CHIPPING EQUIPMENT AND WORK TRAIN WITH CHIPPING EQUIPMENT

Description

[0001] The present invention relates to a chopping equipment according to the preamble of claim 1, and to a working train with such a chopping equipment.

[0002] Forage harvesters are used in agriculture for picking up, processing, and loading crops such as grass, hay, corn, or similar materials. The crop is first gathered by a header, which, for example, picks up grass or hay from the ground or harvests corn from the stand. The header, which is usually interchangeable, guides the crop to a feeder or pre-compressor, which then feeds the crop to a chopping unit and compresses it to facilitate the chopping process. The chopping unit is the most important component of the forage harvester and may, for example, have a rotating chopping drum where the crop is shredded or cut. Optionally, a conditioner, such as a corn cracker, which crushes corn kernels, can be attached downstream of the chopping unit.The harvested crop then passes through a post-accelerator, which accelerates it to a significantly higher speed. This allows it to be ejected through a discharge device with an adjustable discharge chute and, for example, transferred to an accompanying vehicle. Corn processed by the forage harvester can then be made into silage.

[0003] In addition to self-propelled forage harvesters, mounted forage harvesters are also used. These do not have their own drive system and, in some cases, their own chassis. They are attached to a tractor. Besides mounted forage harvesters that are guided to the side of the tractor, there are also those that can be mounted to the front or rear of the tractor, for example, to a front or rear linkage. In the latter case, the tractor can generally carry a heavier load. During operation, the tractor is driven in reverse, for which either the entire cab or at least the driver's seat and controls can be rotated 180° to give the driver a forward-facing view. The mounted forage harvester can be operated with harvesting attachments that are also suitable for self-propelled forage harvesters.

[0004] Unlike self-propelled forage harvesters, where the discharge chute is typically located behind the cab and therefore outside the driver's field of vision, the discharge chute on a front- or rear-mounted harvester is inevitably within the driver's line of sight. For design reasons, the discharge mechanism is typically positioned centrally in front of the driver, obstructing the view of parts of the surrounding area as well as parts of the harvester itself. In particular, the view of the intake frame, into which the crop is drawn, is often blocked, preventing the driver from visually monitoring the crop flow. It is also difficult to judge whether the harvester is correctly aligned with the rows of crop or, in the case of grass harvesting, with a swath of grass lying in the field. The latter may be so narrow that it is completely obscured by the discharge mechanism.

[0005] A shredding attachment is known, for example, from EP 4 000 375 A1 and an attachment with camera, for example, from EP 3 165 406 A1.

[0006] The invention is therefore based on the objective of enabling the driver of a tractor to have improved orientation when using an attached chopper.

[0007] For this purpose, a work train is created comprising a tractor with a driver's cab and a mounted chopper, which in the operating state is mounted on the tractor on a side defining a direction of travel and which has a discharge device for ejecting harvested material, which in the mounted state is arranged in the direction of travel in front of the driver's cab, so that, viewed from a designated head area of ​​a driver, it covers a blind area, wherein the work train has at least one camera with a detection range and a display device which is configured to receive an image signal from the at least one camera and to generate an image for the driver in the driver's cab.

[0008] The tractor, which in at least some embodiments can also be referred to as a towing vehicle, tractor, or the like, is self-propelled and can be controlled by a driver. The driver's compartment refers to the area designed for the driver's presence and includes the driver's seat and the controls with which the driver operates the tractor. Typically, the driver's compartment is designed as a fully or predominantly enclosed driver's cab, although this is not essential to the invention. The arrangement of the driver's seat implicitly defines a head area for the driver, i.e., an area in which the driver's head is positioned in a normal sitting posture.

[0009] The forage harvester is attached to the tractor for harvesting operations. The term "attached" is not to be interpreted restrictively and generally refers to the intended connection of the forage harvester to the tractor. It is typically mounted to the tractor's linkage, either at the front or rear. The side on which the forage harvester is located implicitly defines the direction of travel during the harvesting process. That is, if the forage harvester is located at the rear, the direction of travel is therefore backward. At least the driver's seat and controls within the cab can be swivelled 180° for such a reverse movement; in some cases, the entire cab or driver's compartment may also be swivelling.

