Work vehicle

Abstract

To provide a work vehicle capable of detecting a wide area around the vehicle.SOLUTION: In a tractor 1 with a radar unit 100 capable of detecting an object to be detected around a vehicle body by radiating a radio wave, the radar unit 100 includes: a front side radar unit 100F capable of an object to be detected in front of the vehicle body; a left side radar unit 100L and a right side radar unit 100R capable of detecting an object to be detected on a side of the vehicle; and a rear side radar unit 100B capable of detecting an object to be detected on a rear side of the vehicle body.SELECTED DRAWING: Figure 15

Description

[Technical field]

[0001] The present invention relates to work vehicle technology. [Background technology]

[0002] Conventionally, technology for a work vehicle capable of detecting an object around the vehicle body is publicly known, as described in Patent Document 1, for example.

[0003] Patent Document 1 describes a work vehicle equipped with a roadside edge identification unit that detects and identifies obstacles such as roadside edges in front of the vehicle body. The roadside edge identification unit is composed of sensors such as a distance measurement sensor.

[0004] In the above-mentioned work vehicle, although it is possible to detect obstacles in front of the vehicle body, it is difficult to detect obstacles behind or to the sides of the vehicle body, etc. Therefore, a work vehicle that can detect a wide range around the vehicle is desired. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] JP 2023-078903 A Summary of the Invention [Problem to be solved by the invention]

[0006] One aspect of the present disclosure has been made in consideration of the above-described circumstances, and the problem it aims to solve is to provide a work vehicle that is capable of detecting a wide range around the vehicle. [Means for solving the problem]

[0007] The problem to be solved by one embodiment of the present disclosure has been described above. Next, the means for solving this problem will be described.

[0008] A work vehicle according to one embodiment of the present disclosure is a work vehicle equipped with a detection device capable of detecting targets around the vehicle body by emitting radio waves, and the detection device includes a forward detection device capable of detecting the target in front of the vehicle body, a side detection device capable of detecting the target on the side of the vehicle body, and a rear detection device capable of detecting the target at the rear of the vehicle body. According to one aspect of the present disclosure, a wide range around the vehicle can be detected.

[0009] The forward detection device according to one aspect of the present disclosure is disposed in front of a hood of the vehicle body. According to one aspect of the present disclosure, the forward detection device is disposed in front of the hood, so that an object to be detected in front of the vehicle body can be suitably detected.

[0010] A work vehicle according to one aspect of the present disclosure includes a front support member that is fixed to a portion of the vehicle body below the hood and supports the forward detection device. According to one aspect of the present disclosure, the forward detection device can be suitably supported in front of the hood.

[0011] A work vehicle according to one aspect of the present disclosure includes a front support member cover that covers the front side of the front support member. According to one aspect of the present disclosure, the appearance can be improved by providing a front support member cover.

[0012] According to one aspect of the present disclosure, the front support member and the front support member cover are formed in a shape that does not overlap with an illumination unit provided on the front surface of the bonnet when viewed from the front. According to one aspect of the present disclosure, the front support member and the front support member cover can be provided without blocking light from the hood lighting portion.

[0013] The front support member cover according to one embodiment of the present disclosure is provided with an indication portion that can be seen by a driver inside the cabin as a guide for driving the work vehicle. According to one aspect of the present disclosure, it is possible to make a work vehicle easier to drive.

[0014] The guide portion according to one embodiment of the present disclosure is formed in a shape extending to both left and right sides from the left and right central portion of the front support member cover. According to one aspect of the present disclosure, the guide portion can be used as a mark indicating the ridge width, etc.

[0015] The lateral detection device according to one embodiment of the present disclosure comprises a radar that irradiates the radio waves, and a mounting stay to which the radar is fixed and which is attached to the vehicle body, the mounting stay having at least one of a vertical surface along the vertical direction and a horizontal surface along the horizontal direction, and comprising a housing portion that houses the radar so that an irradiation surface of the radar that irradiates the radio waves faces diagonally upward. According to one aspect of the present disclosure, by directing the direction of radio waves emitted by the radar diagonally upward, erroneous detection of structures on the sides of the vehicle can be suppressed.

[0016] A work vehicle according to one embodiment of the present disclosure has a recess formed in the rear of the roof of the cabin of the vehicle body, which recesses forward to accommodate the rear detection device, and is equipped with a rear support member that supports the rear detection device so that the rear detection device is positioned lower than the height position of the roof when accommodated in the recess. According to one aspect of the present disclosure, by positioning the rear detection device at roof height, erroneous detection of a work implement provided at the rear of the vehicle body can be suppressed. Effect of the Invention

[0017] According to one aspect of the present disclosure, a wide range around the vehicle can be detected. [Brief description of the drawings]

[0018] [Figure 1] 1 is a side view showing an overall configuration of a tractor according to one embodiment of the present disclosure. [Diagram 2] FIG. 2 is a plan view showing the overall configuration of the tractor. [Diagram 3] FIG. [Figure 4] FIG. 4 is a perspective view showing the front part of the bonnet, the front radar unit, the front support member, and the decorative cover. [Diagram 5] FIG. 4 is an exploded perspective view showing the aircraft frame, the front radar unit, the front support member, and the design cover. [Figure 6] FIG. [Figure 7] FIG. [Figure 8] A plan view showing how the decorative cover is used as a marker to indicate ridge width, etc. [Figure 9] FIG. 4 is a rear perspective view showing the rear portion of the cabin roof, the rear radar unit, and the rear support member. [Figure 10] FIG. 4 is an exploded rear perspective view showing the rear radar unit and the rear support member. [Figure 11] FIG. 4 is a left cross-sectional view showing the rear part of the cabin roof, the rear radar unit, and the rear support member. [Figure 12] FIG. 4 is a perspective view showing the left side of the cabin and the left radar unit. [Figure 13] FIG. 2 is a perspective view showing a front pillar, a left radar unit, and a right radar unit. [Figure 14] FIG. 4 is a front cross-sectional view showing the front pillar and the left radar unit. [Figure 15] FIG. 4 is a plan view showing the detection range of each radar unit. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0019] In the following description, the directions indicated by arrows U, D, F, B, L and R in the figures are defined as upward, downward, forward, backward, leftward and rightward, respectively.

[0020] First, the overall configuration of a tractor 1 according to one embodiment of the present disclosure will be described.

[0021] The tractor 1 shown in FIG. 1 mainly comprises a machine frame 2, an engine 3, a bonnet 4, a transmission case 5, front wheels 6, rear wheels 7, a fender 8, a lifting device 9, a cabin 10, a seat 20, a steering wheel 21, and the like.

[0022] The machine frame 2 is a frame-like member formed by appropriately combining a plurality of plate materials. The machine frame 2 is formed in a generally rectangular shape in a plan view. The machine frame 2 is disposed at the front of the tractor 1 with its longitudinal direction facing the front-rear direction. An engine 3 is fixed to the rear of the machine frame 2. The engine 3 is covered by a bonnet 4. A transmission case 5 is fixed to the rear of the engine 3. A muffler 4a for discharging exhaust gas from the engine 3 is disposed on the right side of the bonnet 4. In addition, as shown in FIG. 3, a work light 4b and a headlight 4c are provided on the front of the bonnet 4. The work light 4b and the headlight 4c are provided on both the left and right sides of the front of the bonnet 4 with a gap between them in the left-right direction.

[0023] The front portion of the vehicle frame 2 is supported by a pair of left and right front wheels 6 via a front axle mechanism (not shown). The rear portion of the transmission case 5 is supported by a pair of left and right rear wheels 7 via a rear axle mechanism (not shown). The pair of left and right rear wheels 7 are covered by fenders 8 from roughly above.

