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|1. (WO2018142899) AUTONOMOUSLY TRAVELING WORKING VEHICLE|
|Applicants:||YANMAR CO., LTD.
|Title:||AUTONOMOUSLY TRAVELING WORKING VEHICLE|
A distance storage unit (30) included in a tractor (1) acquires a horizontal distance between an attachment position of a positioning antenna (6) in a traveling machine body of the tractor (1) and a working center position (the tine shaft position of a tillage tine) of a working body in a working machine (3) mounted to the tractor (1). An autonomous travel control unit (32) makes a working machine control unit (34) perform switching control on a tillage tine such that the tillage tine is in a non-working state when the tine shaft position moves beyond the boundary between a working region and a non-working region in the case where the traveling machine body moves from the working region to the non-working region and that the tillage tine is in the working state when the tine shaft position moves beyond the boundary in the case where the traveling machine body moves from the non-working region to the working region.