[0010] The forage harvester has a discharge device through which the harvested crop is ejected. Various components of the forage harvester are positioned upstream of this discharge device, serving to pick up, convey, and / or chop the crop. The crop is usually picked up or harvested by a header, such as a corn header or a pick-up. Such a header is considered part of the forage harvester here and in the following, even though it is often modularly interchangeable. The header is positioned upstream of a feeder that takes in the crop and conveys it through a feed chute toward the chopping unit. In addition to feeding the crop to the chopping unit, the feeder typically also serves to pre-compress the crop by applying a pressing force as it passes through the feed chute. The chopping unit itself is used to chop or cut the crop.

[0011] From the chopping unit, the crop (optionally via a conditioner, particularly a corn cracker) passes to a post-accelerator, which accelerates the crop to such an extent that it can be ejected through the discharge device. The discharge device typically extends vertically above the other components of the mounted forage harvester. When mounted, it is positioned in front of the operator's cab, obscuring a blind spot from the operator's head. This blind spot, as it is referred to here, is hidden from view by the discharge device. Consequently, the operator cannot normally see this blind spot. The blind spot generally comprises part of the surrounding area of ​​the harvester and part of the harvester itself, particularly a portion of the mounted forage harvester (including the header).

[0012] The work train has at least one camera with a detection range and a display device configured to receive an image signal from the at least one camera and generate an image for the driver in the cab. The detection range of each camera is the area that the camera can capture and from which it can deliver an image signal. The term "image signal" refers to both analog and, in particular, digital signals, in the latter case also being referred to as "image data." The image signal from the at least one camera can be received by a display device, which generates an image that the driver can see in the cab. That is, the image can be generated in such a way that it is perceptible to the driver in the cab. As a rule, the display device is either permanently installed in the cab, whereby a strict distinction is not made between "in" and "on" the cab, or it is, for example,It is designed as a mobile unit in such a way that it can be positioned in the driver's cab. As will be explained below, the image can be a single, continuous image or composed of non-connected partial images.

[0013] According to the invention, the at least one detection area of ​​the at least one camera at least partially includes the blind area and comprises a near area with at least one element of the working unit, as well as a far area that is at least partially further away in the direction of travel. That is, the at least one camera captures the blind area completely or partially, so that it can be at least partially reproduced in the image for the driver. Firstly, a near area is captured that includes at least one element of the working unit, in particular an element of the mounted chopper. The visibility of this element provides the driver with a reference point with which to relate parts of the surroundings within the image. Additionally, a far area is captured that is at least partially further away from the working unit in the direction of travel than the near area, allowing the driver to see at least a certain portion of the road ahead.Both the near and far ranges typically overlap with the blind spot, but may also include areas outside the blind spot. This can be advantageous for the driver, as it allows them to observe certain structures outside the blind spot both via the display device and directly with their eyes.

[0014] The display device can, in principle, be completely mobile, for example, as a tablet or smartphone, or as a head-mounted display worn by the driver. Another preferred design provides for a display device with a screen mounted in the driver's seat. The term "mounted" here includes the possibility that the screen's exact position is adjustable, for example, by swiveling it, as well as the possibility that the screen is detachably connected to the driver's seat and can therefore be removed when the chipper attachment is not in use. For sufficient readability, it is advantageous if the screen has at least a Full HD resolution, i.e., at least 1920 x 1080 pixels. A screen diagonal of at least 10 inches (25.4 cm) is also preferred. Furthermore, the screen should be a color display.It is also possible that the display device has multiple screens, especially if several cameras supply the associated image signals.

[0015] It is particularly preferred that the screen be positioned at least partially in a line between the head area and the discharge device. That is, when the driver's head is positioned as intended in the head area, he sees the screen in front of the discharge device, i.e., in an area of ​​his field of vision that is otherwise irrelevant to him. Thus, the screen can be positioned relatively high, in an area where, without the attached chopper, it would obscure part of the surroundings. However, with the attached chopper, this area is part of the blind zone, i.e., it is already obscured by the discharge device. On the other hand, a relatively high screen position makes it easier for the driver to look back and forth between the screen and the visible, unobstructed areas of the surroundings, or to observe them simultaneously.

[0016] Of particular importance for the proper operation of a forage harvester is the smooth intake of crop material picked up by the header. For example, with a self-propelled forage harvester, the operator often has the opportunity to visually monitor this process. That is, they can directly observe the intake frame of the forage harvester into which the crop is being drawn. This is generally not possible with a mounted forage harvester, as the intake frame is located wholly or partially within the blind spot. Therefore, it is preferable that the immediate area of ​​the machine includes the intake frame of the mounted forage harvester, into which the crop is drawn during harvesting. It goes without saying that the immediate area can also additionally include at least parts of the header, which is positioned in front of the intake frame in the direction of travel.

