KR-102961604-B1 - Combine, image display system, image display method, image display program, and recording medium on which the image display program is recorded

KR102961604B1KR 102961604 B1KR102961604 B1KR 102961604B1KR-102961604-B1

Abstract

A combine (1) capable of switching between a manual driving mode for manual driving and an automatic driving mode for automatic driving comprises a first camera (21) for capturing a rear view of the machine, a display device (71) capable of displaying a first captured image captured by the first camera (21), a display instruction information acquisition unit (72) for acquiring first display instruction information indicating a display instruction for the first captured image for the display device (71), a display control unit (74) for displaying the first captured image on the display device (71) when the display instruction information acquisition unit (72) acquires the first display instruction information, and a driving mode determination unit (73) for determining whether the driving mode is an automatic driving mode. The display control unit (74) displays the first captured image on the display device (71) when it is determined that the driving mode is an automatic driving mode, even when the first display instruction information has not been acquired.

Inventors

나카바야시 다카시
와타나베 도시키
호리우치 마사유키
야마오카 교스케
오쿠다이라 아츠히토
데라니시 하루유키
마츠나가

Assignees

가부시끼 가이샤 구보다

Dates

Publication Date: 20260511
Application Date: 20210930
Priority Date: 20201002

Claims (9)

It is a combine capable of switching driving modes between a manual driving mode for manual driving and an automatic driving mode for automatic driving, and A first camera that captures the scenery behind the aircraft, and A display device capable of displaying a first captured image captured by the first camera, and A display instruction information acquiring unit that acquires first display instruction information indicating a display instruction of the first captured image for the above display device, and A display control unit that displays the first captured image on the display device when the above display instruction information acquisition unit acquires the first display instruction information, and The driving mode determination unit for determining whether the above driving mode is the above automatic driving mode is provided, The above display control unit is a combine that displays the first captured image on the display device when the driving mode is determined to be the automatic driving mode, even when the first display instruction information has not been acquired.
In claim 1, a second camera is further provided to capture a scene with an imaging range different from the imaging range of the first camera, and The above-mentioned display instruction information acquisition unit acquires second display instruction information indicating a display instruction of a second captured image captured by the second camera for the display device, and A combine in which the display control unit displays only the first captured image on the display device when the driving mode is determined to be the automatic driving mode, even when the second display instruction information is acquired.
In paragraph 2, the second camera is provided in a grain discharge device that discharges grains inside a grain tank to the outside, and is a combine that captures the downward view of the discharge port in the grain discharge device.
A combine according to paragraph 3, wherein the display control unit displays the second image on the display device instead of the first image when there is a discharge instruction of the grain from the grain discharge device by manual operation, even when the first image is being displayed on the display device.
In paragraph 3, in the above automatic driving mode, the grain discharge device is configured to automatically perform the operation of discharging the grain, and A combine that displays the second image on the display device instead of the first image when the grain is discharged from the grain discharge device based on the discharge instruction of the discharge operation.
In an image display system for displaying an image on a display device of a combine capable of switching between a manual driving mode for performing manual driving and an automatic driving mode for performing automatic driving, A first camera for capturing the rear view of the above-mentioned combine, and A display device capable of displaying a first captured image captured by the first camera, and A display instruction information acquiring unit that acquires first display instruction information indicating a display instruction of the first captured image for the above display device, and A display control unit that displays the first captured image on the display device when the above display instruction information acquisition unit acquires the first display instruction information, and The driving mode determination unit for determining whether the above driving mode is the above automatic driving mode is provided, The above display control unit is an image display system that displays the first captured image on the display device when the driving mode is determined to be the automatic driving mode, even when the first display instruction information is not acquired.
An image display method for displaying an image on a display device of a combine capable of switching driving modes between a manual driving mode for manual driving and an automatic driving mode for automatic driving, and A first imaging step for capturing the rear view of the above-mentioned combine with a first camera, and A display instruction information acquisition step for acquiring first display instruction information indicating a display instruction of the first captured image for a display device capable of displaying the first captured image captured by the first camera, and A display control step for displaying the first captured image on the display device when the first display instruction information is acquired by the above display instruction information acquisition step, and The driving mode determination step for determining whether the above driving mode is the above automatic driving mode is provided, and The above display control step is an image display method that displays the first captured image on the display device when the driving mode is determined to be the automatic driving mode, even when the first display instruction information is not acquired.
An image display program stored on a recording medium that displays an image on a display device of a combine capable of switching between a manual driving mode for manual driving and an automatic driving mode for automatic driving, and A first imaging function for capturing the rear view of the above-mentioned combine with a first camera, and A display instruction information acquisition function for acquiring first display instruction information indicating a display instruction of the first captured image for a display device capable of displaying the first captured image captured by the first camera, and A display control function that displays the first captured image on the display device when the first display instruction information is acquired by the above display instruction information acquisition function, and The driving mode determination function for determining whether the above driving mode is the above automatic driving mode is provided, An image display program stored on a recording medium executed on a computer, characterized in that the above display control function displays the first captured image on the display device when the driving mode is determined to be the automatic driving mode, even when the above first display instruction information has not been acquired.
It is a recording medium having a picture display program recorded thereon for displaying a picture on a display device of a combine capable of switching between a manual driving mode for manual driving and an automatic driving mode for automatic driving. A first imaging function for capturing the rear view of the above-mentioned combine with a first camera, and A display instruction information acquisition function for acquiring first display instruction information indicating a display instruction of the first captured image for a display device capable of displaying the first captured image captured by the first camera, and A display control function that displays the first captured image on the display device when the first display instruction information is acquired by the above display instruction information acquisition function, and The driving mode determination function for determining whether the above driving mode is the above automatic driving mode is provided, A recording medium having an image display program to be executed on a computer, characterized in that the above display control function displays the first captured image on the display device when the driving mode is determined to be the automatic driving mode, even when the above first display instruction information is not acquired.

