Work vehicle

Abstract

To provide a work vehicle capable of, in a configuration including a cabin covering an operation part, utilizing a space around the cabin, arranging a position measuring device at a position close to a turning center of the vehicle, and improving positioning accuracy.SOLUTION: A combine-harvester as a work vehicle includes: a cabin 16 covering the driver's section; and a receiving device 81 for measuring the position at the work site on the basis of position information; wherein the receiving device 81 is disposed at a position rearward of a longitudinal center position C0 in a longitudinal direction of the machine body with respect to the cabin 16.SELECTED DRAWING: Figure 6

Description

[Technical Field]

[0001] The present invention relates to a work vehicle that is equipped with a cabin that covers a driver's section and is equipped with a position measurement device, such as a device for receiving position information. [Background technology]

[0002] BACKGROUND ART Conventionally, among work vehicles such as combine harvesters and tractors, those equipped with a position measurement device, such as a device for receiving position information from a satellite, in order to enable autonomous driving are known (for example, see Patent Document 1).

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

[0004] Patent document 1 discloses the placement of a positioning unit in a combine harvester, including a configuration in which the positioning unit is located to the side of the driver's seat toward the center of the machine body and lower than the top end of the discharge auger when in the stored state, and a configuration in which the positioning unit is located on the roof of the cabin that covers the driver's section. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Patent No. 6688545 Summary of the Invention [Problem to be solved by the invention]

[0006] With regard to the placement of the position measurement device that receives the position information, it is desirable to place it as close as possible to the turning center of the work vehicle, from the perspective of reducing positioning errors and improving positioning accuracy.

[0007] The present invention aims to provide a work vehicle that has a cabin that covers the driver's section, which allows the space around the cabin to be utilized and allows a position measurement device to be positioned close to the vehicle's turning center, thereby improving positioning accuracy. [Means for solving the problem]

[0008] The work vehicle of the present invention comprises a cabin that covers the driver's section and a position measurement device for measuring the position at the work site based on position information, and the position measurement device is positioned at a position rearward of the center position in the fore-and-aft direction of the vehicle body relative to the cabin.

[0009] In a work vehicle according to another aspect of the present invention, the position measuring device is provided along an upper edge of a roof portion of the cabin in a side view of the vehicle body.

[0010] In another aspect of the present invention, a work vehicle is provided in which the position measurement device has a device main body and a case that houses the device main body, and is equipped with a support bracket that supports the case against a side wall portion of the cabin.

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

[0012] A work vehicle according to another aspect of the present invention is provided with an antenna for receiving information from a base station located outside the work site, the antenna being attached to the support bracket.

[0013] In another aspect of the present invention, a work vehicle is provided in which the position measurement device is connected to a cable including at least one of wiring for power supply and wiring for signal transmission and reception, and the cable is routed along the support bracket.

[0014] A work vehicle according to another aspect of the present invention is provided with a grain discharge device that is rotatably mounted on the work vehicle and can be stored in a predetermined rotational position to discharge grains outside the vehicle, and the position measurement device is provided in a space formed between the cabin and the grain discharge device in a stored state.

[0015] In a work vehicle according to another aspect of the present invention, the position measuring device is provided on a left side wall of the cabin.

[0016] In a work vehicle according to another aspect of the present invention, the position measuring device is provided so as not to overlap with a roof portion of the cabin in a plan view. [Effects of the Invention]

[0017] According to the present invention, in a configuration having a cabin that covers the driver's section, the space around the cabin can be utilized and the position measurement device can be positioned close to the vehicle's turning center, thereby improving positioning accuracy. [Brief explanation of the drawings]

[0018] [Figure 1] 1 is a left side view of a combine harvester according to an embodiment of the present invention. FIG. [Figure 2] FIG. 1 is a right side view of a combine harvester according to an embodiment of the present invention. [Figure 3] 1 is a plan view of a combine harvester according to an embodiment of the present invention. [Figure 4] FIG. 2 is a left side view of a cabin according to an embodiment of the present invention. [Figure 5]FIG. 2 is a front view of a cabin according to an embodiment of the present invention. [Figure 6] FIG. 2 is a plan view of a cabin according to an embodiment of the present invention. [Figure 7] 1 is a block diagram showing the configuration of an automatic steering system for a combine harvester according to one embodiment of the present invention. FIG. [Figure 8] 1 is a left side view showing a receiving device and its supporting structure according to an embodiment of the present invention. [Figure 9] 1 is a front view showing a receiving device and its supporting structure according to an embodiment of the present invention; [Figure 10] 1 is a front perspective view showing a receiving device and its supporting structure according to an embodiment of the present invention; [Figure 11] 1 is a rear view showing a receiving device and its supporting structure according to an embodiment of the present invention. [Figure 12] 1 is a plan cross-sectional view showing a receiving device and its supporting structure according to an embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0019] The present invention aims to improve the positioning accuracy of a vehicle equipped with a cabin that covers the driver's seat and a position measurement device for measuring the vehicle's position by devising the position of the position measurement device relative to the cabin. Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

[0020] In the following embodiments of the present invention, a combine harvester will be used as an example of a work vehicle according to the present invention. However, the work vehicle according to the present invention may be any vehicle equipped with a cabin that covers the driver's section. Work vehicles to which the present invention can be applied include various types of combine harvesters, such as head-feeding combines and conventional combines, as well as tractors and wheel loaders for civil engineering work.

[0021] The overall configuration of a combine harvester 1 as a work vehicle according to this embodiment will be described using Figures 1 to 3. In the following description, the left side (lower side in Figure 3) and the right side (upper side in Figure 3) when facing the front of the combine harvester 1 will be referred to as the left side and right side of the combine harvester 1, respectively.

[0022] As shown in Figures 1 and 2, the combine harvester 1 according to this embodiment is a conventional combine harvester that rakes harvested crops from a field into the machine body, threshes, sorts, stores the grains, and can then be transported outside the machine as needed. The combine harvester 1 has a self-propelled traveling body 2 and a reaping unit 3 attached to the front end of the traveling body 2. The reaping unit 3 is configured as a reaping device that harvests and collects unharvested stalks of rice, wheat, etc., and is attached to the traveling body 2 so that it can be raised and lowered.

[0023] The traveling machine body 2 includes a traveling unit 4 configured as a crawler-type traveling device having a pair of left and right crawler units 5, 5. A machine body frame 6 is installed between the left and right crawler units 5, 5. Each crawler unit 5 has multiple rotating bodies including a drive sprocket 5a provided at the front end thereof and a tension roller 5b provided at the rear end of the crawler unit 5, and a track 5c wound around these rotating bodies. The drive sprocket 5a is rotated by receiving power from an engine 25, which is a drive source provided in the combine harvester 1.

[0024] On the left side of the machine frame 6, there are provided a threshing unit 7 that threshes the stalks cut and supplied by the reaping unit 3, and a sorting unit 8 that sorts the grains threshed by the threshing unit 7. The threshing unit 7 and the sorting unit 8 are arranged with the threshing unit 7 on the upper level and the sorting unit 8 on the lower level.

[0025] On the machine frame 6, to the right of the threshing section 7 and the sorting section 8, there is provided a grain storage section 9 having a grain tank 10 that stores the grain (clean grain) sorted in the sorting section 8. A lower discharge conveyor is provided inside the grain tank 10 to transport the stored grain toward the discharge outlet of the grain tank 10. Near the rear end of the right side of the machine frame 6, a vertical transport conveyor 12 is installed upright in the vertical direction so as to communicate with the discharge outlet of the grain tank 10. A grain discharge conveyor 13 configured as a discharge auger with a screw conveyor built in is connected to the upper end of the vertical transport conveyor 12. The grain discharge conveyor 13 is an example of a grain discharge device that discharges grain outside the machine.

