JP7538838B2 - Tractor - Google Patents

Description

The present invention relates to a tractor equipped with an antenna unit that receives satellite positioning information.

The above-mentioned tractor is designed to receive satellite positioning information transmitted from GPS satellites using an antenna unit, and to calculate the vehicle's position, direction, etc. Among tractors of this type, those that do not have a driver's cabin have traditionally been equipped with an antenna unit that is stored inside the operation panel of the vehicle body (see, for example, Patent Document 1).

JP 2017-16562 A

In the above conventional configuration, the antenna unit is located low on the vehicle body and in an area covered by the hood, etc., so there is a risk that satellite positioning information transmitted from GPS satellites, etc., may be blocked by obstacles such as the hood or the vehicle case. In addition, in the above conventional configuration, the antenna unit is located close to the engine, so there is a risk that it may be adversely affected by vibrations generated by the engine, causing errors in the positioning data.

Therefore, there was a demand for a tractor that could effectively receive satellite positioning information transmitted from GPS satellites, etc.

The tractor of the present invention is equipped with a driver's seat in which a pilot can sit, a steering wheel provided in front of the driver's seat, a ROP provided behind the driver's seat and having a horizontal frame portion connected to the upper ends of left and right vertical frame portions, a positioning unit including an antenna unit for receiving satellite positioning information, and front and rear wheels, wherein the positioning unit is provided on the ROP and is positioned so that the left and right sides of the positioning unit are sandwiched between reinforcing frames supported by the ROP, and a mounting bracket is provided to support the positioning unit on the ROP, and the mounting bracket has a mounting portion attached to the upper surface of the horizontal frame portion, a vertical wall portion extending downward from the rear end of the mounting portion, and a mounting portion extending rearward from the lower end of the vertical wall portion, and the positioning unit is fixed to the mounting portion, the positioning unit is positioned rearward of the center of the rear wheels, and the upper end of the reinforcing frame is positioned lower than the upper end of the positioning unit.
The tractor of the present invention is equipped with a driver's seat in which a pilot can sit, a steering wheel provided in front of the driver's seat, a ROP provided behind the driver's seat and having a horizontal frame portion connected to the upper ends of the left and right vertical frame portions, a positioning unit including an antenna unit that receives satellite positioning information, and front and rear wheels, wherein the positioning unit is provided on the ROP and is positioned so that the left and right sides of the positioning unit are sandwiched between a reinforcing frame supported by the ROP, the positioning unit is positioned rearward of the center of the rear wheels, the upper end of the reinforcing frame is positioned lower than the upper end of the positioning unit, and the wiring extends from the positioning unit, the wiring extends from the side of the positioning unit and is inserted into the internal space of the horizontal frame portion through a through hole formed in the horizontal frame portion, and extends downward through the internal space of the vertical frame portion, and the intermediate portion of the wiring between the positioning unit and the through hole is supported by a clamp provided on the outer surface of the reinforcing frame.
In the above configuration, it is preferable that the positioning unit is disposed in the horizontal frame portion of the ROPS.
In the above configuration, it is preferable that the positioning unit is disposed on the ROPS via a mounting bracket.
In the above configuration, it is preferable that the positioning unit has a shape tapered toward the front of the vehicle body.
In addition, in the above configuration, it is preferable that the positioning unit is positioned higher than the driver's seat, in a position that does not overlap with the driver's seat in a planar view, and in the vicinity of the center of the horizontal frame portion.
It is also preferable that the positioning unit is provided with a mounting bracket that supports the positioning unit on the ROPS, the mounting bracket having a mounting portion that is attached to the upper surface of the horizontal frame portion, a vertical wall portion that extends downward from the rear end of the mounting portion, and a mounting portion that extends rearward from the lower end of the vertical wall portion, and the positioning unit is fixed to the mounting portion.
It is also preferable that the wiring extends from the positioning unit, the wiring extends from a side of the positioning unit and is inserted into the internal space of the horizontal frame portion through a through hole formed in the horizontal frame portion, and extends downwardly through the internal space of the vertical frame portion, and the intermediate portion of the wiring between the positioning unit and the through hole is supported by a clamp provided on the outer surface of the middle reinforcing frame.
In addition, it is preferable that the ROPS is configured to be foldable around a horizontal swing axis at a folding section provided on the vertical frame section, and is provided with wiring extending from the positioning unit, the wiring extending downwardly through the internal space of the vertical frame section and being pulled out from a through hole formed above the folding section in the vertical frame section.
It is also preferable that a portion of the positioning unit is located above a line connecting the upper end of the horizontal frame portion of the ROPS and the upper end of the steering wheel.
In addition, the tractor of the present invention is equipped with a driver's seat in which a driver can sit, a bonnet provided in front of the driver's seat, and a positioning unit that receives satellite positioning information, the positioning unit being provided in the bonnet.

According to this characteristic configuration, by providing the antenna unit on the bonnet, which has a relatively smooth outer surface with few irregularities, radio waves from positioning satellites can be received reliably.
As a result, a tractor capable of receiving satellite positioning information transmitted from GPS satellites and the like with good performance has been constructed.

In another configuration, the bonnet may have a top surface and a side surface, and the antenna unit may be provided on the top surface.

By providing an antenna unit on the relatively smooth upper surface of the bonnet, positioning information transmitted from GPS satellites and the like can be received effectively without being obstructed by components of the bonnet or parts attached to the bonnet.

As another configuration, the antenna unit may be provided forward of the center of the upper surface in the longitudinal direction of the vehicle body.

This means that even if the driver's seat or the ROPS that protects the driver in the event of a vehicle tipping over is positioned behind the hood, the positioning information transmitted from GPS satellites and other sources can be received satisfactorily without being impeded by these.

In another configuration, the antenna unit may be provided in a forward portion of the bonnet to avoid obstacles.

This allows for good reception of positioning information transmitted from GPS satellites and other sources without being impeded by obstacles.

In another configuration, the antenna unit may be provided inside the bonnet, and at least a portion of the bonnet facing the antenna unit may be made of resin.

In vehicles with a bonnet made of metal and an antenna unit inside the bonnet, radio waves can be blocked by the metal. In contrast, in vehicles with even a portion of the bonnet facing the antenna unit made of resin, positioning information transmitted from GPS satellites and the like can be received well without being blocked by metal.

In another configuration, the bonnet has a top surface and a side surface, the antenna unit is provided inside the bonnet facing the top surface, and at least a portion of the top surface facing the antenna unit may be made of resin.

In cars with a bonnet made of metal, even if an antenna unit is installed inside the bonnet, radio waves can be blocked by the metal. In contrast, in cars with an antenna unit installed inside the bonnet facing the top surface of the bonnet, even if even a portion of the part facing the antenna unit is made of resin, positioning information transmitted from GPS satellites and the like can be received well without being blocked by metal.

As another configuration, a steering wheel may be provided in front of the driver's seat, and the upper end of the antenna unit may be located below the upper end of the steering wheel.

Thus, although the antenna unit is mounted on the bonnet, it can receive positioning information transmitted from GPS satellites and the like well even if it is positioned below the steering wheel. By positioning the antenna unit below the steering wheel in this way, it is prevented from protruding upward, and even if the antenna unit is mounted on the top surface of the bonnet, it does not obstruct the driver's forward visibility.

In another configuration, the antenna unit may be provided in the center of the vehicle body in the left-right direction.

With this, regardless of whether the positioning information from GPS satellites or the like is transmitted from the left or right side of the vehicle, it can be received as an equal signal by the antenna unit located in the center of the vehicle in the left-right direction.

