Work vehicles

Abstract

The present invention provides a work vehicle that can efficiently carry various antenna devices that are effective for autonomous driving of the work vehicle, and can firmly support the various antenna devices. In a work vehicle (1) having a cab (7), a support frame (100) extending in the left-right width direction is fixed to a cab frame (200) at an upper position outside the cab (7), and an antenna unit (50) formed by assembling an inertial measurement device, a GNSS antenna, and a wireless communication device is installed on the support frame (100) in a state where the inertial measurement device and the GNSS antenna are arranged at approximately the center position of the left-right width direction of the body.

Description

Technical Field

[0001] The present invention relates to a working vehicle with a cab, and in particular to a working vehicle suitable for automatically driving (including autonomous driving) the working vehicle along a target driving path while obtaining position information of a working vehicle such as a tractor using a satellite positioning system (GNSS). Background Art

[0002] For example, in a tractor disclosed in Patent Document 1 as a work vehicle adopting an autonomous driving system, a GPS antenna (GNSS antenna) for acquiring satellite positioning information from a positioning satellite is provided on an upper side of a cab ceiling.

[0003] Specifically, a mounting support plate is formed at a portion of the upper side portion of the cab ceiling where a front-rear direction line at a roughly central position of the wheelbase width of the vehicle body intersects with a lateral direction line at a roughly central position of the wheelbase. The mounting support plate has a roughly horizontal mounting seat at a position higher than the upper surface of the cab ceiling, and a GPS antenna is mounted on the mounting seat of the mounting support plate.

[0004] Furthermore, when a GPS antenna having a gyro sensor is used as the GPS antenna, the tilt angle of the cab ceiling can also be detected.

[0005] Patent Document 1: Japanese Patent Application Publication No. 2016-2874

[0006] 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 studying the installation position of the GPS antenna on the upper side of the cab ceiling.

[0007] However, the above-mentioned autonomous driving system includes various external devices separately provided with respect to the work vehicle, such as a wireless communication terminal for issuing various instructions to the work vehicle and a base station for acquiring position information of the work vehicle.

[0008] Therefore, when the work vehicle is actually autonomously driving, not only the GPS antenna but also various antenna devices for communicating between the work vehicle and external devices need to be efficiently mounted on the work vehicle. In this regard, the above-mentioned prior art has room for improvement.

[0009] Furthermore, in the above-mentioned prior art, the upper side of the cab roof disposed on the upper part of the cab frame has many curves and is less rigid than the cab frame. Therefore, it is necessary to reinforce the mounting support plate for installing the GPS antenna without damaging the appearance of the cab roof. There is room for improvement in this regard. Summary of the invention

[0010] In view of such actual conditions, a main object of the present invention is to provide a work vehicle capable of efficiently mounting various antenna devices effective for autonomous driving of a work vehicle and the like, and capable of firmly supporting the various antenna devices.

[0011] The first characteristic structure involved in the present invention is a work vehicle with a cab, wherein a support frame extending in the left-right width direction is fixed to the cab frame at an upper position outside the above-mentioned cab, and an antenna unit formed by assembling an inertial measurement device, a GNSS antenna and a wireless communication device is installed on the above-mentioned support frame in a state where the above-mentioned inertial measurement device and the above-mentioned GNSS antenna are located approximately at the center position of the left-right width direction of the body, and the above-mentioned antenna unit is installed on the above-mentioned support frame in a manner that allows it to be displaced from a regular use position protruding upward from the ceiling of the above-mentioned cab to a non-use position on the low side that is lower than the highest part of the above-mentioned ceiling.

[0012] According to the above structure, the inertial measurement device and the GNSS antenna assembled in the antenna unit are arranged at the approximate center position of the left and right width direction of the body, thereby improving both the detection accuracy of the current position information of the working vehicle obtained from the receiving signal of the GNSS antenna and the detection accuracy of the posture change information of the body obtained from the inertial measurement device.

[0013] Furthermore, the wireless communication device incorporated in the antenna unit can wirelessly communicate various signals with an external device such as a wireless communication terminal, for example.

[0014] Furthermore, the support frame for mounting the antenna unit is fixed to the cab frame having high rigidity in an upper position outside the cab in a posture extending in the left-right width direction, so that the support frame can be configured as a stable support structure. Furthermore, the cab frame has a height close to the cab ceiling, so by setting the mounting position of the support frame on the upper side of the cab frame, the antenna unit can be easily arranged at a height position where the inertial measurement device, the GNSS antenna, and the wireless communication device can each function appropriately.

[0015] Therefore, by adopting an antenna unit composed of an inertial measurement device, a GNSS antenna, and a wireless communication device, and by conducting the above-mentioned reasonable research on the arrangement positions of the inertial measurement device and the GNSS antenna relative to the body, and the support structure of the antenna unit, it is possible to improve the detection accuracy of the inertial measurement device and the GNSS antenna, and to efficiently carry the wireless communication device on the working vehicle while maintaining the communication state of the wireless communication device in a good state. In addition, the support structure of the carried antenna unit can be stably constructed.

[0016] A second characteristic structure according to the present invention is that the support frame extends over the rearview mirror mounting portions provided on the left and right sides of the cab frame and is connected to the rearview mirror mounting portions.

[0017] According to the above structure, the left and right rearview mirror mounting parts are protruded from the highly rigid cab frame and are arranged at a height position close to the cab ceiling. Therefore, the support frame of the antenna unit can be stably and easily mounted at an appropriate height position by using the two rearview mirror mounting parts that are strong and have a height above the ground.

[0018] A third characteristic structure according to the present invention is that the antenna unit is mounted on the support frame so as to be positionally displaceable from a regular use position to a non-use position on a lower side.

[0019] According to the above structure, when the antenna unit is in the regular use position, for example, the antenna unit or the antenna equipped on the antenna unit may be arranged to protrude upward from the upper surface of the cab ceiling. As a result, problems such as the vehicle height being increased when the working vehicle is transported by a transport vehicle such as a truck and being subject to height restrictions when traveling on the road may occur. Therefore, in the present invention, by displacing the antenna unit from the regular use position to the non-use position on the lower side relative to the support frame, problems such as height restrictions when traveling on the road may be easily dealt with.

[0020] The fourth characteristic structure involved in the present invention is that it is provided with: a control unit, which controls the autonomous driving of the body based on the information obtained by the above-mentioned inertial measurement device and the GNSS antenna; and an autonomous driving restraint unit, which prohibits the start of autonomous driving control performed by the above-mentioned control unit if the above-mentioned antenna unit is not detected to be in the normal use position.

[0021] According to the above configuration, when it is detected that the antenna unit is in the regular use position, the autonomous driving restraint unit does not operate, and the control unit starts the autonomous driving control based on the information obtained by the inertial measurement unit and the GNSS antenna. When it is not detected that the antenna unit is in the regular use position, the restraint by the autonomous driving restraint unit functions to prohibit the start of the autonomous driving control by the control unit. Thus, even though a position displacement structure of the antenna unit is adopted to cope with height restrictions such as when driving on a road, it is possible to make the vehicle autonomously drive along the target driving path with high accuracy and safety based on the correct information obtained by the inertial measurement unit and the GNSS antenna.

[0022] The fifth characteristic structure involved in the present invention is that a control unit is provided in the above-mentioned cab for performing autonomous driving control of the machine body based on information obtained from the above-mentioned inertial measurement device and the GNSS antenna, and the wiring harness derived from the above-mentioned antenna unit is arranged to the above-mentioned control unit in the above-mentioned cab via an internal and external connecting passage provided in the above-mentioned cab frame.

[0023] According to the above configuration, the antenna unit disposed at an upper position outside the cab can be connected to the control unit provided in the cab by rationally routing the harness through the internal and external communication passage provided in the cab frame.