[0026] The grain discharge conveyor 13 is provided so as to be able to rotate horizontally via the vertical transport conveyor 12 relative to the machine frame 6. The grain discharge conveyor 13 is also provided so as to be able to move up and down around a horizontal axis centered on its base. These conveyors transport the grains in the grain tank 10, and the grains are discharged from a paddy dumping port 14 provided at the tip of the grain discharge conveyor 13 and thrown into the bed of a truck, a container, etc.

[0027] The grain discharge conveyor 13 is in a stored state in which it extends substantially horizontally to the left and front from the vertical transport conveyor 12. In the stored state, the grain discharge conveyor 13 extends diagonally across the machine body with its tip positioned to the left of the front of the feeder 30 of the reaping unit 3 in a plan view (see Figure 3). The grain discharge conveyor 13 is placed and supported on an auger rest 27, which serves as an auger receiving unit, to enter the stored state.

[0028] The auger rest 27 is located diagonally to the rear left of the cabin 16 and is supported by a support pillar 28 made of a predetermined support member (see Figure 1). The support pillar 28 is erected to extend upward from the upper surface of the threshing section 7. The auger rest 27 has a concave shape with an open upper side so that it can store and support the cylindrical grain discharge conveyor 13 in a positioned state, and supports a predetermined portion of the grain discharge conveyor 13 in the middle in the extension direction from below.

[0029] In this way, the combine harvester 1 is equipped with a grain tank 10, which is a grain tank mounted on the running body 2, and a grain discharge conveyor 13 that is rotatably mounted on the running body 2 and can be stored at a predetermined rotation position, for discharging the grain in the grain tank 10 to the outside.

[0030] Furthermore, a driver's section 15, on which an operator sits, is provided on the machine frame 6 in front of the grain storage section 9, i.e., at the front right side of the machine frame 6. The driver's section 15 is used to operate the vehicle serving as the combine harvester 1, and is covered by a cabin 16. The driver's section 15 is provided with various operating tools such as a driver's seat 17, a control handle 18 disposed in front of the driver's seat 17, and a main speed change lever 21. Operating tools such as the main speed change lever 21 are disposed on a lever column 24 provided on the left side of the driver's seat 17 (see FIG. 5).

[0031] An engine 25 serving as a drive source is provided behind the grain storage section 9 on the traveling machine body 2. The engine 25 is a diesel engine, and is equipped with a diesel particulate filter (DPF) that is an exhaust gas purification device.

[0032] The reaping unit 3 has a feeder 30, a grain header (platform) 31, a cutting blade device 32, a pair of left and right grass dividing bodies 33, 33, and a raking reel .

[0033] The feeder 30 is a conveying device that transports the stalks harvested by the harvesting section 3 and supplies them to the threshing section 7. The feeder 30 has a feeder house 35 as a housing, and a conveyor 36 for transporting the stalks that is provided within the feeder house 35. The feeder 30 is provided with a rear end opening of the feeder house 35, which is configured as a substantially rectangular cylinder with the longitudinal direction in a plan view as the front-to-rear direction, connected to the front handling port 7a of the threshing section 7.

[0034] The feeder 30 is located to the left of the cabin 16 and is provided on the vehicle body center side (inner side on the left and right) in the left-right direction with respect to the cabin 16. As shown in Fig. 3, the cabin 16 covering the driver's seat 17 is provided in a position closer to the vehicle body center O1, which is the tread center of the left and right crawler units 5. In such an arrangement of the cabin 16, the feeder 30 is provided on the side closer to the vehicle body center O1 in the left-right direction with respect to the cabin 16, that is, on the left side.

[0035] The grain header 31 is configured in the shape of a horizontally elongated bucket and is connected to the front side of the feeder 30 so as to communicate with the front end opening of the feeder house 35. A raking auger (platform auger) 37 is provided within the grain header 31. The raking auger 37 is mounted on a shaft that is rotatable with the left-right direction as the rotation axis.

[0036] The cutting blade device 32 is mounted on the front lower edge of the grain header 31 and is configured like a pair of clippers. A pair of left and right grass dividing bodies 33, 33 are mounted so as to protrude forward from the front left and right sides of the grain header 31. The raking reel 34 is a reel with a tine bar, and is mounted in a position above and in front of the raking auger 37, supported rotatably with the left and right direction as the rotation axis. As it rotates, the raking reel 34 continuously acts on the pod-bearing portion of the stalk, raking the pod-bearing portion of the stalk into the raking auger 37. The operation of each part of the reaping unit 3 uses power from the engine 25, transmitted via various transmission mechanisms.

[0037] The conveyor 36 in the feeder house 35 has a reaping input shaft (feeder house conveyor shaft) 38, which is provided in front of the threshing unit 7 and has an axial direction running left and right, as a drive shaft supporting the end of the conveyor's feeding path. The rear end of the feeder 30 is supported by the reaping input shaft 38 so that it can rotate with the axial direction running left and right. A lifting cylinder 39 is provided between the underside of the feeder house 35 and the machine frame 6.

[0038] The threshing section 7 and the sorting section 8 will now be described. The threshing section 7 has a threshing drum 41 arranged in a threshing chamber with a threshing port 7a opening to the front, and a receiving net 42 arranged below the threshing drum 41. The threshing drum 41 is rotatably supported by a threshing drum shaft whose axial direction is the front-to-rear direction. Above the threshing drum 41, there are provided a number of angle-adjustable dust-transfer valves (not shown) for adjusting the conveying speed (retention time) of the threshing grain within the threshing chamber. The receiving net 42 allows the grains to escape, and is arranged along the outer peripheral surface of the lower part of the threshing drum 41.

[0039] The sorting section 8 has a swinging sorting board 43 as a swinging section arranged below the receiving net 42, a first conveyor 45, a second conveyor 46, and a winnower 47.

[0040] The oscillating sorting plate 43 has components for gravity sorting, such as a feed pan, a chaff sieve located behind the feed pan to adjust the amount of grain leakage, and a grain sieve located below the chaff sieve. The first conveyor 45 is located in the first trough extending in the width direction of the machine body to collect the first grains. The second conveyor 46 is located behind the first conveyor 45 in the second trough extending in the width direction of the machine body to collect the second grains. The winnower 47 blows sorting air from the front lower to the rear upper to the oscillating sorting plate 43.

[0041] A return conveyor 48 is provided on the left side of the machine body where the threshing section 7 and sorting section 8 are located. The return conveyor 48 is connected to the second conveyor 46 with its lower end located near the second conveyor 46, and its upper end located near the front end of the threshing drum 41, extending in an upward slant toward the front. An upper conveyor (not shown) is provided at the upper end of the return conveyor 48, extending left and right in front of the threshing drum 41.

[0042] The combine harvester 1 having the above-described configuration raises the reaping unit 3 to a desired height above the ground (the reaping height of the culms, which are the harvested crop) in a field by raising and lowering the feeder 30, which is supported by the reaping input shaft 38, and changes from a non-working state to a working state, and travels in this state using the traveling body 2. As a result, the combine harvester 1 separates the harvested crop into reaping targets and non-reaping targets using the left and right dividing bodies 33, 33, and raks in the pod-bearing portions of the culms on the tip side of the reaping targets using the raking reel 34, while reaping the pod-bearing portions of the culms with the cutting blade device 32.

[0043] The pod-bearing portions of the stalks harvested at the desired harvesting position are raked into the grain header 31 by the rotating raking auger 37 and collected near the entrance to the feeder house 35 in the center of the left and right sides of the grain header 31.Then, the pods are transported through the feeder house 35 by the conveyor 36 inside the feeder house 35 and fed into the threshing opening 7a, and then supplied to the threshing section 7.

[0044] The stalks supplied to the threshing section 7 are transported rearward by the rotating threshing drum 41 and threshed mainly between the threshing drum 41 and the receiving net 42. Threshed grains, such as grains smaller than the mesh size of the receiving net 42, leak through the receiving net 42. Straw chips and the like that do not leak through the receiving net 42 are discharged into the field through a dust outlet provided at the rear of the sorting section 8 by the transport action of the threshing drum 41. Meanwhile, the grains (threshed grains) that have been threshed in the threshing section 7 and leak through the receiving net 42 are sorted by gravity sorting action by the oscillating sorting plate 43 and wind sorting action by the winnower 47 into refined grains and other grains (first grade), a mixture of grains, such as grains with stalks, and straw (second grade), and straw chips, and are removed.

