Work vehicle

Abstract

To reduce a work burden on a worker as compared with a conventional technique.SOLUTION: The control unit (100) analyzes the image captured by the imaging member (51), collates the image with the pre-registered information, and detects the degree of conformity of the face of the driver, the vehicle identification number, and the appearance of the external vehicle (66) imaged by the imaging member (51), so that the work of visual confirmation by the worker is reduced, and the work burden on the worker can be reduced as compared with the prior art.SELECTED DRAWING: Figure 5

Description

[Technical Field]

[0001] The present invention relates to a work vehicle such as a combine harvester that works in a farm field, and in particular to a work vehicle that transfers crops, materials, etc. to and from an external vehicle. [Background technology]

[0002] In a combine harvester used as a work vehicle, a technology is known in which an auger camera photographs the area below the discharge outlet through which harvested crops are discharged to the outside, and the image captured by the auger camera is displayed on a monitor in the driver's section, allowing the driver to check the area below the discharge outlet, thereby enabling the driver to confirm the relative positions of the divider in the pre-treatment section and the stalks during harvesting work, and to check the grain discharge status during crop discharge work (Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2012-65613 Summary of the Invention [Problem to be solved by the invention]

[0004] In the technology described in Patent Document 1, the driver (operator) can visually check using an auger camera, but the operator must manually adjust the combine's running and the grain discharge position while visually checking. Therefore, while assistance with the work is possible, the work itself must be done by the operator, which creates a workload problem.

[0005] The present invention has a technical object to reduce the workload of the worker compared to the prior art. [Means for solving the problem]

[0006] The above-mentioned problems of the present invention are solved by the following means. The invention described in claim 1 is a work vehicle characterized by comprising a vehicle body (2), a work machine (13, 14, 16, 18, 19) supported by the vehicle body (2) to perform work, an imaging member (51) supported by the vehicle body (2) to image the outside of the vehicle body (2), and a control unit (100) that analyzes the image captured by the imaging member (51) to identify the appearance of a storage container (67) to which crops stored in the vehicle body (2) are transported, and compares the image with pre-registered information on the appearance of the storage container (67) to detect the degree of match of the appearance of the storage container (67) imaged by the imaging member (51).

[0007] The invention described in claim 2 includes a positioning device (41) that measures the current position of the vehicle body (2), a discharge device (18) that transports the crops stored in the vehicle body (2) toward the storage container (67), and an image capturing device (51) that analyzes the image captured by the imaging member (51) to calculate a first distance (L1) that is the distance between the vehicle body (2) and a ridge (62) of the field (61), and a distance between the ridge (62) and the vehicle body (2) based on map information of the field (61) and the current position measured by the positioning device (41). and a control unit (100) that calculates a second distance (L2) that is the distance from the vehicle body (2) to the first distance (L1), and, if the deviation between the first distance (L1) and the second distance (L2) exceeds a predetermined range (La), prioritizes the image captured by the imaging member (51) and moves the vehicle body (2) to a position relative to the storage container (67) where the discharge device (18) can transport the crops.

[0008] The invention described in claim 3 is the work vehicle described in claim 2, characterized in that it is equipped with the control unit (100) that analyzes the image captured by the imaging member (51), identifies the position and shape of the entrance (67a) of the storage container (67) to which the crops are transported by the discharge device (18), compares it with pre-registered information on the entrance (67a) of the storage container (67), and moves the tip of the discharge device (18) to the position of the entrance (67a).

[0009] The invention described in claim 4 is the work vehicle described in claim 3, characterized in that it is equipped with the control unit (100) that analyzes the image captured by the imaging member (51) to identify the color of the inner wall (67b) of the storage container (67) and the color of the crops stored in the storage container (67), identifies the amount of crops stored in the storage container (67) based on the color of the inner wall (67b) and the color of the crops, and controls the conveying speed of the discharge device (18).

