PROBLEM TO BE SOLVED: To prevent a turning-inside boom from entering a sprayed area, when turing a riding type tending machine for spraying a chemical solution, to cause a trouble such as duplicate spraying of the chemical agent.SOLUTION: In a first turning section (S1) for turning and traveling a traveling vehicle (1) in a headland (M), a turning-outside boom is raised, and in a headland linear advance section (S2) for traveling in a linear advancing direction after passing through the first turning section (S1), control is performed to maintain the turning-outside boom (3a) in a raised position attitude while maintaining a turning-inside boom (3b) in a spraying attitude. In a second turning section (S3) after passing through the headland linear advance section (S2), the turning-outside boom (3a) is lowered to a spray position while maintaining the turning-inside boom (3b) in the spraying attitude.COPYRIGHT: (C)2013,JPO&INPIT【課題】薬液を散布する乗用管理機が旋回するときに、旋回内側のブームが散布済み領域に入り込み、重複して薬液を散布する不具合が生じるのを防止する。【解決手段】走行車両(1)が枕地(M)で旋回して走行する第一旋回区間(S1)で旋回外側のブームを上昇させ、第一旋回区間(S1)か通過後の直進側向きに変更して走行する枕地直進区間(S2)では旋回内側のブーム(3b)を散布姿勢に保ちながら旋回外側のブーム(3a)を上昇位置の姿勢に保つ制御を行い、枕地直進区間(S2)通過後の第二旋回区間(S3)では旋回内側のブーム(3b)を散布姿勢に保ちながら旋回外側のブーム(3a)を散布位置まで下降する制御を行う。【選択図】 図6
