Combine harvesters and methods

Abstract

The combine harvester includes: a harvesting device (H) for harvesting crops from the field; a conveying device (16) for conveying the crops harvested by the harvesting device (H); a threshing device (13) for threshing the crops supplied by the conveying device (16); and a sensing device (X) for sensing the situation of soil being acquired into the harvesting device (H).

Description

Technical Field

[0001] The present invention relates to combine harvesters and methods performed in combine harvesters. Background Technology

[0002] Patent document 1 discloses a combine harvester comprising a cutting device, a feeder, and a threshing device. The crop cut by the cutting device is fed to the threshing device by the feeder for threshing.

[0003] Existing technical documents

[0004] Patent documents

[0005] Patent Document 1: Japanese Patent Application Publication No. 2019-180319 Summary of the Invention

[0006] The problem that the invention will solve

[0007] The harvesting device harvests crops while keeping the device close to the ground. Therefore, as the harvesting device moves up and down due to ground undulations, there is a possibility that soil from the field may be collected into the device. If soil is collected, the crops may become contaminated, reducing their commercial value.

[0008] The purpose of this invention is to provide a means to suppress soil pollution of crops.

[0009] Methods for solving problems

[0010] As a means of solving the above-mentioned problems, the combine harvester of the present invention is characterized by comprising: a harvesting device for harvesting crops in a field; a conveying device for conveying the crops harvested by the harvesting device; a threshing device for threshing the crops supplied by the conveying device; and a sensing device for sensing the situation where soil is acquired in the harvesting device.

[0011] As a means of solving the above-mentioned problems, the method of the present invention performed in a combine harvester equipped with a cutting device and a sensing device is characterized by including a step in which the sensing device senses that soil has been acquired into the cutting device.

[0012] According to this configuration, a sensing device detects when soil is being collected into the harvesting device. This allows for measures to be taken to prevent soil contamination of crops. For example, harvesting operations can be stopped and the soil collected into the harvesting device can be removed. Alternatively, the height of the harvesting device can be adjusted to prevent further soil collection.

[0013] In this invention, preferably, the sensing device includes an imaging device and a judgment unit, which determines whether soil has been acquired based on the image generated by the imaging device.

[0014] According to this configuration, since soil acquisition is determined based on the image generated by the imaging device, the acquisition of soil by the cutting device can be appropriately sensed. Furthermore, the sensing device can be constructed at a relatively low cost. Additionally, since the sensing device can be made non-contact with the soil, the durability of the sensing device can be improved.

[0015] In this invention, preferably, the judgment unit includes a machine learning-trained model that receives the image generated by the imaging device as input and outputs information indicating whether soil information has been acquired.

[0016] According to this configuration, the acquisition of the soil cutting device can be more appropriately sensed.

[0017] In this invention, preferably, the learned model is generated by machine learning in the following way: the machine learning takes an image of the soil being captured in the cutting device as input data and information of the area corresponding to the soil in the image as teacher data.

[0018] According to this configuration, the acquisition of the soil cutting device can be more appropriately sensed.

[0019] In this invention, preferably, the sensing device uses at least a portion of the cutting device and the conveying device as the sensing target area.

[0020] If soil is captured into the harvesting device, it is transported together with the crop by the conveying device. According to this configuration, at least a portion of the harvesting device and the conveying device becomes the soil sensing target area, thus enabling appropriate sensing of soil being captured into the harvesting device.

[0021] In this invention, preferably, the harvesting device includes a harvesting frame, a cutter arranged across the left and right sides of the harvesting frame, and an auger arranged behind the cutter across the left and right sides of the harvesting frame and driven by rotation to feed and transport the crop laterally, and the sensing device uses the area between the cutter and the auger as the sensing target area.

[0022] According to this configuration, since the area between the cutter and the auger becomes the sensing target area, it is possible to sense as early as possible that soil has been captured by the cutting device. Therefore, it is possible to implement measures to prevent soil contamination of crops as early as possible.

[0023] In this invention, it is preferable to include a machine control unit that changes the machine's operating parameters based on the sensing device's detection that soil has been acquired into the cutting device.

[0024] According to this configuration, the body's motion parameters are changed, thus enabling the modification of the body's motion state to suppress soil contamination of crops.