[0010] The invention described in claim 5 is the work vehicle described in claim 4, characterized in that it is equipped with the control unit (100) that analyzes the image captured by the imaging member (51), identifies the leveling state of the crops in the storage container (67), and adjusts the discharge position of the crops from the discharge device (18). [Effects of the Invention]

[0011] According to the invention of claim 1, the control unit (100) analyzes the image captured by the imaging member (51), compares it with pre-registered information, and detects the degree of compatibility of the storage container (67) captured by the imaging member (51). This reduces the amount of visual confirmation work by the worker, and reduces the workload on the worker compared to conventional techniques.

[0012] According to the invention of claim 2, in addition to the effect of the invention of claim 1, when the difference between the first distance (L1) and the second distance (L2) exceeds a predetermined range (La), the control unit (100) prioritizes the image captured by the imaging member (51) and moves the vehicle body (2) to a position relative to the storage container (67) where the discharge device (18) can transport the crops, thereby making it possible to move the vehicle body (2) to an appropriate position with high accuracy.

[0013] According to the invention of claim 3, in addition to the effect of the invention of claim 2, the control unit (100) identifies and verifies the position and shape of the inlet (67a) of the storage container (67) to which the crops are transported by the discharge device (18), and moves the tip of the discharge device (18) to the position of the inlet (67a), thereby automatically connecting the discharge device (18) to the inlet (67a) of the storage container (67).

[0014] According to the invention of claim 4, in addition to the effect of the invention of claim 3, the control unit (100) identifies the amount of crops stored in the storage container (67) based on the color of the inner wall (67b) and the color of the crops, and controls the conveying speed of the discharge device (18). This makes it difficult for the crops to overflow or for the storage container (67) to become empty, and it is possible to store an amount of crops according to the capacity of the storage container (67).

[0015] According to the invention of claim 5, in addition to the effect of the invention of claim 4, the control unit (100) identifies the leveling state of the crops in the storage container (67) and adjusts the discharge position of the crops from the discharge device (18), thereby making it possible to store the crops in the storage container (67) in a leveled state. [Brief explanation of the drawings]

[0016] [Figure 1] FIG. 1 is a side view of a combine harvester as an example of a work vehicle according to an embodiment of the present invention. [Figure 2] FIG. 2 is a front view of the work vehicle of FIG. [Figure 3] FIG. 3 is a plan view of the work vehicle of FIG. [Figure 4] FIG. 4 is a rear view of the work vehicle of FIG. [Figure 5] FIG. 5 is an explanatory diagram of the positional relationship between the work vehicle of the embodiment and the storage section into which harvested grains are discharged. [Figure 6] FIG. 6 is a functional block diagram of the control means according to the embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0017] An embodiment of the present invention will be described below. FIG. 1 is a side view of a combine harvester as an example of a work vehicle according to an embodiment of the present invention. FIG. 2 is a front view of the work vehicle of FIG. FIG. 3 is a plan view of the work vehicle of FIG. FIG. 4 is a rear view of the work vehicle of FIG.

[0018] 1 to 4, a combine harvester 1 as an example of a work vehicle according to an embodiment of the present invention has a vehicle body 2. A pair of left and right traveling devices 11 are arranged below the vehicle body 2. The traveling devices 11 according to the embodiment are, as an example, configured by endless tracks, so-called crawlers. A cabin 12 as an example of a riding section in which an operator can ride is installed on the front right side of the vehicle body 2. A harvesting device 13 (an example of a working machine, an example of a reaping device) that harvests crops in the field is arranged at the front of the vehicle body 2. A transporting device 14 that transports harvested grain is arranged behind the harvesting device 13. A thresher (an example of a working machine, an example of a thresher) 16 that threshes the grain transported by the transporting device 14 is arranged behind the transporting device 14. A grain tank 17 (an example of a container) that stores grain processed by the thresher 16 is arranged to the right of the thresher 16. A discharge device 18 is connected to the rear of the grain tank 17, which discharges grain from the grain tank 17 into a container (not shown) on a truck outside the field. A straw discharge device 19 that discharges straw is disposed at the rear of the vehicle body 2. The straw discharge device 19 of this embodiment is configured as a device that can temporarily store straw and discharge it in bundles, a so-called dropper. That is, when the dropper function is activated, the straw can be discharged in bundles, and when the dropper function is stopped, the straw is discharged as is after harvesting without being bundled.

