JP6892364B2 - Work vehicle - Google Patents

Description

The present invention is a work vehicle provided with a cabin, and in particular, the work vehicle is automatically traveled along a target travel route (automatically) while acquiring position information of the work vehicle such as a tractor by using a satellite positioning system (GNSS). Concerning work vehicles suitable for (including running).

For example, in the tractor shown in Patent Document 1 as a work vehicle adopting an automatic traveling system, a GPS antenna (GNSS antenna) for acquiring satellite positioning information from a positioning satellite is provided on the upper side surface of the cabin roof.
Specifically, on the upper side surface of the cabin roof, the upper surface of the cabin roof is located at the intersection of the front-rear direction line at the substantially central position of the tread width of the vehicle body and the horizontal direction line at the substantially central position of the wheelbase. A mounting stay having a substantially horizontal flat mounting seat is formed at a higher position than the mounting stay, and a GPS antenna is mounted on the mounting seat of the mounting stay.
Further, when a GPS antenna having a gyro sensor is used as the GPS antenna, the inclination angle of the cabin roof can also be detected.

Japanese Unexamined Patent Publication No. 2016-2874

The above-mentioned prior art discloses a technique for improving the detection accuracy of the GPS antenna or the detection accuracy of the GPS antenna and the gyro sensor by devising the mounting position of the GPS antenna on the upper side surface of the cabin roof. ..
However, in the above-mentioned automatic traveling system, various external devices are provided in addition to the work vehicle, such as a wireless communication terminal that gives various instructions to the work vehicle and a base station for acquiring the position information of the work vehicle. Has been done.
Therefore, in actually performing automatic driving of the work vehicle, it is necessary to efficiently mount not only the GPS antenna but also various antenna devices for communication between the work vehicle and the external device on the work vehicle. In this respect, there is room for improvement in the above-mentioned prior art.

Moreover, in the above-mentioned conventional technique, the upper side surface of the cabin roof provided on the upper part of the cabin frame has many curves and is inferior in rigidity to the cabin frame. It is necessary to reinforce it without damaging it, and there is room for improvement in this respect as well.

In view of this situation, the main problem of the present invention is a work vehicle capable of efficiently mounting various antenna devices effective for automatic traveling of the work vehicle and firmly supporting various antenna devices. Is in the point of providing.

The first characteristic configuration of the present invention is a work vehicle provided with a cabin.
A support frame along the left-right width direction is fixed to brackets extending upward from both left and right sides of the cabin frame at an upper position outside the cabin, and the support frame is equipped with an inertial measurement unit, a GNSS antenna, and a radio. The point is that the antenna unit to which the communication device is assembled is attached in a state where the inertial measurement unit and the GNSS antenna are arranged at substantially the center position in the left-right width direction of the machine body.

According to the above configuration, since the inertial measurement unit and the GNSS antenna attached to the antenna unit are arranged at substantially the center position in the left-right width direction of the aircraft, the current position of the work vehicle acquired from the received signal of the GNSS antenna. Both the information detection accuracy and the detection accuracy of the attitude change information of the aircraft acquired from the inertial measurement unit can be improved.
Further, the wireless communication device attached to the antenna unit enables wireless communication of various signals with, for example, an external device such as a wireless communication terminal.
Moreover, the support frame to which the antenna unit is attached is attached to the brackets extending upward from both the left and right sides of the cabin frame, and in the attached state, the support frame is in the lateral width direction at the upper position outside the cabin. It is fixed to the highly rigid cabin frame in a along position. As a result, the support frame and both brackets can be configured into a strong support structure integrated with the cabin frame.
Furthermore, since the cabin frame has a height close to the cabin roof and brackets extend upward from both the left and right sides of the cabin frame, the mounting position of the support frame can be set to the cabin frame with a simple support structure. The antenna unit can be easily arranged at a height position where the inertial measurement unit, the GNSS antenna, and the wireless communication device function appropriately.

Therefore, the adoption of the antenna unit in which the inertial measurement unit, the GNSS antenna, and the wireless communication device are assembled, the arrangement position of the inertial measurement unit and the GNSS antenna with respect to the aircraft, and the above-mentioned rational ingenuity in the support structure of the antenna unit. As a result, both the detection accuracy of the inertial measurement unit and the GNSS antenna can be improved, and the wireless communication device can be efficiently mounted on the work vehicle while maintaining a good communication state. Moreover, the support structure of the mounted antenna unit can be firmly configured.

In the second characteristic configuration of the present invention, the antenna unit is mounted so as to be displaced from the working position to a non-working position on the front lower side with respect to the support frame, and the antenna unit is mounted on the working position and the non-working position. The point is that a guide portion for guiding the movement in the front-rear direction is provided between the work position and the work position.

According to the above configuration, when the antenna unit is located at the working position, the antenna unit and the antenna unit are equipped with, for example, in order to properly function the inertial measurement unit, the GNSS antenna, and the wireless communication device of the antenna unit. It is preferable that the antenna is arranged so as to project above the highest portion of the upper surface of the cabin roof. However, in this case, the vehicle height when transporting the work vehicle by a transport vehicle such as a truck becomes high, which may cause a problem such as being subject to height restrictions when traveling on a road or the like. Therefore, in the present invention, by displacing the antenna unit from the working position to the non-working position on the front lower side with respect to the support frame, it is possible to easily deal with problems such as height limitation when traveling on a road. it can.
Moreover, when the antenna unit is displaced from the working position to the non-working position, the antenna unit is moved forward along the guide portion, so that the antenna unit can be moved to the non-working position by utilizing the wide space in the upper front part of the cabin. It can be easily placed.

In the third characteristic configuration of the present invention, the antenna unit is mounted so that the antenna unit can be displaced from the working position to a non-working position on the lower side with respect to the support frame, and the antenna unit is mounted on the non-working position on the lower side. In the state of being displaced to, it is located at a position substantially the same height as or lower than the highest portion of the upper surface of the cabin.

According to the above configuration, when the antenna unit is located at the working position, the antenna unit and the antenna unit are equipped with, for example, in order to properly function the inertial measurement unit, the GNSS antenna, and the wireless communication device of the antenna unit. It is preferable that the antenna is arranged so as to project above the highest portion of the upper surface of the cabin roof. However, even in this case, when the antenna unit is displaced to the non-working position, the antenna unit is arranged at a position substantially the same height as or lower than the highest portion on the upper surface of the cabin, and thus the truck. When transporting a work vehicle with a transport vehicle such as the above, it is possible to easily deal with problems such as height restrictions when traveling on a road.

