Combine harvester, image display system, image display method, image display program, and recording medium having image display program recorded thereon

Abstract

A combine harvester (1) capable of switching a driving mode between a manual driving mode for manual driving and an automatic driving mode for automatic driving comprises: a first camera (21) for capturing a scene behind a machine body; a display device (71) capable of displaying a first captured image captured by the first camera (21); a display indication information acquisition unit (72) for acquiring first display indication information indicating a display indication for the first captured image of the display device (71); a display control unit (74) for causing the display device (71) to display the first captured image when the display indication information acquisition unit (72) acquires the first display indication information; and a driving mode determination unit (73) for determining whether the driving mode is the automatic driving mode, wherein the display control unit (74) displays the first captured image on the display device (71) when the driving mode is determined to be the automatic driving mode even if the first display indication information is not acquired.

Description

Technical Field

[0001] The present invention relates to a technology related to a combine harvester capable of switching a travel mode between a manual travel mode for manual travel and an automatic travel mode for automatic travel. Background Art

[0002] When working in a field using a work vehicle, it is necessary to pay attention to the state of the field, the presence of workers in the field, etc. Therefore, a work vehicle that can pay attention to the surrounding conditions of the machine body is used (for example, Patent Document 1).

[0003] Patent Document 1 discloses a general-purpose combine harvester. The general-purpose combine harvester is provided with a television camera capable of capturing an image of the front of a harvesting unit, and an image processing device for recognizing an obstacle based on an image input from the television camera.

[0004] Prior art literature

[0005] Patent Literature

[0006] Patent Document 1: Japanese Patent Application Laid-Open No. 11-155340 Summary of the invention

[0007] Problems that the invention will solve

[0008] The technology described in Patent Document 1 is to use a television camera to shoot the scene in front of the harvesting section. Therefore, the detection range of the obstacle object is limited to the front of the machine body. In the combine harvester, a grain box and a threshing device are provided behind the driver's seat. In addition, there are also combine harvesters that can drive automatically. In the case of automatic driving, when you want to check the rear of the driver's seat, sometimes the rear of the driver's seat becomes a blind spot. Therefore, there is room for improvement in the technology described in Patent Document 1.

[0009] Therefore, there is a demand for a combine harvester capable of confirming the rear of the machine body during automatic driving and a technology related to such a combine harvester.

[0010] Means for solving problems

[0011] The characteristic configuration of the combine harvester of the present invention is that it is a combine harvester capable of switching a driving mode between a manual driving mode for manual driving and an automatic driving mode for automatic driving, and the combine harvester comprises: a first camera for capturing a scene behind a body; a display device for displaying a first captured image captured by the first camera; a display indication information acquisition unit for acquiring first display indication information, wherein the first display indication information indicates a display indication for the first captured image of the display device; a display control unit for causing the display device to display the first captured image when the display indication information acquisition unit acquires the first display indication information; and a driving mode determination unit for determining whether the driving mode is the automatic driving mode, wherein the display control unit causes the display device to display the first captured image when it is determined that the driving mode is the automatic driving mode even if the first display indication information is not acquired.

[0012] According to this characteristic configuration, when the first display indication information is not obtained and the driving mode is the automatic driving mode, the first captured image of the scene behind the body can be automatically displayed on the display device, thereby allowing the operator to confirm the rear of the body.

[0013] In addition, preferably, the combine harvester also includes a second camera for photographing a scene in a shooting range different from the shooting range of the first camera, and the display indication information acquisition unit acquires second display indication information indicating an instruction for displaying a second captured image captured by the second camera on the display device, and the display control unit displays only the first captured image on the display device when it is determined that the driving mode is the automatic driving mode even if the second display indication information is acquired.

[0014] According to this configuration, for example, even when only the second captured image is displayed on the display device, or when both the first captured image and the second captured image are displayed on the display device, when the driving mode is switched to the automatic driving mode, only the first captured image can be displayed on the display device, thereby enabling the operator to easily confirm the rear of the body.

[0015] Moreover, it is preferable that the said 2nd camera is provided in the grain discharge device which discharges the grain in the grain tank to the outside, and images the scene below the discharge port in the said grain discharge device.

[0016] According to this structure, when discharging the grain stored in the grain box, the scene below the discharge port can be projected on the display device. Therefore, it is possible to stop the discharge of the grain or change the position of the discharge port according to the situation of the discharge destination.

[0017] In addition, preferably, when there is an instruction to discharge the grains from the grain discharge device based on manual operation, the display control unit displays the second captured image on the display device instead of the first captured image even when the first captured image is displayed on the display device.

[0018] According to such a configuration, when there is a discharge instruction to discharge the grains in the grain tank to the outside, the scene below the discharge port can be preferentially projected on the display device. Therefore, the operator can easily see the situation of the discharge destination of the grains.

[0019] Alternatively, the grain discharge device may automatically perform the grain discharge operation in the automatic driving mode, and the display control unit may display the second captured image on the display device instead of the first captured image when the grain is discharged from the grain discharge device based on the discharge instruction of the discharge operation.

