Working vehicle

Abstract

To provide a working vehicle that realizes both the positioning accuracy of a receiving device and the handleability of the receiving device for a worker.SOLUTION: A working vehicle comprise: a driving part on which a driver rides; a cabin 10R which covers the driving part; a receiving device 20 which receives a signal from a navigation satellite; and a supporting member 30 which supports the receiving device 20. The supporting member 30 supports the receiving device 20 while being attached to a cabin 10F. The receiving device 20 is arranged in such a manner that its upper end part is located lower than an upper end part of the cabin 10R.SELECTED DRAWING: Figure 3

Description

[Technical Field]

[0001] The present invention relates to a work vehicle having a receiving device for receiving signals from a navigation satellite. [Background technology]

[0002] For example, in the work vehicle (referred to as a "combine" in the document) disclosed in Patent Document 1, a receiving device for receiving signals from a navigation satellite is attached to the cabin. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2018-117613 Summary of the Invention [Problem to be solved by the invention]

[0004] When a receiving device receives a signal from a satellite, it is desirable to position the receiving device as high as possible to improve positioning accuracy. However, work vehicles are stored in storage facilities such as barns during times other than harvest season. The ceilings of storage facilities may be low, which could cause interference between the ceiling and the receiving device. Therefore, a configuration that allows the position of the receiving device to be changed between use and storage is conceivable, but changing the position of the receiving device between use and storage is often a hassle for workers.

[0005] An object of the present invention is to provide a work vehicle that achieves both high positioning accuracy of the receiving device and ease of use of the receiving device for the worker. [Means for solving the problem]

[0006] The work vehicle of the present invention is equipped with a driving section in which the driver sits, a cabin that covers the driving section, a receiving device that receives signals from a navigation satellite, and a support member that is attached to the cabin and supports the receiving device, and is characterized in that the receiving device is positioned so that its upper end is located lower than the upper end of the cabin.

[0007] According to the present invention, even if the ceiling of the storage facility is low, there is almost no risk of interference between the ceiling and the receiving device. Therefore, workers and managers can store the work vehicle of the present invention in the storage facility in the same way as conventional work vehicles. This realizes a work vehicle that achieves both high positioning accuracy of the receiving device and ease of use for workers.

[0008] In the present invention, the cabin has a resin cover portion that covers the driver's section from above, and a frame portion that is supported on the aircraft body and supports the cover portion in a state that overlaps with the cover portion when viewed from above, and it is preferable that the receiving device is arranged so that at least a portion of the cover portion is located within the receiving area of ​​the receiving device.

[0009] With this configuration, the cover is made of resin, so it is less likely to block signals from navigation satellites. Therefore, the receiver can reliably receive signals from navigation satellites without the need for the worker to raise the receiver position when using the work vehicle. This allows for a work vehicle that combines high positioning accuracy with ease of use for the worker.

[0010] In the present invention, it is preferable that the receiving device is arranged so that the entire frame portion is located outside the range of the receiving area.

[0011] This configuration prevents the frame from interfering with signals from navigation satellites.

[0012] In the present invention, a conveying device is provided which has a vertical conveying section which vertically conveys grains stored in a grain tank that stores grains, and a horizontal conveying section which is connected to the upper end of the vertical conveying section and is configured to be able to move up and down and swivel left and right with the upper end of the vertical conveying section as its base end, and which feeds and discharges the grains from the vertical conveying section laterally, and a control section which controls the vertical lifting and lowering and left and right swivel of the horizontal conveying section, wherein the receiving device is arranged within a range in which the horizontal conveying section can swivel left and right when viewed from the side of the machine body, and the control section is preferably configured to allow the left and right swivel across the receiving device when the entire interfering portion of the horizontal conveying section that overlaps with the receiving device when viewed from the side of the machine body is located above the receiving device, and not allow the left and right swivel across the receiving device when the entire interfering portion is not located above the receiving device.

[0013] With this configuration, when the horizontal conveying unit of the conveying device rotates across the receiving device, the horizontal conveying unit can rotate across the receiving device only when the interference portion between the horizontal conveying unit and the receiving device is located above the receiving device, thereby avoiding the risk of contact between the horizontal conveying unit and the receiving device.

[0014] In the present invention, it is preferable that a straight line connecting an end of the receiving device opposite to the side where the cabin is located and the axis of the left and right turning overlaps with the cabin.