Overall side view of a tractor equipped with an antenna unit Control block diagram of tractors, reference stations, and wireless communication terminals Front view of the antenna unit mounting part of the tractor Side view of the antenna unit mounting part of the tractor Perspective view of the antenna unit mounting part of the tractor Longitudinal view of the antenna unit in front view Longitudinal view of the antenna unit in rear view Cross-sectional view of the antenna unit when viewed from the right side Perspective view of the antenna unit when the cover is separated Perspective view of the antenna unit with the cover removed when another unit is attached. Top view of the antenna unit with the cover removed when another unit is attached Side view when the antenna unit is changed to the non-working position Side view (a) showing the height relationship between the antenna unit at the working position and the highest part of the cabin and side view (b) showing the height relationship between the antenna unit at the non-working position and the highest part of the cabin. Elevation perspective of the cabin Perspective view of the main part of the cabin An exploded side view of an antenna unit mounting portion showing another embodiment.

Embodiments of the present invention will be described with reference to the drawings.
The automatic traveling system shown in FIGS. 1 and 2 is configured to generate a target traveling route and automatically travel the tractor 1 as a work vehicle along the generated target traveling route. In this automatic traveling system, in addition to the tractor 1 capable of automatically traveling, a wireless communication terminal 30 that gives various instructions to the tractor 1 and a reference station 40 for acquiring the position information of the tractor 1 are provided. There is.

First, the tractor 1 will be described with reference to FIG.
The tractor 1 is provided with a machine body portion 2 to which a ground work machine (not shown) can be mounted on the rear side, the front part of the machine body part 2 is supported by a pair of left and right front wheels 3, and the rear part of the body part 2 is a pair of left and right sides. It is supported by the rear wheel 4. A bonnet 5 is arranged at the front portion of the body portion 2, and an engine 6 as a drive source is housed in the bonnet 5. A cabin 7 for the driver to board is provided on the rear side of the bonnet 5, and a steering handle 8 for the driver to steer, a driver's seat 9 and the like are provided in the cabin 7. Has been done.

The engine 6 can be composed of, for example, a diesel engine, but is not limited to this, and may be composed of, for example, a gasoline engine. Further, an electric motor may be adopted as the drive source in addition to the engine 6 or in place of the engine 6.

Further, in the present embodiment, the tractor 1 will be described as an example of the work vehicle, but the work vehicle includes a rice transplanter, a combine, a civil engineering / construction work device, a snowplow, and a passenger type work vehicle in addition to the tractor. ..

A three-point link mechanism including a pair of left and right lower links 10 and an upper link 11 is provided on the rear side of the machine body portion 2, and the ground work machine can be mounted on the three-point link mechanism. Although not shown, an elevating device having a hydraulic device such as an elevating cylinder is provided on the rear side of the machine body 2, and the elevating device raises and lowers the ground work machine by raising and lowering the three-point link mechanism. ing.
Ground work machines include tillage equipment, plows, fertilizer application equipment and the like.

As shown in FIG. 2, the tractor 1 includes an engine device 21 capable of adjusting the rotational speed of the engine 6, a transmission 22 that shifts the rotational driving force from the engine 6 and transmits the rotational driving force to the drive wheels, an engine device 21, and a shift. A control unit 23 and the like capable of controlling the device 22 are provided. The transmission 22 is configured by combining, for example, a main transmission made of a hydraulic continuously variable transmission and an auxiliary transmission made of a gear type multi-speed transmission.

The tractor 1 not only allows the driver to board the cabin 7 and travels, but also automatically travels the tractor 1 based on an instruction from the wireless communication terminal 30 even if the driver does not board the cabin 7. It is configured to be possible.

As shown in FIG. 2, the tractor 1 is transmitted from the steering device 24, the inertial measurement device (IMU) 25 for obtaining the attitude change information of the aircraft, and the positioning satellite (navigation satellite) 45 constituting the satellite positioning system (GNSS). An example of a wireless communication unit (a wireless communication device assembled to the antenna unit 50) that transmits and receives various signals via a wireless communication network constructed between the GNSS antenna 26 that receives the radio signal and the wireless communication terminal 30 and the like. ) 27, a base station antenna (an example of a wireless communication device assembled to the antenna unit 50) 29, etc., which receives a wireless signal (for example, a wireless signal having a frequency band of 920 MHz) from the reference station wireless communication device 41 of the reference station 40. It is configured to be able to run automatically while acquiring its own current position information (position information of the aircraft unit 2).

The inertial measurement unit 25, the GNSS antenna 26, the wireless communication unit 27, and the base station antenna 29 are housed in an antenna unit 50 provided with a unit cover 51, as shown in FIGS. 6 to 9. As shown in FIGS. 3 to 5, the antenna unit 50 is attached to a support frame 100 along the left-right width direction fixed to the cabin frame 200 of the cabin 7 at an upper position on the outer front side of the cabin 7. There is.
The specific internal arrangement structure and mounting structure of the antenna unit 50 will be described in detail after the explanation of the automatic traveling system.

The steering device 24 is provided, for example, in the middle of the rotation axis of the steering handle 8, and is configured so that the rotation angle (steering angle) of the steering handle 8 can be adjusted. By controlling the steering device 24, the control unit 23 can adjust the rotation angle of the steering handle 8 to a desired rotation angle and perform not only straight-ahead traveling but also turning traveling with a desired turning radius.

In the inertial measurement unit 25, a three-dimensional angular velocity and acceleration are obtained by a three-axis gyro and a three-direction accelerometer. The detected value of the inertial measurement unit 25 is input to the control unit 23, and the control unit 23 calculates the attitude information of the tractor 1 (azimuth angle (yaw angle) of the aircraft, tilt of the aircraft to the left and right). Find the angle (roll angle) and the front-back tilt angle (pitch angle) in the direction of travel of the aircraft.

In the satellite positioning system (GNSS), satellite positioning systems such as the quasi-zenith satellite (Japan) and the Glonass satellite (Russia) can be used as the positioning satellite 45 in addition to GPS (US).