[0024] The sixth characteristic structure involved in the present invention is that the wire harness derived from the above-mentioned antenna unit is arranged at one side edge of the outer surface of the windshield of the above-mentioned cab in the left-right width direction and along a strip-shaped portion overlapping with the glass supporting portion of the front pillar of the above-mentioned cab.

[0025] According to the above structure, the strip-shaped portion at one side edge of the outer surface of the windshield in the left-right width direction and overlapping with the glass support portion of the front pillar is a glass bonding portion for attaching the windshield to the front surface portion of the cab, and is also a position that does not obstruct vision. Therefore, by arranging the wire harness derived from the antenna unit at the above-mentioned strip-shaped portion, the wire harness can be neatly arranged while maintaining a good field of vision for the operator sitting in the driver's seat. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is an overall side view of the tractor.

[0027] Figure 2 This is a control block diagram of a tractor, a base station, and a wireless communication terminal.

[0028] Figure 3 This is a front view of the antenna unit mounting portion of the tractor.

[0029] Figure 4 It is a side view of the mounting part of the antenna unit of the tractor.

[0030] Figure 5 is a longitudinal cross-sectional view of the antenna unit.

[0031] Figure 6 is a cross-sectional view of the antenna unit.

[0032] Figure 7 It is an exploded perspective view of the antenna unit.

[0033] Figure 8 This is a perspective view of the antenna unit installation at an elevation angle.

[0034] Fig. 9This is a side view when the antenna unit is changed to the non-use position.

[0035] Fig.10 It is an elevation perspective view of the cab.

[0036] Fig.11 It is a three-dimensional diagram of the main parts of the cab.

[0037] Fig.12 This is an enlarged end view of the wiring harness sleeve.

[0038] Fig.13 This is the operation configuration diagram in the cab.

[0039] Fig.14 This is a perspective view of the back side of the entire terminal support device.

[0040] Fig.15 It is an enlarged perspective view of the back side of the main part of the terminal support device.

[0041] Fig.16 It is an enlarged front perspective view of the main parts of the terminal support device.

[0042] Fig.17 It is a cross-sectional view of the main parts of the terminal support device. DETAILED DESCRIPTION

[0043] Embodiments of the present invention will be described with reference to the drawings.

[0044] Figure 1 , Figure 2 The autonomous driving system shown is configured to generate a target driving path and enable a tractor 1 as a working vehicle to autonomously drive along the generated target driving path. In the autonomous driving system, in addition to the tractor 1 capable of autonomous driving, a wireless communication terminal 30 for giving various instructions to the tractor 1 and a base station 40 for acquiring position information of the tractor 1 are provided.

[0045] First, based on Figure 1 The tractor 1 will be described.

[0046] The tractor 1 includes a body 2 on which a ground working machine (not shown) can be mounted on the rear side, the front of the body 2 is supported by a pair of left and right front wheels 3, and the rear of the body 2 is supported by a pair of left and right rear wheels 4. An engine hood 5 is arranged at the front of the body 2, and an engine 6 as a driving source is accommodated in the engine hood 5. A cab 7 for a driver to ride is provided on the rear side of the engine hood 5, and a steering wheel 8 for the driver to perform steering operations, a driver's seat 9, and the like are provided in the cab 7.

[0047] The engine 6 can be constituted by a diesel engine, for example, but is not limited thereto, and may be constituted by a gasoline engine, for example. In addition, an electric motor may be adopted as a driving source in addition to the engine 6 or in place of the engine 6 .

[0048] In the present embodiment, the tractor 1 is described as an example of a work vehicle, but work vehicles include not only tractors but also passenger work vehicles such as rice transplanters, combine harvesters, civil engineering work equipment, and snowplows.

[0049] A three-point linkage mechanism composed of a pair of left and right lower links 10 and an upper link 11 is provided on the rear side of the machine body 2, and a ground working machine can be mounted on the three-point linkage mechanism. Although not shown in the figure, a lifting device having a hydraulic device such as a lifting cylinder is provided on the rear side of the machine body 2, and the lifting device raises and lowers the ground working machine by raising and lowering the three-point linkage mechanism.

[0050] As ground working machines, they include tillage devices, plows, fertilizing devices, etc.

[0051] like Figure 2 As shown, the tractor 1 is provided with a governor device 21 capable of adjusting the rotation speed of the engine 6, a transmission device 22 for changing the speed of the rotational driving force from the engine 6 and transmitting it to the drive wheels, and a control unit 23 capable of controlling the governor device 21 and the transmission device 22. The transmission device 22 is composed of, for example, a main transmission device composed of a hydraulic continuously variable transmission device and an auxiliary transmission device composed of a gear-type multi-stage transmission device.

[0052] The tractor 1 is configured to be capable of traveling not only when the driver is on board the cab 7 but also when the driver is not on board the cab 7 , the tractor 1 can be autonomously driven based on instructions from the wireless communication terminal 30 .

[0053] like Figure 2 As shown, the tractor 1 includes a steering control device 24, an inertial measurement unit (IMU) 25 for obtaining posture change information of the machine body, a GNSS antenna 26 for receiving radio wave signals transmitted from a positioning satellite (navigation satellite) 45 constituting a satellite positioning system (GNSS), a wireless communication unit (an example of a wireless communication device assembled in the antenna unit 50) 27 for transmitting and receiving various signals via a wireless communication network constructed between the wireless communication terminal 30 and the like, a base station antenna (an example of a wireless communication device assembled in the antenna unit 50) 29 for receiving a wireless signal (for example, a wireless signal with a frequency band of 920 MHz) from a reference station wireless communication device 41 of a reference station 40, and the like, and is configured to be able to autonomously travel while obtaining its own current position information (position information of the machine body 2).

[0054] like Figure 5 to Figure 7 As shown, the inertial measurement device 25, the GNSS antenna 26, the wireless communication unit 27, and the base station antenna 29 are housed in an antenna unit 50 having a unit cover 51. Figure 3 , Figure 4 As shown, the antenna unit 50 is attached to a support frame 100 along the left-right width direction of a cab frame 200 fixed to the cab 7 at an upper position on the front surface side of the exterior of the cab 7 .

[0055] The specific internal arrangement structure and mounting structure of the antenna unit 50 will be described in detail after the autonomous driving system is described.

[0056] The steering device 24 is provided, for example, at a midway portion of the rotation axis of the steering wheel 8, and is configured to be able to adjust the rotation angle (steering angle) of the steering wheel 8. By controlling the steering device 24 by the control unit 23, the vehicle can not only drive straight, but also turn at a desired turning radius by adjusting the rotation angle of the steering wheel 8 to a desired rotation angle.

[0057] The inertial measurement device 25 obtains three-dimensional angular velocity and acceleration through a three-axis gyroscope and a three-directional accelerometer. The detection value of the inertial measurement device 25 is input to the control unit 23, and the control unit 23 performs calculations through a posture and orientation calculation unit to obtain the posture information of the tractor 1 (the azimuth angle (yaw angle) of the machine body, the left and right tilt angles (roll angle) of the machine body, and the front and rear tilt angles (pitch angle) of the machine body in the direction of travel).

[0058] In the satellite positioning system (GNSS), in addition to GPS (United States), satellite positioning systems such as Quasi-Zenith Satellite (Japan) and GNSS Satellite (Russia) can be used as positioning satellites.

[0059] The wireless communication unit 27 is composed of a Wifi unit with a frequency band of 2.4 GHz in this embodiment, but the wireless communication unit 27 can also be Bluetooth (registered trademark) or the like other than Wifi. The signal received by the wireless communication antenna 28 of the wireless communication unit 27 can be transmitted as follows: Figure 2 The signal is input to the control unit 23 as shown, and the signal from the control unit 23 can be transmitted to the wireless communication device 31 of the wireless communication terminal 30 through the wireless communication antenna 28.

