PROBLEM TO BE SOLVED: To provide an automatic traveling working vehicle capable of performing work traveling in a working area such as a fruit farm in which objects such as trees are arranged, even without preparing an exact map in advance.SOLUTION: An automatic traveling working vehicle includes: an outer shape map generating section for generating an outer shape map of a working area on the basis of a circling traveling result obtained during a period in which the vehicle travels about the working area as first teaching traveling a function for detecting an object being present in a preset range an object arrangement information generating function for calculating a position of the object on the basis of an object detection result obtained during a period in which the vehicle travels along the arrangement of objects dotting the working area as second teaching traveling and generates arrangement information of the object and an automatic traveling function for performing automatic traveling along the object in the working area with reference to the outer shape map and the arrangement information.SELECTED DRAWING: Figure 1COPYRIGHT: (C)2017,JPO&INPIT【課題】果樹園などのように内部に樹木などの物体が並んでいる作業領域を前もって正確なマップを作成しなくとも作業走行することが可能となる自動走行作業車両。【解決手段】第1ティーチング走行として作業領域の周囲を周回走行する間に取得された周回走行結果に基づいて前記作業領域の外形マップを生成する外形マップ生成部と、予め設定された範囲に存在する物体を検出する機能と、第2ティーチング走行として作業領域に点在する物体の並びに沿った走行の間に取得される物体検出結果に基づいて物体の位置を算定し、物体の配置情報を生成する物体配置情報生成機能と、外形マップと配置情報とを参照して、作業領域内の物体に沿った自動走行を実行する自動走行機能とが備えられている。【選択図】図1
