PROBLEM TO BE SOLVED: To prevent a reaping part from diving to a ground or high level-cutting surely by quickly lifting vertically the reaping part to lifting and lowering position, based on the actual attitude of a machine body.SOLUTION: This combine 1 equipped with the reaping part 4 supported on the machine body as capable of controlling the lifting vertically, and a controlling means 30 for lifting up and down-controlling the reaping part 4 by using a lifting up and down means includes an inclining angle-detecting means 32 for detecting a front to rear inclining angle, based on a horizontal standard surface of the machine body, an angular velocity-detecting means 33 for detecting the angular velocity of pitching of the machine body, and a lifted vertical position-detecting means 35 for detecting the lifted vertical position of the reaping part 4 relative to the machine body, forecasts the posture of the machine body after the detection by the controlling means 30, based on the detected values by the inclining angle-detecting means 32 and the detected values by the angular velocity-detecting means 33, and performs the lifting vertical controlling, by lifting vertically the reaping part 4 until the forecasted lifting up and down position set in accordance with the forecasted result.COPYRIGHT: (C)2009,JPO&INPIT【課題】刈取部を実際の機体の姿勢に即した昇降位置に速やかに昇降させて、該刈取部の地面への突っ込みや高刈りを確実に防止する。【解決手段】機体に昇降制御可能に支持した刈取部4と、該刈取部4を昇降手段により昇降制御する制御手段30とを備えるコンバイン1において、前記機体の水平基準面に対する前後傾斜角度を検出する傾斜角検出手段32と、前記機体のピッチングの角速度を検出する角速度検出手段33と、前記刈取部4の機体に対する昇降位置を検出する昇降位置検出手段35とを備え、前記制御手段30により傾斜角検出手段32の検出値と角速度検出手段33の検出値とに基づいて検出後の機体の姿勢を予測し、その予測結果に応じて設定した予測昇降位置まで前記刈取部4を昇降させる昇降制御を行う。【選択図】図2
