PROBLEM TO BE SOLVED: To ensure safety traveling when climbing a slope.SOLUTION: An agricultural working machine includes a control device C for performing autonomous travel of a machine body along a climb path Lt going from a field side starting point position S1 to an outlet position Pe toward a farm road via a slope. The left/right inclination angle detection means 89 is provided for detecting a left/right inclination angle γ1 of the machine body in the middle of climbing the slope, and it is configured to stop and control the machine body when the left/right inclination angle γ1 of the machine body exceeds a pre-set safety limit left/right inclination angle γ0. An ideal starting point position Sn to an outlet position Pe toward a farm road is calculated and set, and it is configured to return to a field by backward traveling control in the ideal starting point position Sn direction after the machine body is stopped and controlled. Further, a displacement amount ε between a starting point return point Sp and the ideal starting point position Sn is calculated. When this displacement amount ε is not more than a pre-set basis displacement amount ε0, an ideal climb path Ls toward the outlet position Pe to the farm road is set and the machine body is subjected to forward movement travel control along the ideal climb path Ls.SELECTED DRAWING: Figure 5COPYRIGHT: (C)2018,JPO&INPIT【課題】傾斜面を登坂する場合の安全走行を課題とする。【解決手段】圃場側登り口位置S1から傾斜面を経て農道への出口位置Peへ向かう登坂経路Ltに沿って機体を自律走行する制御装置Cを備えた農用作業機において、登坂途中における機体の左右傾斜角γ1を検出する左右傾斜角度検出手段89を設け、機体の左右傾斜角γ1が予め設定した安全限界左右傾斜角γ0を越えると、機体を停止制御する構成とした。農道への出口位置Peに対する理想登り口位置Snを演算設定し、機体停止制御の後、該理想登り口位置Sn方向に後退走行制御し、圃場へ復帰する構成とした。さらに登り口復帰点Spと理想登り口位置Snとのずれ量εを演算し、このずれ量εが予め設定した基準ずれ量ε0以下であると、農道への出口位置Peに向かう理想登坂経路Lsを設定し、該理想登坂経路Lsに沿って機体を前進走行制御する。【選択図】 図5
