PROBLEM TO BE SOLVED: To make continuous advancing work even to farm field corners possible, at offset positions along travelling of a travelling machine body.SOLUTION: A ridging machine 100 comprises a working part 120 capable of working at offset positions of a travelling machine body, a memory part for setting direction and position reference values, an angle sensor 150 and a position sensor 151 detecting direction and position of the operating part, a direction cylinder 141 and an offset cylinder 140 adjusting direction and position, and a controlling means 160 controlling drive of these cylinders. The controlling means 160 has: a normal operation mode in which position and direction of the working part are kept to be determined states and the working part works corresponding to the travelling of the travelling machine body an automatic linearly advancing work controlling mode in which, by using previously set direction and position of the working part as the reference values, variations of direction and position of the working part, caused by change of the travelling direction of the travelling machine body, are adjusted to keep the linear work and an automatic corner work controlling mode in which, by using as the starting point the position at the time when the automatic linearly advancing work controlling mode is finished, unworked parts remaining on the farm field corners are worked with linear or circular work.COPYRIGHT: (C)2008,JPO&INPIT【課題】走行機体の進行に沿ったオフセット位置で圃場隅部までの連続的な前進作業を可能にする。【解決手段】畦塗機100は、走行機体のオフセット位置で作業可能な作業部120と、この方向と位置の基準値を設定する記憶部と、作業部の方向及び位置を検出する角度センサ150及び位置センサ151と、作業部の方向及び位置を調整する方向シリンダ141及びオフセットシリンダ140と、これらのシリンダの駆動を制御する制御手段160を備える。制御手段160は、作業部の位置と方向を所定状態に維持して走行機体の走行に沿って作業部が作業する通常作業モード、予め設定された作業部の方向と位置を基準値とし、走行機体の走行方向の変化に伴う作業部の位置と方向の変化を調整して直線状作業を維持する自動直進作業制御モード、このモード終了時の位置を起点とし、圃場隅部に残存する未作業部分を直線状又は円弧状に作業する自動隅部作業制御モードを有する。【選択図】図1
