PROBLEM TO BE SOLVED: To enable work to be performed near a position as close to trees as possible not only in a region between trees separated in a second direction, but also in a region between trees separated in a first direction.SOLUTION: A working vehicle includes an object detection part 18 for acquiring a reflection signal to a transmitted detection signal and detecting an object present in a preset range, and a travelling control part for causing a vehicle body 2 to automatically travel in a working zone P where a plurality of trees are present in a state of aligning with spaces along a first direction D1 and a second direction D2 orthogonal to the first direction D1 respectively on the basis of a result of the detection by the object detection part 18. In a region other than the trees in the working zone P, the travelling control part causes the vehicle body 2 to automatically travel along the first direction D1 and also automatically travel along the second direction D2 on the basis of the information on the number of trees and separation distances, and detection information by the object detection part 18.SELECTED DRAWING: Figure 1COPYRIGHT: (C)2018,JPO&INPIT【課題】第２方向に離間する樹木同士の間の領域だけでなく、第１方向に離間する樹木同士の間の領域においても、樹木にできるだけ近づいた位置まで寄って作業を行えるようにすることが望まれていた。【解決手段】送信した検出信号に対する反射信号を取得して、予め設定された範囲に存在する物体を検出する物体検出部１８と、物体検出部１８の検出結果に基づいて、第１方向Ｄ１及び第１方向Ｄ１と直交する第２方向Ｄ２の夫々に沿って間隔をあけて並ぶ状態で複数の樹木が存在する作業用区画Ｐ内において車体２を自動走行させる走行制御部とを備え、走行制御部は、作業用区画Ｐ内における樹木を除く他の領域において、樹木の個数及び離間距離についての情報と、物体検出部１８の検出情報とに基づいて、車体２を第１方向Ｄ１に沿って自動走行させるとともに、第２方向Ｄ２に沿って自動走行させる。【選択図】図１
