Work vehicle

Abstract

Provided is a work vehicle in which various antenna devices effective for autonomous travel of the work vehicle and the like can be efficiently mounted, and which can firmly support the various antenna devices. In a work vehicle (1) provided with 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 fixed to the cab frame (200). The inertial measurement device and the GNSS antenna are attached to the support frame (100) in a state in which the inertial measurement device and the GNSS antenna are disposed at a substantially central position in the left-right width direction of the machine body.

Description

[0001] This application is a divisional application of the application with the application number 201880086758.8, the national stage entry date of July 16, 2020, and the invention title of "Work Vehicle". Technical Field

[0002] The present invention relates to a work vehicle equipped with a cab, and more particularly to a work vehicle suitable for automatically traveling (including autonomous traveling) along a target traveling path while obtaining the position information of a work vehicle such as a tractor by using a satellite positioning system (GNSS). Background Art

[0003] For example, as a work vehicle adopting an autonomous driving system, in the tractor shown in Patent Document 1, a GPS antenna (GNSS antenna) for obtaining satellite positioning information from positioning satellites is provided on the upper side surface of the cab roof.

[0004] Specifically, at the portion where the front-rear direction line at the substantially central position of the wheelbase width of the vehicle body intersects the lateral direction line at the substantially central position of the wheelbase on the upper side surface of the cab roof, a mounting support plate is formed. The mounting support plate has a mounting seat in a substantially horizontal plane shape at a position higher than the upper surface of the cab roof, and the GPS antenna is mounted on the mounting seat of the mounting support plate.

[0005] In addition, as the GPS antenna, in the case of using a GPS antenna having a gyro sensor, the tilt angle of the cab roof can also be detected.

[0006] Patent Document 1: Japanese Unexamined Patent Application Publication No. 2016-2874

[0007] The above prior art discloses the following technique: By studying the installation position of the GPS antenna on the upper side surface of the cab roof, the detection accuracy of the GPS antenna or the detection accuracy of the GPS antenna and the gyro sensor is improved.

[0008] However, in the above autonomous driving system, various external devices are separately provided with respect to the work vehicle, such as a wireless communication terminal for giving various instructions to the work vehicle and a base station for obtaining the position information of the work vehicle.

[0009] Therefore, when actually performing autonomous driving of the work vehicle, not only the GPS antenna but also various antenna devices for communication between the work vehicle and external devices need to be efficiently mounted on the work vehicle. In this regard, there is room for improvement in the above prior art.

[0010] Moreover, in the above-described prior art, for the upper side surface of the cab roof provided on the upper part of the cab frame, there are many curves and the rigidity is poorer than that of the cab frame. Therefore, it is necessary to strengthen the mounting bracket for the GPS antenna without damaging the appearance of the cab roof, and there is still room for improvement in this regard. Summary of the Invention

[0011] In view of this actual situation, the main subject of the present invention is to provide a work vehicle that can efficiently mount various antenna devices effective for autonomous driving of the work vehicle and can firmly support various antenna devices.

[0012] The first characteristic structure of the present invention is a work vehicle having a cab, wherein a support frame extending along the left-right width direction is fixed to the cab frame at an upper position outside the cab, and an antenna unit assembled with an inertial measurement unit, a GNSS antenna, and a wireless communication device is mounted on the support frame with the inertial measurement unit and the GNSS antenna located at substantially the center position in the left-right width direction of the vehicle body.

[0013] According to the above structure, the inertial measurement unit and the GNSS antenna assembled in the antenna unit are arranged at substantially the center position in the left-right width direction of the vehicle body. Therefore, it is possible to improve both the detection accuracy of the current position information of the work vehicle obtained from the received signal of the GNSS antenna and the detection accuracy of the posture change information of the vehicle body obtained from the inertial measurement unit.

[0014] In addition, through the wireless communication device assembled in the antenna unit, it is possible to perform wireless communication of various signals with external devices such as wireless communication terminals.

[0015] Moreover, the support frame for mounting the antenna unit is fixed to the rigid cab frame in a posture extending along the left-right width direction at an upper position outside the cab. Therefore, the support frame can be configured as a stable support structure. And since the cab frame has a height close to that of the cab roof, by setting the mounting position of the support frame on the upper side of the cab frame, it is possible to easily arrange the antenna unit at a height position where the inertial measurement unit, the GNSS antenna, and the wireless communication device can each function properly.

[0016] Therefore, by adopting the antenna unit assembled from the inertial measurement device, the GNSS antenna, and the wireless communication device, and through the above-mentioned reasonable research on the installation positions of the inertial measurement device and the GNSS antenna relative to the vehicle body, and the supporting structure of the antenna unit, it is possible to improve the detection accuracy of both the inertial measurement device and the GNSS antenna, and to efficiently mount the wireless communication device on the work vehicle while maintaining its communication state in a good condition. Moreover, the supporting structure of the mounted antenna unit can be firmly constructed.

[0017] The second characteristic structure of the present invention lies in that the above-mentioned support frame is connected to the rearview mirror mounting parts provided on the left and right sides of the above-mentioned cab frame across the rearview mirror mounting parts.

[0018] According to the above structure, the rearview mirror mounting parts on the left and right sides are provided protruding from the cab frame with high rigidity and are arranged at a height position close to the cab ceiling. Therefore, the support frame of the antenna unit can be firmly and easily mounted at an appropriate height position by using the two rearview mirror mounting parts that are firm and have a ground clearance.

[0019] The third characteristic structure of the present invention lies in that the above-mentioned antenna unit is mounted on the above-mentioned support frame in such a way that it can be displaced from the normal use position to the non-use position on the lower side.

[0020] According to the above structure, when the antenna unit is in the normal use position, for example, the antenna unit and the antenna equipped on the antenna unit may be configured to protrude upward more than the upper surface of the cab ceiling. As a result, problems such as the vehicle height becoming higher when the work vehicle is transported by a transport vehicle such as a truck and being restricted by the height limit during road driving may sometimes occur. Therefore, in the present invention, by displacing the antenna unit relative to the support frame from the normal use position to the non-use position on the lower side, it is also possible to easily cope with problems such as the height limit during road driving.

[0021] The fourth characteristic structure of the present invention lies in that there are provided: a control unit that performs autonomous driving control on the vehicle body based on the information obtained by the above-mentioned inertial measurement device and GNSS antenna; and an autonomous driving restraint unit that prohibits the start of the autonomous driving control by the above-mentioned control unit if the above-mentioned antenna unit is not detected in the normal use position.

[0022] According to the above structure, when it is detected that the antenna unit is in the normal use position, the autonomous driving restraint unit does not operate, and the control unit starts autonomous driving control based on the information obtained by the inertial measurement device and the GNSS antenna. When it is not detected that the antenna unit is in the normal use position, the restraint by the autonomous driving restraint unit takes effect, and the start of the autonomous driving control by the control unit is prohibited. Thus, even though the position displacement structure of the antenna unit for coping with height restrictions during road driving or the like is adopted, the machine body can autonomously drive along the target driving path with high precision and safety based on the correct information obtained by the inertial measurement device and the GNSS antenna.

[0023] The fifth characteristic structure of the present invention is that in the above cab, a control unit for autonomously driving the machine body based on the information obtained by the inertial measurement device and the GNSS antenna is provided, and the wire harness led out from the above antenna unit is disposed to the above control unit in the above cab via the internal and external communication path provided in the above cab frame.

[0024] According to the above structure, the antenna unit disposed at the upper position outside the cab can be connected to the control unit disposed in the cab by a reasonable layout of the wire harness passing through the internal and external communication path provided in the cab frame.

