displayed.

  Further, the combine image 10x displayed on the display unit 44 as described above is not an actual image of the combine 10. Further, the turning angle of the discharge auger 17 can be detected by an angle sensor or the like attached to the discharge auger 17. The control unit 60 rotates and displays the discharge auger image 17x displayed on the display unit 44 based on the detected horizontal turning angle of the discharge auger 17 (see FIG. 6).

  Thereby, the operator can intuitively grasp whether the discharge auger 17 is turning as instructed or how much the discharge auger 17 is turned by viewing the overhead view image. In addition, the operator can confirm safety at the same time when the discharge auger 17 is turned.

  The display of the discharge auger image 17x can be changed according to the turning angle of the discharge auger 17 in the vertical direction. However, since the overhead image is a plan view, it is difficult to intuitively grasp the discharge auger image 17x even if the discharge auger image 17x is swung in the vertical direction. For example, the swivel angle may be displayed near the discharge auger image 17x.

  In the upper part of FIG. 6, an image (auger image) acquired by the front camera 51 is displayed. Since the front camera 51 is attached to the discharge auger 17, the discharge port 17d of the discharge auger 17 is displayed on the auger video.

  The operator can stop the discharge auger 17 at an appropriate position by referring to the auger video while the discharge auger 17 is turning. For example, the operator turns the discharge auger 17 and stops the discharge auger 17 when the container 75 is displayed on the auger video. Note that either the horizontal direction or the vertical direction may be moved first.

  Next, the operator finely adjusts the position of the discharge auger 17 so that the discharge port 17 d is positioned above the container 75. Note that the auger video is not flattened like the overhead video, so the operator can grasp the perspective. Accordingly, the discharge port 17d can be easily aligned with the container 75.

  Here, when the discharge auger 17 does not reach the container 75, the combine 10 needs to be moved. Conventionally, it is necessary to confirm the surroundings again by getting off the combine 10 or the like. However, in this embodiment, since the bird's-eye view video is displayed at the bottom, the operator can confirm the surroundings of the combine 10 by moving the line of sight a little. By performing the above operations, the alignment of the discharge auger 17 and the container 75 is completed.

  Next, the operator, after confirming that the discharge port 17d is arranged at the top of the container 75, operates the operation panel 43 or a remote controller (not shown) to instruct the discharge of the grain. The operator can check the discharge state of the grain 76 by referring to the auger video (see FIG. 7).

  The operator turns the discharge auger 17 slightly in the horizontal direction or moves the combine 10 while watching the auger image in order to prevent the grain 76 from being discharged to one place. When the direction of the discharge port 17d can be turned, the discharge port 17d is turned.

  Thereafter, when the operator confirms that the container 75 is filled with the grain 76 with reference to the auger video, the operator stops discharging the grain 76. And the container 75 is replaced | exchanged and the grain 76 is discharged | emitted again. As described above, the grains 76 stored in the Glen tank 16 can be discharged to the outside.

  As described above, the operator can check the surroundings and alignment of the combine 10, the alignment of the discharge auger 17 and the container 75, and the discharge state of the grain 76 only by referring to the single display unit 44.

  In addition, when the ridge 73 is low or the container 75 is placed on the ground, the container 75 may be displayed in the overhead view video. In this case, the operator can easily position the discharge auger 17 on the upper portion of the container 75 by referring to only the overhead view video.

  As described above, the combine 10 according to the present embodiment includes the cutting unit 13, the discharge auger 17, a plurality of cameras, the overhead view image creation unit 61, and the display unit 44. The reaping unit 13 reaps the grain 71. The discharge auger 17 discharges the grain to the outside. The camera acquires a surrounding image that is a surrounding image of the combine 10. The bird's-eye view image creation unit 61 creates a bird's-eye view image that is a pseudo image of the combine 10 viewed from above based on the surrounding image acquired by the camera and the plan view of the combine 10 stored in advance. The display unit 44 displays the overhead view video created by the overhead view video creation unit 61. A front camera 51 that acquires an image is attached to the discharge auger 17. When the position of the discharge auger 17 changes from the standby position, the display unit 44 displays an image acquired by the front camera 51 in addition to the overhead view image.