[0025] In this invention, preferably, the machine control unit reduces the travel speed, which is the action parameter, based on the sensing device's detection that soil has been acquired into the cutting device.

[0026] According to this configuration, if soil acquisition is sensed, the travel speed is reduced, thus suppressing soil acquisition by the cutting device.

[0027] In this invention, preferably, the machine control unit changes the travel speed, which is the action parameter, to zero based on the sensing device's detection that soil has been acquired into the cutting device.

[0028] According to this configuration, if soil acquisition is detected, the travel speed becomes zero, thus preventing soil from being acquired by the harvesting device. Furthermore, the soil acquired by the harvesting device can be removed after the combine harvester stops.

[0029] In this invention, preferably, the sensing device includes an imaging device and a determination unit for determining whether soil has been acquired based on the image generated by the imaging device. The determination unit includes an inference unit for inferring the amount of soil acquired by the cutting device, i.e., the acquisition amount, by learning a model, and a determination unit for determining the relationship between the acquisition amount and a threshold. When the determination result of the determination unit indicates that the acquisition amount is greater than the threshold, it is determined that soil has been acquired into the cutting device.

[0030] Based on this configuration, it is appropriate to determine whether the soil has been acquired into the cutting device.

[0031] In this invention, preferably, the learned model is generated by the following machine learning: the machine learning takes an image of the state in which the soil is acquired in the harvesting device as input data, and information representing the amount acquired in the image as teacher data.

[0032] Based on this configuration, the determination of whether soil has been acquired into the cutting device can be made more appropriately.

[0033] In this invention, it is preferable to have an operating device that accepts input from human operation, and the determination unit has a change unit that changes the threshold based on the human operation accepted from the operating device.

[0034] According to this configuration, the threshold for determining whether soil has been acquired in the harvesting device can be manually changed, thus allowing the sensing device to be adjusted according to the operator's preferences and the required quality of the crop. For example, if the threshold is set relatively low, the sensing device will detect with a smaller amount of soil, thereby reducing soil contamination of the crop. Conversely, if the threshold is set relatively high, the sensing device will not detect with a smaller amount of soil, thus suppressing work interruptions and improving work efficiency.

[0035] In this invention, it is preferable to include a reporting device and a reporting control unit, which activates the reporting device based on the sensing device's detection that soil has been acquired into the cutting device.

[0036] According to this configuration, if soil is obtained from the harvesting device, the reporting device is activated, so the operator who receives the report can take action to prevent soil contamination of crops.

[0037] In this invention, it is preferred that the device includes a reporting device and a reporting control unit that controls the operation of the reporting device. The sensing device includes an inference unit that infers the amount of soil obtained in the cutting device, i.e., the amount obtained. The reporting control unit reports the amount obtained via the reporting device.

[0038] According to this structure, due to the amount of reports received, operators who receive reports can take appropriate actions in accordance with the amount received, and can more effectively suppress soil contamination of crops. Attached Figure Description

[0039] Figure 1 This is a left-side view of a combine harvester.

[0040] Figure 2 This is a top view showing the structure of the cutting device.

[0041] Figure 3 It is a control block diagram that represents the components related to control.

[0042] Figure 4 This is an explanatory diagram generated based on a machine learning model that has completed learning, using input data and teacher data.

[0043] Figure 5 This is a flowchart showing the processes performed in a combine harvester. Detailed Implementation

[0044] The embodiments for carrying out the present invention will be described with reference to the accompanying drawings. Furthermore, in the following description, the direction of arrow F shown in the figures is designated as "forward," the direction of arrow B as "backward," the direction of arrow L as "left," the direction of arrow R as "right," the direction of arrow U as "up," and the direction of arrow D as "down."

[0045] [The overall structure of a combine harvester]

[0046] like Figure 1 As shown, the body 1 of a conventional combine harvester (whole stalk feeding combine harvester) includes a cutting device H, a tracked traveling device 11, a driver's unit 12, a threshing device 13, a grain box 14, a conveying device 16, a grain discharge device 18, and an engine E.