[0020] According to this configuration, when the driving mode is the automatic driving mode, for example, even when there is a discharge instruction to automatically discharge the grains in the grain box to the outside, the scene below the discharge port can be preferentially projected on the display device.

[0021] In addition, the image display system of the present invention is characterized in that it is an image display system that enables a display device of a combine harvester that can switch its driving mode between a manual driving mode for manual driving and an automatic driving mode for automatic driving to display an image, and the image display system comprises: a first camera that captures a scene behind the combine harvester; a display device that can display a first captured image captured by the first camera; a display indication information acquisition unit that acquires first display indication information, the first display indication information indicating a display indication for the first captured image of the display device; a display control unit that causes the display device to display the first captured image when the display indication information acquisition unit acquires the first display indication information; and a driving mode determination unit that determines whether the driving mode is the automatic driving mode, the display control unit causing the display device to display the first captured image when it is determined that the driving mode is the automatic driving mode even if the first display indication information has not been acquired.

[0022] According to this image display system, the rear of the combine harvester can be checked during automatic driving.

[0023] In addition, the image display method of the present invention enables a display device of a combine harvester that can switch its driving mode between a manual driving mode for manual driving and an automatic driving mode for automatic driving to display an image, and the image display method comprises: a first shooting step, using a first camera to shoot a scene behind the combine harvester; a display indication information acquisition step, acquiring first display indication information, the first display indication information indicating a display indication of the first captured image for a display device that can display the first captured image captured by the first camera; a display control step, when the first display indication information is acquired by the display indication information acquisition step, causing the display device to display the first captured image; and a driving mode determination step, which determines whether the driving mode is the automatic driving mode, in which, even when the first display indication information is not acquired, the display device is caused to display the first captured image when it is determined that the driving mode is the automatic driving mode.

[0024] According to this image display method, the rear of the combine harvester can be confirmed during automatic driving.

[0025] In addition, the image display program of the present invention displays an image on a display device of a combine harvester that can switch the driving mode between a manual driving mode for manual driving and an automatic driving mode for automatic driving, and the image display program has: a first shooting function, using a first camera to shoot a scene behind the combine harvester; a display indication information acquisition function, acquiring first display indication information, the first display indication information indicating a display indication of the first captured image for a display device that can display the first captured image captured by the first camera; a display control function, when the first display indication information is acquired by the display indication information acquisition function, causing the display device to display the first captured image; and a driving mode determination function, which determines whether the driving mode is the automatic driving mode, the display control function being to cause the display device to display the first captured image when it is determined that the driving mode is the automatic driving mode even if the first display indication information is not acquired.

[0026] By causing a computer installed with such an image display program to execute the program, it is possible to check the rear of the combine harvester during automatic driving.

[0027] In addition, the present invention provides a recording medium having an image display program recorded thereon, wherein the image display program displays an image on a display device of a combine harvester capable of switching a driving mode between a manual driving mode for manual driving and an automatic driving mode for automatic driving, and is characterized in that the image display program comprises: a first shooting function for shooting a scene behind the combine harvester using a first camera; a display indication information acquisition function for acquiring first display indication information, wherein the first display indication information indicates a display indication of the first captured image for a display device capable of displaying the first captured image captured by the first camera; a display control function for causing the display device to display the first captured image when the first display indication information is acquired by the display indication information acquisition function; and a driving mode determination function for determining whether the driving mode is the automatic driving mode, wherein the display control function causes the display device to display the first captured image when it is determined that the driving mode is the automatic driving mode even if the first display indication information is not acquired.

[0028] By installing the image display program in a computer via such a recording medium and executing the program on the computer, it is possible to check the rear of the combine harvester during automatic driving. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 It is the overall left side view of the combine harvester.

[0030] Figure 2 It is an overall top view of the combine harvester.

[0031] Figure 3 This is a block diagram showing the structure of a control device that controls display on a display device.

[0032] Figure 4 It is a diagram showing the display of the display device during automatic driving.

[0033] Figure 5 It is a figure which shows the display of the display device during the discharge operation. DETAILED DESCRIPTION

[0034] The combine harvester of the present invention can switch the travel mode between a manual travel mode for manual travel and an automatic travel mode for automatic travel, and can check (watch) the rear of the machine during automatic travel.

[0035] Figure 1 It is the whole left side view of the combine harvester 1 of this embodiment. Figure 2 It is the whole plan view of the combine harvester 1 of this embodiment. Figure 31 is a block diagram showing the structure of a control device 100 provided in the combine harvester 1 and controlling the display on the display device 71. In addition, the combine harvester 1 of this embodiment is described below by taking a so-called ordinary combine harvester as an example. Of course, the combine harvester 1 may also be a semi-feeding combine harvester. In addition, in this embodiment, although a crawler-type combine harvester is taken as an example for description, a wheeled combine harvester may also be used.

