JP7700827B2 - Harvesting Machine - Google Patents

Description

The present invention relates to a harvester equipped with a threshing device that threshes the grain stalks harvested by the harvesting device.

Conventionally, there is a harvester that controls the air volume of the winnower and the opening of the sieve by detecting the amount of grain using a layer thickness sensor that detects the layer thickness of the material to be processed and is installed on the swinging sorting shelf of the threshing device (see Patent Document 1).

JP 2018-057402 A

Since the winnower air volume and sieve opening are controlled within a single range of increase or decrease, sorting control may be performed at an air volume or sieve opening that is not optimal for the amount of grain, which may result in a reduction in yield.

Therefore, the present invention aims to provide a harvester that can perform sorting control with optimal air volume and sieve opening.

The invention described in claim 1 is a harvester equipped with a winnowing machine (20) and a sieve (18) in a sorting device (16) that separates and sorts grains from the stalks harvested and transported by a harvesting device (4) and separates grains from impurities such as straw, and a grain quantity sensor (25) that detects the amount of grains passing through the sorting device (16), the harvester is characterized in that it has a plurality of control modes with different change ranges for the wind force of the winnowing machine (20) and the opening of the sieve (18), classifies the level of grain quantity based on the detection value of the grain quantity sensor (25), and determines the control mode according to the classified level to perform sorting by the threshing device (3), and the change range of the wind force of the winnowing machine (20) and the opening of the sieve (18) for each control mode is configured to be changeable .

According to the invention described in claim 1, a plurality of control modes with different change ranges for the wind power of the winnower 20 and the opening degree of the sieve 18 are provided, and the control mode is determined by the detection value of the grain amount sensor 25, so that sorting control can be performed with the optimum air volume and sieve opening degree. Also, the change ranges for the wind power of the winnower (20) and the opening degree of the sieve (18) in each control mode are configurable, so that they can be set to suit the variety and working environment, improving sorting accuracy and working efficiency.

The invention described in claim 2 is the harvester described in claim 1, which is provided with setting units 40U, 40D, 43U, and 43D that set the minimum and maximum limits of the range of change of the wind force of the winnower 20 and the opening of the sieve 18 for each control mode, and the control of each control mode starts from the minimum limit.

According to the invention described in claim 2, setting units 40U, 40D, 43U, and 43D are provided to set the minimum and maximum limits of the change range of the wind power of the winnower 20 and the opening of the sieve 18 for each control mode, so that settings can be made that are suitable for the variety and working environment, improving sorting accuracy and work efficiency.

Each control mode starts from the lowest limit, preventing the winnower 20 from having too strong a wind force or the sieve 18 from being opened too widely, reducing sorting errors and losses.

The invention described in claim 3 is a harvester according to claim 1 or claim 2, which is provided with a front camera 7 for photographing the culms to be harvested in front of the machine and/or a rear camera 8 for photographing the waste straw discharged to the rear of the machine, and which automatically corrects the wind force of the winnower 20 and the opening of the sieve 18 when the number of green pixels of the culms to be harvested in front is equal to or greater than a predetermined value by analyzing the image taken by the front camera 7 and/or when the number of grains with stalks attached to the discharged straw is equal to or greater than a predetermined value by analyzing the image taken by the rear camera 8.

According to the invention described in claim 3, a front camera 7 is provided to photograph the culms to be harvested in front of the machine body, and/or a rear camera 8 is provided to photograph the waste straw discharged to the rear of the machine body. When the image captured by the front camera 7 is analyzed to determine that the number of green pixels of the culms to be harvested in front is equal to or greater than a predetermined value, and/or when the image captured by the rear camera 8 is analyzed to determine that the straw waste discharged has a predetermined value or more of grains with stalks attached, the wind force of the winnower 20 and the opening of the sieve 18 are automatically corrected, allowing for appropriate sorting and preventing a decrease in yield.

The invention described in claim 4 is a harvester according to claim 1 or claim 2, which judges whether the harvested stalks are wet or not based on the detection value of a moisture meter 28 that measures the moisture content of the stalks and is provided in a conveying section that conveys the harvested stalks by the harvesting device 4 toward the threshing device 3, and when it is determined that the harvested stalks are wet, increases the air volume of the winnower 20 and increases the opening of the sieve 18.

