Work vehicle

Abstract

The invention provides a work vehicle which is provided with a cab covering a driving part, can utilize the space around the cab, can arrange a position measuring device at a position closer to the rotation center of the vehicle, and can improve the positioning precision. A combine as a work vehicle is provided with a cab (16) that covers a driving unit, and a receiving device (81) for measuring the position in a work site on the basis of position information, and the receiving device (81) is disposed rearward of a front-rear center position (C0) in the front-rear direction of a machine body with respect to the cab (16).

Description

Technical Field

[0001] The present invention relates to a work vehicle including a cab covering a driving portion and equipped with a position measuring device such as a device for receiving position information. Background Art

[0002] Conventionally, it is known that work vehicles such as combine harvesters and tractors are equipped with a position measuring device such as a device that receives position information from a satellite in order to achieve autonomous driving (see, for example, Patent Document 1).

[0003] Patent Document 1 discloses a configuration comprising a receiving device, such as a GNSS (Global Navigation Satellite System) receiver, that receives radio waves related to positional information from positioning satellites; a computing device that calculates positional data based on the radio waves received by the receiving device; and a wireless communication device that wirelessly transmits the positional data calculated by the computing device. These devices are housed in a housing and configured as a positioning unit.

[0004] Regarding the configuration of the positioning unit, Patent Document 1 discloses a structure in which a positioning unit is provided on the side of the center side of the body of the driver's seat in a combine harvester and at a position lower than the upper end of the discharge auger in the stored state, and a structure in which a positioning unit is provided on the top plate of the cab covering the driving part.

[0005] Patent Document 1: Japanese Patent No. 6688545

[0006] The position measurement device that receives the position information is preferably arranged as close as possible to the turning center of the work vehicle from the viewpoint of reducing positioning errors and improving positioning accuracy. Summary of the Invention

[0007] An object of the present invention is to provide a work vehicle having a structure including a cab covering a cab portion, in which the space around the cab can be utilized, a position measuring device can be arranged at a position close to the turning center of the vehicle, and positioning accuracy can be improved.

[0008] The work vehicle according to the present invention includes: a cab covering a driving portion; and a position measuring device for measuring a position at a work site based on position information, wherein the position measuring device is arranged at a position rearward of a center position relative to the cab in the front-rear direction of the vehicle body.

[0009] A work vehicle according to another aspect of the present invention is configured such that, in the above-described work vehicle, the position measuring device is provided along an upper edge of a roof portion of the cab when viewed from the side of the vehicle body.

[0010] A work vehicle according to another aspect of the present invention is configured such that, in the above-described work vehicle, the position measuring device includes: a device body; and a housing that houses the device body. The work vehicle is provided with a support bracket that supports the housing on a side wall portion of the cab.

[0011] A work vehicle according to another aspect of the present invention is configured such that, in the above-described work vehicle, the support bracket is provided so as to extend obliquely upward from the side wall portion when viewed from the front of the vehicle body.

[0012] A work vehicle according to another aspect of the present invention is configured such that the work vehicle further includes an antenna that receives information from a base station located outside a work site, and the antenna is attached to the support bracket.

[0013] A work vehicle according to another aspect of the present invention is configured such that, in the above-described work vehicle, the position measuring device is connected to a cable including at least one of wiring for power supply and wiring for signal transmission and reception, and the cable is routed along the support bracket.

[0014] Another aspect of the present invention relates to a work vehicle configured as the above-mentioned work vehicle, comprising a grain discharge device, wherein the above-mentioned grain discharge device is configured to be rotatable and to be stored in a prescribed rotational position, so as to discharge the grains to the outside of the machine, and the above-mentioned position measuring device is arranged in a space formed between the above-mentioned cab and the above-mentioned grain discharge device in the stored state.

[0015] A work vehicle according to another aspect of the present invention is configured such that, in the above-described work vehicle, the position measuring device is provided on a left side wall portion of the cab.

[0016] A work vehicle according to another aspect of the present invention is configured such that, in the above-described work vehicle, the position measuring device is provided so as not to overlap with a ceiling portion of the cab in a plan view.

[0017] According to the present invention, in a structure including a cab covering the cab portion, the space around the cab can be utilized, and the position measuring device can be arranged at a position close to the turning center of the vehicle, thereby improving positioning accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a left side view of the combine harvester according to one embodiment of the present invention.

[0019] Figure 2 It is a right side view of the combine harvester which concerns on one embodiment of this invention.

[0020] Figure 3It is a top view of the combine harvester according to one embodiment of the present invention.

[0021] Figure 4 It is a left side view of the cab according to one embodiment of the present invention.

[0022] Figure 5 This is a front view of a cab according to one embodiment of the present invention.

[0023] Figure 6 It is a top view of a cab according to one embodiment of the present invention.

[0024] Figure 7 This is a block diagram showing a configuration related to an automatic steering system for a combine harvester according to one embodiment of the present invention.

[0025] Figure 8 This is a left side view showing a receiving device and its supporting structure according to one embodiment of the present invention.

[0026] Figure 9 This is a front view showing a receiving device and its supporting structure according to one embodiment of the present invention.

[0027] Figure 10 This is a front perspective view showing a receiving device and its supporting structure according to one embodiment of the present invention.

[0028] Figure 11 This is a rear view showing a receiving device and its supporting structure according to one embodiment of the present invention.

[0029] Figure 12 It is a planar cross-sectional view showing a receiving device and its supporting structure according to one embodiment of the present invention.

[0030] Description of Reference Numerals

[0031] 1…Combine harvester (work vehicle); 13…Grain discharge conveyor (grain discharge device); 15…Driving unit; 16…Driving cab; 53…Left side wall (side wall); 55…Top plate; 55a…Upper edge; 59…Space; 80…Positioning system; 81…Receiving device (position measuring device); 90…Device body; 91…Casing; 100…Support bracket; 101…Bracket body; 102…Mounting plate; 111…Base; 112…Arm; 140…Cable; 175…Antenna; 180…Antenna support surface; 300…Base station. DETAILED DESCRIPTION

[0032] The present invention aims to improve positioning accuracy by designing a cab covering the driver's cab and a position measuring device for measuring the vehicle's position. Embodiments of the present invention will be described below with reference to the accompanying drawings.

[0033] In the embodiments of the present invention described below, a combine harvester is used as an example to illustrate the working vehicle of the present invention. However, the working vehicle of the present invention only needs to have a cab covering the driving portion. As working vehicles to which the present invention is applied, in addition to various combine harvesters such as a semi-feed combine harvester (Japanese: self-detaching combine harvester) and a full-feed combine harvester (Japanese: ordinary combine harvester), for example, a tractor, a wheel loader for civil engineering work, etc. can be cited.

[0034] use Figures 1 to 3 The overall structure of the combine harvester 1 as the working vehicle according to the present embodiment will be described. In the following description, the left side ( Figure 3 The lower side of the middle) and the right side ( Figure 3 The upper side in the figure) serves as the left side and the right side of the combine harvester 1 respectively.

[0035] like Figure 1 and Figure 2 As shown, the combine harvester 1 according to this embodiment is a full-feed type harvester that can rake harvested crops from a field into the machine body, thresh, sort, and store the grains, and then appropriately discharge them to the outside of the machine. The combine harvester 1 includes a self-propelled traveling body 2 and a harvesting section 3 disposed at the front end of the traveling body 2. The harvesting section 3 is a harvesting device that harvests unharvested stalks of rice, wheat, etc. while simultaneously collecting the harvested stalks. The harvester 3 is mounted to the traveling body 2 in a manner that allows it to be raised and lowered.

[0036] The traveling machine body 2 includes a traveling section 4 configured as a crawler-type traveling device having a pair of left and right crawler sections 5, 5. A machine frame 6 is provided between the left and right crawler sections 5, 5. Each crawler section 5 has a plurality of rotating bodies, including a drive sprocket 5a provided at its front end and a tensioning roller 5b provided at its rear end, and a crawler belt 5c wound around these rotating bodies. The drive sprocket 5a is driven to rotate by receiving power from the engine 25, which is the driving source of the combine harvester 1.