[0047] The travel unit 11 is located in the lower part of the combine harvester. Furthermore, the travel unit 11 is driven by power from the engine E. Moreover, the combine harvester is capable of self-propelled operation via the travel unit 11. Power from the engine E is transmitted to the travel unit 11 via a hydraulic continuously variable transmission (HST, not shown).

[0048] In addition, the driver's unit 12, threshing device 13, and grain bin 14 are mounted on the traveling unit 11. The operator who operates the combine harvester can ride in the driver's unit 12.

[0049] A grain discharge device 18 is mounted on top of the grain bin 14. A harvesting device H is located at the front of the combine harvester. Furthermore, a conveying device 16 is located at the rear of the harvesting device H. The harvesting device H includes a cutter 15 and a reel 17. The combine harvester has a harvesting cylinder 16A that raises and lowers the harvesting device H and the conveying device 16. If the harvesting cylinder 16A extends, the harvesting device H and the conveying device 16 rise. If the harvesting cylinder 16A retracts, the harvesting device H and the conveying device 16 descend.

[0050] The cutter 15 cuts the crop (straw) in the field. Meanwhile, the reel 17 rotates around its shaft 17b, which runs along the left-right axis of the machine, while simultaneously ruffling the straw of the crop to be harvested. The crop (straw) cut by the cutter 15 is then conveyed to the conveyor 16.

[0051] That is, the harvesting device H has a reel 17 that rotates and pulls up the planted rice stalks at the same time.

[0052] With this configuration, the harvesting device H harvests crops from the field. Furthermore, the combine harvester can perform harvesting travel by simultaneously cutting crops with the cutter 15 and traveling with the travel device 11.

[0053] The crop harvested by the harvesting device H is conveyed to the rear of the machine by the conveying device 16. Thereafter, the crop is conveyed to the threshing device 13.

[0054] In the threshing device 13, the crop is threshed. The grains obtained by the threshing process are stored in the grain bin 14. The grains stored in the grain bin 14 are discharged out of the machine by the grain discharge device 18 as needed.

[0055] Here, the harvesting device H is installed on a combine harvester that performs harvesting operations in the field. The composition of the harvesting device H is described in detail below.

[0056] [Composition of the cutting device]

[0057] like Figure 1 , Figure 2 As shown, the harvesting device H includes a harvesting frame 20. The harvesting frame 20 is configured to receive the crop harvested by the cutter 15.

[0058] The cutting frame 20 has left and right side walls 21, a rear wall 22, and a base plate 23. The rear wall 22 is located at the rear end of the cutting frame 20 and is arranged to span across the left and right side walls 21.

[0059] That is, the cutting frame 20 has left and right side walls 21 and a rear wall 22 located at the rear end of the cutting frame 20 and spanning the left and right side walls 21.

[0060] The base plate 23 is located at the lower part of the cutting frame 20. In addition, the base plate 23 is set across the left and right side walls 21.

[0061] Additionally, retractable reel cylinders 17A are supported on the upper part of the left and right side walls 21. If the reel cylinders 17A extend, the reel 17 rises relative to the harvesting frame 20.

[0062] Additionally, if the reel cylinder 17A contracts, the reel 17 descends relative to the cutting frame 20.

[0063] Through this structure, such as Figure 1 As shown, the reel 17 can be raised and lowered relative to the harvesting frame 20. That is, the harvesting device H includes a reel cylinder 17A for raising and lowering the reel 17.

[0064] In addition, such as Figure 2 As shown, the cutter 15 is supported on the base plate 23. In addition, the cutter 15 extends in the left-right direction.

[0065] The cutter 15 has a fixed cutter 30 and a movable cutter 31. The fixed cutter 30 is positioned to protrude forward. The fixed cutter 30 is supported on the base plate 23. The movable cutter 31 reciprocates in the left-right direction of the machine body by a driving force transmitted from a movable cutter drive mechanism (not shown). Thus, the movable cutter 31 reciprocates relative to the fixed cutter 30 in the left-right direction of the machine body. Furthermore, the cutter 15 uses the fixed cutter 30 and the movable cutter 31 to cut the planted rice stalks.

[0066] here, Figure 2Line P in the diagram represents the center position of the cutting frame 20 in the left-right direction. The conveying device 16 is located to the left of line P. That is, the conveying device 16 is positioned to the left of the center position of the cutting frame 20 in the left-right direction.