[0015] With this configuration, even if the vertical swing angle of the horizontal conveyor is less than a predetermined angle and the horizontal conveyor is about to swing across the receiving device, the horizontal conveyor will come into contact with the cabin before coming into contact with the receiving device, thereby preventing the horizontal conveyor from swinging. This reliably prevents contact between the horizontal conveyor and the receiving device.

[0016] In the present invention, the lateral conveying section is capable of extending outward from the body of the machine from a home position that spans the central part of the body when viewed from above to discharge grains, and is provided with a holding section that supports the lateral conveying section from below to hold it in place at the home position, and it is preferable that the distance between the holding section and the cabin is shorter than the distance between the interference part and the receiving device.

[0017] With this configuration, even if the horizontal conveyor supported by the holding part is about to rotate across the receiving device, the holding part comes into contact with the rear of the cabin before the horizontal conveyor comes into contact with the receiving device, thereby preventing the horizontal conveyor from rotating. This reliably prevents contact between the horizontal conveyor and the receiving device.

[0018] In the present invention, it is preferable that the receiving device has a connection port for connecting to a terminal of a harness, and that the support member has a first mounting portion for placing the harness, and a vertical wall portion extending vertically from the front and rear of the first mounting portion to a position corresponding to at least the upper part of the connection port.

[0019] With this configuration, the vertical wall portion extends to a height corresponding to the connection port of the receiving device and the terminal of the harness, thereby enabling the vertical wall portion to protect the connection port and the terminal.

[0020] In the present invention, it is preferable that at least one of the first mounting portion and the vertical wall portion is provided with a clamp for fixing the harness.

[0021] With this configuration, the harness is firmly supported by the support member, which prevents the harness terminal from accidentally coming off the connection port of the receiving device.

[0022] In the present invention, it is preferable that a graphic code indicating information relating to the management number of the receiving device is attached to the receiving device, and that an opening through which the graphic code can be seen is formed in the support member.

[0023] With this configuration, the graphic code written on the receiving device supported by the support member can be seen by the worker through the opening, allowing the worker to obtain the information written on the graphic code without removing the receiving device attached to the work vehicle.

[0024] In the present invention, it is preferable that the graphic code is attached to the bottom surface of the receiving device, the support member has a second mounting portion for mounting and supporting the bottom surface, and the opening is formed in a portion of the second mounting portion facing the graphic code.

[0025] With this configuration, openings are formed in the locations necessary for recognizing the graphic code, so even if the receiving device is placed in a high position, workers can obtain the information written on the graphic code from below.

[0026] In the present invention, it is preferable that the receiving device is supported by the support member in a state where it is biased to one side, left or right, with respect to the lateral center of the aircraft body.

[0027] With this configuration, the precision of the clearance between the receiver and the aircraft body can be lower than in a configuration in which the receiver is supported at the center of the aircraft body, improving the workability of the worker during the assembly process. [Brief explanation of the drawings]

[0028] [Figure 1] FIG. 1 is an overall side view of a combine harvester. [Figure 2] FIG. 1 is an overall plan view of a combine harvester. [Figure 3] FIG. 2 is a front view of the aircraft showing the receiving device and a support structure for the receiving device. [Figure 4] FIG. 2 is a plan view of the aircraft showing a receiving device and a support structure for the receiving device. [Figure 5] FIG. 2 is a left side view of the aircraft body showing the receiving device and a support structure for the receiving device. [Figure 6] FIG. 10 is a block diagram showing the rotation control of the grain discharge device. [Figure 7]FIG. 10 is a flowchart showing the rotation control of the grain discharge device. [Figure 8] FIG. 2 is a bottom view of the fuselage showing the receiving device and a support structure for the receiving device. DETAILED DESCRIPTION OF THE INVENTION

[0029] The work vehicle of this embodiment will be described below using a head-feeding combine as an example.

[0030] FIG. 1 is a left side view of a combine harvester, and FIG. 2 is a plan view of the combine harvester. For ease of understanding, in this embodiment, unless otherwise specified, "front" (the direction of arrow "F" in FIG. 1 ) refers to the front in the longitudinal direction (traveling direction) of the machine body, and "rear" (the direction of arrow "B" in FIG. 1 ) refers to the rear in the longitudinal direction (traveling direction) of the machine body. Furthermore, "up" (the direction of arrow "U" in FIG. 1 ) and "down" (the direction of arrow "D" in FIG. 1 ) refer to a positional relationship in the vertical direction (a direction perpendicular to a horizontal plane) and indicate a relationship at ground level. Furthermore, the left-right direction or lateral direction refers to a transverse direction (width direction) of the machine body perpendicular to the longitudinal direction of the machine body. That is, "left" (the direction of arrow "L" in FIG. 2 ) and "right" (the direction of arrow "R" in FIG. 2 ) refer to the leftward and rightward directions of the machine body, respectively. This also applies to FIG. 3 and subsequent figures.

