Work vehicle

Abstract

To provide a work vehicle allowing various antenna devices effective for automatic driving of the work vehicle to be efficiently mounted and capable of sturdily supporting the various antenna devices.SOLUTION: A work vehicle with a cabin includes: an antenna unit 50; and a camera 78 located below the antenna unit 50. The antenna unit 50 is disposed at an upper position outside the cabin and receives position information of the work vehicle.SELECTED DRAWING: Figure 3

Description

[Technical field]

[0001] The present invention relates to a work vehicle equipped with a cabin, and in particular to a work vehicle suitable for automatically driving (including automatic driving) the work vehicle along a target driving route while acquiring position information of the work vehicle using a Global Navigation Satellite System (GNSS). [Background technology]

[0002] For example, in a tractor shown in Patent Document 1, which is a work vehicle employing an automatic driving system, a GPS antenna (GNSS antenna) that acquires satellite positioning information from positioning satellites is provided on the upper side surface of the cabin roof. Specifically, a mounting stay having a substantially horizontal mounting seat higher than the top surface of the cabin roof is formed at the intersection of a longitudinal line at approximately the center of the vehicle body's tread width and a lateral line at approximately the center of the wheel base on the upper side of the cabin roof, and a GPS antenna is attached to the mounting seat of this mounting stay. Furthermore, when a GPS antenna having a gyro sensor is used as the GPS antenna, the inclination angle of the cabin roof can also be detected. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2016-2874 A Summary of the Invention [Problem to be solved by the invention]

[0004] The above-mentioned conventional technology discloses a technique for improving the detection accuracy of the GPS antenna, or the detection accuracy of the GPS antenna and gyro sensor, by adjusting the mounting position of the GPS antenna on the upper side of the cabin roof. However, in the above-mentioned automated driving system, various external devices are provided in addition to the work vehicle, such as a wireless communication terminal that issues various instructions to the work vehicle and a base station for acquiring position information of the work vehicle. Therefore, when actually performing automatic driving of a work vehicle, it is necessary to efficiently mount not only a GPS antenna but also various antenna devices for communicating between the work vehicle and external devices on the work vehicle, and in this respect there is room for improvement in the above-mentioned conventional technologies.

[0005] Moreover, in the above-mentioned conventional technology, the upper side portion of the cabin roof, which is attached to the top of the cabin frame, has many curves and is less rigid than the cabin frame, so the mounting stays for attaching the GPS antenna need to be reinforced without damaging the appearance of the cabin roof, and there is room for improvement in this regard as well.

[0006] In view of this situation, the main object of the present invention is to provide a work vehicle that can efficiently mount various types of antenna equipment that are effective for the automatic driving of the work vehicle, and can sturdily support various types of antenna equipment. [Means for solving the problem]

[0007] A work vehicle according to one aspect is a work vehicle equipped with a cabin, and includes an antenna unit and a camera located below the antenna unit. The antenna unit is disposed at an upper position outside the cabin and receives position information of the work vehicle. [Brief description of the drawings]

[0008] [Figure 1] Overall side view of a tractor equipped with an antenna unit [Diagram 2] Control block diagram of the tractor, the reference station, and the wireless communication terminal [Diagram 3] Front view of the antenna unit mounting part of the tractor [Figure 4] Side view of the antenna unit mounting part of the tractor [Diagram 5] A perspective view of an antenna unit mounting portion of a tractor. [Figure 6] Front cross-sectional view of the antenna unit [Figure 7] Rear cross-sectional view of the antenna unit [Figure 8] Right side cross-sectional view of the antenna unit [Figure 9] Perspective view of the antenna unit when the cover is removed [Figure 10] A perspective view of the antenna unit with the cover removed when other units are attached. [Figure 11] Plan view of antenna unit with other units attached, with cover removed [Figure 12] Side view of the antenna unit when it is in the non-working position [Figure 13] Side view (a) showing the height relationship between the antenna unit in the working position and the highest point of the cabin, and side view (b) showing the height relationship between the antenna unit in the non-working position and the highest point of the cabin. [Figure 14] Cabin elevation perspective view [Figure 15] A perspective view of the main parts of the cabin [Figure 16] FIG. 13 is an exploded side view of an antenna unit attachment portion according to another embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] An embodiment of the present invention will be described with reference to the drawings. The automatic driving system shown in Figures 1 and 2 is configured to generate a target driving route and automatically drive a tractor 1 as a work vehicle along the generated target driving route. In addition to the tractor 1 capable of automatic driving, this automatic driving system is equipped with a wireless communication terminal 30 that issues various instructions to the tractor 1, and a reference station 40 that acquires position information of the tractor 1.

[0010] First, a tractor 1 will be described with reference to FIG. This tractor 1 has a body section 2 to which a ground work machine (not shown) can be attached at the rear side, the front part of the body section 2 is supported by a pair of left and right front wheels 3, and the rear part of the body section 2 is supported by a pair of left and right rear wheels 4. A bonnet 5 is disposed at the front part of the body section 2, and an engine 6 serving as a drive source is housed within the bonnet 5. A cabin 7 for a driver to sit in is provided behind the bonnet 5, and within the cabin 7 are provided a steering wheel 8 for the driver to steer, a driver's seat 9 for the driver, etc.

[0011] The engine 6 may be, for example, a diesel engine, but is not limited thereto and may be, for example, a gasoline engine. In addition to the engine 6 or instead of the engine 6, an electric motor may be used as a drive source.

[0012] In addition, in this embodiment, the tractor 1 is used as an example of a work vehicle, but work vehicles include, in addition to tractors, rice transplanters, combine harvesters, civil engineering and construction work equipment, snowplows, and other riding work vehicles.

[0013] A three-point link mechanism consisting of a pair of left and right lower links 10 and upper links 11 is provided on the rear side of the machine body 2, and a ground work machine can be attached to the three-point link mechanism. Although not shown, a lifting device having a hydraulic device such as a lifting cylinder is provided on the rear side of the machine body 2, and this lifting device lifts and lowers the three-point link mechanism, thereby lifting and lowering the ground work machine. Ground working machines include cultivators, plows, fertilizer applicators, and the like.

[0014] 2, the tractor 1 is equipped with an engine device 21 capable of adjusting the rotation speed of the engine 6, a transmission device 22 that changes the speed of the rotational driving force from the engine 6 and transmits it to the drive wheels, and a control unit 23 that can control the engine device 21 and the transmission device 22. The transmission device 22 is configured by combining, for example, a main transmission device made of a hydraulic continuously variable transmission device and an auxiliary transmission device made of a gear-type multi-stage transmission device.