[0017] It is preferred that the long-range display includes a horizon area. Although in some cases it may be sufficient for the driver to see an area up to, for example, 20 or 30 meters in front of the work train, it is advantageous for the long-range display to extend to the horizon. This can be beneficial from a purely psychological perspective, as the driver can survey the entire distance ahead using the display device and is not disoriented by an image that is, in a sense, cut off below the horizon, especially since the size of the area below the horizon that is not covered can be difficult for the driver to judge.

[0018] To provide the driver with the best possible orientation, it is preferred that the at least one detection area corresponds to a total vertical angle range of at least 80°, preferably at least 90°, and more preferably at least 100°. It is known that, with reference to an observer on the Earth's surface, all directions can be characterized by a vertical angle and a horizontal angle, with the zenith and the horizon separated by a vertical angle of 90°. In many cases, the near-field element of the work train is positioned below and relatively close to the at least one camera in the horizontal direction, so that the near field extends to a depth angle (i.e., below the horizon) of typically at least 60° or more.On the other hand, for sufficient long-range visibility, the field of view should extend at least to the horizon or above it, corresponding to an elevation angle (i.e., above the horizon) of typically at least 10° or 20°. Accordingly, a vertical field of view of 80° is considered a sensible minimum in many cases. This vertical field of view can be covered by a single camera or at least two cameras.

[0019] Furthermore, it is advantageous if the at least one detection area corresponds to a total horizontal angle of at least 90°, preferably at least 110°, and more preferably at least 130°. While the blind area often corresponds to a smaller horizontal angle, it makes orientation easier for the driver if they have a wide field of view in the horizontal direction. In this case, too, the horizontal angle can be covered by a single camera or at least two cameras.

[0020] At least one camera can be designed as a night vision camera. This includes all types of cameras that provide an image signal with a brighter or higher-contrast image than the image the driver can perceive with the naked eye. For example, the camera can have an image intensifier that, in combination with headlights placed in the field or mounted on the implement, enables the generation of a corresponding image of the surroundings. Alternatively, it can also receive at least some infrared light, which can then be used to generate the image.

[0021] The work train can have at least two cameras arranged on opposite sides of the discharge device with respect to a transverse axis of the work train. The transverse axis of the work train coincides with the transverse axis of the tractor. In this embodiment, one camera is arranged transversely on one side of the discharge device, while the other camera is arranged on the opposite side. Since the discharge device, or at least a lower part thereof, is normally located centrally, in this embodiment the two cameras are typically arranged on opposite sides of a longitudinal median plane of the tractor. In general, two cameras arranged side by side can capture a larger horizontal angle than a single camera.The cameras preferably have overlapping detection areas with respect to the transverse axis, and the display device is configured to generate a continuous image from the image signals of at least two cameras. The overlap ensures that there is no "new blind spot" between the detection areas. The overlap area can be small, but it could also be larger, which would, for example, allow the determination of the three-dimensional position of objects within the overlap area. This could then be used to warn the driver of an obstacle or similar purpose. It might be possible to display the image signals from the two cameras in a split-screen manner, but this could be visually confusing for the driver. Therefore, it may be more advantageous for the display device to generate a continuous image from the image signals.Objects in the overlapping area can be displayed in various ways. If the lateral distance between the two cameras is significant, it may be useful to use image processing to create a representation that corresponds to a position between the two cameras. In any case, the transition between the detection range of one camera and the detection range of the other should not be readily apparent to the driver.

[0022] It is also possible for the work train to have at least two cameras, one with a detection range encompassing the near field of view and the other with a detection range encompassing the far field of view. The detection ranges of the two cameras can overlap, but they could also be separate. The latter is not preferred, however, as this inevitably leaves part of the blind area uncaptured. With overlap, the detection range encompassing the near field of view can also include part of the far field of view, and vice versa. An advantage of two cameras over a single camera is that they generally allow for a larger overall vertical angle of view. Furthermore, it would be conceivable for one of the cameras to be optically optimized for the near field of view, while the other is optimized for the far field of view. It would even be conceivable, for example, that...The camera for long-range imaging has a different magnification than the camera for close-range imaging. In the case of overlapping detection areas, a continuous image can be generated, as with cameras spaced laterally apart, or the image signals from both cameras could be displayed separately, similar to a split screen.