[0036] Here, for easy understanding, in this embodiment, unless otherwise specified, the "front" ( Figure 1 - Figure 2 The direction of the arrow F shown in the figure means the front in the front-rear direction (driving direction) of the machine body, and the rear ( Figure 1 - Figure 2 The direction of the arrow B shown in the figure means the rear direction in the front-rear direction (driving direction) of the machine body. In addition, the left-right direction or the lateral direction of the machine body means the lateral direction of the machine body (the width direction of the machine body) perpendicular to the front-rear direction. Figure 1 direction of the arrow U shown) and "down" ( Figure 1 The direction of the arrow D shown in the figure is the vertical direction (vertical direction) of the body, indicating the height relationship on the ground. Figure 2 The direction of the arrow L in the figure) is the left side of the machine, and the right ( Figure 2 The direction of the arrow R in the figure is the right side of the machine body.

[0037] like Figure 1 as well as Figure 2 As shown, the combine harvester 1 includes a traveling body (an example of a "machine body") 11, a crawler traveling device 12, a driving part 13, a threshing device 14, a grain box 15, a harvesting part H, a conveying device 16, a grain discharge device 17, a vehicle position detection module 18, a rear-view camera (an example of a "first camera") 21, an unloader camera (an example of a "second camera") 22, a display device 71, and a control device 100.

[0038] A travel device 12 is provided at the lower part of a travel vehicle body 11 (hereinafter referred to as the vehicle body 11). The combine harvester 1 is configured to be self-propelled by the travel device 12. A driving unit 13, a threshing device 14, and a grain tank 15 are provided on the upper side of the travel device 12, constituting the upper part of the vehicle body 11. The driving unit 13 can be used by a driver who drives the combine harvester 1 and a supervisor who monitors the operation of the combine harvester 1. Usually, the driver and the supervisor serve concurrently. In addition, when the driver and the supervisor are different persons, the supervisor can also monitor the operation of the combine harvester 1 from outside the combine harvester 1.

[0039] The vehicle position detection module 18 is installed on the front upper part of the driving part 13 to detect the position of the vehicle. The vehicle position detection module 18 can use a satellite positioning module configured as a GNSS module. The vehicle position detection module 18 has a satellite antenna for receiving GPS signals and GNSS signals (hereinafter referred to as "GPS signals") from artificial satellites. In addition, in order to supplement satellite navigation, the vehicle position detection module 18 can include an inertial navigation module assembled with a gyro acceleration sensor and a magnetic orientation sensor. Of course, the inertial navigation module can also be set in a place different from the vehicle position detection module 18. The vehicle position detection module 18 detects the vehicle position as the position of the combine harvester 1 based on the above-mentioned GPS signal and the detection results of the inertial navigation module. The vehicle position detected by the vehicle position detection module 18 is used for the automatic driving (autonomous driving) of the combine harvester 1.

[0040] The harvesting section H is provided at the front part of the combine harvester 1. The conveying device 16 is provided at the rear side of the harvesting section H. The harvesting section H has a cutting mechanism 19 and a reel 20. The cutting mechanism 19 cuts the planted grain stalks in the field. The reel 20 drives while rotating while raking up the planted grain stalks of the harvesting object. With this structure, the harvesting section H can harvest grains (a kind of crop) in the field. The combine harvester 1 can perform operation driving by driving the driving device 12 while harvesting grains in the field through the harvesting section H.

[0041] The cut grain stalks cut by the cutting mechanism 19 are conveyed to the threshing device 14 by the conveying device 16. In the threshing device 14, the cut grain stalks are threshed. The grains obtained by the threshing process, that is, the harvested grains, are stored in the grain box 15. The grains stored in the grain box 15 are discharged to the outside of the machine by the grain discharge device 17 described later as needed.

[0042] The driving unit 13 is provided with a communication terminal 2. In the present embodiment, the communication terminal 2 is fixed to the driving unit 13. Of course, the communication terminal 2 may be configured to be removable relative to the driving unit 13, or may be configured outside the combine harvester 1. The combine harvester 1 can transmit and receive various information with a system (e.g., an agricultural support system, etc.) provided outside the combine harvester 1 via the communication terminal 2.

[0043] A grain discharge device 17 for discharging grain stored in the grain box 15 to the outside is provided from the rear to the upper part of the grain box 15. The grain discharge device 17 includes a longitudinal conveying portion 17A for conveying grain upward, and a transverse conveying portion 17B for conveying grain laterally from the upper end of the longitudinal conveying portion 17A and discharging the grain from the discharge port 25 at the front end.

[0044] Here, a bottom screw device (not shown) is provided at the lower part of the grain box 15 for conveying the stored grains in the front-rear direction to the conveying start end of the longitudinal conveying section 17A. The bottom screw device and the longitudinal conveying section 17A are linked to each other via a belt transmission mechanism (not shown), and the grains are conveyed to the longitudinal conveying section 17A through the corner housing 27 (see FIG. Figure 2 ) is transported from the grain box 15 to the longitudinal conveying section 17A.

