Work vehicle

Abstract

To provide a work vehicle in which various types of antenna devices effective for autonomous travel of the work vehicle can be efficiently mounted and the various types of antenna devices can be strongly supported.SOLUTION: A work vehicle includes: a cabin 7; an antenna unit 50 including a reception device that receives position information; and a support frame 100 supporting the antenna unit 50. The cabin 7 includes a right and left pair of front pillars 201 and a roof 190 supported on the right and left pair of front pillars 201. A left end portion of the support frame 100 is supported by the left front pillar 201 and a right end portion of the support frame 100 is supported by the right front pillar 201. The support frame 100 includes a center part projecting forward with respect to the left end portion and the right end portion. The antenna unit 50 is supported by the center part of the support frame 100.SELECTED DRAWING: Figure 4

Description

[Technical Field]

[0001] The present invention relates to a work vehicle equipped with a cabin, and in particular to a work vehicle suitable for automatically (including autonomously) driving a tractor along a target driving route while acquiring tractor position information using a global positioning satellite system (GNSS). [Background technology]

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

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2016-2874 Summary of the Invention [Problem to be solved by the invention]

[0004] The above-mentioned prior art discloses a technique for improving the detection accuracy of the GPS antenna, or the detection accuracy of the GPS antenna and gyro sensor, by devising an installation position for the GPS antenna on the upper side of the cabin roof. However, the above-mentioned autonomous driving system is equipped with various external devices separate from the work vehicle, such as a wireless communication terminal that issues various instructions to the work vehicle and a base station that acquires location information of the work vehicle. Therefore, when actually performing autonomous driving of a work vehicle, it is necessary to efficiently install not only a GPS antenna but also various antenna devices for communication between the work vehicle and external devices on the work vehicle, and in this regard, there is room for improvement in the above-mentioned conventional technology.

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

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

[0007] A work vehicle according to one aspect of the present invention includes a cabin, an antenna unit having a receiving device for receiving position information, and a support frame supporting the antenna unit. The cabin has a pair of left and right front support pillars and a roof supported on the pair of left and right front support pillars. The left end of the support frame is supported by the left front support pillar, and the right end of the support frame is supported by the right front support pillar. The support frame has a central portion that protrudes forward relative to the left and right ends. The antenna unit is supported by the central portion of the support frame. [Brief explanation of the drawings]

[0008] [Figure 1] Overall side view of the tractor [Figure 2]Control block diagram of the tractor, reference station, and wireless communication terminal [Figure 3] Front view of the tractor's antenna unit mounting area [Figure 4] Side view of the tractor's antenna unit mounting area [Figure 5] Vertical cross section of the antenna unit [Figure 6] Cross section of the antenna unit [Figure 7] Exploded perspective view of the antenna unit [Figure 8] Elevation angle perspective view of antenna unit mounting part [Figure 9] Side view of the antenna unit when it is in the non-use position [Figure 10] Cabin elevation perspective view [Figure 11] Perspective view of the main parts of the cabin [Figure 12] Enlarged end view of the harness cover [Figure 13] Cabin control layout [Figure 14] A rear perspective view of the entire terminal support device [Figure 15] An enlarged perspective view of the rear side of the main part of the terminal support device [Figure 16] Enlarged front perspective view of the main part of the terminal support device [Figure 17] Cross-sectional view of the main part of the terminal support device DETAILED DESCRIPTION OF THE INVENTION

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

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

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

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

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

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

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

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

[0017] As shown in Figures 5 to 7, the inertial measurement unit 25, the GNSS antenna 26, the wireless communication unit 27, and the base station antenna 29 are housed in an antenna unit 50 equipped with a unit cover 51. As shown in Figures 3 and 4, this antenna unit 50 is attached to a support frame 100 that is fixed to a cabin frame 200 of the cabin 7 and extends along the left-right width direction, at an upper position on the front side outside the cabin 7. The specific internal arrangement and mounting structure of the antenna unit 50 will be described in detail after the description of the autonomous driving system.