[0060] Here, as a positioning method using a satellite positioning system, a positioning method can be applied in which a reference station 40 is provided at a predetermined reference point, and satellite positioning information of the tractor 1 (mobile station) is corrected based on correction information from the reference station 40, thereby obtaining the current position of the tractor 1. For example, various positioning methods such as DGPS (differential GPS positioning) and RTK positioning (real time kinematic positioning) can be applied.

[0061] In this embodiment, for example, RTK positioning is applied, such as Figure 1 as well as Figure 2 As shown, in addition to the GNSS antenna 26 provided on the tractor 1 as the mobile station side, a reference station 40 provided with a reference station positioning antenna 42 is also provided. The reference station 40 is arranged at a position (reference point) that does not hinder the travel of the tractor 1, such as around a field. The position information of the reference point, i.e., 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 that can transmit and receive various signals with the base station antenna 29 of the tractor 1, and is configured to be able to transmit and receive various information between the reference station 40 and the tractor 1, and between the reference station 40 and the wireless communication terminal 30.

[0062] In RTK positioning, the carrier phase (satellite positioning information) from the positioning satellite 45 is measured by both the base station positioning antenna 42 of the base station 40 installed at the base point and the GNSS antenna 26 of the tractor 1, which is the mobile station side of the object for which the position information is to be obtained. The base station 40 generates correction information including the measured satellite positioning information and the position information of the base point, etc., every time the satellite positioning information is measured from the positioning satellite 45 or every time a set period has passed, and transmits the correction information from the base station wireless communication device 41 to the base station antenna 29 of the tractor 1. The control unit 23 of the tractor 1 corrects the satellite positioning information measured by the GNSS antenna 26 using the correction information transmitted from the base station 40, thereby obtaining the current position information of the tractor 1. The control unit 23 obtains, for example, latitude information and longitude information as the current position information of the tractor 1.

[0063] In the autonomous driving system, in addition to the tractor 1 and the base station 40, a wireless communication terminal 30 is provided that can instruct the control unit 23 of the tractor 1 to autonomously drive the tractor 1. The wireless communication terminal 30 is constituted by, for example, a tablet-type personal computer having a touch panel, and can display various information on the touch panel, and can also input various information by operating the touch panel. The wireless communication terminal 30 includes a wireless communication device 31 and a path generation unit 32 that generates a target driving path. The path generation unit 32 generates a target driving path for the tractor 1 to autonomously drive based on various information input through the touch panel.

[0064] 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 based on a wireless communication device 31 or the like. The wireless communication terminal 30 is configured to be able to instruct the autonomous driving of the tractor 1 by transmitting various information for autonomous driving of the tractor 1, such as a target driving route, to the control unit 23 of the tractor 1. The control unit 23 of the tractor 1 is configured to obtain the current position information of the tractor 1 obtained from the reception signal of the GNSS antenna 26 and obtain the displacement information and orientation information of the machine body from the inertial measurement device 25 so that the tractor 1 autonomously drives along the target driving route generated by the route generation unit 32, and to control the transmission device 22, the steering device 24, etc. based on the current position information, displacement information, and orientation information.

[0065] Next, the internal configuration structure of the antenna unit 50 will be described.

[0066] like Figures 5 to 9 As shown, the unit cover 51 of the antenna unit 50 has: a resin lower cover 52 which is approximately rectangular in a plan view with an upper opening; and a resin upper cover 53 which is approximately rectangular in a plan view with a lower opening. Figure 5 The longitudinal sectional view of the antenna unit 50 as viewed from the rear side is shown. Figure 3 , Figure 7 , Figure 8 , the left and right directions of the machine body 2 become opposite directions. The opening joint of the upper cover 53 is removably fitted and joined to the opening joint of the lower cover 52 in a watertight state. The opening joint of the upper cover 53 and the opening joint of the lower cover 52 are fixedly connected at multiple positions in the left and right directions of the front surface side and the rear surface side by screws 54.

[0067] like Figure 5 to Figure 7 As shown, a metal bottom plate 55 as an example of a unit base that can be mounted on the tractor 1 is mounted on the bottom plate portion 52A of the lower cover body 52. ​​Between the bottom plate 55 and the bottom plate portion 52A of the lower cover body 52, as shown in FIG. Figure 5 As shown, a plurality of (four in this embodiment) cylindrical first sleeves 56 are provided to maintain the interval between the two at a set interval, and the bottom plate 55 is fixedly connected to the bottom plate portion 52A of the lower cover body 52 by means of first bolts 57 inserted through each of the first sleeves 56.

[0068] like Figure 5 to Figure 7As shown, in the middle of the long side direction of the bottom plate 55, an inertial measurement device 25 and a GNSS antenna 26 are arranged in a vertically overlapping state, both arranged at the center position or approximately the center position of the left and right width direction of the body. Among them, the GNSS antenna 26 is arranged above the inertial measurement device 25.

[0069] Specifically, housing 25A of inertial measurement device 25 is fixedly connected to bottom plate 55 by second bolts 58 in a state where the left-right center position thereof is located at the longitudinal center position of bottom plate 55 .

[0070] On the other hand, Figure 5 to Figure 7 As shown, the housing 26A of the GNSS antenna 26 is mounted on the bottom plate 55 via a metal hat-shaped bracket 60 in a state where its left-right center position is located in the center position in the long-side direction of the bottom plate 55. The bracket 60 is formed in a hat shape that meanders above the housing 25A of the inertial measurement device 25 along the long-side direction of the bottom plate 55. The two legs 60a of the hat-shaped bracket 60 are fixedly connected to the bottom plate 55 by third bolts 61, and the width of the hat-shaped bracket 60 in the front-to-back direction (also the front-to-back direction of the body) is configured to be slightly smaller than the width of the housing 25A of the inertial measurement device 25 in the front-to-back direction, and a part of the bracket 60 is configured as a blocking wall portion that blocks the wireless communication unit 27 described later.

[0071] According to the configuration structure of the inertial measurement device 25 and the GNSS antenna 26, when the inertial measurement device 25 and the GNSS antenna 26 are installed toward the tractor 1, as shown in FIG. Figure 3 As shown, the inertial measurement device 25 and the GNSS antenna 26 are both arranged vertically at the center position or approximately the center position in the left-right width direction of the machine body, so that it is possible to improve both the detection accuracy of the current position information of the tractor 1 obtained from the reception signal of the GNSS antenna 26 and the detection accuracy of the displacement information and orientation information of the machine body obtained from the inertial measurement device 25. In addition, the width of the unit cover 51 in the front-back direction is reduced, and the antenna unit 50 can be miniaturized.

[0072] And, according to the above configuration structure, Figure 5 , Figure 6 As shown, there is only a resin upper cover 53 above the GNSS antenna 26. Therefore, the inertial measurement device 25 will not become a reception obstacle for the GNSS antenna 26 as in the case where the inertial measurement device 25 is arranged above the GNSS antenna 26, and the carrier phase (satellite positioning information) from the positioning satellite 45 can be reliably received.

[0073] At one end of the long side direction of the bottom plate 55 (the right end of the left-right direction of the machine body 2 relative to the forward direction, Figure 5 The right end of the middle Figure 7left end), such as Figure 5 , Figure 7 As shown, a housing 27A of a wireless communication unit (an example of a wireless communication device assembled in the antenna unit 50) 27 having a pair of wireless communication antennas 28 in the front-back direction is fixedly connected by a fourth bolt 62. The wireless communication antenna 28 of the wireless communication unit 27 is arranged on the side opposite to the inertial measurement device 25 and the GNSS antenna 26 and on one end side in the long side direction of the bottom plate 55.

[0074] like Figure 5 As shown, the first predetermined distance L1 between the wireless communication antenna 28 of the wireless communication unit 27 and the center portion of the inertial measurement device 25 is set to be greater than or equal to 250 mm.