[0019] Furthermore, the combine harvester 1 of the embodiment has a positioning unit 41, which is an example of a positioning device, installed on the top surface of the cabin 12. The positioning unit 41 has a built-in GNSS (Global Navigation Satellite System) receiver and an IMU (Inertial Measurement Unit). The GNSS receiver can receive positioning signals from artificial satellites 42 and measure the current position of the combine harvester 1. The IMU can measure acceleration and angular velocity and measure the attitude (left-right tilt and front-back tilt) of the combine harvester 1. Therefore, by correcting the measurement results of the GNSS receiver with the IMU, the current position can be measured with higher accuracy than when the current position is measured using only the GNSS method.

[0020] Therefore, the combine harvester 1 of the embodiment can use GNSS to travel autonomously (automatic travel, unmanned travel), or can be operated by an operator in the cabin 12 (manual travel, manned travel). During autonomous travel, the operator operating the terminal 46 capable of wireless communication with the combine harvester 1 can be outside the combine harvester 1 (outside or inside the field), or can be in the cabin 12 while carrying the terminal 46. The combine harvester 1 and the terminal 46 are configured to be able to communicate with each other via a communication line 47. The communication line 47 can be any wireless or wired line, such as a telephone line, an internet line, a LAN line, or Bluetooth (registered trademark). A server 48, which is an example of an information processing device, is connected to the communication line 47. The server 48 can transmit and receive information (communicate) with the combine harvester 1 and the terminal 46.

[0021] FIG. 5 is an explanatory diagram of the positional relationship between the work vehicle of the embodiment and the storage section into which harvested grains are discharged. A camera 51, which is an example of an imaging member, is grounded to the tip of the discharge device 18. The camera 51 is oriented so that it can capture images of the area diagonally downward and outward in the direction of extension and retraction of the discharge device 18. The discharge device 18 is configured to be rotatable around the base portion connected to the grain tank 17 and the pipe portion is extendable and retractable, so that the range captured by the camera 51 can be changed and adjusted according to the rotation and extension of the discharge device 18. The discharge device 18 can discharge the grain stored in the grain tank 17 into the container 67 by aligning the discharge part 18a at the tip with the entrance 67a of the container (an example of a storage vessel) 67 on the loading platform 66a of a truck (an example of an external vehicle) 66 parked on a road (farm road) outside the field 61 and rotating the spiral conveying member (auger) inside the discharge device 18.

[0022] (Explanation of the control unit) FIG. 6 is a functional block diagram of the control means according to the embodiment. In the block diagram of FIG. 6, elements that are not related to the description of the embodiment of the present invention are not shown or described. 6, the control means (an example of a control unit) 100 of the embodiment is configured by a small information processing device, a so-called microcomputer. Therefore, the control means 100 can realize various functions by executing programs stored in a ROM or the like.

[0023] The control means 100 of the embodiment receives signals from the positioning unit 41, the camera 51, and signal output elements such as an operation panel and various switches (not shown) in the cabin 12. The positioning unit 41 measures the current position of the vehicle body 2 by receiving signals from a GNSS (Global Navigation Satellite System) artificial satellite 42, and corrects the measured position with the attitude of the vehicle body 2 measured by an inertial measurement device. The camera 51 captures an image of the outside of the vehicle body 2.

[0024] The control means 100 of the embodiment outputs control signals to controlled elements such as the traveling device 11, the harvesting device 13, the conveying device 14, the threshing device 16, the discharge device 18, the straw discharge device 19, and the operation panel inside the cabin 12, thereby controlling the traveling of the combine 1, the harvesting operation, the threshing operation, the straw discharge operation, the discharge operation of threshed grains, etc.