[0031] [Overall information about combine harvesters] As shown in Figure 1, the combine harvester's traveling body 1 has a body frame 2, which is made up of multiple connected steel materials such as square pipes. A pair of left and right crawler-type traveling devices 3 are mounted on the lower part of the body frame 2. A driving section 5 is provided on the right side of the front part of the traveling body 1. An engine E is located below the driving section 5. The driving section 5 is covered by a cabin 10.

[0032] A reaping unit 4 is provided at the front of the traveling body 1 and is capable of moving up and down. The reaping unit 4 raises and reaps multiple rows of planted rice or wheat stalks (crops) in front of the traveling body 1, and transports the reaped stalks toward the rear of the machine body. A threshing device 6 and a grain tank 8 are supported side-by-side at the rear of the machine body frame 2. The threshing device 6 is located behind the reaping unit 4, and the grain tank 8 is located behind the driver's unit 5. A feed chain 7 is provided on the left side of the threshing device 6, and the feed chain 7 clamps and transports the reaped stalks reaped by the reaping unit 4 toward the rear. The threshing device 6 threshes the reaped stalks that have been fed into it, and then a sorting process is performed to separate the resulting grains from dust. The grain tank 8 stores the threshed grains transported from the threshing device 6. A grain discharge device 9 that removes grains from the grain tank 8 is connected to the rear of the grain tank 8. The grain discharge device 9 corresponds to the "conveyor device."

[0033] The grain discharge device 9 is equipped with a vertical conveying section 9A and a horizontal conveying section 9B. The vertical conveying section 9A is connected to the rear lower section of the grain tank 8 and vertically conveys the grains stored in the grain tank 8. The horizontal conveying section 9B is connected to the upper end of the vertical conveying section 9A and feeds the grains from the vertical conveying section 9A horizontally. A discharge opening 9C is provided at the downstream end in the conveying direction of the horizontal conveying section 9B. The horizontal conveying section 9B conveys the grains from the vertical conveying section 9A to the discharge opening 9C and discharges them from the machine outside through the discharge opening 9C.

[0034] The horizontal conveying section 9B is configured to be able to move up and down and turn left and right by a turning motor 9M (see FIG. 6) and a lifting hydraulic port 9H (see FIG. 6). That is, the horizontal conveying section 9B is configured to be able to move up and down and turn left and right with the upper end of the vertical conveying section 9A as its base end. A control section 40, which will be described later, controls the vertical lifting and turning and left and right turning of the horizontal conveying section 9B.

[0035] As shown in Figures 1 and 2, when the grain discharge device 9 is not in use, the lateral conveying section 9B is positioned above the threshing device 6 and the grain tank 8, and extends forward and backward while spanning the center of the machine body in a plan view. The state of the lateral conveying section 9B at this time is referred to as the "storage state." The position of the lateral conveying section 9B at this time is referred to as the "home position." The holding section 19 supports the lateral conveying section 9B from below so as to hold the lateral conveying section 9B in the home position.

[0036] When the grain discharge device 9 is in use, the lateral conveying section 9B can extend from its stored state in the home position to the outside of the machine body to discharge grain. Here, "outside of the machine body" means to the left of the left side of the threshing device 6 (lateral outside of the machine body), to the right of the right side of the grain tank 8 (lateral outside of the machine body), and behind the rear ends of the threshing device 6 and the grain tank 8. In other words, when the grain discharge device 9 is in use, the lateral conveying section 9B extends to the left or right side or rearward from the traveling machine body 1 to discharge grain stored in the grain tank 8.

[0037] The combine harvester of this embodiment is equipped with a receiving device 20. The receiving device 20 receives GNSS (Global Navigation Satellite System) signals (e.g., GPS, GLONASS, Galileo, QZSS, BeiDou, etc.) from navigation satellites (not shown) to acquire the vehicle's position. To complement the satellite navigation provided by the receiving device 20, an inertial navigation unit incorporating a gyro acceleration sensor and a magnetic bearing sensor is provided. The inertial navigation unit is, for example, a gyro acceleration sensor and a magnetic bearing sensor, and detects the angular velocity of the yaw angle of the traveling body 1 of the combine harvester and the acceleration in three mutually orthogonal axial directions over time. The inertial navigation unit is located in a separate location from the receiving device 20 in the combine harvester.