According to the invention described in claim 4, whether the harvested stalks are wet or not is determined based on the detection value of a moisture meter 28 that measures the moisture content of the stalks and is provided in the transport section that transports the harvested stalks by the harvesting device 4 toward the threshing device 3. If it is determined that the harvested stalks are wet, the air volume of the winnowing machine 20 is increased and the opening of the sieve 18 is made larger, thereby reducing the amount of ears that are not separated from the grains and are discharged together with the straw, thereby preventing a decrease in yield.

FIG. 1 is a side view of a combine harvester according to an embodiment of the present invention. FIG. 2 is a side cross-sectional view of the threshing device of the combine. FIG. 2 is a side cross-sectional view of the main parts of the threshing device. FIG. 4 is a side view for explaining the operation of the layer thickness sensor. FIG. FIG. 4 is an explanatory diagram of the operation of the wind force control setting unit. 5 is an explanatory diagram of the operation of an opening control setting unit. FIG. FIG. FIG.

Below, a combine harvester, which is one embodiment of the harvester of the present invention, will be described in detail with reference to the drawings.

For ease of understanding, the following descriptions will be used for convenience, referring to the front as the front side, the rear as the rear side, the right hand side as the right side, and the left hand side as the left side, as viewed from the pilot's perspective; however, the present invention is not limited to these descriptions.

As shown in FIG. 1, 1 is the machine frame, 2 is a running device attached to the bottom of the machine frame 1, 3 is a threshing device attached to the machine frame 1, 4 is a harvesting device, 5 is a grain tank, and 6 is a control unit attached to one side in front of the threshing device 3.

The harvesting device 4 is attached so that it can move up and down freely using the harvesting up and down cylinder.

A front camera 7 is provided at the top front of the harvesting device 4 to capture images of the stalks to be harvested in front.

The control device 27 performs image analysis on the image sent from the front camera 7 to determine whether the number of green pixels of the stalks to be harvested in front is equal to or greater than a predetermined value. If the number of green pixels of the stalks to be harvested is equal to or greater than a predetermined value, it determines that a large air volume from the winnower 20 is required at the beginning of the optimum harvest period, and that the opening of the sieve 18 needs to be increased.

A rear camera 8 is installed at the upper rear of the aircraft to capture images of the straw being discharged.

The control device 27 performs image analysis on the image sent from the rear camera 8 to determine whether the straw chips being discharged contain a predetermined number of grains with stalks attached. If the straw chips being discharged contain a predetermined number of grains with stalks attached, it determines that a large air volume is required from the winnower 20 and that the opening of the sieve 18 needs to be increased.

In addition, the transport section that transports the harvested stalks by the harvesting device 4 toward the threshing device 3 is equipped with a moisture meter 28 that measures the moisture content of the rice.

The control device 27 judges whether the harvested rice is moist or not based on the detection value sent from the moisture meter 28. If it judges that the harvested rice is moist, it increases the airflow of the winnower 20 and controls the opening of the sieve 18 to be larger.

The aircraft is also equipped with a vehicle speed sensor 29.

The control device 27 recognizes the current vehicle speed based on the detection value sent from the vehicle speed sensor 29.

GNSS30 is also installed on the top of the aircraft.

The control device 27 records map data, calculates the current aircraft position based on input from the GNSS 30, and stores it in chronological order in the map data.

As shown in Figures 2 and 3, a threshing chamber 10 is provided above the threshing device 3 to thresh the stalks harvested by the harvesting device 4 and transported by the feed chain 9, and a threshing drum 11 is mounted on a threshing drum shaft 12 within the threshing chamber 10.

The lower side of the handling drum 11 is mainly surrounded by the handling net 15.

Below the handling net 15 is a transfer shelf 17 at the beginning of a swinging sorting shelf 16 that serves as a sorting device. A sieve 18 that separates grains from foreign objects is provided on the downstream side of the transfer shelf 17, and a straw rack 19 that can transport straw scraps is provided on the downstream side of the sieve 18.

A winnowing machine 20 is provided below the transfer shelf 17 of the oscillating sorting shelf 16, and the winnowing machine 20 blows air toward the oscillating sorting shelf 16.

21 is conveyor number 1 and 22 is conveyor number 2.

As shown in Figures 2 to 4, a layer thickness sensor 25 is provided at a predetermined position above the oscillating sorting shelf 16 in the center on the left and right. The layer thickness sensor 25 serves as a grain quantity sensor that detects the layer thickness of grains (material to be processed) on the oscillating sorting shelf 16.

