combine

Abstract

To provide means capable of preventing a crop from being soiled with dirt.SOLUTION: A combine includes a mowing device H that mows a crop in a field, a conveyance device 16 that conveys a crop mowed by the mowing device H, a thresher 13 that performs threshing processing on a crop supplied by the conveyance device 16, and a detection device X that detects that dirt is taken into the mowing device H.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a combine harvester. [Background technology]

[0002] Patent Document 1 discloses a combine harvester including a harvesting device, a feeder, and a threshing device. Crops harvested by the harvesting device are transported by the feeder to the threshing device and threshed. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2019-180319 A Summary of the Invention [Problem to be solved by the invention]

[0004] When harvesting crops with a harvester, the harvester is held close to the ground. In this case, when the harvester moves up and down due to the unevenness of the ground, soil from the field may be drawn into the harvester. If soil is drawn into the harvester, the crops may become soiled and their market value may decrease.

[0005] An object of the present invention is to provide a means capable of suppressing soiling of crops with soil. [Means for solving the problem]

[0006] As a means for solving the above-mentioned problems, the combine of the present invention comprises: A cutting blade is provided. The present invention comprises a reaping device that reaps crops in a field, a transport device that transports the crops reap by the reaping device, a threshing device that threshes the crops supplied by the transport device, and a detection device that detects that soil has been taken into the reaping device. The detection device detects an area of ​​the mowing device behind the cutting blade. It is characterized by the above.

[0007] According to this configuration, the detector detects that soil has been introduced into the harvesting device. This allows some kind of action to be taken to prevent soil from soiling the crops. For example, the harvesting operation can be stopped and the soil that has been introduced into the harvesting device can be removed. For example, the height of the harvesting device can be adjusted to prevent further soil from being introduced into the harvesting device. In addition, when soil is taken into the harvesting device, the soil is transported together with the crop by the transport device. According to this configuration, the harvesting device is a detection target area for the soil, so that it is possible to appropriately detect that the soil has been taken into the harvesting device.

[0008] In the present invention, it is preferable that the detection device includes an image capturing device and a determination unit that determines whether soil has been taken in based on an image generated by the image capturing device.

[0009] According to this configuration, since it is determined whether soil has been taken in based on the image generated by the photographing device, it is possible to appropriately detect the intake of soil into the harvesting device. In addition, the detection device can be constructed relatively inexpensively. In addition, since the detection device and the soil can be made non-contact, the durability of the detection device can be improved.

[0010] In the present invention, it is preferable that the judgment unit includes a machine-learned trained model that receives an image generated by the photographing device and outputs information indicating whether soil has been taken in.

[0011] With this configuration, the intake of soil into the harvesting device can be detected more appropriately.

[0012] In the present invention, it is preferable that the trained model is generated by machine learning using an image of soil being taken into the harvesting device as input data and information specifying the area in the image that corresponds to soil as training data.

[0013] With this configuration, the intake of soil into the harvesting device can be detected more appropriately.

[0014]

[0015]

[0016] In the present invention, the reaping device includes a reaping frame. And, before an auger provided behind the cutting blade across the left and right sides of the cutting frame and driven to rotate to laterally transport the crops; The cutting blade is provided across the left and right sides of the cutting frame, It is preferable that the detection device detects an area between the cutting blade and the auger.

[0017] According to this configuration, the detection target area is the area between the cutting blade and the auger, so that it is possible to detect early on that soil has been introduced into the harvesting device, and therefore it is possible to take early action to prevent soil from soiling the crops.

[0018] In the present invention, it is preferable to provide a machine control unit that changes operating parameters of the machine in response to the detection device detecting that soil has been taken into the reaping device.

[0019] According to this configuration, the operating parameters of the machine are changed, so that the operating state of the machine can be changed to suppress soiling of crops.

[0020] In the present invention, it is preferable that the machine control unit reduces the traveling speed as one of the operating parameters in response to the detection device detecting that soil has been taken into the reaping device.

[0021] According to this configuration, when the ingestion of soil is detected, the traveling speed is reduced, thereby making it possible to suppress the ingestion of soil into the reaping device.

[0022] In the present invention, it is preferable that the machine control unit changes the traveling speed as one of the operational parameters to zero in response to the detection device detecting that soil has been taken into the reaping device.