[0038] The combine harvester of this embodiment is configured to be able to control the traveling device 3 so that it travels straight along a preset target direction. For example, when the traveling machine body 1 travels straight (including approximately straight) in the same direction for a predetermined distance based on manual operation by the driver, that target direction is set as the target direction, and a virtual line extending linearly along the target direction is set. Then, automatic steering control of the traveling device 3 is executed so that the traveling machine body 1 travels straight along the virtual line.

[0039] [Operation department] The driver's section 5 is provided in a state where it is biased toward the right side of the aircraft body with respect to the center of the aircraft body. As shown in Figures 1 and 2, the driver's section 5 is covered by a cabin 10. The driver's section 5 is provided with a driver's seat 11, a front panel 12 located in front of the driver's seat 11, and a side panel 13 located to the left of the driver's seat 11. The driver's seat 11 is provided in the central area of ​​the driver's section 5. The driver sits in the driver's seat 11. The side panel 13 is provided to the left of the driver's seat 11. In other words, the side panel 13 is provided on the side of the driver's section 5 opposite to the side where the boarding and alighting door is located.

[0040] A steering lever 16 is provided on the front panel 12. The steering lever 16 is an operating tool for driving, and is provided on the right end of the front panel 12, located in front of the driver's seat 11. A driver sitting in the driver's section 5 can steer the traveling device 3 by operating the steering lever 16.

[0041] The side panel 13 is provided with a main transmission control lever 18 and other components. The main transmission control lever 18 is located at the front of the side panel 13. The main transmission control lever 18 is configured as a lever that can be swung back and forth. A driver in the driver's section 5 can change the speed of a main transmission (not shown) by operating the main transmission control lever 18. The side panel 13 is adjacent to the left wall of the cabin 10.

[0042] The cabin 10 is provided with a resin cover portion 10R and a frame portion 10F (see Figures 3 and 5) for supporting the cover portion 10R. The cover portion 10R covers the driver's section 5 from above. The frame portion 10F is supported by the vehicle frame 2 and supports the cover portion 10R in a state where it overlaps with the cover portion 10R in a plan view of the vehicle.

[0043] The receiving device 20 is supported by the frame portion 10F. The frame portion 10F is used to support both the cover portion 10R and the receiving device 20. The receiving device 20 is located above the front panel 12 in a side view of the aircraft. The receiving device 20 is also located rearward of the front end portion of the cover portion 10R.

[0044] Although not described in detail, an electronic control unit (ECU) and the like are disposed behind the driving section 5. The control section 40, which will be described later, is one component of the electronic control unit. The control section 40 controls the vertical movement and left / right rotation of the horizontal conveying section 9B.

[0045] [Regarding the receiving device and support member] 3 and 5, the receiving device 20 is supported on the frame portion 10F of the cabin 10 via a support member 30. The support member 30 is fixed to the frame portion 10F with bolts. The receiving device 20 is fixed to the support member 30 with bolts.

[0046] As shown in FIG. 2 , the receiving device 20 is supported by the support member 30 in a state where it is biased to the left side of the machine body relative to the machine body lateral center CL. The machine body lateral center CL is located at the center of the reaping unit 4 in the lateral direction. The combine harvester of this embodiment is not an unmanned, automatic traveling combine harvester, but is capable of automatic straight-line travel (including approximately straight-line travel) along a preset target direction. For unmanned, automatic traveling combine harvesters, a configuration in which the receiving device 20 is disposed at the machine body lateral center CL is preferable, but even with the configuration of this embodiment, automatic straight-line travel along a preset target direction is possible. Therefore, compared to a configuration in which the receiving device 20 is disposed at the machine body lateral center CL, there is greater freedom in the layout of the receiving device 20, and the installation of the receiving device 20 during the assembly process is easier.

[0047] 3, in this embodiment, the receiving device 20 is disposed so that its upper end is located higher than the upper end of the frame portion 10F. Therefore, the receiving device 20 is disposed so that the entire frame portion 10F is located outside the range of the receiving area Ra. Furthermore, the receiving device 20 is disposed so that its upper end is located lower than the upper end of the cover portion 10R. Therefore, the receiving device 20 is disposed so that a portion of the cover portion 10R is located within the range of the receiving area Ra of the receiving device 20.