[0045] The longitudinal conveying section 17A and the transverse conveying section 17B are supported on the body frame 3 of the vehicle body 11 so as to be rotatable around the longitudinal axis Y (the rotation axis of the longitudinal conveying section 17A). A longitudinal frame (not shown) is provided on the left lateral side of the longitudinal conveying section 17A, and the lower end of the longitudinal frame is fixed to the body frame 3. The lower end of the longitudinal conveying section 17A is supported on the corner shell 27 so as to be rotatable around the longitudinal axis Y, and the upper and lower middle parts are supported on the upper part of the longitudinal frame so as to be rotatable via the support bracket 6. The lower end of the longitudinal conveying section 17A is supported on the body frame 3 via the corner shell 27 and the rotating hub (not shown). On the other hand, the transverse conveying section 17B is supported by the receiving section 35. During the harvesting of grains, the longitudinal conveying section 17A and the transverse conveying section 17B of the grain discharge device 17 of the combine harvester 1 of the present embodiment are Figure 2 As shown, it is supported in a manner that falls within the lateral width of the combine harvester 1 when viewed from above, that is, in a state where it does not protrude outward from the left end and the right end. In the present embodiment, the posture of such a grain discharge device 17 is referred to as a "starting posture". Here, it is preferably configured so that a sensor capable of detecting whether the lateral conveying portion 17B is supported is provided in the receiving portion 35, and whether the posture of the grain discharge device 17 is the starting posture is determined based on the detection result of the sensor. In addition, the above-mentioned structure of supporting the longitudinal conveying portion 17A and the lateral conveying portion 17B is an example, and other structures may also be used.

[0046] The combine harvester 1 of the present embodiment can switch the driving mode between a manual driving mode for manual driving and an automatic driving mode for automatic driving as described above. When the driving mode is the manual driving mode, the driver and supervisor (hereinafter referred to as the "driver") manually operates to steer the combine harvester 1. On the other hand, when the driving mode is the automatic driving mode, the combine harvester 1 is automatically driven by setting a driving path in the field and automatically driving along the set driving path. In this automatic driving, the vehicle position information obtained by the above-mentioned vehicle position detection module 18 is used.

[0047] Specifically, in the field, the driver manually operates the combine harvester 1 to harvest in the outer peripheral part of the field in a circle along the boundary line of the field. Thus, the area that has been harvested (the area that has been worked) is set as the outer peripheral area. The area inside the outer peripheral area that is still unharvested (the area that has not been worked) is set as the work target area. In addition, the driving of the outer peripheral part of the field may not be based on manual driving, but may be automatic driving.

[0048] At this time, in order to ensure the width of the outer peripheral area to be wider to a certain extent, the driver drives the combine harvester 1 for 2 to 3 turns. During this driving, the width of the outer peripheral area is expanded by the working width of the combine harvester 1 every time the combine harvester 1 rotates one circle. For example, when the initial 2 to 3 turns of driving are completed, the width of the outer peripheral area becomes about 2 to 3 times the working width of the combine harvester 1. In addition, the driver's initial circle driving may not be 2 to 3 turns, but 1 turn, or more than that (more than 4 turns).

[0049] The outer peripheral area is used as a space for the combine harvester 1 to change direction when harvesting in the work target area. In addition, the outer peripheral area can also be used as a space for movement when temporarily ending the harvesting and moving to a grain discharge site, moving to a fuel supply site, etc.

[0050] If the peripheral area and the work target area are set by the above-mentioned manual operation, the travel path in the work target area is estimated. The estimated travel path is sequentially set based on the work travel mode, and the combine harvester 1 is automatically controlled to travel along the set travel path.

[0051] The grain tank 15 of the combine harvester 1 stores the grains harvested by the harvesting operation. The grains in the grain tank 15 are transported to a transport vehicle CV (see FIG. 1 ) parked around the field. Figure 5) is discharged and transported to a specified place by a conveyor vehicle CV. When the combine harvester 1 discharges grains, the combine harvester 1 moves to the vicinity of the conveyor vehicle CV and discharges the grains to the conveyor vehicle CV using the grain discharge device 17. When the parking position of the conveyor vehicle CV is predetermined, approaching driving when approaching the conveyor vehicle CV, that is, temporary separation from the working driving in the working object area and returning to the working driving can also be performed by automatic driving. The driving path for separation from the working object area and returning to the working object area is generated at the moment when the peripheral area is set. In addition, instead of the conveyor vehicle CV, a fuel supply vehicle or other working support vehicles can also be parked around the field. In order to discharge the grains harvested by the combine harvester 1 to the conveyor vehicle CV, the parking position is a parking position for grain discharge, and in order to supply fuel from the fuel supply vehicle, the parking position of the combine harvester 1 is a parking position for fuel supply. It is preferable that the parking position for grain discharge and the parking position for fuel supply are set at the same position with each other, and these positions are also comprised so that the combine harvester 1 can reach them by automatic travel.