In the present embodiment, the wireless communication unit 27 is composed of a Wifi unit having a frequency band of 2.4 GHz, but the wireless communication unit 27 can be Bluetooth (registered trademark) or the like other than Wifi. As shown in FIG. 2, the signal received by the wireless communication antenna 28 of the wireless communication unit 27 can be input to the control unit 23, and the signal from the control unit 23 is wirelessly transmitted by the wireless communication antenna 28. It is configured so that it can be transmitted to the wireless communication device 31 or the like of the communication terminal 30.

Here, as a positioning method using a satellite positioning system, a reference station 40 installed at a predetermined reference point is provided, and correction information from the reference station 40 and satellite positioning information of the tractor 1 (mobile station) are used. , The positioning method for obtaining the current position of the tractor 1 can be applied. For example, various positioning methods such as DGPS (Differential GPS Positioning) and RTK Positioning (Real-time Kinematic Positioning) can be applied.

In this embodiment, for example, RTK positioning is applied, and as shown in FIGS. 1 and 2, the tractor 1 on the mobile station side is provided with the GNSS antenna 26 and the reference station positioning antenna 42. A reference station 40 is provided. The reference station 40 is arranged at a position (reference point) that does not interfere with the running of the tractor 1, such as around the field. The position information of the reference point, which is the installation position of the reference station 40, is known in advance. The reference station 40 is provided with a reference station wireless communication device 41 capable of transmitting and receiving various signals to and from the base station antenna 29 of the tractor 1, and is configured to be capable of transmitting and receiving various information between the reference station 40 and the tractor 1. ing.

In RTK positioning, the carrier phase (satellite) from the positioning satellite 45 is used by both the reference station positioning antenna 42 of the reference station 40 installed at the reference point and the GNSS antenna 26 of the tractor 1 on the mobile station side for which position information is to be obtained. Positioning information) is being measured. The reference station 40 generates correction information including the measured satellite positioning information and the position information of the reference point every time the satellite positioning information is measured from the positioning satellite 45 or every time the setting cycle elapses, and the reference station wireless communication device Correction information is transmitted from 41 to the base station antenna 29 of the tractor 1. The control unit 23 of the tractor 1 obtains the current position information of the tractor 1 by using the satellite positioning information measured by the GNSS antenna 26 and the correction information transmitted from the reference station 40. The control unit 23 requests, for example, latitude information and longitude information as the current position information of the tractor 1.

In the automatic traveling system, in addition to the tractor 1 and the reference station 40, the control unit 23 of the tractor 1 is provided with a wireless communication terminal 30 capable of instructing the automatic traveling of the tractor 1. The wireless communication terminal 30 is composed of, for example, a tablet-type personal computer having a touch panel, and can display various information on the touch panel. By operating the touch panel, various information can also be input. The wireless communication terminal 30 is provided with a wireless communication device 31 and a route generation unit 32 that generates a target travel route, and the route generation unit 32 sets the tractor 1 based on various information input on the touch panel. A target travel route for automatic travel is generated.

The control unit 23 provided in the tractor 1 is configured to be able to transmit and receive various information to and from the wireless communication terminal 30 via a wireless communication network such as a wireless communication device 31. The wireless communication terminal 30 is configured to be able to instruct the automatic traveling of the tractor 1 by transmitting various information for automatically traveling the tractor 1, such as a target traveling route, to the control unit 23 of the tractor 1. The control unit 23 of the tractor 1 obtains the current position information of the tractor 1 acquired from the reception signal of the GNSS antenna 26 so that the tractor 1 automatically travels along the target travel route generated by the route generation unit 32. Displacement information and directional information of the aircraft are obtained from the inertial measurement unit 25, and the transmission 22 and the steering device 24 and the like can be controlled based on the current position information, displacement information and directional information.

Next, the internal arrangement structure of the antenna unit 50 will be described.
6 is a vertical sectional view of the antenna unit 50 when viewed from the front side, FIG. 7 is a vertical sectional view of the antenna unit 50 when viewed from the rear side, and FIG. 8 is a vertical sectional view of the antenna unit 50 when viewed from the right side. FIG. 9 is a cross-sectional view of the case, and FIG. 9 shows a perspective view when the upper cover body 53 of the unit cover 51 is separated.
The unit cover 51 of the antenna unit 50 is mounted on the tractor 1 in a posture in which the left-right width direction of the body portion 2 is the longitudinal direction with respect to the forward direction. As shown in FIGS. 6 to 9, the unit cover 51 includes a bottom cover body 52 made of a resin having a substantially rectangular shape in a plan view that opens upward, and an upper cover made of a resin having a substantially rectangular shape in a plan view that opens downward. Has a body 53 and. The opening joint portion of the upper cover body 53 is detachably and detachably joined to the opening joint portion of the lower cover body 52 in a watertight state. As shown in FIG. 9, the opening joint of the upper cover 53 and the opening joint of the lower cover 52 are screwed 54 at one location on each of the left and right side walls and at two locations on the rear wall in the left-right direction. It is fixedly connected.

As shown in FIGS. 6 to 9, a metal base plate 55, which is an example of a unit base that can be attached to the tractor 1, is attached to the upper surface of the bottom plate portion 52A of the lower cover body 52. The base plate 55 is made of sheet metal having a substantially rectangular shape in a plan view, and is attached to the lower cover body 52 in a posture in which the left-right width direction of the body portion 2 is the longitudinal direction with respect to the forward direction. A gap of a set interval is formed between the lower surface of the base plate 55 and the upper surface of the bottom plate portion 52A of the lower cover body 52. As shown in FIGS. 5 to 7, the gaps are formed inward at a plurality of locations (4 locations in the present embodiment) of the bottom plate portions 52A of the lower cover body 52 so as to be in contact with the lower surface of the base plate 55. The set interval is regulated by forming a mounting recess 52a projecting to the side and placing the lower surface of the base plate 55 on the upper surface of each mounting recess 52a. Each mounting recess 52a of the bottom plate portion 52A of the lower cover body 52 and the base plate 55 are fixedly connected by a first bolt 56 and a first nut 57.

