Rearward facing multi-purpose camera with windrow width indications

A crop windrow monitoring system includes an image sensor positioned to include a field of view facing a rearward direction of a power unit, and a visual monitor operable to display an image. A computing device is operable to determine an intended direction of movement of the power unit. The image is displayed on the visual monitor in a first mode having a first magnification when the intended direction of movement includes the rearward direction. The image is displayed on the visual monitor in a second mode having a second magnification and overlaid with indicia indicating a width of the windrow when the intended direction of movement includes the forward direction. The second magnification may be larger than the first magnification.

TECHNICAL FIELD

The disclosure generally relates to a crop windrow monitoring system.

BACKGROUND

Agricultural implements for mowing crops, such as but not limited to mower-conditioners or self-propelled windrowers, may include a windrow forming unit that is configured for forming cut crop material into a windrow. The implement moves in a forward direction, with the windrow formed rearward of the implement. An operator may monitor the shape and/or size of the windrow and may adjust one or more forming elements to change the shape and/or size of the windrow as desired. However, the windrow is formed rearward of the operator, i.e., in direction opposite the direction of travel of the implement when cutting crop material and forming the crop material into the windrow, thereby making it difficult for the operator to view the recently formed windrow while operating the implement.

SUMMARY

A crop windrow monitoring system is provided. The crop windrow monitoring system includes a power unit that is controllable for movement between a forward direction and a rearward direction. A windrow forming unit is coupled to the power unit. The windrow forming unit is operable to form crop material into a windrow. An image sensor is positioned to include a field of view facing the rearward direction. The field of view includes the windrow. The image sensor is operable to capture an image of the windrow. A visual monitor is operable to display the image. A computing device is disposed in communication with the image sensor and the visual monitor. The computing device includes a processor and a memory having an image display algorithm saved thereon. The processor is operable to execute the image display algorithm to determine an intended direction of movement of the power unit. The intended direction of movement includes one of the forward direction or the rearward direction. The image is displayed on the visual monitor in a first mode having a first magnification when the intended direction of movement includes the rearward direction. The image is displayed on the visual monitor in a second mode having a second magnification when the intended direction of movement includes the forward direction. The first magnification is different than the second magnification.

In one aspect of the disclosure, the second magnification is greater than the first magnification. As such, when the power unit is moving in the forward direction, the image is displayed at a greater magnification to better see the windrow, than when the power unit is moving in the rearward direction, i.e., in reverse. The first magnification used to display the image when the power unit is moving in the rearward direction is smaller than the second magnification so that the operator may better see the surrounding area to maneuver the power unit.

In one aspect of the disclosure, the power unit includes a prime mover and a transmission drivingly coupled to the prime mover. The transmission is controllable between a forward drive state for movement in the forward direction, and a rearward drive state for movement in the rearward direction. The processor is operable to execute the image display algorithm to determine the intended direction of movement by determining a current operating state of the transmission. The current operating state of the transmission includes the one of the forward drive state and the rearward drive state that the transmission is currently disposed in.

In one aspect of the disclosure, the windrow forming unit includes at least one forming element moveable between at least a first position and a second position. The forming element is moved to control a dimension of the windrow. The forming element may include, but is not limited to, a forming shield, a swath flap, impeller hood, and/or a conditioner roll gap spacing. The operator may control the position of the forming element based on the image displayed on the visual monitor.

In one aspect of the disclosure, the processor is operable to execute the image display algorithm to display indicia on the visual monitor when the image is displayed in the second mode. The processor may not display the indicia when the image is displayed in the second mode. The indicia are overlaid onto the image displayed on the visual monitor. In one embodiment, the indicia are correlated to an actual width of the windrow. The indicia may include, but are not limited to, linear segments extending parallel to the windrow and arranged to delimit a distance perpendicular to the windrow, e.g., a width of the windrow. The linear segments are spaced from each other on the visual monitor a scaled separation distance to represent a defined distance in the image. As such, the scaled separation distance is scaled on the visual monitor to correspond to an actual distance or width perpendicular to the windrow. The scaled separation distance is dependent upon and related to the first magnification. As such, the scaled separation distance changes in accordance with a change in the first magnification.

The processor may be operable to execute the image display algorithm to receive an input defining the second magnification, such that the second magnification is a user selected magnification. The scaled separation distance may then be defined to correspond to the user selected second magnification, such that the scaled separation distance accurately reflects the defined distance in the image and is correlated to the actual distance that the defined distance represents in the image relative to the windrow.