FIG. FIG. FIG. FIG. 13 is a side view showing wiring between the positioning unit and the horizontal frame portion. FIG. 4 is a cross-sectional view of the mounting bracket and the horizontal frame. FIG. A cross-sectional view showing the wiring inside ROPS. FIG. 13 is a front view of the ROPS of another embodiment a. A side view of the ROPS of another embodiment a. FIG. 13 is a side view showing the structure of the mounting bracket of the alternative embodiment a. FIG. 13 is a side view showing the structure of the mounting bracket of the alternative embodiment a. FIG. 13 is a side view showing the structure of the mounting bracket of the alternative embodiment a. FIG. 13 is a side view of a tractor according to another embodiment b. FIG. 13 is a front view of a tractor according to another embodiment b. FIG. 13 is a block circuit diagram of a control configuration of another embodiment b. FIG. 13 is a side view of a tractor according to another embodiment b. FIG. 13 is a front view of a tractor according to another embodiment b. FIG. 13 is a side view of a tractor according to another embodiment c. FIG. 13 is a front view of a tractor according to another embodiment c. FIG. 13 is a partially cutaway side view of the bonnet of the alternative embodiment c. FIG. 13 is a side view of a tractor according to another embodiment d. FIG. 13 is a front view of a tractor according to another embodiment d. FIG. 13 is a side view of the front guard of another embodiment d. FIG. 13 is a side view of a tractor according to another embodiment e. FIG. 13 is a side view of a tractor according to another embodiment e. FIG. 13 is a partially cutaway side view of a canopy of another embodiment e. FIG. 13 is a rear view of the canopy of the alternative embodiment e. FIG. 13 is a plan view showing a travel path of another embodiment f. FIG. 11 is a side view of a tractor according to another embodiment f. FIG. 11 is a front view of a tractor according to another embodiment f. FIG. 13 is a plan view of a position adjustment mechanism of another embodiment f. FIG. 13 is a plan view of a position adjustment mechanism of another embodiment f. FIG. 13 is a side view of a tractor according to another embodiment g. FIG. 13 is a plan view of a tractor according to another embodiment g. A cross-sectional view showing the wiring inside the front ROPS of alternative embodiment g. FIG. 13 is a side view of a tractor according to another embodiment g. FIG. 13 is a front view of a tractor according to another embodiment g. FIG. 13 is a side view of a tractor according to another embodiment h. FIG. 13 is a rear view of the tractor of another embodiment h. FIG. 13 is a side view of a tractor according to another embodiment h. FIG. 13 is a side view of a tractor according to another embodiment i. FIG. 13 is a front view of a tractor according to another embodiment i. FIG. 13 is a side view of a tractor according to another embodiment i. FIG. 13 is a side view of a tractor according to another embodiment j. FIG. 13 is a side view of a tractor according to another embodiment j. FIG. 13 is a rear view of the tractor of another embodiment j. FIG. 13 is a side view of a tractor according to another embodiment k. FIG. 13 is a plan view of a tractor according to another embodiment k. FIG. 13 is a front view of a tractor according to another embodiment k. FIG. 11 is a side view of a tractor according to another embodiment L. FIG. 13 is a plan view of a tractor according to another embodiment L. FIG. 11 is a front view of a tractor according to another embodiment L.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, an embodiment of a tractor according to the
[Basic configuration of the tractor]
A tractor according to the present invention is shown in Figures 1 to 4. In this embodiment, the direction indicated by the letter F in Figures 1 and 2 is the front side of the tractor, and the direction indicated by the letter B is the rear side of the tractor. Also, the direction indicated by the letter R in Figure 2 is the right side of the tractor, and the direction indicated by the letter L is the left side of the tractor.

As shown in FIG. 1, the tractor has a vehicle body 4 in which the entire body is supported by a vehicle frame 1, and the running body 4 is equipped with left and right front wheels 2 that can be driven and can be turned around, and left and right rear wheels 3 that can be driven but can be fixed in direction. An engine 6 is mounted inside a bonnet 5 at the front of the body, and a driver's section 7 is provided at the rear of the body.

As shown in Figures 1 and 2, the traveling vehicle body 4 is provided at its rear with a lifting link mechanism 8 that allows a working device such as a tilling device (not shown) to be attached to and detached from the rear of the vehicle body and that can be raised and lowered with the working device connected. A transmission case 10 is provided below the driver's section 7, which transmits the power of the engine 6 from the rear axle 9 to the left and right rear wheels 3. A differential gear 11 is provided inside the transmission case 10, which can impart a speed difference to the drive speeds of the left and right rear axle 9, and the power from the engine 6 is distributed and transmitted to the left and right rear wheels 3 via the differential gear 11. The transmission case 10 supports the rear axle 9 so that it can rotate freely.

In this embodiment, the engine 6 located at the front of the vehicle body, the clutch housing 12 connected to the rear of the engine 6, the intermediate frame 13, the transmission case 10 located at the rear of the vehicle body, etc. are integrally connected to form a highly rigid vehicle body frame 1.

A hydraulic lift cylinder 14 is provided on top of the transmission case 10, which drives the working device to move up and down via the lift link mechanism 8. The lift cylinder 14 is housed in a cylinder case 15. Inside the cylinder case 15, a swing arm 16 is provided, which is swingable by extending and retracting the lift cylinder 14. A lift arm 17, which swings integrally with the swing arm 16, is pivotally connected to the lift link mechanism 8 via a lift rod 18.

The driver's section 7 is equipped with a driver's seat 19 on which a driver can be seated, a boarding step 20 located in front of the driver's seat 19 and forming the floor surface of the driver's section 7, and an operation panel section 23 equipped with a steering wheel 21 for steering the front wheels and other control levers 22 located in front of the driver's seat 19. On both the left and right sides of the driver's seat 19, rear wheel fenders 24 are provided which cover the tops of the left and right rear wheels 3, and the rear wheel fenders 24 are also provided with a plurality of operating tools 25 for work.
The driver's seat 19 may be configured so as to be able to swing forward by lifting the rear portion around a fulcrum at the front portion of the seat. With this configuration, the driver's seat 19 can be swung to expose the transmission case 10.

The rear of the driver's seat 7 is provided with a rollover protection rope 26, which is connected and fixed on both the left and right sides to the rear end of the body frame 1, i.e., the rear end of the transmission case 10, and extends upward to surround the rear upper part of the driver's seat 19. That is, the rope 26 has a pair of vertical frame parts 26a extending along the vertical direction and a horizontal frame part 26b extending along the horizontal direction connecting the upper ends of the left and right vertical frame parts 26a, and is formed into a roughly gate-shaped structure when viewed from the front of the vehicle. The rope 26 has a structure in which the internal spaces are connected by integrally forming the left and right vertical frame parts 26a and the horizontal frame parts 26b by bending a hollow square pipe material, and is roughly gate-shaped when viewed from the front. That is, the lower end of the vertical frame part 26a of the rope 26 may be fixed to a highly rigid member such as the transmission case 10, the body frame 1, or the axle case of the rear axle 9. In addition, when the lower end of the vertical frame portion 26a of the ROPS 26 is fixed to the transmission case 10, the vertical frame portion 26a may be fixed at multiple points in the left-right direction and the front-rear direction of the vehicle body. This type of fixation allows the ROPS 26 to be firmly fixed.

The ROPS 26 is configured to be foldable around the horizontal swing fulcrum X at the folding section 27 provided at the bottom of the left and right vertical frame sections 26a. With this configuration, when the vehicle body is transported, the movable parts of the ROPS 26 (the parts above the swing fulcrum in the left and right vertical frame sections 26a and the horizontal frame section 26b) can be swung toward the rear of the vehicle body around the swing fulcrum X and folded, thereby reducing the amount of upward protrusion and preventing it from becoming an obstacle during transportation. In addition, in the folded state, the horizontal frame section 26b is lowered, making it easier for workers to perform maintenance on the positioning unit 31.

The traveling vehicle body 4 is equipped with a controller 30 for driving control, a steering motor (not shown) capable of steering the front wheels 2, and a positioning unit 31 that measures the position and direction of the traveling vehicle body 4 using the well-known GPS (Global Positioning System), which is an example of a GNSS (Global Navigation Satellite System).

The positioning unit 31 includes an antenna unit 32 for satellite navigation that receives radio waves transmitted from GPS satellites (not shown) and data transmitted from a reference station (not shown) installed at a known position, and a satellite navigation device 33 that measures the position and orientation of the traveling vehicle body 4 based on the positioning data of the positioning unit 31. In this embodiment, as a positioning method using GPS, D-GPS (Differential GPS) is used, which measures the position of the vehicle body using GPS positioning data and error correction information transmitted from a reference station whose position is known in advance on the ground. The reference station transmits the error correction information obtained by receiving radio waves from the GPS satellites via wireless communication. The satellite navigation device 33 determines the position and orientation of the traveling vehicle body 4 based on the positioning data obtained by receiving radio waves from the GPS satellites and the information from the reference station. In addition, other positioning methods such as the RTK (Real Time Kinematic) method may be used as a positioning method using GPS.