[0075] Furthermore, by studying the above-mentioned arrangement position and orientation posture of the wireless communication unit 27, it is possible to achieve miniaturization of the antenna unit 50 in the long-side direction, while fully ensuring the first predetermined distance L1 from the wireless communication antenna 28 of the wireless communication unit 27 to the center of the inertial measurement device 25. As a result, it is possible to suppress radio wave interference between the wireless communication unit 27 and the inertial measurement device 25, thereby suppressing communication failure between the wireless communication unit 27 and the wireless communication device 31 of the wireless communication terminal 30.

[0076] In particular, as described above, when first predetermined distance L1 between wireless communication antenna 28 of wireless communication unit 27 and the center of inertial measurement unit 25 is set to 250 mm or more, radio wave interference between wireless communication unit 27 and inertial measurement unit 25 can be more effectively suppressed.

[0077] Furthermore, with respect to the periphery of the inertial measurement device 25, multiple parts except for the connector and the like are blocked by the metal shell 25A, and a part of the metal cap-shaped bracket 60 located between the wireless communication unit 27 and the inertial measurement device 25 functions as a blocking wall portion, thereby further suppressing radio wave interference between the wireless communication unit 27 and the inertial measurement device 25.

[0078] At the other end of the long side direction of the bottom plate 55 (the left end of the left-right direction of the machine body 2 relative to the forward direction, Figure 5 Left side of the center Figure 7 The right end of the middle Figure 5 , Figure 7As shown, a base station antenna (an example of a wireless communication device assembled in the antenna unit 50) 29 for receiving information from the reference station 40 is arranged. Thus, on the bottom plate 55, the wireless communication unit 27, the GNSS antenna 26 (inertial measurement device 25), and the base station antenna 29 are arranged in sequence along the left-right direction of the body 2 from the right side of the body 2 relative to the forward direction. Figure 5 As shown in FIG. 1 , the base station antenna 29 is composed of a base 29A having a magnet 65 and a round rod-shaped antenna rod 29B extending upward from the base 29A. The base 29A is composed of a cylindrical lower base 29a having a built-in magnet 65 and an upper base 29b having a truncated cone shape formed integrally at the center of the upper surface of the lower base 29a. Therefore, the base station antenna 29 is attached to the metal bottom plate 55 by the magnetic force of the magnet 65.

[0079] In addition, if Figure 5 , Figure 7 As shown, a movement restriction member 66 made of a metal plate is fixedly connected to the bottom plate 55 by a fifth bolt 67, and abuts or approaches the upper and lower middle positions of the conical outer peripheral surface of the upper base 29b in the base 29A of the base antenna 29 from above to restrict the movement of the base 29A of the base antenna 29. Figure 7 As shown, the upper limiting plate 66a bent on the movement limiting member 66 is connected to a circular movement limiting hole 66b fitted on the upper base 29b of the base 29A and a wide detachment cutout 66c for allowing the antenna rod 29B to pass therethrough.

[0080] According to the configuration structure of the base station antenna 29 described above, the separation distance between the antenna rod 29B of the base station antenna 29 and the wireless communication antenna 28 of the wireless communication unit 27 is increased, and the radio wave interference between the antenna rod 29B of the base station antenna 29 and the wireless communication antenna 28 of the wireless communication unit 27 can be suppressed.

[0081] Furthermore, the base station antenna 29 can be easily mounted on the metal bottom plate 55 by the magnetic force of the magnet 65 provided on the base 29A. Furthermore, the positional displacement of the base station antenna 29 due to vibration or the like can be reliably prevented by the movement restriction member 66 having a simple shape fixed to the bottom plate 55 by bolts. By simplifying and miniaturizing the mounting structure of the base station antenna 29, the antenna unit 50 can be miniaturized.

[0082] Next, the unit cover 51 of the antenna unit 50 will be described.

[0083] like Figure 5 to Figure 7As shown, a first bulge 53A is formed on one end side of the upper cover 53 of the unit cover 51 in the longitudinal direction (on the right side of the left-right direction of the machine body 2 with respect to the forward direction), and the first bulge 53A protrudes upward from the upper surface position of the central part of the upper cover 53 in the longitudinal direction and the upper end position of the wireless communication antenna 28 of the wireless communication unit 27. Figure 5 As shown, the second predetermined distance L2 between the inner surface 53a of the first bulged portion 53A and the upper end of the wireless communication antenna 28 is set to be greater than or equal to 30 mm.

[0084] The second predetermined distance L2 formed between the upper end of the wireless communication antenna 28 and the inner surface 53a of the first bulged portion 53A of the upper cover 53 can improve the communication accuracy between the wireless communication unit 27 and the wireless communication device 31 of the wireless communication terminal 30 .

[0085] Furthermore, the relationship between the first predetermined distance L1 and the second predetermined distance L2 is set to be: first predetermined distance L1 > second predetermined distance L2.

[0086] In addition, if Figure 5 , Figure 7 , Figure 8 As shown, a second bulge 53B having the same shape as the first bulge 53A formed on one end side in the long direction (on the right side in the left-right direction of the body 2 with respect to the forward direction) is formed on the other end side in the long direction of the upper cover 53 of the unit cover 51 (on the left side in the left-right direction of the body 2 with respect to the forward direction), and the unit cover 51 is configured to be bilaterally symmetrical. This is made in consideration of the design of the appearance when the antenna unit 50 is installed at the upper position on the front surface side of the cab 7 of the tractor 1, but new technical value is generated by the formation of the second bulge 53B.

[0087] That is, Figure 5 , Figure 7 As shown, the second bulge 53B of the upper cover 53 is formed at a position corresponding to the base station antenna 29, and the total height of the base station antenna 29 is much greater than the height from the upper surface of the bottom plate 55 to the upper surface of the second bulge 53B. Figure 7 As shown, a through hole 70 is formed on the upper surface of the second bulging portion 53B, through which the antenna rod 29B of the base station antenna 29 passes and protrudes upward to the outside. A vibration-proof elastic body 71 such as a cylindrical rubber is attached to the periphery of the opening of the through hole 70, which is in contact with the outer peripheral surface of the through portion of the antenna rod 29B of the base station antenna 29. As the vibration-proof elastic body 71, a sealing ring is used, which is in contact with the entire periphery of the antenna rod 29B and also exhibits watertightness.

[0088] Furthermore, when the vibration-proof elastic body 71 is not present, an annular gap is generated between the opening periphery of the through hole 70 of the second bulging portion 53B and the outer peripheral surface of the through portion of the antenna rod 29B. If the base station antenna 29 is acted upon by the traveling vibration of the tractor 1, the antenna rod 29B shakes within the range of the annular gap, and the antenna rod 29B may be damaged at the base. However, in the present embodiment, as described above, the upper and lower middle portions of the antenna rod 29B are supported by the vibration-proof elastic body 71 provided around the opening periphery of the through hole 70 of the second bulging portion 53B, so that the supporting structure of the base station antenna 29 is a two-point supporting structure as a whole, thereby suppressing the damage of the antenna rod 29B caused by the traveling vibration.

[0089] In particular, due to the presence of the second bulge 53B, the height from the upper surface of the bottom plate 55 to the upper surface of the second bulge 53B becomes higher, and accordingly the support position of the antenna rod 29B supported by the vibration-proof elastic body 71 becomes higher, thereby further suppressing the breakage of the antenna rod 29B.

[0090] In addition, in this embodiment, a vibration-proof elastic body 71 is installed around the opening of the through hole 70 of the second bulge 53B, but the vibration-proof elastic body 71 can be installed on the upper surface or inner surface of the second bulge 53B, and can also be installed on a bracket provided on the bottom plate 55, etc.