[0024] A lifting device 9 is provided at the rear of the transmission case 5. Various types of working equipment (e.g., a tiller) can be attached to the lifting device 9. The lifting device 9 can raise and lower the attached working equipment by an actuator such as a hydraulic cylinder. Power from the engine 3 can be transmitted to the lifting device 9 via a PTO shaft (not shown).

[0025] The power of the engine 3 is changed in speed by a transmission (not shown) housed in a transmission case 5, and then can be transmitted to front wheels 6 via the front axle mechanism, and can be transmitted to rear wheels 7 via the rear axle mechanism. The front wheels 6 and rear wheels 7 are driven to rotate by the power of the engine 3, allowing the tractor 1 to travel. In addition, a working device attached to a lifting device 9 can be driven by the power of the engine 3.

[0026] A cabin 10 is provided behind the engine 3. The cabin 10 is mounted on the vehicle body (transmission case 5, etc.). Inside the cabin 10, a living space is formed for a driver to sit in.

[0027] As shown in Fig. 1, the cabin 10 has left and right front pillars 12 that support a roof 11 at the front. Fixing portions 12a for fixing a left radar unit 100L and a right radar unit 100R, which will be described later, are provided at the vertical midpoints of the left and right front pillars 12 (see Fig. 13). The fixing portions 12a are formed on the front surface of the front pillars 12. The cabin 10 also has left and right rear pillars 13 that support the roof 11 at the rear.

[0028] As shown in FIG. 2, the cabin 10 has a front beam 14 that connects the upper ends of the front pillars 12. A windshield is provided within a frame formed by the front beam 14 and the left and right front pillars 12. The cabin 10 also has a rear beam 15 that connects the upper ends of the rear pillars 13. As shown in FIG. 1, a rear hatch 16 that can be opened and closed is provided at the rear of the cabin 10. The rear hatch 16 is rotatably supported at the rear end of the rear beam 15. As shown in FIG. 2, a pair of stays 15a to which appropriate members can be attached are provided at a distance in the left-right direction on the rear surface of the rear beam 15. Work lights, low-speed vehicle marks, etc. are provided on the stay 15a.

[0029] The front pillars 12, rear pillars 13, front beams 14 and rear beams 15 are formed to have a hollow shape. Each pillar and each beam has an internal space through which wiring connected to devices (such as a radar unit 100 described later) provided on the tractor 1 can be inserted.

[0030] As shown in Fig. 1, a seat 20 for a driver to sit on is disposed approximately in the center of the cabin 10. The cabin 10 is also provided with an auxiliary step 20a for getting on and off the seat 20. The auxiliary step 20a is provided on at least the left side of the cabin 10. The auxiliary step 20a can be provided on both sides of the cabin 10. A steering wheel 21 for adjusting the turning angle of the front wheels 6 is also disposed in the front of the cabin 10.

[0031] As shown in Figures 1 and 2, the tractor 1 is equipped with a position detection device 30 capable of detecting the position of the vehicle body, cameras (a front camera 51, a side camera 52, and a rear camera 53) capable of capturing images of the area around the vehicle body, and a radar unit 100 capable of detecting objects around the vehicle body.

[0032] The position detection device 30 is a device capable of detecting the position of the vehicle body (position information including latitude and longitude) by using a satellite positioning system such as GPS, various sensors, etc. The tractor 1 can execute control for automatically steering the vehicle body based on the position information detected by the position detection device 30. The above control includes, for example, control for automatically steering the vehicle body so as to travel straight in parallel with a set predetermined travel reference line, and control for automatically traveling the vehicle body along a created target travel route.

[0033] The position detection device 30 is supported by a support mechanism 40 attached to the cabin 10. The support mechanism 40 is disposed so as to span the left and right front pillars 12. The support mechanism 40 is disposed so as to be located in front of the roof 11. The support mechanism 40 is provided rotatably with respect to the left and right front pillars 12 about a central axis facing in the left-right direction via left and right connecting parts. The support mechanism 40 may be fixed so as not to be rotatable with respect to the left and right front pillars 12. As shown in FIG. 2, the position detection device 30 is disposed approximately in the center of the support mechanism 40 in the left-right direction.

[0034] A plurality of cameras (a front camera 51, a side camera 52, and a rear camera 53) shown in Figs. 1 and 2 are provided for the cabin 10 (five in this embodiment). Specifically, the front camera 51 is provided at the front of the cabin 10 (more specifically, at a portion corresponding to a front side of the cabin 10 formed in a rectangular shape in a plan view). A pair of left and right side cameras 52 are provided at both left and right sides of the cabin 10 (more specifically, at portions corresponding to left and right sides of the cabin 10 formed in a rectangular shape in a plan view). A pair of left and right rear cameras 53 are provided at the rear of the cabin 10 (more specifically, at portions corresponding to a rear side of the cabin 10 formed in a rectangular shape in a plan view).

[0035] Each camera is positioned so that it faces downward at an approximately 45-degree angle relative to the horizontal ground. By standardizing the angles in this way, it is possible to improve the distance measurement performance of each camera and optimize the field of view of each camera.

[0036] By using the above-mentioned cameras, it is possible to capture images of the front, both left and right sides, and the rear of the tractor 1. The tractor 1 can control the operation of the vehicle body based on the images captured by each camera. For example, it is possible to learn the appearance of a person based on the images captured by each camera, and control the tractor 1 to stop when a person is approaching the vicinity of the tractor 1 based on the image capture results of each camera. Note that the use of each camera is not limited to this, and the captured images can be used for various purposes.

[0037] The following describes the radar unit 100. The radar unit 100 is capable of detecting a detection target within a predetermined detection range. Detection targets include, for example, structures made of metal or concrete, other vehicles, people, etc.

[0038] As shown in Figs. 1 and 2, in this embodiment, a plurality (four) of radar units 100 (front radar unit 100F, rear radar unit 100B, left radar unit 100L, and right radar unit 100R) are provided on the tractor 1. Specifically, the front radar unit 100F is provided in the front of the bonnet 4 of the tractor 1. Furthermore, the rear radar unit 100B is provided in the rear of the cabin 10. Furthermore, the left radar unit 100L is provided in the left of the cabin 10, and the right radar unit 100R is provided in the right of the cabin 10.

[0039] The configuration of each of the above radar units 100 will be described in order below. Among the radar units 100, the front radar unit 100F and the rear radar unit 100B are configured similarly to each other. The left radar unit 100L and the right radar unit 100R are configured symmetrically to each other. Therefore, in the following description of each radar unit 100, the description of the same configuration as the configuration already described or the symmetrical configuration may be omitted as appropriate.

[0040] Moreover, each radar unit 100 includes components having similar configurations (a radar main body 110, an attenuation section 120, a radar cover 130, and a sealing member 140, which will be described later). Therefore, in the following description, when describing the components of one radar unit 100 (for example, the front radar unit 100F), the description may be made with reference to drawings showing the components of other radar units 100 (for example, the rear radar unit 100B, the left radar unit 100L, etc.).

[0041] The front radar unit 100F shown in Figs. 1 to 6 is capable of detecting an object to be detected in front of the tractor 1. The front radar unit 100F is disposed so as to be located in front of the bonnet 4. The front radar unit 100F is disposed so as to face substantially forward. This allows the front radar unit 100F to perform detection in a detection range (front detection range X1) in front of the bonnet 4 (see Figs. 1 and 15). The front radar unit 100F includes a radar main body 110, a damping unit 120, a radar cover 130, a seal member 140, and a mounting stay 150.