[0067] Furthermore, the front end of the conveying device 16 is connected to the rear wall 22.

[0068] Additionally, the cutting device H includes an auger 40. The auger 40 is driven to rotate around an auger shaft 40b. The auger shaft 40b extends in the left-right direction along the machine body.

[0069] like Figure 2 As shown, the auger 40 has a first helix 41, a second helix 42, and a grabbing claw 43. The first helix 41 and the second helix 42 are helical. In addition, the grabbing claw 43 is rod-shaped and protrudes radially outward from the auger 40.

[0070] The grabber 43 is positioned opposite the front end of the conveying device 16. Additionally, the first auger 41 is located to the right of the grabber 43. Furthermore, the second auger 42 is located to the left of the grabber 43.

[0071] As the auger 40 rotates, the first spiral 41 conveys the crop contained in the harvesting frame 20 to the left. Simultaneously, the second spiral 42 conveys the crop contained in the harvesting frame 20 to the right. Furthermore, the rake 43 rakes the crop towards the rear of the machine.

[0072] like Figure 2 As shown, the harvesting device H has left and right dividers 50 protruding forward. The left divider 50 is supported at the front end of the left side wall 21. The right divider 50 is supported at the front end of the right side wall 21.

[0073] As described above, the harvesting device H includes a harvesting frame 20, a cutter 15 arranged across the left and right sides of the harvesting frame 20, and an auger 40 arranged behind the cutter 15 across the left and right sides of the harvesting frame 20 and driven by rotation to feed and transport crops laterally.

[0074] like Figure 2 As shown, the harvesting device H includes a soil retainer 51. The soil retainer 51 is an L-shaped plate component extending in the left-right direction of the machine body, and is disposed on the upper surface of the front end of the base plate 23 with the curved portion facing upwards. The soil retainer 51 is disposed immediately behind the cutter 15. The soil retainer 51 prevents soil from the field from being harvested by the harvesting device H.

[0075] like Figure 3 As shown, the combine harvester includes a camera device 61, a display input device 62 (an example of an operating device), a reporting device 63, and a control device 80.

[0076] The imaging device 61 is located at the front of the left side of the driver's unit 12. The imaging device 61 captures images of the cutting device H from an obliquely upward angle and generates images (still images or moving images), which are then output to the control device 80.

[0077] The display input device 62 is configured to accept input from human operators and display information. The display input device 62 can be located in the driver's unit 12 or be a portable information terminal owned by the operator. Human operations on the display input device 62 can be touch input to the screen, operation of the keys or switches provided on the display input device 62, or voice input.

[0078] The reporting device 63 is a device for reporting to the operator. The reporting device 63 may be, for example, a buzzer, speaker, light, display device, or communication device. The display input device 62 may also have the function of the reporting device 63.

[0079] The control device 80 is a so-called ECU, which has a memory (HDD, non-volatile RAM, etc., omitted from the illustration) for storing programs corresponding to the functional units described later, and a CPU (omitted from the illustration) for executing the programs. The functions of each functional unit are realized by the CPU executing the programs. That is, the control device 80 has a non-transitory recording medium storing the programs.

[0080] The control device 80, as a functional unit, includes a judgment unit 81, a machine control unit 82, and a report control unit 83. The judgment unit 81 includes an inference unit 81a, a determination unit 81b, and a change unit 81c. These functional units will be described in detail below.

[0081] [Sensing device]

[0082] The combine harvester is equipped with a sensing device X that senses whether soil has been acquired by the harvesting device H. In this embodiment, the sensing device X consists of an imaging device 61 and a determination unit 81 that determines whether soil has been acquired based on the image generated by the imaging device 61.

[0083] Sensing device X uses at least a portion of the cutting device H as the sensing target area. In this embodiment, sensing device X uses the area Y between the cutter 15 and the auger 40 as the sensing target area. Figure 2 The imaging device 61 captures the entire area of ​​the cutting device H. The imaging area of ​​the imaging device 61 includes region Y. That is, region Y is reflected in the image generated by the imaging device 61. In this embodiment, region Y is a rectangular region that extends to the left and right sides of the cutting frame 20.