[0023] According to one embodiment, at least one camera is arranged on the mounted chopper. This is advantageous because the camera's position and orientation can be optimally adapted to the mounted chopper in order to capture the blind area, including the immediate vicinity. Furthermore, mounting the camera on the mounted chopper generally ensures good visibility of the blind area, since the mounted chopper (including the soil attachment) forms the front part of the work train in the direction of travel.

[0024] As a rule, the discharge device represents the highest part of the mounted forage harvester and is therefore advantageous for mounting at least one camera. According to the invention, the discharge device has a discharge spout and a discharge bow rotatably connected to it and arranged above it. It is also according to the invention that at least one camera is arranged on the discharge spout, adjacent to the discharge bow. The discharge spout generally forms the highest stationary section of the mounted forage harvester, while the discharge bow, although positioned higher, is rotatably connected to the discharge spout (about a generally vertical axis of rotation). This rotatability allows the discharged crop flow to be directed in different directions. Mounting a camera on the discharge bow would require constant readjustment of the camera with each rotation of the discharge bow.Furthermore, the discharge chute could partially obscure the blind area in some configurations. Therefore, mounting the camera on the discharge spout, specifically adjacent to the discharge chute, is optimal, as this represents the highest stationary section of the chipper attachment. Normally, the camera can be positioned in front of the discharge spout in the direction of travel. However, under certain circumstances, at least one camera could also be positioned to the side of the discharge spout, relative to its transverse axis.

[0025] Alternatively, or possibly additionally, at least one camera can be mounted on the tractor. It is advantageous if the camera is offset along the transverse axis relative to the discharge mechanism, thus providing a view of the blind area to the side of the discharge mechanism. An advantage of mounting the camera on the tractor is that it eliminates the need for wireless or wired transmission of an image signal from the forage harvester to the tractor. In this configuration, two cameras offset to different sides can be used, with their fields of view overlapping.

[0026] In particular, if the operator's station is designed as a cab (as is usual), at least one camera can be mounted on the cab, for example, on the side or on its roof. An advantage of mounting the camera on the cab is that it generally allows for a higher position than, for example, on the discharge chute, which can improve long-range visibility. It may also be useful to have an adjustable vertical position for at least one camera. This means the camera can be positioned at different heights relative to the vertical axis of the implement or tractor. This adjustment can be manual or actuated, with the operator controlling the actuator via a control element in the cab. In conjunction with the height adjustment, a swivel function with respect to the vertical angle is usually useful, so that, for example,The element of the work train visible in the immediate vicinity remains visible for orientation purposes, but on the other hand is not too little captured by the surroundings of the work train.

[0027] The invention provides a chopping equipment comprising a mounted chopper that can be attached to a tractor on a side defining a direction of travel and that has an ejection device for ejecting harvested material, which, when mounted, is arranged in the direction of travel in front of a driver's cab of the tractor, so that it covers a blind area as seen from a designated head area of ​​a driver, and a display device that is configured to receive an image signal from at least one camera having a detection range and to generate an image for the driver in the driver's cab.

[0028] According to the invention, in the installed state, the at least one detection area of ​​the at least one camera covers the blind area at least partially and covers a near area with at least one element of the working train as well as a far area that is at least partially further away in the direction of travel.

[0029] The invention is described below with reference to figures. The figures are merely exemplary and do not limit the general concept of the invention. They show Fig. 1 a schematic side view of a first embodiment of a working train according to the invention on a field; Fig. 2 a top view of the working train from Fig.1 ; Fig. 3 a perspective view of a view from a driver's cab of the work train made of Fig.1 ; Fig. 4eine Fig.1 corresponding side view of a second embodiment of a working train according to the invention; and Fig. 5 Fig.2 corresponding top view of a third embodiment of a working train according to the invention.