[0042] The radar main body 110 shown in FIG. 6 detects a detection target using radio waves (e.g., millimeter waves). Specifically, the radar main body 110 detects the detection target by emitting radio waves and receiving radio waves reflected by the detection target. A millimeter wave sensor can be used as the radar main body 110. The radar main body 110 is fixed to a mounting stay 150, which will be described later. The radar main body 110 has an irradiation surface 111 that irradiates radio waves. The radar main body 110 is disposed so that the irradiation surface 111 faces substantially forward. The irradiation surface 111 is formed in a substantially rectangular shape when viewed from the front. Wiring (not shown) is appropriately connected to the radar main body 110.

[0043] The attenuation section 120 is capable of attenuating side lobe waves generated outside the detection range of the radio waves from the radar main body 110. The attenuation section 120 is formed in a cylindrical shape of a substantially quadrangular pyramid. The attenuation section 120 is formed so as to open in the front-rear direction. The attenuation section 120 is also formed so that the side walls of the cylinder expand in the up-down direction and the left-right direction as they move toward the direction of irradiation of the radio waves (forward). The attenuation section 120 is disposed in front of the irradiation surface 111 of the radar main body 110 (see FIG. 14). The attenuation section 120 is disposed so that the rear opening overlaps with the irradiation surface 111 of the radar main body 110 when viewed from a direction perpendicular to the irradiation surface 111 (in a substantially front view). The attenuation section 120 is fixed to a mounting stay 150, which will be described later. The attenuation section 120 includes a main body 121, a radio wave absorber 122, and a rivet 123.

[0044] The main body 121 is a main structure of the attenuation section 120. That is, the main body 121 is formed in a cylindrical shape of a substantially quadrangular pyramid. The main body 121 is formed of, for example, resin. The four side walls constituting the main body 121 are formed so that the inner surfaces thereof are generally aligned with the detection range (front detection range X1). The four side walls are formed with holes 121a penetrating each side wall. Two holes 121a are formed in each side wall.

[0045] The radio wave absorber 122 absorbs side lobe waves on the inner surface side of the main body 121. A radio wave absorbing material (RAM) having high radio wave absorbing performance in the frequency band (e.g., 79 GHz band) of radio waves used by the radar main body 110 can be used as the radio wave absorber 122. The material of the radio wave absorber 122 can be appropriately changed depending on the frequency band of radio waves used by the radar main body 110.

[0046] The radio wave absorber 122 is formed in a sheet shape. The radio wave absorber 122 is formed in a shape corresponding to the inner surfaces of the four side walls of the main body 121, and is fixed to the inner surfaces of the side walls. The radio wave absorber 122 is adhered to the inner surfaces of the main body 121 by, for example, double-sided tape, adhesive, or the like. The radio wave absorber 122 has holes 122a formed therein corresponding to the holes 121a of the main body 121.

[0047] The rivet 123 is inserted through the hole 121a of the main body 121 and the hole 122a of the radio wave absorber 122. The rivet 123 has a shaft portion inserted through the hole 121a and the hole 122a, and a head portion having a larger diameter than the shaft portion. The shaft portion of the rivet 123 is formed with a stopper that prevents the rivet 123 from coming off the main body 121. The rivet 123 is made of, for example, resin. By inserting the rivet 123 through the hole 121a and the hole 122a, the radio wave absorber 122 can be positioned relative to the main body 121. By providing the rivet 123, the radio wave absorber 122 can be prevented from coming off the main body 121.

[0048] The radar cover 130 covers the irradiation surface 111 and the attenuation section 120 of the radar main body 110. The radar cover 130 is formed in a substantially box shape that opens toward the rear. The radar cover 130 is formed so as to be able to accommodate the attenuation section 120 in the internal space (see FIG. 14). The radar cover 130 is formed of a material that is permeable to radio waves (electromagnetic waves) from the radar main body 110. In this embodiment, the radar cover 130 is formed of resin. The radar cover 130 includes a cover section 131 and an outer section 132.

[0049] The cover portion 131 is a portion through which radio waves from the irradiation surface 111 of the radar main body 110 pass. The cover portion 131 is formed so as to overlap with the irradiation surface 111 in a substantially front view. In this embodiment, the cover portion 131 is formed to be wider than the irradiation surface 111. The thickness dimension (front-rear dimension) of the cover portion 131 is formed to be substantially uniform (see FIG. 14). The cover portion 131 is disposed to be parallel to the irradiation surface 111. If the thickness dimension of the cover portion 131 is non-uniform, it may adversely affect detection by the radar main body 110. By forming the thickness dimension of the cover portion 131 to be substantially uniform as in this embodiment, the accuracy of detection by the radar main body 110 can be improved.

[0050] The outer portion 132 is an outer portion of the cover portion 131, and is formed in a frame shape surrounding the four periphery of the cover portion 131. The thickness dimension of the outer portion 132 is formed to be larger than the thickness dimension of the cover portion 131.

[0051] The seal member 140 closes the gap between the radar cover 130 and the mounting stay 150, which will be described later. The seal member 140 is formed in a frame shape corresponding to the opening at the rear of the radar cover 130. In this embodiment, a part of the right part of the seal member 140 is cut out to avoid a grommet 151b, which will be described later. By providing the seal member 140, it is possible to prevent sand, dust, and water from entering between the radar cover 130 and the mounting stay 150.

[0052] The mounting stay 150 is a portion to which the radar main body 110, the attenuation portion 120, and the radar cover 130 are fixed, and is attached to the body of the tractor 1. The mounting stay 150 is made of a metal or resin material. The mounting stay 150 includes a storage portion 151, a radar fixing portion 152, a cover fixing portion 153, and a connecting portion 154.

[0053] The storage section 151 is a portion that stores the radar main body 110. The storage section 151 is formed in a substantially box shape that opens substantially toward the front. The storage section 151 is formed in a substantially rectangular shape when viewed from the front. A notch 151a is formed in the right side wall of the storage section 151 for taking out the wiring of the radar main body 110. The notch 151a is formed so as to cut the side wall from the front end toward the rear. A grommet 151b for protecting the wiring is attached to the notch 151a. The grommet 151b is formed of a flexible material such as rubber. In this embodiment, the front portion of the grommet 151b is located in the cut-out portion of the seal member 140. The front portion of the grommet 151b, together with the seal member 140, closes the gap between the radar cover 130 and the mounting stay 150.

[0054] The radar fixing part 152 is a part that fixes the radar main body 110 inside the accommodation part 151. The radar fixing part 152 is provided on the rear wall of the accommodation part 151. The radar main body 110 is fixed to the radar fixing part 152 using fasteners such as bolts.

[0055] The cover fixing portion 153 is a portion that fixes the radar cover 130. The cover fixing portion 153 extends upward and downward from the opening of the accommodation portion 151. The cover fixing portion 153 is formed in a generally plate shape with the plate surface facing generally in the front-rear direction. The radar cover 130 is fixed to the cover fixing portion 153 using fasteners such as bolts. A seal member 140 is provided between the cover fixing portion 153 and the radar cover 130. In addition, the damping portion 120 (main body portion 121) is fixed to the cover fixing portion 153. The main body portion 121 is fixed to the cover fixing portion 153 using fasteners such as bolts.

[0056] The connecting portion 154 shown in FIG. 5 is a portion that is connected to the front support member 200 described later. In the following, the connecting portion 154 will be described with reference to FIG. 10 showing the mounting stay 150 of the rear radar unit 100B. The connecting portion 154 is provided so as to protrude downward from the lower surface of the storage portion 151. The connecting portion 154 is formed by bending a metal plate into a substantially U-shape. The connecting portion 154 has a fixing piece portion 154a that is fixed to the lower surface of the storage portion 151, and a pair of connecting piece portions 154b that extend downward from both left and right ends of the fixing piece portion 154a. A hole 154c that penetrates in the left and right direction is formed in the connecting piece portion 154b.