[0045] The grains (first grain) that fall from the oscillating sorting plate 43 after sorting in the sorting section 8 are transported to the grain tank 10 by the first conveyor 45 and a grain lifting conveyor (not shown) connected to it. The second grains are returned to the threshing start end of the threshing drum 41 by the second conveyor 46 and a return conveyor 48 and upper conveyor connected to it, and are threshed again. Straw dust and the like are discharged into the field from a dust outlet provided at the rear of the sorting section 8.

[0046] The configuration of the cabin 16 will be described with reference to Figures 4 to 6. The cabin 16 has a front surface 51, a rear surface 52, a left side wall 53, a right side wall 54, a roof 55 forming the ceiling, and a floor 56, and these parts form a generally box-like shape as a whole.

[0047] The front surface 51 of the cabin 16 is configured as a transparent window entirely using a rectangular transparent plate 57 made of glass, acrylic resin, polycarbonate resin, etc. The front surface 51 has a slightly forward-inclined surface overall, with a flat surface in the middle in the left-right direction and curved surfaces on both the left and right sides.

[0048] A left front support column 61 is provided on the front edge of the left side wall 53 of the cabin 16, and a left rear support column 62 is provided on the rear edge. The left front support column 61 and the left rear support column 62 are provided to extend over substantially the entire left side wall 53 in the vertical direction. The left front support column 61 extends so as to follow the forward inclination of the front surface 51 in a side view. The left rear support column 62 has an upper portion that follows the vertical direction and a lower portion that is inclined backward.

[0049] In the left wall 53, the lower part of the portion between the front and rear support columns 61, 62 constitutes a lower side surface portion 63, which is a sheet metal portion formed of steel plate or the like. The upper part of the portion between the support columns 61, 62 constitutes an upper-left window portion 64. The upper-left window portion 64 is formed by attaching a rectangular transparent plate 65, such as glass, to a frame-like portion formed including the upper parts of the front and rear support columns 61, 62. The transparent plate 65 is provided so as to be openable and closable so as to open outward from the bottom by means of hinge portions 65a provided at two locations, front and rear, above the upper side of the upper-left window portion 64. Furthermore, between the support columns 61, 62, the portion between the lower side surface portion 63 and the upper-left window portion 64 constitutes a lower-left window portion 66, which is formed of a transparent plate 67, such as glass.

[0050] A rear upper plate 68 is provided on the left side wall 53, behind the upper part of the left rear support column 62. The rear upper plate 68 forms an upper rear corner of the left side wall 53. The front edge of the rear upper plate 68 is aligned with the upper part of the left rear support column 62, which extends in the up-down direction.

[0051] A door 70, which is an opening and closing door for getting in and out, is provided on the right side wall 54 of the cabin 16 (see FIG. 2). The door 70 is supported rotatably with respect to the frame of the cabin 16 by a hinge provided on the front part of the right side wall 54 so as to open outward from the rear side.

[0052] The roof portion 55 of the cabin 16 has a generally rectangular outer shape with the longitudinal direction extending in the fore-and-aft direction in a plan view. The front edge of the roof portion 55 protrudes forward like a canopy from the upper end of the front surface 51. A plurality of lighting units 58 are provided side by side on the front end surface of the roof portion 55.

[0053] The roof section 55 has a flat outer shape and is hollow. The roof section 55 has a lower panel (not shown) that forms the base of the roof section 55, and a roof panel 60 that is a cover member provided on the upper side of the lower panel, and these panels form a hollow section. The roof panel 60 has a flat upper surface section 60a and left and right side surface sections 60b that are bent downward on both the left and right sides of the upper surface section 60a. The upper surface section 60a is a horizontal surface section that follows a plane perpendicular to the up-down direction.

[0054] The left side surface portion 60b of the roof panel 60 covers the upper edge portion of the left wall portion 53 from the left, and the right side surface portion 60b of the roof panel 60 covers the upper edge portion of the right wall portion 54 from the right. Inside the roof portion 55, an indoor unit of an air conditioning system equipped in the combine harvester 1 is provided.

[0055] The floor 56 of the cabin 16 forms a horizontal floor surface 76 in front of and below the driver's seat 17. A driver's seat support portion 77 that forms a horizontal seat support surface 78 is provided on the rear side of the floor surface 76 at a higher position than the floor surface 76. The driver's seat 17 is installed on the driver's seat support portion 77.

[0056] In the cabin 16 having the above-described configuration, the left side surface of the cabin 16 is formed by the left side wall 53 and the left portion of the roof 55. The right side surface of the cabin 16 is formed by the right side wall 54 and the right portion of the roof 55. Hereinafter, the left side surface of the cabin 16 that includes the left side wall 53 and the left portion of the roof 55 will be referred to as the cabin left side surface 79.

[0057] 7, the combine harvester 1 according to this embodiment includes a positioning system 80 for receiving position information from a satellite and measuring the position of the combine harvester 1. The positioning system 80 is a system for receiving radio waves from a positioning satellite and measuring the position of the combine harvester 1.

[0058] The positioning system 80 includes a receiving device 81 as a receiving unit, an inertial navigation system 82 as a calculation unit, and a wireless communication device 83 as a communication unit. The positioning system 80, including the control unit 200 provided in the combine harvester 1, constitutes an automatic steering system for the combine harvester 1.

[0059] The receiving device 81 receives radio waves from positioning satellites, converts the received radio waves into signals, and transmits them to the inertial navigation system 82. The receiving device 81 is, for example, a GNSS receiver (GNSS antenna) that receives radio waves from a group of GNSS satellites, or a GPS receiver (GPS antenna) that receives radio waves from GPS (Global Positioning System) satellites.

[0060] The inertial navigation system 82 is an inertial measurement unit (IMU) that measures acceleration in three directions with a three-axis gyro and calculates attitude and orientation data. The inertial navigation system 82 calculates position data based on signals transmitted from the receiving device 81. The inertial navigation system 82 functions as a calculation device that calculates position data based on position information from the receiving device 81. For example, by incorporating a GNSS receiver in the inertial navigation system 82, the reliability of the attitude and orientation data calculated by the inertial navigation system 82 is improved.

[0061] By including an inertial navigation system 82, the positioning system 80 can utilize inertial navigation, which calculates and determines positioning by calculating moving speed, moving distance, etc. based on the acceleration in three directions detected by the inertial navigation system 82, even in situations where radio waves from positioning satellites cannot be received due to bad weather, radio interference, etc.

[0062] The wireless communication device 83 transmits the position data and attitude direction data calculated by the inertial navigation system 82 to an external device via wireless communication. The wireless communication device 83 is, for example, a data communication device using a wireless LAN (Local Area Network) or mobile communication. The data transmitted from the wireless communication device 83 is received by, for example, a mobile terminal carried by the operator or an ECU (Electronic Control Unit) of the combine harvester 1, and is used to confirm the position in the field and the attitude of the combine harvester 1 (tilts forward, backward, left, right, etc.).

[0063] The positioning data (position data and attitude direction data) acquired by the positioning system 80 is used to control the autonomous combine harvester 1, which performs work while autonomously traveling along a predetermined route. The position data is used, for example, to determine whether the combine harvester 1 is traveling along a predetermined route. The attitude direction data is used, for example, to recognize the inclination of the combine harvester 1 and to check the traveling state of the combine harvester 1 and the state of the field. The operator can also send real-time instructions to the combine harvester 1 by receiving transmission data from the wireless communication device 83 on a mobile terminal or the like.

[0064] The configuration of the positioning system 80 is not limited to this embodiment. For example, the configuration of the positioning system 80 may be such that the inertial navigation system 82 is omitted by providing the receiving device 81 with a function as a calculation unit that calculates position data from the position information received by the receiving device 81.