[0025] The sixth characteristic structure of the present invention is that the wire harness led out from the above antenna unit is disposed at one side edge portion in the left - right width direction of the outer surface of the windshield of the above cab and along the strip - shaped portion overlapping with the glass support portion of the front pillar of the above cab.

[0026] According to the above structure, the strip - shaped portion at one side edge portion in the left - right width direction of the outer surface of the windshield and overlapping with the glass support portion of the front pillar is the glass pasting portion for attaching the windshield to the front surface portion of the cab and is also a position that does not cause a visual obstruction. Therefore, by disposing the wire harness led out from the antenna unit in the above strip - shaped portion, the wire harness can be neatly arranged while maintaining a good view for the operator sitting in the driver's seat. Description of the Drawings

[0027] Figure 1 is an overall side view of the tractor.

[0028] Figure 2 is a control block diagram of the tractor, the reference station, and the wireless communication terminal.

[0029] Figure 3 is a front view of the antenna unit mounting portion of the tractor.

[0030] Figure 4 is a side view of the antenna unit mounting portion of the tractor.

[0031] Figure 5 is a longitudinal sectional view of the antenna unit.

[0032] Figure 6 is a cross-sectional view of the antenna unit.

[0033] Figure 7 is an exploded perspective view of the antenna unit.

[0034] Figure 8 is a perspective view of the elevation angle of the mounting portion of the antenna unit.

[0035] Figure 9 is a side view when the antenna unit is changed to a non-use position.

[0036] Figure 10 is a perspective view of the elevation angle of the cab.

[0037] Figure 11 is a perspective view of the main part of the cab.

[0038] Figure 12 is an enlarged end view of the wire harness sleeve.

[0039] Figure 13 is an operation configuration diagram inside the cab.

[0040] Figure 14 is a rear-side perspective view of the whole terminal support device.

[0041] Figure 15 is an enlarged rear-side perspective view of the main part of the terminal support device.

[0042] Figure 16 is an enlarged front-side perspective view of the main part of the terminal support device.

[0043] Figure 17 is a sectional view of the main part of the terminal support device. Detailed implementation mode

[0044] The implementation mode of the present invention will be described based on the drawings.

[0045] Figure 1 、 Figure 2 The autonomous driving system shown is configured to generate a target driving path and enable the tractor 1 as a work vehicle to autonomously drive along the generated target driving path. In this autonomous driving system, in addition to the tractor 1 capable of autonomous driving, there are also provided a wireless communication terminal 30 for giving various instructions to the tractor 1 and a reference station 40 for obtaining the position information of the tractor 1.

[0046] First, the tractor 1 will be described based on Figure 1 this.

[0047] The tractor 1 is provided with a body portion 2 capable of mounting a ground working machine (not shown) on the rear side. The front portion of the body portion 2 is supported by a pair of left and right front wheels 3, and the rear portion of the body portion 2 is supported by a pair of left and right rear wheels 4. An engine hood 5 is disposed at the front portion of the body portion 2, and an engine 6 as a drive source is housed within the engine hood 5. A driver's cab 7 for the driver to board is provided on the rear side of the engine hood 5, and a steering wheel 8 for the driver to perform a steering operation, a driver's seat 9, etc. are provided within the driver's cab 7.

[0048] The engine 6 can be constituted by, for example, a diesel engine, but is not limited thereto, and can also be constituted by, for example, a gasoline engine. Further, as the drive source, an electric motor can also be employed in addition to or in place of the engine 6.

[0049] In addition, in the present embodiment, the tractor 1 is described as an example of a work vehicle. However, as the work vehicle, in addition to the tractor, it also includes riding-type work vehicles such as a rice transplanter, a combine harvester, a civil engineering work device, a snow removal vehicle, etc.

[0050] On the rear side of the body portion 2, a three-point link mechanism constituted by a pair of left and right lower links 10 and an upper link 11 is provided, and is configured such that a ground working machine can be mounted on the three-point link mechanism. On the rear side of the body portion 2, although not shown, a lifting device having a hydraulic device such as a lifting cylinder is provided, and the lifting device lifts the ground working machine by lifting the three-point link mechanism.

[0051] Examples of the ground working machine include a tilling device, a plow, a fertilizer application device, etc.

[0052] As shown in Figure 2 the tractor 1 is provided with a governor device 21 capable of adjusting the rotational speed of the engine 6, a transmission device 22 that transmits the rotational driving force from the engine 6 after being speed-changed to the drive wheels, a control unit 23 capable of controlling the governor device 21 and the transmission device 22, etc. The transmission device 22 is constituted by, for example, combining a main transmission device constituted by a hydraulic continuously variable transmission device and a sub-transmission device constituted by a gear-type multi-stage transmission device.

[0053] The tractor 1 is configured such that it can not only travel by the driver boarding within the driver's cab 7, but also can autonomously travel the tractor 1 based on an instruction from a wireless communication terminal 30 or the like even when the driver does not board within the driver's cab 7.

[0054] As shown in Figure 2As shown in the figure, the tractor 1 is equipped with a steering control device 24, an inertial measurement unit (IMU) 25 for obtaining information on the posture change of the vehicle body, a GNSS antenna 26 for receiving radio wave signals transmitted from positioning satellites (navigation satellites) 45 that make up the 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 established between it and a wireless communication terminal 30 or the like, a base station antenna (an example of a wireless communication device assembled in the antenna unit 50) 29 for receiving wireless signals (for example, wireless signals with a frequency band of 920 MHz) from the base station wireless communication device 41 of the reference station 40, etc., and is configured to be able to autonomously travel while obtaining its own current position information (the position information of the vehicle body part 2).

[0055] As Figures 5 - 7 shown, the inertial measurement unit 25, the GNSS antenna 26, the wireless communication unit 27, and the base station antenna 29 are housed in the antenna unit 50 having a unit cover 51. As Figure 3 , Figure 4 shown, this antenna unit 50 is installed at an upper position on the front surface side outside the cab 7, on a support frame 100 along the left - right width direction of the cab frame 200 fixed to the cab 7.

[0056] In addition, the specific internal configuration structure and installation structure of the antenna unit 50 will be described in detail after the description of the autonomous driving system.

[0057] The steering control device 24 is provided, for example, in the middle part of the rotating shaft of the steering wheel 8, and is configured to be able to adjust the rotation angle (steering control angle) of the steering wheel 8. By controlling the steering control device 24 by the control unit 23, not only straight - line driving but also the rotation angle of the steering wheel 8 can be adjusted to a desired rotation angle to perform turning driving with a desired turning radius.

[0058] The inertial measurement unit 25 calculates three - dimensional angular velocity and acceleration through a three - axis gyroscope and three - direction accelerometers. The detection values of this inertial measurement unit 25 are input to the control unit 23, and the control unit 23 performs calculations through a posture azimuth calculation unit to obtain the posture information of the tractor 1 (the azimuth angle (yaw angle) of the vehicle body, the left - right tilt angle (roll angle) of the vehicle body, and the front - rear tilt angle (pitch angle) in the traveling direction of the vehicle body).

[0059] In the satellite positioning system (GNSS), as positioning satellites, in addition to GPS (USA), satellite positioning systems such as quasi - zenith satellites (Japan) and GLONASS satellites (Russia) can also be used.

[0060] In this embodiment, the wireless communication unit 27 is constituted by a Wifi unit with a frequency band of 2.4 GHz. However, the wireless communication unit 27 can also be Bluetooth (registered trademark) or the like other than Wifi. It is configured such that the signal received by the wireless communication antenna 28 of the wireless communication unit 27 can be input to the control unit 23 as shown in Figure 2 , and the signal from the control unit 23 can be transmitted to the wireless communication device 31 of the wireless communication terminal 30 or the like through the wireless communication antenna 28.