[0023] According to this configuration, when soil is detected, the traveling speed is set to zero, so that soil can be prevented from being drawn into the harvesting device. In addition, after the combine harvester is stopped, the soil that has been drawn into the harvesting device can be removed.

[0024] In the present invention, the detection device includes an imaging device and a judgment unit that judges whether soil has been taken in based on an image generated by the imaging device, and the judgment unit includes an estimation unit that estimates an intake amount, which is the amount of soil taken in by the harvesting device, using a learned model, and a judgment unit that judges whether the intake amount is greater than a threshold value, and it is preferable that the detection unit judges that soil has been taken in by the harvesting device when the judgment result of the judgment unit indicates that the intake amount is greater than the threshold value.

[0025] According to this configuration, it is possible to appropriately determine whether soil has been introduced into the reaping device.

[0026] In the present invention, it is preferable that the trained model is generated by machine learning using an image of soil being taken into the harvesting device as input data and information indicating the amount of soil taken in the image as training data.

[0027] According to this configuration, it is possible to more appropriately determine whether soil has been introduced into the reaping device.

[0028] In the present invention, it is preferable that an operating tool that accepts input of a manual operation is included, and the determination unit includes a change unit that changes the threshold value based on the manual operation accepted from the operating tool.

[0029] According to this configuration, the threshold value for determining whether soil has been taken into the harvesting device can be manually changed, so that the detection device can be adjusted according to the operator's preference and the required quality of the crop. For example, if the threshold value is set relatively small, the detection device will detect a small amount of soil taken in, so that soiling of the crops can be reduced. For example, if the threshold value is set relatively large, the detection device will not detect a small amount of soil taken in, so that interruptions to work can be suppressed and work efficiency can be improved.

[0030] In the present invention, it is preferable to include an alarm device, and an alarm control unit that activates the alarm device in response to the detection device detecting that soil has been taken into the reaping device.

[0031] According to this configuration, the alarm device is activated when soil is taken into the harvesting device, so that an operator who receives the alarm can take action, thereby preventing soiling of crops.

[0032] In the present invention, the detection device is provided with an alarm device and an alarm control unit that controls the operation of the alarm device, and the detection device is provided with an estimation unit that estimates an intake amount, which is the amount of soil taken in by the harvesting device, and it is preferable that the alarm control unit reports the intake amount via the alarm device.

[0033] According to this configuration, the intake amount is notified, so that an operator who receives the notification can take measures according to the intake amount, and soiling of crops with soil can be further appropriately suppressed. [Brief description of the drawings]

[0034] [Figure 1] FIG. [Diagram 2] FIG. 2 is a plan view showing the configuration of the reaping device. [Diagram 3] FIG. 2 is a control block diagram showing a configuration related to control. [Figure 4] FIG. 1 is an explanatory diagram of generation of a trained model by machine learning using input data and teacher data. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0035] The following description will be given of an embodiment of the present invention with reference to the drawings. In the following description, the direction of the arrow F shown in the drawings is defined as "forward", the direction of the arrow B is defined as "backward", the direction of the arrow L is defined as "left", the direction of the arrow R is defined as "right", the direction of the arrow U is defined as "up", and the direction of the arrow D is defined as "down".

[0036] [Overall configuration of the combine] As shown in Figure 1, the body 1 of a normal type combine harvester (whole culm input type combine harvester) is equipped with a harvesting device H, a crawler-type running device 11, a driving unit 12, a threshing device 13, a grain tank 14, a conveying device 16, a grain discharge device 18, and an engine E.

[0037] The traveling device 11 is provided at the bottom of the combine harvester. The traveling device 11 is driven by power from the engine E. The combine harvester can be self-propelled by the traveling device 11. The power from the engine E is transmitted to the traveling device 11 after being changed in speed by a hydrostatic continuously variable transmission (HST, not shown).

[0038] The driving section 12, the threshing device 13, and the grain tank 14 are provided on the traveling device 11. An operator who operates the combine can ride in the driving section 12.

[0039] The grain discharge device 18 is provided on top of the grain tank 14. The harvester H is provided at the front of the combine harvester. The transport device 16 is provided behind the harvester H. The harvester H also includes a cutting blade 15 and a reel 17. The combine harvester is equipped with a harvesting cylinder 16A that raises and lowers the harvester H and the transport device 16. When the harvesting cylinder 16A extends, the harvester H and the transport device 16 rise. When the harvesting cylinder 16A retracts, the harvester H and the transport device 16 descend.

