JPH10234203A - Work machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To operate a work machine such as a mowing machine or the like and to perform appropriate work while reducing the operation burdens on a worker, by making a car body automatically travel. SOLUTION: The work machine 15 provided on a traveling car body 5 is constituted so as to freely change the relative posture to the car body based on a manual operation command and the traveling direction of the traveling car body 5 is controlled so as to make it travel along a scheduled traveling path set beforehand based on the position detection information in a scheduled traveling path horizontal width direction of the traveling car body 5 to the schedule traveling path set beforehand. When the change of the relative posture to the car body of the work device 15 is detected, a traveling speed is decelerated.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a working device provided on a traveling vehicle body, which is capable of changing its relative posture with respect to the vehicle body based on a manual operation command while the traveling vehicle body is traveling. Related to the working machine.

[0002]

2. Description of the Related Art The above-mentioned working machine, for example, an agricultural tractor, is mounted on a farm road or a farm along a ridge in a farm or the like in such a manner that its posture can be freely changed with respect to a vehicle body by a supporting boom or an arm. An operator manually operates the mowing device (working device) to mow grass growing on a slope of a ridge.

[0003]

However, in the above-mentioned prior art, the operator operates the vehicle body so as to follow the ridge and at the same time operates a working device such as a mowing device.
The operation of the work machine becomes a difficult operation requiring skill, and it may not be possible to perform an appropriate operation. In addition, if the operation is erroneously performed due to carelessness or the like, there is a risk of collision with the ridge.

SUMMARY OF THE INVENTION The present invention has been made in view of the above circumstances, and has as its object to reduce the driving load on an operator in order to eliminate the above-mentioned disadvantages of the prior art.
An object of the present invention is to make it possible to appropriately perform work such as mowing work.

[0005]

According to the present invention, a position of a traveling vehicle body in a width direction of a predetermined traveling road with respect to a predetermined traveling road is detected, and a traveling direction of the traveling vehicle is determined based on the position detection information. Under the condition that the traveling vehicle body is traveling along a predetermined scheduled traveling path under control, the working device provided on the traveling vehicle body is changed in posture based on a manual operation command, and the change in the relative posture with respect to the vehicle body is changed. Is detected, the traveling speed of the traveling vehicle body is reduced.

[0006] Therefore, since the traveling vehicle body is controlled so as to automatically travel along a predetermined scheduled traveling path, it is not necessary for the operator to manually operate the vehicle, so that the driving burden is reduced and the operation load is reduced. When the person changes the posture of the working device according to the change of the shape of the work place, etc., the traveling speed is automatically reduced, so that the posture changing operation of the working device is surely performed with sufficient time, Work can be performed properly.

According to a second aspect, in the first aspect, the traveling body is controlled so as to travel at a set traveling speed.

Therefore, as compared with a case where the running speed changes due to a load or the like during running, stable work can be performed while running at the same running speed. Is obtained.

According to a third aspect of the present invention, in the first or second aspect, a speed increase command is issued in a state where the traveling speed of the traveling vehicle body is reduced in accordance with a change in the relative posture of the working device with respect to the vehicle body. Then, the traveling speed of the traveling vehicle body gradually increases and returns to the speed before deceleration.

Therefore, when returning the traveling speed once decelerated to the original speed, if the speed is returned suddenly, the shock of the speed increase may become large and may hinder the work. Since the operation is slowly performed, the operation can be stably continued without a shock of speed increase, and the preferable means of claim 1 or 2 can be obtained.

According to a fourth aspect of the present invention, in the third aspect, after the traveling speed of the traveling vehicle body is reduced in accordance with the change in the relative posture of the working device with respect to the vehicle body, the relative posture of the working device with respect to the vehicle body changes. If the no-operation state continues for the set time or longer, a speed increase command is issued.

Therefore, if the state in which the relative position of the working device with respect to the vehicle body does not change continues, it is automatically determined that there is no need to decelerate, and the speed is increased. As compared with the case where the speed is increased by pressing, the speed of the worker can be appropriately returned to the original speed while reducing the burden on the operator, and the preferable means of the third aspect is obtained.

According to a fifth aspect, the first to fourth aspects are described.
In any one of the above, the posture changing means is operated based on the manual operation command, thereby changing the posture of the working device supported by the traveling vehicle body so that the posture can be freely changed, and the posture changing operation amount by the posture changing means. Exceeds the set amount,
A change in the relative posture of the working device with respect to the vehicle body is detected.