[0018] The steering device 24 is provided, for example, midway along the rotation axis of the steering handle 8, and is configured to be able to adjust the rotation angle (steering angle) of the steering handle 8. By the control unit 23 controlling the steering device 24, it is possible to not only drive straight ahead, but also to adjust the rotation angle of the steering handle 8 to a desired rotation angle and turn with a desired turning radius.

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

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

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

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

[0023] In this embodiment, for example, RTK positioning is applied, and as shown in Figures 1 and 2, in addition to being equipped with a GNSS antenna 26 on the tractor 1, which acts as a mobile station, a reference station 40 equipped with a reference station positioning antenna 42 is also provided. The reference station 40 is placed in a position (reference point) that does not interfere with the travel of the tractor 1, such as around a farm field. Position information of the reference point where the reference station 40 is to be installed is known in advance. The reference station 40 is equipped with a reference station wireless communication device 41 that can transmit and receive various signals to and from the base station antenna 29 of the tractor 1, and is configured to allow transmission and reception of various information between the reference station 40 and the tractor 1 and between the reference station 40 and the wireless communication terminal 30.

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

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

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

[0027] Next, the internal arrangement structure of the antenna unit 50 will be described. As shown in Figures 5 to 9, the unit cover 51 of the antenna unit 50 has a lower cover body 52 made of resin and having a generally rectangular shape in plan view that opens upward, and an upper cover body 53 made of resin and having a generally rectangular shape in plan view that opens downward. Here, Figure 5 shows a longitudinal cross section of the antenna unit 50 as seen from the rear side, and the left-right direction of the fuselage 2 is opposite to that of Figures 3, 7, and 8. The opening joint of the upper cover body 53 is externally joined to the opening joint of the lower cover body 52 in a watertight manner so as to be detachable and detachable. The opening joint of the upper cover body 53 and the opening joint of the lower cover body 52 are fixedly connected by screws 54 at multiple positions in the left-right direction on the front and rear sides.

[0028] 5 to 7, a metal base plate 55, which is an example of a unit base that can be attached to the tractor 1, is attached to the bottom plate portion 52A of the lower cover body 52. ​​A plurality of (four in this embodiment) cylindrical first bosses 56 that maintain a set distance between the base plate 55 and the bottom plate portion 52A of the lower cover body 52 are arranged between the base plate 55 and the bottom plate portion 52A of the lower cover body 52, as shown in FIG. 5, and the base plate 55 and the bottom plate portion 52A of the lower cover body 52 are fixedly connected to each other by first bolts 57 inserted through the respective first bosses 56.

[0029] 5 to 7, the inertial measurement unit 25 and the GNSS antenna 26, both of which are arranged at the center or approximately the center in the left-right width direction of the aircraft, are provided in a vertically overlapping state in the longitudinal center of the base plate 55. Of these, the GNSS antenna 26 is arranged above the inertial measurement unit 25. More specifically, the housing 25A of the inertial measurement unit 25 is fixedly connected to the base plate 55 by a second bolt 58 with its left-right center position positioned at the longitudinal center position of the base plate 55. 5 to 7, the housing 26A of the GNSS antenna 26 is attached to the base plate 55 via a metal hat-shaped bracket 60, with its left-right center positioned at the longitudinal center of the base plate 55. The bracket 60 is hat-shaped and runs around the top of the housing 25A of the inertial measurement unit 25 along the longitudinal direction of the base plate 55. Both legs 60a of the hat-shaped bracket 60 are fixedly connected to the base plate 55 with third bolts 61, and the width of the hat-shaped bracket 60 in the fore-and-aft direction (which is also the fore-and-aft direction of the airframe) is configured to be slightly smaller than the width of the housing 25A of the inertial measurement unit 25 in the fore-and-aft direction, with a portion of the bracket 60 configured as a shielding wall that provides shielding from the wireless communication unit 27, which will be described later.