As shown in FIGS. 6 and 7, two locations before and after the lower surface of the base plate 55 that is displaced outward on both sides in the longitudinal direction with respect to the central mounting area of the inertial measurement unit 25 and the GNSS antenna 26, which will be described later. A tubular first screw member 90 for attaching to the support frame 100 on the tractor 1 side is fixed to each of the above. The lower end portion of each first screw member 90 penetrates the bottom plate portion 52A of the lower cover body 52 and slightly protrudes downward. Among them, the lower ends of the pair of front and rear first screw members 90 located on one end side in the longitudinal direction of the base plate 55 and the lower ends of the pair of front and rear first screw members 90 located on the other end side in the longitudinal direction. A horizontal connecting plate portion 91a of a pair of left and right connecting members 91 formed by bending in a substantially inverted “L” shape when viewed from the front of the machine body is arranged. The horizontal connecting plate portion 91a of both connecting members 91 is fixedly connected by a second bolt 92 that penetrates the horizontal connecting plate portion 91a and is screwed into each first screw member 90 from below. In this fixed connection state, a gap is provided between the lower surface of the bottom plate portion 52A of the lower cover body 52 and the upper surface of the horizontal connection plate portion 91a of the connecting member 91, and the load on the base plate 55 side is applied to the lower cover body 52. It is configured so that it does not hang.
As shown in FIGS. 6 and 7, at two locations on the left and right of the front end side portion of the central portion in the longitudinal direction on the lower surface of the base plate 55 (the front end side portion of the base plate 55 which is the front side of the machine body portion 2 when attached to the tractor 1). Is fixed with a tubular second screw member 93 for attaching a camera 78 (see FIGS. 3 and 9) for photographing the front of the machine body, and the lower end of each second screw member 93 is attached to the lower cover body 52. It penetrates the bottom plate portion 52A and slightly protrudes downward. The mounting bracket (not shown) of the camera 78 (see FIGS. 3 and 9) arranged at the lower end of the second screw member 93 is fixedly connected by a bolt (not shown) screwed to the second screw member 93 from below. Will be done. In this fixed connection state, a gap is provided between the lower surface of the bottom plate portion 52A of the lower cover body 52 and the upper surface of the mounting bracket of the camera 78 so that the load on the camera 78 side is not applied to the lower cover body 52. It is configured.

As shown in FIGS. 6, 7, and 9, in the central portion of the base plate 55 in the longitudinal direction, the inertial measurement unit 25 and the GNSS antenna 26 are both arranged at the center position or substantially the center position in the left-right width direction of the machine body portion 2. And are provided in a state of overlapping vertically. Among them, the GNSS antenna 26 is arranged at an upper position of the inertial measurement unit 25.
Specifically, as shown in FIGS. 6 and 7, the housing 25A of the inertial measurement unit 25 is attached to the base plate 55 with the third bolt 58 in a state where the center position in the left-right direction is located at the center position in the longitudinal direction of the base plate 55. It is fixedly connected.
On the other hand, as shown in FIGS. 6 and 7, the housing 26A of the GNSS antenna 26 has a metal hat-shaped first bracket 60 in a state where the center position in the left-right direction thereof is located at the center position in the longitudinal direction of the base plate 55. It is attached to the base plate 55 via. The first bracket 60 is formed in a hat shape that detours above the housing 25A of the inertial measurement unit 25 along the longitudinal direction of the base plate 55. Both legs 60a of the hat-shaped first bracket 60 are fixedly connected to the base plate 55 by a fourth bolt 61. The width of the hat-shaped first bracket 60 in the front-rear direction (which is also the front-rear direction of the machine body) is configured to be slightly larger than the front-rear width of the housing 25A of the inertial measurement unit 25, and the width of the first bracket 60 As shown in FIG. 6, a front side plate 60b covering the front side of the inertial measurement unit 25 is bent and formed on the front end edge. With this configuration, the first bracket 60 is configured as a shielding wall portion that shields between the first bracket 60 and the wireless communication unit 27 described later.
Further, as shown in FIGS. 6 and 7, there is a first predetermined distance L1 between the GNSS antenna 26 attached to the first bracket 60 and the inner surface 53a of the central portion in the longitudinal direction of the upper cover body 53 of the unit cover 51. It is set to 30 mm or more.

Due to the arrangement configuration of the inertial measurement unit 25 and the GNSS antenna 26 described above, in the mounted state on the tractor 1, as shown in FIGS. 3, 6 and 7, both the inertial measurement unit 25 and the GNSS antenna 26 are of the body portion 2. Since it is arranged vertically at the center position or approximately the center position in the left-right width direction, the detection accuracy of the current position information of the tractor 1 acquired from the received signal of the GNSS antenna 26, the displacement information of the aircraft acquired from the inertial measurement unit 25, and the displacement information of the aircraft are acquired. Both the detection accuracy of the orientation information can be improved. Moreover, the width of the unit cover 51 in the front-rear direction is reduced, and the antenna unit 50 can be made compact.
Further, due to the above-mentioned arrangement configuration, as shown in FIGS. 6 and 7, only the upper cover body 53 made of resin exists above the GNSS antenna 26, and there is no radio wave shield. Therefore, unlike the case where the inertial measurement unit 25 is arranged above the GNSS antenna 26, the inertial measurement unit 25 does not become a reception obstacle of the GNSS antenna 26, and the carrier wave phase from a predetermined number of positioning satellites 45 is not observed. (Satellite positioning information) can be reliably received.
Further, as described above, since the first predetermined distance L1 between the GNSS antenna 26 and the inner surface 53a of the upper cover body 53 of the unit cover 51 is set to 30 mm or more, the inner surface of the GNSS antenna 26 and the unit cover 51 It is possible to suppress radio wave interference due to the proximity of the 53a and improve the detection accuracy of the current position information of the tractor 1 acquired from the received signal of the GNSS antenna 26.

As shown in FIGS. 6 to 8, two wireless communication antennas 28 in the left-right direction are provided at one end of the base plate 55 in the longitudinal direction (the right end in the left-right direction of the body portion 2 with respect to the forward direction). The housing 27A of the wireless communication unit (an example of the wireless communication device assembled to the antenna unit 50) 27 is fixedly connected by the fifth bolt 62. The two wireless communication antennas 28 of the wireless communication unit 27 are arranged in parallel at a portion on the front side of the base plate 55 and along the longitudinal direction of the base plate 55. With this arrangement, the two wireless communication antennas 28 can secure a sufficient distance forward from the cabin frame 200 (see FIG. 4), which is a metal component of the tractor 1.