[0015] This tractor 1 can be driven with a driver inside the cabin 7, but is also configured to be capable of automatic driving based on instructions from a wireless communication terminal 30, even without a driver inside the cabin 7.

[0016] As shown in FIG. 2, the tractor 1 is equipped with a steering device 24, an inertial measurement unit (IMU) 25 for obtaining information on changes in attitude of the vehicle, a GNSS antenna 26 for receiving radio signals transmitted from positioning satellites (navigation satellites) 45 that constitute a global positioning system (GNSS), a wireless communication unit (an example of a wireless communication device that can be attached to the antenna unit 50) 27 for transmitting and receiving various signals via a wireless communication network established with a wireless communication terminal 30, etc., a base station antenna (an example of a wireless communication device that can be attached to the antenna unit 50) 29 for receiving a wireless signal (for example, a wireless signal with a frequency band of 920 MHz) from a reference station wireless communication device 41 of the reference station 40, etc., and is configured to be capable of automatic driving while obtaining its own current position information (position information of the vehicle section 2).

[0017] The inertial measurement unit 25, the GNSS antenna 26, the wireless communication unit 27, and the base station antenna 29 are housed in an antenna unit 50 equipped with a unit cover 51, as shown in Figures 6 to 9. This antenna unit 50 is attached to a support frame 100 along the left-right width direction fixed to a cabin frame 200 of the cabin 7 at an upper position on the front side outside the cabin 7, as shown in Figures 3 to 5. The specific internal arrangement and mounting structure of the antenna unit 50 will be described in detail after the explanation of the automatic driving system.

[0018] The steering device 24 is provided, for example, at a midpoint of the rotation axis of the steering wheel 8, and is configured to be able to adjust the rotation angle (steering angle) of the steering wheel 8. By the control unit 23 controlling the steering device 24, not only straight driving but also turning driving with a desired turning radius can be performed by adjusting the rotation angle of the steering wheel 8 to a desired rotation angle.

[0019] The inertial measurement unit 25 determines three-dimensional angular velocity and acceleration using a three-axis gyro and a three-directional accelerometer. The detection values ​​of the inertial measurement unit 25 are input to the control unit 23, which performs calculations using an attitude / orientation calculation means to determine attitude information of the tractor 1 (the azimuth angle (yaw angle) of the machine, the left / right tilt angle (roll angle) of the machine, and the front / rear tilt angle (pitch angle) in the traveling direction of the machine).

[0020] In the global positioning system (GNSS), in addition to GPS (USA), satellite positioning systems such as the Quasi-Zenith Satellite (Japan) and GLONASS (Russia) can be used as positioning satellites 45.

[0021] In this embodiment, the wireless communication unit 27 is configured as a Wi-Fi unit with a frequency band of 2.4 GHz, but the wireless communication unit 27 can be configured as a unit other than Wi-Fi, such as Bluetooth (registered trademark). A signal received by a wireless communication antenna 28 of this wireless communication unit 27 can be input to the control unit 23 as shown in Fig. 2, and a signal from the control unit 23 can be transmitted by the wireless communication antenna 28 to a wireless communication device 31 of the wireless communication terminal 30, etc.

[0022] Here, as a positioning method using a satellite positioning system, a positioning method can be applied that includes a reference station 40 installed at a predetermined reference point, and uses correction information from the reference station 40 and satellite positioning information of the tractor 1 (mobile station) to determine the current position of the tractor 1. For example, various positioning methods such as DGPS (differential GPS positioning) and RTK positioning (real-time kinematic positioning) can be applied.

[0023] In this embodiment, for example, RTK positioning is applied, and as shown in Fig. 1 and Fig. 2, in addition to being provided with a GNSS antenna 26 on the tractor 1 which is the mobile station side, a reference station 40 equipped with a reference station positioning antenna 42 is provided. The reference station 40 is disposed at a position (reference point) which does not interfere with the travel of the tractor 1, such as around a farm field. Position information of the reference point where the reference station 40 is to be installed is known in advance. The reference station 40 is provided with a reference station wireless communication device 41 capable of transmitting and receiving various signals to and from the base station antenna 29 of the tractor 1, and is configured to be able to transmit and receive various information between the reference station 40 and the tractor 1.

[0024] In the RTK positioning, the carrier phase (satellite positioning information) from the positioning satellite 45 is measured by both the reference station positioning antenna 42 of the reference station 40 installed at the reference point and the GNSS antenna 26 of the tractor 1, which is the mobile station side of the target for which position information is sought. The reference station 40 generates correction information including the measured satellite positioning information and the position information of the reference point, etc., every time it measures satellite positioning information from the positioning satellite 45 or every time a set period elapses, and transmits the correction information from the reference station wireless communication device 41 to the base station antenna 29 of the tractor 1. The control unit 23 of the tractor 1 obtains the current position information of the tractor 1 using the satellite positioning information measured by the GNSS antenna 26 and the correction information transmitted from the reference station 40. The control unit 23 obtains, for example, latitude information and longitude information as the current position information of the tractor 1.

[0025] In the automatic driving system, in addition to the tractor 1 and the reference station 40, the control unit 23 of the tractor 1 is provided with a wireless communication terminal 30 capable of instructing the automatic driving of the tractor 1. The wireless communication terminal 30 is composed of, for example, a tablet-type personal computer having a touch panel, and various information can be displayed on the touch panel, and various information can be input by operating the touch panel. The wireless communication terminal 30 is provided with a wireless communication device 31 and a route generation unit 32 that generates a target driving route, and the route generation unit 32 generates a target driving route for the automatic driving of the tractor 1 based on various information inputted on the touch panel.

[0026] The control unit 23 provided in the tractor 1 is configured to be able to transmit and receive various information to and from the wireless communication terminal 30 via a wireless communication network using the wireless communication device 31 and the like. The wireless communication terminal 30 is configured to be able to instruct the automatic driving of the tractor 1 by transmitting various information for automatically driving the tractor 1, such as a target driving route, to the control unit 23 of the tractor 1. The control unit 23 of the tractor 1 is configured to obtain current position information of the tractor 1 from a signal received by the GNSS antenna 26, obtain displacement information and orientation information of the vehicle from the inertial measurement unit 25, and control the transmission 22, steering device 24, and the like based on the current position information, displacement information, and orientation information so that the tractor 1 automatically drives along the target driving route generated by the route generation unit 32.