[0048] The support member 30 of this embodiment is configured not to change the placement height of the receiving device 20. With this configuration, the worker does not need to change the placement height of the receiving device 20. Furthermore, the support member 30 of this embodiment is configured to support the receiving device 20 in a state where it protrudes to the left of the aircraft relative to the cabin 10. With this configuration, the distance between the receiving device 20 and the cover part 10R increases, and it becomes possible to make the overlapping area between the receiving area Ra of the receiving device 20 and the cover part 10R as small as possible.

[0049] As shown in FIGS. 3 to 5 and 8, the support member 30 includes a first flat plate member 30A, a second flat plate member 30B, and a third flat plate member 30C. The first flat plate member 30A is formed by bending using a press and includes a bottom surface 30d, a front wall portion 30e, and a left side wall portion 30f. The front wall portion 30e and the left side wall portion 30f are each bent at an angle of approximately 90 degrees relative to the bottom surface 30d. When viewed from the side of the aircraft, the first flat plate member 30A is formed into an L-shape by the front wall portion 30e and the bottom surface 30d. When viewed in the longitudinal direction of the aircraft, the first flat plate member 30A is formed into an L-shape by the left side wall portion 30f and the bottom surface 30d. This L-shape configuration enhances the rigidity of the support member 30. The first flat plate member 30A corresponds to the "first mounting portion." The third flat plate member 30C corresponds to the "second mounting portion."

[0050] Further, a front-rear extending portion 30g is formed on the right portion of the bottom surface portion 30d. Bolt insertion holes are drilled in this front-rear extending portion 30g, and the front-rear extending portion 30g is fixed to the frame portion 10F with bolts.

[0051] The second flat plate member 30B is welded to each of the left side wall portion 30f and the bottom surface portion 30d. The third flat plate member 30C is welded to each of the upper edges of the front wall portion 30e, the left side wall portion 30f, and the second flat plate member 30B. With this configuration, the third flat plate member 30C is supported by the first flat plate member 30A and the second flat plate member 30B. Four bolt insertion holes are drilled in the third flat plate member 30C, and the receiving device 20 is fixed to the third flat plate member 30C with bolts. In other words, the bottom surface of the receiving device 20 is placed on and supported by the third flat plate member 30C.

[0052] As shown in Fig. 8, two holes 30j are drilled in the bottom surface 30d. The two holes 30j are drilled at positions corresponding to two bolt insertion holes formed in the rear portion of the third flat plate member 30C. The inner diameters of the two holes 30j are larger than the inner diameters of the two bolt insertion holes formed in the rear portion of the third flat plate member 30C. This allows bolts to be inserted into the holes 30j, and also allows a ratchet wrench or the like for tightening the bolts to be inserted into the holes 30j.

[0053] As shown in Fig. 4, the receiving device 20 has a connection port 20B on its right side that is connected to a connector terminal of a wire harness 32. The wire harness 32 is placed in a wound state on a portion of the bottom surface 30d that is located between the frame portion 10F and the third flat plate member 30C in a plan view. A clamp 31 is provided on the bottom surface 30d. The wire harness 32 is fixed by the clamp 31. The connector terminal of the wire harness 32 is inserted into the connection port 20B of the receiving device 20.

[0054] The portion on which the wire harness 32 is placed is located between the front wall 30e and the second flat plate member 30B in the front-rear direction. The portion on which the wire harness 32 is placed is located between the cover 10R and the receiving device 20 in the left-right direction. In other words, a wall is formed around the bottom surface 30d by the cover 10R, the receiving device 20, the front wall 30e, and the second flat plate member 30B. With this configuration, the wire harness 32 is placed and supported on the bottom surface 30d without protruding outside the bottom surface 30d.

[0055] With this configuration, even if the length of the wire harness 32 differs when connecting to a receiving device 20 with RTK (real-time kinematic)-GNSS specifications and when connecting to a receiving device 20 with differential GNSS specifications, the excess length of the wire harness 32 is firmly placed and supported on the bottom surface portion 30d.

[0056] A vertical wall portion 30h is formed on the front wall portion 30e. A vertical wall portion 30i is formed on the second flat plate member 30B. Each of the vertical wall portion 30h and the vertical wall portion 30i extends in the left-right direction in the region between the cover portion 10R and the receiving device 20 to a position higher than the height corresponding to the connection port 20B of the receiving device 20. Therefore, even when the combine harvester is washed with high-pressure water, for example, the high-pressure water is received by the vertical wall portion 30h and the vertical wall portion 30i without being directly sprayed onto the wire harness 32 or the connection port 20B.

