PROBLEM TO BE SOLVED: To enable a continuous operation with high accuracy by controlling the freedom of a levee-coating machine attached to a tractor so as to carry out an offset operation.SOLUTION: The levee-coating machine 50 attached to the rear side of a traveling machine body 2 and carrying out the advancing levee-coating operation by an operation part 51 at the position offset sideward is equipped with a position and bearing sensor 20 for detecting the position and the bearing of the operation part 51, a means for constituting the first degree of freedom for controlling the relative position of the traveling machine body 2 and the operation part 51, a means for constituting the second degree of freedom for controlling the posture of the operation part 51, and a means for controlling the quantities of the horizontal rotation or the horizontal shift in the first degree of freedom and the second degree of freedom. The quantities of the horizontal rotation or the horizontal shift in the first degree of freedom and the second degree of freedom are controlled based on the information from the position and bearing sensor 20 so as to correspond to the posture of the traveling machine body 2 changed at the corner part of the field, to maintain the straightly advancing posture of the operation part 51 along the levee, and to keep the straightly advancing operation state to the vicinity of the corner part of the field.COPYRIGHT: (C)2010,JPO&INPIT【課題】トラクタにオフセット作業が行えるように装着された畦塗り作業機の自由度を制御して、精度の高い連続作業を可能にする。【解決手段】走行機体2の後方に装着され、側方にオフセットした位置で作業部51が前進畦塗り作業を行う畦塗り機50において、作業部51の位置及び方位を検出する位置方位センサ20と、走行機体2と作業部51との相対位置を制御する第一の自由度を構成する手段と、作業部51の姿勢を制御するための第二の自由度を構成する構成手段と、前記第一の自由度および第二の自由度における水平回動量または水平移動量を制御する手段を備え、圃場隅部における走行機体2の姿勢変化に対応して、位置方位センサ20からの情報に基づき前記第一の自由度および第二の自由度における水平回動量または水平移動量を制御し、作業部51が畦に沿って直進姿勢を保持し、圃場の隅部付近までの直進作業状態を維持させる。【選択図】 図1