[0084] In this embodiment, the determination based on the determination unit 81 is performed as follows.

[0085] The inference unit 81a infers the amount of soil acquired by the cutting device H based on the image generated by the imaging device 61 and through the learned model. The determination unit 81b determines the relationship between the acquired amount inferred by the inference unit 81a and a threshold. The threshold is preset. Then, when the determination result of the determination unit 81b indicates that the acquired amount is greater than the threshold, the determination unit 81 determines that soil has been acquired into the cutting device H.

[0086] use Figure 4 The generation of the learned model will be explained. Multiple images IM showing the state of soil being captured in the harvesting device H are used as input data. Information IF representing the amount of soil captured in each image IM is prepared as teacher data. The input data may also include images showing the state of soil not being captured in the harvesting device H. Then, the machine learning unit 90, which is a functional unit of the computer, uses the input data and teacher data to generate a learned model Z through machine learning. The learned model Z is configured to accept the images generated by the capturing device 61 as input, infer and output the amount of soil captured in the harvesting device H. The learned model Z thus generated is included in the inference unit 81a of the judgment unit 81. Furthermore, the machine learning unit 90 may be located in the control device 80 of the combine harvester or external to the combine harvester. Alternatively, the pre-generated learned model Z may be equipped in the control device 80 during the manufacture of the combine harvester.

[0087] The change unit 81c changes the threshold value used by the change determination unit 81b based on the human operation received from the display input device 62. For example, the change unit 81c causes the display input device 62 to display a screen indicating that the threshold value has been changed, and waits for input of a human operation to the display input device 62.

[0088] The machine control unit 82 changes the operating parameters of the machine body 1 based on the sensing device X detecting that soil has been acquired into the cutting device H. Examples of changes to the operating parameters are as follows.

[0089] Reduced travel speed: The machine control unit 82 reduces the travel speed, which is a motion parameter.

[0090] Specifically, the machine control unit 82 controls the hydraulic continuously variable transmission to reduce the travel speed of the travel device 11. The change in the action parameters (the amount of reduction in travel speed) can be, for example, a reduction up to a specified amount or speed, or a reduction corresponding to the amount of soil acquired (the greater the amount acquired, the greater the reduction in travel speed), etc.

[0091] Stop: The machine control unit 82 changes the travel speed, which is used as an action parameter, to zero. Specifically, the machine control unit 82 controls the hydraulic continuously variable transmission to gradually reduce the travel speed of the travel device 11, and finally changes the travel speed to zero, causing the machine 1 to stop.

[0092] The cutting device H is raised: The machine control unit 82 increases the height of the cutting device H, which is an action parameter. Specifically, the machine control unit 82 controls the cutting cylinder 16A to extend, thereby raising the cutting device H.

[0093] Stopping of the cutting device H: The machine control unit 82 changes the operating state of the cutting device H, which is an operation parameter, to "stop". Specifically, the machine control unit 82 controls the engagement and disengagement of the cutting clutch (not shown) that transmits power from the engine E to the cutting device H, thereby stopping the cutting device H.

[0094] The changes to the action parameters described above can be performed on a single item, or on multiple items simultaneously or sequentially.

[0095] The report control unit 83 activates the report device 63 based on the sensing device detecting that soil has been acquired into the cutting device H. That is, the report control unit 83 activates the report device 63 based on the determination unit 81's determination that soil has been acquired into the cutting device H. For example, the report control unit 83 activates the buzzer and light, which are part of the report device 63. The report control unit 83 also causes the display input device 62, which is part of the report device 63, to display a screen indicating that soil has been acquired.

[0096] The report control unit 83 may also be configured to report the acquired quantity inferred by the inference unit 81a via the report device 63. For example, the report control unit 83 causes the display input device 62, which is the report device 63, to display a screen (e.g., a bar chart, numerical value, etc.) indicating the acquired quantity.

[0097] [Testing procedures for obtaining soil]

[0098] While referring to Figure 5 The flowchart illustrates the testing procedures for soil acquisition during the combine harvester process.

[0099] Generate the learned model Z (step #01). The generation of the learned model Z can occur during the design, manufacturing, or use of the combine harvester. That is, the generation of the learned model Z occurs before the harvesting operation.