[0040] The cutting blade 15 cuts the crops (planted culms) in the field. The reel 17 rakes in the planted culms to be harvested while rotating around a reel axis 17b that runs along the left-right direction of the machine body. The crops (cut culms) cut by the cutting blade 15 are sent to a conveying device 16.

[0041] That is, the harvesting device H is equipped with a reel 17 that rakes in the planted stalks while rotating.

[0042] With this configuration, the reaping device H harvests crops in the field. The combine is capable of reaping travel, traveling on the traveling device 11 while reaping crops in the field with the cutting blade 15.

[0043] The crops harvested by the reaping device H are transported to the rear of the machine body by the transport device 16. In this way, the crops are transported to the threshing device 13.

[0044] The crop is threshed in the threshing device 13. The grains obtained by the threshing process are stored in a grain tank 14. The grains stored in the grain tank 14 are discharged outside the machine by a grain discharge device 18 as necessary.

[0045] Here, the reaping device H is provided on a combine harvester that performs harvesting work in a farm field. The configuration of the reaping device H will be described in detail below.

[0046] [Configuration of the harvesting device] As shown in Figures 1 and 2, the reaping device H includes a reaping frame 20. The reaping frame 20 is configured to receive crops cut by the cutting blade 15.

[0047] The mowing frame 20 has left and right side walls 21, a rear wall 22, and a bottom plate 23. The rear wall 22 is located at the rear end of the mowing frame 20 and is provided so as to span the left and right side walls 21.

[0048] That is, the mowing frame 20 has left and right side walls 21 and a rear wall 22 that is located at the rear end of the mowing frame 20 and spans the left and right side walls 21.

[0049] The bottom plate 23 is located at the lower part of the reaping frame 20. In addition, the bottom plate 23 is provided so as to span the left and right side walls 21.

[0050] Additionally, an extendable reel cylinder 17A is supported on the upper portion of the left and right side walls 21. When the reel cylinder 17A extends, the reel 17 rises relative to the cutting frame 20.

[0051] Furthermore, when the reel cylinder 17A is retracted, the reel 17 descends relative to the cutting frame 20.

[0052] 1, this configuration allows the reel 17 to be raised and lowered relative to the mowing frame 20. That is, the mowing device H is provided with a reel cylinder 17A that raises and lowers the reel 17.

[0053] 2, the cutting blade 15 is supported by a bottom plate 23. The cutting blade 15 extends in the left-right direction.

[0054] The cutting blade 15 has a fixed blade 30 and a movable blade 31. The fixed blade 30 is provided in a state where it protrudes forward. The fixed blade 30 is supported by the bottom plate 23. The movable blade 31 reciprocates in the left-right direction of the machine body by a driving force transmitted from a movable blade driving mechanism (not shown). As a result, the movable blade 31 reciprocates in the left-right direction of the machine body relative to the fixed blade 30. The cutting blade 15 cuts the planted stalks with the fixed blade 30 and the movable blade 31.

[0055] 2 indicates the center position in the left-right direction of the mowing frame 20. The transport device 16 is located to the left of the line P. In other words, the transport device 16 is disposed in a position offset to the left of the center position in the left-right direction of the mowing frame 20. The front end of the conveying device 16 is connected in communication with the rear wall 22 .

[0056] The reaping device H also includes an auger 40. The auger 40 is driven to rotate about an auger shaft 40b. The auger shaft 40b extends in the left-right direction of the machine body.

[0057] 2, the auger 40 has a first screw body 41, a second screw body 42, and a raking claw 43. The first screw body 41 and the second screw body 42 are formed in a spiral shape. The raking claw 43 is rod-shaped and protrudes radially outward from the auger 40.

[0058] The raking claw 43 is provided at a position facing the front end of the conveying device 16. The first screw body 41 is provided to the right of the raking claw 43. The second screw body 42 is provided to the left of the raking claw 43.

[0059] As the auger 40 rotates, the first screw body 41 transports the crops received by the reaping frame 20 to the left. At the same time, the second screw body 42 transports the crops received by the reaping frame 20 to the right. Then, the raking claws 43 rake the crops toward the rear of the machine body.

[0060] As shown in FIG. 2, the reaping device H is provided with left and right dividers 50 that protrude forward. The left divider 50 is supported on the front end of the left side wall 21. The right divider 50 is supported on the front end of the right side wall 21.