Accordingly, the operator may view the windrow as it is formed in the visual monitor. The image of the windrow displayed on the visual monitor is magnified to provide a better view of the windrow. The indicia may be displayed on the visual monitor, overlaid onto the image. The indicia are scaled based on the level of magnification to correlate to an actual size of the windrow, thereby providing a visual indicator of the width of the windrow. Based on the width of the windrow, the operator may control the forming element of the windrow forming unit to adjust the shape of the windrow. When the operator moves the power unit in reverse, the image from the rearward facing image sensor is displayed at a lower magnification and without the indicia, so that the operator may have a larger field of view of maneuvering the power unit in the rearward direction.

DETAILED DESCRIPTION

Terms of degree, such as “substantially” or “approximately” are understood by those of ordinary skill to refer to reasonable ranges outside of the given value, for example, general tolerances associated with manufacturing, assembly, and use of the described embodiments.

Referring to the Figures, wherein like numerals indicate like parts throughout the several views, a windrower is generally shown at20. The windrower20includes a crop windrow monitoring system22. While the example embodiment of the crop windrow monitoring system22is shown incorporated into the windrower20shown inFIG. 1, it should be appreciated that the crop windrow monitoring system22may be incorporated into other vehicles and/or combination of vehicles. For example, the crop windrow monitoring system22may be incorporated into a conventional agricultural tractor independently or in combination with a drawn mower or mower-conditioner implement. As such, the teachings of this disclosure are not limited to the example embodiment of the windrower20shown inFIGS. 1 and 2.

Referring toFIGS. 1 and 2, the windrower20includes a power unit24and a head unit26. The power unit24includes a frame supporting multiple ground engaging elements28, e.g., wheels. The power unit24includes a prime mover30and a transmission32attached to and supported by the frame. The prime mover30may include a device or system capable of generating torque for propelling the power unit24, as well as powering the head unit26. The prime mover30may include, but is not limited to, an internal combustion engine and/or an electric motor. The specific details and operation of the prime mover30are not pertinent to the teachings of this disclosure, are well known in the art, and are therefore not described in detail herein.

The transmission32is drivingly coupled to the prime mover30. As such, the transmission32receives torque from the prime mover30and converts and/or transfers the torque to other components of the power unit24for propelling the power unit24. The transmission32is controllable for movement between a forward direction34and a rearward direction36. As used herein, the term “forward direction” includes a direction of travel of the power unit24along a longitudinal axis of the power unit24when cutting crop material, i.e., moving forward from a front of the power unit24. The term “rearward direction” includes a direction of travel of the power unit24along the longitudinal axis of the power unit24that is opposite the forward direction34, i.e., moving backward from a rear of the power unit24.

The transmission32may include, but is not limited to, a mechanical and/or hydraulic transmission32such as included in conventional agricultural tractors, or a hydraulic drive system including one or more pumps and hydraulic motors such as often included in the windrower20of the example shown inFIGS. 1 and 2. The transmission32is controllable between a forward drive state for movement in the forward direction34, and a rearward drive state for movement in the rearward direction36. The transmission32may include any device capable of receiving torque from the prime mover30and transferring and/or converting the torque to other components for propelling the power unit24in the forward direction34and the rearward direction36. The specific type, configuration, and operation of the transmission32is not pertinent to the teachings of the disclosure, are well known to those skilled in the art, and are therefore not described in detail herein.

The power unit24may further include a cab38mounted on the frame. The cab38may include components for controlling the operation of the power unit24and the head unit26. For example, the cab38may include control inputs for controlling the operation of the prime mover30, e.g., an ignition switch, a throttle, etc., as well as control inputs for controlling the operation of the transmission32, e.g., between the forward drive state and the rearward drive state. The cab38further includes a visual monitor40, described in greater detail below. The cab38may include other components not pertinent to the teachings of this disclosure, which are not described herein.

The example embodiment of the windrower20shown inFIG. 1includes the head unit26. However, it should be appreciated that other embodiments of the teachings of this disclosure may describe the features of the head unit26as part of other implements, such as but not limited to a mower or a mower-conditioner. Accordingly, the teachings of the disclosure should not be limited to the head unit26of the windrower20shown in the example ofFIG. 1. The head unit26includes a cutting system42and a windrow forming unit44coupled to the power unit24. The cutting system42is operable to cut crop. The specific type, configuration, and operation of the cutting system42are not pertinent to the teachings of this disclosure, are known to those skilled in the art, and are therefore not described in detail herein.