[0027] Next, the internal arrangement and structure of the antenna unit 50 will be described. Figure 6 is a vertical cross-sectional view of the antenna unit 50 as viewed from the front side, Figure 7 is a vertical cross-sectional view of the antenna unit 50 as viewed from the rear side, Figure 8 is a horizontal cross-sectional view of the antenna unit 50 as viewed from the right side, and Figure 9 is an oblique view of the unit cover 51 with the upper cover body 53 separated. The unit cover 51 of the antenna unit 50 is mounted on the tractor 1 in a position in which the left-right width direction of the machine body 2 is the longitudinal direction relative to the forward direction. As shown in Figs. 6 to 9, the unit cover 51 has a lower cover body 52 made of resin and having a generally rectangular shape in plan view that opens upward, and an upper cover body 53 made of resin and having a generally rectangular shape in plan view that opens downward. The opening joint of the upper cover body 53 is externally fitted and joined in a watertight manner to the opening joint of the lower cover body 52 so as to be detachable. The opening joint of the upper cover body 53 and the opening joint of the lower cover body 52 are fixedly connected by screws 54 at one location each on the left and right side walls and at two locations on the left and right directions on the rear wall, as shown in Fig. 9.

[0028] As shown in Figs. 6 to 9, a metal base plate 55, which is an example of a unit base that can be attached to the tractor 1, is attached to the upper surface of the bottom plate portion 52A of the lower cover body 52. ​​The base plate 55 is made of sheet metal and has a generally rectangular shape in a plan view, and is attached to the lower cover body 52 in a position in which the left-right width direction of the machine body 2 is the longitudinal direction with respect to the forward movement direction. A gap with a set interval is formed between the lower surface of the base plate 55 and the upper surface of the bottom plate portion 52A of the lower cover body 52. ​​As shown in Figs. 5 to 7, the gap is regulated to the set interval by forming mounting recesses 52a at multiple locations (four locations in this embodiment) on the bottom plate portion 52A of the lower cover body 52, which protrude inward to a position where they can abut against the lower surface of the base plate 55, and placing the lower surface of the base plate 55 on the upper surface of each mounting recess 52a. Each mounting recess 52 a of the bottom plate portion 52 A of the lower cover body 52 and the base plate 55 are fixedly connected by a first bolt 56 and a first nut 57 .

[0029] As shown in Figs. 6 and 7, cylindrical first screw members 90 for mounting to a support frame 100 on the tractor 1 side are fixed to the lower surface of the base plate 55 at two locations, one at the front and one at the rear, which are offset outward in the longitudinal direction from the central mounting area of ​​the inertial measurement unit 25 and the GNSS antenna 26 described later. The lower end of each first screw member 90 penetrates the bottom plate portion 52A of the lower cover body 52 and protrudes slightly downward. Among them, horizontal connecting plate portions 91a of a pair of left and right connecting members 91 formed by bending the pair of front and rear first screw members 90 in a substantially inverted "L" shape when viewed from the front of the vehicle are disposed at the lower end of the pair of front and rear first screw members 90 located at one end side of the longitudinal direction of the base plate 55 and the lower end of the pair of front and rear first screw members 90 located at the other end side of the longitudinal direction. The horizontal connecting plate portions 91a of both connecting members 91 are fixedly connected by second bolts 92 that penetrate the horizontal connecting plate portions 91a and screw into the first screw members 90 from below. In this fixed connection state, a gap is provided between the lower surface of the bottom plate portion 52A of the lower cover body 52 and the upper surface of the horizontal connecting plate portion 91a of the connecting member 91, so that the lower cover body 52 is not subjected to load from the base plate 55 side. As shown in Figs. 6 and 7, cylindrical second screw members 93 for mounting a camera 78 (see Figs. 3 and 9) for photographing the front of the machine body are fixed to two locations on the left and right of the front end portion of the longitudinal center of the lower surface of the base plate 55 (the front end portion of the base plate 55 that becomes the front side of the machine body 2 when mounted on the tractor 1), and the lower end portion of each second screw member 93 penetrates the bottom plate portion 52A of the lower cover body 52 and protrudes slightly downward. The mounting bracket (not shown) of the camera 78 (see Figs. 3 and 9) arranged at the lower end portion of the second screw member 93 is fixedly connected by a bolt (not shown) screwed from below into the second screw member 93. In this fixed connection state, a gap is provided between the lower surface of the bottom plate portion 52A of the lower cover body 52 and the upper surface of the mounting bracket of the camera 78, so that the load of the camera 78 side is not applied to the lower cover body 52.

[0030] 6, 7, and 9, the inertial measurement unit 25 and the GNSS antenna 26, both of which are disposed at the center or approximately the center in the left-right width direction of the fuselage unit 2, are provided in a vertically overlapping state in the longitudinal center of the base plate 55. Of these, the GNSS antenna 26 is disposed above the inertial measurement unit 25. More specifically, the housing 25A of the inertial measurement unit 25 is fixedly connected to the base plate 55 by a third bolt 58 with its left-right center position positioned at the longitudinal center position of the base plate 55, as shown in Figures 6 and 7. On the other hand, as shown in Figs. 6 and 7, the housing 26A of the GNSS antenna 26 is attached to the base plate 55 via a hat-shaped metal first bracket 60 with its left-right center position located at the longitudinal center position of the base plate 55. The first bracket 60 is formed in a hat shape that goes around the upper part of the housing 25A of the inertial measurement unit 25 along the longitudinal direction of the base plate 55. Both legs 60a of the hat-shaped first bracket 60 are fixedly connected to the base plate 55 by a fourth bolt 61. The width of the hat-shaped first bracket 60 in the front-rear direction (also the front-rear direction of the aircraft) is configured to be slightly larger than the front-rear direction width of the housing 25A of the inertial measurement unit 25, and a front side plate 60b that covers the front side of the inertial measurement unit 25 is bent and formed at the front end edge of the first bracket 60 as shown in Fig. 6. With this configuration, the first bracket 60 is configured as a shielding wall that shields the wireless communication unit 27 described later. Also, as shown in Figures 6 and 7, the first predetermined distance L1 between the GNSS antenna 26 attached to the first bracket 60 and the inner surface 53a of the longitudinal center portion of the upper cover body 53 of the unit cover 51 is set to 30 mm or more.

