PROBLEM TO BE SOLVED: To provide a mobile agricultural machine for autonomously travelling in a simple constitution.SOLUTION: A mobile agricultural machine has such a constitution that includes an infrared ray enclosure R enclosing a farm field along a ridge, a front measurement sensor 2 and right/left side measurement sensors 3L, 3R arranged on a front side and right/left side parts of a mobile agricultural machine 1 and measuring a distance to the infrared ray enclosure R and that enables a reciprocated traveling in the farm field by controlling traveling of the mobile agricultural machine 1 by means of the distance to the infrared ray enclosure R measured by the front measurement sensor 2 and right/left side measurement sensors 3L, 3R. At a start of traveling, a fixed interval to the infrared ray sensor enclosure R is kept by the right/left side measurement sensors 3L, 3R. When a predetermined distance to the infrared ray enclosure R is detected by the front measurement sensor 2 in forward traveling, the mobile agricultural machine is rotated to a side on which the infrared ray enclosure R is not detected by the right/left side measurement sensors 3L, 3R by 180 degrees.SELECTED DRAWING: Figure 1COPYRIGHT: (C)2017,JPO&INPIT【課題】本発明は、容易な構成で自律走行を行うための移動農機を提供することが課題である。【解決手段】畦に沿って圃場を囲う赤外線囲いRを設け、移動農機1の前側と左右側部に前記赤外線囲いRまでの距離を計測する前計測センサ2と左右側計測センサ3L,3Rを設け、該前計測センサ2と左右側計測センサ3L,3Rが計測する赤外線囲いRまでの距離で移動農機1の走行を制御して圃場内での往復走行を可能にしてなる移動農機の構成とする。また、走行開始時に、左右側計測センサ3L,3Rで赤外線囲いRとの一定間隔を保持し、前進走行時に前計測センサ2が赤外線囲いRとの所定距離を検出すると左右側計測センサ3L,3Rが赤外線囲いRを検出しない側へ180度旋回することを特徴とする移動農機の構成とする。【選択図】図1
