Problem to be solved: to prevent the operator from erroneously recognizing an obstacle at the time of an emergency.Control device 90 for airframe side9192A portable terminal 97 capable of communication with 93 is provided.A mode switching switch means 102 is provided for switching the automatic operation mode M1 from which the operator jumps and operates the operation of the portable terminal 97 to carry out the work running, and the manual operation mode m2 for boarding the operator by boarding the operatorControl unit 90 for airframe9192In the working vehicle having a structure in which the obstacle around the airframe is detected and the warning processing is carried out in response to the image pickup signal of the imaging means 96 disposed on the bodyIf the predetermined time T2 has not elapsed from the opening operation of the opening / closing door 88 to the imaging signal output of the imaging means 96, the obstacle detection is cancelled.Selection diagram【課題】オペレータが降車する際の障害物と誤認識することを未然に防止しようとする。【解決手段】機体側の制御装置９０，９１，９２，９３と通信制御可能な携帯端末９７を備え、オペレータが降車して携帯端末９７操作により作業走行を実行できる自動運転モードＭ１とオペレータが搭乗して作業走行操作を行う手動運転モードＭ２とに切り替えるモード切替スイッチ手段１０２を備え、機体側の制御装置９０，９１，９２，９３には該機体に配設する撮像手段９６の撮像信号を受けて機体周囲の障害物を検出し警告処理する構成とした作業車両において、開閉ドア８８の開動操作から撮像手段９６の撮像信号出力までに所定時間ｔ２が経過していない場合に障害物検出をキャンセル処理する。【選択図】図１３