[0025] The control means 100 of the embodiment has the following function modules (program modules). The field information storage means (field information acquisition means) 101 acquires and stores information about the field where the combine harvester 1 will work. The field information storage means 101 in this embodiment acquires work information stored in the server 48, such as the location of the field (coordinates such as latitude and longitude), map information such as entrances and exits to the field, and work information such as the work route (travel route) in the field and the location of a truck (external vehicle) carrying a container (crop storage unit) for unloading harvested crops. In other words, it acquires field information including the map information and work information.

[0026] The positioning means 102 measures the current position of the combine 1 based on the measurement results of the positioning unit 41. The travel control means 103 controls the travel device 11 to control the travel of the combine harvester 1. During manual travel, the travel control means 103 controls the travel device 11 in accordance with manual operation by an operator (driver). During automatic travel (autonomous travel), the travel control means 103 controls the travel device 11 so that the combine harvester 1 travels along a travel route stored in the field information storage means 101 based on the current position measured by the positioning means 102.

[0027] The harvesting device control means 104 controls the operation and stopping of the harvesting device 13. During manual driving, the harvesting device control means 104 controls the operation / stop of the harvesting device 13 in response to inputs from various buttons inside the cabin 12 by the operator. Furthermore, during automatic driving, the harvesting device control means 104 operates the harvesting device 13, and stops the harvesting device 13 when automatic driving (automatic work) is completed. The transport device control means 105 controls the operation and stopping of the transport device 14. During manual driving, the transport device control means 105 controls the operation / stop of the transport device 14 in response to inputs from various buttons inside the cabin 12 by the operator. Furthermore, the transport device control means 105 operates the transport device 14 during automatic driving, and stops the transport device 14 when the automatic driving (automatic work) is completed.

[0028] The threshing device control means 106 controls the operation and stopping of the threshing device 16. When the threshing device is operated manually, the threshing device control means 106 controls the operation and stopping of the threshing device 16 in response to inputs from various buttons inside the cabin 12 by the operator. In addition, the threshing device control means 106 operates the threshing device 16 when the threshing device is operated automatically, and stops the threshing device 16 when the automatic operation (automatic work) is completed. The straw discharge device control means 107 controls the operation and stop of the straw discharge device 19. During manual driving, the straw discharge device control means 107 controls the operation and stop of the straw discharge device 19 in response to inputs from various buttons inside the cabin 12 by the operator. In addition, the straw discharge device control means 107 operates the straw discharge device 19 during automatic driving, and stops the straw discharge device 19 when automatic driving (automatic work) is completed.

[0029] The discharge device control means 108 has an automatic discharge control means 108A, and controls the operation and stopping of the discharge device 18. During manual operation, the discharge device control means 108 controls the rotation and extension and contraction of the discharge device 18 and the start / stop of grain discharge in response to inputs from various buttons inside the cabin 12 by the operator. The automatic discharge control means 108A has the following functional modules 108A1 to 108A10, and when an automatic discharge operation is input, it rotates and extends the discharge device 18 based on the images and videos captured by the camera 51, aligns the discharge device 18 with the external container 67, and automatically discharges the grain from the grain tank 17 toward the container 67.

[0030] The image acquisition means 108A1 acquires the image captured by the camera 51. The image analysis means 108A2 analyzes the image acquired by the image acquisition means 108A1. Based on the results of the image analysis, the image analysis means 108A2 of the embodiment identifies the appearance of the container 67 in the image (size (e.g., aspect ratio, dimensions, etc.), shape, color of the outer wall, color of the inner wall 67b), the position and shape of the entrance 67a, the face of the truck 66 driver (e.g., facial outline, eye position, etc.), and the number (vehicle identification number) on the license plate 66b of the truck 66. Furthermore, after the discharge device 18 starts discharging toward the container 67, the image analysis means 108A2 identifies the color of the inner wall 67b of the container 67 (e.g., blue, yellow, etc.) and the color of the crops stored in the container 67 (e.g., brown, etc.). From the difference in color between the inner wall 67b and the color of the crops, it is possible to determine the amount of crops stored relative to the capacity of the container 67 and also to determine the angle of repose, which is an example of the leveling state of the crops in the container 67. Furthermore, if the edge of the field 61 is reflected in the image captured by the camera 51, the ridge 62 of the field 61 is identified. Note that it is preferable to use, as the image analysis means 108A2, AI (artificial intelligence) having a classifier that has learned images and videos of the truck 66, container 67, and members obtained from various angles and under various conditions (sunny weather, cloudy weather, sun height, shadow direction, etc.). Therefore, it is preferable to use a camera that can perform image analysis and image recognition on images and videos using AI, a so-called AI camera.