[0052] The grain box 15 may be provided with a sensor (not shown) for detecting the storage amount of grains. If the sensor detects that the storage amount of the grain box 15 is full or nearly full, the vehicle may depart from the operation driving in the operation target area based on the grain discharge parking position and the vehicle position, and drive in the peripheral area to automatically drive toward the grain discharge parking position. Of course, the vehicle may also be configured to drive toward the grain discharge parking position manually.

[0053] In order to discharge grains and refuel, the timing of disengagement from the operation driving in the operation object area is determined according to the respective surplus and the driving time or driving distance to the parking position. In the present embodiment, the surplus involved in the discharge of grains is preferably the driving time or driving distance predicted until the grain box 15 is full according to the current storage capacity of the grain box 15. On the other hand, if it is refueling, it is preferably the driving time or driving distance predicted until the fuel is completely exhausted according to the current remaining amount of fuel in the fuel tank. For example, when passing through the vicinity of the grain discharge parking position during automatic driving, based on the surplus, the time required for the discharge operation, etc., it is determined that in the case of disengaging and returning to the grain discharge parking position after being filled through the grain discharge parking position, and in the case of discharging by the way when passing through the vicinity of the grain discharge parking position, which is ultimately more efficient driving (short total operation time or short total driving distance). If the discharge operation is performed when the storage capacity of the grain box 15 is extremely small, the overall discharge frequency increases, and the efficiency is not high. If it is roughly full, it is more efficient to discharge by the way. Therefore, the combine harvester 1 determines whether to automatically travel to the parking position for grain discharge based on the margin, the time required for the discharge work, and the like.

[0054] If the combine harvester 1 finishes discharging grain from the grain box 15, it automatically drives back to the place where the harvesting operation was performed before the automatic driving to the grain discharge parking position in the operation object area was started. Backward movement can also be used during driving in the operation object area when leaving the operation object area.

[0055] As described above, during the discharge of grains, the grain discharge device 17 is in the initial posture, but moves from the initial posture during the discharge of grains to a discharge posture for discharging the grains stored in the grain box 15 to the outside of the machine. The discharge posture is achieved by the longitudinal conveying section 17A rotating around the longitudinal axis Y. The amount of rotation at this time is set according to the positional relationship between the grain discharge parking position and the transport vehicle CV. Figure 5 , the grain discharge device 17 is shown in the discharge posture when a parking position for grain discharge is set on the side of the transport vehicle CV. In the discharge posture, the longitudinal transport unit 17A rotates around the longitudinal axis Y so that the discharge port 25 is located on the storage unit CVA (container of the transport vehicle CV) of the transport vehicle CV. Thus, in the discharge posture, the grains can be discharged from the discharge port 25 to the storage unit CVA of the transport vehicle CV. In this way, the grain discharge device 17 is configured to be able to change its posture between the initial posture and the discharge posture.

[0056] return Figure 1 - Figure 3 The rear view camera 21 (an example of a "first camera") is provided at the rear end of the vehicle body 11. The rear view camera 21 captures the scene behind the vehicle body 11. The scene behind the vehicle body 11 is the scene directly behind and below the vehicle body 11, and the rear view camera 21 is preferably configured to include such scene in the captured image ("first captured image" described later). It is preferred that the rear of the vehicle body 11 is included, and the area becomes a blind spot due to the threshing device 14 and the grain box 15 when viewed from the driving unit 13.

[0057] In the present embodiment, the combine harvester 1 is further equipped with an unloader camera 22 for photographing scenes in a photographing range different from that of the rear view camera 21. The photographing range of the rear view camera 21 is the rear of the vehicle body 11. The unloader camera 22 is provided in the grain discharge device 17 for discharging grains in the grain box 15 to the outside, and photographs the scene below the discharge port 25 in the grain discharge device 17. In particular, in the present embodiment, the unloader camera 22 is provided at the front end portion of the lateral conveying portion 17B in a manner that the discharge port 25 protrudes downward, and is provided downward on the side surface of the protruding portion on the driving portion 13 side.

[0058] In the present embodiment, the display device 71 is provided in the driving unit 13. The display device 71 can display the first captured image captured by the rear view camera 21. The first captured image captured by the rear view camera 21 is an image capturing the scene behind the vehicle body 11. When such a first captured image is displayed on the display device 71, the driver can understand the situation behind the combine harvester 1 by confirming the first captured image.

[0059] Here, in the present embodiment, the first captured image captured by the rearview camera 21 is not always displayed on the display device 71, but is displayed when the display instruction information acquisition unit 72 acquires the first display instruction information indicating the display instruction for the first captured image of the display device 71 and when a predetermined condition (described later) is met. Therefore, the display instruction information acquisition unit 72 acquires the first display instruction information indicating the display instruction for the first captured image of the display device 71. The first display instruction information may be configured such that, for example, when the driver wants to display the first captured image on the display device 71, the pressing of the first operating switch 91 is sensed, and the first display instruction information is output through the sensing. The display instruction information acquisition unit 72 acquires such first display instruction information. In addition, the first display instruction information may also be configured to be acquired in a manner different from the operation of the first operating switch 91.