[0091] like Figure 5 , Figure 7 As shown, a mounting space 73 for other units is formed at the other end side of the bottom plate 55 in the longitudinal direction and between the inertial measurement device 25, the GNSS antenna 26 and the base station antenna 29. Figure 5 , Figure 7 The following state is shown: no other unit 72 is installed in the installation space 73, and the installation space 73 becomes a hollow space.

[0092] As other units, for example, a controller for a liquid crystal monitor installed later and responsible for a part of the autonomous driving control can be cited. In the tractor 1 of the autonomous driving specification of this embodiment, a liquid crystal monitor 47 (see Fig.13 ), a controller that takes part of the autonomous driving control is equipped on the LCD monitor 47. However, when other working vehicles such as a rice transplanter of ordinary specifications are changed to autonomous driving specifications, a controller that takes part of the autonomous driving control is required for the LCD monitor installed later. In this case, the controller can be easily installed using the installation space 73 that has been ensured on the bottom plate 55.

[0093] In the present embodiment, a tablet terminal 48 on which a dedicated application for performing route generation, field registration, etc. is installed is used as the liquid crystal monitor 47 .

[0094] In addition, if Figure 5 , Figure 6 As shown, support plates 75 are provided on both sides of the lower surface side of the bottom plate portion 52A of the lower cover body 52 in the long side direction. The support plates 75 are bent into an inverted "L" shape when viewed from the front of the body (see Figure 5 ), and is formed into a substantially semicircular arc shape when viewed from the side of the body (refer to Figure 6 The pair of left and right support plates 75 are respectively connected to the bottom plate 55 by the sixth bolts 77 via the second sleeves 76 penetrating the bottom plate portion 52A of the lower cover body 52 .

[0095] And, if Figure 5 to Figure 7 As shown, a camera 78 for photographing the front of the machine body is installed at the central position in the long side direction of the lower surface of the bottom plate portion 52A of the lower side cover body 52, and the image photographed 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.

[0096] In addition, Figure 5 to Figure 7 In the figure, the wires connected to the inertial measurement device 25, the GNSS antenna 26, the wireless communication unit 27, and the base station antenna 29 assembled on the bottom plate 55 are omitted, and a part of a wire harness 80 composed of the above-mentioned wires gathered in the unit cover 51 is recorded in Figure 7 .like Figure 7 As shown in FIG. 1 , the wire harness 80 is led out to the outside from a wire harness lead-out hole (not shown) formed at one end in the longitudinal direction of the lower cover 52. A seal ring 81 is attached to the wire harness lead-out hole.

[0097] Next, the mounting structure of the antenna unit 50 will be described.

[0098] like Figure 3 , Figure 4 As shown, both ends of the support frame 100 of the antenna unit 50 are fixedly connected across a rearview mirror mounting portion 150 provided on left and right front pillars 201 constituting a cab frame 200 .

[0099] like Figure 3 , Figure 4 As shown, for each of the left and right rearview mirror mounting portions 150, a portion having a substantially rectangular shape when viewed from above is fixed to the upper side of the front pillar 201 by welding or the like. The mounting base 151 is in the shape of a letter "U" (approximately in the shape of a letter "U" when viewed from above), and a plate-shaped rearview mirror mounting component 153 is fixedly connected to the mounting base 151 by bolts or the like. The plate-shaped rearview mirror mounting component 153 has a hinge portion 152 that supports the support arm 111 of the rearview mirror 110 so as to be rotatable. The upper ends of the left and right rearview mirror mounting components 153 are respectively bent to form mounting pieces 153A having mounting upper surfaces along a horizontal plane.

[0100] like Figure 3 , Figure 4 As shown in the figure, the support frame 100 includes a tubular support member 101 having a circular cross section, and the tubular support member 101 is bent into a substantially gate-shaped shape with both ends in the left and right width directions bent downward when viewed from the front of the machine body, and mounting plates 102 having mounting lower surfaces extending along a horizontal plane are fixed to both ends of the tubular support member 101. The mounting plates 102 of the support frame 100 are fixedly connected to the mounting upper surfaces of the mounting pieces 153A of the left and right rearview mirror mounting members 153 by bolts 103 or the like.

[0101] As described above, the left and right rearview mirror mounting parts 150 are mounted on the upper part of the front pillar 201 of the strong cab frame 200 and are arranged at a height position close to the ceiling 190 of the cab 7. Therefore, by using the two rearview mirror mounting parts 150 that are strong and have a height above the ground, the support frame 100 of the antenna unit 50 can be stably mounted at an appropriate height position.

[0102] Furthermore, since the mounting upper surfaces of the mounting pieces 153A in the left and right rearview mirror mounting components 153 and the mounting lower surfaces of the two mounting plates 102 of the support frame 100 are both formed as horizontal planes, it is easy to arrange the middle portion of the tubular support member 101 in a horizontal direction, thereby suppressing the installation error of the antenna unit 50 mounted on the horizontal middle portion of the tubular support member 101.

[0103] like Figure 3 , Figure 4 As shown, when the support frame 100 is installed over the left and right rearview mirror mounting parts 150, the horizontal middle part of the tubular support member 101 of the support frame 100 is horizontally arranged along the left and right width direction of the body near the front end of the ceiling 190 of the cab frame 200.

[0104] like Figure 3 , Figure 4 , Figure 6As shown, a pair of left and right brackets 120 for supporting a pair of left and right support plates 75 of the antenna unit 50 are fixed to the horizontal middle portion of the tubular support member 101. The support plates 75 on the two sets of antenna units 50 and the brackets 120 on the support frame 100, which are close to and opposite to each other in the left and right width direction of the machine body, are pivotally connected by a seventh bolt 121, which is a horizontal rotation pivot axis along the left and right width direction of the machine body.

[0105] Therefore, the antenna unit 50 is configured to rotate relative to the support frame 100 around the rotation pivot axis of the seventh bolt 121, so that it can be moved in the following manner. Figure 3 , Figure 4 The base station antenna 29 is shown in a normal use position (normal use posture) in which the base station antenna 29 protrudes upward in the vertical direction, and Fig. 9 The non-use position (non-use posture) on the front low side shown is changed in position.

[0106] In the present embodiment, the non-use position of the antenna unit 50 is a position rotated 90 degrees forward from the normal use position. In this non-use position, the base station antenna 29 is in a posture protruding forward in the horizontal direction.

[0107] In the present embodiment, the position change operation between the regular use position and the non-use position of the antenna unit 50 is performed manually, but the position change operation of the antenna unit 50 may be performed by a driving unit such as an actuator.

[0108] like Figure 4 , Figure 6 As shown, the support plate 75 on the two sets of antenna units 50 and the bracket 120 on the support frame 100 are constructed so that the antenna unit 50 can be fixed in either a regular use position or a non-use position by replacing it with an eighth bolt 122 arranged at a position deviated from the seventh bolt 121 along the direction of the rotation radius.

[0109] In detail, Figure 6 As shown, a bolt insertion hole 123 for inserting the eighth bolt 122 is formed on the bracket 120 on the supporting frame 100 side, and a bolt insertion hole 124 is formed on the support plate 75 on the antenna unit 50 side at two locations that coincide with the bolt insertion hole 123 on the bracket 120 side when in the normal use position and the non-use position.

[0110] like Figure 4 As shown, when the antenna unit 50 is in the normal use position, the base station antenna 29 is in a posture facing upward in the vertical direction, and the upper end of the base station antenna 29 is as shown in FIG. Figure 1However, when the tractor 1 is transporting, for example, if the base station antenna 29 protruding upwards from the ceiling 190 of the cab 7 becomes an obstacle, Fig. 9 The antenna unit 50 is changed from the normal use position to the non-use position as shown. In the non-use position, the base station antenna 29 is in a posture protruding forward in the horizontal direction, and the height of the antenna unit 50 including the unit cover 51 protruding upward can be lower than the highest part of the ceiling 190 of the cab 7.