[0031] 3, 6 and 7, when mounted on the tractor 1, the inertial measurement unit 25 and the GNSS antenna 26 are both arranged vertically at the center or approximately the center in the left-right width direction of the body 2, thereby improving the detection accuracy of the current position information of the tractor 1 obtained from the signal received by the GNSS antenna 26 and the detection accuracy of the displacement information and orientation information of the body obtained from the inertial measurement unit 25. Moreover, the width of the unit cover 51 in the front-rear direction is reduced, allowing the antenna unit 50 to be made more compact. 6 and 7, only the resin upper cover body 53 is present above the GNSS antenna 26, and no radio wave blocking object is present. Therefore, for example, unlike a case where the inertial measurement unit 25 is placed above the GNSS antenna 26, the inertial measurement unit 25 does not become an obstacle to reception of the GNSS antenna 26, and the carrier phases (satellite positioning information) from a predetermined number of positioning satellites 45 can be reliably received. Furthermore, as described above, the first specified distance L1 between the GNSS antenna 26 and the inner surface 53a of the upper cover body 53 of the unit cover 51 is set to 30 mm or more, thereby suppressing radio wave interference caused by the proximity of the GNSS antenna 26 and the inner surface 53a of the unit cover 51, and improving the detection accuracy of the current position information of the tractor 1 obtained from the received signal of the GNSS antenna 26.

[0032] As shown in Figs. 6 to 8, a housing 27A of a wireless communication unit 27 (one example of a wireless communication device to be mounted on the antenna unit 50) having two wireless communication antennas 28 in the left-right direction is fixedly connected to one longitudinal end of the base plate 55 (the right end in the left-right direction of the body section 2 with respect to the forward movement direction) by a fifth bolt 62. The two wireless communication antennas 28 of the wireless communication unit 27 are arranged in parallel at the front side of the base plate 55 and along the longitudinal direction of the base plate 55. This arrangement ensures that the two wireless communication antennas 28 are spaced a sufficient distance forward from the cabin frame 200 (see Fig. 4), which is a metal part of the tractor 1.

[0033] The two wireless communication antennas 28 of the wireless communication unit 27 can increase the communication speed with the wireless communication device 31 of the wireless communication terminal 30. Moreover, since the two wireless communication antennas 28 are arranged in parallel in the front portion of the base plate 55 along the longitudinal direction of the base plate 55, the two wireless communication antennas 28 are less susceptible to radio wave blocking by the cabin frame 200, which is a metal part of the tractor 1, and the wireless communication unit 27 can maintain a good communication state. Furthermore, most of the outer periphery of the inertial measurement unit 25, except for connectors, etc., is shielded by a metal housing 25A, and the metal hat-shaped first bracket 60 located between the wireless communication unit 27 and the inertial measurement unit 25 functions as a shielding wall, thereby suppressing radio wave interference between the wireless communication unit 27 and the inertial measurement unit 25.

[0034] At the other longitudinal end of the base plate 55 (the left end in the lateral direction of the aircraft section 2 with respect to the forward movement direction), a base station antenna (one example of a wireless communication device assembled to the antenna unit 50) 29 that receives information from the reference station 40 is arranged, as shown in Figs. 6, 7 and 9. As a result, the wireless communication unit 27, the GNSS antenna 26 (the inertial measurement unit 25), and the base station antenna 29 are arranged in this order in the lateral direction of the aircraft section 2 from the right side in the lateral direction of the aircraft section 2 with respect to the forward movement direction on the base plate 55. As shown in Figs. 6, 7 and 9, the base station antenna 29 is composed of a base 29A equipped with a magnet 65, and a round bar-shaped antenna bar 29B extending upward from the base 29A.

[0035] 6, 7 and 9, a height-raising portion 95 for placing the base station antenna 29 higher than the antenna mounting portion is provided between the base station antenna 29 and the antenna mounting portion of the base plate 55. This height-raising portion 95 is formed of a height-raising bracket 96 formed by bending a metal plate twice at a right angle as shown in Figs. 6 and 7. The height-raising bracket 96 is provided with a mounting base plate portion 96a in a horizontal position fixedly connected to the other end portion in the longitudinal direction of the base plate 55 by a sixth bolt 97 and a sixth nut 98, a height-raising plate portion 96b extending vertically upward from one end portion of the mounting base plate portion 96a, and an antenna mounting plate portion 96c extending horizontally from the upper end of the height-raising plate portion 96b.

[0036] Due to the above-mentioned arrangement of the base station antenna 29, the distance between the antenna bar 29B of the base station antenna 29 located at the other end in the longitudinal direction and the wireless communication antenna 28 of the wireless communication unit 27 located at one end in the longitudinal direction is increased, thereby making it possible to suppress radio wave interference between the antenna bar 29B of the base station antenna 29 and the wireless communication antenna 28 of the wireless communication unit 27. Moreover, the base station antenna 29 can be easily attached to the metal elevation bracket 96 by the magnetic force of the magnet 65 provided on the base 29A. Furthermore, the upper end of the base station antenna 29 can be placed at a higher position by the elevation caused by the elevation bracket 96, and compared to the case where a long base station antenna 29 is used, breakage due to swinging of the base station antenna 29 caused by vibrations caused by the tractor 1 while traveling, etc., can be suppressed, while improving the reception performance for the reference station wireless communication device 41 of the reference station 40.

[0037] Next, the unit cover 51 of the antenna unit 50 will be described. 6 to 9, a bulge 53A is formed in the front half of one longitudinal end side (the right end side in the left-right direction of the body section 2 with respect to the forward movement direction) of the upper cover body 53 of the unit cover 51, which protrudes upward from the upper surface position of the longitudinal center part of the upper cover body 53 and the upper ends of both wireless communication antennas 28 of the wireless communication unit 27. Then, as shown in Figs. 6 and 8, a second predetermined distance L2 between an inner surface 53b of the bulge 53A and the upper ends of the wireless communication antennas 28 is set to 30 mm or more. The second predetermined distance L2 formed between the upper end of the wireless communication antenna 28 and the inner surface 53b of the bulge 53A of the upper cover body 53 suppresses radio wave interference caused by the proximity of the wireless communication antenna 28 and the inner surface 53b of the unit cover 51, thereby improving communication accuracy between the wireless communication unit 27 and the wireless communication device 31 of the wireless communication terminal 30.

[0038] 9, a through hole 70 is formed in the other longitudinal end of the upper cover body 53, through which the antenna bar 29B of the base station antenna 29 passes and protrudes upward to the outside. A vibration-proof elastic body 71 such as a cylindrical rubber is attached to the opening periphery of this through hole 70, as shown in Figs. 6, 7 and 9, which contacts the outer circumferential surface of the penetration part of the antenna bar 29B of the base station antenna 29. A grommet is used as the vibration-proof elastic body 71, which contacts the entire circumference of the antenna bar 29B and also exhibits watertightness.