  Thereby, the operator can adjust the stop position of the combine 10 while visually recognizing the surrounding situation by referring to the bird's-eye view image when the grain is discharged to the outside. Further, the operator can easily and accurately match the height and angle of the discharge auger 17 with the container 75 and the like by referring to the image of the front camera 51. Therefore, the grain discharging operation can be performed quickly and accurately.

  Next, a modification of the above embodiment will be described with reference to FIG. In the description of this modification, the same or similar members as those in the above-described embodiment may be denoted by the same reference numerals in the drawings, and description thereof may be omitted.

  The modified combine 10 differs from the above embodiment in that not only the front camera 51 but also the second front camera 56 is arranged. The second front camera 56 is attached to the cabin 22. Accordingly, the second front camera 56 is located on the right side of the center in the left-right direction.

  The surrounding image acquired by the second front camera 56 is output to the control unit 60. The bird's-eye view image creation unit 61 creates a bird's-eye view image based on surrounding images acquired from five cameras including the second front camera 56. Thereby, the front of the combine 10 can be displayed more correctly. Further, even when the discharge auger 17 is turned, a surrounding image in front of the combine 10 can be acquired, and thus an overhead view image including the front can be continuously displayed (see FIG. 9).

  The preferred embodiments and modifications of the present invention have been described above, but the above configuration can be modified as follows, for example.

  Although the combine 10 of the said embodiment is provided with the cabin 22, this invention is applicable also to the combine 10 of the type which is not provided with the cabin 22 but the driver's seat 41 is exposed.

  When the discharge auger 17 is turned, the auger video may be displayed at the bottom, or depending on the aspect ratio of the display unit 44, it may be displayed on the left or right. Further, the auger video may be partially superimposed on the overhead view video.

  In the above description, an image obtained by actually obtaining a part of the harvesting unit 13 in the combine displayed in the overhead view image is used. However, an actual image of the combine may be included in another part. Moreover, it is good also as a top view which memorize | stored beforehand (combined) all the combine displayed on a bird's-eye view image | video.

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

  In the above modification, the configuration in which the surrounding images in front of the combine 10 are acquired by two cameras is disclosed, but the left, right, or rear surrounding images may be acquired by two cameras, respectively.

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

DESCRIPTION OF SYMBOLS 10 Combine 11 Airframe 12 Crawler part 13 Cutting part 14 Threshing apparatus 15 Sorting apparatus 16 Glen tank 17 Discharge auger 18 Auger turning mechanism 19 Augerrest 20 Exclusion chain 51 Front camera (Ambient image acquisition part, auger image acquisition part)
52 Left camera (Ambient image acquisition unit)
53 Right camera (Ambient image acquisition unit)
54 Rear camera (Ambient image acquisition unit)
56 Second front camera (Ambient image acquisition unit)
44 Display Unit 60 Control Unit 61 Overhead Video Creation Unit 62 Display Control Unit

Claims (3)

A harvesting section for harvesting cereals;
A discharge port is formed, and a discharge auger that discharges the grain from the discharge port to the outside,
A plurality of surrounding image acquisition units for acquiring surrounding images that are surrounding images of the own device;
An overhead video creation unit that creates a bird's-eye view image that is a pseudo image of the subject device viewed from above based on the ambient image obtained by the ambient image obtaining unit and a pre-stored plan view of the subject device; ,
A display unit for displaying the overhead view video created by the overhead view video creation unit;
With
The discharge auger is provided with an auger video acquisition unit for acquiring video,
When the position of the discharge auger changes from the standby position, in addition to the overhead view video, the auger video that is the video acquired by the auger video acquisition unit and including the discharge port is automatically displayed on the display unit. The combine is displayed on the same screen as the overhead view video, and the position of the discharge auger displayed in the overhead view video changes according to the actual position of the discharge auger . The combine according to claim 1,
The auger video acquisition unit also functions as the surrounding video acquisition unit for acquiring the surrounding video in front,
The overhead view video creation unit creates the overhead view video based on the ambient video acquired by the ambient video acquisition unit other than the auger video acquisition unit when the position of the discharge auger changes from the standby position. Combine with. The combine according to claim 1,
In addition to the auger video acquisition unit, the combine includes the surrounding video acquisition unit that acquires the surrounding video in front.

Images