The windrow forming unit44is operable to receive the crop from the cutting system42, and form crop material into a windrow46. The windrow forming unit44includes at least one forming element48moveable between at least a first position and a second position to control a dimension of the windrow46, e.g., a width50of the windrow46. The forming element48may include, but is not limited to, a forming shield, a hood, a swath plate, a swath board, conditioner rolls, or some other device that affects the shape and/or dimensions of the windrow46. The particular manner in which the forming element48operates, and how the forming element48shapes the windrow46are not pertinent to the teachings of this disclosure, are dependent upon the specific configuration and/or type of forming device, are known to those skilled in the art, and are therefore not described in detail herein.

The crop windrow monitoring system22further includes an image sensor52. The image sensor52is positioned to include a field of view54(shown inFIG. 2) facing the rearward direction36of the power unit24. The field of view54is positioned to include at least a portion of the windrow46immediately rearward of the windrow forming unit44. The image sensor52may be mounted on the power unit24, such as the example embodiment of the windrower20shown inFIG. 1. However, in other embodiments, the image sensor52may be mounted on some other implement, such as a traditional agricultural tractor, or a mower or mower-conditioner that is drawn behind a tractor. The image sensor52is operable to capture an image of the windrow46. The image may include a still image, or a video image. The image sensor52may include any device capable of sensing an image. For example, the image sensor52may include, but is not limited to, a digital camera, LIDAR, thermal imagining devices, radar, sonar, or other similar image sensing device.

As noted above, the cab38may include the visual monitor40. The visual monitor40is part of the crop windrow monitoring system22. The visual monitor40is an output device that is operable to present a visual image, e.g., the image captured by the image sensor52. For example, the visual monitor40may include, but is not limited to, a cathode ray tube display, a light emitting diode display, an electroluminescent display, a plasma display, a liquid crystal display, a thin film transistor display, a organic light emitting diode display, a digital light processing display, or some other similar device.

The crop windrow monitoring system22further includes a computing device56that is disposed in communication with the image sensor52and the visual monitor40. The computing device56may alternatively be referred to as a controller, a control device, a control unit, a control module, a computer, etc. The computing device56is operable to receive data from the image sensor52and control the operation of the visual monitor40. The computing device56may include a processor58, a memory60, and all software, hardware, algorithms, connections, sensors, etc., necessary to manage and control the operation of the visual monitor40in accordance with the teachings of this disclosure. As such, a method may be embodied as a program or algorithm operable on the computing device56. It should be appreciated that the computing device56may include any device capable of analyzing data from various sensors, comparing data, and making the necessary decisions required to control the operation of the visual monitor40.

The computing device56may be embodied as one or multiple digital computers or host machines each having one or more processors, read only memory (ROM), random access memory (RAM), electrically-programmable read only memory (EPROM), optical drives, magnetic drives, etc., a high-speed clock, analog-to-digital (ND) circuitry, digital-to-analog (D/A) circuitry, and any required input/output (I/O) circuitry, I/O devices, and communication interfaces, as well as signal conditioning and buffer electronics.

The computer-readable memory60may include any non-transitory/tangible medium which participates in providing data or computer-readable instructions. Memory60may be non-volatile or volatile. Non-volatile media may include, for example, optical or magnetic disks and other persistent memory. Example volatile media may include dynamic random access memory (DRAM), which may constitute a main memory. Other examples of embodiments for memory include a floppy, flexible disk, or hard disk, magnetic tape or other magnetic medium, a CD-ROM, DVD, and/or any other optical medium, as well as other possible memory devices such as flash memory.

As noted above, the computing device56includes the tangible, non-transitory memory60on which are recorded computer-executable instructions, including an image display algorithm62. The processor58of the computing device56is configured for executing the image display algorithm62. The image display algorithm62implements a method of presenting a rearward facing image on the visual monitor40.

The image display algorithm62determines a current status of a defined system operating condition. The defined system operating condition may include any operating condition of the power unit24and/or the windrow forming unit44. In the example embodiment described herein, the defined system operating condition includes the intended direction of movement of the power unit24and the windrow forming unit44. The intended direction of movement includes one of the forward direction34or the rearward direction36. In other words, in the example embodiment described herein, the image display algorithm62determines, based on equipment configurations, settings, or sensor data, what the intended direction of movement or travel of the power unit24is, i.e., actual or intended movement in the forward direction34, or actual or intended movement in the rearward direction36. The image display algorithm62may determine the intended direction of movement in any manner. For example, the image display algorithm62may determine the intended direction of movement based on the current actual movement of the power unit24, a current configuration or operating state of the transmission32, or by some other process not described herein.

For example, the image display algorithm62may determine the intended direction of movement by determining a current operating state of the transmission32. The current operating state of the transmission32includes the one of the forward drive state and the rearward drive state that the transmission32is currently disposed in. Accordingly, by sensing the current operating state of the transmission32, i.e., the forward drive state or the rearward drive state, the image display algorithm62may determine the intended direction of movement of the power unit24.

