PROBLEM TO BE SOLVED: To eliminate the inconvenience of forming a bank in the tilling trace by temporary deepening of the tilling depth when a machine body is tilted by one-side wheel falling in a recess part formed between an already-tilled ground and an untilled ground.SOLUTION: The controller 8 of the tractor carries out the automatic tilling depth control for controlling the lifting and lowering of the tilling device 3 linked to the traveling machine body 1 so that the detected value of a depth sensor 15 may be the target value of the tilling depth set by a depth-setting tool 17 with a prescribed dead zone, and the automatic tilling depth control by using a detected value of a depth sensor 15 before a traveling machine body 1 has tilted as the target value of the tilling depth when automatic tilt control is carried out by the right or left tilt of a tilling device 3 according to the tilt of the traveling machine body 1, when carrying out the automatic tilt control for controlling the tilt of the tilling device 3 so that the tilling device 3 may be kept in a prescribed right or left tilt angle when the tilling device 3 tilts in the right or left direction according to the tilt of the traveling machine body 1.COPYRIGHT: (C)2010,JPO&INPIT【課題】既耕地と未耕地との間に生じた凹部に片側の車輪が落ち込み機体が傾斜した場合に、耕深が一時的に深くなり耕耘跡に盛土が形成される不都合を解消する。【解決手段】トラクタの制御装置8は、走行機体1に連結した耕耘装置3を、その深さセンサ15の検出値が深さ設定器17によって設定される耕深目標値となるように所定の不感帯をもって昇降制御する耕深自動制御と、走行機体1の傾斜に伴って耕耘装置3が左右に傾いたとき、耕耘装置3が所定の左右傾斜角に保たれるように耕耘装置3を傾斜制御する傾斜自動制御とを行うにあたり、走行機体1の傾斜に伴って耕耘装置3が左右に傾いて傾斜自動制御が行われる際には、走行機体1の傾斜が発生する前の深さセンサ15の検出値を耕深目標値として耕深自動制御を行う。【選択図】図5