[0039] If the vibration-proof elastic body 71 were not present, an annular gap would be generated between the opening periphery of the through hole 70 in the upper cover body 53 and the outer circumferential surface of the through portion of the antenna bar 29B. When the traveling vibration of the tractor 1 or the like acts on the base station antenna 29, the antenna bar 29B would swing within the range of the annular gap, and there is a possibility that the antenna bar 29B would break at its base. However, in this embodiment, as described above, the vibration-proof elastic body 71 provided on the opening periphery of the through hole 70 in the upper cover body 53 supports the upper and lower middle parts of the antenna bar 29B, and the support structure of the base station antenna 29 is a two-point support structure overall, so that breakage of the antenna bar 29B caused by traveling vibration or the like can be suppressed.

[0040] In this embodiment, the vibration-proof elastic body 71 is attached to the opening periphery of the through hole 70 of the upper cover body 53, but this vibration-proof elastic body 71 may also be attached to the upper surface or inner surface 53a of the upper cover body 53.

[0041] 6, 10, and 11, an installation space 73 for another unit 72 is formed on the other end side in the longitudinal direction of the base plate 55, and between the inertial measurement unit 25 and the GNSS antenna 26, and the base station antenna 29. Here, Figs. 6, 7, and 9 show a state in which the other unit 72 is not installed in the installation space 73, and the installation space 73 is a hollow space, and Figs. 10 and 11 show a state in which the other unit 72 is installed in the installation space 73.

[0042] An example of the other unit 72 is a controller for a liquid crystal monitor that controls part of the automatic driving control. In the automatic driving tractor 1 of this embodiment, the liquid crystal monitor 47 is provided in the cabin 7, and the liquid crystal monitor 47 is equipped with a controller that controls part of the automatic driving control. However, when converting a normal specification rice transplanter or other work vehicle to an automatic driving specification, a controller that controls the automatic driving control is required for the liquid crystal monitor that is to be installed later. In this case, the controller can be easily installed using the installation space 73 secured in the base plate 55.

[0043] 6 to 7, a camera 78 (see FIGS. 3 and 9) for photographing the area in front of the vehicle body is disposed at the lower end of each of the second screw members 93 protruding from the bottom plate portion 52A of the lower cover body 52. ​​A mounting bracket (not shown) for this camera 78 is fixedly connected with a bolt (not shown) that is screwed into the second screw member 93 from below. The image photographed by the camera 78 can be displayed on the touch panel of the wireless communication terminal 30 via wireless communication between the wireless communication unit 27 of the tractor 1 and the wireless communication device 31 of the wireless communication terminal 30.

[0044] 6 to 11 omit the electric wires connected to the inertial measurement unit 25, the GNSS antenna 26, the wireless communication unit 27, and the base station antenna 29 mounted on the base plate 55, and only a portion of a single harness 80 formed by assembling these electric wires within the unit cover 51 is shown in FIGS. 3 and 4. As shown in FIG. 4, this harness 80 is led out to the outside from a harness lead-out hole 81 (see FIG. 9) formed on the longitudinal center side of the rear wall of the lower cover body 52. ​​A grommet (not shown) is attached to this harness lead-out hole 81.

[0045] Next, the mounting structure of the antenna unit 50 will be described. As shown in FIGS. 1, 3 to 5, both ends of a support frame 100 of the antenna unit 50 are fixedly connected to mirror mounting portions 150 provided on left and right front pillars 201 constituting a cabin frame 200. As shown in Figures 3 to 5, each of the left and right mirror mounting portions 150 has a mounting base material 151 fixed to the upper side of the front support 201 by welding or the like, which is configured in a roughly U-shape when viewed from above, and a mirror mounting member 152 equipped with a hinge portion that rotatably supports the support arm 111 of the rearview mirror 110 is fixedly connected to this mounting base material 151 by a bolt (not shown). Second brackets 112 extending upward (specifically, directly upward) in a side view of the aircraft are fastened together with bolts between the left and right mounting base materials 151 and the left and right mirror mounting members 152. Each second bracket 112 includes a vertical support plate portion 112a extending upward from between the mounting base material 151 and the mirror mounting member 152, a mounting plate portion 112b bent along a horizontal plane from the upper end of the vertical support plate portion 112a, and a reinforcing plate portion 112c fixed to the bent corner formed by these two portions.

[0046] As shown in Figures 3 to 5, the support frame 100 is provided with pipe-shaped support members 101 having a circular cross section and formed by bending both ends in the left and right width direction downwards into a generally flattened gate shape when viewed from the front of the aircraft. Attachment plates 102 having a generally "L" shape when viewed from the front of the aircraft and having a mounting lower surface along a horizontal plane are fixed to both ends of the pipe-shaped support member 101. Reinforcing plates 103 are fixed to both end portions of the pipe-shaped support member 101 and both attachment plates 102. Both mounting plates 102 of the support frame 100 are placed on the upper surfaces of mounting plate portions 112b of left and right second brackets 112 which are fastened together between the mounting base material 151 and the mirror mounting member 152. Both mounting plates 102 of the placed support frame 100 and the mounting plate portions 112b of both second brackets 112 are fixed and connected by seventh bolts 104 and seventh nuts 105, respectively.

[0047] As described above, the left and right mirror mounting parts 150 are attached to the upper parts of the front pillars 201 of the sturdy cabin frame 200, and are disposed at a height position close to the roof 190 of the cabin 7. Therefore, by utilizing both mirror mounting parts 150, which are sturdy and have a sufficient ground clearance, and by simply adding a simple support structure in which the second brackets 112 are extended upward (specifically, directly upward) from both mirror mounting parts 150, the support frame 100 of the antenna unit 50 can be firmly attached at an appropriate height position. Furthermore, since the upper mounting surfaces of the mounting plate portions 112b of the left and right second brackets 112, which are fastened together between the mounting base material 151 and the mirror mounting member 152, and the lower mounting surfaces of both mounting plates 102 of the support frame 100 are both formed on horizontal surfaces, it becomes easy to position the middle portion of the pipe-shaped support material 101 horizontally along the left-right direction, and mounting errors of the antenna unit 50 attached to the horizontal middle portion of the pipe-shaped support material 101 can be suppressed.