Then, the two wireless communication antennas 28 of the wireless communication unit 27 can increase the communication speed between the wireless communication terminal 30 and the wireless communication device 31. Moreover, since the two wireless communication antennas 28 are arranged in parallel at the front side portion of the base plate 55 and along the longitudinal direction of the base plate 55, both wireless communication antennas 28 are made of metal of the tractor 1. It is less likely to be affected by radio wave shielding by the cabin frame 200, which is a component, and the communication state of the wireless communication unit 27 can be maintained well.
Further, the outer periphery of the inertial measurement unit 25 has a metal hat shape in which many parts other than the connector and the like are shielded by the metal housing 25A and is located between the wireless communication unit 27 and the inertial measurement unit 25. Since the first bracket 60 functions as a shielding wall portion, it is possible to suppress radio wave interference between the wireless communication unit 27 and the inertial measurement unit 25.

At the other end of the base plate 55 in the longitudinal direction (the left end of the body 2 in the left-right direction with respect to the forward direction), as shown in FIGS. 6, 7, and 9, a base for receiving information from the reference station 40. A station antenna (an example of a wireless communication device assembled to the antenna unit 50) 29 is arranged. As a result, the base plate 55 is subjected to the wireless communication unit 27, the GNSS antenna 26 (inertial measurement unit 25), and the base station antenna 29 in this order from the right side in the left-right direction of the body 2 with respect to the forward direction. They are arranged side by side. As shown in FIGS. 6, 7, and 9, the base station antenna 29 includes a base 29A provided with a magnet 65 and a round bar-shaped antenna bar 29B extending upward from the base 29A.

Further, as shown in FIGS. 6, 7, and 9, a raised portion 95 in which the base station antenna 29 is arranged at a higher position than the antenna mounting portion between the base station antenna 29 and the antenna mounting portion of the base plate 55. Is provided. As shown in FIGS. 6 and 7, the raised portion 95 is provided.
It is composed of a raised bracket 96 in which a metal plate is bent twice at a right angle. The raised bracket 96 has a horizontal mounting board portion 96a fixedly connected to the other end of the base plate 55 in the longitudinal direction by the sixth bolt 97 and the sixth nut 98, and upward from one end of the mounting board portion 96a. A raised plate portion 96b extending in a vertical posture and an antenna mounting plate portion 96c extending horizontally from the upper end of the raised plate portion 96b are provided.

Due to the arrangement of the base station antenna 29 described above, the antenna bar 29B of the base station antenna 29 located at the other end in the longitudinal direction and the wireless communication antenna 28 of the wireless communication unit 27 located at one end in the longitudinal direction are separated from each other. The distance is increased, and radio interference between the antenna bar 29B of the base station antenna 29 and the wireless communication antenna 28 of the wireless communication unit 27 can be suppressed.
Moreover, the base station antenna 29 can be easily attached to the metal raising bracket 96 by the magnetic force of the magnet 65 provided on the base 29A. Further, the upper end portion of the base station antenna 29 can be arranged at a higher place by the amount raised by the raising bracket 96, which is caused by the traveling vibration of the tractor 1 as compared with the case where the long base station antenna 29 is used. It is possible to improve the reception performance of the reference station wireless communication device 41 of the reference station 40 while suppressing the breakage of the base station antenna 29 due to the shaking motion.

Next, the unit cover 51 of the antenna unit 50 will be described.
As shown in FIGS. 6 to 9, the upper cover body 53 is located on the front half of the upper cover body 53 of the unit cover 51 on one end side in the longitudinal direction (the right end side in the left-right direction of the machine body portion 2 with respect to the forward direction). A bulging portion 53A is formed so as to project above the upper surface position of the central portion in the longitudinal direction and the upper end position of both wireless communication antennas 28 of the wireless communication unit 27. Then, as shown in FIGS. 6 and 8, the second predetermined distance L2 between the inner surface 53b of the bulging portion 53A and the upper end of the wireless communication antenna 28 is set to 30 mm or more.
The wireless communication antenna 28 and the inner surface 53b of the unit cover 51 are brought close to each other by the second predetermined distance L2 formed between the upper end of the wireless communication antenna 28 and the inner surface 53b of the bulging portion 53A of the upper cover body 53. This makes it possible to suppress radio wave interference and improve the communication accuracy between the wireless communication unit 27 and the wireless communication device 31 of the wireless communication terminal 30.

Further, as shown in FIG. 9, a through hole 70 is formed in the other end portion of the upper cover body 53 in the longitudinal direction through which the antenna bar 29B of the base station antenna 29 penetrates and projects upward to the outside. .. As shown in FIGS. 6, 7, and 9, the perimeter of the opening of the through hole 70 is an elastic body for vibration isolation such as a tubular rubber that contacts the outer peripheral surface of the through portion of the antenna bar 29B of the base station antenna 29. 71 is attached. As the anti-vibration elastic body 71, a grommet that is in contact with the entire circumference of the antenna bar 29B and also exhibits watertightness is used.

When the anti-vibration elastic body 71 does not exist, an annular gap is generated between the peripheral edge of the opening of the through hole 70 of the upper cover body 53 and the outer peripheral surface of the penetrating portion of the antenna bar 29B. When the traveling vibration of the tractor 1 acts on the base station antenna 29, the antenna bar 29B swings within the range of the annular gap, and the antenna bar 29B may be broken at the root. However, in the present embodiment, as described above, the upper and lower intermediate portions of the antenna bar 29B are supported by the anti-vibration elastic body 71 provided on the peripheral edge of the opening of the through hole 70 of the upper cover body 53, and the base station antenna 29 is supported. Since the structure is a two-point support structure as a whole, breakage of the antenna bar 29B due to running vibration or the like can be suppressed.

In the embodiment, the anti-vibration elastic body 71 is attached to the peripheral edge of the opening of the through hole 70 of the upper cover body 53, but the anti-vibration elastic body 71 is attached to the upper surface or the inner surface 53a of the upper cover body 53. You may.

As shown in FIGS. 6, 10 and 11, another unit 72 is located on the other end side of the base plate 55 in the longitudinal direction and between the inertial measurement unit 25 and the GNSS antenna 26 and the base station antenna 29. A mounting space 73 is formed. Here, FIGS. 6, 7, and 9 show a state in which the mounting space 73 is a hollow space without mounting another unit 72 in the mounting space 73, and FIGS. 10 and 11 show the mounting space. A state in which another unit 72 is attached to 73 is shown.