[0037] On the left side of the machine frame 6, there are provided a threshing section 7 for threshing the rice stalks harvested and supplied by the harvesting section 3, and a sorting section 8 for sorting the rice threshed by the threshing section 7. The threshing section 7 and the sorting section 8 are arranged in a manner such that the threshing section 7 is an upper layer and the sorting section 8 is a lower layer.

[0038] On the machine frame 6, to the right of the threshing section 7 and the sorting section 8, a grain storage section 9 is provided. The grain storage section 9 has a grain box 10 for storing the grains (cleaned grains) sorted by the sorting section 8. Inside the grain box 10, a lower discharge conveyor is provided for transporting the stored grains toward the discharge outlet of the grain box 10. Near the right rear end portion of the machine frame 6, a longitudinal transport conveyor 12 is provided upright in the up and down direction so as to be connected to the discharge outlet of the grain box 10. A grain discharge conveyor 13 is connected to the upper end portion of the longitudinal transport conveyor 12. The grain discharge conveyor 13 is composed of a discharge screw conveyor with a screw conveyor installed therein. The grain discharge conveyor 13 is an example of a grain discharge device that discharges grains to the outside of the machine.

[0039] The grain discharge conveyor 13 is configured to rotate horizontally relative to the machine frame 6 via the longitudinal conveyor 12. Furthermore, the grain discharge conveyor 13 is configured to be able to move vertically around a horizontal axis at its base. These conveyors transport the grains within the grain tank 10 and discharge them from a rice loading port 14 located at the front end of the grain discharge conveyor 13, where they are then loaded into a truck bed, container, or the like.

[0040] The grain discharge conveyor 13 is in a state of being extended substantially horizontally to the left front from the vertical transport conveyor 12 as a stored state in the stored position. In the stored state, the grain discharge conveyor 13 extends diagonally with respect to the machine body so that the front end is located to the left of the front part of the feeder 30 of the harvesting section 3 when viewed from above (see FIG. Figure 3 The grain discharge conveyor 13 is placed and supported on an auger frame 27 serving as an auger support portion, and is brought into a stored state.

[0041] The auger frame 27 is provided in a state supported by a support column 28 composed of a predetermined support member at a position obliquely to the left rear of the cab 16 (see FIG. Figure 1 The support column portion 28 is erected to extend upward from the upper surface portion of the threshing unit 7. The auger frame 27 has a concave shape with the upper side being open, and supports a predetermined portion of the middle portion of the extending direction of the grain discharge conveyor 13 from the lower side so as to accommodate and support the cylindrical grain discharge conveyor 13 in a state where the cylindrical grain discharge conveyor 13 is positioned.

[0042] In this way, the combine harvester 1 includes: a grain box 10, which is a grain box arranged on the traveling body 2; and a grain discharge conveyor 13, which is arranged on the traveling body 2 to be rotatable and to be stored in a prescribed rotation position, and is used to discharge the grains in the grain box 10 to the outside.

[0043] In addition, a driving section 15 for an operator to ride is provided on the machine frame 6 at a position in front of the grain storage section 9, that is, at a position on the right front of the machine frame 6. The driving section 15 is used to operate the vehicle as the combine harvester 1 and is covered by a cab 16. The driving section 15 is provided with various operating parts such as a driver's seat 17, an operating handle 18 arranged in front of the driver's seat 17, and a main gear lever 21. The main gear lever 21 and other operating parts are arranged on a lever column 24 provided on the left side of the driver's seat 17 (see Figure 5 ).

[0044] An engine 25 serving as a driving source is provided behind the grain storage portion 9 on the traveling body 2. The engine 25 is a diesel engine and is equipped with a diesel particulate filter (DPF) serving as an exhaust gas purifying device.

[0045] The harvesting section 3 includes a feeder 30 , a grain header (harvesting deck) 31 , a cutter device 32 , a pair of left and right grain dividers 33 , 33 , and a grain wheel 34 .

[0046] The feeder 30 is a conveying device that conveys the grain stalks harvested by the harvesting unit 3 and supplies them to the threshing unit 7. The feeder 30 includes a feeding chamber 35 as an outer shell and a conveyor 36 for conveying the grain stalks, which is provided in the feeding chamber 35. The feeder 30 is provided in a state where the rear end opening of the feeding chamber 35, which is formed into a substantially square cylindrical shape with its longitudinal direction in the front-to-back direction, is connected to the threshing port 7a on the front side of the threshing unit 7 when viewed from above.

[0047] The feeder 30 is located on the left side of the cab 16 and is arranged on the center side (left and right inner sides) of the machine body in the left and right directions relative to the cab 16. Figure 3 As shown, the cab 16 covering the driver's seat 17 is located to the right of the machine body center O1, which is the wheelbase center of the left and right crawler sections 5. In such an arrangement of the cab 16, the feeder 30 is located on the left side of the cab 16, which is closer to the machine body center O1 in the left-right direction.

[0048] The grain header 31 is formed in a horizontally long bucket shape and is connected to the front side of the feeder 30 so as to communicate with the front end opening of the feed chamber 35. A rake auger (header auger) 37 is provided in the grain header 31. The rake auger 37 is rotatable with the left and right axis as the rotation axis.

[0049] The cutting blade device 32 is provided at the front lower edge of the grain header 31 and is configured in the shape of a hair clipper. A pair of left and right grain dividing bodies 33, 33 are provided so as to protrude forward from the left and right side portions of the front side of the grain header 31. The reel 34 is a wheel with a claw lever (Japanese: タインバー) and is provided in a position above and in front of the raking auger 37 in a state in which it is supported so as to be rotatable with the left and right directions as the rotation axis. The reel wheel 34 continuously acts on the pod-bearing portion of the grain stalks while rotating, raking the pod-bearing portion of the grain stalks toward the raking auger 37. The operation of each part of the harvesting section 3 is performed using the power of the engine 25 transmitted via various transmission mechanisms.

[0050] The conveyor 36 within the feed chamber 35 has a harvesting input shaft (feeding chamber conveyor shaft) 38 as a drive shaft that supports the conveyor 36 at the conveying terminal. The harvesting input shaft 38 is located in front of the threshing unit 7 and has a left-right axial direction. The rear end of the feeder 30 is supported by the harvesting input shaft 38 so that it can rotate with the left-right axis as its rotation axis. A lifting cylinder 39 is interposed between the lower surface of the feed chamber 35 and the machine frame 6.

[0051] The threshing section 7 and the sorting section 8 are described. The threshing section 7 includes a threshing drum 41 provided in a threshing chamber with a threshing opening 7a opened to the front, and a receiving net 42 provided below the threshing drum 41. The threshing drum 41 is supported by a threshing drum shaft with the front-back direction as the axial direction so as to be rotatable. A plurality of dust valves (not shown) for adjusting the conveying speed (retention time) of the threshed material in the threshing chamber are provided on the upper side of the threshing drum 41 in an angle-adjustable manner. The receiving net 42 allows the grains to leak down and is provided along the lower outer peripheral surface of the threshing drum 41.

[0052] The sorting section 8 includes a swing sorting disc 43 as a swinging section disposed below the receiving net 42 , a first conveyor 45 , a second conveyor 46 , and a fan 47 .

[0053] The swing sorting tray 43 includes a conveyor tray, a chaff screen behind the conveyor tray to adjust grain leakage, and a grain screen below the chaff screen, all for gravity sorting. A first conveyor 45 is located within a first trough extending across the width of the machine body to collect first grains. A second conveyor 46 is located behind the first conveyor 45 and within a second trough extending across the width of the machine body to collect second grains. A fan 47 conveys sorting air from the lower front to the upper rear of the swing sorting tray 43.

[0054] In addition, a return conveyor 48 is provided on the left side of the machine body at the portion where the threshing section 7 and the sorting section 8 are located. The return conveyor 48 is arranged so that its lower end is located near the second conveyor 46 and is connected to the second conveyor 46, and its upper end is located near the front end of the threshing cylinder 41, extending in an inclined shape with the front higher and the rear lower. In addition, an upper conveyor (not shown) is provided at the upper end of the return conveyor 48, extending in the left-right direction in front of the threshing cylinder 41.