[0048] Furthermore, as shown in Figures 3 to 5, when the support frame 100 is installed across the left and right second brackets 112, the horizontal middle portion of the pipe-shaped support material 101 of the support frame 100 is positioned horizontally along the left and right width direction of the aircraft, near an upper position of the front end of the roof 190 of the cabin frame 200. 3 to 5, a pair of left and right third brackets 120 having a substantially "L" shape in a side view of the aircraft body, which support the pair of left and right connecting members 91 of the antenna unit 50, are fixed to the horizontal middle part of the pipe-shaped support member 101. The vertical connecting plate parts 91b of the connecting members 91 on the antenna unit 50 side and the two third brackets 120 on the support frame 100 side, which face each other closely in the left and right width direction of the aircraft body part 2, are fixed and connected by two eighth bolts 121 and eighth nuts 122 that are horizontal along the left and right width direction of the aircraft body part 2. When the vertical connecting plate portions 91b of both connecting members 91 on the antenna unit 50 side are fixedly connected to both third brackets 120 on the support frame 100 side by two sets of two eighth bolts 121 and eighth nuts 122, the antenna unit 50 is in a working position (working posture) in which the base station antenna 29 mounted thereon faces vertically.

[0049] Circular first bolt insertion holes 126 (see FIG. 16) are formed in two locations, front and rear, of the vertical connecting plate portions 91b of both connecting members 91. A horizontal second bolt insertion elongated hole 123 is formed in each of the third brackets 120 on the support frame 100 side, the second bolt insertion hole 123 being horizontal along the front-rear direction and having a length equivalent to the pitch of the first bolt insertion holes 126. A circular second bolt insertion hole 124 is formed in each of the third brackets 120 on the support frame 100 side, directly below the front end position of the second bolt insertion elongated hole 123 and at a position spaced vertically apart by a distance equivalent to the pitch of the first bolt insertion holes 126. 4, with the antenna unit 50 in the working position, the eighth bolt 121 on the front side is removed, and the eighth bolt 121 on the rear side is loosened. In this state, the eighth bolt 121 on the rear side is moved forward together with the antenna unit 50 along the second bolt insertion long hole 123 of both third brackets 120 to the front end position, and the antenna unit 50 is rotated downward about the axis of the eighth bolt 121. In this state where it is rotated to the front lower position, the antenna unit 50 hangs down with the eighth bolt 121 as a pivot axis, and the first bolt insertion hole 126 on the front end side of both connecting members 91 on the antenna unit 50 side and the second bolt insertion hole 124 of both third brackets 120 on the support frame 100 side are aligned (see FIG. 16). The removed eighth bolt 121 is inserted through the aligned first bolt insertion hole 126 and second bolt insertion hole 124, and each eighth bolt 121 is screwed in to the tightening side, thereby fixedly connecting both connecting members 91 on the antenna unit 50 side and both third brackets 120 on the support frame 100 side. In this fixed and connected state, the antenna unit 50 is in a non-operating position (non-operating posture) at a low forward position with the base station antenna 29 mounted thereon facing horizontally forward, as shown in Fig. 12.

[0050] With the above-mentioned configuration, the antenna unit 50 is attached to the support frame 100 so as to be displaceable from a working position to a non-working position on the front lower side. In addition, the second bolt insertion elongated holes 123 of both third brackets 120, the first bolt insertion holes 126 on the rear end sides of both connecting members 91 on the antenna unit 50 side, and the eighth bolt 121 form a guide section 125 that guides the antenna unit 50 in the forward / rearward movement between the working position and the non-working position on the front lower side. In this embodiment, the non-working position of the antenna unit 50 is a position where it has moved forward from the working position as far as possible within the bolt movement range of the second bolt insertion hole 123, and has also been rotated downward 90 degrees to a lower position around the eighth bolt 121 abutting the front end position of the second bolt insertion hole 123, as shown in Figures 12 and 13. In this non-working position, the base station antenna 29 is in a position where it protrudes horizontally forward, as described above.

[0051] As shown in Figs. 1, 4, and 13(a), when the antenna unit 50 is in the working position, a part of the base station antenna 29 and the unit cover 51 of the antenna unit 50 protrudes above the highest horizontal line X passing through the highest part 190a of the roof 190 of the cabin 7. However, when the base station antenna 29 protruding above the roof 190 of the cabin 7 becomes an obstacle during transportation of the tractor 1, the antenna unit 50 is changed from the working position to a non-working position on the front lower side as shown in Figs. 12 and 13(b). In this non-working position, the base station antenna 29 is in a position protruding forward in the horizontal direction, and the antenna unit 50 including the unit cover 51 can be disposed at a height position approximately the same as or lower than the highest part 190a of the upper surface of the roof 190 of the cabin 7. In this embodiment, as shown in Figs. 12 and 13(b), when the antenna unit 50 is in the non-working position, the upper side surface of the opening joint of the upper cover body 53 becomes the highest part 50a of the antenna unit 50. The highest point 50 a of the antenna unit 50 in the non-operating position is set at the same height as the highest horizontal line X passing through the highest point 190 a of the roof 190 of the cabin 7 .

[0052] Further, in this embodiment, the operation of changing the position of the antenna unit 50 between the working position and the non-working position is performed manually, but this operation of changing the position of the antenna unit 50 may be performed by a drive unit such as an actuator.

[0053] Whether or not the antenna unit 50 is located at the working position can be detected based on the displacement information acquired from the inertial measurement unit 25. For this reason, the control unit 23 is provided with an automatic driving restraint unit 46 that prohibits the start of automatic driving control based on the information acquired by the inertial measurement unit 25 and the GNSS antenna 26 if it is not detected that the antenna unit 50 is located at the working position, as shown in Fig. 2. The above-mentioned automatic driving restraint unit 46 makes it possible to start automatic driving control only when the antenna unit 50 is in the working position, and enables the aircraft to automatically drive accurately and safely along the target driving route based on the accurate information obtained by the inertial measurement unit 25 and the GNSS antenna 26.

[0054] In this embodiment, whether or not the antenna unit 50 is located at the working position is detected based on the displacement information obtained from the inertial measurement unit 25. However, whether or not the antenna unit 50 is located at the working position may also be determined based on the signal of an automatic switch that detects the positional displacement of the antenna unit 50 or the signal of a manually operated hard switch.

[0055] Next, the wiring structure of the harness 80 extending from the antenna unit 50 will be described. As shown in Figures 14 and 15, the cabin frame 200 through which the harness 80 is wired is configured in an approximately box-like shape with a pair of left and right front pillars 201 located in front of the driver's seat 9 (see Figure 1), a pair of left and right rear pillars 202 located behind the driver's seat 9, a front beam member 203 connecting the upper ends of the front pillars 201, a rear beam member 204 connecting the upper ends of the rear pillars 202, and left and right side beam members 205 connecting the upper ends of the front pillars 201 and rear pillars 202 that are arranged in a front-to-rear direction.