[0057] In the front radar unit 100F as described above, the radar main body 110 and the attenuation section 120 are housed in a space formed by the radar cover 130 and the mounting stay 150. According to the front radar unit 100F, by covering the irradiation surface 111 of the radar main body 110 with the radar cover 130, it is possible to prevent foreign matter such as mud from adhering to the irradiation surface 111, and it is possible to improve the accuracy of detection using radio waves. In addition, by covering the radar main body 110 and the attenuation section 120 with the radar cover 130, it is possible to improve the appearance.

[0058] Moreover, by unitizing the members constituting the front radar unit 100F, it is possible to improve the ease of assembly to the tractor 1. Moreover, in this embodiment, by fixing the radar main body 110 and the damping part 120 to the mounting stay 150, it is possible to make it difficult for the mounting position of the damping part 120 to vary relative to the radar main body 110.

[0059] 4 and 5, the front radar unit 100F is attached to the body of the tractor 1 by a front support member 200. In addition, the front surface of the front support member 200 is covered by a design cover 300. The front support member 200 and the design cover 300 will be described below.

[0060] 4, 5, and 7 is fixed to the body of the tractor 1 and supports the front radar unit 100F. Specifically, the front support member 200 is fixed to a portion of the body below the bonnet 4 (the front portion of the body frame 2 in this embodiment) and supports the front radar unit 100F so as to be located in front of the bonnet 4. The front support member 200 includes a first portion 210, a second portion 220, and a third portion 230.

[0061] The first portions 210 are fixed to the front portion of the vehicle frame 2. A pair of first portions 210 are provided so as to be located on both the left and right sides of the vehicle frame 2. The pair of first portions 210 are fixed to both the left and right side surfaces of the front portion of the vehicle frame 2 by bolts or the like. The first portions 210 are formed in a shape that extends diagonally forward and upward from the front portion of the vehicle frame 2. In addition, the pair of first portions 210 are formed in a shape that moves away from each other as they extend upward.

[0062] The second portion 220 is a portion that connects the upper ends of the pair of first portions 210. The second portion 220 is formed in a shape that is elongated in the left-right direction.

[0063] The third part 230 extends upward from the second part 220 and is a part to which the front radar unit 100F is connected. Specifically, the third part 230 extends obliquely upward and forward from the center of the second part 220 in the left-right direction. The third part 230 is integrally formed with the second part 220 by welding or the like. The third part 230 includes a connecting part 231 and a cover supporting part 232.

[0064] The connecting portion 231 shown in FIG. 5 and FIG. 7 is a portion to which the front radar unit 100F is connected. The connecting portion 231 constitutes the upper end portion of the third portion 230. The connecting portion 231 has a hole 231a penetrating in the left-right direction. The connecting portion 231 is sandwiched between a pair of connecting piece portions 154b of the connecting portion 154 of the mounting stay 150. In this state, the hole 231a of the connecting portion 231 and the hole 154c of the connecting piece portion 154b overlap in a side view. In this embodiment, the mounting stay 150 is connected to the connecting portion 231 by attaching the fastening portion 231b formed of a bolt, a nut, or the like to the hole 231a and the hole 154c.

[0065] The cover support portion 232 is a portion that supports the third cover 330 of the decorative cover 300, which will be described later. A pair of cover support portions 232 are provided so as to be located on both the left and right sides of the upper portion of the third portion 230. The pair of cover support portions 232 extend upward from the left-right center of the third portion 230, and are formed in a shape that moves away from each other as they extend upward.

[0066] The front radar unit 100F is connected to the front support member 200 so that the rotation position can be adjusted around a rotation axis along the left-right direction. Specifically, when the fastening portion 231b, which is the rotation axis, is released, the rotation position of the front radar unit 100F relative to the front support member 200 can be changed. On the other hand, when the fastening portion 231b is fastened, the rotation position of the front radar unit 100F relative to the front support member 200 is fixed. In this embodiment, the rotation position of the front radar unit 100F is set so that the irradiation surface 111 faces slightly upward with respect to the horizontal ground (so that the elevation angle is about 10°).

[0067] The design cover 300 shown in Figs. 3 to 5 covers the front surface of the front support member 200. Specifically, the design cover 300 covers the front surface of the second portion 220 and the third portion 230 of the front support member 200. Note that in Fig. 3, the design cover 300 is shown as being filled in. The design cover 300 is formed so as not to block the front surface of the front radar unit 100F. The design cover 300 is formed of, for example, resin or the like. The design cover 300 is fixed to the front support member 200 by fasteners such as bolts. The design cover 300 includes a first cover 310, a second cover 320, and a third cover 330.

[0068] The first cover 310 is a portion that covers the second portion 220 of the front support member 200. The first cover 310 is formed in a shape corresponding to the second portion 220.

[0069] The second cover 320 is a portion that covers a portion of the third portion 230 of the front support member 200 excluding the cover support portion 232. The second cover 320 is formed in a shape corresponding to the above-mentioned portion of the third portion 230. The second cover 320 is formed so as not to block the work lights 4b and headlights 4c on the front side of the bonnet 4 in a front view. Specifically, the second cover 320 is positioned between the left and right work lights 4b and headlights 4c, and is formed in a shape that does not overlap with the work lights 4b and headlights 4c on the front side of the bonnet 4 in a front view.

[0070] The third cover 330 is a portion that covers the front surface of the cover support portion 232. The third cover 330 constitutes the upper end portion of the design cover 300. The third cover 330 is formed so as to extend to both the left and right sides from a portion where the front radar unit 100F is located (the left and right central portion of the design cover 300).

[0071] 3, the third cover 330 is formed into a shape corresponding to the upper end of the front surface of the bonnet 4 in a front view. Specifically, the third cover 330 is formed into a shape corresponding to the boundary portion between the front surface and the upper surface of the bonnet 4. The left and right third covers 330 are formed into a shape that is inclined upward toward the outside in the left-right direction. The upper ends of the left and right third covers 330 are located above the front radar unit 100F.

[0072] Moreover, the third cover 330 is formed so as to be visible to the driver seated in the seat 20 inside the cabin 10. The driver can use the left and right ends of the third cover 330 as a guide when driving the tractor 1. The third cover 330 according to this embodiment can be used as a mark indicating the ridge width, etc.

[0073] Specifically, as shown in Fig. 8, when a pair of straight lines connecting the viewpoint P of the driver seated in the seat 20 and the left-right end of the third cover 330 are extended forward in a plan view, the left-right distance between the pair of straight lines coincides with the left-right width H (e.g., ridge width) of a certain point in front of the tractor 1. In this case, the left-right width of the third cover 330 as seen by the driver roughly coincides with the left-right width H of a certain point in front of the tractor 1. Therefore, the driver can operate the tractor 1 using the third cover 330 as a mark indicating the ridge width at a certain point in front. The left-right dimension of the third cover 330 can be set appropriately taking into account the ridge width, etc.

[0074] By providing the above-described design cover 300, it is possible to prevent the front support member 200 from being exposed, thereby improving the appearance. In this embodiment, the third cover 330 is formed in a shape corresponding to the front surface of the bonnet 4 in a front view, thereby further improving the appearance.