[0055] The combine harvester 1 having the above-described structure raises the harvesting section 3 relative to the ground to a desired height (the harvesting height for harvested crops, i.e., rice stalks) in the field by raising and lowering the feeder 30, which is supported by the harvesting input shaft 38. The combine harvester 1 then switches from a non-operating state to an operating state, in which the traveling body 2 travels. Thus, the combine harvester 1 separates the harvested crops into harvestable and non-harvested crops using the left and right grain dividers 33, 33. The combine harvester 1 uses the reel 34 to rake in the pod-bearing portions of the target rice stalks at the tips, while the cutter device 32 cuts the pod-bearing portions of the rice stalks.

[0056] The pod-bearing parts of the grain stalks harvested at the desired harvesting position are raked into the grain harvesting table 31 by the rotationally driven raking screw conveyor 37, and gathered near the entrance of the feeding chamber 35 in the left and right central parts of the grain harvesting table 31, and are fed into the threshing port 7a through the feeding chamber 35 by the conveyor 36 in the feeding chamber 35 and supplied to the threshing section 7.

[0057] The straw supplied to the threshing section 7 is conveyed rearward by the rotating threshing drum 41 while being threshed mainly between the threshing drum 41 and the receiving net 42. Grains and other threshed materials that are smaller than the mesh of the receiving net 42 fall through the receiving net 42. Grass clippings and the like that have not fallen through the receiving net 42 are discharged to the field from the dust discharge port provided at the rear of the sorting section 8 by the conveying action of the threshing drum 41. On the other hand, the grains (threshed materials) that have been threshed by the threshing section 7 and have fallen through the receiving net 42 are sorted into grains such as fine grains (first material), a mixture of grains such as grains with stalks and straw (second material), grass clippings, etc., by the specific gravity sorting action of the swing sorting disc 43 and the wind sorting action of the fan 47, and are taken out.

[0058] The grains (first material) that fall from the swing sorting disc 43 after sorting in the sorting section 8 are transported to the grain tank 10 via the first conveyor 45 and the connected winnowing conveyor (not shown). The second material is returned to the threshing starting point of the threshing drum 41 via the second conveyor 46, the connected return conveyor 48, and the upper conveyor for further threshing. Grass clippings and the like are discharged to the field through a dust discharge port located at the rear of the sorting section 8.

[0059] Reference Figures 4 to 6The structure of cab 16 will be described. Cab 16 includes a front portion 51, a rear portion 52, a left side wall 53, a right side wall 54, a top plate 55 forming a ceiling, and a floor 56, and is generally box-shaped as a whole.

[0060] The front surface 51 of the cab 16 is formed as a completely transparent window portion by a rectangular transparent plate 57 made of glass, acrylic resin, polycarbonate resin, etc. The front surface 51 is formed as a whole into a slightly forward-inclined shape, with a flat middle portion in the left-right direction and curved left and right side portions.

[0061] A left front pillar 61 is provided at the front edge of the left sidewall 53 of the cab 16, and a left rear pillar 62 is provided at the rear edge. The left front pillar 61 and the left rear pillar 62 are provided so as to extend substantially over the entire left sidewall 53 in the vertical direction. The left front pillar 61 extends in a manner inclined along the forward tilt of the front surface 51 when viewed from the side. The left rear pillar 62 has its upper portion extending in the vertical direction and its lower portion inclined in a rearward tilt.

[0062] In the left side wall portion 53, the lower portion of the portion between the front and rear support portions 61, 62 is a portion made of a metal plate made of a steel plate or the like, namely, the lower side surface portion 63. The upper portion of the portion between the support portions 61, 62 is the upper left window portion 64. The upper left window portion 64 is formed by attaching a transparent plate 65 such as a rectangular glass to a frame-like portion that is formed to include the upper portion of the front and rear support portions 61, 62. The transparent plate 65 is provided so as to be opened and closed from the lower side to the outside by hinge portions 65a provided at two locations in the front and rear on the upper side of the upper left window portion 64. In addition, between the support portions 61, 62, the portion between the lower side surface portion 63 and the upper left window portion 64 is the lower left window portion 66 made of a transparent plate 67 such as glass.

[0063] A rear upper side plate 68 is provided on the left side wall 53 at the rear side of the upper portion of the left rear pillar 62. The rear upper side plate 68 forms a corner portion on the rear upper side of the left side wall 53. The front edge of the rear upper side plate 68 is arranged along the upper portion of the left rear pillar 62 extending in the vertical direction.

[0064] A door 70 (see FIG. 1 ) is provided on the right side wall 54 of the cab 16 as an opening and closing door for getting on and off the vehicle. Figure 2 The door 70 is supported by a hinge portion provided at the front portion of the right side wall portion 54 so as to be rotatable relative to the frame portion of the cab 16 so as to be opened from the rear side to the outside.

[0065] The top plate 55 of the cab 16 has a generally rectangular shape with its longitudinal sides extending in the front-to-back direction when viewed from above. The front edge of the top plate 55 projects forward relative to the upper end of the front surface 51, forming an eaves shape. Multiple lighting units 58 are arranged in a horizontal arrangement on the front end of the top plate 55.

[0066] The top plate 55 has a flat outer shape and is hollow. It includes a lower panel (not shown) forming the base of the top plate 55 and a cover member, or top panel 60, located above the lower panel. These panels define the hollow portion. The top panel 60 includes a flat upper surface 60a and left and right side surface portions 60b that are curved downward on either side of the upper surface 60a. The upper surface 60a is horizontally oriented along a plane perpendicular to the vertical direction.

[0067] The left side surface portion 60b of the top panel 60 covers the upper edge of the left side wall portion 53 from the left, and the right side surface portion 60b of the top panel 60 covers the upper edge of the right side wall portion 54 from the right. An indoor unit of the air conditioner equipped in the combine harvester 1 is installed inside the top panel 55.

[0068] The floor portion 56 of the cab 16 has a horizontal floor surface 76 formed in front of and below the driver's seat 17. A driver's seat support portion 77 is provided on the rear side of the floor surface 76 at a higher position than the floor surface 76. The driver's seat 17 is provided on the driver's seat support portion 77.

[0069] In the cab 16 having the above-described structure, the left side surface of the cab 16 is formed by the left side wall 53 and the left portion of the top plate 55. Furthermore, the right side surface of the cab 16 is formed by the right side wall 54 and the right portion of the top plate 55. Hereinafter, in the cab 16, the left side surface including the left side wall 53 and the left portion of the top plate 55 is referred to as the cab left side surface 79.

[0070] like Figure 7 As shown, the combine harvester 1 according to this embodiment includes a positioning system 80 for receiving position information from a satellite and measuring the position of the combine harvester 1. The positioning system 80 is a system for measuring the position of the combine harvester 1 by receiving radio waves from a positioning satellite.

[0071] The positioning system 80 includes a receiving device 81 as a receiving unit, an inertial navigation device 82 as a computing unit, and a wireless communication device 83 as a communicating unit. The positioning system 80, including the control unit 200 included in the combine harvester 1, constitutes an automatic steering system of the combine harvester 1.

[0072] The receiving device 81 receives radio waves from positioning satellites, converts the received radio waves into signals, and transmits them to the inertial navigation unit 82. The receiving device 81 is, for example, a GNSS receiver (GNSS antenna) that receives radio waves from a GNSS satellite group, or a GPS receiver (GPS antenna) that receives radio waves from GPS (Global Positioning System) satellites.

[0073] The inertial navigation unit 82 is an inertial measurement unit (IMU) that measures three-axis rotation and acceleration in three directions to calculate attitude and orientation data. The inertial navigation unit 82 calculates position data based on signals transmitted from the receiving device 81. The inertial navigation unit 82 functions as a computing device that calculates position data based on position information from the receiving device 81. For example, by including a GNSS receiver in the inertial navigation unit 82, the reliability of the attitude and orientation data calculated by the inertial navigation unit 82 is improved.

[0074] The positioning system 80 is equipped with an inertial navigation device 82, so it can use inertial navigation even when it cannot receive radio waves from the positioning satellite due to bad weather, radio wave obstacles, etc. The inertial navigation calculates the moving speed, moving distance, etc. based on the acceleration in three directions detected by the inertial navigation device 82 to perform positioning.

