HARVESTER

To provide a harvester that can suitably detect a current above-ground height of a harvesting part with respect to a field surface in front of the harvesting part.SOLUTION: A harvester comprises: a harvesting part 4 supported by a machine body so as to be capable of being vertically elevated/lowered, and for harvesting crops in a field; an imaging device 13 provided in the harvesting part 4, and for imaging a field surface located in front of the harvesting part 4 as an object to be imaged during working travel; a position calculation unit 21 for calculation positional information of the object to be imaged shown in an image taken by the imaging device 13, on the basis of the image; a flat surface determination unit 22 for determining a flat surface portion F in the object to be imaged on the basis of the positional information; a distance calculation unit 23 for calculating a distance D between the flat surface portion F and the imaging device 13; and a height calculation unit 24 for calculating a current above-ground height H of the harvesting part 4 with respect to the field surface on the basis of the distance D.SELECTED DRAWING: Figure 3 【課題】収穫部の前方における圃場面に対する収穫部の現状対地高さを好適に検出できる収穫機の提供。【解決手段】機体に上下昇降可能に支持され、圃場の作物を収穫する収穫部４と、収穫部４に設けられ、作業走行中に、収穫部４の前方に位置する圃場面を撮像対象として撮像する撮像装置１３と、撮像装置１３によって撮像された撮像画像に基づいて、撮像画像に写っている撮像対象の位置情報を算出する位置算出部２１と、位置情報に基づいて撮像対象における平面部分Ｆを特定する平面特定部２２と、平面部分Ｆと撮像装置１３との距離Ｄを算出する距離算出部２３と、距離Ｄに基づいて圃場面に対する収穫部４の現状対地高さＨを算出する高さ算出部２４と、が備えられている。【選択図】図３