Harvesting machine, obstacle determination program, recording medium on which obstacle determination program is recorded, obstacle determination method, agricultural work machine, control program, recording medium on which control program is recorded, and control method

Abstract

A harvesting machine includes: a machine main body; a harvesting unit provided forward of the machine main body and capable of swinging upward and downward relative to the machine main body; a height detection unit capable of detecting a height position at which the harvesting unit is located; and an obstacle detection unit capable of detecting an obstacle located forward thereof in a travel direction. The obstacle detection unit includes: a first sensor and a second sensor provided at different positions in a vertical direction, and output detection information regarding a detection area located forward thereof in the travel direction; a selection unit that selects at least either the detection information from the first sensor or the detection information from the second sensor based on the height position of the harvesting unit and a determination unit that determines the obstacle based on the detection information selected by the selection unit.