[0075] The wireless communication device 83 transmits the position data and posture and orientation data calculated by the inertial navigation unit 82 to the outside world via wireless communication. The wireless communication device 83 is, for example, a data communication device using a wireless LAN (Local Area Network) or mobile communication. The data transmitted from the wireless communication device 83 is received by, for example, a mobile terminal held by an operator or the ECU (Electronic Control Unit) of the combine harvester 1 and is used to confirm the position within the field and the posture of the combine harvester 1 (such as forward, backward, left, and right tilt).

[0076] The positioning data (position data and posture and orientation data) acquired by the positioning system 80 is used to control the autonomous combine harvester 1, which operates while autonomously traveling along a pre-set path. The position data is used, for example, to determine whether the combine harvester 1 is traveling along the prescribed path. Furthermore, the posture and orientation data is used to confirm the driving status of the combine harvester 1 and the state of the field, for example, by identifying the inclination of the combine harvester 1. Furthermore, the operator receives data transmitted from the wireless communication device 83 on a mobile terminal, etc., allowing the operator to send real-time instructions to the combine harvester 1.

[0077] The configuration of the positioning system 80 is not limited to this embodiment. For example, the positioning system 80 may be configured such that the inertial navigation device 82 is omitted by providing the receiving device 81 with a function as a computing unit that calculates position data based on position information received by the receiving device 81 .

[0078] As described above, the combine harvester 1 according to this embodiment includes the cab 16 covering the cab 15 and the receiving device 81 as a device for receiving position information in a field, which is a work site. The receiving device 81 is an example of a position measuring device for measuring the position in the work site based on the position information.

[0079] use Figures 4 to 12 The arrangement structure and support structure of the receiving device 81 will be described.

[0080] The receiving device 81 includes a device body 90 and a housing 91 that houses the device body 90. The device body 90 is a main device portion that functions as the receiving device 81 such as a GNSS receiver or a GPS receiver.

[0081] The housing 91 is a hollow housing that forms a housing space for the device body 90. The housing 91 positions the entire device body 90 within the housing space, covers the entire device body 90, and forms the outer shape of the receiving device 81. The housing 91 is made of, for example, resin.

[0082] The housing 91 has a flat outer shape that is roughly the shape of a rounded equilateral triangle when viewed from above. The housing 91 includes a bottom surface portion 91a, a horizontal plate-like portion; a side surface portion 91b that extends along the outer shape of the housing 91 when viewed from above; and an upper surface portion 91c that is opposite the bottom surface portion 91a, forming the portion that constitutes the housing space. The bottom surface portion 91a and the upper surface portion 91c constitute the outer shape of the housing 91 when viewed from above. The upper surface portion 91c has a shape in which the majority of the surface, including the center of the plane, is horizontal, and the portions near the three tops of the roughly rounded equilateral triangle when viewed from above are curved surfaces that gently descend from the center to the outside.

[0083] The device body 90 is installed in a housing 91, for example, fixed to a bottom surface portion 91a via a mounting plate or the like using bolts or other fasteners. The housing 91 is composed of, for example, a base plate constituting the bottom surface portion 91a, and a cover constituting the side surface portions 91b and the top surface portion 91c and attached to the base plate so as to cover the device body 90 installed on the base plate.

[0084] The receiving device 81 is arranged with one top side facing the front and the side located at the rear side along the left-right direction of the housing 91 in a plan view. That is, the receiving device 81 is arranged in a shape that is symmetrical in the left-right direction.

[0085] The arrangement of the receiving device 81 will be described. The receiving device 81 is installed on the left side wall 53 of the cab 16. The receiving device 81 is supported by the cab 16 via a predetermined support member so as to be located near the upper left portion of the cab left side surface 79 including the left side wall 53.

[0086] The receiving device 81 is located to the left of the cab 16 and is arranged so as not to overlap with the top plate 55 of the cab 16 when viewed from above. In other words, the right end of the receiving device 81 located to the left of the cab 16 is positioned to the left of the left end of the top plate 55, and the entire receiving device 81 is located to the left of the top plate 55.

[0087] The receiving device 81 is arranged at a position behind the center position relative to the cab 16 in the front-rear direction of the machine body. Figure 6 As shown, the receiving device 81 is disposed so that its entirety is located rearward of the front-rear center position C0 of the cab 16 in the front-rear direction. That is, the receiving device 81 is disposed so that the front vertex of the top view of the housing 91 is located rearward of the front-rear center position C0 in the front-rear direction.

[0088] In a configuration where the front-to-back dimensions of the top plate 55 are approximately equal to the overall front-to-back dimensions of the cab 16, the front-to-back center position C0 coincides with, or approximately coincides with, the center between the front end position C1 and the rear end position C2 of the top plate 55. In this embodiment, the receiving device 81 has a front-to-back dimension that is approximately 1 / 7 to 1 / 8 of the size of the top plate 55 and is positioned approximately in the center of the rear portion of the top plate 55 (the portion further rearward than the front-to-back center position C0). Thus, the receiving device 81 is positioned to the left of the rear portion of the top plate 55 in the cab 16.

[0089] In this embodiment, the receiving device 81 is positioned so that its entirety is located rearward of the front-back center position C0, but this arrangement is not limited to this. Regarding the placement of the receiving device 81 in the front-back direction relative to the cab 16, it is sufficient that the receiving device 81's front-back center position D0 is located rearward of the cab 16's front-back center position C0. Alternatively, a portion of the receiving device 81 may be positioned forward of the front-back center position C0. Here, the center position D0 of the receiving device 81 is the center position of the housing 91 in the front-back direction.

[0090] In addition, regarding the planar arrangement of the receiving device 81, the receiving device 81 is installed in the space 59 formed between the cab 16 and the grain discharge conveyor 13 in the stored state. Figure 3As shown, the grain discharge conveyor 13 has its base end portion serving as a rotation fulcrum located behind the cab 16 , and its front portion extends forward and leftward from the auger frame 27 located near the left rear of the cab 16 in the stored state supported by the auger frame 27 .

[0091] Therefore, in a plan view, a space 59 is formed as a substantially triangular (substantially right-angled) area portion on the left side of the cab 16, specifically between the side surface portion 60b of the top panel 60 constituting the top plate portion 55 and the front portion of the grain discharge conveyor 13. The receiving device 81 is arranged in this space 59. In this embodiment, the receiving device 81 is arranged at the rear portion of the space 59.

[0092] The receiving device 81 is arranged so as to lie along the upper edge 55a of the top plate 55 of the cab 16 when viewed from the left side of the vehicle body. Specifically, the receiving device 81, which has a flat outer shape, is arranged so that the flat portion, or bottom surface 91a, of the housing 91 is horizontal, and so that its longitudinal direction, when viewed from the side, lies along the horizontal upper edge 55a of the top plate 55. Here, the upper edge 55a of the top plate 55, when viewed from the side, is the upper edge of the upper surface 60a or the side surface 60b of the roof panel 60.

[0093] The receiving device 81 is disposed at a height position substantially the same as that of the top plate portion 55 in the vertical direction. Specifically, the receiving device 81 is arranged so that its vertical dimension is approximately 1 / 3 to 1 / 4 of the vertical dimension of the side surface portion 60b of the top panel 60, and is disposed so that substantially its entire vertical dimension is within the height range of the side surface portion 60b of the top panel 60.

[0094] like Figure 9 As shown, in this embodiment, the receiving device 81 is arranged so that the height position of the upper end of the housing 91, that is, the height position H1 of the horizontal surface portion on the center side of the upper surface portion 91c, is approximately the same as the height position H2 of the upper surface portion 60a of the top panel 60. Specifically, the receiving device 81 is arranged so that the height position H1 is slightly higher than the height position H2 of the top panel 60. The height position H2 is the height position of the upper end of the top panel 60.

[0095] Furthermore, regarding the vertical arrangement of the receiving device 81, the receiving device 81 is arranged so that the device body 90 is located at a height lower than the height position H2 of the top panel 60. In other words, the receiving device 81 is arranged so that the entire device body 90 is located below the height position H2, so that the device body 90 does not protrude upward from the height position H2 of the top panel 60.

[0096] The receiving device 81 is arranged in the left-right direction so that the right end of the side surface portion 91b of the housing 91 is close to the left side surface portion 60b of the top panel 60. The receiving device 81 is arranged at a distance D2 (see FIG. 1 ) from the left side surface portion 60b of the top panel 60 relative to the left-right direction of the housing 91. Figure 6 ) is a position with a tiny interval that is sufficiently small.