[0056] As shown in Figures 14 and 15, the upper rear end of a fender frame 207 is connected to the lower end of each rear support pillar 202. The upper rear end of a fender frame 207 is curved so as to bulge upward and rearward in side view in accordance with the shape of the rear fender 206, and the lower front end of each fender frame 207 is connected to the rear end of a side frame 208 that protrudes rearward from the lower part of the corresponding front support pillar 201. As shown in Figure 14, fender frame 207 is made up of a cylindrical frame material. The lower front end of fender frame 207 located on the right side of cabin 7 opens downward toward the outside of cabin 7, and the internal space of fender frame 207 located on the right side forms inside / outside communication passage 210 that connects the inside and outside of cabin 7. A drain hose (not shown) that discharges condensed water in the air conditioner to the outside of cabin 7 is arranged in inside / outside communication passage 210 of fender frame 207.

[0057] A windshield 212 is disposed in an area surrounded by the left and right front pillars 201, the front beam member 203, and the front lower plate boards 211 extending inwardly to the left and right from the lower ends of each front pillar 201.

[0058] 14 and 15, the harness 80 led out from the antenna unit 50 is disposed to extend downward along a strip-shaped portion overlapping with the glass receiving portion 201a of the right front support pillar 201 at the right edge (one example of one side edge in the left-right width direction) of the outer surface of the windshield 212 of the cabin 7. The harness 80 that reaches the front lower plate 211 at the lower end side of the windshield 212 extends rearward along the lower surface of the floor board support plate 213 that is continuous with the side frame 208, and is then led into the cabin 7 through the inside / outside communication passage 210 from an opening at the lower front end of the fender frame 207 located on the right side, and is connected to the control unit 23 disposed in the operation panel unit 214 on the right side.

[0059] The right edge of the outer surface of the windshield 212 and the strip-shaped portion overlapping with the glass receiving portion 201a of the right front support pillar 201 are glass attachment portions for attaching the windshield 212 to the front portion of the cabin 7, and are located in a position that does not interfere with vision. Therefore, by arranging the harness 80 led out from the antenna unit 50 in the strip-shaped portion, the harness 80 can be arranged neatly while maintaining a good field of vision for the driver seated in the driver's seat 9.

[0060] As shown in FIG. 15, a protective resin harness cover 250 for inserting the harness 80 is attached by adhesive or the like to a band-shaped region on the outer surface of the windshield 212 at the right edge.

[0061] [Another embodiment] In the above-described embodiment, the second bolt insertion long holes 123 of both third brackets 120 of the support frame 100 are formed in a straight line along the front-to-rear direction. However, as shown in FIG. 16, a recess 123a may be formed at both front-to-rear ends of the second bolt insertion long hole 123, into which the eighth bolt 121 inserted through the first bolt insertion hole 126 and the second bolt insertion hole 124 extends downward. When the antenna unit 50 is moved from the working position to the non-working position on the front lower side, the eighth bolt 121 on the front side is first removed, and the eighth bolt 121 on the rear side is loosened. In this state, the eighth bolt 121 located in the recess 123a on the rear end side of the second bolt insertion long hole 123 is pulled up and moved forward together with the antenna unit 50. The moved eighth bolt 121 is dropped into the recess 123a on the front end side of the second bolt insertion long hole 123, and the antenna unit 50 is rotated downward around the axis of the eighth bolt 121. At this time, the eighth bolt 121 is reliably held in position in the recess 123a on the front end side of the second bolt insertion long hole 123, so that the antenna unit 50 can be easily rotated around the axis of the eighth bolt 121. In the state where the antenna unit 50 is rotated to the front lower side, the antenna unit 50 hangs down with the eighth bolt 121 as a pivot axis, and the first bolt insertion hole 126 on the front end side of both connecting members 91 on the antenna unit 50 side and the second bolt insertion hole 124 of both third brackets 120 on the support frame 100 side are matched. The removed eighth bolt 121 is inserted through the matched first bolt insertion hole 126 and second bolt insertion hole 124, and each eighth bolt 121 is screwed to the tightening side, thereby fixedly connecting both connecting members 91 on the antenna unit 50 side and both third brackets 120 on the support frame 100 side. In this fixed connection state, the antenna unit 50 is in a non-operating position (non-operating posture) in a front lower position with the base station antenna 29 mounted thereon facing horizontally forward.

[0062] Other embodiments (1) In the above-described embodiment, the wireless communication antenna 28 of the wireless communication unit 27 is housed within the unit cover 51 of the antenna unit 50. However, if necessary, the wireless communication antenna 28 may be protruded upward and to the outside through a through hole formed in the upper cover body 53.

[0063] (2) In the above-described embodiment, the first predetermined distance L1 between the GNSS antenna 26 and the inner surface 53a of the upper cover body 53 of the unit cover 51 is set to 30 mm or more. However, this first predetermined distance L1 can be set arbitrarily depending on the reception conditions of the carrier phase (satellite positioning information) from a predetermined number of positioning satellites 45.

[0064] (3) In the above-described embodiment, the second predetermined distance L2 between the inner surface 53b of the bulge portion 53A of the unit cover 51 and the upper end of the wireless communication antenna 28 is set to 30 mm or more. However, this second predetermined distance L2 can be set arbitrarily depending on the communication state between the wireless communication unit 27 and the wireless communication device 31 of the wireless communication terminal 30.

[0065] (4) In the above-described embodiment, a pair of left and right connecting members 91 are attached to the underside of the unit cover 51. However, this is not limited to an attachment structure, and any attachment structure can be adopted depending on the attachment conditions of the work vehicle.

[0066] (5) In the above embodiment, the wireless communication unit 27 has two wireless communication antennas 28 arranged in parallel, but the wireless communication unit 27 may have only one wireless communication antenna 28, or may have three or more wireless communication antennas 28 arranged in parallel.