Therefore, the change in the relative posture of the working device with respect to the vehicle body can be appropriately and reliably detected based on the amount of operation when the boom, the arm, or the like that supports the working device is operated. 4 is obtained.

According to claim 6, according to claims 1 to 5,
In any one of the above items, the mowing device is operated to perform mowing work on the ridge while the traveling vehicle body is traveling along a ridge surrounding a field having a predetermined section shape.

[0016] Therefore, while traveling on the ridges on the ridge side and on the ridges on the lower side of the ridges having a level difference from the field scene, there is no inconvenience such as collision with the ridges, and the mowing work is concentrated. And can perform safe and appropriate work traveling,
Thus, the preferable means according to any one of claims 1 to 5 can be obtained.

[0017]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, an embodiment of the present invention will be described as an agricultural tractor (hereinafter referred to as a work vehicle V) as a working machine.
Performs a mowing operation to cut grass growing on a slope or the like of the ridge while running along a ridge surrounding a field of a predetermined section shape such as a rectangular shape in the field or on the ridge side. The case will be described with reference to the drawings.

As shown in FIG. 2, for example, a local horizontal coordinate system E (east direction), N (north direction), H (earth center Is installed at a ground-side reference position whose position (coordinate values in the coordinate system E, N, H) is known with high precision in the height direction from the ground, and spreads the spectrum from at least four GPS satellites 2. An antenna 19a for a GPS fixed station (hereinafter, also simply referred to as fixed station R) for receiving a modulated radio wave (carrier signal), and a GPS receiver 19 for processing a received signal of the antenna 19a to obtain carrier phase information. And a ground-side data transceiver 20 having a transmission antenna 20a for transmitting carrier phase information (GPS fixed station data) from the GPS receiver 19.

On the other hand, the work vehicle V has a GPS receiving antenna 17 for receiving radio waves (carrier signals) from the GPS satellites 2.
a, a GPS receiver 17 for processing carrier signals received by the GPS receiving antenna 17a to obtain carrier phase information, and a data receiver for receiving transmission information (carrier phase information at the fixed station R) of the terrestrial transceiver 20. A data receiver 18 having an antenna 18a is provided, and a GPS mobile station I (hereinafter, referred to as a GPS mobile station I) is provided.
Mobile station I).

The GPS receivers 19 and 17 of the fixed station R and the mobile station I have substantially the same configuration as shown in FIG. 3, and have respective GPS receiving antennas 19a and 19a.
The radio signal received at 17a is first sent to the high-frequency signal processor 3
It is input to 0, 40 and converted to a low frequency. The C / A code analyzers 31 and 41 decode the low frequency-converted signals into satellite numbers and the like, and the carrier wave phase measurement units 33 and 43 create C / A signals created according to the satellite numbers. The carrier is reproduced in correlation with the code, and the phases of the carrier are measured at set time intervals by built-in clocks 34 and 44. At the same time, the C / A code analysis units 31 and 4
1 based on the information from the route message decoding unit 32,
At 42, satellite position information and the like are determined. Then, information from each of the above-described units is transmitted to the respective control computers 35 and 4.
5 to obtain carrier phase information at each fixed station R and mobile station I.

Further, the carrier phase information at the fixed station R output from the fixed station R computer 35 is transmitted from the transmitting antenna 20a through the transceiver 20 on the ground side and received by the antenna 18a on the work vehicle V side. Is input to the computer 45 on the mobile station I side via the transceiver 18, and the mobile station I side computer 45 obtains double phase difference information based on both carrier phase information at the fixed station R and the mobile station I. . Then, based on the double phase difference information,
The position of the mobile station I, that is, the position of the work vehicle V with respect to the fixed station R is obtained as time-series position data at predetermined time intervals.

Here, the outline of the double phase difference information will be described. Each carrier signal from two different satellites 2 is
Received by each of the two receiving stations (fixed station R and mobile station I),
The two phase differences corresponding to each satellite 2 are obtained, and the difference between these two phase differences is called a double phase difference. As a result, the influence of the phase disturbance of the transmission signal in each satellite 2 is removed, and the influence of the synchronization shift of the clock for measuring the phase of each receiving station is removed. Accurate phase difference information with less influence of errors can be obtained. In order to obtain the position vector r of the mobile station I with respect to the fixed station R (see FIG. 4), three independent double phase differences are actually obtained based on carrier signals from four different satellites 2. Will be.