[0097] The support structure of the receiving device 81 will be described. The receiving device 81 is installed in a state where it is supported by a support bracket 100, which is a supporting member, on the left side wall portion 53 of the cab 16. The support bracket 100 supports the receiving device 81 by supporting the housing 91 of the receiving device 81. In this way, the combine harvester 1 includes the support bracket 100 that supports the housing 91 on the left side wall portion 53, which is the side wall portion on the left side of the cab 16.

[0098] The support bracket 100 is mounted on the rear upper panel 68 forming the rear upper portion of the left side wall 53 of the cab 16. The support bracket 100 includes a bracket body 101 fixed to the rear upper panel 68 and constituting the majority of the support bracket 100, and a mounting plate 102 provided on the bracket body 101 to receive the housing 91 of the receiving device 81.

[0099] The bracket body 101 is an arm-shaped stay portion having a predetermined arm shape when viewed from the front. The bracket body 101 includes a base 111 including a mounting portion for mounting the bracket body 101 on the rear upper side plate 68, and an arm 112 extending from the base 111 in a predetermined direction.

[0100] The support bracket 100 is provided so as to extend obliquely upward from the rear upper side plate 68 of the left side wall portion 53 when viewed from the front of the machine body. Figure 9 As shown, in the support bracket 100, the direction in which the arm 112 extends from the base 111 in the bracket body 101 is diagonally upward, away from the left side wall 53, when viewed from the front. In other words, the arm 112 extends linearly from the base 111 toward the diagonally upper left. Hereinafter, the direction in which the arm 112 extends from the base 111, i.e., the direction in which the arm 112 extends, will be referred to as the "arm extension direction."

[0101] like Figure 9 As shown, in this embodiment, the angle (standing angle) α1 formed by the arm extension direction relative to the horizontal direction L1 when viewed from the front is approximately 60°. Angle α1 is set to a value within the range of 45 to 80°, for example. The magnitude of angle α1 is not particularly limited.

[0102] The bracket body 101 is formed by bending a plate-like member into a predetermined shape. Figure 8The bracket body 101 has a front surface portion 121 and a rear surface portion 122 that are parallel to each other, and an outer surface portion 123 that connects these surfaces.

[0103] The front surface portion 121 and the rear surface portion 122 are straight lines extending in the left-right direction when viewed from above, with the front-to-back direction being the plate thickness direction. They have identical shapes and are arranged so as not to overlap each other when viewed from the front (or back). Each of the front surface portion 121 and the rear surface portion 122 includes a base forming portion 124, which forms the base 111, and an arm forming portion 125, which forms the arm 112.

[0104] The base forming portion 124 is a portion that constitutes an upper side portion 124a and a lower side portion 124b that are parallel to each other and are horizontal, and is a portion with a relatively wide width with the vertical direction as the longitudinal direction. The arm forming portion 125 is a portion that constitutes an inner oblique side portion 125a and an outer oblique side portion 125b that are parallel to each other and along the direction in which the arm extends, and is a portion with a relatively narrow width extending along the direction in which the arm extends. The outer oblique side portion 125b is formed integrally over the upper and lower directions of the bracket main body 101. That is, the outer oblique side portion 125b extends from the arm 112 toward the base 111 side, and forms an obtuse angle together with the lower side portion 124b of the base forming portion 124. In addition, on the rear surface portion 122, the inner oblique side portion 125a is connected to the upper side portion 124a of the base forming portion 124 via a curved side portion.

[0105] The outer surface portion 123 is a surface portion extending in the direction in which the arm portion extends, with the plate thickness direction being perpendicular to the arm portion extending in the front view. The outer surface portion 123 is the surface portion between the outer oblique side portions 125b of the front surface portion 121 and the rear surface portion 122. When viewed from the front, the outer surface 123a is aligned with the outer oblique side portion 125b.

[0106] like Figure 12 As shown, the bracket main body 101 is formed into a roughly "U"-shaped curved shape in a planar sectional view by the front surface portion 121, the rear surface portion 122 and the outer surface portion 123, so that the left and right inner sides (right sides) become open sides. In addition, the bracket main body 101 forms a space portion 120 with an open upper side together with the rear upper side plate 68 through the front surface portion 121, the rear surface portion 122 and the outer surface portion 123. The lower side of the space portion 120 is connected to the outside via the lower opening portion 120a. The lower opening portion 120a is a rectangular opening formed by the lower edge portions 124b of the front surface portion 121 and the rear surface portion 122, the lower end edge portion 123b of the outer surface portion 123, and the rear upper side plate 68. In addition, Figure 12 yes Figure 9 Plane cross-sectional view of the A-A position.

[0107] In this embodiment, the vertical dimensions of the base portion 111 and the arm portion 112 of the bracket body 101 are substantially the same. Specifically, the vertical dimension between the upper side 124a and the lower side 124b of the base portion 111, and the vertical dimension between the upper side 124a and the upper end of the arm-forming portion 125, are substantially the same. However, the vertical dimension relationship between the base portion 111 and the arm portion 112 is not particularly limited.

[0108] The bracket main body 101 has front and rear fixed surface parts 126 as fixed parts fixed to the rear upper side plate 68. The front and rear fixed surface parts 126 are parts that are bent at right angles toward the front and rear outer sides within the entire range of the up-down direction of the base forming part 124 from the right side end part of the front surface part 121 and the rear surface part 122. The fixed surface part 126 is formed into a rectangular surface with a narrow width and the up-down direction as the long side direction. The bracket main body 101 is formed into a roughly hat shape in a planar cross-sectional view by the front surface part 121, the rear surface part 122 and the outer surface part 123 together with the left and right fixed surface parts 126 at the base 111 (refer to Figure 12 ).

[0109] The bracket body 101 is fixed to the rear upper side plate 68 by bolts 127 at four locations, both upper and lower, on each fixing surface 126, with the front and rear fixing surface 126 overlapping the rear upper side plate 68 from the left. The bolts 127 pass through the fixing surface 126 and the rear upper side plate 68 from the left and are screwed into the nut portion 128 provided on the inner side (right side) of the rear upper side plate 68 (see FIG. Figure 12 ).

[0110] The mounting plate portion 102 has a support surface portion 129 at the upper end of the support bracket 100. The support surface portion 129 is a main portion that forms a horizontal support surface for placing and supporting the receiving device 81. The mounting plate portion 102 is provided by fixing a plate-shaped member constituting the mounting plate portion 102 to the upper end side of a member constituting the bracket main body 101 by welding or the like.

[0111] The mounting plate portion 102 corresponds to the outer shape of the housing 91 in plan view and has a substantially triangular shape with a chamfered top (see Figure 12 The mounting plate portion 102 is formed with a surface portion that extends forward and to the left and right sides relative to the upper end of the arm portion 112. The mounting plate portion 102 has an outer dimension that is slightly smaller than the bottom surface portion 91a of the housing 91. It is arranged relative to the housing 91 so as to follow the outer shape of the housing 91 when viewed from above and is located within the outer shape of the housing 91 when viewed from above. The mounting plate portion 102 has a bent portion 130 along each side of the triangular outer shape relative to the support surface portion 129. The bent portion 130 is a portion that is bent downward at a right angle relative to the support surface portion 129 of the mounting plate portion 102.

[0112] The mounting plate portion 102 fixes the housing 91 at multiple locations with bolts 131 when the receiving device 81 is placed and supported on the supporting surface portion 129, thereby fixing and supporting the receiving device 81. The housing 91 is fixed to the mounting plate portion 102 by multiple bolts 131 when the bottom surface portion 91a overlaps the supporting surface portion 129 from the upper side. The fixing portions using the bolts 131 are provided at three locations near the top of each of the roughly triangular shapes of the mounting plate portion 102. Holes 129a for passing the bolts 131 are formed at three locations on the supporting surface portion 129 of the mounting plate portion 102 (see FIG. 1 ). Figure 12 The bolt 131 passes through the hole 129 a and is screwed into a predetermined screw hole provided on the housing 91 side.