[0065] As described above, the combine harvester 1 according to this embodiment includes the cabin 16 that covers the driver's section 15 and the receiving device 81 that receives position information in the field, which is the work site. The receiving device 81 is an example of a position measurement device that measures the position in the work site based on the position information.

[0066] The arrangement and support structure of the receiving device 81 will be described with reference to FIGS.

[0067] The receiving device 81 has a device main body 90 and a case 91 that houses the device main body 90. The device main body 90 is a main device portion that performs the functions of the receiving device 81 as a GNSS receiver, a GPS receiver, or the like.

[0068] The case 91 is a hollow housing that forms an accommodation space for the device main body 90. The case 91 is a member that positions the entire device main body 90 within the accommodation space, covers the entire device main body 90, and forms the outer shape of the receiving device 81. The case 91 is a member made of, for example, resin.

[0069] Case 91 has a flattened outer shape that is a roughly rounded equilateral triangle in plan view. Case 91 has a bottom surface 91a that is a horizontal plate-like portion, side surfaces 91b that follow the outer shape of case 91 in plan view, and an upper surface 91c that faces bottom surface 91a, which form the storage space. Bottom surface 91a and upper surface 91c form the outer shape of case 91 in plan view. Most of upper surface 91c, including the center of the plane, is horizontal, and portions near three vertices of the roughly rounded equilateral triangle outer shape in plan view are curved surfaces that slope gently downward from the center to the outside.

[0070] The device main body 90 is provided in a case 91, for example, fixed to a bottom surface 91a by fasteners such as bolts via a mounting plate or the like. The case 91 is configured, for example, with a base plate forming the bottom surface 91a, and a cover body forming side surfaces 91b and a top surface 91c and attached to the base plate so as to cover the device main body 90 provided on the base plate.

[0071] The receiving device 81 is provided so that one top side faces forward and the side located on the rear side is aligned along the left-right direction of the airframe in the plan view of the outer shape of the case 91. In other words, the receiving device 81 is provided so as to have a shape that is symmetrical in the left-right direction.

[0072] The following describes the arrangement of the receiving device 81. The receiving device 81 is provided on the left side wall 53 of the cabin 16. The receiving device 81 is provided in a state supported by the cabin 16 via a predetermined support member so as to be located near the left side of the upper part of the cabin left side surface 79, which includes the left side wall 53.

[0073] The receiving device 81 is disposed to the left of the cabin 16 and is provided so as not to overlap with the roof portion 55 of the cabin 16 in a plan view of the aircraft. In other words, the right end of the receiving device 81 located to the left of the cabin 16 is located to the left of the left end of the roof portion 55, and the entire receiving device 81 is located to the left of the roof portion 55.

[0074] The receiving device 81 is disposed at a position rearward of the center position in the fore-and-aft direction of the aircraft relative to the cabin 16. As shown in Fig. 6, the receiving device 81 is provided so that its entirety is located rearward of the fore-and-aft center position C0 of the cabin 16 in the fore-and-aft direction. In other words, the receiving device 81 is provided so that the front vertex of the outline of the case 91 in a plan view is located rearward of the fore-and-aft center position C0 in the fore-and-aft direction.

[0075] In a configuration in which the longitudinal dimension of the roof portion 55 is substantially the same as the longitudinal dimension of the entire cabin 16, the longitudinal center position C0 is a position that coincides with or approximately coincides with the center position between the front end position C1 and the rear end position C2 of the roof portion 55. In this embodiment, the receiving device 81 has a longitudinal dimension that is approximately 1 / 7 to 1 / 8 of the dimension of the roof portion 55, and is disposed so as to be located approximately in the center of the rear portion of the roof portion 55 (the portion rearward of the longitudinal center position C0). In this manner, the receiving device 81 is disposed to the left of the rear portion of the roof portion 55 with respect to the cabin 16.

[0076] In this embodiment, the receiving device 81 is disposed so that the entire device is located rearward of the longitudinal center position C0, but is not limited to such an arrangement. Regarding the longitudinal position of the receiving device 81 relative to the cabin 16, as long as the longitudinal center position D0 of the receiving device 81 is located rearward of the longitudinal center position C0 of the cabin 16, the receiving device 81 may be disposed so that a portion of the receiving device 81 is located forward of the longitudinal center position C0. Here, the central position D0 of the receiving device 81 is the longitudinal center position of the case 91.

[0077] Furthermore, with regard to the planar arrangement of the receiving device 81, the receiving device 81 is provided in a space 59 formed between the cabin 16 and the grain discharge conveyor 13 in the stored state. As shown in Fig. 3, the base end of the grain discharge conveyor 13, which serves as the pivot point, is located behind the cabin 16, and in the stored state supported by the auger rest 27, the front part extends left and forward from the auger rest 27, which is located near the left rear of the cabin 16.

[0078] Therefore, in a plan view, a space 59 is formed as a substantially triangular (substantially right-angled triangular) area on the left side of the cabin 16, more specifically, between the side surface 60b of the roof panel 60 that constitutes the roof portion 55 and the front of the grain discharge conveyor 13. A receiving device 81 is disposed in this space 59. In this embodiment, the receiving device 81 is disposed at the rear of the space 59.

[0079] The receiving device 81 is provided along the upper edge 55a of the roof portion 55 of the cabin 16 in a left side view of the aircraft. That is, the receiving device 81, which has a flat outer shape, is installed in the case 91 with the bottom surface 91a, which is the flat portion, horizontal, and is provided so that its longitudinal direction in a side view is along the horizontal upper edge 55a of the roof portion 55. Here, the upper edge 55a of the roof portion 55 in a side view is the upper edge of the top surface 60a or the side surface 60b of the roof panel 60.

[0080] The receiving device 81 is provided at approximately the same height as the roof portion 55 in the vertical direction. Specifically, the receiving device 81 has a vertical dimension that is approximately 1 / 3 to 1 / 4 of the vertical dimension of the side portion 60b of the roof panel 60, and is provided so that approximately the entire vertical dimension is within the height range of the side portion 60b of the roof panel 60.

[0081] 9, in this embodiment, the height position of the upper end of the case 91 of the receiving device 81, i.e., the height position H1 of the horizontal surface portion at the center of the upper surface portion 91c, is set to be substantially the same as the height position H2 of the upper surface portion 60a of the roof panel 60. In detail, the receiving device 81 is provided so that the height position H1 is slightly higher than the height position H2 of the roof panel 60. Note that the height position H2 is the height position of the upper end of the roof panel 60.

[0082] Furthermore, with regard to the vertical arrangement of the receiving device 81, the receiving device 81 is arranged so that the device main body 90 is located at a height lower than the height position H2 of the roof panel 60. In other words, the receiving device 81 is provided so that the entire device main body 90 is located below the height position H2 so that the device main body 90 does not extend above the height position H2 of the roof panel 60.

[0083] The receiving device 81 is arranged so that the right end of the side surface 91b of the case 91 is close to the left side surface 60b of the roof panel 60 in the left-right direction. The receiving device 81 is arranged at a position separated from the left side surface 60b of the roof panel 60 by a small distance that is sufficiently small relative to the dimension D2 (see FIG. 6) of the case 91 in the left-right direction.

[0084] The support structure of the receiving device 81 will be described. The receiving device 81 is provided in a state where it is supported by a support bracket 100, which is a support member, on the left side wall 53 of the cabin 16. The support bracket 100 supports the receiving device 81 by supporting a case 91 of the receiving device 81. In this way, the combine harvester 1 is provided with the support bracket 100 that supports the case 91 on the left side wall 53, which is the left side wall of the cabin 16.

[0085] The support bracket 100 is provided in a state where it is attached to the rear upper side plate 68 that forms the upper rear portion of the left side wall 53 of the cabin 16. The support bracket 100 has a bracket main body portion 101 that is fixed to the rear upper side plate 68 and that forms the majority of the support bracket 100, and a mounting plate portion 102 that is provided on the bracket main body portion 101 and that receives the attachment of the case 91 of the receiving device 81.