[0061] As described above, the harvesting device H comprises a harvesting frame 20, a harvesting blade 15 arranged on both the left and right sides of the harvesting frame 20, and an auger 40 arranged on both the left and right sides of the harvesting frame 20 behind the harvesting blade 15 and driven to rotate to transport the crops laterally.

[0062] As shown in Fig. 2, the reaping device H is equipped with a soil cover 51. The soil cover 51 is an L-shaped plate member extending in the left-right direction of the machine body, and is disposed on the upper surface of the front end portion of the bottom plate 23 with the bent portion facing upward. The soil cover 51 is disposed immediately behind the cutting blade 15. The soil cover 51 prevents soil in the field from being taken into the reaping device H.

[0063] As shown in FIG. 3, the combine harvester includes a photographing device 61, a display input device 62 (an example of an operating tool), a notification device 63, and a control device 80.

[0064] The imaging device 61 is disposed in front of the left side surface of the driver unit 12. The imaging device 61 captures an image of the reaping device H from diagonally above, generates an image (a still image or a video), and outputs the image to the control device 80.

[0065] The display input device 62 is configured to be able to receive input of manual operations and display information. The display input device 62 may be provided in the driving unit 12, or may be a portable information terminal carried by the operator. The manual operations received by the display input device 62 may be touch input to a screen, operations to keys or switches provided on the display input device 62, or voice input.

[0066] The notification device 63 is a device that notifies the operator. The notification device 63 is, for example, a buzzer, a speaker, a lamp, a display device, a communication device, etc. The display input device 62 may have the function of the notification device 63.

[0067] The control device 80 is a so-called ECU, and includes a memory (such as a HDD or non-volatile RAM, not shown) that stores programs corresponding to functional units described below, and a CPU (not shown) that executes the programs. The functions of each functional unit are realized by the CPU executing the programs. In other words, the control device 80 includes a non-transitory recording medium that stores the programs.

[0068] The control device 80 includes, as functional units, a determination unit 81, a machine control unit 82, and a notification control unit 83. The determination unit 81 includes an estimation unit 81a, a determination unit 81b, and a change unit 81c. Details of these functional units will be described later.

[0069] [Detection device] The combine harvester is equipped with a detection device X that detects that soil has been taken into the harvesting device H. In this embodiment, the detection device X is composed of a photographing device 61 and a determination unit 81 that determines whether soil has been taken in based on an image generated by the photographing device 61.

[0070] The detection device X has at least a portion of the mowing device H as its detection target area. In this embodiment, the detection device X has the area Y ( FIG. 2 ) between the cutting blade 15 and the auger 40 as its detection target area. More specifically, the photographing device 61 photographs the entire mowing device H. The photographing area of ​​the photographing device 61 includes the area Y. In other words, the area Y is captured in the image generated by the photographing device 61. In this embodiment, the area Y is a rectangular area that extends to the left and right of the mowing frame 20.

[0071] In this embodiment, the determination by the determining unit 81 is performed as follows.

[0072] The estimation unit 81a estimates the intake amount, which is the amount of soil taken in by the reaping device H, using a learned model based on the image generated by the photographing device 61. The determination unit 81b determines whether the intake amount estimated by the estimation unit 81a is larger than a threshold value. The threshold value is set in advance. The determination unit 81 determines that soil has been taken in by the reaping device H when the determination result of the determination unit 81b indicates that the intake amount is larger than the threshold value.

[0073] The generation of the trained model will be described with reference to FIG. 4. A plurality of images IM taken of the state in which soil has been taken into the harvester H are used as input data, and information IF indicating the amount of soil taken in each image IM is prepared and used as teacher data. The input data may include an image taken of the state in which no soil has been taken into the harvester H. Then, the machine learning unit 90, which is a functional unit of the computer, generates a trained model Z by machine learning using the input data and the teacher data. The trained model Z is configured to receive an input of an image generated by the photographing device 61, estimate and output the amount of soil taken in, which is the amount of soil taken into the harvester H. The trained model Z generated in this manner is included in the estimation unit 81a of the judgment unit 81. The machine learning unit 90 may be provided in the control device 80 of the combine harvester, or may be provided outside the combine harvester. The trained model Z generated in advance may be provided in the control device 80 when the combine harvester is manufactured.