[0113] As described above, the support bracket 100 includes the mounting plate portion 102 on the upper side of the bracket body 101 fixed to the rear upper panel 68 of the cab 16, and supports the receiving device 81 while the receiving device 81 is placed and fixed on the mounting plate portion 102. In this manner, the receiving device 81 is fixedly supported on the left side wall portion 53 of the cab 16 via the support bracket 100 fixed to the rear upper panel 68.

[0114] The receiving device 81 receives a connection to a cable 140, which includes a power supply line (wire for receiving power) and a signal line (wire for transmitting and receiving signals). The receiving device 81 includes a connector 95 for receiving the cable 140, located in the left and right center portions of the rear side portions 91b of the housing 91. The connector 95 is provided as a portion protruding rearward from the rear surface of the housing 91.

[0115] Connector portion 95 receives connection to a cable-side connector 141 provided at the end of cable 140. Cable 140 is connected to device body 90 of receiving device 81 by connecting cable-side connector 141 to connector portion 95 of receiving device 81. Cable 140 only needs to include at least one of a power supply line and wiring for signal transmission and reception.

[0116] The cable 140 extends from the cab 16 through the rear upper plate 68 to the outside of the cab 16, and one end of the cable-side connector 141 is connected to the receiving device 81. The other end of the cable 140 is laid along a predetermined path in the cab 16 and connected to the control unit 200 (see FIG. Figure 7 ) and other connections.

[0117] like Figure 12As shown, a grommet 145 is provided on the rear upper plate 68. The grommet 145 forms a guide hole for inserting the cable 140. The grommet 145 is a rubber component with a funnel-shaped outer shape. The grommet 145 includes a conical portion 145a having a conical outer shape, and an insertion portion 145b, which is a cylindrical portion extending from the smaller diameter side of the conical portion 145a. The grommet 145 has a hole formed along the outer shape formed by the conical portion 145a and the insertion portion 145b.

[0118] The grommet 145 has an outer peripheral groove 145c near the end of the opening on the large diameter side, and is attached to the rear upper plate 68 with the edge of the circular opening of the rear upper plate 68 fitting into the outer peripheral groove 145c. The portion of the grommet 145 from the outer peripheral groove 145c to the small diameter side (the insertion portion 145b side) is located on the inner side of the rear upper plate 68 (inside the cab 16).

[0119] The grommet 145 is provided on the rear upper side plate 68 at a position covered by the lower portion of the outer surface portion 123 of the support bracket 100 when viewed from the left side (see FIG. Figure 8 Specifically, grommet 145 is provided on rear upper plate 68 within the height range of base 111 relative to support bracket 100, and is positioned centrally between front surface 121 and rear surface 122 in the front-to-back direction. Thus, grommet 145 opens with its larger diameter opening facing into space 120.

[0120] The cable 140 is routed along the support bracket 100. The cable 140 is routed relative to the support bracket 100 and the receiving device 81 supported thereon in the following manner.

[0121] The cable 140 extends from the cab 16 through the rear upper side panel 68 into the space 120 via the cable grommet 145. The cable 140 is arranged in a rearward and downward direction within the space 120 and protrudes downward from the lower opening 120a to the outside of the space 120. The cable 140 protruding from the lower opening 120a to the outside of the space 120 passes below the lower edge 124b of the rear surface 122 of the bracket body 101, is routed to the rear side of the rear surface 122, and is then folded back upward.

[0122] The cable 140, which has been folded back upward, is arranged upward along the rear surface 122a, the rear plate surface of the rear surface portion 122, and is arranged so as to protrude rearward from the rear surface portion 122 of the rear end portion of the housing 91 when viewed from the side, thereby connecting to the receiving device 81. Specifically, the cable 140 bends obliquely upward and rearward from the vicinity of the upper end portion of the rear surface portion 122 when viewed from the side, away from the rear surface portion 122, then makes a U-turn and faces forward, with the cable-side connector 141 at the front end being connected to the connector portion 95 of the receiving device 81 from the rear side.

[0123] The cable 140 routed through the support bracket 100 and the receiver 81 as described above has the following portions as the wiring pattern, extending from the rear upper side panel 68 toward the exterior of the cab 16 and connecting to the receiver 81. Specifically, the cable 140 includes an in-bracket wiring portion 140a, which extends from the grommet 145 and is located within the space 120; a lower folded wiring portion 140b, which is a folded portion that projects downward from the lower opening 120a of the space 120; a straight wiring portion 140c, which is arranged along the rear side of the rear surface 122; and an upper folded wiring portion 140d, which is an upper folded portion that extends rearward away from the rear surface 122 and connects to the receiver 81.

[0124] The straight wiring portion 140c of the cable 140 arranged along the rear surface 122a of the rear surface portion 122 is a portion arranged along the support bracket 100. The straight wiring portion 140c is arranged linearly from the lower end to the upper end of the support bracket 100 along the arm extension direction (see Figure 11 The straight wiring portion 140 c is arranged so that its upper portion is located within the width of the arm forming portion 125 of the rear surface portion 122 .

[0125] In the cable 140, the upper and lower ends of the linear wiring portion 140c are secured to and supported by the rear surface portion 122 via cable securing members, namely securing members 150. A cable support portion 146 formed by the upper securing member 150 is located near the upper end of the arm-forming portion 125 of the rear surface portion 122. A cable support portion 147 formed by the lower securing member 150 is located near the obtuse corner between the lower side 124b and the outer oblique side 125b of the rear surface portion 122.

[0126] The locking member 150 is a member made of resin or metal, and is mounted on the rear surface portion 122. It holds the cable 140 while the cable 140 is passed through. The locking member 150 includes a locking shaft portion 151 that passes through the rear surface portion 122; a flange portion 152 that is provided on one side of the locking shaft portion 151 in the axial direction; and a cable holding portion 153 that is provided on the side opposite to the locking shaft portion 151 side with respect to the flange portion 152 (see FIG. Figure 12 The flange portion 152 is a portion having a substantially disk-like flat conical surface perpendicular to the axial direction of the locking shaft portion 151 , with the enlarged diameter side being the locking shaft portion 151 side.

[0127] The locking member 150 is locked and fixed to the rear surface portion 122 with the locking shaft portion 151 extending through a hole formed in the rear surface portion 122. The locking member 150 comprises a clamping portion formed by the locking shaft portion 151 and the flange portion 152, which acts as a locking mechanism for the rear surface portion 122. The locking member 150 is secured to the rear surface portion 122 when the locking shaft portion 151 is inserted from the rear into the hole in the rear surface portion 122 and the flange portion 152 is in contact with the rear surface 122a of the rear surface portion 122.

[0128] The locking shaft portion 151 includes a central shaft portion and a plurality (in this embodiment, a pair) of locking tabs disposed around the central shaft portion as portions connected to the central shaft portion. The locking shaft portion 151 partially has an outer shape that is larger than the diameter of the hole portion of the rear surface portion 122. The locking shaft portion 151 penetrates the hole portion of the rear surface portion 122 by temporarily elastically deforming the plurality of locking tabs. The locking tabs in their natural state prevent the locking member 150 from falling out of the hole portion of the rear surface portion 122. Furthermore, the locking member 150 is secured to the rear surface portion 122 while clamping the rear surface portion 122 together with the flange portion 152.

[0129] The cable holding portion 153 includes a belt-shaped portion for holding the cable 140. The belt portion forms a looped portion and holds the cable 140 while passing through the cable 140. The belt portion extends from the main body of the retaining member 150, surrounds the retained portion of the cable 140, and is held with its front end inserted into a predetermined retaining hole in the retaining member 150.

[0130] Thus, the portion of cable 140 that is locked and supported by upper and lower cable supports 146 and 147 on rear surface portion 122 by locking member 150 forms linear wiring portion 140c. Linear wiring portion 140c of cable 140 is arranged parallel to rear surface 122a of rear surface portion 122 with a slight gap therebetween.

[0131] The positioning system 80 has a converter 160 (see FIG. Figure 7 The converter 160 is a DC / DC converter that controls the voltage of direct current power and converts direct current power into direct current power, and has functions such as voltage conversion and stabilization.