The positioning unit 31, including the antenna unit 32, is mounted on the horizontal frame portion 26b at the top (highest position) of the ROPS 26 so as to increase the reception sensitivity of radio waves from GPS satellites. The positioning unit 31 is mounted near the lateral center of the horizontal frame portion 26b via a mounting bracket 34, which serves as a support member. In other words, the antenna unit 32 is mounted in a position higher than the top end of the driver's seat 19 and above the pivot point X of the ROPS 26.

As described above, the antenna unit 32 is provided at a location above and away from the traveling vehicle body 4, so the position and orientation of the traveling vehicle body 4 measured using GPS includes a positioning error caused by the positional shift of the antenna unit 32 due to the yawing, pitching, or rolling of the traveling vehicle body 4.

Therefore, in order to enable correction to remove the positioning errors described above, the traveling vehicle body 4 is equipped with an inertial measurement unit (IMU) 39 that is equipped with a three-axis gyroscope (not shown) and a three-directional acceleration sensor (not shown) to measure the yaw angle, pitch angle, roll angle, etc. of the traveling vehicle body 4. By providing this inertial measurement unit 39, the information on the position and orientation of the traveling vehicle body 4 measured by the positioning unit 31 is corrected by information on the positional deviation of the antenna unit 32 associated with the yawing, pitching, or rolling of the traveling vehicle body 4 measured by the inertial measurement unit 39.

2, the inertial measurement unit 39 is disposed at a location overlapping the transmission case 10 in a plan view. To explain further, the inertial measurement unit 39 is disposed at a location below the driver's seat 19 and above the drive shaft center of the rear axle 9, and above the cylinder case 15 provided on the upper side of the transmission case 10. To explain further, the inertial measurement unit 39 is disposed at a location overlapping the rear wheel 3 in a side view. This location has high rigidity and is unlikely to bend or deform, and is also far from the engine 6, so it is unlikely to be affected by the vibration of the engine 6, and measurements can be made with little error. In addition, in this tractor, the transmission case 10 can be exposed by swinging the driver's seat 19 forward, so that the swinging of the driver's seat 19 makes it easier to access the inertial measurement unit 39, allowing maintenance to be performed in good condition.

In this tractor, an inertial measurement unit 39 is provided on the upper side of the cylinder case 15 above the transmission case 10 as a specific example of a position adjacent to the vehicle body frame 1, which is configured as a rigid member by connecting the engine 6, clutch housing 12, and transmission case 10. The inertial measurement unit 39 is also located midway between the left and right rear wheel fenders 24 when viewed from the front.

As shown in FIG. 1, the controller 30 is provided in a state of being stored inside the operation panel section 23. The controller 30 is configured to execute automatic steering control that controls the steering motor and the like so that the traveling vehicle body 4 travels along the work traveling route based on information of the traveling route in the farm field that has been set in advance and the positioning results of the positioning unit 31.

[Positioning unit placement]
5 and 6, the mounting bracket 34 as a support member for supporting the positioning unit 31 is a stepped molded member in which the front mounting portion 34a is higher in a side view than the rear mounting portion 34b, with a vertical wall portion 34c formed integrally therebetween. A mounting surface 34s is formed on the upper surface of the mounting portion 34b, and reinforcing frames 34d (see FIGS. 2 and 4) are erected at both the left and right ends of the mounting surface 34s.

The mounting portion 34a of the mounting bracket 34 has multiple bolt insertion holes formed therein, and similarly, the mounting portion 34b has bolt insertion holes formed therein. The horizontal frame portion 26b has vertically extending bolt insertion holes through which the fixing bolts 35 can be inserted, corresponding to the insertion holes in the mounting portion 34a, and a fixing plate 36 having a nut portion 35a into which the fixing bolts 35 are screwed is disposed on the underside of the horizontal frame portion 26b.

With this configuration, the mounting portion 34a of the mounting bracket 34 is abutted against the upper surface of the horizontal frame portion 26b, the vertical wall portion 34c of the mounting bracket 34 is abutted against the rear surface of the horizontal frame portion 26b, the fixing bolts 35 that pass through the multiple bolt insertion holes of the mounting portion 34a are inserted into the insertion holes of the horizontal frame portion 26b, and further, the mounting bracket 34 is fixed to the horizontal frame portion 26b by screwing them into the nut portion 35a of the fixing plate 36.

The positioning unit 31 is placed on the mounting portion 34b of the mounting bracket 34, and is supported in a mounted state by the connecting bolt 37 that is inserted from below to above into the insertion hole of the mounting portion 34b. In this supported state, the positioning unit 31 is placed in a position sandwiched between the left and right reinforcing frames 34d when placed on the mounting surface 34s.

As a result, the mounting bracket 34 (an example of a support member) is positioned in the center of the horizontal frame portion 26b in the left-right direction when viewed from the front, and in a position where its rear end protrudes rearward from the rear end of the horizontal frame portion 26b when viewed from the top.

In this configuration, the positioning unit 31 is positioned so that it partially overlaps the horizontal frame portion 26b when viewed from the front, and the upper end of the positioning unit 31 protrudes upward from the upper surface of the horizontal frame portion 26b. With this configuration, when working in an environment where tree branches or the like may come into contact with the positioning unit 31, the mounting bracket 34 or the ROPS 26 eliminates the inconvenience of branches or the like coming into contact with the positioning unit 31.

Wiring 40 connecting the positioning unit 31 including the antenna unit 32 and the controller 30 is routed along the vertical frame portion 26a. Specifically, as shown in FIG. 5, a position for taking out the wiring 40 is set on the side of the positioning unit 31 (hereinafter, this position is referred to as the wiring take-out position), a waterproof cover 41 is placed at an external position of this wiring take-out position, and the wiring 40 is set to be taken out at an angle so that the wiring 40 taken out from the waterproof cover 41 reaches a position higher than the wiring take-out position.

The pulled-out wiring 40 is supported at an intermediate position between the waterproof cover 41 and the horizontal frame portion 26b by a clamp 42 provided on the outer surface of the reinforcing frame 34d. As shown in FIG. 7, the wiring 40 is inserted from the first through hole H1 on the lower surface of the horizontal frame portion 26b into the internal space of the horizontal frame portion 26b, and is routed so as to be pulled out from the second through hole H2 on the inner surface side of the vertical frame portion 26a (the opposing surface side of the left and right vertical frame portions 26a) at the lower part of one vertical frame portion 26a and above the folding portion 27 (above the swing fulcrum X).

In this way, the wiring 40 is pulled out diagonally upward from the waterproof cover 41. Even if rainwater adheres to the wiring 40, the rainwater can flow in a specific direction from the highest point of the wiring 40, allowing it to fall off the wiring quickly. The clamp 42 may also be provided on the horizontal frame portion 26b.

This wiring 40 extends to the inertial measurement unit 39 located on the upper side of the transmission case 10, and merges with the wiring from the inertial measurement unit 39. The merged wiring 40 then passes between the rear wheel fender 24 and the driver's seat 19, and further passes between the boarding step 20 and the floor mat to the controller 30 provided on the operation panel unit 23.

As shown in Figures 1 and 2, in a side view, the positioning unit 31 is provided in a first area A1 between the rear end of the driver's seat 19 and the rear ends of the left and right lifting link mechanisms 8, and in a plan view, in a second area A2 between the left and right lifting link mechanisms 8.

[Another embodiment a]
The present invention may be configured as the following other embodiments in addition to the above-described embodiment. In each of the other embodiments described below, components having the same functions as the embodiment are given the same numbers and symbols as the embodiment.

(a-1) As shown in Figure 8, a positioning unit 31 including at least one of an antenna unit 32 and a satellite navigation device 33 is attached to the horizontal frame portion 26b by a mounting bracket 34, and an inertial measurement unit 39 is attached to the horizontal frame portion 26b of the ROPS 26. The figure shows a configuration in which the inertial measurement unit 39 is attached to the upper surface of the horizontal frame portion 26b.

In this alternative embodiment (a-1), it is also possible to arrange the inertial measurement unit 39 and the positioning unit 31 in a vertical positional relationship. As a specific example, as shown by the two-dot chain line in FIG. 8, it is also possible to provide the inertial measurement unit 39 on the underside of the horizontal frame portion 26b. By providing it on the underside of the horizontal frame portion 26b in this way, it is also possible to suppress the effect of the shaking of the traveling vehicle body 4 on the inertial measurement unit 39.