[0061] Here, as a positioning method using a satellite positioning system, the following positioning method can be applied: a reference station 40 is provided at a pre-determined reference point, and the satellite positioning information of the tractor 1 (mobile station) is corrected according to the 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.

[0062] In this embodiment, for example, RTK positioning is applied. As shown in Figure 1 and Figure 2 , in addition to the GNSS antenna 26 provided on the tractor 1 on the mobile station side, a reference station 40 equipped with a reference station positioning antenna 42 is also provided. The reference station 40 is arranged, for example, at a position (reference point) around the field or the like that does not obstruct the travel of the tractor 1. The position information of the reference point, that is, the installation position of the reference station 40, is grasped in advance. In the reference station 40, a reference station wireless communication device 41 capable of transmitting and receiving various signals between the base station antenna 29 of the tractor 1 is provided, and it 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.

[0063] In RTK positioning, both the reference station positioning antenna 42 of the reference station 40 provided at the reference point and the GNSS antenna 26 on the mobile station side of the tractor 1, which is the object for obtaining the position information, are used to measure the carrier phase (satellite positioning information) from the positioning satellite 45. For the reference station 40, every time the satellite positioning information is measured from the positioning satellite 45 or every time a set period elapses, correction information including the measured satellite positioning information and the position information of the reference point is generated, and the correction information is transmitted from the reference station wireless communication device 41 to the base station antenna 29 of the tractor 1. The control unit 23 of the tractor 1 uses the correction information transmitted from the reference station 40 to correct the satellite positioning information measured by the GNSS antenna 26, thereby obtaining the current position information of the tractor 1. For the control unit 23, as the current position information of the tractor 1, for example, latitude information and longitude information are obtained.

[0064] In the autonomous driving system, in addition to the tractor 1 and the reference station 40, there is also a wireless communication terminal 30 capable of instructing the control unit 23 of the tractor 1 to perform autonomous driving of the tractor 1. The wireless communication terminal 30 is constituted by, for example, a tablet personal computer having a touch panel, capable of displaying various information on the touch panel, and also capable of inputting various information by operating the touch panel. The wireless communication terminal 30 is provided with a wireless communication device 31 and a path generation unit 32 for generating a target driving path. The path generation unit 32 generates a target driving path for the autonomous driving of the tractor 1 based on various information input through the touch panel.

[0065] The control unit 23 provided in the tractor 1 is configured to be able to transmit and receive various information with the wireless communication terminal 30 via a wireless communication network based on the wireless communication device 31 and the like. The wireless communication terminal 30 is configured to be able to instruct the autonomous driving of the tractor 1 by sending various information such as the target driving path for the autonomous driving of the tractor 1 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 received signal of the GNSS antenna 26 and obtain the displacement information and azimuth information of the vehicle body from the inertial measurement device 25 in such a manner that the tractor 1 autonomously drives along the target driving path generated by the path generation unit 32, and is able to control the speed change device 22, the steering control device 24, etc. based on the above-mentioned current position information, displacement information, and azimuth information.

[0066] Next, the internal configuration structure of the antenna unit 50 will be described.

[0067] As Figures 5 - 9 shown, the unit cover 51 of the antenna unit 50 has: a resin-made lower cover body 52 that is substantially rectangular in plan view and has an opening at the upper side; and a resin-made upper cover body 53 that is substantially rectangular in plan view and has an opening at the lower side. Here, Figure 5 FIG. shows a longitudinal sectional view when observing the antenna unit 50 from the rear side, and with respect to Figure 3 、 Figure 7 、 Figure 8 ,the left-right direction of the body part 2 becomes the opposite direction. The opening joint part of the upper cover body 53 can be detachably externally fitted and joined to the opening joint part of the lower cover body 52 in a watertight state. The opening joint part of the upper cover body 53 and the opening joint part of the lower cover body 52 are fixedly connected at a plurality of positions in the left-right direction on the front surface side and the rear surface side by means of screws 54.

[0068] As Figures 5 - 7 shown, on the bottom plate part 52A of the lower cover body 52, a metal bottom plate 55 is installed as an example of a unit base that can be installed on the tractor 1. Between this bottom plate 55 and the bottom plate part 52A of the lower cover body 52, as Figure 5As 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.

[0069] like Figures 5 - 7 As 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.

[0070] 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 .

[0071] On the other hand, Figures 5 - 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.

[0072] 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.

[0073] And, according to the above configuration structure, Figure 5 , Figure 6As shown, only the resin upper cover 53 exists above the GNSS antenna 26. Therefore, for example, unlike the case where the inertial measurement device 25 is arranged above the GNSS antenna 26, the inertial measurement device 25 does not become an obstacle to the reception of the GNSS antenna 26, and the carrier phase (satellite positioning information) from the positioning satellite 45 can be reliably received.

[0074] At one end in the longitudinal direction of the bottom plate 55 (the right end in the left-right direction of the body portion 2 with respect to the forward direction, Figure 5 the right end in the middle, Figure 7 the left end in the middle), as Figure 5 , Figure 7 shown, the housing 27A of the wireless communication unit (an example of the wireless communication device assembled in the antenna unit 50) 27 having a pair of wireless communication antennas 28 in the front-rear direction is fixedly connected by the fourth bolt 62. The wireless communication antennas 28 of the wireless communication unit 27 are arranged on the side opposite to the inertial measurement device 25 and the GNSS antenna 26, and on one end side in the longitudinal direction of the bottom plate 55.

[0075] As Figure 5 shown, the first specified distance L1 between the wireless communication antenna 28 of the wireless communication unit 27 and the central portion of the inertial measurement device 25 is set to 250 mm or more.

[0076] Moreover, by studying the arrangement position and the orientation posture of the above-mentioned wireless communication unit 27, miniaturization in the longitudinal direction of the antenna unit 50 can be achieved, and at the same time, the first specified distance L1 from the wireless communication antenna 28 of the wireless communication unit 27 to the central portion of the inertial measurement device 25 is sufficiently ensured. Thereby, the radio wave interference between the wireless communication unit 27 and the inertial measurement device 25 can be suppressed, and thus the communication obstacle between the wireless communication unit 27 and the wireless communication device 31 of the wireless communication terminal 30 can be suppressed.

[0077] In particular, as described above, when the first specified distance L1 between the wireless communication antenna 28 of the wireless communication unit 27 and the central portion of the inertial measurement device 25 is set to 250 mm or more, the radio wave interference between the wireless communication unit 27 and the inertial measurement device 25 can be more effectively suppressed.

[0078] Furthermore, for the outer periphery of the inertial measurement device 25, except for connectors and the like, a plurality of portions are blocked by the metal housing 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. Therefore, the radio wave interference between the wireless communication unit 27 and the inertial measurement device 25 can be further suppressed.

[0079] At the other end in the longitudinal direction of the bottom plate 55 (the left end in the left-right direction of the body part 2 with respect to the advancing direction, Figure 5 the left end in the middle, Figure 7 the right end in the middle), as Figure 5 、 Figure 7 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, starting from the right side in the left-right direction of the body part 2 with respect to the advancing direction, the wireless communication unit 27, the GNSS antenna 26 (inertial measurement device 25), and the base station antenna 29 are arranged in sequence in a state of being arranged in the left-right direction of the body part 2. As Figure 5 shown, the base station antenna 29 is composed of a base part 29A having a magnet 65 and a rod-shaped antenna rod 29B extending upward from the base part 29A. And the base part 29A is composed of a cylindrical lower base body 29a with a built-in magnet 65 and an upper base body 29b in the shape of a truncated cone formed integrally at the center of the upper surface of the lower base body 29a. Therefore, the base station antenna 29 is mounted on the metal bottom plate 55 by the magnetic force of the magnet 65.