[0075] Next, the rear radar unit 100B will be described with reference to Fig. 9 to Fig. 11. The rear radar unit 100B is capable of detecting an object to be detected behind the tractor 1. The configuration of the rear radar unit 100B is similar to that of the front radar unit 100F. Therefore, the following mainly describes the arrangement and mounting mode of the rear radar unit 100B, and the description of the configuration of the rear radar unit 100B will be omitted.

[0076] The rear radar unit 100B is disposed so as to be located at the rear of the roof 11 of the cabin 10. Specifically, the rear radar unit 100B is disposed in a recess 11a formed so as to be recessed forward in the left-right center of the rear of the roof 11. The rear radar unit 100B is disposed so as to face approximately rearward. This allows the rear radar unit 100B to perform detection in a detection range (rear detection range X2) behind the cabin 10 (see FIGS. 1 and 15).

[0077] 10 and 11, the rear radar unit 100B is attached to the body of the tractor 1 by a rear support member 400. The rear support member 400 will be described below.

[0078] The rear support member 400 is fixed to the body of the tractor 1 and supports the rear radar unit 100B. Specifically, the rear support member 400 is fixed to the rear of the rear beam 15 of the cabin 10 of the tractor 1 and supports the rear radar unit 100B so as to be located within the recess 11a of the roof 11. The rear support member 400 includes a support frame 410 and a connecting portion 420.

[0079] The support frame 410 shown in Fig. 10 is a portion fixed to the rear part of the rear beam 15. The support frame 410 is formed in a shape that is long in the left-right direction. Both left-right ends of the support frame 410 are fixed by bolts or the like to a pair of stays 15a provided on the rear beam 15 (see Fig. 2).

[0080] The connecting portion 420 is a portion to which the rear radar unit 100B is connected. The connecting portion 420 is provided at approximately the center in the left-right direction of the support frame 410. The connecting portion 420 has a hole 421 formed therethrough in the left-right direction. The connecting portion 420 is sandwiched between a pair of connecting piece portions 154b of the connecting portion 154 of the mounting stay 150. In this state, the hole 421 of the connecting portion 420 and the hole 154c of the connecting piece portion 154b overlap in a side view. In this embodiment, the mounting stay 150 is connected to the connecting portion 420 by attaching a fastening portion 422 formed of a bolt, a nut, or the like to the hole 421 and the hole 154c.

[0081] The rear radar unit 100B is connected to the rear support member 400 so that the rotation position can be adjusted around a rotation axis along the left-right direction. Specifically, when the fastening portion 422, which is the rotation axis, is released, the rotation position of the rear radar unit 100B relative to the rear support member 400 can be changed. On the other hand, when the fastening portion 422 is fastened, the rotation position of the rear radar unit 100B relative to the rear support member 400 is fixed. In this embodiment, the rotation position of the rear radar unit 100B is set so that the irradiation surface 111 faces slightly upward with respect to the horizontal ground (so that the elevation angle is about 5°).

[0082] The rear support member 400 positions the rear radar unit 100B at the height of the roof 11, thereby preventing a work tool provided at the rear of the vehicle body from being located in the rear detection range X2 of the rear radar unit 100B (see FIG. 1). This prevents the rear radar unit 100B from erroneously detecting the work tool.

[0083] 11, the rear support member 400 supports the rear radar unit 100B so that the rear radar unit 100B, when housed in the recess 11a of the roof 11, is positioned below the height position of the roof 11. More specifically, the rear support member 400 supports the rear radar unit 100B so that the rear radar unit 100B is positioned below a horizontal overall height line L1. Here, the horizontal overall height line L1 indicates the maximum height (height of the upper end) of the roof 11 of the tractor 1 in a substantially horizontal position. By positioning the rear radar unit 100B below the horizontal overall height line L1, for example, when storing the tractor 1 in a container used for transportation, a garage, or the like, it is possible to prevent the rear radar unit 100B from contacting the ceiling of a container or the like.

[0084] In this embodiment, the rear support member 400 supports the rear radar unit 100B so as to be located below the tilted overall height line L2. Here, the tilted overall height line L2 indicates the maximum height (height of the upper end) of the tractor 1 in a state in which the tractor 1 is tilted so that the rear part of the roof 11 is located higher than the front part of the roof 11. The tilted overall height line L2 is set based on the inclination angle of a runway that is stretched between a container and the ground when the tractor 1 is loaded or unloaded from a container or the like on the platform of a transport device. In this embodiment, the tilted overall height line L2 is set to indicate the maximum height of the tractor 1 in a state in which the tractor 1 is tilted by about 15° with respect to the horizontal ground. By positioning the rear radar unit 100B below the tilted overall height line L2, it is possible to prevent the tractor 1 from contacting the ceiling of a container or the like when the tractor 1 is tilted and stored in the container.

[0085] In addition, in this embodiment, even when the rear hatch 16 of the cabin 10 of the tractor 1 is fully open and the wiper 16a provided on the rear hatch 16 is operated, the rear radar unit 100B is positioned above the wiper 16a of the rear hatch 16 in the fully open state so that the wiper 16a does not interfere with the rear radar unit 100B.

[0086] Next, the left radar unit 100L and the right radar unit 100R will be described with reference to Figures 12 and 13. The left radar unit 100L and the right radar unit 100R are capable of detecting targets on both the left and right sides of the tractor 1.

[0087] The left radar unit 100L and the right radar unit 100R are disposed so as to be located on both the left and right sides of the cabin 10, respectively. Specifically, the left radar unit 100L and the right radar unit 100R are attached to a pair of left and right front pillars 12, respectively. The left radar unit 100L and the right radar unit 100R are disposed so as to face generally leftward and rightward. This allows the left radar unit 100L and the right radar unit 100R to perform detection in a detection range on the left side (left detection range X3L) and a detection range on the right side (right detection range X3R) of the cabin 10 (see FIG. 2 and FIG. 15).

[0088] The left radar unit 100L and the right radar unit 100R include a radar main body 110, an attenuation section 120, a radar cover 130, a seal member 140, and a mounting stay 160. Here, among the above-mentioned components, the parts other than the mounting stay 160 (the radar main body 110, the attenuation section 120, the radar cover 130, and the seal member 140) are similar to the parts constituting the front radar unit 100F.

[0089] Moreover, the left radar unit 100L and the right radar unit 100R are formed symmetrically to each other. Specifically, the mounting stays 160 of the left radar unit 100L and the right radar unit 100R are formed symmetrically to each other, and the parts other than the mounting stay 160 (the radar main body 110, the attenuation part 120, the radar cover 130, and the seal member 140) are common to each other. Hereinafter, the mounting stay 160 of the left radar unit 100L will be referred to as the "mounting stay 160L," and the mounting stay 160 of the right radar unit 100R will be referred to as the "mounting stay 160R" (see FIGS. 3 and 13).

[0090] As described above, the left radar unit 100L and the right radar unit 100R are formed symmetrically with respect to each other, so the following mainly describes the left radar unit 100L, and the description of the right radar unit 100R is omitted as appropriate. In addition, the following mainly describes the configuration of the mounting stay 160L, and the description of the other parts already described (the radar main body 110, the attenuation section 120, the radar cover 130, and the seal member 140) is omitted.

[0091] The mounting stay 160L shown in Fig. 13 and Fig. 14 is a stay to which the radar main body 110, the attenuation section 120, and the radar cover 130 are fixed, and which is also attached to the front pillar 12. The radar main body 110 is attached to the mounting stay 160L so that the irradiation surface 111 of the radar main body 110 faces slightly upward with respect to the horizontal ground (so that the elevation angle is about 10°). The mounting stay 160L is formed of a metal material. The mounting stay 160L includes a storage section 161, a radar fixing section 162, a cover fixing section 163, and a mounting section 164.