[0060] In addition, in the present embodiment, the display instruction information acquisition unit 72 acquires second display instruction information indicating an instruction to display the second captured image captured by the unloader camera 22 on the display device 71. The second display instruction information may be configured such that, for example, when the driver wants to display the second captured image on the display device 71, the second operation switch 92 is sensed to be pressed, and the second display instruction information is output through the sensing. The display instruction information acquisition unit 72 acquires such second display instruction information. In addition, the second display instruction information may also be configured to be acquired in a manner different from the operation of the second operation switch 92.

[0061] The display control unit 74 causes the display device 71 to display the first captured image when the display instruction information acquisition unit 72 acquires the first display instruction information. The first display instruction information is transmitted to the display control unit 74 when it is acquired by the display instruction information acquisition unit 72. At this time, the display instruction information acquisition unit 72 may transmit the acquired first display instruction information to the display control unit 74, or may transmit information indicating that the first display instruction information has been acquired to the display control unit 74. In addition, the first captured image is transmitted to the display control unit 74 from the rearview camera 21. Thus, when the display instruction information acquisition unit 72 acquires the first display instruction information, as shown in FIG. Figure 4As shown, the first captured image, that is, the captured image of the scene behind the vehicle body 11 can be displayed on the display device 71 .

[0062] The driving mode determination unit 73 determines whether the driving mode is the automatic driving mode. In the combine harvester 1, as described above, there are a manual driving mode for manual driving and an automatic driving mode for automatic driving. They can be configured to be set, for example, by the operating device 93. The driving mode determination unit 73 obtains information indicating the current driving mode from a medium (for example, the operating device 93) for setting such a driving mode, and determines whether the driving mode is the automatic driving mode.

[0063] As described above, the display control unit 74 displays the first captured image on the display device 71 when the display instruction information acquisition unit 72 acquires the first display instruction information. However, even when the first display instruction information is not acquired, the first captured image is displayed on the display device 71 when it is determined that the driving mode is the automatic driving mode. The case where the first display instruction information is not acquired refers to the case where the first operation switch 91 for causing the display device 71 to display the first captured image is not pressed by the driver. In this case, the first captured image is not originally displayed on the display device 71. However, when the driving mode determination unit 73 determines that the driving mode is the automatic driving mode, the display control unit 74 displays the first captured image on the display device 71, even when no image is displayed on the display device 71 or an image different from the first captured image is displayed.

[0064] Here, when the second display instruction information is acquired by the display instruction information acquisition unit 72, the second captured image is displayed on the display device 71. In addition, it is also possible to configure so that when both the first display instruction information and the second display instruction information are acquired by the display instruction information acquisition unit 72, both the first captured image and the second captured image are displayed. When the second display instruction information is acquired in this way, even when at least the second display instruction information is displayed on the display device 71, the display control unit 74 displays only the first captured image on the display device 71 when it is determined that the driving mode is the automatic driving mode. That is, even when at least the second display instruction information is displayed on the display device 71, when it is determined that the driving mode is the automatic driving mode, the display control unit 74 stops displaying the second captured image on the display device 71 and displays only the first captured image.

[0065] As described above, in the combine harvester 1, when the driving mode is the automatic driving mode, the first captured image of the scene behind the vehicle body 11 is displayed on the display device 71. This allows the driver to confirm the situation behind the vehicle body 11, which is a blind spot when viewed from the driving unit 13. On the other hand, in the combine harvester 1, as described above, grains stored in the grain tank 15 may be discharged. In this case, the purpose is to confirm the discharge situation of grains to the transport vehicle CV, such as Figure 5 As shown, it is preferable to display the second captured image on the display device 71. That is, when there is an instruction to discharge grains from the grain discharge device 17 based on manual operation, the display control unit 74 displays the second captured image on the display device 71 instead of the first captured image even when the first captured image is displayed on the display device 71. It is preferable that the second captured image is displayed on the display device 71 even when the driving mode is the automatic driving mode or the first display instruction information is obtained.

[0066] The discharge instruction can be detected by a switch operation, or by a sensor provided on the receiving portion 35 when the grain discharge device 17 changes its posture from the initial posture to the discharge posture. Thus, when the discharge port 25 of the grain discharge device 17 is located on the storage portion CVA of the transport vehicle CV, the storage portion CVA can be photographed by the unloader camera 22. Therefore, the driver can grasp whether the discharge port 25 of the grain discharge device 17 is properly located on the storage portion CVA of the transport vehicle CV by confirming the second photographed image displayed on the display device 71. In addition, although the grains discharged from the discharge port 25 become mountain-shaped in the storage portion CVA, the driver can grasp the storage state of the grains in the storage portion CVA by displaying the state of the discharged grains on the display device 71. When the height of the grains becomes high, the grain discharge device 17 is rotated around the longitudinal axis Y as needed, thereby changing the position of the discharge port 25. Thus, the height of the grains in the storage portion CVA can be made gentle.