(a-2) As shown in FIG. 8, the wiring 40 connecting the positioning unit 31 including the antenna unit 32 and the controller 30 is routed along the outer surface of the vertical frame portion 26a, and a decorative cover 43 is provided on the vertical frame portion 26a so as to cover the wiring thus routed.

8 and 9 show a configuration in which decorative covers 43 are provided on the outer surface of the vertical frame portion 26a above the folding portion 27 and below the folding portion 27. In addition, below the folding portion 27, the wiring 40 may be held in a form in which it is clamped to the portion of the folding portion 27 that is supported by the traveling vehicle body 4. This makes it unnecessary to form a through hole as in a configuration in which wiring is arranged in the internal space of the vertical frame portion 26a, and it is possible to suppress a decrease in the strength of the ROPS 26. Furthermore, not only is it possible to cover and protect almost all of the wiring 40 arranged on the outer side of the vertical frame portion 26a with the decorative cover 43, but it is also possible to suppress the wiring 40 from sagging and becoming unstable.

In this alternative embodiment (a-2), as shown by the two-dot chain lines in Figures 8 and 9, the object of routing may be either the left or right vertical frame portion 26a, and may be either the outer surface of the vertical frame portion 26a that is the outer side relative to the running vehicle body 4, the inner surface that is the inner side relative to the running vehicle body 4, or the front or rear surface of the vertical frame portion 26a. It is also possible to provide a decorative cover 43 in response to this.

(a-3) The mounting bracket 34 as a support member can also be configured as shown in any one of Figures 10, 11, and 12. That is, in the configuration shown in Figure 10, the mounting portion 34a of the mounting bracket 34 is configured with a front wall 34af, an upper wall 34at, and a rear wall 34ar so as to embrace the horizontal frame portion 26b from above. In this structure, a fixing bolt 35 passes through the front wall 34af, the horizontal frame portion 26b, and the rear wall 34ar in the front-rear direction, and is screwed into a nut portion 35a of the rear wall 34ar, thereby fixing the mounting bracket 34 to the horizontal frame portion 26b.

In the configuration shown in FIG. 11, the upper surface of the front end of the mounting bracket 34 is abutted against the lower surface of the horizontal frame portion 26b as the mounting portion 34a of the mounting bracket 34, a fixing plate 36 is placed on the upper surface of the horizontal frame portion 26b, and a fixing bolt 35 passes through the fixing plate 36, the horizontal frame portion 26b, and the mounting portion 34a in the vertical direction and is screwed into the nut portion 35a on the lower surface of the mounting portion 34a, thereby fixing the mounting bracket 34 to the horizontal frame portion 26b.

In the configuration shown in FIG. 12, the mounting bracket 34 has a fitting member 34F as the mounting portion 34a, which is shaped to be able to come into contact with the rear and upper surfaces of the horizontal frame portion 26b. The fitting member 34F is brought into contact with the upper and rear surfaces of the horizontal frame portion 26b, the mounting portion 34a is brought into contact with the lower surface of the horizontal frame portion 26b, and the fixing bolt 35 passes through the upper wall portion of the fitting member 34F, the horizontal frame portion 26b, and the mounting portion 34a in the vertical direction and is screwed into the nut portion 35a on the lower surface of the mounting portion 34a, thereby fixing the mounting bracket 34 to the horizontal frame portion 26b.

In the (a-4) embodiment, the mounting bracket 34 is disposed in a position extending rearward from the horizontal frame portion 26b, and therefore the positioning unit 31 is disposed behind the horizontal frame portion 26b.
Alternatively, the mounting bracket 34 may be disposed in a position extending forward from the horizontal frame portion 26b, and the positioning unit 31 may be supported by this mounting bracket 34. By disposing in this manner, the positioning unit 31 is disposed on the front side of the horizontal frame portion 26b.

(a-5) It may be possible to configure the positioning unit 31 or antenna unit 32 to transmit information via wireless communication without providing wiring between the controller 30 and the controller 30.

[Alternative embodiment b] (b-1) As shown in Figures 13 and 14, a folding section 27 is provided in the vertical middle section of the vertical frame section 26a. This allows the ROPS 26 to be folded around the horizontal swing fulcrum X above the folding section 27, and an inclined section 26as is formed above the folding section 27 on the vertical frame section 26a, inclining forward as it approaches the upper end. A positioning unit 31 is provided on each of the outer surfaces of the left and right inclined sections 26as. In this alternative embodiment b, three or more positioning units 31 may be provided.

In this alternative embodiment (b-1), the left and right vertical frame sections 26a of the ROPS 26 are both provided with a positioning unit 31 at a position higher than the top of the backrest of the driver's seat 19. Specifically, a mounting bracket 34 is attached as a support member to the outer surface of the inclined section 26as, which is above the folding section 27, and the positioning unit 31 is provided on the mounting bracket 34.

The positioning unit 31 is equipped with an antenna unit 32 for satellite navigation that receives radio waves transmitted from GPS satellites (not shown) and data transmitted from a reference station (not shown) installed at a known position, and a satellite navigation device 33 that measures the position and direction of the traveling vehicle body 4 based on the positioning data from the positioning unit 31.

As shown in FIG. 15, the controller 30 includes a vehicle position determination means 30a that determines the vehicle position by inputting positioning information from two positioning units 31, and this vehicle position determination means 30a corrects the vehicle position based on information from an inertial measurement device 39. The controller 30 then outputs a control signal to the steering control unit SU to drive along the driving route based on the vehicle position and information on a preset driving route.

In this configuration, satellite positioning information transmitted from GPS satellites and the like can be received well without being obstructed by parts of the bonnet 5 or the vehicle body 4, or being affected by obstacles. The controller 30 performs processing to reduce errors and obtain average values based on the positioning information from the two positioning units 31, enabling highly accurate autonomous driving.

(b-2) As shown in Figures 16 and 17, a rollover protection loop 26 (referred to as a rear loop 26 in this alternative embodiment) is provided behind the driver's seat 19, while a front loop 55 is provided in front of the driver's seat 19, and positioning units 31 are provided on the left and right of each of the rear loop 26 and the front loop 55.

The front ROPS 55 is formed by bending a hollow square pipe material, and has a pair of left and right front vertical frame parts 55a that extend vertically, and a front horizontal frame part 55b that connects the upper ends of these and extends horizontally, and is formed roughly gate-shaped when viewed from the front of the vehicle body. In this configuration, the left and right front vertical frame parts 55a are provided with a positioning unit 31 via mounting brackets 34.

The positioning unit 31 has an antenna unit 32 for satellite navigation and a satellite navigation device 33 that measures the position and orientation of the traveling vehicle body 4.

In this alternative embodiment (b-2), similar to alternative embodiment (b-1), positioning information is acquired from multiple positioning units 31, allowing for processing to reduce errors and to acquire average values, enabling highly accurate autonomous driving.

(b-3) Even if the system is configured to acquire positioning information from multiple positioning units 31, it is not necessary to use multiple pieces of positioning information simultaneously. For example, a process may be performed to identify the vehicle's position based on the positioning information of a positioning unit 31 that satisfies a specified reception condition. In addition, the received information of multiple positioning units 31 may be compared, and if the received information of a specified positioning unit 31 deviates from the received information of the other positioning units 31, the control mode may be set so that the positioning information of that positioning unit 31 is not used.

In this alternative embodiment b, the vehicle may be configured to include three or more positioning units 31, and may be configured to determine the vehicle position based on three or more pieces of positioning information.

[Alternative embodiment c] (c-1) As shown in Figures 18 and 19, the bonnet 5 has a top surface 5t and side surfaces 5s on both the left and right sides. A positioning unit 31 having an antenna unit 32 is attached to the top surface 5t of the bonnet 5 forward of the center in the fore-and-aft direction of the vehicle body, at a central position in the left-right direction, via a mounting bracket 34 as a support member.

18, in a side view, the antenna unit 32 is located above the area line EL that connects the upper end of the horizontal frame portion 26b of the ROPS 26 and the upper end of the steering wheel 21, and is located below the horizontal line HL of the horizontal position that passes through the upper end of the steering wheel 21. If the positioning unit 31 is provided, a part or the entirety of the positioning unit 31 may be positioned in a position that protrudes forward from the front end of the bonnet 5.