[0080] In addition, as Figure 5 、 Figure 7 shown, on the bottom plate 55, a metal plate-made movement restricting member 66 that restricts the movement of the base part 29A of the base station antenna 29 by abutting or approaching the upper and lower intermediate positions of the conical outer peripheral surface of the upper base body 29b of the base part 29A of the base station antenna 29 from above is fixedly connected by a fifth bolt 67. As Figure 7 shown, on the upper restricting plate piece 66a bent and formed on the movement restricting member 66, a circular movement restricting hole 66b fitted over the upper base body 29b of the base part 29A and a wide-sized disassembly and assembly cutout 66c allowing the antenna rod 29B to pass through are formed in communication.

[0081] According to the above-described configuration structure of the base station antenna 29, 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 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.

[0082] Moreover, the base station antenna 29 can be simply mounted on the metal bottom plate 55 by the magnetic force of the magnet 65 provided in the base part 29A. Also, the position deviation of the base station antenna 29 caused by vibration or the like can be reliably prevented by using the simply-shaped movement restricting member 66 fixed to the bottom plate 55 by bolts. By simplifying and miniaturizing the mounting structure of the base station antenna 29, miniaturization of the antenna unit 50 can be achieved.

[0083] Next, the unit cover 51 of the antenna unit 50 will be described.

[0084] As Figures 5 - 7 shown, a first bulging portion 53A is formed at one end side in the long side direction of the upper cover body 53 of the unit cover 51 (the right side in the left - right direction of the body portion 2 with respect to the advancing direction), and the first bulging portion 53A protrudes more upward than the upper surface position of the central portion in the long side direction of the upper cover body 53 and the upper end position of the wireless communication antenna 28 of the wireless communication unit 27. Moreover, as Figure 5 shown, the second specified distance L2 between the inner surface 53a of the first bulging portion 53A and the upper end of the wireless communication antenna 28 is set to be 30 mm or more.

[0085] By the second specified distance L2 formed between the upper end of the wireless communication antenna 28 and the inner surface 53a of the first bulging portion 53A of the upper cover body 53, it is possible to improve the communication accuracy between the wireless communication unit 27 and the wireless communication device 31 of the wireless communication terminal 30.

[0086] In addition, the relationship between the first specified distance L1 and the second specified distance L2 is set as: the first specified distance L1 > the second specified distance L2.

[0087] In addition, as Figure 5 , Figure 7 , Figure 8 shown, at the other end side in the long side direction of the upper cover body 53 of the unit cover 51 (the left side in the left - right direction of the body portion 2 with respect to the advancing direction), a second bulging portion 53B having the same shape as the first bulging portion 53A formed at one end side in the long side direction (the right side in the left - right direction of the body portion 2 with respect to the advancing direction) is formed, and the unit cover 51 is configured to be left - right symmetric. This is made in consideration of the appearance design when the antenna unit 50 is installed at the upper part of the front surface side of the cab 7 of the tractor 1, but a new technical value is generated by the formation of the second bulging portion 53B.

[0088] That is, as Figure 5 , Figure 7 shown, the second bulging portion 53B of the upper cover body 53 is formed at a position corresponding to the base station antenna 29, and the entire height of the base station antenna 29 is much larger than the height from the upper surface of the bottom plate 55 to the upper surface of the second bulging portion 53B. Therefore, as Figure 7As shown, on the upper surface of the second bulging portion 53B, a through-hole 70 is formed through which the antenna rod 29B of the base station antenna 29 penetrates and protrudes upward to the outside. Around the opening of the through-hole 70, an anti-vibration elastic body 71 such as a cylindrical rubber that contacts the outer peripheral surface of the penetrating portion of the antenna rod 29B of the base station antenna 29 is installed. As the anti-vibration elastic body 71, a sealing ring that contacts the entire circumference of the antenna rod 29B and also exhibits water tightness is used.

[0089] Moreover, when the anti-vibration elastic body 71 is not present, an annular gap is generated between the opening periphery of the through-hole 70 in the second bulging portion 53B and the outer peripheral surface of the penetrating portion of the antenna rod 29B. If the traveling vibration of the tractor 1 or the like acts on the base station antenna 29, the antenna rod 29B shakes within the range of the annular gap, and the antenna rod 29B may break at the root. However, in the present embodiment, as described above, the upper and middle portions of the antenna rod 29B are supported by the anti-vibration elastic body 71 provided around the opening of the through-hole 70 in the second bulging portion 53B, so that the overall support structure of the base station antenna 29 becomes a two-point support structure, and thus breakage of the antenna rod 29B caused by traveling vibration or the like can be suppressed.

[0090] In particular, due to the presence of the second bulging portion 53B, the height from the upper surface of the bottom plate 55 to the upper surface of the second bulging portion 53B becomes higher, and accordingly, the support position of the antenna rod 29B supported by the anti-vibration elastic body 71 becomes higher, so that breakage of the antenna rod 29B can be further suppressed.

[0091] In addition, in this embodiment, the anti-vibration elastic body 71 is installed around the opening of the through-hole 70 in the second bulging portion 53B, but the anti-vibration elastic body 71 can be installed on the upper surface or the inner surface of the second bulging portion 53B, or can also be installed on a bracket or the like provided on the bottom plate 55.

[0092] As Figure 5 、 Figure 7 shown, on the other end side in the longitudinal direction of the bottom plate 55, and between the inertial measurement device 25 and the GNSS antenna 26 and the base station antenna 29, an installation space 73 for other units is formed. Here, Figure 5 、 Figure 7 shows a state where no other unit 72 is installed in the installation space 73, and the installation space 73 becomes a hollow space.

[0093] As other units, for example, a controller for a later-installed liquid crystal monitor that undertakes a part of the autonomous driving control can be cited. In the autonomous driving specification tractor 1 of the present embodiment, a liquid crystal monitor 47 is provided in the cab 7 (refer to Figure 13) In the liquid crystal monitor 47, a controller that undertakes a part of the autonomous driving control is equipped. However, in the case of changing other work vehicles such as a general - specification rice transplanter to the autonomous driving specification, a controller that undertakes the autonomous driving control is required for the later - added liquid crystal monitor. In this case, the controller can be easily installed by using the ensured installation space 73 of the bottom plate 55.

[0094] In addition, in the present embodiment, as the liquid crystal monitor 47, a tablet terminal 48 installed with a dedicated application for path generation, field registration, etc. is used.

[0095] In addition, as shown in Figure 5 and Figure 6 , on both sides of the long - side direction on the lower - surface side of the bottom - plate portion 52A of the lower - side cover 52, support plates 75 are provided. The support plates 75 are bent into an inverted "L" shape when viewed from the front of the machine body (refer to Figure 5 ), and are formed into a substantially semi - circular arc shape when viewed from the side of the machine body (refer to Figure 6 ). The pair of left - and - right support plates 75 are respectively fixedly connected to the bottom plate 55 via a second bushing 76 that penetrates the bottom - plate portion 52A of the lower - side cover 52, by a sixth bolt 77.

[0096] And, as shown in Figures 5 - 7 , it is configured that 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 52. The image captured by the camera 78 can be displayed on the touch panel of the wireless communication terminal 30 via the wireless communication between the wireless communication unit 27 of the tractor 1 and the wireless communication device 31 of the wireless communication terminal 30.

[0097] In addition, in Figures 5 - 7 , the electric wires respectively connected to the inertial measurement device 25, GNSS antenna 26, wireless communication unit 27, and base - station antenna 29 assembled to the bottom plate 55 are omitted, and a part of a single wire harness 80 formed by gathering the above - mentioned electric wires in the unit cover 51 is described in Figure 7 . As shown in Figure 7 , 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 long - side direction of the lower - side cover 52. A sealing ring 81 is installed at the wire - harness lead - out hole.