[0067] [Other implementation methods]

[0068] In the above embodiment, the second camera 22 is described as a case where the unloader camera is used, but the second camera 22 may be another camera different from the unloader camera, for example, a side camera that captures scenes on the side of the vehicle body 11, or the second camera 22 may be both an unloader camera and a side camera. In addition, the second camera 22 may not be provided.

[0069] In the above embodiment, the display device 71 is provided in the driving unit 13, but the display device 71 may be used together with the display device of the communication terminal 2, or may be a display screen of a terminal that can be taken out of the driving unit 13. In addition, it may be a display screen of a terminal (e.g., a management terminal) provided at a location away from the combine harvester 1.

[0070] In the above-mentioned embodiment, the display control unit 74 has been described as displaying the second captured image on the display device 71 instead of the first captured image when there is an instruction to discharge grains from the grain discharge device 17 based on manual operation, even when the first captured image is displayed on the display device 71. The combine harvester 1 may also be configured to automatically perform a grain discharge operation from the grain discharge device 17 in the automatic driving mode. In this case, the display control unit 74 is preferably configured to display the second captured image on the display device 71 instead of the first captured image when the grain is discharged from the grain discharge device 17 based on the discharge instruction of the grain discharge operation. That is, when the combine harvester 1 is configured to automatically discharge grains from the grain box 15 in the automatic driving mode, for example, according to the amount of grains stored in the grain box 15, it is preferable to display the second captured image on the display device 71 even in the automatic driving mode.

[0071] In the above embodiment, a combine harvester is described, but it can also be configured as an image display system having each functional unit in the above embodiment. In this case, it can be an image display system that allows a display device of a combine harvester that can switch the driving mode between a manual driving mode for manual driving and an automatic driving mode for automatic driving to display an image, and includes: a first camera that captures a scene behind the combine harvester; a display device that can display a first captured image captured by the first camera; a display instruction information acquisition unit that acquires first display instruction information, the first display instruction information indicating a display instruction for the first captured image of the display device; a display control unit that causes the display device to display the first captured image when the display instruction information acquisition unit acquires the first display instruction information; and a driving mode determination unit that determines whether the driving mode is the automatic driving mode, and the display control unit causes the display device to display the first captured image when it is determined that the driving mode is the automatic driving mode even if the first display instruction information is not acquired.

[0072] In addition, the processing performed by each functional unit in the above-mentioned embodiment can also be configured as an image display method. In this case, the image display method can display an image on a display device of a combine harvester that can switch the driving mode between a manual driving mode for manual driving and an automatic driving mode for automatic driving, and the image display method comprises: a first shooting step of shooting a scene behind the combine harvester using a first camera; a display instruction information acquisition step of acquiring first display instruction information, the first display instruction information indicating a display instruction for the first captured image of a display device capable of displaying the first captured image captured by the first camera; a display control step of causing the display device to display the first captured image when the first display instruction information is acquired by the display instruction information acquisition step; and a driving mode determination step of determining whether the driving mode is the automatic driving mode, wherein in the display control step, even when the first display instruction information is not acquired, when it is determined that the driving mode is the automatic driving mode, the display device is caused to display the first captured image.

[0073] In addition, the image display program of each functional unit in the above-mentioned embodiment can also be configured to be executed by a computer. In this case, the image display program can be configured to display an image on a display device of a combine harvester that can switch the driving mode between a manual driving mode for manual driving and an automatic driving mode for automatic driving, and the image display program has: a first shooting function for shooting a scene behind the combine harvester using a first camera; a display instruction information acquisition function for acquiring first display instruction information, the first display instruction information indicating a display instruction for the first captured image of a display device capable of displaying the first captured image captured by the first camera; a display control function for causing the display device to display the first captured image when the first display instruction information is acquired by the display instruction information acquisition function; and a driving mode determination function for determining whether the driving mode is the automatic driving mode, and the display control function is for causing the display device to display the first captured image when it is determined that the driving mode is the automatic driving mode even if the first display instruction information is not acquired.

[0074] In addition, such an image display program may be configured to be recorded on a recording medium.

[0075] Industrial Applicability

[0076] The present invention can be used for a combine harvester capable of switching a travel mode between a manual travel mode for manual travel and an automatic travel mode for automatic travel.