[0111] Whether the antenna unit 50 is located in the normal use position can be detected based on the displacement information obtained from the inertial measurement device 25. Figure 2 As shown, the control unit 23 is provided with an autonomous driving restraint unit 46 which prohibits the start of autonomous driving control based on information obtained from the inertial measurement unit 25 and the GNSS antenna 26 if the antenna unit 50 is not detected to be in the normal use position.

[0112] Through the above-mentioned autonomous driving restraint unit 46, autonomous driving control can only be started when the antenna unit 50 is in the normal use position, and the body can be driven autonomously along the target driving path with high accuracy and safety based on the correct information obtained by the inertial measurement device 25 and the GNSS antenna 26.

[0113] In addition, in the present embodiment, whether the antenna unit 50 is in the proper use position is detected based on the displacement information obtained from the inertial measurement device 25, but whether the antenna unit 50 is in the proper use position can also be determined by the signal of an automatic switch that detects the position displacement of the antenna unit 50 or the signal of a hard switch that is manually operated.

[0114] Next, the routing structure of the wire harness 80 led out from the antenna unit 50 will be described.

[0115] like Fig.10 , Fig.11 As shown, the cab frame 200 for wiring the wiring harness 80 is constructed in a roughly box-frame shape, and includes: a pair of left and right front pillars 201 located in front of the driver's seat 9; a pair of left and right rear pillars 202 located behind the driver's seat 9; a front beam member 203 connecting the upper ends of the front pillars 201 to each other; a rear beam member 204 connecting the upper ends of the rear pillars 202 to each other; and left and right side beam members 205 connecting the upper ends of the front pillars 201 and the rear pillars 202 arranged in the front and rear directions.

[0116] like Fig.10 , Fig.11As shown, at the lower end of each rear pillar 202, there is connected a rear end upper portion of a fender frame 207 that is bent along the shape of the rear fender 206 so as to bulge forward and upward when viewed from the side, and a front end lower portion of each fender frame 207 is connected to a rear end portion of a side frame 208 that protrudes rearward from the lower portion of the corresponding front pillar 201.

[0117] like Fig.10 As shown, the fender frame 207 is made of a cylindrical frame material. The lower front end of the fender frame 207 located on the right side of the cab 7 opens downward to the outside of the cab 7, and the internal space of the fender frame 207 located on the right side is formed as an internal and external communication path 210 that connects the inside and outside of the cab 7. The internal and external communication path 210 of the fender frame 207 is provided with a drain pipe (not shown) that releases condensed water in the air conditioner to the outside of the cab 7.

[0118] A windshield 212 is disposed in a region surrounded by the left and right front pillars 201 , the front beam member 203 , and a front lower flat plate 211 extending from the lower end portions of the front pillars 201 toward the left and right inner sides.

[0119] Moreover, if Fig.10 , Fig.11 As shown, the wire harness 80 led out from the antenna unit 50 is arranged to extend downward along a strip-shaped portion overlapping with the glass support portion 201a of the right front pillar 201 at the right edge portion (an example of a side edge portion in the left-right width direction) of the outer surface of the windshield 212 of the cab 7. The wire harness 80 reaches the front lower flat plate 211 at the lower end side of the windshield 212, extends to the rear side along the lower surface of the floor support plate 213 continuous with the side frame 208, and is introduced into the cab 7 through the inside-outside communication path 210 from the opening at the lower front end of the right fender frame 207, and is connected to the control unit 23 of the operation panel unit 214 arranged on the right side.

[0120] The strip-shaped portion on the right edge of the outer surface of the windshield 212 and overlapping with the glass support portion 201a of the right front pillar 201 is a glass bonding portion for attaching the windshield 212 to the front portion of the cab 7, and is also a position that does not cause visual obstruction. Therefore, by arranging the wire harness 80 derived from the antenna unit 50 in the above-mentioned strip-shaped portion, the wire harness 80 can be neatly arranged while maintaining a good field of vision for the operator sitting in the driver's seat 9.

[0121] In addition, if Fig.11 As shown, a protective resin harness cover 250 for inserting the harness 80 is attached to a strip-shaped portion of the right edge of the outer surface of the windshield 212 by adhesive or the like. Fig.12As shown, the wiring harness cover 250 is composed of the following components: a base portion 253, having a bonding surface 251 bonded toward the windshield 212 and a wiring harness receiving surface 252 receiving the wiring harness 80; and a protective belt portion 254, integrally formed at one end portion in the width direction of the base portion 253, and having the flexibility to bend into an arc along the outer peripheral surface of the base portion 253 arranged on the wiring harness receiving surface 252 of the base portion 253.

[0122] A locking claw 255 is formed at the end portion of the guard belt portion 254, and a locking recess 256 for engaging or disengaging the locking claw 255 is formed at the other end side in the width direction of the wire harness receiving surface 252 of the base portion 253, as well as a semicircular protrusion 257 that abuts against the back side of the locking claw 255 engaged with the locking recess 256 to limit the engagement of the locking claw 255 from being disengaged in the abutment state.

[0123] Therefore, if Fig.12 As shown in (a), the wire harness 80 can be installed in the following manner: by releasing the engagement of the engagement claw 255 and the engagement recess 256, the wire harness 80 is inserted into the inside of the wire harness cover 250 from between the base 253 and the belt portion 254, so that a part of the outer peripheral portion of the wire harness 80 is received by the wire harness receiving surface 252. Fig.12 As shown in (b), the base portion 253 and the belt portion 254 are connected by engaging the engagement claws 255 with the engagement recesses 256, so that the wire harness 80 is mounted on the wire cover 250 with the entire periphery of the wire harness 80 being received by the wire harness receiving surface 252.

[0124] Next, the arrangement of the tablet terminal 48 disposed in the cab 7 will be described.

[0125] like Fig.11 , Fig.13 As shown, the tablet terminal 48 is arranged at the front upper part of the operation panel part 214 on the right side of the cab 7. The arrangement position of the tablet terminal 48 is located on the front extension line of the right handrail 271 among the handrails 270 and 271 arranged on the left and right sides of the driver's seat 9. In detail, the front half 271A of the right handrail 271 is configured to be inclined to the right side as it approaches the front end side relative to the rear half 271B along the front-back direction. The front half 271A is provided with a main gear lever 272 for increasing or decreasing the speed of the tractor 1, a dial-type working unit position dial 273 for manually changing and adjusting the height position of a working machine such as a rotary tiller, and the like.

[0126] Furthermore, the operator sitting on the driver's seat 9 basically places his arms, elbows, etc. on the armrests 270 and 271. Therefore, by arranging the tablet terminal 48 on the front extension line of the front half 271A of the right armrest 271, the tablet terminal 48 can be easily operated in the same manner as the main gear lever 272, the working unit position dial 273, etc.

[0127] In addition, if Fig.13 As shown, the tablet terminal 48 is arranged at a position slightly offset to the right of the steering wheel 8. The arrangement position of the tablet terminal 48 does not hinder the forward working field of the operator sitting in the driver's seat 9. Therefore, if the operator slightly turns his sight while looking forward to perform the work, the entire liquid crystal screen 48a of the tablet terminal 48 can be easily visually observed.

[0128] Next, the terminal support device 300 that supports the tablet terminal 48 will be described.

[0129] like Figure 14 to Figure 17 As shown, the terminal support device 300 includes: a support portion 310 fixed to the fender frame 207 side on the right side of the cab frame 200; a terminal bracket 320 for holding the flat-panel terminal 48 in a detachable manner; and a terminal position adjustment mechanism 350 for mounting the terminal bracket 320 on the support portion 310 in a manner that allows the position of the terminal bracket 320 to be adjusted three-dimensionally.