[0092] The accommodation section 161 is a portion that accommodates the radar main body 110. The accommodation section 161 is formed in a substantially box shape that opens in the direction in which the irradiation surface 111 of the radar main body 110 faces (diagonally upward and left). The accommodation section 161 has an upper wall 161a that is the upper wall, a lower wall 161b that is the lower wall, a front wall 161c that is the front wall, a rear wall 161d that is the rear wall, and an anti-opening wall 161e that is the wall on the opposite side (right side) of the opening.

[0093] Of the above walls, the anti-opening wall 161e has a surface along a substantially vertical direction. Moreover, the upper wall 161a and the lower wall 161b have surfaces along a substantially horizontal direction. Moreover, in the storage section 161, the edge of the opening formed by the upper wall 161a, the lower wall 161b, the front wall 161c, and the rear wall 161d is formed in a shape substantially parallel to the irradiation surface 111 of the radar main body 110. Moreover, an extraction opening 161f through which wiring of the radar main body 110 can be extracted is formed in the right part of the rear wall 161d.

[0094] The radar fixing portion 162 is a portion for fixing the radar main body 110 of the accommodation portion 161. The radar fixing portion 162 is formed in a substantially plate shape. The radar fixing portion 162 is disposed at an angle with respect to the counter opening wall 161e so that the surface to which the radar main body 110 is fixed faces diagonally upward and left. The radar fixing portion 162 is fixed to the upper wall 161a and the lower wall 161b by welding or the like. The radar main body 110 is fixed to the radar fixing portion 162 by using fasteners such as bolts. When the radar main body 110 is fixed to the radar fixing portion 162, it is disposed so that the irradiation surface 111 faces diagonally upward and left with respect to the horizontal ground (so that the elevation angle is about 10°).

[0095] The cover fixing portion 163 is a portion that fixes the radar cover 130. The cover fixing portion 163 extends upward and downward from the opening of the accommodation portion 161. Specifically, the cover fixing portion 163 extends upward and downward from the left end portions of the upper wall 161a and the lower wall 161b so as to be generally parallel to the radar fixing portion 162, and is formed in a generally plate shape with the plate surface facing generally diagonally upward and left. The radar cover 130 is fixed to the cover fixing portion 163 using fasteners such as bolts. A seal member 140 is provided between the cover fixing portion 163 and the radar cover 130.

[0096] Note that the mounting stay 160 does not have a grommet 151b provided in the cutout 151a, as in the mounting stay 150 (see FIG. 6). Therefore, the seal member 140 of the left radar unit 100L does not have a cutout for avoiding the grommet 151b.

[0097] The mounting portion 164 is a portion that is attached to the front pillar 12. The mounting portion 164 is fixed to the rear of the storage portion 161. Specifically, the mounting portion 164 is fixed to the storage portion 161 so as to cover the removal opening 161f of the rear wall 161d. The mounting portion 164 is formed in a generally plate shape with the plate surface facing in the front-rear direction. The mounting portion 164 is formed in a rectangular shape that is elongated in the up-down direction when viewed from the front. The mounting portion 164 has a first fixing hole 164a, a second fixing hole 164b, and a wiring removal hole 164c.

[0098] The first fixing hole 164a is a fixing hole provided in the upper part of the attachment portion 164. The first fixing hole 164a is formed so as to penetrate through the upper part of the attachment portion 164.

[0099] The second fixing hole 164b is a fixing hole provided in the lower part of the mounting portion 164. The second fixing hole 164b is formed so as to penetrate the lower part of the mounting portion 164. The second fixing hole 164b is formed in an elongated hole shape extending in the left-right direction. More specifically, the second fixing hole 164b is formed in a substantially arc shape along a circumference centered on the first fixing hole 164a.

[0100] The wiring outlet hole 164c is a hole through which the wiring of the radar main body 110 can be taken out. The wiring outlet hole 164c is formed so as to penetrate the center in the up-down direction of the mounting part 164. The wiring outlet hole 164c is formed so as to communicate with the internal space of the accommodation part 161. A cylindrical member through which the wiring is inserted in the accommodation part 161 is connected to the wiring outlet hole 164c.

[0101] The mounting portion 164 is attached to the left front pillar 12 using a fastener such as a bolt. As shown in Fig. 13, a pair of fixing portions 12a are provided in the vertical direction on the front pillar 12. The fixing portions 12a are provided with engagement holes 12b that engage with the fasteners. In addition, a communication hole 12c that communicates with the internal space of the front pillar 12 is provided between the upper and lower fixing portions 12a. A grommet for protecting the wiring is appropriately provided in the communication hole 12c.

[0102] 13 and 14, the left radar unit 100L can be attached to the front pillar 12 by engaging the fasteners inserted through the first fixing hole 164a and the second fixing hole 164b of the mounting portion 164 with the engagement hole 12b of the front pillar 12. In this embodiment, the second fixing hole 164b is formed in an elongated hole shape, so that the rotation position of the left radar unit 100L relative to the front pillar 12 (the rotation position with the first fixing hole 164a as the rotation center) can be adjusted within the range of the second fixing hole 164b. This makes it possible to adjust the position of the left radar unit 100L so that the counter opening wall 161e is aligned substantially vertically and the upper wall 161a and the lower wall 161b are aligned substantially horizontally.

[0103] Furthermore, when the left radar unit 100L is attached to the front pillar 12, the wiring taken out from the wiring outlet hole 164c of the attachment portion 164 can be inserted into the space inside the front pillar 12 via the communication hole 12c. In this embodiment, the fixing portion 12a is provided with a cover portion 165 that covers the space between the upper and lower fixing portions 12a from the left. The cover portion 165 is formed in a substantially plate shape with the plate surface facing substantially in the left-right direction. By providing the cover portion 165, the wiring taken out from the left radar unit 100L can be made less noticeable, improving the appearance.

[0104] 14, in the above-described left radar unit 100L, the radar main body 110 and the attenuation section 120 are housed in a space formed by the radar cover 130 and the mounting stay 160. In the left radar unit 100L, the irradiation surface 111 of the radar main body 110 and the cover section 131 of the radar cover 130 are arranged substantially parallel to each other. This makes it possible to improve the detection accuracy of the radar main body 110.

[0105] The configuration and mounting manner of the left radar unit 100L have been described above. The right radar unit 100R is formed symmetrically to the left radar unit 100L, and is mounted to the right front pillar 12 in a manner generally similar to that of the left radar unit 100L. The angle of the irradiation surface 111 of the right radar unit 100R is set to be generally the same as that of the left radar unit 100L. In other words, the right radar unit 100R is provided so that its elevation angle with respect to the horizontal ground is about 10°.

[0106] As described above, by orienting the irradiation surfaces 111 of the radio waves of the left radar unit 100L and the right radar unit 100R obliquely upward, it is possible to suppress erroneous detection of structures provided on the sides of the tractor 1. Examples of such structures include a fuel filler opening and the front wheels 6. The angles of the left radar unit 100L and the right radar unit 100R can be appropriately set so that the structures are outside the left detection range X3L and the right detection range X3R.

[0107] In this embodiment, the mounting portions 164 of the left radar unit 100L and the right radar unit 100R are provided so that the anti-opening wall 161e is aligned substantially vertically and the upper wall 161a and the lower wall 161b are aligned substantially horizontally. This makes it possible to avoid giving the user the impression that the left radar unit 100L and the right radar unit 100R are attached at an angle, even while the irradiation surfaces 111 are oriented obliquely upward.

[0108] The tractor 1 according to this embodiment has been described above. According to this embodiment, the radar units 100 can be used to detect a wide range around the tractor 1. Furthermore, the detection results by the radar units 100 can be used for controlling the travel of the vehicle, etc.