[0057] 3 shows only the vertical wall portion 30h, the vertical wall portion 30i is located behind the vertical wall portion 30h and extends to the same height as the vertical wall portion 30h. Note that the vertical wall portion 30h and the vertical wall portion 30i may each be extended to a height corresponding to the upper end of the receiving device 20.

[0058] As such, the support member 30 has a bottom surface portion 30d on which the wire harness 32 is placed, and vertical wall portions 30h, 30i extending vertically from the front and rear of the bottom surface portion 30d to positions corresponding to the top of the connection port 20B of the receiving device 20.

[0059] [Preventing contact between the receiving device and the grain discharge device] In this embodiment, the receiving device 20 is disposed within a range in which the horizontal conveying unit 9B can swing left and right when viewed from the top of the machine body, and within a range in which the horizontal conveying unit 9B can move up and down when viewed from the side of the machine body. A control unit 40 is provided that executes control to limit the swing of the horizontal conveying unit 9B to prevent contact between the receiving device 20 and the grain discharge device 9. As shown in FIG. 6, a swing angle detection unit 41 and a vertical swing angle detection unit 42 are connected to the control unit 40. The control unit 40 controls each of the swing motor 9M and the lifting hydraulic port 9H based on the detection results of the swing angle detection unit 41 and the vertical swing angle detection unit 42, respectively.

[0060] Explaining based on the flowchart of FIG. 7, the control unit 40 determines whether the rotation angle of the horizontal conveying unit 9B detected by the rotation angle detection unit 41 is within the interference range α shown in FIG. 2 (step #01). If the rotation angle of the horizontal conveying unit 9B is outside the interference range α (step #01: No), the control unit 40 permits the lifting hydraulic port 9H to drive both the upward and downward directions and permits the rotation motor 9M to rotate both left and right (step #04). The home position of the horizontal conveying unit 9B is located to the left of the interference range α. The interference range α is adjacent to the home position on the right side.

[0061] If the rotation angle of the horizontal conveying section 9B is within the interference range α (step #01: Yes), the control section 40 determines whether the vertical swing angle of the horizontal conveying section 9B detected by the vertical swing angle detection section 42 is equal to or greater than a predetermined angle (step #02). The "predetermined angle" is the lower limit angle at which the entire interfering portion 9D of the horizontal conveying section 9B that overlaps with the receiving device 20 in a plan view of the machine body is located above the receiving device 20 and the interfering portion 9D does not come into contact with the receiving device 20.

[0062] 2, if the vertical swing angle of the horizontal conveying section 9B is less than a predetermined angle, the horizontal conveying section 9B will come into contact with the rear part of the cover section 10R. Therefore, the "predetermined angle" also means the lower limit angle at which the horizontal conveying section 9B and the rear part of the cover section 10R will not come into contact with each other.

[0063] If the vertical swing angle of the horizontal conveying section 9B is greater than or equal to a predetermined angle (step #02: Yes), the control section 40 allows the lifting hydraulic port 9H to drive both the upward and downward directions, and allows the turning motor 9M to turn in both the left and right directions (step #04).

[0064] If the vertical swing angle of the horizontal conveying unit 9B is less than a predetermined angle (step #02: No), the control unit 40 permits the lifting hydraulic port 9H to drive only in the upward direction, and permits the turning motor 9M to drive only in the direction away from the receiving device 20 (step #03). This prevents contact between the horizontal conveying unit 9B and the receiving device 20 when the horizontal conveying unit 9B turns across the receiving device 20.

[0065] The home position of the horizontal conveyor 9B is adjacent to the left side of the interference range α. Therefore, when the horizontal conveyor 9B is located at the home position in a plan view of the machine body, the horizontal conveyor 9B can move up and down. However, because the right side of the home position is within the interference range α, the horizontal conveyor 9B cannot turn right from the home position unless it is elevated by a predetermined angle or more.

[0066] In this way, the control unit 40 is configured to permit left and right turns across the receiving device 20 when the entire interference portion 9D of the horizontal conveying section 9B that overlaps with the receiving device 20 in a plan view of the machine body is located above the receiving device 20, and not to permit left and right turns across the receiving device 20 when the entire interference portion 9D is not located above the receiving device 20.