[0132] like Figure 8 and Figure 12 As shown, the converter 160 has a housing 161 having a substantially rectangular parallelepiped shape and is provided on the opposite side of the rear upper panel 68 of the cab 16 to the side on which the support bracket 100 is disposed, that is, on the inner side (right side) of the rear upper panel 68. The converter 160 is disposed directly below the support bracket 100 in the vertical direction (see FIG. Figure 8 ).

[0133] Converter 160 has plate-shaped fixing portions 162 formed as notches at a pair of diagonally positioned corners of housing 161 when viewed from above. These fixing portions 162 are secured to rear upper plate 68 by bolts 163 and nuts 164. Bolts 163 penetrate rear upper plate 68 and fixing portions 162 from the left side of the rear upper plate 68, and are threadedly engaged with nuts 164 on the right side of fixing portions 162.

[0134] The converter 160 is electrically connected to the receiving device 81 and controls the power supplied from the power source to the receiving device 81. The converter 160 receives DC power supplied from a power source such as an auxiliary battery included in the combine harvester 1 and boosts the voltage of the DC power to generate a high voltage. The DC power converted by the converter 160 is supplied to the receiving device 81.

[0135] The converter 160 has a connector including a plurality of input and output terminals on the lower side surface of the housing 161, and a connector 166a provided on one end of a cable 166 for the converter 160 is connected to the connector (see FIG. Figure 8 The other end of the cable 166 is connected to the cable 140 on the inner side of the rear upper plate 68 (see Figure 12 ).

[0136] By including converter 160 for receiving device 81 in positioning system 80, converter 160, for example, provides a sufficient and stable voltage for the power supplied to receiving device 81, thereby ensuring the smooth operation of positioning system 80. Furthermore, converter 160 is positioned inside rear upper plate 68, with support bracket 100 supporting receiving device 81 positioned outside, and is mounted on rear upper plate 68. This configuration effectively utilizes the space inside rear upper plate 68, allows converter 160 to be positioned near receiving device 81, and shortens cable 166.

[0137] like Figure 7 As shown, positioning system 80 includes a correction information terminal 170, which serves as a correction information device, and an antenna 175 for receiving information from a base station 300 located outside the work site. Correction information terminal 170 receives positioning correction information, or correction information, from base station 300, a reference station located outside the field. This information is used to correct the position information (positioning information) received by receiving device 81.

[0138] The antenna 175 is used for the correction information terminal 170 to receive information from the base station 300 and is connected to the correction information terminal 170 via an antenna cable 176. The correction information terminal 170 is installed at a predetermined location in the cab 16.

[0139] The combine harvester 1 is a mobile station in relation to the base station 300 and constitutes a communication system together with the base station 300. The combine harvester 1 constantly receives positioning correction information from the base station 300 and, based on the received positioning correction information, corrects the position information received by the receiving device 81 to obtain its own positioning information with high accuracy.

[0140] The base station 300 is a fixed base station installed at a predetermined reference position outside the field. For example, the base station 300 may be a base station independently installed by a telecommunications company or a base station installed by a local government. At predetermined time intervals, the base station 300 calculates the difference between its own positioning information, for example, calculated based on GNSS satellite signals received from multiple GNSS satellites (positioning satellites), and its previously identified position information, and transmits this differential information as positioning correction information. The base station 300 includes an antenna for receiving the satellite signals used to calculate its own positioning information, and a wireless communication device for transmitting and receiving various signals to and from the antenna 175 on the combine harvester 1 side.

[0141] The base station 300 continuously generates positioning correction information, for example, at a predetermined period, and transmits a signal containing the generated positioning correction information to the correction information terminal 170 of the combine harvester 1 via wireless communication. The correction information terminal 170 processes the signal containing the positioning correction information received by the antenna 175 to obtain the positioning correction information. The positioning correction information obtained by the correction information terminal 170 is used to correct the positioning information obtained by the receiving device 81.

[0142] In the combine harvester 1, the control unit 200 uses the positioning correction information transmitted from the base station 300 to correct the positioning information obtained by the receiving device 81, and calculates and obtains the current position information of the combine harvester 1. For example, the control unit 200 obtains latitude and longitude information as the current position information of the traveling body 2 of the combine harvester 1. In this way, by correcting the positioning information using the positioning correction information from the base station 300, the correction information terminal 170 can accurately obtain the position of the traveling body 2. The positioning information corrected based on the positioning correction information is used for autonomous driving of the combine harvester 1.

[0143] The antenna 175 is an external antenna provided outside the cab 16 and is provided in a state of being attached to the support bracket 100. The antenna 175 is a linear rod-shaped member and is provided in a state of being erected with its extension direction extending in the vertical direction.

[0144] Antenna 175 is positioned in front of support bracket 100 and supported by antenna support surface 180, a part of support bracket 100. Antenna support surface 180 is a horizontal plate-shaped portion, with the vertical direction being the plate thickness direction. It is formed by bending forward at a right angle from the upper end of tab 181, which forms part of front surface 121. Tab 181 is formed between upper side 124a of base forming portion 124 and inner oblique side 125a of arm forming portion 125 in front surface 121, with a right side extending in the vertical direction and an upper side extending in the horizontal direction forming a right angle when viewed from the front. Antenna support surface 180 is formed along the upper side of tab 181 when viewed from the front.

[0145] The antenna support surface 180 has a generally rectangular outer shape when viewed from above. A support recess 180a having a cutout shape and opening the front side is formed in the front portion of the antenna support surface 180 (see FIG. 1 ). Figure 12 Antenna support surface 180 serves as a mounting base for antenna 175. With the lower end of antenna 175 engaged in support recess 180a, antenna 175 is supported in an upright position. Antenna 175 is secured to antenna support surface 180 by, for example, a flange-like retaining portion provided at its lower end and a nut portion threadedly engaged with a threaded portion formed below the retaining portion, which holds antenna support surface 185 in place.

[0146] Thus, antenna 175 is installed upright with its lower end supported by antenna support surface 180 formed on support bracket 100. Antenna cable 176 extends from the lower end of antenna 175, located below antenna support surface 180. The structure for securing antenna 175 to antenna support surface 180 is not particularly limited.

[0147] The height of antenna 175 is not limited, but in this embodiment, the front end (upper end) of antenna 175 is located at approximately the same height as mounting plate 102 of support bracket 100. Antenna 175 is positioned so that its entirety is located within a space enclosed by bracket body 101, bottom surface 91a of housing 91 of receiving device 81, and side surface 60b of top panel 60 when viewed from the front.

[0148] According to the combine harvester 1 involved in this embodiment having the structure as described above, in the structure having the cab 16 covering the driving part 15, the space around the cab 16 can be utilized, and the receiving device 81 can be arranged at a position closer to the rotation center of the vehicle, which can improve the positioning accuracy.

[0149] In the combine harvester 1, the receiving device 81 is arranged at a position spaced from the rotation center T0 of the machine body in the left-right direction relative to the cab 16 (see Figure 3 ) is closer to the left side and is arranged at a front-back center position C0 (refer to Figure 6 ) is installed at a rear position of the vehicle body 16 via a support bracket 100. Here, the rotation center T0 is a position on the vehicle body center O1 which is the wheelbase center of the left and right crawler parts 5, and is the center position of the left and right crawler parts 5 in the front-rear direction.

[0150] With this configuration, the receiving device 81 can be positioned closer to the rotation center T0 by utilizing the space around the cab 16, particularly to the left of the top plate 55. This reduces errors in acquiring position information of the combine harvester 1 through the receiving device 81, thereby improving positioning accuracy.

[0151] Furthermore, a space 59 is formed on the left side of the top plate 55 of the cab 16, between the grain discharge conveyor 13 in its stored state, and the receiving device 81 is arranged in this space 59. During grain discharge operation using the grain discharge conveyor 13, the grain discharge conveyor 13 rotates from its stored state supported by the auger frame 27 to the left or upward side of the machine body, with its base located at the right rear of the machine body serving as a pivot point. Thus, the receiving device 81 is arranged in the space 59 formed between the cab 16 and the grain discharge conveyor 13 in its stored state. This arrangement of the receiving device 81 prevents interference between the receiving device 81 and the grain discharge conveyor 13.