The detection of the position of the work vehicle V based on the three pieces of double phase difference information will be specifically described. First of all,
The work vehicle V is positioned at a position whose position is known with high accuracy in the local horizontal coordinate system E, N, H, and the work vehicle V is determined based on information received from the GPS receivers 17 and 19 on the mobile station I side and the fixed station R side. The three double phase differences are calculated, and the fixed station R and the work vehicle V are calculated.
Since the relative position between them is known, the uncertainty (integer value bias) of an integral multiple of the carrier wavelength included in the double phase difference information is determined. Next, as shown in FIG.
Is moved from the fixed station R to the unknown vehicle in the field F, a position vector r from the fixed station R to the work vehicle V is obtained from the three pieces of double phase difference information, and from this position vector r and the position of the fixed station R, , The position of the work vehicle V on the ground is determined. That is, it is represented as two-dimensional position coordinates (x, y) when the E axis of the local horizontal coordinate system E, N, H is set in the x direction and the N axis is set in the y direction.

The configuration of the working and traveling devices of the work vehicle V will be described. As shown in FIG. 2, on the front side of the traveling vehicle body 5, the first boom 13 is held so that the base end thereof can turn within a 180-degree range in the lateral direction of the vehicle body,
The second boom 14, which is configured to be swingable in the front-rear direction by the first boom hydraulic cylinder 22 and whose base end is held at the distal end of the first boom 13, is moved by the second boom hydraulic cylinder 23 to the first boom 13. Is configured to be swingable in the front-rear direction within the same plane as the swing surface.
A hammer knife-type mowing device 15 is attached to the tip of the second boom 14 in a state in which the second boom 14 can perform a 180-degree turning operation and a left-right swing operation. As described above, the mowing device 15 as a working device is provided so as to be freely changeable in the posture on the traveling vehicle body 5, and as described later, the mowing device 15 is operated based on an artificial operation command while the traveling vehicle body 5 is traveling. It is configured such that the vehicle body relative attitude can be changed freely.

As shown in FIG. 1, a pair of left and right front wheels 3 and rear wheels 4 provided on the traveling vehicle body 5 are configured to be steerable independently of each other as a pair of left and right, and hydraulic cylinders 7 and 8 for steering are provided.
And electromagnetically operated control valves 9 and 10 are provided.
That is, a two-wheel steering system in which only one of the front wheel 3 or the rear wheel 4 is steered, a four-wheel steering system in which the front and rear wheels 3, 4 are steered in the opposite phase and at the same angle, and the front and rear wheels 3, 4 in the same phase In addition, it is possible to select and use three types of steering systems, that is, a parallel steering system that steers at the same angle. In addition, the straight traveling along the planned traveling path, which will be described later, involves steering only the front wheels 3.
It is performed in the form of wheel steering.

In FIG. 1, E is an engine, 11 is an engine E
, A speed-variable transmission for simultaneously driving each of the front and rear wheels 3 and 4, an electric motor 12 for the speed change operation, a turning motor 21 for the first boom 13, and a first motor 22 for the first boom 13. Boom swing hydraulic cylinder, 22a is its control valve,
23 is a hydraulic cylinder for swinging the second boom, 23a is a control valve thereof, 24 is a hydraulic cylinder for posture (for swinging) of the mowing device 15, 24a is a control valve thereof, and 25 is a mowing device 15
Is a drive motor for operating the hammer knife of the mowing device 15, and 16 is a control device using a microcomputer for controlling the traveling of the work vehicle V, the operation of the mowing device 15, and the like. The motors 12, 21, 25, 26 and the control valves 9, 10, 22a, 23a, 24a are controlled based on the detection information of the various sensors and the work data stored in advance.