[0086] The bracket main body 101 is an arm-shaped stay portion having a predetermined arm shape when viewed from the front. The bracket main body 101 has a base 111 including an attachment portion of the bracket main body 101 to the rear upper side plate 68, and an arm portion 112 extending from the base 111 in a predetermined direction.

[0087] The support bracket 100 is provided so as to extend obliquely upward from the upper rear plate 68 of the left side wall portion 53 in a front view of the aircraft. As shown in Figure 9, in the bracket main body 101 of the support bracket 100, the extension direction of the arm portion 112 from the base portion 111 is obliquely upward, away from the left side wall portion 53 in a front view. In other words, the arm portion 112 extends in a straight line obliquely upward and to the left from the base portion 111. Hereinafter, the extension direction of the arm portion 112 from the base portion 111, i.e., the extension direction of the arm portion 112, will be referred to as the "arm portion extension direction."

[0088] 9, in this embodiment, the angle (rising angle) α1 formed by the extension direction of the arm portion relative to the horizontal direction L1 in a front view is approximately 60°. The angle α1 is set to a value within a range of 45 to 80°, for example. The magnitude of the angle α1 is not particularly limited.

[0089] Bracket main body 101 is configured to be approximately symmetrical in the front-to-rear direction (left-to-right direction in FIG. 8) using a plate-like member that has been bent to form a predetermined shape. Bracket main body 101 has a front surface 121 and a rear surface 122 that are parallel to each other, and an outer side surface 123 that connects these surfaces.

[0090] The front surface portion 121 and the rear surface portion 122 are surfaces whose thickness direction is the front-to-rear direction so as to form a straight line along the left-to-right direction in a plan view, have the same shape, and are provided so as to overlap each other in a front view (rear view). Each of the front surface portion 121 and the rear surface portion 122 has a base forming portion 124 that forms the base portion 111 and an arm forming portion 125 that forms the arm portion 112.

[0091] The base-forming portion 124 is a relatively wide portion having a horizontal upper edge 124a and a horizontal lower edge 124b parallel to each other and extending in the vertical direction. The arm-forming portion 125 is a relatively narrow portion having a horizontal inner oblique edge 125a and an outer oblique edge 125b parallel to each other and extending in the arm-forming direction. The outer oblique edge 125b is formed over the entire bracket main body 101 in the vertical direction. In other words, the outer oblique edge 125b extends from the arm 112 toward the base 111 and forms an obtuse-angled corner together with the lower edge 124b of the base-forming portion 124. In the rear surface portion 122, the inner oblique edge 125a is connected to the upper edge 124a of the base-forming portion 124 via a curved edge.

[0092] The outer surface portion 123 is a surface portion along the extension direction of the arm portion, and the plate thickness direction is a direction perpendicular to the extension direction of the arm portion in a front view. The outer surface portion 123 is a surface portion between the outer oblique side portions 125b of the front surface portion 121 and the rear surface portion 122, and the outer surface 123a is aligned with the outer oblique side portion 125b in a front view.

[0093] As shown in FIG. 12 , the bracket main body 101 has a front surface 121, a rear surface 122, and an outer surface 123, forming a generally U-shaped curved shape with the left and right inner sides (right sides) open in a planar cross-sectional view. The front surface 121, the rear surface 122, and the outer surface 123 of the bracket main body 101, together with the rear upper plate 68, form a space 120 with an open upper side. The lower side of the space 120 communicates with the outside via a lower opening 120a. The lower opening 120a is a rectangular opening formed by the lower edge portions 124b of the front surface 121 and the rear surface 122, the lower edge portion 123b of the outer surface 123, and the rear upper plate 68. Note that FIG. 12 is a planar cross-sectional view taken along the line AA in FIG. 9 .

[0094] In this embodiment, the base 111 and the arm 112 of the bracket main body 101 have approximately the same vertical dimension. That is, the vertical dimension between the upper side 124a and the lower side 124b of the base 111 and the vertical dimension between the upper side 124a and the upper end of the arm forming portion 125 are approximately the same. However, the vertical dimension relationship between the base 111 and the arm 112 is not particularly limited.

[0095] The bracket main body 101 has front and rear fixing surface portions 126 as fixing portions to the rear upper side plate 68. The front and rear fixing surface portions 126 are formed by bending at a right angle from the right end of the base forming portion 124 of the front surface portion 121 and the rear surface portion 122 outward in the front-to-rear direction over the entire range of the base forming portion 124 in the up-to-down direction. The fixing surface portion 126 is formed as a narrow rectangular surface with the vertical direction as the longitudinal direction. In the base 111, the bracket main body 101, the front surface portion 121, the rear surface portion 122, and the outer side surface portion 123, together with the left and right fixing surface portions 126, form a substantially hat shape in plan cross section (see FIG. 12).

[0096] The bracket main body 101 is fixed to the rear upper plate 68 by bolts 127 at four locations in total, two at the top and two at the bottom of each fixing surface 126, with the front and rear fixing surface portions 126 overlapping the rear upper plate 68 from the left side. The bolts 127 pass through the fixing surface portions 126 and the rear upper plate 68 from the left and are screwed into nuts 128 provided on the inside (right side) of the rear upper plate 68 (see FIG. 12).

[0097] The mounting plate 102 has a support surface 129, which is a main body portion that forms a horizontal support surface on which the receiving device 81 is placed and supported, at the upper end of the support bracket 100. The mounting plate 102 is provided by fixing a plate-like member that forms the mounting plate 102 to the upper end side of the member that forms the bracket main body 101 by welding or the like.

[0098] The mounting plate 102 has a generally triangular shape with a chamfered apex, corresponding to the outer shape of the case 91 in a plan view (see FIG. 12 ). The mounting plate 102 forms surfaces that protrude forward and to the left and right from the upper end of the arm 112. The mounting plate 102 has outer dimensions that are slightly smaller than the bottom surface 91a of the case 91, and is disposed relative to the case 91 so as to follow the outer shape of the case 91 in a plan view, and is located within the outer shape of the case 91 in a plan view. The mounting plate 102 has bent portions 130 that follow each side of the triangular outer shape relative to the support surface 129. The bent portions 130 are formed by bending downward so as to form a right angle with respect to the support surface 129 of the mounting plate 102.

[0099] The mounting plate 102 fixes and supports the receiving device 81 by fastening the case 91 at multiple locations with bolts 131 while the receiving device 81 is placed and supported on the support surface 129. The case 91 is fixed to the mounting plate 102 with the multiple bolts 131 in a state where the bottom surface 91a is placed on the support surface 129 from above. The fixing portions using the bolts 131 are provided at three locations near each apex of the approximately triangular shape of the mounting plate 102. The support surface 129 of the mounting plate 102 has three holes 129a formed therein through which the bolts 131 pass (see FIG. 12). The bolts 131 pass through the holes 129a and are threaded into predetermined screw holes provided on the case 91 side.

[0100] As described above, the support bracket 100 has the mounting plate portion 102 on the upper side of the bracket main body portion 101 fixed to the rear upper side plate 68 of the cabin 16, and supports the receiving device 81 in a state in which it is placed and fixed on the mounting plate portion 102. In this way, the receiving device 81 is provided in a state in which it is fixedly supported by the left side wall portion 53 of the cabin 16 via the support bracket 100 fixed to the rear upper side plate 68.

[0101] The receiving device 81 is connected to a cable 140 including a power supply line, which is a wiring for receiving power, and a signal line, which is a wiring for transmitting and receiving signals. In the receiving device 81, a connector portion 95, which is connected to the cable 140, is provided in the center of the left and right of the rear part of the side surface portion 91b of the case 91. The connector portion 95 is provided as a portion that protrudes rearward from the rear surface portion of the case 91.