[0030] Fig. 1 Figure 1 shows a first embodiment of a work train 1 according to the invention on a field 50. The work train 1 comprises a tractor 2, which is controlled by a driver (not shown) in a driver's cab 3. For orientation, the figures show a longitudinal axis X pointing towards the rear of the tractor 2, a transverse axis Y, and a vertical axis Z of the work train 1. Within the driver's cab 3 are, among other things, a driver's seat 4, a steering wheel 5, and a screen 8. The position of the driver's seat 4 defines a head area 6 for the driver, within which the driver's head is positioned in a normal sitting posture. The screen 8 forms a display device 7 or is at least part thereof. In this case, it has a screen diagonal of 10 inches (25.4 cm) and a resolution of 1920 x 1080 pixels, i.e., Full HD.To withstand use inside the tractor 2 without damage, it can withstand accelerations of up to 10 g. A mounted chopper 10 is coupled to a rear-mounted lifting mechanism 9 of the tractor 2. To operate the mounted chopper 10 effectively, the tractor 2 is driven in a rearward direction F, i.e., in reverse. To allow the driver a view in the direction of travel F, either the entire driver's cab 3 or at least the driver's seat 4 and control elements such as the steering wheel 5 are swivelled 180° backwards.

[0031] The mounted forage harvester 10 has a feed frame 12 to which a harvesting header 11 is coupled at the front, relative to the direction of travel F. This header can be exchanged as needed. In this case, it could be, for example, a corn harvesting header. A feed device 13 with a feed channel 14 is arranged within the feed frame 12, to which a chopping device 15 is connected. The crop, pre-compressed in the feed device 13, is chopped by the chopping device 15 and then passes to a secondary accelerator 16, which accelerates it and discharges it through a discharge device 17, so that it can be transferred to an accompanying vehicle (not shown). The discharge device 17 has a discharge spout 18 that is stationary relative to the feed frame 12 and a discharge arc 19 that can be rotated about an approximately vertical axis.A camera 20 with a detection range 30 is arranged at the discharge spout 18, adjacent to the discharge arch 19. The detection range 30 can be subdivided into a near range 35 and a far range 36, although the subdivision shown here by the dashed line is not unambiguous. In any case, the near range 35 includes at least part of the header 11 and the intake frame 12, while the far range 36 is further away from the working unit 1 and extends to the horizon. Overall, the detection range 30 covers a vertical angle of 100° and a horizontal angle of 130°. The camera 20 is coupled to the display device 7 via a wireless or wired connection, so that an image is generated for the driver on the screen 8 from the image signal of the camera 20.

[0032] As seen particularly in the top view in Fig. 2 As can be seen, a blind area 25 is obscured for the driver because, viewed from the head area 6, it lies beyond the discharge device 17. However, the blind area 25 is largely covered by the detection area 30, allowing the driver to see structures within the blind area 25. This includes significant portions of the field 50 up to the horizon and beyond, extending to an elevation angle of approximately 20°. The detection area also extends downwards to a depth angle of approximately 80°. This, among other things, enables the driver to observe part of the header 11 and, in particular, the intake frame 12 using the camera 20. Thus, on the screen 8, the driver can not only identify obstacles or other field structures in front of them at an early stage, but also immediately assess the position of the forage harvester 10 relative to these structures.Furthermore, he can directly observe the flow of the harvested crop to the intake frame, which leads into the intake channel 14, and detect any disturbances.

[0033] As especially from Fig. 2 as well as from Fig. 3 As can be seen in the simplified diagram depicting the driver's view from inside the driver's cab 3, the screen 8, as viewed from the head area 3, is arranged in line with the discharge device 17. This means that the screen 8 is located in an area where the driver has no view of field 50 anyway, as it is obscured by the discharge device 17. Furthermore, the screen 8 is positioned high enough that the driver can keep it in view while simultaneously observing parts of field 50 that are directly visible to him.

[0034] Fig. 4 Figure 1 shows a second embodiment of a work train 10 according to the invention, which largely corresponds to the first embodiment and is therefore not explained again. However, in this case, an upper camera 21 with an upper detection range 31 and a lower camera 22 with a lower detection range 32 are arranged on the discharge nozzle 18. The upper detection range 31 essentially corresponds to the far range 36, while the lower detection range 32 essentially corresponds to the near range 35. However, the detection ranges 31 and 32 overlap and form a first overlapping range 37. That is, the image signals from both cameras 21 and 22 provide information about this first overlapping range 37.It is possible either that the display device 7 displays the partial images of the two cameras 21, 22 superimposed in the manner of a split screen, or that an image is synthesized from the image signals relating to the overlap area 37 by means of suitable image processing algorithms, through which the driver has the impression of a stepless transition from the near area 35 to the far area 36.