[0031] The verification information storage means 108A3 stores verification information for verifying each piece of information identified by image analysis. In this embodiment, the verification information includes, for example, the members of the organization to which the worker belongs, and the containers 67 and trucks 66 owned by the organization, such as the appearance of the containers 67 (size, shape, color of outer walls, color of inner walls 67b), the position and shape of the entrances 67a, photographs of the organization members (drivers of the trucks 66), and the license plates of the trucks 66 owned. In addition, when multiple types of containers 67 are registered, the grain capacity and allowable angle of repose for each container 67 are also registered as examples of verification information.

[0032] The matching means 108A4 matches the identification information identified by the image analysis means 108A2 (the face of the driver of the truck 66, the license plate number of the truck 66, the appearance of the container 67, the position and shape of the entrance 67a, the amount of crops in the container 67, and the leveling state) with the matching information stored in the matching information storage means 108A3. In this embodiment, the matching means 108A4 matches the identification information with the matching information to detect a match rate (degree of suitability). For example, if the driver's face is identified in an image captured by the camera 51, the matching rate between the identified driver's face and a facial photograph of one of the group members, i.e., the likelihood that the driver is a group member, is calculated. In addition, if the number of truck 66 is identified, and if the entire number is identified (if the number can be read), it is determined whether it matches the number of truck 66 owned by the organization (match rate: 0% or 100%), and if part of the number cannot be identified in the image from camera 51, the match rate with the number of truck 66 owned by the organization is calculated (if three out of four digits can be read and match, 3 / 4 = 75%). Also, if the appearance of container 67 is identified, the match rate with the shape, color, and position and shape of entrance 67a of container 67 owned by the organization is calculated.

[0033] In the embodiment, when verifying the container 67, the driver's face and the license plate number of the truck 66 are verified in addition to the appearance of the container 67, but this is not limiting. It is also possible to configure a system in which the driver's face and the license plate number of the truck 66 are not verified, or to verify the type, color, appearance, etc. of the truck 66 in addition to the appearance of the container 67, the driver's face, and the license plate number of the truck 66. Furthermore, in the embodiment, the collation means 108A4 calculates the ratio of the amount of crops in the container 67 to the capacity (full amount) when the amount of crops in the container 67 is identified. Also, when the leveling state of the crops in the container 67 is identified, the angle of repose of the pile of grains is calculated.

[0034] Although the suitability of the truck 66 or container 67 is determined by checking against the verification information, this is not limiting. For example, it is possible to assign identification information (e.g., a barcode or a QR (registered trademark) code) to the truck 66, container 67, etc., and read the identification information to perform verification (determine suitability). It is also possible to store the model, external shape, color, etc. of the vehicle, such as the truck 66, as verification information and perform verification.

[0035] It is also possible to register the normal behavior of each device of the combine harvester 1 as collation information, and have the collation means 108A4 identify any abnormalities in each device of the combine harvester 1 from the analysis results of images taken by the camera 51 and notify the operator. In this case, it is preferable to count the cumulative usage time of each device 13-19 and notify the operator of the possibility of wear or damage to each part, or of parts that need to be replaced or repaired, or to notify the dealer so that they can check the inventory of the necessary parts or assist in ordering. In addition, it is possible to identify the presence of dirt such as mud or soil from the analysis results of the images taken by the camera 51, and notify the worker and provide information to assist with washing and cleaning the car.