By positioning the positioning unit 31 with the antenna unit 32 in this manner, satellite positioning information transmitted from GPS satellites and the like can be received satisfactorily without being affected by obstacles such as vehicle body components such as the ROPS 26. Furthermore, because the positioning unit 31 is positioned below the horizontal line HL, it does not obstruct the field of vision of the driver seated in the driver's seat 19.

(c-2) As shown in FIG. 20, inside the bonnet 5, a positioning unit 31 having an antenna unit 32 is provided via a mounting bracket 34 at a central position in the left-right direction, and a resin wall body 5p is provided in a portion of the part of the bonnet 5 facing the upper side of the positioning unit 31.

Since the positioning unit 31 is provided in this manner, the positioning unit 31 is not damaged by wind and rain, and satellite positioning information transmitted from GPS satellites and the like can be received satisfactorily without being obstructed by vehicle body components such as the ROPS 26. Furthermore, since a resin wall 5p is provided above the positioning unit 31, satellite positioning information transmitted from GPS satellites and the like can be received unobstructed.

[Alternative embodiment d] (d-1) As shown in Figures 21 and 22, a front guard 47 (an example of a front support member) is fixed to the left and right frame members 1a that constitute the body frame 1 of the traveling vehicle body 4. This front guard 47 is provided with a mounting bracket 34, and this mounting bracket 34 is provided with a positioning unit 31 having an antenna unit 32. The front guard 47 is positioned forward of the front end of the bonnet 5 to prevent the bonnet 5 from coming into contact with the outer wall of a building, trees, etc., and being damaged while traveling.

The front guard 47 is composed of a pair of vertical members 47a, each with its base end connected to the left and right frame members 1a, in a vertical position, and a horizontal member 47b connected to the upper ends of the vertical members 47a. A mounting bracket 34 is provided in the center in the left-right direction of the horizontal member 47b, and the positioning unit 31 is mounted on the upper surface of the mounting bracket 34. As a result, the upper end of the positioning unit 31 is provided above the upper end of the vertical members 47a, in the center position in the left-right direction of the front guard 47.

In this alternative embodiment (d-1), as shown in FIG. 21, the positioning unit 31 is positioned so as to be located below the horizontal line HL in the horizontal position that passes through the upper end of the steering wheel 21 in a side view.

In this way, the positioning unit 31 is placed in the open space in front of the bonnet 5, and satellite positioning information transmitted from GPS satellites and the like can be received satisfactorily without being affected by obstacles. Furthermore, because the positioning unit 31 is placed below the horizontal line HL, it does not obstruct the field of vision of the driver seated in the driver's seat 19.

(d-2) As shown in FIG. 23, a part of the front guard 47 as a front support member is supported so as to be able to swing freely in the front-rear direction around the switching axis Y in a horizontal position, and this front guard 47 is provided with a positioning unit 31 having an antenna unit 32 in a configuration similar to that of another embodiment (d-1).

In this alternative embodiment (d-2), the vertical member 47a of the front guard 47 is composed of a lower base member 47as and a vertically pivotable member 47at that is supported so as to be pivotable in the front-rear direction around the switching axis Y. In addition, a horizontal member 47b is connected to the upper ends of the left and right vertically pivotable members 47at, and a positioning unit 31 is provided in the left-right center of this horizontal member 47b via a mounting bracket 34.

By configuring it in this way, the vertically oscillating member 47at can be oscillated forward around the switching axis Y to displace the positioning unit 31 further forward from the front end of the bonnet 5, thereby enabling good reception of satellite positioning information transmitted from GPS satellites and the like. In addition, in this alternative embodiment (d-2), the positioning unit 31 may be configured to maintain a horizontal posture when the vertically oscillating member 47at is oscillated forward as shown by the two-dot chain line in FIG. 23.

[Alternative embodiment e] (e-1) As shown in Figure 24, the canopy 44 that covers the top of the driver's section 7 may be equipped with an antenna unit 32. In other words, the canopy 44 has a resin roof member 44a that extends in a cantilever shape toward the front of the vehicle body from support members 45 erected on the left and right sides of the rear position of the driver's seat 19. The antenna unit 32 is provided on the top surface of the roof member 44a of this canopy 44 via a mounting bracket 34 in the area between the center and the front end in the fore-and-aft direction.

In particular, when the antenna unit 32 is provided at the front end of the roof member 44a of the canopy 44, the support strength may be improved by providing a beam member 46 between the support member 45 and the front end of the roof member 44a as shown in FIG. 24. In other words, in this configuration, the positioning unit 31 (antenna unit 32) having the antenna unit 32 is positioned on the longitudinal extension of the beam member 46, thereby supporting the antenna unit 32 with high strength.

In this alternative embodiment (e-1), as shown by the two-dot chain line in the figure, the antenna unit 32 is provided in the center position in the fore-aft direction of the canopy 44, and the antenna unit 32 is provided halfway between this center position and the front end position, making it possible to receive satellite positioning information transmitted from GPS satellites and the like at a high position with good reception.

In addition, in this alternative embodiment (e-1), a canopy 44 may be provided at the upper end of the ROPS 26 without using the support members 45. In FIG. 24, the beam member 46 is shown connected to the front end of the roof member 44a, but it is not necessary to connect it to the front end, and the beam member 46 may be connected to the middle position of the canopy 44 in the fore-aft direction.

(e-2) As shown in Figure 25, the antenna unit 32 is provided between the center (position indicated by the two-dot chain line in the figure) and the rear end in the fore-and-aft direction of the roof member 44a of the canopy 44. The figure shows a configuration in which the antenna unit 32 is provided at the rear end of the canopy 44. By providing the antenna unit 32 in this position, the antenna unit 32 is placed on an extension line in the longitudinal direction of the support member 45, and the support member 45 absorbs vibrations in the vertical direction. Even if the traveling vehicle body 4 vibrates up and down, the support member 45 absorbs the vibrations, making it possible to receive satellite positioning signals from above with the vibrations suppressed.

(e-3) As shown in Figures 26 and 27, a mounting recess 44b is formed on the upper surface of the roof member 44a of the canopy 44, and the antenna unit 32 is provided in such a manner that the antenna unit 32 is fitted into this mounting recess 44b. In addition, a drainage groove 44g (an example of a drainage means) is formed that is connected to the mounting recess 44b.

In this configuration, the left and right support members 45 are formed in the shape of hollow square pipes, and by bending the upper ends of these, a square pipe-shaped connecting support section 45a is provided that connects the upper ends of the left and right support members 45 to each other. In addition, the bottom of the mounting recess 44b and the bottom wall of the roof member 44a are provided with insertion holes 44H at their upper ends, and an introduction hole 45H through which wiring 40 is introduced to be inserted into the insertion holes 44H is formed on the upper surface of the connecting support section 45a.

With this configuration, the wiring 40 from the antenna unit 32 can be inserted into the insertion hole 44H, then into the inside of the support member 45 through the introduction hole 45H on the top surface of the connecting support portion 45a, and then pulled out from the bottom of the support member 45 to the outside, allowing positioning information to be transmitted to the controller 30 via the inertial measurement device 39.

In this alternative embodiment (e-3), the antenna unit 32 is fitted into the mounting recess 44b, making it possible to stably support the antenna unit 32. However, since rainwater may accumulate in the mounting recess 44b, a drainage groove 44g that communicates with the mounting recess 44b is formed to efficiently drain the rainwater and eliminate the inconvenience of rainwater remaining in the mounting recess 44b.

In this alternative embodiment (e-3), the wiring 40 from the antenna unit 32 may be arranged along the drain groove 44g. By arranging the wiring 40 in this manner, the wiring 40 can be arranged comfortably. In addition, although the mounting bracket 34 is not shown in the figure, the antenna unit 32 may be supported via the mounting bracket 34.

[Alternative embodiment f]
28 shows a traveling route M of the traveling vehicle body 4 when the traveling vehicle body 4 is provided with a positioning unit 31 having an antenna unit 32 and a satellite navigation device 33 and plowing work is performed based on the positioning of this positioning unit 31. When the traveling vehicle body 4 is caused to travel straight based on the positioning of the positioning unit 31 and turns after reaching the headland, a gap G of a predetermined distance is created between the traveling route M before the turn and the traveling route M after the turn.