Examples of the other unit 72 include a controller for a retrofitted LCD monitor that controls a part of automatic driving control. In the automatic traveling specification tractor 1 of the present embodiment, a liquid crystal monitor 47 is provided in the cabin 7, and the liquid crystal monitor 47 is equipped with a controller that controls a part of the automatic traveling control. However, when changing other work vehicles such as rice transplanters with normal specifications to automatic driving specifications, a controller that controls automatic driving control is required for the LCD monitor to be retrofitted. In this case, the controller can be easily mounted using the mounting space 73 secured in the base plate 55.

Further, as shown in FIGS. 6 to 7, at the lower ends of both second screw members 93 protruding from the bottom plate portion 52A of the lower cover body 52, a camera 78 for photographing the front of the machine body (see FIGS. 3 and 9). ) Is placed. The mounting bracket (not shown) of the camera 78 is fixedly connected to the second screw member 93 with a bolt (not shown) screwed from below. The image captured by the camera 78 can be displayed on the touch panel of the wireless communication terminal 30 via wireless communication between the wireless communication unit 27 of the tractor 1 and the wireless communication device 31 of the wireless communication terminal 30.

In FIGS. 6 to 11, the electric wires connected to each of the inertial measurement unit 25, the GNSS antenna 26, the wireless communication unit 27, and the base station antenna 29 attached to the base plate 55 are omitted. A part of one harness 80 formed by assembling electric wires in the unit cover 51 is shown in FIGS. 3 and 4. As shown in FIG. 4, the harness 80 is led out to the outside from a harness lead-out hole 81 (see FIG. 9) formed on the central portion side in the longitudinal direction of the rear wall of the lower cover body 52. A grommet (not shown) is attached to the harness lead-out hole 81.

Next, the mounting structure of the antenna unit 50 will be described.
As shown in FIGS. 1, 3 to 5, both ends of the support frame 100 of the antenna unit 50 are fixedly connected to the mirror mounting portions 150 provided on the left and right front columns 201 constituting the cabin frame 200. ing.
As shown in FIGS. 3 to 5, each of the left and right mirror mounting portions 150 has a mounting base material 151 formed in a substantially "U" shape in a plan view fixed to the upper portion of the front column 201 by welding or the like. A mirror mounting member 152 having a hinge portion that rotatably supports the support arm 111 of the rearview mirror 110 is fixedly connected to the mounting base material 151 with bolts (not shown).
A second bracket 112 extending upward (specifically, directly above) in the side view of the machine body is fastened and fixed together with bolts between the left and right mounting base materials 151 and the left and right mirror mounting members 152. ing. Each of the second brackets 112 is attached by being bent along a horizontal plane from the vertical support plate portion 112a extending upward from between the mounting base material 151 and the mirror mounting member 152 and the upper end of the vertical support plate portion 112a. It includes a plate portion 112b and a reinforcing plate portion 112c fixed to a bent corner portion formed by both of them.

As shown in FIGS. 3 to 5, the support frame 100 is a pipe-shaped support member 101 having a circular cross section formed by bending in a substantially flat gate shape in which both ends in the left-right width direction are bent downward in the front view of the machine body. I have. A substantially "L" -shaped mounting plate 102 is fixed to both ends of the pipe-shaped support member 101 when viewed from the front of the machine body, which has a mounting lower surface along a horizontal plane. The reinforcing plate 103 is fixed to both end portions of the pipe-shaped support member 101 and both mounting plates 102.
Both mounting plates 102 of the support frame 100 are mounted on the upper surface of the mounting plate portions 112b of the left and right second brackets 112 which are jointly fastened and fixed between the mounting base material 151 and the mirror mounting member 152. Both mounting plates 102 of the mounted support frame 100 and mounting plate portions 112b of both second brackets 112 are fixedly connected by seventh bolt 104 and seventh nut 105, respectively.

As described above, the left and right mirror mounting portions 150 are mounted on the upper part of the front column 201 of the robust cabin frame 200, and are arranged at a height position close to the roof 190 of the cabin 7. Therefore, a simple support structure that utilizes both mirror mounting portions 150, which are sturdy and have a height above the ground, and extends the second bracket 112 upward (specifically, directly above) from both mirror mounting portions 150. The support frame 100 of the antenna unit 50 can be firmly mounted at an appropriate height position only by adding the above.
Moreover, the mounting upper surface of the mounting plate portions 112b of the left and right second brackets 112, which are jointly fastened and fixed between the mounting base material 151 and the mirror mounting member 152, and the mounting lower surface of both mounting plates 102 of the support frame 100 are Since both are formed in a horizontal plane, it is easy to arrange the intermediate portion of the pipe-shaped support member 101 horizontally along the left-right direction, and the antenna unit 50 to be attached to the horizontal intermediate portion of the pipe-shaped support member 101 is attached. The error can be suppressed.

Further, as shown in FIGS. 3 to 5, when the support frame 100 is erected over the left and right second brackets 112, the horizontal intermediate portion of the pipe-shaped support member 101 of the support frame 100 is the cabin frame 200. The position near the upper side of the front end of the roof 190 is horizontally arranged along the left-right width direction of the airframe.
As shown in FIGS. 3 to 5, a pair of left and right connecting members 91 of the antenna unit 50 are substantially "L" -shaped in the horizontal intermediate portion of the pipe-shaped support member 101 when viewed from the side of the machine body. The third bracket 120 is fixed. The vertical connecting plate portions 91b of both connecting members 91 on the antenna unit 50 side and the third brackets 120 on the support frame 100 side facing each other in the left-right width direction of the machine body portion 2 are in the left-right width direction of the machine body portion 2. It is fixedly connected by two horizontal 8th bolts 121 and 8th nuts 122 along the above.
The vertical connecting plate portions 91b of both connecting members 91 on the antenna unit 50 side were fixedly connected to both third brackets 120 on the support frame 100 side by two sets of two 8th bolts 121 and 8th nuts 122. In the state, the antenna unit 50 is in a working position (working posture) in which the base station antenna 29 mounted on the antenna unit 50 faces in the vertical direction.