The sensors provided in the work vehicle V will be described. As shown in FIG. 1, steering angle detection sensors R1 and R2 using potentiometers for detecting the steering angles of the front and rear wheels 3 and 4, respectively. A vehicle speed sensor R3 using a potentiometer for indirectly detecting the forward / backward traveling state and the vehicle speed based on the speed change state of the transmission 11, and a second operation for detecting each operation amount of the first and second boom swing hydraulic cylinders 22 and 23. First and second telescopic sensors S1 and S2, and an encoder S3 that counts the number of revolutions of the output shaft of the transmission 11 to detect the traveling distance
And a geomagnetic direction sensor S4 for detecting the body direction. Although not shown, a sensor for detecting the amount of operation of the hydraulic cylinder 24 for posture of the mowing device 15, the turning motor 26, and the boom turning motor 21 is provided.

A position detecting means 101 for detecting the position of the traveling vehicle body 5 in the lateral direction of the planned traveling path with respect to a predetermined planned traveling path using the control device 16, and the detected information of the position detecting means 101 The control means 100 controls the traveling direction of the traveling vehicle body 5 so as to travel along a preset scheduled traveling path based on the predetermined traveling path.

That is, as shown in FIG. 4, along the respective sides of the ridge F1 surrounding the rectangular field F, it is bent at 90 degrees with the scheduled traveling path L1 for traveling on the agricultural road, which is composed of a single straight traveling section. A scheduled traveling path L2 for ridge-side traveling in the field F composed of four straight traveling steps is set, and the scheduled traveling based on the position data and the shape data of the field F based on the position of the fixed station R is set. Route information of the roads L1 and L2 is determined in advance.
In the case where the scheduled traveling path L1 in the field is repeatedly driven, in order to prevent the cultivator in the field from being damaged, the mowing device 15 must be moved within the operating range of the posture changing boom.
The scheduled traveling path L1 is set by shifting the position in the traveling road width direction for each traveling.

Then, based on the route information of the planned traveling roads L1 and L2 and the position information of the traveling vehicle body 5 with respect to the fixed station R obtained from the GPS receiver 17, the position of the traveling vehicle body 5 in the lateral direction of the planned traveling road is calculated as follows. A lateral displacement d with respect to the proper steering position is detected. In FIG. 4, Fi is an entrance for the work vehicle V to enter and exit the field from the ridge, St is a traveling start position and a traveling end position when traveling in the field, and Sp is three turns when traveling in the field. Indicates the starting position.

Then, the control means 100 controls the information of the displacement d, the information of the vehicle azimuth φ with respect to the planned traveling paths L1 and L2 (this is detected by the geomagnetic azimuth sensor S4), and the steering of the front wheels 3. Based on the information on the angle θ (this is detected by the steering angle detection sensor R1), the front wheels 3 are steered at the target steering angle θs set as in the following equation. still,
k1, k2, and k3 are predetermined gain coefficients.

[0032]

[Equation 1] θs = k1 · d + k2 · φ + k3 · θ

An operation lever 27 for manual operation of the first and second booms 13 and 14 and the mowing device 15 is also provided.
A mode selection switch 28 for selecting an automatic traveling mode, a work traveling mode for farm road cutting or ridge cutting, which will be described later, and a mode selection switch 28 are provided in the operating unit, and such information is also input to the control device 16. Here, in the farm road cutting mode, as shown in FIG. 5, while the work vehicle V is running on the farm road adjacent to the field F, an operation of cutting the grass on the slope of the ridge F1 by the mowing device 15 is performed. In the furrow cutting mode, as shown in FIG.
In a state where the work vehicle V is traveling in the field F on the ridge, the mowing device 15 performs an operation of cutting grass such as a slope of the ridge F1.

A posture detecting means 102 for detecting the relative posture of the mowing device 15 with respect to the vehicle body by using the control device 16.
And a posture changing means 103 for changing the posture of the mowing device 15 based on a manual operation command by the operation lever 27.
Are configured. Specifically, information of the first and second telescopic sensors S1 and S2, and information of sensors for detecting the respective operation amounts of the posture hydraulic cylinder 24, the turning motor 26, and the boom turning motor 21 of the mowing device 15 On the basis of,
The relative posture of the mowing device 15 with respect to the traveling vehicle body 5 is detected, and the first and second boom turning motors 22 and 2 are also detected.
3. By operating the attitude hydraulic cylinder 24, the turning motor 25, and the like of the mowing device 15, the attitude of the mowing device 15 with respect to the traveling vehicle body 5 is changed.

