Travel working machine

A travel working machine comprising:

• an automatic travel control unit configured to implement automatic travel based on automatic travel information necessary for automatic travel;
• a manual travel control unit configured to implement manual travel based on an operation signal from a manual travel operating unit;
• a machine body status detecting unit configured to output machine body status information indicating a machine body status based on the operation signal and a detection signal received from a status detecting device;
• and
• an automatic travel management section configured to determine forbiddance of automatic travel by the automatic travel control unit and permission of the automatic travel based on the machine body status information, and output a control command selected from a plurality of control commands in automatic travel forbiddance, for deciding control of the machine body after a command to forbid the automatic travel has been issued, based on the machine body status information;
• wherein the operation signal comprises a direction change to avoid an obstacle, and the control of the machine body after the direction change is decided by the command to forbid the automatic travel.

A travel working machine comprising:

• an automatic travel control unit configured to implement automatic travel based on automatic travel information necessary for automatic travel;
• a manual travel control unit configured to implement manual travel based on an operation signal from a manual travel operating unit;
• a machine body status detecting unit configured to output machine body status information indicating a machine body status based on the operation signal and a detection signal received from a status detecting device;
• and
• an automatic travel management section configured to determine forbiddance of automatic travel by the automatic travel control unit and permission of the automatic travel based on the machine body status information, and output a control command in automatic travel forbiddance, for deciding control of the machine body after a command to forbid the automatic travel has been issued, based on the machine body status information;
• wherein the manual travel control unit and the machine body status detecting unit are connected to a first vehicle-mounted network, the automatic travel control unit is connected to a second vehicle-mounted network, the travel working machine further includes a relay unit configured to function as a bridge between the first vehicle-mounted network and the second vehicle-mounted network, and the relay unit has a filtering function of selecting data that is to be transmitted between the first vehicle-mounted network and the second vehicle-mounted network.