[0130] like Figure 14 to Figure 17 As shown, the terminal position adjustment mechanism 350 comprises: a first movable arm 360, which is capable of surrounding a first longitudinal axis core Y1 (refer to Fig.15 , Fig.17 ) is rotated and installed in a manner that can adjust the height in the direction of the first longitudinal axis core Y1; and a second movable arm 380, which can be around the second longitudinal axis core Y2 along the vertical direction (reference Fig.15 , Fig.17 ) is rotatably mounted on the distal end of the first movable arm 360. At the distal end of the second movable arm 380, a lateral axis X (refer to Fig.15 , Fig.17 ) is installed in a rotating manner. By rotating the terminal bracket 320 around the horizontal axis core X, the elevation angle of the liquid crystal screen 48a of the tablet terminal 48 held in the terminal bracket 320 can be adjusted.

[0131] like Fig.14As shown, a substantially rectangular mounting plate 312 is fixed to the lower end of the pipe support 311 of the support portion 310. The mounting plate 312 is fixed to a substantially gate-shaped first bracket 313 fixed to the right fender frame 207 by bolts 314.

[0132] In addition, if Fig.14 , Fig.15 As shown, a slit 315 extending along the first longitudinal axis Y1 is formed at the upper end of the tube support 311, and two sides of the slit 315 are fixed with bent members. The connecting member 316 is in the shape of a letter " ". Fig.15 As shown, the adjusting bolt 317 is inserted through the two connecting parts 316, and the nut 318 is screwed on the end side of the external thread of the adjusting bolt 317. By screwing the adjusting bolt 317 and the nut 318 toward the tightening side, the two connecting parts 316 are brought closer to each other, and the inner diameter of the upper end of the pipe support 311 is reduced. Fig.17 As shown, the first shaft component 361 on the base end side of the first movable arm 360 which is slidably inserted into the upper end of the tube support 311 is clamped and fixed, and the orientation posture of the first shaft component 361 of the first movable arm 360 around the first longitudinal axis core Y1 and the height position in the direction of the first longitudinal axis core Y1 are fixed.

[0133] like Fig.16 , Fig.17 As shown, the first shaft member 361 is configured by bending The first sleeve receiving portion 363 in the shape of a letter "U" is fixed to the upper end of the cylindrical shaft portion 362 inserted into the upper end of the pipe support 311. Figure 15 to Figure 17 As shown in FIG. 1 , a cylindrical first sleeve portion 360A formed at the base end of the first movable arm 360 is inserted and arranged between the first upper plate portion 363a and the first lower plate portion 363b of the first sleeve receiving portion 363. Fig.17 As shown, a first support shaft 364 penetrating the first sleeve portion 360A is provided over the first upper plate portion 363a and the first lower plate portion 363b of the first sleeve receiving portion 363. A first nut 365 is screwed into the external threaded portion of the upper end portion of the first support shaft 364. The first sleeve portion 360A of the first movable arm 360 is configured to be rotatable around the axis core of the first support shaft 364, i.e., the first longitudinal axis core Y1, relative to the first sleeve receiving portion 363 of the first shaft member 361, and can be fixed in any orientation posture around the first longitudinal axis core Y1.

[0134] like Figure 14 to Figure 17 As shown, a bent and formed member is fixed to the upper end of the second cylindrical sleeve portion 360B formed at the distal end of the first movable arm 360. The second sleeve receiving portion 370 is in the shape of a letter "U". A cylindrical third sleeve portion 381 formed at the base end of the second movable arm 380 is inserted and arranged between the second upper plate portion 370a and the second lower plate portion 370b of the second sleeve receiving portion 370. Fig.16 , Fig.17 As shown, a second support shaft 371 penetrating the third sleeve portion 381 is provided over the second upper plate portion 370a and the second lower plate portion 370b of the second sleeve receiving portion 370, and a second nut 372 is screwed into the external thread portion of the upper end portion of the second support shaft 371. The third sleeve portion 381 of the second movable arm 380 is configured to be rotatable around the axis core of the second support shaft 371, i.e., the second longitudinal axis core Y2, relative to the second sleeve receiving portion 370 of the first movable arm 360, and can be fixed in any orientation posture around the second longitudinal axis core Y2.

[0135] like Figure 14 to Figure 17 As shown, the second movable arm 380 includes a third sleeve portion 381 extending along the second longitudinal axis Y2, a fourth sleeve portion 382 extending along the transverse axis X, and a connecting portion 383 that integrally connects the two sleeve portions 381 and 382. The second bracket 321 is shaped like a letter ". Fig.14 , Fig.15 , Fig.17 As shown, the 4th shaft sleeve part 382 of the 2nd movable arm 380 is inserted and arranged between the left and right side plates 321a of the 2nd bracket 321. The 3rd support shaft 384 penetrating the 4th shaft sleeve part 382 is arranged over the two side plates 321a of the 2nd bracket 321. The 3rd nut (not shown) is screwed into the external thread part of one end of the 3rd support shaft 384. The 2nd bracket 321 of the terminal bracket 320 is configured to be rotatable around the axis core of the 3rd support shaft 384, i.e., the transverse axis core X, relative to the 4th shaft sleeve part 382 of the 2nd movable arm 380, and can be fixed in any orientation posture around the transverse axis core X.

[0136] Therefore, as described above, by adjusting the orientation of the first movable arm 360 relative to the support portion 310 around the first longitudinal axis core Y1 and adjusting the height in the direction of the first longitudinal axis core Y1, adjusting the orientation of the second movable arm 380 relative to the first movable arm 360 around the second longitudinal axis core Y2, and adjusting the orientation of the terminal bracket 320 relative to the second movable arm 380 around the transverse axis core X, the position and orientation posture of the tablet terminal 48 held on the terminal bracket 320 can be adjusted in three dimensions according to each user with different heights, postures, and habits.

[0137] In addition, the first movable arm 360 is fixed to the support column 310, the second movable arm 380 is fixed to the first movable arm 360, and the terminal bracket 320 is fixed to the second movable arm 380, and the rigidity of the terminal position adjustment mechanism 350 is fully ensured, so that the influence of vibration on the tablet terminal 48 mounted on the terminal bracket 320 can be minimized. In addition, since the support column 310 is mounted on the cab frame 200 that has implemented vibration countermeasures, the influence of vibration on the tablet terminal 48 can be suppressed.

[0138] like Figure 14 to Figure 17 As shown, the terminal support 320 includes a fixed support portion 330 that supports the lower end of the tablet terminal 48, and a movable support portion 340 that supports the upper end of the tablet terminal 48. The movable support portion 340 is configured to be able to slide in the vertical direction along the fixed support portion 330. Fig.16 , Fig.17 As shown, a clamping force applying portion 325 for applying force to the movable bracket portion 340 to move toward the clamping side of the tablet terminal 48 , that is, the downward side, is provided between the movable bracket portion 340 and the fixed bracket portion 330 .

[0139] like Figure 14 to Figure 17 As shown, the fixing bracket part 330 has: the cross-sectional shape formed by bending the left and right side plates 331a toward the front and upper sides is approximately A fixed mounting base 331 in the shape of a letter; a fixed support plate 332 fixed to the lower ends of both side plates 331a of the fixed mounting base 331; and a second bracket 321 fixed to the lower end of the back side of the fixed mounting base 331.

[0140] like Figure 14 to Figure 17 As shown, lower side support parts 334 are formed on both sides of the fixed support plate 332 in the left-right direction, and the lower side support parts 334 include: a loading plate part 334a for loading and supporting the lower end of the tablet terminal 48; and an anti-fall plate part 334b ​​protruding upward from the end of the loading plate part 334a. The fixed support plate 332 and the two lower side support parts 334 form a lower side buckle recess 335 into which the lower end of the tablet terminal 48 can be inserted from above, and an elastic buffer material 336 such as silicone sponge rubber is attached to the inner surface of the lower side buckle recess 335.