[0152] Furthermore, the receiving device 81 is positioned along the upper edge 55a of the top plate 55 of the cab 16 when viewed from the left side of the machine body. This configuration allows the receiving device 81 to be positioned at approximately the same height as the higher position, i.e., the top plate 55 of the cab 16, in the combine harvester 1, leaving an empty space above the receiving device 81. This prevents interference between the receiving range of the receiving device 81 and the top plate 55, ensuring good receptivity for the receiving device 81 and improving positioning accuracy.

[0153] Furthermore, the receiving device 81 is arranged so as not to overlap with the top plate 55 of the cab 16 when viewed from above. This arrangement of the receiving device 81 allows the receiving device 81 to be positioned so as not to protrude upward from the top plate 55 at the left and right inner sides (left side) of the cab 16. This prevents the receiving device 81 from becoming an obstruction during operations with the combine harvester 1 or during transport of the combine harvester 1.

[0154] The receiving device 81 includes a device body 90 and a housing 91 for housing the device body 90. The combine harvester 1 includes a support bracket 100 mounted on the left side wall 53 of the cab 16 and supporting the housing 91. Specifically, the receiving device 81 is mounted on the left side wall 53 of the cab 16 via the support bracket 100. With this configuration, the receiving device 81 can be stably supported on the cab 16 by utilizing the space on the left side of the cab 16.

[0155] In particular, in this embodiment, the support bracket 100 is mounted on the rear upper side panel 68 of the left side wall 53 of the cab 16. This configuration allows the support bracket 100 to be installed without interfering with the upper left window 64 and lower left window 66 provided on the left side wall 53. Consequently, for example, during harvesting operations using the harvesting unit 3, the support bracket 100 does not obstruct the operator's field of vision through the upper left window 64 and lower left window 66, thereby ensuring good operability.

[0156] Furthermore, the support bracket 100 is configured to extend obliquely upward (obliquely leftward) relative to the vertical direction from the left side wall portion 53 of the cab 16 when viewed from the front. With this configuration, for example, compared to a configuration in which the arm portion 112 extends vertically from the mounting plate portion 102 in the vertical direction, it is possible to secure space below the receiving device 81 and to the left of the support bracket 100. Specifically, by utilizing the arm portion 112 to extend the support bracket 100 obliquely upward to the left, it is possible to expand the space to the left of the support bracket 100 below the receiving device 81 (see FIG. 1 ). Figure 5 As a result, the space below the receiving device 81 can be used as a work space, and good workability can be achieved for maintenance work on the receiving device 81, the converter 160, etc.

[0157] The combine harvester 1 also includes an antenna 175 for receiving information from the base station 300, and the antenna 175 is attached to the support bracket 100. With this configuration, the antenna 175 can receive positioning correction information from the base station 300, thereby correcting the position information received by the receiving device 81 and improving positioning accuracy.

[0158] Furthermore, since antenna 175 is mounted on support bracket 100, there is no need to provide a separate component for installing antenna 175 around cab 16. Therefore, antenna 175 can be arranged without increasing the number of components arranged around cab 16. This allows for efficient use of the space around cab 16.

[0159] Furthermore, the cable 140 connected to the receiving device 81 is routed along the support bracket 100. This configuration allows the support bracket 100 to be used as a portion for holding the cable 140 outside the cab 16, eliminating the need for a separate component for holding the cable 140 extending from the inside of the cab 16. This allows the cable 140 to be housed outside the cab 16 using a simple structure without increasing the number of components located around the cab 16, effectively utilizing the space around the cab 16.

[0160] In particular, in this embodiment, the support bracket 100 is configured to form a space 120 together with the rear upper side panel 68. A cable 140 connected to the receiver 81 extends from the interior of the cab 16 through the rear upper side panel 68 and into the space 120. The cable 140 then winds from the lower side of the space 120 to the rear side of the support bracket 100, where it is secured to the rear surface 122 at two locations, upper and lower, by retaining members 150. The cable 140 is then routed along the rear surface 122 to connect to the receiver 81. This configuration allows the portion of the cable 140 extending outward from the cab 16 to be located inside or at the rear of the support bracket 100, allowing the cable 140 to be protected by the support bracket 100.

[0161] The above embodiment is an example of the present invention, and the present invention is not limited to the above embodiment. Therefore, even embodiments other than the above embodiment can be modified in various ways according to design, etc., as long as they do not depart from the technical concept involved in the present invention. In addition, the effects described in this disclosure are merely illustrative and not restrictive, and other effects may also exist.

[0162] In the above embodiment, the combine harvester 1 is provided with a positioning system 80 that receives radio waves from positioning satellites. However, as a structure for performing position measurement, a device that uses a quantum compass together with or instead of the positioning system 80 using satellite positioning technology may be used. This quantum compass performs position measurement by measuring geomagnetism, etc. without using radio waves from positioning satellites.

[0163] The present technology can adopt the following structures. In addition, the structures described below can be selected and combined arbitrarily. (1)

[0165] A work vehicle comprising:

[0166] The cab, which covers the driving part; and

[0167] A position measuring device for measuring the position at the work site based on the position information.

[0168] The position measuring device is arranged at a position rearward of a center position relative to the cab in a front-rear direction of the machine body. (2)

[0170] The working vehicle according to the above (1), wherein:

[0171] The position measuring device is provided along an upper edge of a roof portion of the cab when viewed from the side of the machine body. (3)

[0173] The work vehicle according to (1) or (2), wherein:

[0174] The position measuring device comprises: a device body; and a housing for housing the device body.

[0175] The work vehicle includes a support bracket that supports the housing on a side wall portion of the cab. (4)

[0177] The working vehicle according to the above (3), wherein:

[0178] The support bracket is provided so as to extend obliquely upward from the side wall portion when viewed from the front of the body. (5)

[0180] The work vehicle according to (3) or (4), wherein:

[0181] An antenna is provided for receiving information from a base station located outside the work site.

[0182] The antenna is mounted on the support bracket. (6)

[0184] The work vehicle according to any one of (3) to (5) above, wherein:

[0185] The position measuring device is connected to a cable including at least one of a wiring for power supply and a wiring for signal transmission and reception.

[0186] The cables are laid along the support bracket. (7)

[0188] The work vehicle according to any one of (1) to (6) above, wherein:

[0189] The device is provided with a grain discharge device, the grain discharge device being rotatable and storable at a predetermined rotation position, and discharging the grains to the outside of the machine.

[0190] The said position measurement device is provided in the space formed between the said cab and the said grain discharge device in the storage state. (8)

[0192] The work vehicle according to any one of (1) to (7) above, wherein the position measuring device is provided on a left side wall portion of the cab. (9)

[0194] The work vehicle according to any one of (1) to (8) above, wherein the position measuring device is provided so as not to overlap with the top plate portion of the cab in a plan view.

Claims

1. A working vehicle, characterized in that: have: The cab, which covers the driving part; and A position measuring device for measuring the position at the work site based on the position information. The position measuring device is arranged at a position rearward of a center position relative to the cab in the front-rear direction of the machine body.

2. The work vehicle according to claim 1, characterized in that: The position measuring device is provided along the upper edge of the roof of the cab when viewed from the side of the machine body.

3. The work vehicle according to claim 1 or 2, characterized in that: The position measuring device comprises: a device body; and a housing for housing the device body. The work vehicle includes a support bracket that supports the housing on a side wall portion of the cab.

4. The work vehicle according to claim 3, characterized in that: The support bracket is provided so as to extend and protrude obliquely upward from the side wall portion when viewed from the front of the machine body.

5. The work vehicle according to claim 3, characterized in that: An antenna is provided for receiving information from a base station located outside the work site, The antenna is mounted on the support bracket.

6. The work vehicle according to claim 3, characterized in that: The position measuring device is connected to a cable including at least one of a wiring for power supply and a wiring for signal transmission and reception. The cables are routed along the support bracket.

7. The work vehicle according to claim 3, characterized in that: The device is provided with a grain discharge device that is rotatable and can be stored in a predetermined rotation position, and discharges the grains to the outside of the machine. The said position measurement device is provided in the space formed between the said cab and the said grain discharge device in the storage state.

8. The work vehicle according to claim 3, characterized in that: The position measuring device is provided on a left side wall portion of the cab.

9. The work vehicle according to claim 3, characterized in that: The position measuring device is provided so as not to overlap with the top plate portion of the cab in a plan view.

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