As noted above, the image sensor52senses an image rearward of the power unit24. The image may include a single still image, or multiple images forming a video image. The image includes the windrow46positioned rearward of the windrow forming unit44. The image display algorithm62displays the image on the visual monitor40in a first mode or a second mode based on the defined system operating condition of the power unit24and/or the windrow forming unit44.

Referring toFIG. 3, the image display algorithm62displays the image on the visual monitor40in the first mode when the defined system operating condition is a first operating condition. Referring toFIG. 4, the image display algorithm62displays the image on the visual monitor40in the second mode when the defined system operating condition is a second operating condition. As noted above, the example embodiment described herein defines the defined system operating condition as the intended direction of movement of the power unit24and the windrow forming unit44, the first operating condition may be defined as intended movement in the rearward direction36, and the second operating condition may be defined as intended movement in the forward direction34.

When the image is displayed in the first mode, such as shown inFIG. 3, the image is displayed on the visual monitor40at a first magnification. When the image is displayed in the second mode, such as shown inFIG. 4, the image is displayed on the visual monitor40at a second magnification. The first magnification is different than the second magnification. More particularly, in the example embodiment described herein, the second magnification is greater than the first magnification. The magnification may be achieved by, but is not limited to, a digital zoom or a focal plane zoom of the image sensor52.

In the example embodiment described herein, the image display algorithm62displays the image in the first mode at the first magnification (lower magnification) when the intended direction of movement is in the rearward direction36. In contrast, the image display algorithm62displays the image in the second mode at the second magnification (higher magnification) when the intended direction of movement is in the forward direction34. Accordingly, referring toFIG. 4, when the intended direction of movement is in the forward direction34, such as when cutting crop material, the image is displayed on the visual monitor40at the higher second magnification so that the operator can better see the details of the windrow46, whereas, referring toFIG. 3, when the intended direction of movement is in the rearward direction36, such as when the operator intends to back-up the power unit24, the image is displayed on the visual monitor40at the lower first magnification so that the operator may get a wider view rearward of the power unit24.

Referring toFIG. 4, when the image is displayed in the second mode, e.g., when the intended direction of movement includes the forward direction34, the image display algorithm62may display indicia64on the visual monitor40. The indicia64are overlaid onto the image displayed on the visual monitor40. The indicia64may be correlated and/or scaled relative to the second magnification of the image on the visual display to represent an actual dimension of the windrow46, e.g., the width50or a portion of the width50of the windrow46.

The indicia64may include, but are not limited to, linear segments68or tick marks that extend parallel to the windrow46. The linear segments68are arranged to delimit a distance perpendicular to the windrow46. As such, the linear segments68are generally parallel with each other, and parallel with the windrow46. The linear segments68are spaced from each other on the visual monitor40a scaled separation distance70to represent a defined distance72in the image. The scaled separation distance70is the distance on the visual monitor40between adjacent pairs of linear segments68. The defined distance72in the image represents an actual distance74(shown inFIG. 2) perpendicular to the windrow46. As such, the scaled separation distance70between adjacent pairs of the linear segments68is correlated to the actual distance74perpendicular to the windrow46. For example, the scaled separation distance70may be equal to one inch on the visual monitor40. The one inch scaled separation distance70between adjacent linear segments68on the visual monitor40may be sized to represent a defined distance72in the image that represents one foot. The defined distance72in the image that represents one foot corresponds to an actual distance74perpendicular to the windrow46that is also equal to one foot. As such, the linear segments68may be spaced from each other on the visual monitor40the scaled separation distance70, such that the distance between each pair of adjacent linear segments68represents a distance of one foot perpendicular to the windrow46.

The scaled separation distance70is dependent upon the second magnification. As such, as the second magnification changes, the scaled separation distance70must also change so that the actual distance74perpendicular to the windrow46represented by adjacent pairs of the linear segments68remains accurate. For example, if the scaled separation distance70of the linear segments68is configured to represent an actual one foot distance perpendicular to the windrow46, when the second magnification is increased, the scaled separation distance70between adjacent pairs of linear segments68must also increase a corresponding amount so that the scaled separation distance70between adjacent pairs of the linear segments68maintains is one foot representation of the actual distance74perpendicular to the windrow46.

In one embodiment, the image display algorithm62may be configured to receive an input defining and/or adjusting the second magnification, such that the second magnification is a user selected second magnification. As such, the user may increase or decrease the second magnification, and the image display algorithm62automatically adjusts the scaled separation distance70between the indicia64so that the indicia64maintain the representation of the defined distance72.