[0109] Fig. 15 shows the detection ranges (front detection range X1, rear detection range X2, left detection range X3L, and right detection range X3R) of each radar unit 100. As shown in Fig. 15, the detection ranges of adjacent radar units 100 among the radar units 100 are set to overlap with each other. This allows the surroundings of the tractor 1 to be detected appropriately.

[0110] 15, blind spots in the inspection range are formed near the bonnet 4 and the cabin 10. In this embodiment, a plurality of cameras (a front camera 51, a side camera 52, and a rear camera 53) provided in the cabin 10 capture images of the blind spots in the inspection range, thereby enabling detection of people, etc. This allows control of vehicle travel, etc., to be performed using both the detection results from each radar unit 100 and the image capture results from the plurality of cameras.

[0111] In addition, in this embodiment, the radar main body 110, the attenuation section 120, the radar cover 130, and the seal member 140 of each radar unit 100 are common members. This allows the radar units 100 to share the same members, thereby reducing costs.

[0112] As described above, the tractor 1 (work vehicle) according to this embodiment has the following features: A work vehicle equipped with a radar unit 100 (detection unit) capable of detecting a detection target around a vehicle body, The radar unit 100 includes: A radar main body 110 (radar) that irradiates radio waves used for detection; The radar main body 110 is fixed to mounting stays 150 and 160 which are attached to the vehicle body; A radar cover 130 that is fixed to the mounting stays 150 and 160, covers the irradiation surface 111 of the radar main body 110 that irradiates the radio waves, and is formed to be able to transmit the radio waves; It is equipped with the following. With this configuration, it is possible to preferably detect a detection target using radio waves. Specifically, by covering the irradiation surface 111 of the radar main body 110 provided on the vehicle body with the radar cover 130, it is possible to prevent foreign matter such as mud from adhering to the irradiation surface 111, thereby improving the accuracy of detection using radio waves. Furthermore, by unitizing the radar main body 110, the radar cover 130, and the mounting stays 150, 160 into the radar unit 100, it is possible to improve the ease of installation onto the vehicle body.

[0113] In addition, Tractor 1 is A seal member 140 is provided to close the gap between the radar cover 130 and the mounting stays 150 and 160. With this configuration, by providing the sealing member 140, it is possible to prevent sand, dust, and water from entering between the radar cover 130 and the mounting stays 150, 160.

[0114] In addition, the radar cover 130 is The thickness of the portion (covering portion 131) through which the radio waves pass is uniform. By configuring in this way, it is possible to further improve the accuracy of detection using radio waves.

[0115] In addition, Tractor 1 is The radar includes an attenuation unit 120 capable of attenuating side lobe waves generated outside the detection range among the radio waves irradiated by the radar. This configuration can further improve the accuracy of detection using radio waves. Specifically, by providing the attenuation unit 120 capable of attenuating side lobe waves, it is possible to suppress erroneous detection of the structure of the tractor 1 itself, the attached work machine, the ground, etc., due to the side lobe waves.

[0116] In addition, the attenuation section 120 is A main body 121 having a detection range surface (inner surface) that is a surface along the detection range of the radar main body 110; A radio wave absorber 122 provided on the detection range surface; It is equipped with the following. By configuring in this manner, it is possible to prevent the detection of structures and the like outside the detection range, and to further improve the detection accuracy.

[0117] In addition, Tractor 1 is The main body 121 and the radio wave absorber 122 are provided with a rivet 123 (insertion portion) that is inserted into holes 121a, 122a formed therein. With this configuration, the rivet 123 can be used to position the radio wave absorber 122 (RAM) relative to the main body 121 (resin guide).

[0118] In addition, the radar unit 100 includes: The vehicle includes a front radar unit 100F (front detection unit) provided on the front side of the vehicle body, and a rear radar unit 100B (rear detection unit) provided on the rear side of the vehicle body, At least one of the radar main body 110 and the radar cover 130 of the front radar unit 100F and the rear radar unit 100B is formed to have a similar configuration to each other. By configuring it in this way, the radar main body 110 and the radar cover 130 can be shared between the front and rear radar units 100, thereby reducing costs.

[0119] In addition, the radar unit 100 includes: The vehicle includes a left radar unit 100L (left detection unit) provided on the left side of the vehicle body, and a right radar unit 100R (right detection unit) provided on the right side of the vehicle body, At least one of the radar main body 110 and the radar cover 130 of the left radar unit 100L and the right radar unit 100R is formed to have a similar configuration to each other. By configuring it in this manner, the radar main body 110 and the radar cover 130 can be shared between the left and right radar units 100, thereby reducing costs.

[0120] As described above, the tractor 1 (work vehicle) according to this embodiment has the following features: A tractor 1 equipped with a radar unit 100 (detection device) capable of detecting a detection target around a vehicle body by emitting radio waves, The radar unit 100 includes: A front radar unit 100F (forward detection device) capable of detecting the detection target in front of the vehicle body; a left radar unit 100L and a right radar unit 100R (side detection devices) capable of detecting the detection object on the sides of the vehicle body; a rear radar unit 100B (rear detection device) capable of detecting the detection object behind the vehicle body; It includes. With this configuration, it is possible to detect a wide range around the vehicle. Furthermore, the detection results by each radar unit 100 can be utilized for controlling the running of the vehicle.

[0121] In addition, the front radar unit 100F is It is disposed in front of the bonnet 4 of the vehicle body. With this configuration, the front radar unit 100F is disposed in front of the bonnet 4, so that an object to be detected in front of the vehicle body can be suitably detected.

[0122] In addition, Tractor 1 is The radar unit 100F includes a front support member 200 (front support member) that is fixed to a portion of the vehicle body below the bonnet 4 and supports the front radar unit 100F. With this configuration, the front radar unit 100F can be suitably supported in front of the bonnet 4. Specifically, by supporting the front radar unit 100F from the underside of the bonnet 4 by the front support member 200, it is possible to prevent the front radar unit 100F from blocking the field of vision of the driver inside the cabin 10.

[0123] In addition, Tractor 1 is The front support member 200 is provided with a design cover 300 (front support member cover) that covers the front side of the front support member 200 . With this configuration, the provision of the design cover 300 can improve the appearance.

[0124] In addition, the front support member 200 and the decorative cover 300 are The lamp is formed in a shape that does not overlap with the work lamp 4b and the head lamp 4c (illumination unit) provided on the front surface of the bonnet 4 in a front view. With this configuration, the front support member 200 and the decorative cover 300 can be provided without blocking light from the work lamps 4b and the head lamps 4c of the bonnet 4.

[0125] In addition, the design cover 300 is A third cover 330 (guide portion) is provided which can be used as a guide for driving the tractor 1 when viewed from the driver in the cabin 10 . By configuring it in this way, the tractor 1 can be made easier to drive.

[0126] In addition, the third cover 330 is It is formed in a shape extending from the center in the left-right direction of the design cover 300 to both left and right sides. With this configuration, the third cover 330 can be used as a marker indicating the ridge width, etc.

[0127] In addition, the left radar unit 100L and the right radar unit 100R are A radar main body 110 (radar) that irradiates the radio waves; a mounting stay 160 to which the radar main body 110 is fixed and which is attached to the vehicle body; Equipped with The mounting stay 160 is The radar has at least one of a vertical surface (the surface of the anti-opening wall 161e) along the vertical direction and a horizontal surface (the surfaces of the upper wall 161a and the lower wall 161b) along the horizontal direction, and is equipped with a storage section 161 that stores the radar main body section 110 so that an irradiation surface 111 of the radar main body section 110 that irradiates the radio waves faces diagonally upward. With this configuration, the direction in which the radar main body 110 emits radio waves is directed obliquely upward, making it possible to prevent erroneous detection of structures on the sides of the vehicle. Furthermore, by providing at least one of a vertical surface and a horizontal surface in the storage section 161 of the mounting stay 160, it is possible to store the radar main body 110 facing diagonally upward, while avoiding the user from getting the impression that the left radar unit 100L and the right radar unit 100R are installed at an angle.