The layer thickness sensor 25 has a sensor body 25a at the center of the left and right of the mounting stay 26 fixed to the left and right machine frames of the threshing device 3, and a detection arm 25b, the base of which is rotatably attached to the sensor body 25a, extends toward the oscillating sorting shelf 16, and the detection arm 25b is rotatable upward from the initial angle A.

The layer thickness sensor 25 rotates the detection arm 25b upward from an initial angle A depending on the layer thickness of the grains on the oscillating sorting shelf 16, and the sensor body 25a sends a detection voltage to the control device 27 according to the rotation angle.

In other words, when the layer thickness of the grains on the oscillating sorting shelf 16 is thin (the amount of grains is small), a low detection voltage is sent to the control device 27, and as the layer thickness increases (the amount of grains increases), a high detection voltage is sent, so that the control device 27 can recognize the layer thickness of the grains on the oscillating sorting shelf 16 based on the detection voltage from the layer thickness sensor 25.

Specifically, the threshold value is the range in which the detection arm 25b of the layer thickness sensor 25 rotates upward from the initial angle A by less than 5 degrees, the noise region in which impurities and the like are moving on the oscillating sorting shelf 16 is defined, and the sensor voltage value output by the layer thickness sensor 25 is less than 1 V.

The range in which the detection arm 25b of the layer thickness sensor 25 rotates upward from the initial angle A by 5 degrees or more and less than 15 degrees is the area where a small amount of grains are moving on the oscillating sorting shelf 16, and the sensor voltage value output by the layer thickness sensor 25 is 1V or more and less than 3V.

The range in which the detection arm 25b of the layer thickness sensor 25 rotates upward from the initial angle A by 15 degrees or more and less than 30 degrees is the medium grain amount region where a medium amount of grains are moving on the oscillating sorting shelf 16, and the sensor voltage value output by the layer thickness sensor 25 is 3V or more and less than 5V.

The range in which the detection arm 25b of the layer thickness sensor 25 rotates upward from the initial angle A by 30 degrees or more but less than 45 degrees is the grain volume region in which a large amount of grains are moving on the oscillating sorting shelf 16, and the sensor voltage value output by the layer thickness sensor 25 is 5 V or more.

Figure 5 is a control block diagram, in which a moisture meter 28, a vehicle speed sensor 29, a GNSS 30, a layer thickness sensor 25, a front camera 7, and a rear camera 8 are connected to the input side of the control device 27, and a speed change device 20a that changes the rotation speed of the winnower 20 and a sheave rotation motor 18a that changes the opening of the sheave 18 are connected to the output side.

Figure 6 shows the wind power control setting section of the winnower 20 provided in the control section 6, in which the control device 27 controls the speed change device 20a to change the rotation speed of the winnower 20 and automatically sets the range for changing the wind power to MAX mode, MID mode, and MIN mode, and the minimum and maximum wind powers for each mode are manually set using the first manual increase/decrease buttons 40U and 40D, and the manually set wind power is displayed on the first display section 41, showing an example of the display.

That is, in MAX mode, the minimum and maximum wind speeds of the winnower 20 are manually set in the range of 1.8 m/s to 3.3 m/s using the first manual increase/decrease buttons 40U, 40D, and the set wind speeds are displayed on the first display unit 41. Note that the diagram on the left side of the MAX mode in Figure 6 is an example of the display when the minimum wind speed is manually set, and the diagram on the right side of the MAX mode is an example of the display when the maximum wind speed is manually set.

In the MID mode, the minimum and maximum wind speeds of the winnower 20 are manually set in the range of 1.4 m/s to 2.8 m/s using the first manual increase/decrease buttons 40U, 40D, and the set wind speeds are displayed on the first display unit 41. Note that the diagram on the left side of the MID mode in Figure 6 is an example of the display when the minimum wind speed is manually set, and the diagram on the right side of the MID mode is an example of the display when the maximum wind speed is manually set.

In the MIN mode, the minimum and maximum wind speeds of the winnower 20 are manually set in the range of 0.9 m/s to 2.4 m/s using the first manual increase/decrease buttons 40U, 40D, and the set wind speed is displayed on the first display unit 41. Note that the diagram on the left side of the MIN mode in Figure 6 is an example of the display when the minimum wind speed is manually set, and the diagram on the right side of the MIN mode is an example of the display when the maximum wind speed is manually set.

As explained below in the control flow diagrams of Figures 8 and 9, the control device 27 controls the speed change device 20a to change the rotation speed of the winnower 20 and automatically sets the range for changing the wind power to MAX mode, MID mode, and MIN mode. However, in priority to the automatic setting by this control, it is also possible to manually switch to any of MAX mode, MID mode, and MIN mode using the first mode manual switch button 42 in the wind power control setting section.