[0067] FIG. 2 also shows a line L1 connecting the axis Y of the horizontal rotation of the horizontal conveyor 9B and the end of the receiving device 20 opposite the side where the cabin 10 is located. The rear of the cabin 10 overlaps the line L1. That is, the line L1 and the cabin 10 overlap. Therefore, even if the horizontal conveyor 9B rotates clockwise when the vertical swing angle of the horizontal conveyor 9B is less than a predetermined angle, the horizontal conveyor 9B contacts the rear of the cabin 10 before contacting the receiving device 20, thereby preventing the horizontal conveyor 9B from rotating clockwise. Furthermore, within the interference range α shown in FIG. 2, if the vertical swing angle of the horizontal conveyor 9B is less than a predetermined angle, the horizontal conveyor 9B contacts the rear of the cover portion 10R before contacting the receiving device 20, thereby preventing the horizontal conveyor 9B from descending. This reliably avoids contact between the horizontal conveyor 9B and the receiving device 20.

[0068] 2, the distance D1 between the holding part 19 and the cabin 10 is shorter than the distance D2 between the interference part 9D and the receiving device 20. Therefore, even if an unintentional rotational force acts on the horizontal conveying part 9B supported by the holding part 19, the holding part 19 will come into contact with the rear part of the cabin 10 before the horizontal conveying part 9B comes into contact with the receiving device 20, thereby preventing the horizontal conveying part 9B from rotating clockwise. This reliably prevents contact between the horizontal conveying part 9B and the receiving device 20.

[0069] In this way, the cabin 10 and the holding portion 19 of this embodiment also serve as protective members for the receiving device 20.

[0070] [Obtaining the control number of the receiving device] 8, in this embodiment, a graphic code 20A is attached to the bottom surface of the receiving device 20. The graphic code 20A is, for example, a barcode or a two-dimensional code (e.g., QR Code (registered trademark), data matrix), etc., and indicates information such as the serial number and management number of the receiving device 20.

[0071] In this embodiment, openings 30k and 30m through which the graphic code 20A can be seen are formed in the support member 30. The opening 30k is formed in the bottom surface portion 30d of the first flat plate member 30A, and the opening 30m is formed in the third flat plate member 30C. Each of the openings 30k and 30m is formed in a portion facing the graphic code 20A. The openings 30k and 30m overlap in a plan view of the aircraft. The opening 30m is located above the opening 30k.

[0072] For example, with the support member 30 fixed to the frame portion 10F of the cabin 10 and the receiving device 20 fixed to the support member 30, a worker or the like can see the graphic code 20A through the openings 30k, 30m. In this state, when the worker or the like holds a reading device (a code reader or a smartphone camera may be used) over the graphic code 20A and the information on the receiving device 20, such as the serial number and control number, is acquired by the reading device, it becomes possible to reliably link the serial number of the combine harvester with information on the receiving device 20. This simplifies the serial number management and quality control of the combine harvester and the receiving device 20, respectively.

[0073] [Another embodiment] The present invention is not limited to the configurations exemplified in the above-described embodiments, and other representative embodiments of the present invention will be exemplified below.

[0074] (1) In the above embodiment, the receiving device 20 is supported by the support member 30 in a state where it is biased to the left with respect to the center CL of the left-right direction of the aircraft. However, this embodiment is not limited to this, and the receiving device 20 is supported by the support member 30 in a state where it is biased to the right with respect to the center CL of the left-right direction of the aircraft. In this case, the receiving device 20 may be configured to be supported by the cabin 10 via the support member 30 in a state where it is located to the right of the cabin 10. In other words, it is preferable that the receiving device 20 is supported by the support member 30 in a state where it is biased to one side, left or right, with respect to the center CL of the left-right direction of the aircraft.

[0075] (2) In the above embodiment, the cover portion 10R of the cabin 10 is made of resin. However, the present invention is not limited to this embodiment, and the cover portion 10R may be made of a flexible hood.

[0076] (3) In the above embodiment, the cover 10R is disposed so that a portion of the cover 10R is located within the range of the receiving area Ra of the receiving device 20. This is not limiting, and the cover 10R may be disposed so that the entire cover 10R is located within the range of the receiving area Ra of the receiving device 20. That is, the receiving device 20 may be disposed so that at least a portion of the cover 10R is located within the range of the receiving area Ra of the receiving device 20.

[0077] (4) In the above embodiment, the graphic code 20A is attached to the bottom surface of the receiving device 20. However, this is not limiting, and the graphic code 20A may be attached to the side surface of the receiving device 20. In this case, the openings 30k and 30m may not be formed.