The control means 100 causes the traveling vehicle body 5 to travel at a set traveling speed. That is, when the automatic traveling mode is selected, basically, the vehicle automatically travels while controlling the traveling speed of the traveling vehicle body 5 to the speed stored as control data in advance. However, the control unit 100 controls the posture detection unit 1
When a change in the relative posture of the mowing device 15 with respect to the vehicle body is detected based on the detection information 02, the traveling speed of the traveling vehicle body 5 is reduced. Here, the posture detecting means 102 detects a change in the relative posture with respect to the vehicle body when the amount of the posture changing operation by the posture changing means 103 exceeds a set amount. Specifically, it is determined whether the operation amount of the first or second booms 13, 14 detected by the first or second expansion / contraction sensors S1, S2 within a predetermined time is larger than a set operation amount. .

When the speed increasing command is issued in a state where the traveling speed of the traveling vehicle body 5 is being reduced in accordance with the change in the relative attitude of the mowing device 15 with respect to the vehicle body, the control means 100 operates. Is gradually increased to return to the speed before deceleration. That is, instead of immediately returning to the original set traveling speed, the vehicle slowly returns over time. Here, the speed increase command is issued after the traveling speed of the traveling vehicle body 5 is reduced according to a change in the relative posture of the mowing device 15 with respect to the vehicle body.
It is instructed that the state in which the relative attitude of the mowing device 15 with respect to the vehicle body does not change (that is, the detection values of the first and second extension sensors S1 and S2 do not change) continues for a set time (about several seconds).

Next, the operation of the control device 16 will be described with reference to the flowcharts shown in FIGS. In the main flow (FIG. 7), first, field data such as a farm road, a doorway, and positions of long and short sides of a ridge are input. Next, after selecting the farm road cutting or the ridge cutting mode, the work starting point of each running path L1, L2 (the farm road cutting is the upper left corner position in FIG.
Until St) in FIG. 4, when the work vehicle V is moved by manual driving and a start operation is performed by pressing a switch or the like, each traveling path L
The vehicle starts traveling forward along L1 and L2. When the vehicle starts running, the operator manually operates the mowing device 15 to perform mowing.

In the farm road mowing mode, the GPS is maintained until the vehicle reaches the end position (the lower left corner position in FIG. 4) along the traveling path L1.
The steering control based on the position detection information based on the position data and the vehicle speed control for reducing the traveling speed according to the presence / absence change of the mowing device 15 are performed. When the vehicle reaches the end position, the traveling is stopped, and the flow of the mode selection is performed. Return to

In the ridge cutting mode, the steering control based on the position detection information based on the GPS position data and the control of the mowing device 15 are performed until the end position (same as the start point St) is reached along each straight path of the traveling path L2. Vehicle speed control is performed to reduce the traveling speed according to the presence or absence of a change in attitude. It is also determined whether or not the turning start position Sp on the end side of each straight travel has been reached. When the vehicle reaches each turning start position Sp, it stops traveling and
An alarm is displayed with a buzzer or lamp to notify the worker.
On the other hand, the operator confirms and inputs with a switch or the like,
After the operation of the buzzer, the lamp, and the like is stopped, the turning operation is performed to the starting position of the next stroke by manual operation. Then, when the confirmation input is made again, the flow returns to the start operation flow, and thereafter, the traveling along the next step is started. On the other hand, when the vehicle reaches the end position, similarly to the agricultural road cutting mode, the vehicle stops traveling and returns to the mode selection flow.

In the steering control (FIG. 8), the time-series GP
The S position data is fetched, the body position (x, y) of the work vehicle V at the current time is calculated from the data, and the body direction φ is detected by the direction sensor S4. Then, a displacement d in the lateral direction of the planned traveling road is calculated from the vehicle position (x, y), and further, the steering angle θ of the front wheel 3 is detected, and the displacement d, the body direction φ, and the steering angle θ are calculated. Target steering angle θ based on each information
s is set, and the front wheels 3 are steered.

In the vehicle speed control (FIG. 9), data of the amount of expansion / contraction of the first and second booms 13 and 14 is input, and it is determined whether or not the amount of operation exceeds a set amount. If it exceeds, reduce the traveling speed.If it is less than the set amount,
Maintain the set traveling speed. Next, after the deceleration operation, if the non-operation time during which the boom operation is not performed continues for a set time or more, the traveling speed at which the deceleration operation is performed is gradually increased to the original set traveling speed.