Figure 7 shows the sheave 18 opening control setting section provided in the control section 6, in which the control device 27 controls the sheave rotation motor 18a to automatically set the range for changing the sheave 18 opening to MAX mode, MID mode, and MIN mode, and the lowest and highest opening limits for each mode are manually set using the second manual increase/decrease buttons 43U and 43D, and the manually set opening is displayed on the second display section 44.

That is, in the MAX mode, the lowest limit opening and the highest limit opening of the sheave 18 are manually set in the range of 60 degrees to 90 degrees using the second manual increase/decrease buttons 43U, 43D, and the set opening is displayed on the second display unit 44. Note that the diagram on the left side of the MAX mode in FIG. 7 is an example of the display when the lowest limit opening is manually set, and the diagram on the right side of the MAX mode is an example of the display when the highest limit opening is manually set.

In the MID mode, the lowest and highest opening degrees of the sheave 18 are manually set in the range of 45 degrees to 75 degrees using the second manual increase/decrease buttons 43U, 43D, and the set opening degrees are displayed on the second display unit 44. Note that the diagram on the left side of the MAX mode in Figure 7 is an example of the display when the lowest opening degree is manually set, and the diagram on the right side of the MAX mode is an example of the display when the highest opening degree is manually set.

In the MIN mode, the lowest and highest opening degrees of the sheave 18 are manually set in the range of 30 degrees to 60 degrees using the second manual increase/decrease buttons 43U, 43D, and the set opening degrees are displayed on the second display unit 44. Note that the diagram on the left side of the MAX mode in Figure 7 is an example of the display when the lowest opening degree is manually set, and the diagram on the right side of the MAX mode is an example of the display when the highest opening degree is manually set.

As explained below in the control flow diagrams of Figures 8 and 9, the control device 27 controls the sheave rotation motor 18a to automatically set the range in which the opening of the sheave 18 is changed to MAX mode, MID mode, or MIN mode. However, in preference to the automatic setting by this control, it is also possible to manually switch to any of MAX mode, MID mode, and MIN mode using the second mode manual switch button 45 in the opening control setting section.

Next, based on the control flow diagrams of Figures 8 and 9, we will explain the method of controlling the wind force of the winnower 20 and the opening angle of the sieve 18 when the combine is performing harvesting operations.

Figure 8 is a control flow diagram that analyzes the images captured by the front camera 7 and reflects the results in the wind force control of the winnower 20 and the opening control of the sieve 18.

When the combine engine is started, it reads the minimum and maximum wind forces of each winnower 20 in MAX mode, MID mode, and MIN mode, which have been manually set using the first manual increase/decrease button 40U, 40D of the winnower 20's wind control setting section, reads the minimum and maximum opening degrees of each sieve 18 in MAX mode, MID mode, and MIN mode, which have been manually set using the second manual increase/decrease button 43U, 43D of the sieve 18 opening control setting section, determines whether the machine is moving based on the detection value of the vehicle speed sensor 29, determines the amount of grain based on the detection value of the layer thickness sensor 25, and calculates the number of green pixels by analyzing the image captured by the front camera 7.

When harvesting work begins (when control begins), the wind force of the winnower 20 and the opening degree of the sieve 18 are controlled in MID mode, the wind force of the winnower 20 is controlled according to the detection value of the layer thickness sensor 25 within the range of the lowest wind force and the highest wind force set in the MID mode, and the opening degree of the sieve 18 is controlled within the range of the lowest opening degree and the highest opening degree set in the MID mode.

In addition, the larger the detection value of the layer thickness sensor 25 (the greater the amount of grains), the stronger the wind force of the winnower 20 is increased and the opening degree of the sieve 18 is increased.

Then, when the detection value of the layer thickness sensor 25 becomes greater than a predetermined value (when the amount of grains becomes greater than a predetermined value), the control device 27 changes from MID mode to MAX mode, controls the wind force of the winnower 20 according to the detection value of the layer thickness sensor 25 within the range of the lowest wind force and the highest wind force set in the MAX mode, and controls the opening of the sieve 18 within the range of the lowest opening and the highest opening set in the MAX mode.

The image captured by the front camera 7 is then analyzed, and if the number of green pixels of the stalks to be harvested in front is equal to or greater than a predetermined value, the wind force of the winnower 20 is increased (the wind volume is increased) and the opening of the sieve 18 is increased.