[0102] The connector section 95 is connected to a cable-side connector 141 provided at the end of the cable 140. The cable 140 is connected to the device body 90 of the receiving device 81 by connecting the cable-side connector 141 to the connector section 95 of the receiving device 81. The cable 140 may include at least one of a power supply line and a wiring for transmitting and receiving signals.

[0103] The cable 140 extends from inside the cabin 16 through the rear upper side plate 68 to the outside of the cabin 16, and one end thereof, on which a cable connector 141 is provided, is connected to the receiving device 81. The other end of the cable 140 is routed along a predetermined path inside the cabin 16 and is connected to a control unit 200 (see FIG. 7) of the combine harvester 1, etc.

[0104] 12, the rear upper plate 68 is provided with a grommet 145 that forms a guide hole through which the cable 140 is inserted. The grommet 145 is a rubber member having a funnel-shaped outer shape. The grommet 145 has a conical portion 145a that has a conical outer shape and an insertion portion 145b that is a cylindrical portion extending from the small diameter side of the conical portion 145a, and forms a hole that has a shape that follows the outer shape of the conical portion 145a and the insertion portion 145b.

[0105] The grommet 145 has an outer circumferential groove 145c in a portion near the opening end on the large diameter side, and is attached to the rear upper plate 68 with the opening edge of the circular opening of the rear upper plate 68 fitted into the outer circumferential groove 145c. The portion of the grommet 145 on the small diameter side (insertion portion 145b side) from the outer circumferential groove 145c is positioned inside the rear upper plate 68 (interior side of the cabin 16).

[0106] The grommet 145 is provided on the rear upper plate 68 in a region that is covered by the lower portion of the outer surface portion 123 of the support bracket 100 in a left side view (see FIG. 8). More specifically, the grommet 145 is provided on the rear upper plate 68 in a region within the height range of the base portion 111 in terms of its position relative to the support bracket 100, and in a central position between the front surface portion 121 and the rear surface portion 122 in the front-to-rear direction. Therefore, the opening on the large diameter side of the grommet 145 faces into the space portion 120.

[0107] The cable 140 is routed along the support bracket 100. The cable 140 is routed to the support bracket 100 and the receiving device 81 supported thereby as follows.

[0108] The cable 140, which passes through the rear upper plate 68 from inside the cabin 16 via the grommet 145 and extends into the space 120, is disposed rearward and downward within the space 120, and emerges downward from the lower opening 120a to the outside of the space 120. The cable 140 that has emerged from the lower opening 120a to the outside of the space 120 passes below the lower edge portion 124b of the rear surface portion 122 of the bracket main body 101, wraps around to the rear side of the rear surface portion 122, and is folded back upward.

[0109] The cable 140 folded back upward is arranged upward along the rear surface 122a, which is the rear plate surface of the rear surface portion 122, and is arranged so as to follow the shape of the rear end of the case 91 protruding rearward from the rear surface portion 122 in a side view, and is connected to the receiving device 81. That is, the cable 140 bends diagonally upward and rearward in a side view from near the upper end of the rear surface portion 122, leaves the rear surface portion 122, makes a U-turn and heads forward, and a cable-side connector 141 at the tip is connected to a connector portion 95 of the receiving device 81 from the rear side.

[0110] The cable 140 wired to the support bracket 100 and the receiving device 81 as described above has the following wiring configuration of the wiring portion that extends from the rear upper side plate 68 to the outside of the cabin 16 and is connected to the receiving device 81. That is, the cable 140 has an in-bracket wiring portion 140a that is a portion that extends from the grommet 145 and is located inside the space 120, a lower folded wiring portion 140b that is a folded portion that protrudes downward from the lower opening 120a of the space 120, a straight wiring portion 140c that is a portion that is arranged along the rear surface portion 122 on the rear side of the rear surface portion 122, and an upper folded wiring portion 140d that is an upper folded portion that is separated rearward from the rear surface portion 122 and is connected to the receiving device 81.

[0111] Of the cable 140, a straight wiring portion 140c arranged along the rear surface 122a of the rear surface portion 122 is the portion that is wired along the support bracket 100. The straight wiring portion 140c is arranged linearly from the lower end to the upper end of the support bracket 100 in the direction in which the arm portion extends (see FIG. 11). The straight wiring portion 140c is arranged so that its upper portion is positioned within the width of the arm portion forming portion 125 of the rear surface portion 122.

[0112] In cable 140, the upper and lower ends of straight wiring portion 140c are locked and supported to rear surface portion 122 by locking devices 150, which are cable locking members. Cable support portion 146 formed by upper locking device 150 is located near the upper end of arm portion forming portion 125 of rear surface portion 122. Cable support portion 147 formed by lower locking device 150 is located near the obtuse angled corner between lower side portion 124b of rear surface portion 122 and outer oblique side portion 125b.

[0113] Locking device 150 is a resin or metal member that is attached to rear surface portion 122 and holds cable 140 in a state in which it passes through. Locking device 150 has locking shaft 151 that passes through rear surface portion 122, flange 152 provided on one axial side of locking shaft 151, and cable holding portion 153 provided on the opposite side of flange 152 from the locking shaft 151 side (see FIG. 12). Flange 152 is a generally circular plate-shaped, flattened cone-shaped portion that is perpendicular to the axial direction of locking shaft 151, with the expanded diameter side facing the locking shaft 151 side.

[0114] Locking device 150 is locked and fixed to rear surface portion 122 with locking shaft 151 passing through a hole formed in rear surface portion 122. Locking device 150 forms a clip portion that locks onto rear surface portion 122 with locking shaft 151 and flange 152. Locking device 150 is fixed to rear surface portion 122 with locking shaft 151 inserted from the rear side into the hole in rear surface portion 122 and flange 152 coming into contact with rear surface 122a of rear surface portion 122.

[0115] Locking shaft 151 has a central shaft and a plurality of (a pair of in this embodiment) locking pieces provided around the central shaft as portions connected to the central shaft, and has an outer shape that is partially larger than the diameter of the hole in rear surface portion 122. Locking shaft 151 penetrates the hole in rear surface portion 122 by temporarily elastically deforming the plurality of locking pieces, and locks and fixes locking device 150 to rear surface portion 122 in a state where locking shaft 151 and flange 152 clamp rear surface portion 122 while providing a retaining effect against the hole in rear surface portion 122 with the locking pieces in their natural state.

[0116] Cable holding portion 153 has a belt-like band portion that holds cable 140, and the band portion forms a ring-like portion that holds cable 140 in a manner that allows cable 140 to pass through. The band portion extends from the main body side of locking tool 150, surrounds the held portion of cable 140, and holds the tip side of cable 140 in a state where it is inserted into a predetermined locking hole in locking tool 150.

[0117] In this way, the portions of cable 140 that are locked and supported on rear surface 122 by locking devices 150 at upper and lower cable support portions 146, 147 become straight wiring portion 140c. Straight wiring portion 140c of cable 140 is a portion that is disposed parallel to rear surface 122a of rear surface portion 122 with a small gap between them.

[0118] The positioning system 80 has a converter 160 provided for the receiving device 81 (see FIG. 7). The converter 160 is a DC / DC converter that controls the voltage of DC power to convert DC power to DC power, and has functions for converting and stabilizing voltage.

[0119] 8 and 12, the converter 160 has a casing 161 having a substantially rectangular parallelepiped outer shape, and is installed on the opposite side of the rear upper plate 68 of the cabin 16 from the side on which the support bracket 100 is arranged, that is, on the inner side (right side) of the rear upper plate 68. The converter 160 is arranged directly below the support bracket 100 in the vertical direction (see FIG. 8).

[0120] The converter 160 is fastened to the rear upper plate 68 by a bolt 163 and a nut 164 at a plate-like fixing portion 162 formed in a notch shape at a pair of diagonally positioned corners of the casing 161 in a plan view. The bolt 163 passes through the rear upper plate 68 and the fixing portion 162 from the left side of the rear upper plate 68, and is screwed onto the nut 164 at the right side of the fixing portion 162.