Ideally, this distance G should be the same whether a right turn is made at the edge of the ridge shown at the top of the drawing or a left turn is made at the bottom of the drawing, and when plowing work is performed based on positioning by the positioning unit 31, this distance G is set to a fixed value. However, when the positioning unit 31 is off to the left or right from the center of the traveling body 4 in the left-right direction, the distance G will not be the same, and it is desirable to have the positioning unit 31 located with high accuracy in the center position in the left-right direction of the traveling body 4. To address this issue, this alternative embodiment f employs the configuration described below.

(f-1) As shown in Figures 29 and 30, the ROPS 26 is provided at the rear of the traveling body 4 and is composed of a pair of left and right vertical frame parts 26a extending in the vertical direction and a horizontal frame part 26b connecting the upper ends of these parts and extending in the horizontal direction.

A mounting bracket 34 is fixed in a horizontal position to the upper surface of the horizontal frame portion 26b at the center in the left-right direction, and a positioning unit 31 having an antenna unit 32 is attached to the mounting surface 34s of this mounting bracket 34 via a position adjustment mechanism C.

As shown in FIG. 31, the position adjustment mechanism C is configured with a plurality of (four in this alternative embodiment (f-1)) long holes 50 drilled in the mounting bracket 34 and extending in the left-right direction, a plurality of (four in this alternative embodiment (f-1)) fastening bolts 51 protruding downward from the bottom surface of the positioning unit 31 so as to be insertable into these long holes 50, and fastening nuts 52 that screw into the fastening bolts 51.

With this configuration, the position of the positioning unit 31 can be easily adjusted in the lateral direction by inserting fastening bolts 51 into the multiple long holes 50 and fastening the fastening nuts 52 to fix the position of the positioning unit 31 at any lateral position of the traveling vehicle body 4.

As a modification of the other embodiment (f-1), a flange (not shown) that abuts against the mounting surface 34s of the mounting bracket 34 is formed to protrude in the left-right direction with respect to the antenna unit 31 having the antenna unit 32, and a long hole 50 is formed extending laterally from this flange, and the mounting bracket 34 is provided with a fastening bolt 51 that can be inserted into the long hole 50 in an upward facing position, and a fastening nut 52 that screws onto the fastening bolt 51. In this modification, the long hole 50, the fastening bolt 51, and the fastening nut 52 form the position adjustment mechanism C.

(f-2) As shown in FIG. 32, in this alternative embodiment (f-2), the position adjustment mechanism C is composed of a plurality of (four sets in this alternative embodiment (f-1)) insertion holes 53 aligned in a staggered manner in the left-right direction in the mounting bracket 34, a plurality of (four sets in this alternative embodiment (f-1)) fastening bolts 51 facing downward on the bottom surface of the positioning unit 31 having the antenna unit 32 so that they can be inserted into these four sets of insertion holes 53, and fastening nuts 52 that screw into the fastening bolts 51.

With this configuration, the position of the positioning unit 31 can be easily adjusted in the lateral direction by selecting one of the multiple insertion holes 53, inserting the fastening bolt 51, and fastening the fastening nut 52 to fix the position of the positioning unit 31 at any lateral position of the traveling vehicle body 4.

As a modified version of the alternative embodiment (f-2), a flange (not shown) that abuts against the mounting surface 34s of the mounting bracket 34 may be formed on the positioning unit 31, and multiple (four sets in this alternative embodiment (f-1)) insertion holes 53 may be formed in alignment and shifted left and right relative to the flange, and the mounting bracket 34 may be provided with fastening bolts 51 facing upward that can be inserted into the insertion holes, and fastening nuts 52 that screw into the fastening bolts 51. In this modified version, the multiple insertion holes 53, the fastening bolts 51, and the fastening nuts 52 form the position adjustment mechanism C.

[Alternative embodiment g]
This alternative embodiment g is directed to a configuration in which a rope for fall protection is provided in front of the driver's seat 19, but does not exclude a configuration in which a rope for fall protection is provided behind the driver's seat 19. Therefore, the rope in front of the driver's seat 19 is referred to as the front rope 55, and the rope behind the driver's seat 19 is referred to as the rear rope 26.

(g-1) As shown in Figures 33 and 34, a front ROP 55 for rollover protection is provided in front of the driver's seat 19, and this front ROP 55 is equipped with a positioning unit 31. The positioning unit 31 is configured with an antenna unit 32 for satellite navigation and a satellite navigation device 33 that measures the position and direction of the traveling vehicle body 4.

The front ROPS 55 is formed by bending a hollow square pipe material, and has a pair of left and right front vertical frame parts 55a extending vertically, and a front horizontal frame part 55b extending horizontally by connecting the upper ends of these parts, and is formed roughly gate-shaped when viewed from the front of the vehicle body. In this configuration, the positioning unit 31 is attached to the upper surface of the front horizontal frame part 55b via a mounting bracket 34. As a result, the positioning unit 31 with the antenna unit 32 is positioned higher than the upper end of the backrest of the driver's seat 19.

In this alternative embodiment (g-1), the front ROP 55 is configured to be foldable around the horizontal swing fulcrum X at the folding section 27 provided at the bottom of the left and right front vertical frame sections 55a. This configuration allows the upper frame section of the front ROP 55 (the portion above the swing fulcrum X in the left and right front vertical frame sections 55a and the front horizontal frame section 55b) to be swung forward around the swing fulcrum X and folded when transporting the vehicle body, thereby reducing the amount of upward protrusion. When folded, the vertical frame section 26a above the swing fulcrum X swings 180° and can be set to the non-use position. In this non-use position, the horizontal frame section 26b and the antenna unit 32 are located below the swing fulcrum X, making maintenance of the antenna unit 32, etc., easier.

In this folding configuration, the portion below the swing fulcrum X is called the lower frame portion, and this lower frame portion is fixed to the traveling vehicle body 4. Furthermore, this front ROPS 55 can be manually switched between an upright position in which the upper frame portion stands up as shown by the solid line in FIG. 33, and a stored position in which the upper frame portion lies down in front of the vehicle body as shown by the two-dot chain line in FIG. 33. In particular, a gas spring 56 is provided as an assist mechanism to reduce the burden on the operator when changing from the stored position to the upright position.

Furthermore, in this configuration, as shown in FIG. 35, the wiring 40 connecting the positioning unit 31 including the antenna unit 32 and the controller 30 is routed from the front horizontal frame portion 55b along the front vertical frame portion 55a. In other words, the wiring 40 is inserted into the internal space of the front horizontal frame portion 55b from the first through hole H1 on the underside of the front horizontal frame portion 55b, and is routed so as to be pulled out from the second through hole H2 on the inner surface side of the front vertical frame portion 55a (the opposing surface side of the left and right front vertical frame portions 55a) at the bottom of one of the front vertical frame portions 55a and above the folding portion 27 (above the swing fulcrum X). The wiring 40 pulled out in this way is connected to the controller 30.

In the configuration of this alternative embodiment (g-1), even if the upper frame portion becomes heavy due to the positioning unit 31 provided on the upper frame portion, the upper frame portion can be easily set in an upright position by the biasing force of the gas spring 56. In addition, the wiring 40 is not damaged and sagging of the wiring 40 can be suppressed by passing the wiring 40 from inside the horizontal frame portion 26b through the inside of the front vertical frame portion 55a.

In this alternative embodiment (g-1), the traveling vehicle body 4 may be configured to include a front ROP 55 for rollover protection in front of the driver's seat 19, and a ROP 26 for rollover protection behind the driver's seat 19. Also, a torsion spring or coil spring may be provided instead of the gas spring 56 as an assist mechanism. The ROP 26 may be configured to reach the stowed position by collapsing backward.

(g-2) As shown in Figures 36 and 37, in a traveling vehicle body 4 equipped with a rear ROPS 26 located behind the driver's seat 19, a front ROPS 55 is provided in front of the driver's seat 19, and this front ROPS 55 is equipped with a positioning unit 31. The positioning unit 31 is configured to have an antenna unit 32 for satellite navigation and a satellite navigation device 33 that measures the position and direction of the traveling vehicle body 4.

The front ROPS 55 has a pair of left and right front vertical frame sections 55a extending vertically, and a front horizontal frame section 55b extending horizontally connecting the upper ends of these sections, forming a roughly gate-like shape when viewed from the front of the vehicle body. In this configuration, the positioning unit 31 is provided on the upper surface of the front horizontal frame section 55b via a mounting bracket 34. As a result, the positioning unit 31 with the antenna unit 32 is positioned higher than the upper end of the backrest of the driver's seat 19.