[Alternative Embodiment] The position detecting means 101 is not limited to detecting a two-dimensional position on the ground, as in the configuration based on GPS reception data shown in the above embodiment. For example, a reference light beam is projected along the planned traveling path, and the position (positional deviation) of the traveling body in the lateral direction of the planned traveling path is detected based on light reception information of an optical sensor provided on the vehicle body side. It may be.

The posture detecting means 102 is not limited to a means for detecting the operation amount of the posture changing means 103 such as a swinging boom, but may be, for example, a means for directly detecting the posture of the working device 15 or an operation state of the operation lever 27. Or the like may be detected based on operation command information.

The posture changing means 103 may operate an arm that slides two-dimensionally in the horizontal and vertical directions, in addition to the swinging boom.

In the above embodiment, when the traveling vehicle body 5 travels at the set traveling speed, the traveling data is stored in advance as control data. Alternatively, the speed may be selected by a manual switch.

In the above embodiment, when the speed increase command is issued after the deceleration, the determination is made automatically based on the lapse of time during which the posture is not changed. In addition to this, the operator makes a determination and issues a command with a manual switch. You may do so.

In the above embodiment, the case where the working machine is an agricultural tractor is illustrated. However, another working machine for agricultural use may be used, or an earthmoving machine such as a bulldozer may be used.
And, for example, for agricultural use, working devices such as a fertilizer device and a tilling device other than the mowing device can be equipped according to the purpose of each working machine.

[Brief description of the drawings]

FIG. 1 is a block diagram showing a control configuration of a work vehicle.

FIG. 2 is a schematic side view showing a work vehicle and a GPS fixed station.

FIG. 3 is a block diagram showing a configuration of a GPS receiving station.

FIG. 4 is a schematic plan view showing a planned traveling path of a work vehicle.

FIG. 5 is a schematic front view showing a working state of the work vehicle.

FIG. 6 is a schematic front view showing a working state of the work vehicle.

FIG. 7 is a flowchart of a control operation of the work vehicle.

FIG. 8 is a flowchart of steering control.

FIG. 9 is a flowchart of vehicle speed control.

[Explanation of symbols]

 Reference Signs List 5 traveling vehicle body 15 working device 15 mowing device 100 control means 101 position detecting means 102 posture detecting means 103 posture changing means

Claims (6)

[Claims] An operating device is provided on a traveling vehicle body, and the operating device is a working machine configured to be capable of changing a relative posture with respect to the vehicle body based on a manual operation command while the traveling vehicle body is traveling. Position detecting means for detecting a position of the traveling vehicle body in a width direction of the planned traveling path with respect to a predetermined planned traveling path; posture detecting means for detecting a change in a relative posture of the working device with respect to the vehicle body; Based on the detection information of the position detecting means, the traveling direction of the traveling vehicle body is controlled so as to travel along a preset planned traveling path, and based on the detection information of the posture detecting means, A control device for reducing a traveling speed of the traveling vehicle body when a change in relative posture to the vehicle body is detected. 2. The work machine according to claim 1, wherein the control unit is configured to cause the traveling vehicle body to travel at a set traveling speed. 3. The control means, when a speed increase command is issued in a state in which the traveling speed of the traveling vehicle body is being reduced in accordance with a change in the relative attitude of the working device with respect to the vehicle body, when the speed increasing command is issued. 3. The working machine according to claim 1, wherein the traveling speed is gradually increased to return to a speed before deceleration. 4. A state in which the relative attitude of the working device relative to the vehicle body does not change after the traveling speed of the traveling vehicle body is reduced in accordance with the change in the relative attitude of the working device relative to the vehicle body continues for a set time or more. The work machine according to claim 3, wherein a speed increase command is issued. 5. The work device is supported by the traveling vehicle body so as to be freely changeable in posture, and posture changing means for changing a posture of the work device based on the manual operation command is provided. The work machine according to any one of claims 1 to 4, wherein a change in the relative posture with respect to the vehicle body is detected when a posture change operation amount by a change unit exceeds a set amount. 6. The mowing device, wherein the working device comprises a mowing device, and while the traveling vehicle body travels along a ridge portion surrounding the periphery of the field having a predetermined section, the mowing device performs mowing on the ridge portion. Claims 1 to 3 configured to perform
6. The working machine according to any one of 5.