[0098] Next, the installation structure of the antenna unit 50 will be described.

[0099] As shown in Figure 3 and Figure 4 , both ends of the support frame 100 of the antenna unit 50 are fixedly connected over the rear - view - mirror mounting portion 150, and the rear - view - mirror mounting portion 150 is provided on the left - and - right front struts 201 that constitute the cab frame 200.

[0100] As Figure 3 、 Figure 4 shown, for each of the left and right rearview mirror mounting portions 150, a mounting base material 151 configured to be substantially "コ"-shaped (substantially "U"-shaped) in plan view is fixed to the upper side portion of the front pillar 201 by welding or the like. To this mounting base material 151, a plate-shaped rearview mirror mounting member 153 is fixedly connected by bolts or the like. The plate-shaped rearview mirror mounting member 153 includes a hinge portion 152 that supports the support arm 111 of the rearview mirror 110 so as to be rotatable. At the upper end portions of the left and right rearview mirror mounting members 153, mounting pieces 153A having mounting upper surfaces along the horizontal plane are bent and formed respectively.

[0101] As Figure 3 、 Figure 4 shown, the support frame 100 includes a tubular support member 101 having a circular cross section. The tubular support member 101 is bent into a substantially gate shape in which both end portions in the left-right width direction are buckled downward when viewed from the front of the vehicle body. At both end portions of the tubular support member 101, mounting plates 102 having mounting lower surfaces extending along the horizontal plane are fixed. The two 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.

[0102] As described above, the left and right rearview mirror mounting portions 150 are mounted on the upper portions of the front pillars 201 of the sturdy cab frame 200 and are disposed at a height position close to the ceiling 190 of the cab 7. Therefore, by using the two sturdy rearview mirror mounting portions 150 that also have a ground clearance, the support frame 100 of the antenna unit 50 can be stably mounted at an appropriate height position.

[0103] Moreover, since both the mounting upper surfaces of the mounting pieces 153A in the left and right rearview mirror mounting members 153 and the mounting lower surfaces of the two mounting plates 102 of the support frame 100 are formed as horizontal planes, it is easy to dispose the middle portion of the tubular support member 101 in the horizontal direction, and the mounting error of the antenna unit 50 mounted on the horizontal middle portion of the tubular support member 101 can be suppressed.

[0104] As Figure 3 、 Figure 4 shown, in a state where the support frame 100 is erected across the left and right rearview mirror mounting portions 150, the horizontal middle portion of the tubular support member 101 of the support frame 100 is horizontally disposed along the left-right width direction of the vehicle body near the front end of the ceiling 190 of the cab frame 200.

[0105] As Figure 3 、 Figure 4 、 Figure 6As shown, on the horizontal middle part of the tubular support member 101, a pair of left and right brackets 120 that support a pair of left and right support plates 75 of the antenna unit 50 are fixed. Among them, the support plates 75 on the side of the two sets of antenna units 50 that are close to and opposed to each other in the left and right width direction of the body and the brackets 120 on the support frame 100 side are pivotally connected by the seventh bolt 121, and the seventh bolt 121 is a horizontal rotation pivot axis along the left and right width direction of the body.

[0106] Therefore, the antenna unit 50 is configured to be able to rotate around the rotation pivot axis of the seventh bolt 121 relative to the support frame 100, so that it can be in Figure 3 , Figure 4 As shown, the normal use position (normal use posture) where the base station antenna 29 protrudes upward in the vertical direction, and Figure 9 As shown, the non-use position (non-use posture) on the lower front side is changed in position.

[0107] 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.

[0108] In addition, in the present embodiment, the position change operation between the normal use position and the non-use position of the antenna unit 50 is performed by manual operation, but the position change operation of the antenna unit 50 can also be implemented by a driving part such as an actuator.

[0109] As Figure 4 , Figure 6 As shown, the support plates 75 on the side of the two sets of antenna units 50 and the brackets 120 on the support frame 100 side are configured to be able to selectively fix the antenna unit 50 in the normal use position and the non-use position by replacing with the eighth bolt 122 provided at a position deviated from the seventh bolt 121 in the radial direction of the rotation radius.

[0110] Specifically, as Figure 6 As shown, in the bracket 120 on the support frame 100 side, a bolt insertion hole 123 for inserting the eighth bolt 122 is formed, and in the support plate 75 on the side of the antenna unit 50, two parts that coincide with the bolt insertion hole 123 on the bracket 120 side when in the normal use position and the non-use position are formed with bolt insertion holes 124.

[0111] As Figure 4 As shown, in the state where 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 Figure 1It protrudes more upward than the ceiling 190 of the cab 7 as shown. However, when the tractor 1 is being transported or the like, in the case where the base station antenna 29 that protrudes more upward than the ceiling 190 of the cab 7 becomes an obstacle, as Figure 9 shown, the antenna unit 50 is changed from the normal use position to the non-use position. In the non-use position, the base station antenna 29 assumes a posture of protruding forward in the horizontal direction, and the height of the antenna unit 50 including the unit cover 51 protruding upward can be made lower than the highest part of the ceiling 190 of the cab 7.

[0112] It is possible to detect whether the antenna unit 50 is in the normal use position based on the displacement information obtained from the inertial measurement device 25. Therefore, as Figure 2 shown, an autonomous driving restraint unit 46 is provided in the control unit 23. If it is not detected that the antenna unit 50 is in the normal use position, the autonomous driving restraint unit 46 prohibits the start of autonomous driving control based on the information obtained by the inertial measurement device 25 and the GNSS antenna 26.

[0113] 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 vehicle body can autonomously drive along the target driving path with high precision and safety based on the correct information obtained by the inertial measurement device 25 and the GNSS antenna 26.

[0114] In addition, in the present embodiment, it is detected whether the antenna unit 50 is in the normal use position based on the displacement information obtained from the inertial measurement device 25. However, it is also possible to determine whether the antenna unit 50 is in the normal use position 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.

[0115] Next, the wiring structure of the wire harness 80 led out from the antenna unit 50 will be described.

[0116] As Figure 10 、 Figure 11 shown, the cab frame 200 for wiring the wire harness 80 is configured in a substantially box frame shape, and it includes: a pair of left and right front struts 201 located in front of the driver's seat 9; a pair of left and right rear struts 202 located behind the driver's seat 9; a front beam member 203 that connects the upper end portions of the front struts 201 to each other; a rear beam member 204 that connects the upper end portions of the rear struts 202 to each other; and left and right side beam members 205 that connect the upper end portions of the front struts 201 and the rear struts 202 arranged in the front-rear direction.

[0117] As Figure 10 、 Figure 11As shown, at the lower end of each rear pillar 202, the upper rear end of a fender frame 207 that is bent along the shape of the rear fender 206 so as to bulge forward and upward in a side view is connected. The lower front end of each fender frame 207 is connected to the rear end of a side frame 208 that protrudes rearward from the lower part of the corresponding front pillar 201.

[0118] As Figure 10 shown, the fender frame 207 is composed of a cylindrical frame material. Among them, the lower front end of the fender frame 207 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 on the right side is configured as an internal and external communication path 210 that connects the inside and outside of the cab 7. In the internal and external communication path 210 of the fender frame 207, a drain pipe (not shown) for discharging the condensed water in the air conditioner to the outside of the cab 7 is provided.

[0119] In addition, a windshield 212 is arranged in the area surrounded by the left and right front pillars 201, the front beam member 203, and the front lower flat plate 211 that extends from the lower end of each front pillar 201 toward the left and right inner sides.

