System to adjust object detection direction for agricultural machine

A system to adjust an object detection direction for an agricultural machine, the system comprising:

• a traveling vehicle body to travel;
• a detector to detect objects in a surrounding area of the traveling vehicle body, an object detection direction and an object detection range of the detector being swingable up and down;
• a detection adjuster to adjust the object detection direction of the detector;
• a position sensor to use a satellite positioning system to detect a position of the traveling vehicle body;
• a controller configured or programmed to acquire information relating to an entrance/exit of an agricultural filed located between the agricultural field and a road outside the agricultural field by reading the information from a memory or a storage which stores the information or by receiving, via a communication device, the information from a computer or a storage which stores the information;
• and
• an automatic operation controller to perform:
• a first operation control in which the automatic operation controller controls automatic operation of the traveling vehicle body while causing a working device linked to the traveling vehicle body to do work on a ground;
• and
• a second operation control in which the automatic operation controller controls the automatic operation of the traveling vehicle body without causing the working device to do work on the ground;
• wherein
• the detection adjuster is operable to, before the automatic operation controller changes the second operation control to the first operation control or after the automatic operation controller changes the first operation control to the second operation control:
• perform a first adjustment when the traveling vehicle body is traveling toward a land surface of the entrance/exit under the second operation control and a distance from the position of the traveling vehicle body detected by the position sensor to a start point of the land surface of the entrance/exit including in the information acquired by the controller is equal to or less than a predetermined value, the first adjustment being an adjustment in which the direction adjuster orients at least some of a plurality of the object detection directions toward an end point of the land surface of the entrance/exit and the land surface of the entrance/exit, by causing the object detection range of the detector to move upward or downward;
• and
• perform a second adjustment when the traveling vehicle body is traveling on the land surface of the entrance/exit under the second operation control, the second adjustment being an adjustment in which the detection adjuster orients at least some of the plurality of object detection directions toward (i) the end point of the land surface of the entrance/exit and (ii) the land surface of the entrance/exit and/or a land surface located forward of the end point in a direction of travel of the traveling vehicle body, by causing the object detection range to move upward or downward.