[0074] The change unit 81c changes the threshold value used by the determination unit 81b for determination, based on a manual operation received from the display input device 62. For example, the change unit 81c causes the display input device 62 to display a screen for receiving a change in the threshold value, and waits for the input of a manual operation to the display input device 62.

[0075] The machine control unit 82 changes the operation parameters of the machine 1 in response to the detection device X detecting that soil has been taken into the reaping device H. Examples of changes in the operation parameters include the following items.

[0076] Decrease in running speed: The machine control unit 82 decreases the running speed as an operating parameter. Specifically, the machine control unit 82 controls the hydraulic continuously variable transmission to reduce the traveling speed of the traveling device 11. The change amount of the operating parameter (amount of reduction in the traveling speed) can be, for example, a predetermined amount, a reduction to a predetermined speed, a reduction according to the amount of soil taken in (the greater the amount of soil taken in, the greater the reduction in the traveling speed), etc.

[0077] Stop: The machine control unit 82 changes the running speed as an operation parameter to zero. Specifically, the machine control unit 82 controls the hydraulic continuously variable transmission to gradually reduce the running speed of the traveling device 11, and finally changes the running speed to zero, thereby stopping the machine 1.

[0078] Lifting of the reaping device H: The machine body control unit 82 increases the height of the reaping device H as an operating parameter. Specifically, the machine body control unit 82 controls and extends the reaping cylinder 16A, thereby lifting the reaping device H.

[0079] Stopping the reaping device H: The machine control unit 82 changes the operating state of the reaping device H as an operating parameter to "stop." Specifically, the machine control unit 82 controls a mowing clutch (not shown) that turns on and off the power transmission from the engine E to the reaping device H, thereby stopping the reaping device H.

[0080] The above-mentioned operation parameter changes may be performed for only one item, or may be performed for multiple items simultaneously or sequentially.

[0081] The notification control unit 83 activates the notification device 63 in response to the detection device detecting that soil has been taken into the reaping device H. That is, the notification control unit 83 activates the notification device 63 in response to the determination unit 81 determining that soil has been taken into the reaping device H. For example, the notification control unit 83 activates a buzzer and a lamp as the notification device 63. The notification control unit 83 causes the display input device 62 as the notification device 63 to display a screen notifying that soil has been taken in.

[0082] The notification control unit 83 may be configured to notify the uptake amount estimated by the estimation unit 81a via the notification device 63. For example, the notification control unit 83 causes the display input device 62 serving as the notification device 63 to display a screen (e.g., a bar graph, numerical values, etc.) indicating the uptake amount.

[0083] [Modifications] (1) The determination unit 81 may be configured to determine whether soil has been taken in without estimating the intake amount, which is the amount of soil taken in by the reaping device H. In other words, a configuration is also possible in which the determination unit 81 does not include the estimation unit 81a.

[0084] In this example, the determination unit 81 may include a trained model generated by machine learning that receives an image generated by the photographing device 61 and outputs information indicating whether soil has been taken in. The trained model is generated by machine learning using an image captured of a state in which soil has been taken in the reaping device H as input data and information specifying an area in the image that corresponds to soil as training data. The input data may include an image captured of a state in which no soil has been taken in the reaping device H.

[0085] In addition, the judgment unit 81 may be equipped with both the trained model of this example and the trained model of the embodiment described above.

[0086] (2) The detection target area of ​​the detection device X is not limited to the area Y in the above example. The detection target area of ​​the detection device X may be the entire harvesting device H. The detection target area of ​​the detection device X may be at least a part of the transport device 16. In this case, the photographing device 61 is disposed so as to be able to photograph the area of ​​the transport device 16 where the crops are transported. The photographing device 61 is provided, for example, at the entrance, inside, or exit of the transport device 16.

[0087] (3) The photographing device 61 may be provided in another location. For example, the photographing device 61 may be provided at the tip of the grain discharge device 18. The photographing device 61 may be provided at the front end of the upper part of the driving unit 12. The combine harvester may be provided with multiple photographing devices 61.

[0088] (4) The photographing device 61 may be used in combination with a photographing device for other purposes. For example, the photographing device 61 may be used as a device (surround view camera) that photographs the surroundings of the combine harvester body 1. The photographing device 61 provided at the tip of the grain discharge device 18 may be used as a device that photographs the state of grain discharge from the grain discharge device 18.

[0089] (5) The upper surface of the bottom plate 23 may be colored. For example, the upper surface of the bottom plate 23 may be colored white, gray, yellow, or another color so that it can be easily distinguished from the soil.