[0120] Moreover, as Figure 10 , Figure 11 shown, the wire harness 80 led out from the antenna unit 50 is arranged such that it extends and protrudes downward along a strip-shaped part that coincides with the glass support part 201a of the right front pillar 201 on the outer surface of the windshield 212 of the cab 7 (an example of one side edge part in the left and right width direction). The wire harness 80 that reaches the lower end side of the windshield 212 extends and protrudes rearward along the lower surface of the floor support plate 213 that is continuous with the side frame 208, and then is introduced into the cab 7 through the opening at the lower front end of the fender frame 207 on the right side through the internal and external communication path 210, and is connected to the control part 23 of the operation panel part 214 arranged on the right side.

[0121] The strip-shaped part on the outer surface of the windshield 212 at the right edge part and coinciding with the glass support part 201a of the right front pillar 201 is the glass pasting part for installing the windshield 212 on the front part of the cab 7, and is also a position that does not cause a visual obstruction. Therefore, by arranging the wire harness 80 led out from the antenna unit 50 in the above strip-shaped part, the wire harness 80 can be neatly arranged while maintaining a good view for the operator sitting on the driver's seat 9.

[0122] In addition, as Figure 11 shown, a resin wire harness sleeve 250 for protection through which the wire harness 80 is inserted is pasted by an adhesive or the like on the strip-shaped part at the right edge part on the outer surface of the windshield 212. As Figure 12As shown, the wire harness cover 250 is composed of the following components: a base portion 253 having an adhesive surface 251 for adhering to the windshield 212 and a wire harness receiving surface 252 for receiving the wire harness 80; and a belt portion 254 integrally formed at one end in the width direction of the base portion 253 and having flexibility to be bent in an arc shape along the outer peripheral surface of the base portion 253 disposed on the wire harness receiving surface 252 of the base portion 253.

[0123] An engaging claw 255 is formed at the end portion of the belt portion 254. At the other side portion in the width direction of the wire harness receiving surface 252 of the base portion 253, an engaging recess 256 for the engaging claw 255 to engage or disengage and a semi-circular protrusion 257 that abuts against the back surface of the engaging claw 255 engaged with the engaging recess 256 to restrict the disengagement of the engagement of the engaging claw 255 in an abutting state are formed.

[0124] Thus, as Figure 12 (a) shows, the wire harness 80 can be arranged in the following manner: by releasing the engagement between the engaging claw 255 and the engaging recess 256, the wire harness 80 is inserted into the interior of the wire harness cover 250 from between the base portion 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. Then, as Figure 12 (b) shows, by engaging the engaging claw 255 with the engaging recess 256, the base portion 253 and the belt portion 254 are connected, and thus the wire harness 80 is installed in the wire harness cover 250 in a state where the outer peripheral portion of the wire harness 80 is received by the wire harness receiving surface 252 over the entire circumference.

[0125] Next, the arrangement of the tablet terminal 48 disposed in the cab 7 will be described.

[0126] As Figure 11 、 Figure 13 shown, the tablet terminal 48 is disposed at the upper front end of the operation panel portion 214 on the right side in the cab 7. The arrangement position of the tablet terminal 48 is on the front extension line of the right armrest 271 among the armrests 270 and 271 disposed on the left and right sides of the driver's seat 9. Specifically, the front half portion 271A of the right armrest 271 is configured to be in an inclined posture that is more to the right as it is closer to the front end side than the rear half portion 271B along the front-rear direction. In the front half portion 271A, there are provided a main gear shift lever 272 for increasing or decreasing the traveling speed of the tractor 1 and a dial-type operation unit position dial 273 for manually changing and adjusting the height position of a working machine such as a rotary tiller.

[0127] Moreover, an operator sitting on the driver's seat 9 basically places his / her arms, elbows, etc. on the armrests 270 and 271. Therefore, especially by disposing the tablet terminal 48 on the extension line in front of the front half portion 271A of the right armrest 271, the operation of the tablet terminal 48 can be easily performed in the same manner as the operations of the main speed change lever 272, the operation unit position dial 273, etc.

[0128] In addition, as Figure 13 shown, the tablet terminal 48 is disposed at a position slightly deviated to the right of the steering wheel 8. The disposed position of the tablet terminal 48 does not obstruct the forward working vision of the operator sitting on the driver's seat 9. Thus, if the operator twists his / her line of sight slightly while observing the front for work, the entire liquid crystal screen 48a of the tablet terminal 48 can be easily visually observed.

[0129] Next, the terminal support device 300 for supporting the tablet terminal 48 will be described.

[0130] As Figures 14 - 17 shown, the terminal support device 300 includes: a pillar portion 310 fixed to the fender frame 207 side on the right side of the cab frame 200; a terminal bracket 320 for detachably holding the tablet terminal 48; and a terminal position adjustment mechanism 350 for mounting the terminal bracket 320 on the pillar portion 310 in a manner capable of three-dimensional position adjustment.

[0131] As Figures 14 - 17 shown, the terminal position adjustment mechanism 350 includes: a first movable arm 360 that can rotate around a first vertical axis core Y1 (refer to Figure 15 , Figure 17 ) along a cylindrical pipe pillar 311 that is a component of the pillar portion 310 and extends in the vertical direction, and is mounted in a manner capable of adjusting the height in the direction of the first vertical axis core Y1; and a second movable arm 380 that is mounted on the end portion of the first movable arm 360 in a manner capable of rotating around a second vertical axis core Y2 (refer to Figure 15 , Figure 17 ). At the end portion of the second movable arm 380, the terminal bracket 320 is mounted in a manner capable of rotating around a horizontal axis core X (refer to Figure 15 , Figure 17 ). Through the rotation operation of 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 by the terminal bracket 320 can be adjusted.

[0132] As Figure 14As shown, a substantially rectangular mounting plate 312 is fixed to the lower end of the pipe support 311 of the support column portion 310. The mounting plate 312 is fixed to a substantially U-shaped first bracket 313 fixed to the fender frame 207 on the right side by bolts 314.

[0133] In addition, as Figure 14 , Figure 15 shown, a slit 315 extending in the direction of the first longitudinal axis core Y1 is formed at the upper end portion of the pipe support 311, and connecting members 316 bent in a "U" shape are fixed on both sides of the slit 315. As Figure 15 shown, adjustment bolts 317 are inserted through both connecting members 316, and nuts 318 are screwed onto the end side portion of the external thread portion of the adjustment bolts 317. By the screwing operation of the adjustment bolts 317 and the nuts 318 toward the fastening side, the two connecting members 316 are brought closer to each other, and the inner diameter of the upper end portion of the pipe support 311 is contracted. Thus, as Figure 17 shown, the first shaft member 361 on the proximal end side of the first movable arm 360 that is slidably inserted into the upper end portion of the pipe support 311 is clamped and fixed, and the orientation posture of the first shaft member 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.

[0134] As Figure 16 , Figure 17 shown, the first shaft member 361 is configured to fix a first shaft sleeve receiving portion 363 bent in a "U" shape to the upper end of a cylindrical shaft portion 362 inserted into the upper end portion of the pipe support 311. As Figures 15 - 17 shown, a cylindrical first shaft sleeve portion 360A formed at the proximal end portion of the first movable arm 360 is inserted and disposed between the first upper plate portion 363a and the first lower plate portion 363b of the first shaft sleeve receiving portion 363. As Figure 17 shown, a first support shaft 364 passing through the first shaft sleeve portion 360A is provided across the first upper plate portion 363a and the first lower plate portion 363b of the first shaft sleeve receiving portion 363. A first nut 365 is screwed onto the external thread portion at the upper end portion of the first support shaft 364. The first shaft sleeve portion 360A of the first movable arm 360 is configured to be able to rotate around the axis of the first support shaft 364, that is, the first longitudinal axis core Y1, with respect to the first shaft sleeve receiving portion 363 of the first shaft member 361, and to be fixed in any orientation posture around the first longitudinal axis core Y1.