Circular first bolt insertion holes 126 (see FIG. 16) are formed at two front and rear positions of the vertical connecting plate portion 91b of both connecting members 91. Both third brackets 120 on the support frame 100 side are formed with horizontal second bolt insertion elongated holes 123 having a length corresponding to the pitch of the first bolt insertion holes 126 and along the front-rear direction. Both third brackets 120 on the support frame 100 side have one at a portion directly below the front end position of the second bolt insertion slot 123 and at a vertical interval corresponding to the pitch of both first bolt insertion holes 126. A circular second bolt insertion hole 124 is formed.
Then, as shown in FIG. 4, with the antenna unit 50 in the working position, the eighth bolt 121 on the front side is removed, and the eighth bolt 121 on the rear side is loosened and operated. In this state, the eighth bolt 121 on the rear side is moved forward together with the antenna unit 50 to the front end position along the second bolt insertion slot 123 of both third brackets 120, and the antenna unit 50 is moved forward to the eighth bolt. It is rotated downward around the axis of 121. In the state of being rotated to the front lower side, the antenna unit 50 hangs down with the eighth bolt 121 as a pivot shaft, and the first bolt insertion hole 126 and the support frame on the front end side of both connecting members 91 on the antenna unit 50 side. The second bolt insertion holes 124 of both third brackets 120 on the 100 side match (see FIG. 16). The removed eighth bolt 121 is inserted through the matched first bolt insertion hole 126 and the second bolt insertion hole 124, and each eighth bolt 121 is screwed to the tightening side to operate the antenna unit. Both connecting members 91 on the 50 side and both third brackets 120 on the support frame 100 side are fixedly connected. In this fixed connection state, as shown in FIG. 12, the antenna unit 50 is in a front low non-working position (non-working posture) in which the base station antenna 29 mounted on the antenna unit 50 faces the horizontal direction on the front side.

With the above configuration, the antenna unit 50 is mounted so as to be displaced with respect to the support frame 100 from the working position to the non-working position on the front lower side. Further, the antenna unit 50 is provided with the second bolt insertion slot 123 of both third brackets 120, the first bolt insertion hole 126 on the rear end side of both connecting members 91 on the antenna unit 50 side, and the eighth bolt 121. A guide portion 125 is configured to guide the movement in the front-rear direction between the working position and the non-working position on the lower front side.
In the present embodiment, as shown in FIGS. 12 and 13, the non-working position of the antenna unit 50 moves forward from the working position to the front within the bolt movable range of the second bolt insertion slot 123. In addition, it is a position that is rotated downward by 90 degrees to the lower side around the 8th bolt 121 that is in contact with the front end position of the 2nd bolt insertion slot 123. The station antenna 29 is in a position of projecting forward in the horizontal direction.

Then, as shown in FIGS. 1, 4, and 13 (a), when the antenna unit 50 is in the working position, a part of the base station antenna 29 and the unit cover 51 of the antenna unit 50 is the roof of the cabin 7. It projects above the highest horizon X passing through the highest portion 190a of 190. However, when the base station antenna 29 protruding above the roof 190 of the cabin 7 becomes an obstacle during transportation of the tractor 1, the antenna unit 50 is used as shown in FIGS. 12 and 13 (b). Change from the working position to the non-working position on the lower front side. In this non-working position, the base station antenna 29 is in a position to project forward in the horizontal direction, and the antenna unit 50 including the unit cover 51 is positioned at substantially the same height as the highest portion 190a on the upper surface of the roof 190 of the cabin 7 or its position. It can be arranged at a lower position. In the present embodiment, as shown in FIGS. 12 and 13B, when the antenna unit 50 is in the non-working position, the upper side surface of the opening joint portion of the upper cover body 53 is the highest portion 50a of the antenna unit 50. .. The highest portion 50a of the antenna unit 50 in the non-working position is set at the same height as the highest horizontal line X passing through the highest portion 190a of the roof 190 of the cabin 7.

Further, in the present embodiment, the position change operation between the working position and the non-working position of the antenna unit 50 is performed by an artificial operation, but the position change operation of the antenna unit 50 is performed by a drive unit such as an actuator. May be good.

Whether or not the antenna unit 50 is located at the working position can be detected based on the displacement information acquired from the inertial measurement unit 25. Therefore, as shown in FIG. 2, if the control unit 23 does not detect that the antenna unit 50 is located at the working position, the control unit 23 performs automatic driving control based on the information acquired by the inertial measurement unit 25 and the GNSS antenna 26. An automatic traveling check unit 46 for prohibiting the start is provided.
The above-mentioned automatic traveling check unit 46 enables the automatic traveling control to be started only when the antenna unit 50 is in the working position, and the aircraft is targeted to travel based on the accurate information acquired by the inertial measurement unit 25 and the GNSS antenna 26. It is possible to automatically drive the vehicle along the route with high accuracy and safety.

In the present embodiment, whether or not the antenna unit 50 is located at the working position is detected based on the displacement information acquired from the inertial measurement unit 25, but the signal of the automatic switch that detects the positional displacement of the antenna unit 50 is detected. Alternatively, it may be determined whether or not the antenna unit 50 is located at the working position based on the signal of the hard switch that is artificially operated.

Next, the wiring structure of the harness 80 derived from the antenna unit 50 will be described.
As shown in FIGS. 14 and 15, the cabin frame 200 to which the harness 80 is wired is located in front of the driver's seat 9 (see FIG. 1) with a pair of left and right front beams 201 and behind the driver's seat 9. A pair of left and right rear columns 202, a front beam member 203 that connects the upper ends of the front columns 201, a rear beam member 204 that connects the upper ends of the rear columns 202, and the front columns 201 and the rear that are lined up in the front-rear direction. It is configured in a substantially box frame shape including left and right side beam members 205 for connecting the upper ends of the support columns 202.

As shown in FIGS. 14 and 15, the upper end of the rear end of each rear fender 202 is connected to the upper end of the rear end of the fender frame 207, which is curved so as to bulge rearward and upward in a side view along the shape of the rear fender 206. The lower front end of each fender frame 207 is connected to the rear end of the side frame 208 projecting rearward from the lower end of the corresponding front strut 201.
As shown in FIG. 14, the fender frame 207 is composed of a tubular frame material. Among them, the lower part of the front end of the fender frame 207 located on the right side of the cabin 7 opens below the outside of the cabin 7, and the internal space of the fender frame 207 located on the right side is inside and outside communicating the inside and the outside of the cabin 7. It is configured in a communication passage 210. A drain hose (not shown) for discharging the dew condensation water in the air conditioner to the outside of the cabin 7 is provided in the inner / outer communication passage 210 of the fender frame 207.