[0035] Fig. 5Figure 1 shows a third embodiment of a work train 10 according to the invention, which again largely corresponds to the first embodiment. In this case, however, two cameras 23, 24 are attached to the roof of the driver's cab 3. A left camera 23 (viewed in the direction of travel F) has a left detection area 33, while a right camera 24 has a right detection area 34. The two detection areas 33, 34 intersect in a second overlapping area 38, which contains large parts of the blind area 25. It can be said that the left camera looks past the discharge device 17 to the left, while the right camera 24 looks past it to the right. Therefore, both cameras 23, 24 are only minimally affected by the fact that they are arranged behind the discharge device 17 with respect to the direction of travel.In this case, too, the image signals from the two cameras 23, 24 could be combined in the manner of a split screen, or a smooth transition could be created by image processing, so that the driver has the impression of a continuous image.

[0036] Each of the cameras 20-24 shown can optionally have at least limited night vision capability, e.g., via a residual light amplifier and / or through sensitivity to infrared light. Optionally, at least one camera 20-24 can be height-adjustable on the driver's cab 3 or on the discharge chute 18, i.e., the position of the camera 20-24 along the vertical axis Z can be changed – manually or by actuator.

Claims

1. Chopping equipment comprising an attached chopper (10) which can be attached to a tractor (2) on a face defining a travel direction (F), and which has an ejection device (17) for ejecting harvested material, which, in the attached state, is arranged in front of a driver's platform (3) of the tractor (2) in the travel direction (F), so that it obscures a blind region (25) when viewed from an intended head region (6) of a driver, and comprising a display device (7) which is designed to receive an image signal from at least one camera (20-24) which has a detection region (30-34), and to generate an image therefrom for the driver in the driver's platform (3), wherein, in the attached state, the at least one detection region (30-34) of the at least one camera (20-24) at least partially contains the blind region (25) and has a near region (35) with at least one element of the attached chopper (10), and a far region (36) which is at least partially further away in the travel direction (F), as a result of which, the driver can see at least a certain portion of the route ahead of him, wherein the ejection device (17) has an ejection nozzle (18) and has an ejection arc (19) which is rotatably connected to and arranged above the ejection nozzle, wherein at least one camera (20-24) is arranged on the ejection nozzle (18), adjacent to the ejection arc (19).

2. Work train (1) comprising a tractor (2), which has a driver's platform (3), and chopping equipment according to claim 1.

3. Work train according to claim 2, characterized in that the display device (7) has a screen (8) mounted in the driver's platform (3).

4. Work train according to any of claims 2-3, characterized in that the screen (8) is at least partially arranged on a line between the head region (6) and the ejection device (17).

5. Work train according to any of claims 2-4, characterized in that the near region (35) contains a collection frame of the attached chopper (10), in which harvested material is collected during harvesting.

6. Work train according to any of claims 2-5, characterized in that the far region (36) contains a horizon region.

7. Work train according to any of claims 2-6, characterized in that the at least one detection region (30-34) corresponds overall to a vertical angle range of at least 80°, preferably at least 90°, more preferably at least 100°.

8. Work train according to any of claims 2-7, characterized in that the at least one detection region (30-34) corresponds overall to a horizontal angle range of at least 90°, preferably at least 110°, more preferably at least 130°.

9. Work train according to any of claims 2-8, characterized in that the work train (1) comprises at least two cameras (20-24) which are arranged on opposite faces of the ejection device (17) with respect to a transverse axis (Y) of the work train (1) and have overlapping detection regions (30-34) with respect to the transverse axis (Y), the display device (7) being designed to generate a coherent image from image signals of the at least two cameras (20-24).

10. Work train according to any of claims 2-9, characterized in that the work train comprises at least two cameras (20-24), one of which has a detection region (30-34) containing the near region (35) and the other of which has a detection region (30-34) containing the far region (36).

11. Work train according to any of claims 2-10, characterized in that at least one camera (20-24) is arranged on the attached chopper (10).

12. Work train according to any of claims 2-11, characterized in that at least one camera (20-24) is arranged on the tractor (2).

13. Work train according to any of claims 2-12, characterized in that the driver's platform (3) is designed as a driver's cabin, at least one camera (20-24) being arranged on the driver's cabin (3).

14. Work train according to any of claims 2-13, characterized in that a vertical position of at least one camera (20-24) is adjustable.