[0121] The converter 160 is electrically connected to the receiving device 81 and controls the power sent from the power source to the receiving device 81. The converter 160 receives DC power supplied from a power source unit such as an auxiliary battery provided in the combine harvester 1 and boosts the voltage of this DC power to generate a high voltage. The DC power converted by the converter 160 is supplied to the receiving device 81.

[0122] The converter 160 has a connector including multiple input / output terminals on the lower side surface of the casing 161, and this connector is connected to a connector 166a provided on one end of a cable 166 for the converter 160 (see FIG. 8). The other end of the cable 166 joins with the cable 140 inside the rear upper plate 68 (see FIG. 12).

[0123] In this manner, with the configuration in which the converter 160 is provided for the receiving device 81 in the positioning system 80, a sufficient voltage can be obtained for the power supplied to the receiving device 81 and the voltage can be stabilized due to the boosting action of the converter 160, thereby ensuring good operating conditions of the positioning system 80. Furthermore, the converter 160 is disposed inside the rear upper plate 68, with the support bracket 100 that supports the receiving device 81 disposed outside, and is provided in a state where it is attached to the rear upper plate 68. With this configuration, the space inside the rear upper plate 68 can be used effectively, and the converter 160 can be disposed near the receiving device 81, allowing the cable 166 to be shortened.

[0124] 7, the positioning system 80 has a correction information terminal 170 as a correction information device, and an antenna 175 that receives information from a base station 300 located outside the work site. The correction information terminal 170 is a device that receives positioning correction information, which is correction information for correcting the position information (positioning information) received by the receiving device 81, from the base station 300, which is a reference station located outside the field.

[0125] The antenna 175 is used by the correction information terminal 170 to receive information from the base station 300, and is connected to the correction information terminal 170 via an antenna cable 176. The correction information terminal 170 is provided at a predetermined location within the cabin 16.

[0126] The combine 1 functions as a mobile station in relation to the base station 300, and constitutes a communication system together with the base station 300. The combine 1 receives positioning correction information from the base station 300 every moment, corrects the position information received by the receiving device 81 based on the received positioning correction information, and acquires its own positioning information with high accuracy.

[0127] The base station 300 is a fixed base station installed at a predetermined reference position outside the field. The base station 300 may be, for example, a base station independently established by a telecommunications carrier or a base station established by a local government or the like. The base station 300 calculates the difference between its own positioning information calculated based on GNSS satellite signals received from, for example, multiple GNSS satellites (positioning satellites) at predetermined time intervals and its own previously recognized position information, and transmits this difference information as positioning correction information. The base station 300 includes an antenna for receiving satellite signals used to calculate its own positioning information, and a wireless communication device for transmitting and receiving various signals to and from the antenna 175 on the combine harvester 1 side.

[0128] The base station 300 continuously generates positioning correction information, for example, at a preset cycle, and transmits a signal including the generated positioning correction information to the correction information terminal 170 of the combine 1 via a wireless communication device. The correction information terminal 170 processes the signal including the positioning correction information received by the antenna 175 and acquires the positioning correction information. The positioning correction information acquired by the correction information terminal 170 is used to correct the positioning information acquired by the receiving device 81.

[0129] In the combine harvester 1, the control unit 200 corrects the positioning information acquired by the receiving device 81 using positioning correction information transmitted from the base station 300, and calculates and acquires the current position information of the combine harvester 1. The control unit 200 acquires, for example, latitude and longitude information as the current position information of the traveling machine body 2 of the combine harvester 1. In this way, by correcting the positioning information using the positioning correction information from the base station 300 using the correction information terminal 170, the position of the traveling machine body 2 can be acquired with high accuracy. The positioning information corrected by the positioning correction information is used for the autonomous traveling of the combine harvester 1.

[0130] The antenna 175 is an external antenna provided outside the cabin 16, and is attached to the support bracket 100. The antenna 175 is a straight rod-shaped member, and is provided in an upright position with its extension aligned vertically.

[0131] The antenna 175 is disposed in front of the support bracket 100 and is supported by an antenna support surface 180 that is provided as part of the support bracket 100. The antenna support surface 180 is a horizontal plate-like portion with its thickness direction in the up-down direction, and is formed by bending forward at a right angle from the upper end of a protruding piece 181 that forms part of the front surface 121. The protruding piece 181 is formed between the upper edge 124a of the base forming portion 124 of the front surface 121 and the inner oblique side 125a of the arm forming portion 125, so as to form a right-angled corner with its right edge extending in the up-down direction and its upper edge extending in the left-right direction in a front view. The antenna support surface 180 is formed to fit along the upper edge of the protruding piece 181 in a front view.

[0132] Antenna support surface 180 has a substantially rectangular outer shape in a plan view. A notched support recess 180a with the front side open is formed in the front part of antenna support surface 180 (see FIG. 12). Antenna support surface 180 serves as a mounting seat for antenna 175, and supports antenna 175 in an upright position with the lower end of antenna 175 fitted into support recess 180a. Antenna 175 is fixed to antenna support surface 180 with antenna support surface 180 sandwiched between a flange-shaped locking portion provided at the lower end and a nut portion threaded onto a threaded portion formed below the locking portion.

[0133] In this way, antenna 175 is erected with its lower end supported on antenna support surface 180 formed on support bracket 100. Antenna cable 176 extends from the lower end of antenna 175 located below antenna support surface 180. Note that the structure for fixing antenna 175 to antenna support surface 180 is not particularly limited.

[0134] Although the height of the antenna 175 is not limited, in this embodiment, the tip (upper end) of the antenna 175 is positioned at approximately the same height as the mounting plate portion 102 of the support bracket 100. When viewed from the front, the antenna 175 is provided so that approximately the entire antenna 175 is positioned within the space surrounded by the bracket main body portion 101, the bottom surface portion 91a of the case 91 of the receiving device 81, and the side surface portion 60b of the roof panel 60.

[0135] According to the combine harvester 1 of this embodiment having the above-described configuration, in the configuration having the cabin 16 covering the driver's section 15, the space around the cabin 16 can be utilized and the receiving device 81 can be positioned close to the turning center of the vehicle, thereby improving positioning accuracy.

[0136] In the combine harvester 1, the receiving device 81 is disposed on the left side of the cabin 16 in the left-right direction, closer to the turning center T0 (see FIG. 3) of the machine body, and is disposed at a position rearward of the fore-and-aft center position C0 (see FIG. 6), which is the center position of the cabin 16 in the fore-and-aft direction, and is attached to the cabin 16 via a support bracket 100. Here, the turning center T0 is a position on the machine body center O1, which is the tread center of the left and right crawler units 5, and is the center position of the left and right crawler units 5 in the fore-and-aft direction.

[0137] With this configuration, the receiving device 81 can be placed near the turning center T0 by utilizing the space around the cabin 16, particularly the space to the left of the roof portion 55. This reduces errors when the receiving device 81 acquires the position information of the combine harvester 1, thereby improving the positioning accuracy.

[0138] Furthermore, a space 59 is formed on the left side of the roof portion 55 of the cabin 16 between the cabin 16 and the grain discharge conveyor 13 in the stored state, and the receiving device 81 is disposed in this space 59. When the grain discharge conveyor 13 is discharging grain, the grain discharge conveyor 13 rotates from the stored state supported by the auger rest 27 to the left side or upward of the machine body, with the base located at the rear right of the machine body as the pivot point. In this way, the receiving device 81 is provided in the space 59 formed between the cabin 16 and the grain discharge conveyor 13 in the stored state. This arrangement of the receiving device 81 makes it possible to prevent the receiving device 81 from interfering with the grain discharge conveyor 13.

[0139] Furthermore, the receiving device 81 is provided along the upper edge 55a of the roof 55 of the cabin 16 when viewed from the left side of the vehicle body. With this configuration, the receiving device 81 can be positioned at approximately the same height as the roof 55 of the cabin 16, which is a high position in the combine harvester 1, and the space above the receiving device 81 can be left empty. This prevents the receiving range of the receiving device 81 from interfering with the roof 55, and good reception can be achieved at the receiving device 81, thereby improving positioning accuracy.