[0036] The first distance calculation means 108A5 calculates a first distance L1, which is the distance between the vehicle body 2 and the ridge 62 of the field 61 analyzed by the image analysis means 108A2. The second distance calculation means 108A6 calculates the second distance L2, which is the distance between the ridge 62 and the vehicle body 2, from the map information of the field 61 and the current position of the vehicle body 2 measured by the positioning means 102.

[0037] The positional deviation determination means 108A7 determines that the positional deviation is large when the deviation between the first distance L1 and the second distance L2 (=|L1-L2|) exceeds a predetermined range La (|L1-L2|>La). While the embodiment illustrates a mode in which the deviation between the first distance L1 and the second distance L2 is determined, the present invention is not limited to this. For example, it is also possible to calculate the orientation and current position (coordinates) of the vehicle body 2 from the positional relationship between the ridge 62 of the field 61 analyzed by the image analysis means 108A2 and a part of the vehicle body 2 reflected in the same image, and compare this with the positioning result of the positioning means 102 to calculate the positional deviation.

[0038] The discharge connection control means 108A8 connects the discharge device 18 to the entrance 67a of the container 67. The discharge connection control means 108A8 of the embodiment drives the vehicle body 2 toward the container 67 based on the positioning result of the positioning means 102, and when the vehicle body 2 moves to a predetermined positional relationship with the container 67, i.e., until the orientation and distance with respect to the container 67 are within a predetermined range, stops the vehicle body 2, rotates and extends the discharge device 18, and causes the discharge portion 18a of the discharge device 18 to enter the inside of the container 67 from the entrance 67a, thereby connecting the discharge device 18 and the container 67. Note that it is desirable to analyze an image taken by the camera 51 to determine the position where the vehicle body 2 should be stopped, identify a stopping position that avoids mud, etc., based on the soil condition (soil humidity, texture, uniformity, unevenness, etc.), and automatically generate a route to the stopping position. In addition, if an image captured by the camera 51 is analyzed and an obstacle that will interfere with the discharge device 18 when the discharge device 18 is rotated or extended is identified, it is desirable to set the stopping position at a position where the discharge device 18 will not interfere with the obstacle.

[0039] Here, if the positional deviation determination means 108A7 determines that the positional deviation is small, the discharge connection control means 108A8 causes the vehicle body 2 to travel to the vicinity of the ridge 62 of the field 61 (move it close to the ridge) based on the positioning result by the positioning means 102. On the other hand, if the positional deviation determination means 108A7 determines that the positional deviation is large, the discharge connection control means 108A8 prioritizes the image captured by the camera 51 over the positioning result by the positioning means 102, and causes the vehicle body 2 to travel to the vicinity of the ridge 62 of the field 61 so that the first distance L1 is within the ridge-edge range Lb. If the positioning results of the positioning means 102 are used when the positional deviation is large, there is a risk that the vehicle body 2 will get too close to the ridge 62 and run over it, or that it will not get close enough to the ridge 62 so that the discharge device 18 cannot reach it.However, in the embodiment, when the positional deviation is large, the image from the camera 51 is given priority, and it is possible to move the vehicle body 2 to an appropriate position relative to the ridge 62.

[0040] Furthermore, when the vehicle body 2 approaches the edge of the ridge (moves within a predetermined range relative to the ridge 62), the discharge connection control means 108A8 in this embodiment moves the discharge device 18 to match the position of the entrance 67a of the container 67 identified from the image analysis of the camera 51. That is, the position of the entrance 67a is identified, the discharge device 18 is rotated, the discharge device 18 is extended, and the discharge portion 18a at the tip of the discharge device 18 is connected to the container 67. Note that the discharge connection control means 108A8 connects the discharge device 18 to trucks 66 and containers 67 with a high match rate in the comparison results of the comparison means 108A4. If the match rate of the truck 66 or container 67 is low, the discharge device 18 is assumed to be a truck 66 belonging to another organization or an inappropriate container 67, and the discharge device 18 is not connected. Note that, although an example in which the discharge device 18 is not connected when the match rate is low has been illustrated, this is not limiting. For example, it is also possible to notify the operator when the match rate is low and connect the discharge device 18 when the operator inputs an instruction to connect the discharge device 18.