[0135] As Figures 14 - 17As shown, at the upper end of the cylindrical second bushing portion 360B formed at the end portion of the first movable arm 360, a second bushing receiving portion 370 bent in a "U" shape is fixed. Between the second upper plate portion 370a and the second lower plate portion 370b of the second bushing receiving portion 370, a cylindrical third bushing portion 381 formed at the base end portion of the second movable arm 380 is inserted and disposed. As Figure 16 , Figure 17 shown, a second support shaft 371 penetrating the third bushing portion 381 is provided across the second upper plate portion 370a and the second lower plate portion 370b of the second bushing receiving portion 370, and a second nut 372 is screwed onto the external thread portion at the upper end portion of the second support shaft 371. The third bushing portion 381 of the second movable arm 380 is configured to be rotatable about the axis of the second support shaft 371, i.e., the second longitudinal axis Y2, with respect to the second bushing receiving portion 370 of the first movable arm 360, and to be fixed in any orientation posture about the second longitudinal axis Y2.

[0136] As Figures 14 - 17 shown, the second movable arm 380 includes a third bushing portion 381 extending along the second longitudinal axis Y2 direction, a fourth bushing portion 382 extending along the transverse axis X direction, and a connecting portion 383 integrally connecting the two bushing portions 381 and 382. At the lower end portion on the back surface of the terminal bracket 320, a second bracket 321 substantially in a "U" shape in plan view is fixed. As Figure 14 , Figure 15 , Figure 17 shown, the fourth bushing portion 382 of the second movable arm 380 is inserted and disposed between the left and right side plates 321a of the second bracket 321. A third support shaft 384 penetrating the fourth bushing portion 382 is provided across the two side plates 321a of the second bracket 321. A third nut (not shown) is screwed onto the external thread portion at one end portion of the third support shaft 384. The second bracket 321 of the terminal bracket 320 is configured to be rotatable about the axis of the third support shaft 384, i.e., the transverse axis X, with respect to the fourth bushing portion 382 of the second movable arm 380, and to be fixed in any orientation posture about the transverse axis X.

[0137] Thus, as described above, by adjusting the orientation of the first movable arm 360 with respect to the support column portion 310 about the first longitudinal axis Y1 and the height adjustment in the first longitudinal axis Y1 direction, adjusting the orientation of the second movable arm 380 with respect to the first movable arm 360 about the second longitudinal axis Y2, and adjusting the orientation of the terminal bracket 320 with respect to the second movable arm 380 about the transverse axis X, it is possible to three-dimensionally adjust the position and the orientation posture of the tablet terminal 48 held by the terminal bracket 320 according to each user with different heights, postures, and habits.

[0138] In addition, a first movable arm 360 is fixed to the support column portion 310, a second movable arm 380 is fixed to the first movable arm 360, and in a state where a terminal bracket 320 is fixed to the second movable arm 380, the rigidity of the terminal position adjustment mechanism 350 is sufficiently ensured, so that the influence of vibration on the tablet terminal 48 mounted on the terminal bracket 320 can be minimized. Moreover, since the support column portion 310 is mounted on the cab frame 200 on which vibration countermeasures have been implemented, the influence of vibration on the tablet terminal 48 can be suppressed.

[0139] As Figures 14 - 17 shown, the terminal bracket 320 includes a fixed bracket portion 330 that supports the lower end portion of the tablet terminal 48, and a movable bracket portion 340 that supports the upper end portion of the tablet terminal 48. The movable bracket portion 340 is configured to be slidable in the vertical direction along the fixed bracket portion 330. As Figure 16 , Figure 17 shown, between the movable bracket portion 340 and the fixed bracket portion 330, a clamping biasing portion 325 is provided that biases the movable bracket portion 340 to move downward, i.e., toward the clamping side of the tablet terminal 48.

[0140] As Figures 14 - 17 shown, the fixed bracket portion 330 includes: a fixed mounting base material 331 having a substantially "C" - shaped cross - section formed by bending the left and right side plates 331a forward and upward; a fixed support plate 332 fixed to the lower end portions of both side plates 331a of the fixed mounting base material 331; and a second bracket 321 fixed to the lower end portion of the back surface of the fixed mounting base material 331.

[0141] As Figures 14 - 17 shown, lower side support portions 334 are formed at both left - and right - hand sides of the fixed support plate 332 in the left - right direction. The lower side support portion 334 includes: a placement plate portion 334a that places and supports the lower end portion of the tablet terminal 48; and a fall - prevention plate portion 334b that protrudes upward from the end of the placement plate portion 334a. The fixed support plate 332 and the two lower side support portions 334 form a lower side snap - in recess 335 into which the lower end portion of the tablet terminal 48 can be inserted from above. An elastic cushioning material 336 such as silicone sponge rubber is pasted on the inner surface of the lower side snap - in recess 335.

[0142] As Figures 14 - 17As shown, on the back surface of the movable support portion 340, a pair of left and right side plates 342 are fixed that can slide in the vertical direction along the inner surfaces of the two side plates 331a of the fixed mounting base material 331. An upper support portion 343 is formed at the upper end portion of the movable support plate 341. The upper support portion 343 includes a clamping plate portion 343a that clamps and supports the upper end portion of the flat panel terminal 48, and a fall-preventing plate portion 343b that protrudes downward from the end of the clamping plate portion 343a. Using the movable support plate 341 and the upper support portion 343, an upper snap recess 344 is formed into which the upper end portion of the flat panel terminal 48 can be inserted from below. An elastic cushioning material 336 such as silicon sponge rubber is pasted on the inner surface of the upper snap recess 344.

[0143] By using the elastic cushioning material 336 provided in the lower snap recess 335 of the fixed support portion 330 and the elastic cushioning material 336 provided in the upper snap recess 344 of the movable support portion 340, the vibration of the flat panel terminal 48 mounted on the terminal support 320 can be suppressed.

[0144] As Figures 15 - 17 shown, long holes 345 for restricting the movable range of the movable support plate 341 are formed in the two side plates 342 of the movable support plate 341. Two sliding guide rods 322 are horizontally installed on the two side plates 331a of the fixed mounting base material 331 in a state of passing through 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 support portion 340 abut against the upper sliding guide rods 322 of the fixed support portion 330 becomes the maximum downward position of the movable support portion 340 relative to the fixed support portion 330. The position where the lower ends of the two long holes 345 of the movable support portion 340 abut against the lower sliding guide rods 322 of the fixed support portion 330 becomes the maximum upward position of the movable support portion 340 relative to the fixed support portion 330.

[0145] As Figure 17 shown, the clamping biasing portion 325 includes: a lower spring hanging member 326 horizontally installed at the lower end portions of the two side plates 331a of the fixed mounting base material 331; an upper spring hanging member 327 horizontally installed at the lower end portions of the two side plates 342 of the movable support plate 341; and a tension coil spring 328 hooked between the two spring hanging members 326 and 327. By the tension coil spring 328, the movable support portion 340 is biased to move relative to the fixed support portion 330 toward the maximum downward position.

[0146] Therefore, when the tablet terminal 48 is installed on the terminal bracket 320, the upper end portion of the tablet terminal 48 is inserted from below the upper side snap recess 344 of the movable bracket portion 340. In this state, the movable bracket portion 340 is pushed upward against the elastic force of the tension coil spring 328. Then, when the lower end of the tablet terminal 48 crosses the upper end of the lower side snap recess 335 of the fixed bracket portion 330, the lower end portion of the tablet terminal 48 is inserted into the two lower side snap recesses 335 of the fixed bracket portion 330. In this installed state, by means of the elastic force of the tension coil spring 328, the tablet terminal 48 is reliably clamped and held by the three points of the two lower side snap recesses 335 of the fixed bracket portion 330 and the upper side snap recess 344 of the movable bracket portion 340.