In this alternative embodiment (g-2), the front LOP 55 is formed by bending a hollow square pipe material so that the overall shape is roughly gate-shaped, and the base end is in a diagonal position that faces forward as it goes upward. This allows the positioning unit 31 to be spaced apart from the rear LOP 26, improving reception performance. Note that the front LOP 55 may also be configured to extend vertically upward from the traveling vehicle body 4, as shown by the two-dot chain line in Figure 36.

Furthermore, as a configuration for supporting the positioning unit 31 having the antenna unit 32 on the front ROPS 55, for example, a configuration in which the positioning unit 31 is directly fixed to the upper surface of the horizontal frame portion 26b with bolts or the like may be adopted.

[Another embodiment h] (h-1) As shown in Figures 38 and 39, a rollover protection LOP 26 is provided that extends upward to surround the upper rear of the driver's seat 19, and a positioning unit 31 is supported via a mounting bracket 34 on a mounting base 48s of a jig 48 provided on the LOP 26. The LOP 26 has left and right vertical frame sections 26a that extend vertically by bending hollow square pipe material, and a horizontal frame section 26b that connects the upper ends of these and extends horizontally. The positioning unit 31 is composed of an antenna unit 32 for satellite navigation and a satellite navigation device 33 that measures the position and direction of the traveling vehicle body 4.

As shown in FIG. 39, the jig 48 includes left and right support members 48a made of hollow square pipe material, a connecting member 48b made of hollow square pipe material that connects the upper ends of the support members 48a, and a fixed bracket 48c formed at the lower ends of the left and right support members 48a, and a mounting base 48s is provided on the upper surface of the connecting member 48b.

The left and right fixing brackets 48c are shaped so that they can abut against the rear surface and left and right side surfaces of the vertical frame portion 26a of the ROPS 26, and the left and right fixing brackets 48c have mounting holes (not shown) that penetrate laterally. Correspondingly, the left and right vertical frame portions 26a of the ROPS 26 have fixing holes (not shown) that penetrate laterally.

In this alternative embodiment (h-1), due to this configuration, a fixing bracket 48c is placed in a position that embraces the left and right vertical frame portions 26a of the ROPS 26, and a retaining bolt 49 is inserted through the mounting hole and the fixing hole, and is screwed into a retaining nut or the like, thereby fixing the jig 48 to the ROPS 26.

The wiring 40 connected to the positioning unit 31 passes through the internal space of the connecting member 48b, the internal space of the support member 48a, and the internal space of the vertical frame portion 26a of the ROPS 26, and the positioning information is transmitted from this wiring 40 to the controller 30.

In this fixed state, the left and right support members 48a extend diagonally upward and rearward in a side view, the connecting members 48b connected to the upper ends of the left and right support members 48a are in a horizontal position, and the mounting base 48s is also in a horizontal position. As a result, the positioning unit 31 is supported in a horizontal position at a position spaced rearward from the ROPS 26 and higher than either the rear wheel fender 24 or the backrest of the driver's seat 19.

In addition, because the ROPS 26 has high rigidity, it can suppress vibrations of the positioning unit 31 and reduce measurement errors, and because the positioning unit 31 is positioned away from the ROPS 26, it can receive positioning information without being blocked by the ROPS 26.

In this alternative embodiment (h-1), the jig 48 may be positioned to extend forward and upward from the ROPS 26, as shown by the two-dot chain line in FIG. 38.

(h-2) As shown in FIG. 40, the vertical frame portion 26a may have an inclined portion 26as above the folding portion 27, which inclines forward as it approaches the upper end, and the vertical frame portion 26a may have a jig 48 above the folding portion 27.

This alternative embodiment (h-2) is assumed to have the same configuration as the alternative embodiment (h-1) described above, and by setting the support member 48a in an inclined position in which it is displaced rearward toward the upper end, the positioning unit 31 placed on the mounting base 48s is spaced away from the upper end of the inclined portion 26as, thereby preventing the ROPS 26 from interfering with the reception of positioning information.

In either of the alternative embodiments (h-1) or (h-2), it is possible to configure the positioning unit 31 to be supported at a predetermined position on the jig 48 via the mounting bracket 34, for example, without using the mounting base 48s. In addition, any configuration can be adopted for fixing the jig 48 to the ROPS 26 with the retaining bolt 49.

[Another embodiment i] (i-1) As shown in Figures 41 and 42, a rollover protection rope 26 is provided that extends diagonally upward to surround the upper rear of the driver's seat 19, and a positioning unit 31 is supported via a mounting bracket 34 on a mounting base 48s of a jig 48 provided on the rope 26. The rope 26 has left and right vertical frame parts 26a that extend vertically by bending a hollow square pipe material, and a horizontal frame part 26b that connects the upper ends of these and extends horizontally. The positioning unit 31 is composed of an antenna unit 32 for satellite navigation and a satellite navigation device 33 that measures the position and direction of the traveling vehicle body 4.

The jig 48 is equipped with left and right support members 48a that are oriented diagonally upwards toward the outer ends, a mounting base 48s at the center, and fixed brackets 48c formed on both ends of the left and right support members 48a. In this jig 48, the outer ends of the left and right support members 48a are connected and fixed to the ROPS 26 by a retaining bolt 49 inserted through the fixed bracket 48c, so that the support members 48a are held in a horizontal position, and the positioning unit 31 is supported on the support members 48a via the mounting bracket 34. In this configuration, the position where the fixed bracket 48c is connected to the vertical frame portion 26a is set to a position higher than the folding portion 27.

In the configuration of this alternative embodiment (i-1), the clamping portion 28 is provided with a support member 48a formed to extend toward the internal space of the ROPS 26. Therefore, the positioning unit 31 is disposed in a space surrounded by the left and right vertical frame portions 26a and the upper horizontal frame portion 26b in a front view, and partially overlaps with the vertical frame portion 26a in a side view. In particular, in this arrangement, the positioning unit 31 is disposed at a position higher than the top end of the backrest of the driver's seat 19.

As shown in FIG. 42, the support member 48a and the mounting base 48s are hollow, and the wiring 40 connected to the positioning unit 31 transmits positioning information to the controller 30 while passing through the internal space of the mounting base 48s, the internal space of the support member 48a, and the internal space of the vertical frame portion 26a of the ROPS 26.

This configuration can prevent, for example, the inconvenience of tree branches or the like coming into contact with the positioning unit 31 while driving. In addition, because the ROPS 26 has high rigidity, it can suppress vibrations of the antenna unit and reduce measurement errors, and because the positioning unit 31 is located above the top end of the backrest of the driver's seat 19, it can prevent the driver's seat 19 or the driver sitting in the driver's seat from interfering with the reception of positioning information.

(i-2) As shown in FIG. 43, the vertical frame portion 26a has an inclined portion 26as above the folding portion 27, which is inclined forward as it approaches the upper end, and the vertical frame portion 26a has a jig 48 above the folding portion 27.

In this alternative embodiment (i-2), as in the previously described alternative embodiment (h-1), it is assumed that the jig 48 is supported on the left and right vertical frame portions 26a, and since the inclined portion 26as is configured to incline forward as it approaches the upper end, the positioning unit 31 placed on the mounting base 48s is spaced away from the upper end of the inclined portion 26as, which results in the inconvenience of the ROPS 26 interfering with the reception of positioning information being suppressed.

In either of the alternative embodiments (i-1) or (i-2), the positioning unit 31 may be configured to be supported directly on the mounting base 48s. In addition, any configuration may be adopted for fixing the jig 48 to the ROPS 26 with the retaining bolt 49.

[Alternative embodiment j] [j-1] As shown in Figure 44, the inertial measurement unit 39 is fixed via a fixing bracket 57 to the underside of the body frame 1, which is configured as a rigid member. In this configuration, the inertial measurement unit 39 is disposed in a position overlapping the underside of the body frame 1 in a plan view. The inertial measurement unit 39 is also stored in a mudguard case 58. By storing the inertial measurement unit 39 in the mudguard case 58 in this manner, not only is the inconvenience of mud and water adhering to the unit eliminated, but the inconvenience of it coming into contact with protrusions on the ground and being damaged is also eliminated.

In this alternative embodiment (j-1), the inertial measurement unit 39 is also disposed adjacent to the rigid member consisting of the body frame 1, and is disposed midway between the left and right rear wheel fenders 24 in a front view and overlapping with the rear wheel 3 in a side view. In addition, since it is disposed in the lower region of the body frame 1, it is easy to install, and there is no need to change the design of the running body 4 to accommodate the inertial measurement unit 39.