[0141] like Figure 14 to Figure 17As shown, the movable bracket part 340 is fixed with a pair of left and right side plates 342 that can slide in the up-down direction along the inner surface of the two side plates 331a of the fixed mounting base 331 on the back side of the movable support plate 341. An upper side support part 343 is formed at the upper end of the movable support plate 341, and the upper side support part 343 includes a clamping plate part 343a for clamping and supporting the upper end of the tablet terminal 48, and an anti-fall plate part 343b protruding downward from the end of the clamping plate part 343a. The upper side buckle recess 344 into which the upper end of the tablet terminal 48 can be inserted from below is formed by the movable support plate 341 and the upper side support part 343, and an elastic buffer material 336 such as silicone sponge rubber is attached to the inner surface of the upper side buckle recess 344.

[0142] The elastic buffer material 336 provided in the lower snap-in recess 335 of the fixed bracket portion 330 and the elastic buffer material 336 provided in the upper snap-in recess 344 of the movable bracket portion 340 can suppress vibration of the tablet terminal 48 mounted on the terminal bracket 320 .

[0143] like Figure 15 to Figure 17 As shown, long holes 345 for limiting the movable range of the movable support plate 341 are formed on the two side plates 342 of the movable support plate 341. Two sliding guide rods 322 are horizontally mounted on the two side plates 331a of the fixed mounting base 331 in a state of penetrating the long holes 345 of the two side plates 342 of the movable support plate 341. Therefore, the position where the upper ends of the two long holes 345 of the movable bracket part 340 abut against the sliding guide rods 322 on the upper side of the fixed bracket part 330 becomes the maximum descending position of the movable bracket part 340 relative to the fixed bracket part 330. The position where the lower ends of the two long holes 345 of the movable bracket part 340 abut against the sliding guide rods 322 on the lower side of the fixed bracket part 330 becomes the maximum ascending position of the movable bracket part 340 relative to the fixed bracket part 330.

[0144] like Fig.17 As shown, the clamping force applying part 325 comprises: a lower spring hooking part 326 horizontally mounted on the lower end of the two side plates 331a of the fixed mounting base 331; an upper spring hooking part 327 horizontally mounted on the lower end of the two side plates 342 of the movable support plate 341; and a tension coil spring 328 clamped between the two spring hooking parts 326 and 327. The tension coil spring 328 applies force to the movable bracket part 340 to move it toward the maximum descending position relative to the fixed bracket part 330.

[0145] Therefore, when the tablet terminal 48 is mounted on the terminal stand 320, the upper end of the tablet terminal 48 is inserted from below the upper buckle recess 344 of the movable stand 340, and in this state, the movable stand 340 is pushed upward against the elastic force of the tension coil spring 328. Then, when the lower end of the tablet terminal 48 passes over the upper end of the lower buckle recess 335 of the fixed stand 330, the lower end of the tablet terminal 48 is inserted into the two lower buckle recesses 335 of the fixed stand 330. In this mounted state, the tablet terminal 48 is reliably clamped and held at three points, namely, the two lower buckle recesses 335 of the fixed stand 330 and the upper buckle recess 344 of the movable stand 340, by the elastic force of the tension coil spring 328.

[0146] The upper end of the pipe support 311 of the support portion 310 faces the upper front end portion of the operation panel portion 214. In addition, the first shaft member 361 of the first movable arm 360 penetrates the upper front end portion of the operation panel portion 214. Fig.15 As shown, the device mounting member 390 fixed to the upper front end of the operation panel unit 214 is also formed with a through hole 390a that communicates with the opening of the operation panel unit 214. The opening of the operation panel unit 214 and the through hole 390a of the device mounting member 390 are configured to be sized such that a finger or a tool can be inserted from outside from above to operate the adjustment bolt 317 and nut 318 of the two connecting members 316 inserted into the pipe support 311.

[0147] In addition, a flexible rubber cover 391 is provided to cover the through hole 390a of the device mounting member 390. By rolling up the rubber cover 391, the through hole 390a of the device mounting member 390 is exposed.

[0148] [Other implementation methods]

[0149] (1) In the above embodiment, the wireless communication antenna 28 of the wireless communication unit 27 is housed in the unit cover 51 of the antenna unit 50. However, the wireless communication antenna 28 may protrude upward from the through hole formed in the upper cover 53 as required.

[0150] (2) In the above-mentioned embodiment, the first prescribed distance L1 between the wireless communication antenna 28 of the wireless communication unit 27 and the center portion of the inertial measurement device 25 is set to be greater than 250 mm, but the first prescribed distance L1 can also be arbitrarily set according to the radio wave interference conditions between the wireless communication unit 27 and the inertial measurement device 25.

[0151] (3) In the above-mentioned embodiment, the second prescribed distance L2 between the inner surface 53a of the first protrusion 53A and the upper end of the wireless communication antenna 28 is set to be greater than 30 mm, but the second prescribed distance L2 can be arbitrarily set according to the communication status between the wireless communication unit 27 and the wireless communication device 31 of the wireless communication terminal 30.

[0152] (4) In the above-described embodiment, the pair of left and right stays 75 are attached to the lower surface of the unit cover 51 . However, the present invention is not limited to this attachment structure, and any attachment structure may be adopted according to the attachment conditions on the work vehicle side.

[0153] (5) In the above-described embodiment, the inertial measurement device 25 and the GNSS antenna 26 are independently configured, but the inertial measurement device 25 and the GNSS antenna 26 may be integrally configured.

[0154] Industrial Application Possibility

[0155] The present invention can be applied to various work vehicles including a cab.

[0156] Description of Reference Numerals

[0157] 1…Work vehicle (tractor); 7…Cab; 23…Control unit; 25…Inertial measurement unit; 26…GNSS antenna; 27…Wireless communication device (wireless communication unit); 29…Wireless communication device (base station antenna); 46…Autonomous driving restraint unit; 50…Antenna unit; 80…Wire harness; 100…Support frame; 150…Rearview mirror mounting portion; 200…Cab frame; 201…Front pillar; 201a…Glass support portion; 210…Internal and external connecting passage.

Claims

1. A working vehicle having a cab, wherein: A support frame extending in the left-right width direction is fixed to the cab frame at an upper position outside the cab, and an antenna unit formed by assembling an inertial measurement device, a GNSS antenna and a wireless communication device is installed on the support frame in a state in which the inertial measurement device and the GNSS antenna are arranged at a substantially center position in the left-right width direction of the body, and the antenna unit is installed on the support frame in a manner that allows it to be displaced from a regular use position protruding upward from a ceiling of the cab to a non-use position on the low side that is lower than the highest part of the ceiling.

2. The work vehicle according to claim 1, wherein: The support frame extends over the rearview mirror mounting portions provided on the left and right sides of the cab frame and is connected to the rearview mirror mounting portions.

3. The working vehicle according to claim 1 or 2, wherein: The settings are: a control unit for controlling autonomous driving of the aircraft based on information obtained by the inertial measurement device and the GNSS antenna; as well as The autonomous driving restraint unit prohibits the start of autonomous driving control by the control unit if it is not detected that the antenna unit is located at the regular use position.

4. The working vehicle according to any one of claims 1 to 3, wherein: The cab is provided with a control unit for autonomously controlling the vehicle based on information obtained from the inertial measurement device and the GNSS antenna, and a wiring harness derived from the antenna unit is provided to the control unit in the cab via an internal and external communication passage provided in the cab frame.

5. The work vehicle according to claim 4, wherein: The wire harness led out from the antenna unit is arranged at one side edge portion in the left-right width direction of the outer surface of the windshield of the cab along a strip-shaped portion overlapping with a glass support portion of a front pillar of the cab.

Images