[0100] The sensing target area is photographed (step #02). Specifically, during the cutting operation, the photographing device 61 photographs the cutting device H.

[0101] The amount of soil to be acquired is estimated (step #03). Specifically, the estimation unit 81a of the judgment unit 81 of the control device 80 estimates the amount of soil acquired in the cutting device H, i.e., the acquisition amount.

[0102] The determination unit 81b determines the relationship between the acquired quantity and the threshold inferred by the inference unit 81a (step #04).

[0103] If the amount obtained is below the threshold (step #04: No), execute step #02 again.

[0104] If the amount acquired is greater than the threshold (step #04: Yes), the motion parameters are changed (step #05). Specifically, the machine control unit 82 changes the motion parameters of the machine 1. The motion state of the machine 1 (travel speed, state of the cutting device H) changes according to the change in motion parameters.

[0105] The reporting device is operated (step #06). Specifically, the reporting control unit 83 activates the reporting device 63.

[0106] Repeat steps #01 to #06 until the cutting operation is completed (step #07: No). If the cutting operation is completed (step #07: Yes), the process ends.

[0107] Additionally, step #01 can be omitted if the learned model Z has already been generated.

[0108] Step #07 can be omitted.

[0109] [Variation Example]

[0110] (1) The determination unit 81 may also be configured to determine whether soil has been acquired without inferring the amount of soil acquired in the cutting device H. That is, the determination unit 81 may not have an inference unit 81a.

[0111] In this example, the judgment unit 81 may also include a machine learning-completed model that accepts the image generated by the imaging device 61 as input and outputs a machine learning model indicating whether soil information has been acquired. The machine learning-completed model is generated by using an image of the state in which soil has been acquired in the cutting device H as input data and information about the area corresponding to the soil in the specified image as teacher data. The input data may also include an image of the state in which soil has not been acquired in the cutting device H.

[0112] Alternatively, the judgment unit 81 may also have both the learning completion model of this example and the learning completion model of the previously described implementation method.

[0113] (2) The sensing area of ​​the sensing device X is not limited to area Y in the example above. The sensing area of ​​the sensing device X can also be the entire cutting device H. The sensing area of ​​the sensing device X can also be at least a part of the conveying device 16. In this case, the imaging device 61 is configured to be able to image the area of ​​the conveyed crop in the conveying device 16. The imaging device 61 is provided, for example, at the entrance, interior, or exit of the conveying device 16.

[0114] (3) The camera device 61 can also be located in other places. For example, the camera device 61 can also be located at the front end of the grain discharge device 18. The camera device 61 can also be located at the upper front end of the driving unit 12. The combine harvester can also be equipped with multiple camera devices 61.

[0115] (4) The shooting device 61 can also be used as a shooting device for other purposes. For example, the shooting device 61 can also be used as a device for shooting around the body 1 of the combine harvester (surround view camera). The shooting device 61 located at the front end of the grain discharge device 18 can also be used as a device for shooting the discharge state of the grains from the grain discharge device 18.

[0116] (5) The upper surface of the base plate 23 can also be colored. For example, the upper surface of the base plate 23 can be colored white, gray, yellow, or other colors to make it easier to distinguish from the soil.

[0117] (6) The sensing device X may also be configured without the imaging device 61. For example, the sensing device X may be configured to use a LiDAR sensor, weight sensor, pressure sensor, etc. to sense soil being captured in the cutting device H.

[0118] (7) It is also possible for the sensing device X to sense soil being acquired into the cutting device H regardless of the learned model after machine learning. For example, it is also possible for the determination unit 81 of the sensing device X to analyze the image generated by the imaging device 61 and sense soil being acquired into the cutting device H. For example, it is also possible for the determination unit 81 to determine that soil has been acquired into the cutting device H based on the presence of a region with soil color (brown) in the sensing object region of the image generated by the imaging device 61.

[0119] Industrial availability

[0120] This invention can be applied to combine harvesters equipped with a cutting device, a conveying device, and a threshing device. Furthermore, this invention can also be applied to automatically traveling combine harvesters.

