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Rice lodging not only affects the harvesting efficiency of the combine harvester, but also increases harvesting losses. When a combine harvester harvests lodging rice, it is necessary to adjust the operating parameters such as header height, reel position, and operating speed in a timely manner based on the morphological characteristics of the lodging rice. In order to reduce header loss and realize adaptive adjustment of header working parameters during harvesting of lodging rice, this paper proposes a characterization method of lodging rice morphology features, constructs a recogni-tion system of lodging rice morphology features based on machine vision, proposes a header height control strategy of combine harvester based on inverse linear quadratic form robust feedback linearization, and constructs a control model of reel position and rotation speed according to lodging rice morphology feature parame-ters, Realized adaptive adjustment of header working parameters when the combine harvester harvests collapsed rice, providing technical support for achieving un-manned driving of the combine harvester.