[0067] <Notes on the invention> The tractor of the first embodiment is a tractor equipped with a cabin, in which a support frame extending along the left-right width direction at an upper position outside the cabin is fixed to brackets extending upward from both the left and right sides of the cabin frame, and an antenna unit having a receiving device for receiving position information of the tractor is attached to the support frame, and the antenna unit is attached so that it can be displaced from a working position to a non-working position on the forward lower side relative to the support frame. In the tractor according to a second aspect, in the first aspect, the antenna unit is displaced from the working position to the non-working position by rotating about an axis. A third aspect of the present invention relates to a tractor according to the second aspect, wherein the shaft core is located above the cabin. The tractor according to a fourth aspect is the tractor of any one of the first to third aspects, further comprising a guide portion that guides the antenna unit to move between the working position and the non-working position. In the tractor of the fifth aspect, in any one of the first to fourth aspects, the antenna unit is arranged so that, in the non-working position, the center of the antenna unit is located at the same height as or lower than the highest point of the top surface of the cabin. A first characteristic configuration of the present invention is a work vehicle equipped with a cabin, A support frame extending along the left-right width direction at an upper position outside the cabin is fixed to brackets extending upward from both the left and right sides of the cabin frame, and an antenna unit incorporating an inertial measurement unit, a GNSS antenna, and a wireless communication device is attached to the support frame in a state in which the inertial measurement unit and the GNSS antenna are positioned approximately in the center of the aircraft in the left-right width direction.

[0068] According to the above configuration, the inertial measurement unit and GNSS antenna attached to the antenna unit are positioned at approximately the center position in the left-right width direction of the aircraft, thereby improving both the detection accuracy of the current position information of the work vehicle obtained from the received signal of the GNSS antenna and the detection accuracy of the attitude change information of the aircraft obtained from the inertial measurement unit. Furthermore, the wireless communication device attached to the antenna unit makes it possible to wirelessly communicate various signals with an external device such as a wireless communication terminal. In addition, the support frame on which the antenna unit is mounted is attached to brackets extending upward from both the left and right sides of the cabin frame, and in this mounted state, the support frame is fixed to the highly rigid cabin frame in a position aligned along the left-right width direction at an upper position outside the cabin. This makes it possible to configure a robust support structure in which the support frame and both brackets are integrated with the cabin frame. Furthermore, since the cabin frame has a height that reaches almost the cabin roof, and brackets extend upward from both the left and right sides of the cabin frame, the mounting position of the support frame can be set on the upper side of the cabin frame with a simple support structure, and the antenna unit can be easily positioned at a height where the inertial measurement unit, GNSS antenna, and wireless communication device can each function properly.

[0069] Therefore, by adopting an antenna unit in which an inertial measurement unit, a GNSS antenna, and a wireless communication device are assembled, and by making the above-mentioned rational improvements in the placement of the inertial measurement unit and the GNSS antenna relative to the vehicle body, and in the support structure of the antenna unit, it is possible to efficiently mount the inertial measurement unit and the GNSS antenna on a work vehicle while improving the detection accuracy and maintaining good communication conditions for the wireless communication device. Moreover, the support structure for the mounted antenna unit can be constructed robustly.

[0070] A second characteristic configuration of the present invention is that the antenna unit is mounted on the support frame so that it can be displaced from a working position to a non-working position on the forward lower side, and a guide portion is provided to guide the antenna unit in the forward / backward movement between the working position and the non-working position.

[0071] According to the above configuration, when the antenna unit is in the working position, for example, in order to allow the inertial measurement unit, the GNSS antenna, and the wireless communication device of the antenna unit to function properly, it is preferable to arrange the antenna unit and the antenna mounted on the antenna unit to protrude above the highest part of the upper surface of the cabin roof. However, in this case, the vehicle height increases when the work vehicle is transported by a transport vehicle such as a truck, which may cause problems such as height restrictions when traveling on roads. Therefore, in the present invention, the antenna unit is displaced from the working position to a non-working position on the front lower side with respect to the support frame, so that problems such as height restrictions when traveling on roads can be easily dealt with. Furthermore, when the antenna unit is displaced from the working position to the non-working position, the antenna unit is moved forward along the guide portion, so that the antenna unit can be easily positioned at the non-working position by utilizing the large space at the upper front part of the cabin.

[0072] A third characteristic configuration of the present invention is that the antenna unit is mounted on the support frame so that it can be displaced from a working position to a lower non-working position, and when the antenna unit is displaced to the lower non-working position, it is arranged at a height position approximately the same as or lower than the highest point of the top surface of the cabin.

[0073] According to the above configuration, when the antenna unit is in the working position, for example, in order to properly function the inertial measurement device, the GNSS antenna, and the wireless communication device of the antenna unit, it is preferable to arrange the antenna unit and the antenna mounted on the antenna unit so as to protrude above the highest point of the upper surface of the cabin roof. However, even in this case, when the antenna unit is displaced to the non-working position, the antenna unit is disposed at a height position substantially the same as or lower than the highest point of the upper surface of the cabin, so that when the work vehicle is transported by a transport vehicle such as a truck, problems such as height restrictions when traveling on roads can be easily dealt with.

[0074] A work vehicle according to one embodiment is a work vehicle equipped with a cabin, and includes an antenna unit and a camera. The antenna unit is attached to a support frame extending along the left-right width direction at an upper position outside the cabin via a pair of brackets spaced apart in the left-right width direction, and is a device for receiving position information of the work vehicle. The camera is disposed between the pair of brackets in the left-right width direction. The antenna unit is attached to the support frame so that it can be displaced from a working position to a non-working position on the front lower side. The work vehicle is configured to be capable of automatic travel based on the position information. The working position is a position for automatic travel of the work vehicle.

[0075] A work vehicle according to one embodiment is a work vehicle equipped with a cabin, and includes an antenna unit and a camera. The antenna unit is attached to a support frame extending along the left-right width direction at an upper position outside the cabin via a pair of brackets spaced apart in the left-right width direction, and is a device for receiving position information of the work vehicle. The camera is disposed between the pair of brackets in the left-right width direction. [Explanation of symbols]

[0076] 1. Work vehicle (tractor) 7 Cabin 25 Inertial Measurement Unit 26 GNSS antenna 27 Wireless communication device (wireless communication unit) 29 Wireless communication equipment (base station antennas) 46 Autonomous Driving Control Unit 50 Antenna unit 100 Support Frame 112 Bracket (Second Bracket) 125 Guide part 190a Best part 200 Cabin Frame

Claims

1. A work vehicle equipped with a cabin, An antenna unit arranged at an upper position outside the cabin for receiving position information of the work vehicle; a camera located below the antenna unit; Work vehicle.

2. A gap is provided between the antenna unit and the camera. A work vehicle according to claim 1.

3. The camera is located forward of the front end of the roof of the cabin. A work vehicle according to claim 1.

4. The camera is disposed at a position lower than the top end of the roof of the cabin. A work vehicle according to any one of claims 1 to 3.

5. Further comprising a support frame arranged along the left-right width direction at an upper position outside the cabin, The antenna unit is supported by the support frame. A work vehicle according to any one of claims 1 to 4.

6. The antenna unit is located above the support frame. A work vehicle according to claim 5.

Images