[0140] Furthermore, the receiving device 81 is arranged so as not to overlap with the roof portion 55 of the cabin 16 in a plan view. According to such an arrangement configuration of the receiving device 81, the receiving device 81 can be arranged at a position on the inner left and right (left side) side of the cabin 16 so as not to protrude upward from the roof portion 55. This makes it possible to prevent the receiving device 81 from getting in the way when working with the combine harvester 1 or transporting the combine harvester 1.

[0141] The receiving device 81 also has a device main body 90 and a case 91 that houses the device main body 90, and the combine harvester 1 is provided with a support bracket 100 that is attached to the left side wall 53 of the cabin 16 to support the case 91. In other words, the receiving device 81 is mounted on the left side wall 53 of the cabin 16 via the support bracket 100. With this configuration, the receiving device 81 can be firmly supported on the cabin 16 by utilizing the space on the left side of the cabin 16.

[0142] In particular, in this embodiment, the support bracket 100 is attached to the rear upper side plate 68 of the left side wall 53 of the cabin 16. With this configuration, the support bracket 100 can be provided without interfering with the upper left window 64, the lower left window 66, and the like provided in the left side wall 53. As a result, for example, when performing mowing operations with the mowing unit 3, the support bracket 100 does not obstruct the driver's view through the upper left window 64 or the lower left window 66, thereby ensuring good workability.

[0143] Furthermore, the support bracket 100 is configured to extend obliquely upward (diagonally upward to the left) from the left side wall 53 of the cabin 16 in a front view with respect to the vertical direction. With this configuration, it is possible to ensure space below the receiving device 81 and to the left of the support bracket 100, compared to, for example, a configuration in which the arm portion 112 extends vertically from the mounting plate portion 102 in the up-down direction. In other words, by configuring the support bracket 100 to extend obliquely upward to the left by the arm portion 112, it is possible to expand the space below the receiving device 81 and to the left of the support bracket 100 (see the portion indicated by the dashed ellipse S1 in FIG. 5). This allows the space below the receiving device 81 to be used as a working space, thereby improving workability for maintenance work on the receiving device 81, the converter 160, etc.

[0144] The combine harvester 1 also includes an antenna 175 that receives information from the base station 300, and the antenna 175 is attached to the support bracket 100. With this configuration, the antenna 175 can receive positioning correction information from the base station 300, so that the position information received by the receiving device 81 can be corrected, thereby improving the positioning accuracy.

[0145] Furthermore, with the configuration in which the antenna 175 is attached to the support bracket 100, there is no need to provide a separate member for installing the antenna 175 around the cabin 16, so the antenna 175 can be placed without increasing the number of parts placed around the cabin 16. This allows the space around the cabin 16 to be used effectively.

[0146] Furthermore, the cable 140 connected to the receiving device 81 is routed along the support bracket 100. With this configuration, the support bracket 100 can be used as a part for holding the cable 140 outside the cabin 16, eliminating the need to provide a separate member for holding the cable 140 extending from inside the cabin 16 to the outside. This allows the cable 140 to be stored with a simple configuration outside the cabin 16 without increasing the number of parts arranged around the cabin 16, and allows the space around the cabin 16 to be used effectively.

[0147] In particular, in this embodiment, the support bracket 100 is configured to form the space 120 together with the rear upper plate 68, and the cable 140 connected to the receiving device 81 extends from the inside of the cabin 16 through the rear upper plate 68 and into the space 120. The cable 140 then wraps around to the rear side of the support bracket 100 from the underside of the space 120, is fastened to the rear surface 122 at two positions, upper and lower, by fasteners 150, is arranged along the rear surface 122, and is connected to the receiving device 81. With this configuration, the portion of the cable 140 that extends outside the cabin 16 can be disposed inside or behind the support bracket 100, and the cable 140 can be protected by the support bracket 100.

[0148] The above-described embodiment is an example of the present invention, and the present invention is not limited to the above-described embodiment. Therefore, even if it is not the above-described embodiment, various modifications are possible depending on the design, etc., as long as they do not deviate from the technical idea of the present invention. Furthermore, the effects described in this disclosure are merely examples and are not limited, and other effects may also be obtained.

[0149] In the above-described embodiment, the combine 1 is equipped with a positioning system 80 that receives radio waves from positioning satellites, but as a configuration for performing position measurement, a device using a quantum compass that measures position without using radio waves from positioning satellites by measuring geomagnetism, etc. may be adopted in addition to or instead of the positioning system 80 that uses satellite positioning technology.

[0150] The present technology can be configured as follows: The configurations described below can be selected and combined as desired. (1) A cabin covering the driver's section, a position measuring device for measuring a position at a work site based on the position information; The position measuring device is disposed at a position rearward of the center position in the longitudinal direction of the aircraft relative to the cabin. Work vehicle. (2) The position measuring device is provided along the upper edge of the roof of the cabin in a side view of the aircraft. The work vehicle described in (1) above. (3) the position measuring device has a device body and a case that houses the device body, A support bracket is provided to support the case against the side wall of the cabin. The work vehicle according to (1) or (2). (4) The support bracket is provided so as to extend obliquely upward from the side wall portion when viewed from the front of the aircraft. The work vehicle described in (3) above. (5) an antenna for receiving information from a base station located outside the work site; The antenna is attached to the support bracket. The work vehicle according to (3) or (4). (6) the position measurement device is connected to a cable including at least one of a power supply wiring and a signal transmission / reception wiring, The cable is routed along the support bracket. The work vehicle according to any one of (3) to (5) above. (7) a grain discharge device that is rotatably provided and can be stored at a predetermined rotation position and discharges grains outside the machine; The position measuring device is provided in a space formed between the cabin and the grain discharge device in a stored state. The work vehicle according to any one of (1) to (6) above. (8) The position measuring device is provided on the left side wall of the cabin. The work vehicle according to any one of (1) to (7) above. (9) The position measuring device is provided so as not to overlap with the roof portion of the cabin in a plan view. The work vehicle according to any one of (1) to (8) above. [Explanation of symbols]

[0151] 1 Combine (work vehicle) 13 Grain discharge conveyor (grain discharge device) 15 Driving Department 16 Cabins 53 Left side wall (side wall) 55 Roof section 55a upper edge 59 Space 80 Positioning System 81 Receiver (position measurement device) 90 Device body 91 cases 100 Support bracket 101 Bracket body 102 Mounting plate 111 Base 112 Arm section 140 Cable 175 Antenna 180 Antenna support surface 300 base stations

Claims

1. A cabin covering the driver's section, a position measuring device for measuring a position at a work site based on the position information; The position measuring device is disposed at a position rearward of the center position in the longitudinal direction of the aircraft relative to the cabin. Work vehicle.

2. The position measuring device is provided along the upper edge of the roof of the cabin in a side view of the aircraft. The work vehicle according to claim 1 .

3. the position measuring device has a device body and a case that houses the device body, A support bracket is provided to support the case against the side wall of the cabin. The work vehicle according to claim 1 or 2.

4. The support bracket is provided so as to extend obliquely upward from the side wall portion when viewed from the front of the aircraft. The work vehicle according to claim 3 .

5. an antenna for receiving information from a base station located outside the work site; The antenna is attached to the support bracket. The work vehicle according to claim 3 .

6. the position measurement device is connected to a cable including at least one of a power supply wiring and a signal transmission / reception wiring, The cable is routed along the support bracket. The work vehicle according to claim 3 .

7. a grain discharge device that is rotatably provided and can be stored at a predetermined rotation position and discharges grains outside the machine; The position measuring device is provided in a space formed between the cabin and the grain discharge device in a stored state. The work vehicle according to claim 3 .

8. The position measuring device is provided on the left side wall of the cabin. The work vehicle according to claim 3 .

9. The position measuring device is provided so as not to overlap with the roof portion of the cabin in a plan view. The work vehicle according to claim 3 .

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