(j-2) As shown in Figures 45 and 46, the left and right body frames 1 are provided in the area extending from the front position of the traveling body 4 to the transmission case 10 at the rear of the body, and the left and right body frames 1 form a rigid member. In a tractor configured in this manner, the engine 6, clutch housing 12, etc. are supported on the left and right body frames 1, and the transmission case 10 is connected to the rear ends of the left and right body frames 1.

The left and right body frames 1 are assumed to be made of plate-shaped steel material, and the inertial measurement unit 39 is disposed in the middle area between the left and right body frames 1. In this configuration, the inertial measurement unit 39 is disposed in a position adjacent to the rigid member formed by the body frame 1, and is disposed in the middle position between the left and right rear wheel fenders 24 in a front view, and in a position overlapping with the rear wheel 3 in a side view.

(j-3) The transmission case 10, which is located in the area extending from the rear end of the clutch housing 12 to the rear end of the traveling vehicle body 4, can also be regarded as a rigid member, and in a tractor configured in this way, an inertial measurement device 39 can be provided in a position adjacent to the transmission case 10. Also, in a tractor in which the vehicle frame 1 is composed of a pair of left and right members, the inertial measurement device 39 can be provided in either the left or right vehicle frame 1 at a midpoint between the left and right vehicle frames 1.

[Alternative embodiment k] (k-1) As shown in Figures 47 to 49, a pair of left and right front frames 60 are provided at the front of the body frame 1, extending forward from the body frame 1. An engine 6 is supported on the front frames 60, and a bonnet 5 is disposed in a position covering the engine 6. A front axle case 61 is supported on the front frames 60, and front axles 62 are provided at both left and right ends of the front axle case 61, and the front wheels 2 are driven by the front axles 62.

This tractor is equipped with a ROPS 26 located behind the driver's seat 19. This ROPS 26 has a pair of left and right vertical frame parts 26a and a horizontal frame part 26b that connects the upper ends of the vertical frame parts 26a and extends in the horizontal direction. This horizontal frame part 26b is equipped with a positioning unit 31 having an antenna unit 32.

In this configuration, the inertial measurement unit 39 that measures inertial information of the traveling vehicle body 4 is disposed in a position overlapping the bonnet 5 in a plan view. More specifically, it overlaps the engine 6 in a plan view, and overlaps the front axle case 61 in a plan view. The inertial measurement unit 39 is disposed in the intermediate region between the left and right front frames 60.

The inertial measurement unit 39 is positioned above the axle center of the front wheel 2, and is positioned so as to overlap the front wheel 2 in a side view.

By positioning the inertial measurement unit 39 close to the center of the front axle 62 in this way, even if the traveling body 4 pitches around the front axle 62 of the front wheels 2, the displacement of the inertial measurement unit 39 is small, so accurate measurement values can be obtained. Also, because the inertial measurement unit 39 is positioned at the center retard angle in the left-right direction of the traveling body 4, even if the traveling body 4 rolls, the displacement of the inertial measurement unit 39 is small, so even more accurate measurement values can be obtained.

(k-2) As shown in FIG. 48, this tractor is equipped with a right braking mechanism 63R that applies a braking force to the right front wheel 2, and a left braking mechanism 63L that applies a braking force to the left front wheel 2, and is equipped with a speed increasing device that drives the circumferential speed of the front wheel 2 on the outside of the turn at a speed approximately twice the circumferential speed of the left and right rear wheels 3 when the traveling body 4 turns.

By configuring the vehicle body 4 in this way, when turning with a small radius, the right braking mechanism 63R and the left braking mechanism 63L apply a braking force to the front wheel 2 on the inside of the turn, and the front wheel 2 on the outside of the turn is driven at an increased speed by a speed increase device, making it possible to turn with a small radius.

[Alternative embodiment L] (L-1) As shown in Figures 50 to 52, the left and right vertical frame sections 26a are provided with folding sections 27 in the vertical middle portion, so that the ROPS 26 can be folded up above the folding sections 27 around a horizontal swing fulcrum X. Furthermore, the left and right vertical frame sections 26a are provided with inclined sections 26as above the folding sections 27, which are inclined forward as they approach the upper end.

In this alternative embodiment (L-1), a mounting bracket 34 is attached as a support member to the outer surface of the inclined portion 26as above the folding portion 27 on one of the left and right vertical frame portions 26a of the ROPS 26 at a position higher than the top of the backrest of the driver's seat 19, and a positioning unit 31 is provided on the mounting bracket 34.

This configuration allows for good reception of satellite positioning information transmitted from GPS satellites and the like without being obstructed by parts of the bonnet 5 or the vehicle body 4, or being affected by obstacles. In addition, the ROPS 26 has high rigidity, so it does not cause the positioning unit 31 to vibrate significantly.

(L-2) Figures 50 to 52 show a configuration in which a positioning unit 31 is provided on one of the left and right vertical frame sections 26a. Alternatively, a positioning unit 31 may be provided on both the left and right vertical frame sections 26a via a mounting bracket 34, and positioning data may be acquired using the two positioning units 31.

The present invention can be applied to tractors equipped with an antenna unit that receives satellite positioning information.

5 bonnet 5t upper surface portion 5s side portion 19 driver's seat 21 steering wheel 32 antenna unit

Claims (8)

A driver's seat in which a pilot can sit;
a steering wheel provided in front of the driver's seat;
A ROPS is provided behind the driver's seat and has a horizontal frame portion connected to the upper ends of the left and right vertical frame portions;
a positioning unit including an antenna unit for receiving satellite positioning information;
[0023] A front wheel and a rear wheel are provided,
The positioning unit is provided on the ROPS and is disposed in a position where the left and right sides of the positioning unit are sandwiched between reinforcing frames supported by the ROPS,
a mounting bracket for supporting the positioning unit on the ROPS;
the mounting bracket has a mounting portion attached to an upper surface of the horizontal frame portion, a vertical wall portion extending downward from a rear end of the mounting portion, and a placement portion extending rearward from a lower end of the vertical wall portion,
The positioning unit is fixed to the mounting portion,
the positioning unit is disposed rearward of the center of the rear wheel;
A tractor, wherein the upper end of the reinforcing frame is located at a lower position than the upper end of the positioning unit. A driver's seat in which a pilot can sit;
a steering wheel provided in front of the driver's seat;
A ROPS is provided behind the driver's seat and has a horizontal frame portion connected to the upper ends of the left and right vertical frame portions;
a positioning unit including an antenna unit for receiving satellite positioning information;
[0023] A front wheel and a rear wheel are provided,
The positioning unit is provided on the ROPS and is disposed in a position where the left and right sides of the positioning unit are sandwiched between reinforcing frames supported by the ROPS,
the positioning unit is disposed rearward of the center of the rear wheel;
an upper end of the reinforcing frame is located at a position lower than an upper end of the positioning unit;
A wiring extending from the positioning unit is provided,
A tractor in which the wiring extends from the side of the positioning unit and is inserted into the internal space of the horizontal frame section through a through hole formed in the horizontal frame section, and extends downward through the internal space of the vertical frame section, and the intermediate portion of the wiring between the positioning unit and the through hole is supported by a clamp provided on the outer surface of the reinforcing frame. The tractor according to claim 1 or 2 , wherein the positioning unit is disposed on the lateral frame portion of the LOP. The tractor according to any one of claims 1 to 3, wherein the positioning unit is disposed on the LOP via a mounting bracket. The tractor according to any one of claims 1 to 4 , wherein the positioning unit has a shape tapered toward the front of the vehicle body. The tractor according to any one of claims 1 to 5 , wherein the positioning unit is positioned higher than the driver's seat, does not overlap with the driver's seat in a plan view, and is disposed near the center of the lateral frame portion. A tractor according to any one of claims 1 to 6 , wherein a portion of the positioning unit is located above a line connecting an upper end of the lateral frame portion of the LOP and an upper end of the steering wheel. The ROPS is configured to be foldable around a horizontal swing support shaft at a folding portion provided on the vertical frame portion,
A wiring extending from the positioning unit is provided,
The tractor according to any one of claims 1 to 7 , wherein the wiring extends downward through an internal space of the vertical frame portion and is pulled out from a through hole formed in the vertical frame portion above the folding portion.

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