In addition, when the detection value of the layer thickness sensor 25 becomes smaller than a predetermined value (when the amount of grains becomes smaller than a predetermined value), the control device 27 changes from MID mode to MIN mode, controls the wind force of the winnower 20 according to the detection value of the layer thickness sensor 25 within the range of the minimum wind force and maximum wind force set in the MIN mode, and controls the opening of the sieve 18 within the range of the minimum opening degree and the maximum opening degree set in the MIN mode.

The image captured by the front camera 7 is then analyzed, and if the number of green pixels of the stalks to be harvested in front is equal to or greater than a predetermined value, the wind force of the winnower 20 is increased (the wind volume is increased) and the opening of the sieve 18 is increased.

Figure 9 is a control flow diagram that analyzes the images captured by the rear camera 8 and reflects the results in the wind force control of the winnower 20 and the opening control of the sieve 18.

When the combine engine is started, it reads the minimum and maximum wind forces of the winnowers 20 in MAX mode, MID mode, and MIN mode, which have been manually set using the first manual increase/decrease button 40U, 40D of the winnower 20's wind control setting section, reads the minimum and maximum opening degrees of the sieves 18 in MAX mode, MID mode, and MIN mode, which have been manually set using the second manual increase/decrease button 43U, 43D of the sieve 18 opening control setting section, determines whether the machine is moving based on the detection value of the vehicle speed sensor 29, determines the amount of grain based on the detection value of the layer thickness sensor 25, and calculates the number of grains with stalk branches attached to the straw waste discharged by analyzing the image captured by the rear camera 8.

When harvesting work begins (when control begins), the wind force of the winnower 20 and the opening degree of the sieve 18 are controlled in MID mode, the wind force of the winnower 20 is controlled according to the detection value of the layer thickness sensor 25 within the range of the lowest wind force and the highest wind force set in the MID mode, and the opening degree of the sieve 18 is controlled within the range of the lowest opening degree and the highest opening degree set in the MID mode.

In addition, the larger the detection value of the layer thickness sensor 25 (the greater the amount of grains), the stronger the wind force of the winnower 20 is increased and the opening degree of the sieve 18 is increased.

Then, when the detection value of the layer thickness sensor 25 becomes greater than a predetermined value (when the amount of grains becomes greater than a predetermined value), the control device 27 changes from MID mode to MAX mode, controls the wind force of the winnower 20 according to the detection value of the layer thickness sensor 25 within the range of the lowest wind force and the highest wind force set in the MAX mode, and controls the opening of the sieve 18 within the range of the lowest opening and the highest opening set in the MAX mode.

The image captured by the rear camera 8 is then analyzed, and if the straw waste discharged contains more than a predetermined number of grains with stalks attached, the wind force of the winnower 20 is increased (air volume is increased) and the opening of the sieve 18 is made larger.

In addition, when the detection value of the layer thickness sensor 25 becomes smaller than a predetermined value (when the amount of grains becomes smaller than a predetermined value), the control device 27 changes from MID mode to MIN mode, controls the wind force of the winnower 20 according to the detection value of the layer thickness sensor 25 within the range of the minimum wind force and maximum wind force set in the MIN mode, and controls the opening of the sieve 18 within the range of the minimum opening degree and the maximum opening degree set in the MIN mode.

The image captured by the rear camera 8 is then analyzed, and if the straw waste discharged contains more than a predetermined number of grains with stalks attached, the wind force of the winnower 20 is increased (air volume is increased) and the opening of the sieve 18 is made larger.

The controls in the control flow diagrams of Figures 8 and 9 operate separately or simultaneously. In addition, when control in MAX mode, MID mode, and MIN mode starts, it starts from the lowest limit value (lowest limit wind force, lowest limit opening).

In addition, the moisture meter 28, which measures the moisture content of rice and is installed in the transport section that transports the harvested stalks by the harvesting device 4 toward the threshing device 3, detects whether the harvested stalks are moist or not, and if it is determined that the harvested stalks are moist, the air volume of the winnower 20 is increased and the opening of the sieve 18 is controlled to be larger.

The control device 27 may also calculate the current aircraft position based on input from the GNSS 30, store the wind control data for the winnower 20 and the opening control for the sieve 18 in the map data, and apply them during harvesting work in the field the following year. Note that the wind control data for the winnower 20 and the opening control for the sieve 18 may be stored in the map data for several years, allowing the appropriate data to be selected for use, or more appropriate data to be overwritten and stored.