[0041] The discharge speed control means 108A9 controls the speed (transport speed, discharge speed) at which grains are transported from the discharge device 18 toward the container 67 in a state where the discharge device 18 is connected to the container 67. In the embodiment, when the ratio P1 of the grains in the container 67 to the capacity of the container 67 is smaller than the threshold value Pa for large quantity determination (P1 < Pa) by the verification means 108A4, the discharge speed is increased. When the ratio P1 is larger than the threshold value Pa for large quantity determination and smaller than the threshold value Pb for full determination (Pa ≤ P1 < Pb), the discharge speed is decreased. When the ratio P1 is larger than the threshold value Pb for full determination (Pb ≤ P1), the discharge is stopped. In the embodiment, an example of a mode of controlling the discharge speed in two stages of high speed and low speed is illustrated, but it is not limited thereto, and it is also possible to adopt a mode of switching the discharge speed in three or more stages. Further, the determination of whether the amount of grains in the container 67 is close to full is not limited to the mode of using the threshold values Pa and Pb. For example, a scale may be provided in the container 67, and the scale may be identified by image analysis to determine whether the grains are close to full.

[0042] Further, when the angle of repose α1 reaches the threshold value α0, the discharge speed control means 108A9 in the embodiment also decreases the discharge speed to suppress the concentration of grains at one location. In addition, when it is identified from the image analysis of the inside of the container 67 photographed by the camera 51 that there is a foreign object in the container 67, the discharge speed control means 108A9 preferably controls to stop the discharge from the discharge device 18 (set the discharge speed to zero). Also, from the analysis of the image of the truck 66 photographed by the camera 51, when the truck 66 is in a predetermined unstable posture, for example, when the truck 66 is inclined at a predetermined angle or more with respect to the ground, etc., it is possible to control to stop the discharge from the discharge device 18 (set the discharge speed to zero) assuming that there is a risk that the discharge operation cannot be performed safely.

[0043] Furthermore, the discharge speed control means 108A9 can also control the discharge speed in accordance with the maximum capacity of the identified container 67. For example, it is possible to set the discharge speed to a high speed for a container 67 with a large maximum capacity, and to set the discharge speed to a low speed for a container 67 with a small maximum capacity. It is also possible to configure the container 67 so that it does not hold grains up to its maximum capacity, but stops discharging when a predetermined amount of grains has been held.

[0044] The discharge position adjustment means 108A10 adjusts the position at which the grains are discharged into the container 67. When the angle of repose α1 of the pile of grains in the container 67 identified by the image analysis means 108A2 is greater than a predetermined threshold value α0, the discharge position adjustment means 108A10 of the embodiment rotates and / or extends and retracts the discharge device 18 to fine-tune the position of the discharge section 18a in the container 67, thereby adjusting the discharge position of the grains.

[0045] The angle of repose α1 varies depending on the type of crop (rice, wheat, barley, corn, etc.), variety, grain moisture content, specific gravity (density), humidity, etc. As the angle of repose α1 increases, the difference between the base and peak of the pile of stored grain increases. As the height difference between the base and peak increases, the amount of grain directly below the peak increases and the amount of grain at the edge of the base decreases, resulting in a greater difference in grain volume. This causes uneven load distribution on the bottom of the container 67, which is prone to concentrating on the bottom of the container 67 directly below the peak. Concentrated loads can cause deformation of the bottom of the container 67, and in the worst case, damage to the bottom (the bottom can collapse). After grain harvested by the combine 1 is stored in the container 67, the container 67 may be transported to a warehouse or facility, where the grain is transferred to another container or device. The bottom of the container 67 may have a retractable shutter. If a concentrated load is applied to an open / close shutter, the shutter may become deformed or damaged, resulting in malfunction (making it unable to open or close). Therefore, in this embodiment, when the angle of repose α1 reaches the threshold value α0, the grain discharge position is moved back and forth and left and right so that the grains contained in the container 67 become nearly level.