Further, the windshield 212 is arranged in the area surrounded by the left and right front columns 201, the front beam members 203, and the front lower plate plates 211 extending inward from the lower ends of the front columns 201.

Then, as shown in FIGS. 14 and 15, the harness 80 derived from the antenna unit 50 is a right edge portion (an example of one side edge portion in the left-right width direction) on the outer surface of the windshield 212 of the cabin 7. , Along a band-shaped portion that overlaps with the glass receiving portion 201a of the front support column 201 on the right side, it is arranged to extend downward. The harness 80 that reaches the front lower plate plate 211 on the lower end side of the windshield 212 extends rearward along the lower surface of the floor plate support plate 213 that is continuous with the side frame 208, and then is a fender frame located on the right side. It is guided into the cabin 7 from the opening at the lower part of the front end of the 207 through the internal / external communication passage 210, and is connected to the control unit 23 arranged in the operation panel unit 214 on the right side.

The strip-shaped portion on the outer surface of the windshield 212 that overlaps with the glass receiving portion 201a of the front strut 201 on the right side is a glass pasting portion for attaching the windshield 212 to the front portion of the cabin 7, and is visually appealing. It is also a position that does not get in the way of. Therefore, by arranging the harness 80 derived from the antenna unit 50 in the above-mentioned band-shaped portion, the harness 80 can be arranged in a good manner while maintaining a good view of the operator seated in the driver's seat 9. it can.

Further, as shown in FIG. 15, a protective resin harness cover 250 through which the harness 80 is inserted is attached to a strip-shaped portion of the right edge portion on the outer surface of the windshield 212 with an adhesive or the like.

[Another Embodiment]
In the above-described embodiment, the second bolt insertion slot 123 of both third brackets 120 of the support frame 100 is formed in a straight line along the front-rear direction, but as shown in FIG. 16, the second bolt insertion slot 123 is formed. At both ends of the 123 in the front-rear direction, recesses 123a into which the eighth bolt 121 inserted over the first bolt insertion hole 126 and the second bolt insertion hole 124 enters downward may be formed.
Then, when the antenna unit 50 is changed from the working position to the non-working position on the front lower side, the eighth bolt 121 on the front side is first removed, and the eighth bolt 121 on the rear side is loosened and operated. In this state, the eighth bolt 121 located in the recess 123a on the rear end side of the second bolt insertion slot 123 is pulled up and moved forward together with the antenna unit 50. The moved eighth bolt 121 is dropped into the recess 123a on the front end side of the second bolt insertion slot 123, and the antenna unit 50 is rotated downward around the axis of the eighth bolt 121. At this time, since the eighth bolt 121 is securely held in the recess 123a on the front end side of the second bolt insertion slot 123, the antenna unit 50 can be easily rotated around the axis of the eighth bolt 121. Can be operated.
In the state of being rotated to the front lower side, the antenna unit 50 hangs down with the eighth bolt 121 as the pivot shaft, and the first bolt insertion hole 126 and the support frame 100 on the front end side of both connecting members 91 on the antenna unit 50 side. The second bolt insertion holes 124 of both third brackets 120 on the side match. The removed eighth bolt 121 is inserted through the matched first bolt insertion hole 126 and the second bolt insertion hole 124, and each eighth bolt 121 is screwed to the tightening side to operate the antenna unit. Both connecting members 91 on the 50 side and both third brackets 120 on the support frame 100 side are fixedly connected. In this fixed connection state, the antenna unit 50 is in a front low non-working position (non-working posture) in which the base station antenna 29 mounted on the antenna unit 50 faces the horizontal direction on the front side.

[Other Embodiments]
(1) In the above-described embodiment, the wireless communication antenna 28 of the wireless communication unit 27 is housed in the unit cover 51 of the antenna unit 50, but if necessary, the wireless communication antenna 28 is placed in the upper cover body 53. It may be projected upward from the outside through the formed through hole.

(2) In the above-described embodiment, the first predetermined distance L1 between the GNSS antenna 26 and the inner surface 53a of the upper cover body 53 of the unit cover 51 is set to 30 mm or more, but the first predetermined distance L1 is predetermined. It can be arbitrarily set according to the reception status of the carrier phase (satellite positioning information) from the number of positioning satellites 45.

(3) In the above-described embodiment, the second predetermined distance L2 between the inner surface 53b of the bulging portion 53A of the unit cover 51 and the upper end of the wireless communication antenna 28 is set to 30 mm or more, but this second predetermined distance is set. L2 can be arbitrarily set according to the communication state between the wireless communication unit 27 and the wireless communication device 31 of the wireless communication terminal 30.

(4) In the above-described embodiment, the pair of left and right connecting members 91 are attached to the lower surface side of the unit cover 51, but the attachment is not limited to this attachment structure, and any attachment is made according to the attachment conditions on the work vehicle side. The structure can be adopted.

(5) In the above-described embodiment, two wireless communication antennas 28 of the wireless communication unit 27 are arranged in parallel, but one wireless communication antenna 28 may be used, and three or more wireless communication antennas 28 may be used. The antennas 28 may be arranged in parallel.

1 Work vehicle (tractor)
7 Cabin 25 Inertial measurement unit 26 GNSS antenna 27 Wireless communication device (wireless communication unit)
29 Wireless communication device (base station antenna)
46 Automatic running check unit 50 Antenna unit 100 Support frame 112 Bracket (2nd bracket)
125 Guide part 190a Highest part 200 Cabin frame

Claims (2)

A work vehicle equipped with a cabin
A support frame along the left-right width direction is fixed to brackets extending upward from both left and right sides of the cabin frame at an upper position outside the cabin, and the support frame receives position information from the satellite. receiving device and the antenna unit is attached taken with,
The antenna unit is detachably attached to the support frame from a working position to a non-working position on the lower front side, and guides the antenna unit to move between the working position and the non-working position. A work vehicle provided with a guide section. A work vehicle equipped with a cabin
A support frame along the left-right width direction is fixed to brackets extending upward from both left and right sides of the cabin frame at an upper position outside the cabin, and the support frame receives position information from the satellite. An antenna unit with a receiver is installed
The antenna unit is mounted so as to be displaced from the working position to a non-working position on the lower side with respect to the support frame, and the antenna unit is displaced to a non-working position on the lower side with respect to the support frame. A work vehicle that is located at the same height as or lower than the highest part of the upper surface of the cabin.

Images