[0121] Explanation of reference numerals in the attached figures

[0122] 1: Body

[0123] 13:Threshing device

[0124] 15: Cutting knife

[0125] 16: Conveying device

[0126] 20: Cut the frame

[0127] 40: Screw Dragon

[0128] 61: Filming equipment

[0129] 62: Display input device (operating instrument)

[0130] 63: Reporting device

[0131] 81: Judgment Department

[0132] 81a: Inference Department

[0133] 81b: Judgment Department

[0134] 81c: Change Department

[0135] 82: Body Control Unit

[0136] 83: Report to Control Department

[0137] H: Cutting device

[0138] X: Sensing device

[0139] Z: Model completed learning

Claims

1. A combine harvester, characterized in that, have: A harvesting device, which has a cutter, for harvesting crops from a field; A conveying device for conveying the crop cut by the harvesting device; A threshing device that performs threshing treatment on the crop supplied by the conveying device; as well as A sensing device that senses the soil being captured in the cutting device; The sensing device uses the area behind the cutter in the cutting device as the sensing target area.

2. The combine harvester according to claim 1, characterized in that, The sensing device includes an imaging device and a judgment unit, which determines whether soil has been acquired based on the image generated by the imaging device.

3. The combine harvester according to claim 2, characterized in that, The judgment unit includes a machine learning-trained model that accepts the image generated by the imaging device as input and outputs an indication of whether soil information has been acquired.

4. The combine harvester according to claim 3, characterized in that, The learned model is generated through machine learning, which takes an image of the soil being captured in the cutting device as input data and information of the area corresponding to the soil in the image as teacher data.

5. The combine harvester according to any one of claims 1 to 4, characterized in that, The harvesting device includes a harvesting frame and an auger that is arranged horizontally across the left and right sides of the harvesting frame behind the cutter and is driven to rotate to feed and transport the crop laterally. The cutter is positioned across the left and right sides of the cutting frame. The sensing device uses the area between the cutter and the auger as the sensing target area.

6. The combine harvester according to any one of claims 1 to 4, characterized in that, It is equipped with a machine control unit that changes the machine's operating parameters based on the situation that the sensing device detects soil being acquired in the cutting device.

7. The combine harvester according to claim 6, characterized in that, The machine control unit reduces the travel speed, which is the action parameter, based on the sensing device's detection that soil has been captured by the cutting device.

8. The combine harvester according to claim 6, characterized in that, The machine control unit changes the travel speed, which is the action parameter, to zero based on the sensing device's detection that soil has been acquired into the cutting device.

9. The combine harvester according to any one of claims 1 to 4, characterized in that, The sensing device includes an imaging device and a judgment unit that determines whether soil has been acquired based on the image generated by the imaging device. The judgment unit includes an inference unit that infers the amount of soil obtained by the cutting device through the learned model, i.e., the amount obtained, and a judgment unit that determines the relationship between the amount obtained and a threshold. When the judgment result of the judgment unit indicates that the amount obtained is greater than the threshold, it is determined that soil has been obtained into the cutting device.

10. The combine harvester according to claim 9, characterized in that, The learned model is generated through the following machine learning: the machine learning takes an image of the soil being acquired in the cutting device as input data and information representing the amount acquired in the image as teacher data.

11. The combine harvester according to claim 9, characterized in that, It has an operating device that allows the user to input the commands. The determination unit includes a change unit that changes the threshold based on a human operation received from the operating device.

12. The combine harvester according to any one of claims 1 to 4, characterized in that, It includes a reporting device and a reporting control unit, which activates the reporting device based on the sensing device's detection that soil has been acquired into the cutting device.

13. The combine harvester according to any one of claims 1 to 4, characterized in that, A report control unit comprising a reporting device and a report control unit for controlling the operation of the reporting device. The sensing device includes an inference unit that infers the amount of soil obtained from the cutting device, i.e., the amount obtained. The reporting control unit reports the acquired quantity via the reporting device.

14. A method, carried out in a combine harvester equipped with a cutting device having a cutter and a sensing device, characterized in that, The method includes the step of sensing, by the sensing device, that soil is acquired in the cutting device, wherein the sensing device uses a region in the cutting device that is rearward of the cutter as the sensing target region.

Images