[0046] The combine harvester 1 of the embodiment having the above configuration can analyze images and videos captured by the camera 51 to identify the truck 66, container 67, etc., move the vehicle body 2 based on the identification results, and automatically connect the discharge device 18 to the container 67. Therefore, the operator does not need to manually operate and connect the discharge device 18 to the container 67, reducing the workload. In particular, in this embodiment, the driver, license plate number, and container 67 of the truck 66 are verified. This makes it possible to prevent crops from being mistakenly transported to a truck 66 or container 67 belonging to an organization different from that to which the combine harvester 1 belongs, or to prevent crops from being mistakenly transported from the combine harvester 1 to a container 67 that already contains a different type of crop. This reduces the workload of the worker and improves work efficiency.

[0047] In the above embodiment, a rice-harvesting combine 1 is used as an example of a work vehicle, but the present invention is not limited to this. The present invention can be applied to work vehicles for harvesting wheat or barley, or for harvesting corn. The present invention can be applied to work vehicles that travel through a field while working, such as rice transplanters and tractors, when it is desired to avoid damaging the field. In addition, although the embodiment in which the respective means 101 to 108 are centrally processed by the control means 100 of the combine harvester 1 has been exemplified, the present invention is not limited to this. Each of the means 101 to 108 may be provided in a server 48 or a terminal 46 connected to the combine harvester 1 via a communication line, and may be processed in a distributed manner. [Explanation of symbols]

[0048] 1...Work vehicle, 2...car body, 13, 14, 16, 18, 19...Work equipment, 18...discharge device, 41...positioning device, 51...imaging member, 61...field, 62...Round, 66...External vehicle, 67...containment vessel, 67a...Entrance, 67b...inner wall, 100...control unit, L1...first distance, L2: Second distance, La...predetermined range.

Claims

1. A car body (2), a work machine (13, 14, 16, 18, 19) supported on the vehicle body (2) to perform work; an imaging member (51) supported on the vehicle body (2) and configured to capture an image of the outside of the vehicle body (2); a control unit (100) that analyzes the image captured by the imaging member (51), identifies the appearance of a storage container (67) to which the crops stored in the vehicle body (2) are transported, and compares the image with pre-registered information on the appearance of the storage container (67) to detect the degree of conformity of the appearance of the storage container (67) captured by the imaging member (51); A work vehicle comprising:

2. a positioning device (41) for measuring the current position of the vehicle body (2); a discharge device (18) for transporting the crops stored in the vehicle body (2) toward the storage container (67); the control unit (100) that analyzes an image captured by the imaging member (51) to calculate a first distance (L1) that is the distance between a ridge (62) of the field (61) and the vehicle body (2), calculates a second distance (L2) that is the distance between the ridge (62) and the vehicle body (2) from map information of the field (61) and the current position measured by the positioning device (41), and, if a deviation between the first distance (L1) and the second distance (L2) exceeds a predetermined range (La), gives priority to the image captured by the imaging member (51) and moves the vehicle body (2) to a position relative to the storage container (67) where the discharge device (18) can transport the crop; 2. The work vehicle according to claim 1, further comprising:

3. the control unit (100) that analyzes the image captured by the imaging member (51), identifies the position and shape of an inlet (67a) of a storage container (67) to which crops are transported by the discharge device (18), compares the identified position and shape with pre-registered information on the inlet (67a) of the storage container (67), and moves the tip of the discharge device (18) to the position of the inlet (67a); 3. The work vehicle according to claim 2, further comprising:

4. the control unit (100) that analyzes the image captured by the imaging member (51) to identify the color of the inner wall (67b) of the storage container (67) and the color of the crop stored in the storage container (67), identifies the amount of crop stored in the storage container (67) based on the color of the inner wall (67b) and the color of the crop, and controls the conveying speed of the discharge device (18); 4. The work vehicle according to claim 3, further comprising:

5. the control unit (100) analyzing the image captured by the imaging member (51), identifying the leveling state of the crops in the storage container (67), and adjusting the discharge position of the crops from the discharge device (18); 5. The work vehicle according to claim 4, further comprising:

Images