[0147] The upper end face of the pipe column 311 of the column portion 310 faces the upper front portion of the operation panel portion 214. And the first shaft member 361 of the first movable arm 360 penetrates the upper front portion of the operation panel portion 214. As Figure 15 shown, in the device mounting member 390 fixed to the upper front portion of the operation panel portion 214, a through hole 390a communicating with the opening of the operation panel portion 214 is also formed. The opening of the operation panel portion 214 and the through hole 390a of the device mounting member 390 are configured to be of such a size that a finger or a tool can be inserted from the upper outside to operate the adjustment bolts 317 and nuts 318 of the two connecting members 316 inserted through the pipe column 311.

[0148] In addition, a flexible rubber cover 391 covering the through hole 390a of the device mounting member 390 is provided. By rolling up this rubber cover 391, the through hole 390a of the device mounting member 390 is exposed.

[0149] 〔Other Embodiments〕

[0150] (1) In the above-described embodiment, the wireless communication antenna 28 of the wireless communication unit 27 is housed in the unit cover 51 of the antenna unit 50, but the wireless communication antenna 28 may protrude upward outside from the through hole formed in the upper cover body 53 as needed.

[0151] (2) In the above-described embodiment, the first specified distance L1 between the wireless communication antenna 28 of the wireless communication unit 27 and the central portion of the inertial measurement device 25 is set to 250 mm or more, but this first specified 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.

[0152] (3) In the above-described embodiment, the second specified distance L2 between the inner surface 53a of the first bulging portion 53A and the upper end of the antenna 28 for wireless communication is set to 30 mm or more, but the second specified distance L2 can be arbitrarily set according to the communication state between the wireless communication unit 27 and the wireless communication device 31 of the wireless communication terminal 30.

[0153] (4) In the above-described embodiment, a pair of left and right support plates 75 are mounted on the lower surface side of the unit cover 51, but it is not limited to this mounting structure, and any mounting structure can be adopted according to the mounting conditions on the work vehicle side.

[0154] (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 can also be integrally configured.

[0155] Industrial Applicability

[0156] The present invention can be applied to various work vehicles equipped with a cab.

[0157] Explanation of Reference Numerals

[0158] 1... Work vehicle (tractor); 7... Cab; 23... Control unit; 25... Inertial measurement device; 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... Wiring harness; 100... Support frame; 150... Rearview mirror mounting portion; 200... Cab frame; 201... Front pillar; 201a... Glass support portion; 210... Inside-outside communication path.

Claims

1. An operating vehicle, wherein, Comprising: A cab; An antenna unit having a receiving device for receiving position information from a satellite; And A support frame for supporting the antenna unit, The antenna unit is disposed above the roof of the cab and is supported by the cab frame of the cab via the support frame, The support frame extends in the left-right width direction of the machine body, The cab frame has a pair of left and right front pillars, The left end of the support frame is fixed to the rearview mirror mounting portion in the left front pillar, The right end of the support frame is fixed to the rearview mirror mounting portion in the right front pillar.

2. The operating vehicle according to claim 1, wherein, At least a part of the antenna unit is disposed at a position in front of and above the front pillar.

3. The operating vehicle according to claim 1 or 2, wherein, The antenna unit is disposed at a substantially central position in the left-right width direction of the machine body.

4. The operating vehicle according to any one of claims 1 to 3, wherein, The antenna unit is mounted on the support frame in such a manner that it can be displaced from a normal use position to a non-use position on the lower side.

5. A tractor, wherein, Comprising: A cab covering the driver's compartment; An antenna unit having a receiving device for receiving position information from a satellite; And A support frame for supporting the antenna unit, The antenna unit is disposed above the roof of the cab and is supported by the cab frame of the cab via the support frame, The antenna unit is mounted on the support frame in such a manner that it can be displaced from a normal use position to a non-use position on the lower side, The height of the antenna unit protruding upward at the non-use position is below the highest part of the roof.

6. The tractor according to claim 5, wherein, The support frame extends in the left-right width direction of the machine body, The cab frame has a pair of left and right front pillars, The left end of the support frame is supported by the left front pillar, The right end of the support frame is supported by the right front pillar.

7. The tractor according to claim 5 or 6, wherein, The antenna unit is configured to be able to change its position between the normal use position and the non-use position on the front side of the machine body by rotating about a rotation pivot axis relative to the support frame.

8. The tractor according to any one of claims 5 to 7, wherein, The antenna unit is configured to be able to be selectively fixed at the normal use position and the non-use position.

9. An operating vehicle, wherein, Comprising: A cab; An antenna unit having a receiving device for receiving position information; And A support frame for supporting the antenna unit, The antenna unit is supported by the cab via the support frame, The antenna unit is mounted on the support frame in such a manner that it can be displaced from a normal use position to a non-use position on the front side and the lower side of the machine body, The support frame extends in the left-right width direction of the machine body, The cab has a pair of left and right front pillars, The left end of the support frame is supported by the left front pillar, The right end of the support frame is supported by the right front pillar.

10. The work vehicle according to claim 9, wherein, The height of the antenna unit protruding upward at the non-use position is below the highest part of the roof of the cab.

11. The work vehicle according to claim 9 or 10, wherein, The antenna unit can be displaced from the normal use position to the non-use position by rotating about a rotation pivot axis relative to the support frame, The rotation pivot axis is located at a position in front of the front end of the roof of the cab.

12. The work vehicle according to any one of claims 9 to 11, wherein, The antenna unit is configured to be able to be selectively fixed at the normal use position and the non-use position.

13. A work vehicle, wherein, Comprising: A cab; An antenna unit having a receiving device for receiving position information; and A support frame for supporting the antenna unit, The cab has a pair of left and right front pillars, The left end portion of the support frame is supported by the left front pillar, The right end portion of the support frame is supported by the right front pillar.

14. The work vehicle according to claim 13, wherein, The pair of left and right front pillars each have a rearview mirror mounting portion.

15. The work vehicle according to claim 13 or 14, wherein, The antenna unit is located at the center of the left and right width direction of the machine body.

16. The work vehicle according to any one of claims 13 to 15, wherein, At least a part of the antenna unit is located at a position in front of and above the pair of left and right front pillars.

17. A work vehicle having a cab, wherein, The support frame extending in the left and right width direction is fixed to the cab frame at an upper position outside the cab, The antenna unit assembled by an inertial measurement device, a GNSS antenna and a wireless communication device is installed on the support frame in a state where the inertial measurement device and the GNSS antenna are arranged at substantially the center position in the left and right width direction of the machine body, The antenna unit is installed on the support frame in such a manner that it can be displaced from a normal use position protruding more upward than the ceiling of the cab to a non-use position on the lower position side lower than the highest part of the ceiling, The work vehicle is provided with: A control unit that performs autonomous driving control of the machine body based on information obtained by the inertial measurement device and the GNSS antenna;And An autonomous driving restraint unit that prohibits the start of autonomous driving control by the control unit if the antenna unit is not detected in the normal use position, The wire harness led out from the antenna unit is arranged at one side edge portion in the left and right width direction of the outer surface of the windshield of the cab and along a strip-shaped portion overlapping with the glass support portion of the front pillar of the cab.

18. The work vehicle according to claim 17, wherein, The support frame is connected to the rearview mirror mounting portions provided on the left and right sides of the cab frame over the rearview mirror mounting portions.

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