In summary, MAX mode, MID mode, and MIN mode are provided as multiple control modes with different change ranges for the wind power of the winnower 20 and the opening of the sieve 18, and the control mode is determined by the detection value of the layer thickness sensor 25, so sorting control can be performed with the optimal air volume and sieve opening.

In addition, the first manual increase/decrease buttons 40U, 40D and the second manual increase/decrease buttons 43U, 43D are provided as setting sections for setting the minimum and maximum limits of the range of change of the wind power of the winnower 20 and the opening of the sieve 18 in the MAX mode, MID mode, and MIN mode, allowing settings to be made that are appropriate for the variety and working environment, improving sorting accuracy and work efficiency.

In addition, the MAX mode, MID mode, and MIN mode control starts from the lowest limit value, which prevents the winnower 20 from having too strong a wind force or the sieve 18 from being opened too widely, reducing sorting errors and losses.

In addition, a front camera 7 is provided to photograph the culms being harvested in front of the machine, and/or a rear camera 8 is provided to photograph the waste straw being discharged at the rear of the machine. If the image captured by the front camera 7 is analyzed and the number of green pixels of the culms being harvested in front is equal to or greater than a predetermined value, the wind force of the winnower 20 is increased and the opening of the sieve 18 is made larger. If the image captured by the rear camera 8 is analyzed and the number of grains with stalks attached in the discharged straw is equal to or greater than a predetermined value, the wind force of the winnower 20 is increased and the opening of the sieve 18 is made larger. This automatically corrects the wind force of the winnower 20 and the opening of the sieve 18, allowing for appropriate sorting and preventing a decrease in yield.

In addition, whether the harvested stalks are wet or not is determined based on the detection value of a moisture meter 28 that measures the moisture content of the stalks and is provided in the transport section that transports the harvested stalks by the harvesting device 4 toward the threshing device 3. If it is determined that the harvested stalks are wet, the air volume of the winnowing machine 20 is increased and the opening of the sieve 18 is made larger, thereby reducing the amount of ears that are not separated from the grains and are discharged together with the straw, thereby preventing a decrease in yield.

3 Thresher 4 Harvesting device 7 Front camera 8 Rear camera 16 Sorting device 18 Sieve 20 Winnower 25 Grain quantity sensor (layer thickness sensor)
28 Moisture meter 40U, 40D Setting section (first manual increase/decrease button)
43U, 43D Setting section (second manual increase/decrease button)

Claims (4)

A harvester equipped with a winnowing machine (20) and a sieve (18) in a sorting device (16) that separates grains from straw and other impurities in a threshing device (3) that separates and sorts grains from the stalks harvested and transported by a harvesting device (4) and is provided with a grain quantity sensor (25) that detects the amount of grains passing through the sorting device (16), the harvester is characterized in that it has a plurality of control modes with different change ranges for the wind force of the winnowing machine (20) and the opening degree of the sieve (18), classifies the level of grain amount based on the detection value of the grain quantity sensor (25), and determines the control mode according to the classified level to perform sorting by the threshing device (3), and is configured so that the change ranges for the wind force of the winnowing machine (20) and the opening degree of the sieve (18) for each control mode can be set . The harvester according to claim 1, characterized in that it is provided with a setting unit (40U, 40D, 43U, 43D) for setting the minimum and maximum limits of the range of change of the wind power of the winnower (20) and the opening of the sieve (18) for each control mode, and starts each control mode from the minimum limit. The harvester according to claim 1 or 2, characterized in that it is provided with a front camera (7) that photographs the culms to be harvested in front of the machine body and/or a rear camera (8) that photographs the waste straw discharged to the rear of the machine body, and automatically corrects the wind force of the winnower (20) and the opening of the sieve (18) when the number of green pixels of the culms to be harvested in front is equal to or greater than a predetermined value by analyzing the image taken by the front camera (7) and/or when the number of grains with stalks attached to the discharged straw waste is equal to or greater than a predetermined value by analyzing the image taken by the rear camera (8). The harvester according to claim 1 or 2, characterized in that it judges whether the harvested stalks are wet or not based on the detection value of a moisture meter (28) that measures the moisture content of the stalks and is provided in a conveying section that conveys the harvested stalks by the harvesting device (4) toward the threshing device (3), and when it is judged that the harvested stalks are wet, it increases the air volume of the winnower (20) and increases the opening of the sieve (18).

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