Description

Combine, image display system, image display method, image display program, and recording medium on which the image display program is recorded The present invention relates to a technology for a combine capable of switching driving modes between a manual driving mode for manual driving and an automatic driving mode for automatic driving. When performing work using a work vehicle in packaging, it is necessary to pay attention to the condition of the packaging or the presence of workers in the packaging. Therefore, a work vehicle capable of paying attention to the surrounding conditions of the vehicle has been used (e.g., Patent Document 1). Patent Document 1 discloses a general-purpose combine. This general-purpose combine is equipped with a television camera capable of capturing images of the front of the harvesting unit and an image processing device that identifies an obstacle based on images input from the television camera. Figure 1 is an overall left side view of the combine. Figure 2 is an overall plan view of the combine. FIG. 3 is a block diagram illustrating the configuration of a control device that controls the display on a display device. FIG. 4 is a drawing illustrating the display of a display device during automatic driving. Figure 5 is a drawing illustrating the display of a display device during a discharge operation. The combine according to the present invention is configured to switch between a manual driving mode for manual driving and an automatic driving mode for automatic driving, and to check (monitor) the rear of the machine during automatic driving. Below, the combine (1) of the present embodiment will be described. FIG. 1 is an overall left side view of the combine (1) according to the present embodiment. FIG. 2 is an overall top view of the combine (1) according to the present embodiment. FIG. 3 is a block diagram illustrating the configuration of a control device (100) provided in the combine (1) and controlling the display on the display device (71). In addition, the combine (1) of the present embodiment is described below using a so-called standard type combine as an example. Of course, the combine (1) may be a self-propelled type combine. Also, in the present embodiment, a crawler type combine is described as an example, but a wheel type combine may also be used. Here, for ease of understanding, in this embodiment, unless otherwise specified, "front" (direction of arrow F in FIG. 1-2) refers to the front of the aircraft in the front-rear direction (driving direction), and "rear" (direction of arrow B in FIG. 1-2) refers to the rear of the aircraft in the front-rear direction (driving direction). Additionally, the left-right direction or the horizontal direction refers to the transverse direction of the aircraft (aircraft width direction) that is orthogonal to the front-rear direction of the aircraft. Furthermore, "up" (direction of arrow U in FIG. 1) and "down" (direction of arrow D in FIG. 1) refer to positional relationships in the vertical direction of the aircraft and represent relationships in terms of height above the ground. Additionally, "left" (direction of arrow L in FIG. 2) refers to the left side of the aircraft, and "right" (direction of arrow R in FIG. 2) refers to the right side of the aircraft. As illustrated in FIGS. 1 and 2, the combine (1) is equipped with a driving body (an example of a “body”) (11), a crawler-type driving device (12), a driving unit (13), a threshing device (14), a grain tank (15), a harvesting unit H, a conveying device (16), a grain discharge device (17), a vehicle position detection module (18), a back 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). A driving device (12) is provided at the lower part of the driving body (11) (hereinafter simply referred to as the body (11)). The combine (1) is configured to be driven by the driving device (12). The driving section (13), the threshing device (14), and the grain tank (15) are provided on the upper side of the driving device (12) and constitute the upper part of the body (11). The driving section (13) can be occupied by a driver who operates the combine (1) or a supervisor who monitors the operation of the combine (1). Typically, the driver and the supervisor share the same duties. Additionally, if the driver and the supervisor are different people, the supervisor may monitor the operation of the combine (1) from outside the combine (1). The vehicle position detection module (18) is installed at the front upper part of the driving unit (13) and detects the vehicle position. The vehicle position detection module (18) may use a satellite positioning module configured as a GNSS module. This vehicle position detection module (18) has a satellite antenna for receiving GPS signals or GNSS signals (hereinafter simply referred to as "GPS signals") from an artificial satellite. In addition