PROBLEM TO BE SOLVED: To provide a technique suited to automation of reaping and harvesting work of lodged grain culm when a combine-harvester is automatically controlled.SOLUTION: The combine-harvester includes crain culm height detection means (2) for illuminating the front of a reaper (17) to detect vegetation height of unreaped grain culm. When the grain culm height detected by the grain culm height detection means (2) is lower than a prescribed height, the combine-harvester performs lodging processing control (80). Further the combine-harvester includes an undercarriage height detection sensor (81) for detecting the ground height of an undercarriage (6), and an inclination sensor (82) for detecting the inclination of the undercarriage (6). The grain culm height detected by the grain culm height detection means (2) is corrected by the height of the undercarriage (6) detected by the undercarriage height detection sensor (81) and the inclination angle detected by the inclination sensor (82).COPYRIGHT: (C)2016,JPO&INPIT【課題】本発明は、コンバインを自動制御するにあたって、前記の倒伏穀稈の刈取収穫作業等の自動化に適した技術を提供することを課題とする。【解決手段】刈取装置(17)の前方を照射して未刈穀稈の植生高さを検出する穀稈高さ検出手段(2)を設け、穀稈高さ検出手段(2)で検出する穀稈高さが所定より低い場合に倒伏処理制御(80)を行う。また、車台(6)の地上高を検出する車台高さ検出センサ(81)と車台(6)の傾きを検出する傾斜センサ(82)を設け、該高車台さ検出センサ(81)が検出する車台(6)の高さと傾斜センサ(82)が検出する傾斜角度で穀稈高さ検出手段(2)が検出する穀稈高さを補正する。【選択図】図1