[0090] (6) The detection device X may be configured not to include the image capturing device 61. For example, the detection device X may be configured to detect that soil has been taken into the reaping device H by a Lidar sensor, a weight sensor, a pressure sensor, or the like.

[0091] (7) The detection device X may be configured to detect that soil has been taken into the reaping device H without relying on a trained model based on machine learning. For example, the determination unit 81 of the detection device X may be configured to analyze an image generated by the photographing device 61 and detect that soil has been taken into the reaping device H. For example, the determination unit 81 may be configured to determine that soil has been taken into the reaping device H in response to the presence of a soil-colored (brown) area in the detection target area of ​​the image generated by the photographing device 61. [Industrial Applicability]

[0092] The present invention is applicable to a combine harvester equipped with a harvesting device, a conveying device, and a threshing device. The present invention can also be applied to an automatically traveling combine harvester. [Explanation of symbols]

[0093] 1: Aircraft 13: Threshing equipment 15: Cutting blade 16: Transport device 20: Harvesting frame 40: Ogre 61: Imaging device 62: Display and input device (operating tool) 63: Notification device 81: Judgment Department 81a: Estimation section 81b: Judgment section 81c: Changes 82: Aircraft control unit 83: Notification control unit H: Reaping device X:Detection device Z: trained model

Claims

1. A harvesting device having a cutting blade for harvesting crops in a field; a conveying device that conveys the crops harvested by the harvesting device; A threshing device that performs a threshing process on the crops supplied by the conveying device; A detection device that detects that soil has been introduced into the reaping device, The detection device detects an area of ​​the harvesting device rearward of the cutting blade.

2. The combine harvester according to claim 1 , wherein the detection device comprises: a photographing device; and a determination unit that determines whether soil has been taken in based on an image generated by the photographing device.

3. The combine harvester according to claim 2 , wherein the judgment unit includes a machine-learned trained model that receives an image generated by the photographing device and outputs information indicating whether soil has been taken in.

4. The combine harvester according to claim 3, wherein the trained model is generated by machine learning using an image of soil being taken into the harvesting device as input data and information specifying an area in the image corresponding to soil as training data.

5. The reaping device includes a reaping frame and an auger that is provided behind the blade on both sides of the reaping frame and is driven to rotate to laterally transport the crops. The cutting blade is provided across the left and right sides of the cutting frame, The combine harvester according to claim 1 , wherein the detection device detects an area between the cutting blade and the auger.

6. The combine harvester according to any one of claims 1 to 5, further comprising a machine control unit that changes operating parameters of the machine in response to the detection device detecting that soil has been taken into the harvesting device.

7. The combine harvester according to claim 6 , wherein the machine control unit reduces a traveling speed as one of the operating parameters in response to the detection device detecting that soil has been taken into the reaping device.

8. The combine harvester according to claim 6 or 7, wherein the machine control unit changes a traveling speed as one of the operation parameters to zero in response to the detection device detecting that soil has been taken into the harvesting device.

9. The detection device includes a photographing device and a determination unit that determines whether soil has been taken in based on an image generated by the photographing device, The combine harvester described in any one of claims 1 to 8, wherein the judgment unit includes an estimation unit that estimates an intake amount, which is the amount of soil taken in by the harvesting device, using a learned model, and a judgment unit that determines whether the intake amount is greater than a threshold value, and judges that soil has been taken in by the harvesting device when the judgment result of the judgment unit indicates that the intake amount is greater than the threshold value.

10. The combine harvester according to claim 9, wherein the trained model is generated by machine learning using an image of soil being taken into the harvesting device as input data and information indicating the amount of soil taken in the image as training data.

11. An operating tool is provided for accepting input of a manual operation, The combine harvester according to claim 9 or 10, wherein the determination unit includes a change unit that changes the threshold value based on a manual operation received from the operating tool.

12. A combine harvester as claimed in any one of claims 1 to 11, comprising: an alarm device; and an alarm control unit that activates the alarm device in response to the detection device detecting that soil has been taken into the harvesting device.

13. An alarm device and an alarm control unit that controls the operation of the alarm device, The detection device includes an estimation unit that estimates an intake amount, which is the amount of soil taken in by the reaping device, The combine harvester according to claim 1 , wherein the notification control unit notifies the intake amount via the notification device.

Images