[0077] Description of Reference Numerals

[0078] 1. Combine Harvester

[0079] 11: Body (body)

[0080] 15: Grain Box

[0081] 17: Grain discharge device

[0082] 21: Rear view camera (first camera)

[0083] 22: Unloader Camera (Second Camera)

[0084] 25: Exhaust port

[0085] 71: Display device

[0086] 72: Display instruction information acquisition unit

[0087] 73: Driving mode determination unit

[0088] 74: Display control unit

Claims

1. A combine harvester capable of switching a driving mode between a manual driving mode for manual driving and an automatic driving mode for automatic driving, characterized in that: The combine harvester has: A first camera that captures the scene behind the aircraft; A display device capable of displaying a first captured image captured by the first camera; a display instruction information acquisition unit configured to acquire first display instruction information indicating a display instruction for the first captured image on the display device; a display control unit configured to cause the display device to display the first captured image when the display instruction information acquisition unit acquires the first display instruction information; as well as a driving mode determination unit for determining whether the driving mode is the automatic driving mode, The display control unit causes the display device to display the first captured image when it is determined that the driving mode is the automatic driving mode even when the first display instruction information is not acquired.

2. The combine harvester according to claim 1, characterized in that: further comprising a second camera for photographing a scene in a photographing range different from that of the first camera, The display instruction information acquisition unit acquires second display instruction information indicating an instruction to display a second captured image captured by the second camera on the display device. The display control unit displays only the first captured image on the display device when it is determined that the driving mode is the automatic driving mode even when the second display instruction information is acquired.

3. The combine harvester according to claim 2, characterized in that: The second camera is provided in a grain discharge device that discharges grains in a grain tank to the outside, and captures a scene below a discharge port in the grain discharge device.

4. The combine harvester according to claim 3, characterized in that: When there is an instruction to discharge the grains from the grain discharge device based on a manual operation, the display control unit displays the second captured image on the display device instead of the first captured image even when the first captured image is displayed on the display device.

5. The combine harvester according to claim 3, characterized in that: The grain discharging device is configured to automatically perform the discharging operation of the grains in the automatic driving mode. The display control section displays the second captured image on the display device instead of the first captured image when the grains are discharged from the grain discharge device based on the discharge instruction of the discharge operation.

6. An image display system for causing a display device of a combine harvester capable of switching a driving mode between a manual driving mode for manual driving and an automatic driving mode for automatic driving to display an image, characterized in that: The image display system comprises: a first camera that captures a scene behind the combine harvester; A display device capable of displaying a first captured image captured by the first camera; a display instruction information acquisition unit configured to acquire first display instruction information indicating a display instruction for the first captured image on the display device; a display control unit configured to cause the display device to display the first captured image when the display instruction information acquisition unit acquires the first display instruction information; as well as a driving mode determination unit for determining whether the driving mode is the automatic driving mode, The display control unit causes the display device to display the first captured image when it is determined that the driving mode is the automatic driving mode even when the first display instruction information is not acquired.

7. An image display method for causing a display device of a combine harvester capable of switching a driving mode between a manual driving mode for manual driving and an automatic driving mode for automatic driving to display an image, characterized in that: The image display method comprises: A first shooting step is to shoot a scene behind the combine harvester using a first camera; A display instruction information obtaining step of obtaining first display instruction information, wherein the first display instruction information indicates a display instruction of the first captured image for a display device capable of displaying the first captured image captured by the first camera; a display control step of causing the display device to display the first captured image when the first display instruction information is obtained by the display instruction information obtaining step; as well as a driving mode determination step of determining whether the driving mode is the automatic driving mode, In the display control step, even when the first display instruction information is not acquired, when it is determined that the driving mode is the automatic driving mode, the first captured image is displayed on the display device.

8. An image display program executed by a computer, which displays an image on a display device of a combine harvester capable of switching a driving mode between a manual driving mode for manual driving and an automatic driving mode for automatic driving, characterized in that: The image display program comprises: a first shooting function, using a first camera to shoot a scene behind the combine harvester; a display instruction information acquisition function for acquiring first display instruction information, the first display instruction information indicating a display instruction for a display device capable of displaying a first image captured by the first camera; a display control function for causing the display device to display the first captured image when the first display instruction information is obtained by the display instruction information obtaining function; as well as a driving mode determination function for determining whether the driving mode is the automatic driving mode, The display control function is to cause the display device to display the first captured image when it is determined that the driving mode is the automatic driving mode even when the first display instruction information is not acquired.

9. A recording medium having an image display program recorded thereon, the image display program displaying an image on a display device of a combine harvester capable of switching a driving mode between a manual driving mode for manual driving and an automatic driving mode for automatic driving, characterized in that: The image display program comprises: a first shooting function, using a first camera to shoot a scene behind the combine harvester; a display instruction information acquisition function for acquiring first display instruction information, the first display instruction information indicating a display instruction for a display device capable of displaying a first image captured by the first camera; a display control function for causing the display device to display the first captured image when the first display instruction information is obtained by the display instruction information obtaining function; as well as a driving mode determination function for determining whether the driving mode is the automatic driving mode, The display control function is to cause the display device to display the first captured image when it is determined that the driving mode is the automatic driving mode even when the first display instruction information is not acquired.

Images