[0078] The configurations disclosed in the above-described embodiments (including other embodiments, the same applies hereinafter) can be applied in combination with the configurations disclosed in other embodiments, unless a contradiction arises. Furthermore, the embodiments disclosed in this specification are merely examples, and the present invention is not limited to these, and can be modified as appropriate within the scope of the present invention. [Industrial Applicability]

[0079] The present invention is applicable to a work vehicle having a receiving device for receiving signals from a navigation satellite. [Explanation of symbols]

[0080] 5: Driving section 8: Grain tank 9A: Vertical conveying section 9B: Horizontal conveying section 9D: Interference area 10: Cabin 10F: Frame section 10R: Cover part 19: Holding part 20: Receiving device 20A: Graphic code 20B: Connection port 30: Support member 30A: First flat plate member (first placement portion) 30C: Third flat plate member (second mounting part) 30h:Vertical wall part 30i:Vertical wall part 30k: opening 30m: opening 31: Clamp 32: Wire harness (harness) 40: Control section CL: Center of the fuselage left and right D1: Distance between the holding part and the cabin D2: Distance between the interference part and the receiving device L1: A straight line connecting the left end of the receiver and the axis of left and right rotation Y: Left and right turning axis

Claims

1. A driving section in which a driver rides; a cabin covering the driver's section; a receiving device for receiving signals from a navigation satellite; a support member attached to the cabin and supporting the receiving device, The receiving device is disposed on the work vehicle so that its upper end is positioned lower than the upper end of the cabin.

2. the cabin includes a resin cover portion that covers the driver's section from above, and a frame portion that is supported by an aircraft body and supports the cover portion in a state where the frame portion overlaps with the cover portion in a plane view of the aircraft body; The work vehicle according to claim 1 , wherein the receiving device is disposed so that at least a portion of the cover portion is located within a receiving area of ​​the receiving device.

3. The work vehicle according to claim 2, wherein the receiving device is disposed so that the entire frame portion is positioned outside the range of the receiving area.

4. a conveying device including: a vertical conveying section that vertically conveys grains stored in a grain tank that stores grains; and a horizontal conveying section that is connected to an upper end of the vertical conveying section, is configured to be able to move up and down and turn left and right with the upper end of the vertical conveying section as a base end, and conveys the grains from the vertical conveying section horizontally and discharges them; a control unit that controls the vertical movement and left / right rotation of the horizontal conveying unit, the receiving device is disposed within a range in which the horizontal conveying unit can turn left and right when viewed from the top of the machine body, and is also disposed within a range in which the horizontal conveying unit can move up and down when viewed from the side of the machine body, The work vehicle of claim 1, wherein the control unit is configured to permit left and right turns across the receiving device when the entire interfering portion of the lateral conveying unit that overlaps with the receiving device in a planar view of the vehicle is located above the receiving device, and to not permit left and right turns across the receiving device when the entire interfering portion is not located above the receiving device.

5. 5. The work vehicle according to claim 4, wherein a straight line connecting an end of the receiving device opposite to the side where the cabin is located and the axis of the left and right swing overlaps with the cabin.

6. The horizontal conveying unit is capable of extending outward from the machine body from a state in which it is stored in a home position spanning the center portion of the machine body in a plan view of the machine body to discharge grains, a holding portion that supports the lateral conveying portion from below so as to hold the lateral conveying portion at the home position; The work vehicle according to claim 5, wherein the distance between the holding portion and the cabin is shorter than the distance between the interference portion and the receiving device.

7. the receiving device has a connection port for connection to a terminal of a harness, 7. A work vehicle as described in any one of claims 1 to 6, wherein the support member has a first mounting portion on which the harness is placed, and vertical wall portions extending vertically from the front and rear of the first mounting portion to a position corresponding to at least the top of the connection port.

8. 8. The work vehicle according to claim 7, wherein at least one of the first mounting portion and the vertical wall portion is provided with a clamp for fixing the harness.

9. a graphic code indicating information relating to the management number of the receiving device is assigned to the receiving device; The work vehicle according to any one of claims 1 to 6, wherein the support member has an opening through which the graphic code can be seen.

10. the graphic code is attached to a bottom surface of the receiving device; the support member has a second mounting portion on which the bottom surface portion is mounted and supported, The work vehicle according to claim 9, wherein the opening is formed in a portion of the second placement section that faces the graphic code.

11. 7. The work vehicle according to claim 1, wherein the receiving device is supported by the support member in a state where it is biased to one side, left or right, with respect to a lateral center of the vehicle body.

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