[0128] In addition, a recess 11a is formed in the rear of the roof 11 of the cabin 10 of the vehicle body, the recess 11a being recessed forward so as to accommodate the rear radar unit 100B. The rear radar unit 100B is provided with a rear support member 400 (rear support member) that supports the rear radar unit 100B so that the rear radar unit 100B, when housed in the recess 11a, is positioned below the height position of the roof 11. With this configuration, it is possible to prevent erroneous detection of a work implement provided at the rear of the vehicle body by positioning the rear radar unit 100B at the height of the roof 11. Also, by supporting the rear radar unit 100B housed in the recess 11a so as to be positioned lower than the height position of the roof 11, it is possible to prevent the rear radar unit 100B from contacting the ceiling of a container or the like when storing the tractor 1 in a container or the like used for transporting the tractor 1.

[0129] The radar unit 100 according to this embodiment is one embodiment of a detection unit according to the present invention. Furthermore, the front radar unit 100F, rear radar unit 100B, left radar unit 100L and right radar unit 100R in this embodiment are one embodiment of the front detection unit, rear detection unit, left detection unit and right detection unit according to the present invention. Moreover, the radar main body 110 according to this embodiment is one embodiment of the radar according to the present invention. Moreover, the radar unit 100 according to this embodiment is one embodiment of a detection device according to the present invention. Moreover, the front radar unit 100F, the rear radar unit 100B, the left radar unit 100L and the right radar unit 100R according to this embodiment are an embodiment of the forward detection device, the rear detection device and the side detection device according to the present invention. Moreover, the front support member 200 according to this embodiment is one embodiment of a front support member according to the present invention. Moreover, the design cover 300 according to this embodiment is one embodiment of a front support member cover according to the present invention. Moreover, the work light 4b and the headlight 4c according to this embodiment are one embodiment of the lighting unit according to the present invention. Moreover, the rear support member 400 according to this embodiment is one embodiment of the rear support member according to the present invention.

[0130] Although one embodiment of the present invention has been described above, the present invention is not limited to the above configuration, and various modifications are possible within the scope of the invention described in the claims.

[0131] For example, in the above embodiment, a configuration in which each radar unit 100 is arranged to face diagonally upward (see Figs. 1 and 3) is illustrated, but the present invention is not limited to this. For example, a part or a front part of each radar unit 100 may be arranged to face approximately horizontally, or to face diagonally downward. The angle of each radar unit 100 can be appropriately set according to the mode of detection.

[0132] In addition, in the above embodiment, the front radar unit 100F and the rear radar unit 100B have the same configuration, but the present invention is not limited to this. For example, the front radar unit 100F and the rear radar unit 100B may have different configurations.

[0133] In the above embodiment, the damping portion 120 is attached to the mounting stays 150 and 160, but the present invention is not limited to this. For example, the damping portion 120 may be attached to the radar cover .

[0134] In the above embodiment, the main body 121 (see FIG. 6) of the attenuation section 120 is made of resin, but the main body 121 may be made of metal or the like.

[0135] In the above embodiment, the radio wave absorber 122 is provided on all of the four side walls constituting the main body 121 of the attenuation section 120, but the present invention is not limited to this. For example, the radio wave absorber 122 may be provided on any (for example, one) side wall of the four side walls of the main body 121. In this case, the radio wave absorber 122 may be provided only on the lower side wall of the main body 121, for example.

[0136] In the above embodiment, the rivet 123 is inserted through the hole 121a of the main body 121 of the attenuation section 120 and the hole 122a of the radio wave absorber 122, but the present invention is not limited to this. For example, the radio wave absorber 122 may be attached to the main body 121 only by adhesion with double-sided tape, adhesive, or the like, without providing the hole 121a, the hole 122a, and the rivet 123.

[0137] In the above embodiment, the attenuation section 120 is formed by providing the sheet-like radio wave absorber 122 on the inner surface of the main body section 121, but the present invention is not limited to this. For example, the main body section 121 itself may be formed of a material capable of absorbing radio waves without providing the sheet-like radio wave absorber 122.

[0138] In the above embodiment, the irradiation surface 111 of the radar main body 110 of the left radar unit 100L and the right radar unit 100R and the cover portion 131 of the radar cover 130 are arranged generally parallel to each other (see FIG. 14), but the present invention is not limited to this. For example, the irradiation surface 111 of the radar main body 110 may be arranged to face diagonally upward, while the radar cover 130 may be arranged to face horizontally. When the above configuration is adopted, a sense of unity can be created between the mounting stay 160, which has a surface along the horizontal and vertical directions, and the radar cover 130.

[0139] In the above embodiment, a detection device using radio waves is used as the radar main body 110, but the present invention is not limited to this. For example, a detection device using a non-contact sensor other than radio waves, such as ultrasonic waves, may be used.

[0140] Furthermore, the shapes, structures, etc. of each part exemplified in the above embodiment are merely examples, and the configuration of each part can be changed as desired.

[0141] In the above embodiment, the tractor 1 is used as an example of a work vehicle, but the work vehicle is not limited to this. For example, the work vehicle may be other agricultural vehicles, construction vehicles, industrial vehicles, etc. [Explanation of symbols]

[0142] 1 Tractor 100 Radar Units 200 Front support member 300 Design Cover 400 Rear support member

Claims

1. A work vehicle equipped with a detection device capable of detecting a detection target around a vehicle body by emitting radio waves, The detection device includes: A forward detection device capable of detecting the detection target in front of the vehicle body; A side detection device capable of detecting the detection object on a side of the vehicle body; A rear detection device capable of detecting the detection object behind the vehicle body; Including, Work vehicle.

2. The forward detection device is Located in front of the bonnet of the vehicle body, A work vehicle according to claim 1.

3. a front support member fixed to a portion of the vehicle body below the bonnet and supporting the front detection device; The work vehicle according to claim 2.

4. A front support member cover is provided to cover the front side of the front support member. A work vehicle according to claim 3.

5. The front support member and the front support member cover are When viewed from the front, the lighting unit is formed in a shape that does not overlap with the lighting unit provided on the front surface of the bonnet. A work vehicle according to claim 4.

6. The front support member cover includes: The vehicle is provided with a guide portion that can be used as a guide for driving the work vehicle by a driver in the cabin. A work vehicle according to claim 4 or 5.

7. The guide portion is The front support member cover is formed in a shape extending to both left and right sides from a left and right central portion of the front support member cover. A work vehicle according to claim 6.

8. The lateral detection device is A radar that irradiates the radio waves; a mounting stay to which the radar is fixed and which is attached to the vehicle body; Equipped with The mounting stay is The radar includes a housing portion having at least one of a vertical surface along a vertical direction and a horizontal surface along a horizontal direction, and housing the radar such that an irradiation surface of the radar that irradiates the radio waves faces obliquely upward. A work vehicle according to claim 1.

9. a recessed portion recessed forward to accommodate the rear detection device in a rear portion of a roof of a cabin of the vehicle body; a rear support member that supports the rear detection device so that the rear detection device, when housed in the recess, is located below a height position of the roof; A work vehicle according to claim 1.

Images