[0030] 3, when mounted on the tractor 1, the inertial measurement unit 25 and the GNSS antenna 26 are both positioned one above the other at the center or approximately the center in the width direction of the vehicle, thereby improving the detection accuracy of the current position information of the tractor 1 obtained from the signal received by the GNSS antenna 26 and the detection accuracy of the displacement information and orientation information of the vehicle obtained from the inertial measurement unit 25. Furthermore, the width of the unit cover 51 in the front-to-rear direction is reduced, allowing the antenna unit 50 to be made more compact. Furthermore, with the above-described arrangement, as shown in Figures 5 and 6, only the upper cover body 53 made of resin exists above the GNSS antenna 26, so that the inertial measurement unit 25 does not become an obstacle to reception of the GNSS antenna 26, as would be the case, for example, if the inertial measurement unit 25 were placed above the GNSS antenna 26, and the carrier phase (satellite positioning information) from the positioning satellite 45 can be reliably received.

[0031] 5 and 7, a housing 27A of a wireless communication unit 27 (an example of a wireless communication device that can be assembled to the antenna unit 50) that includes a pair of wireless communication antennas 28 in the front-to-rear direction is fixedly connected to one longitudinal end of the base plate 55 (the right end in the left-to-right direction of the fuselage section 2 relative to the forward movement direction, the right end in FIG. 5, and the left end in FIG. 7) with a fourth bolt 62. The wireless communication antenna 28 of this wireless communication unit 27 is disposed on the opposite side of the inertial measurement unit 25 and the GNSS antenna 26, and at one longitudinal end of the base plate 55. As shown in FIG. 5, a first predetermined distance L1 between the wireless communication antenna 28 of the wireless communication unit 27 and the center of the inertial measurement device 25 is set to 250 mm or more.

[0032] Furthermore, by devising the above-described arrangement position and orientation of wireless communication unit 27, it is possible to make antenna unit 50 compact in the longitudinal direction, while also ensuring a sufficient first predetermined distance L1 from wireless communication antenna 28 of wireless communication unit 27 to the center of inertial measurement unit 25. This makes it possible to suppress radio wave interference between wireless communication unit 27 and inertial measurement unit 25, and to suppress communication failure between wireless communication unit 27 and wireless communication device 31 of wireless communication terminal 30. In particular, as described above, when the first predetermined distance L1 between the wireless communication antenna 28 of the wireless communication unit 27 and the center of the inertial measurement device 25 is set to 250 mm or more, radio wave interference between the wireless communication unit 27 and the inertial measurement device 25 can be more effectively suppressed. Furthermore, most of the outer periphery of the inertial measurement unit 25, excluding connectors, etc., is shielded by a metal housing 25A, and a portion of the metal hat-shaped bracket 60 located between the wireless communication unit 27 and the inertial measurement unit 25 functions as a shielding wall, thereby further suppressing radio wave interference between the wireless communication unit 27 and the inertial measurement unit 25.

[0033] As shown in FIGS. 5 and 7, a base station antenna (an example of a wireless communication device that can be assembled to the antenna unit 50) 29 that receives information from the reference station 40 is disposed at the other longitudinal end of the base plate 55 (the left end in the left-right direction of the aircraft body 2 relative to the forward direction, the left end in FIG. 5, and the right end in FIG. 7). Thus, the wireless communication unit 27, the GNSS antenna 26 (inertial measurement unit 25), and the base station antenna 29 are disposed on the base plate 55, aligned in the left-right direction of the aircraft body 2 from the right side relative to the forward direction. As shown in FIG. 5, the base station antenna 29 is composed of a base 29A equipped with a magnet 65 and a round antenna bar 29B extending upward from the base 29A. Furthermore, the base 29A is composed of a cylindrical lower base 29a incorporating the magnet 65 and a truncated conical upper base 29b integrally formed at the center of the upper surface of the lower base 29a. Therefore, the base station antenna 29 is attached to the metal base plate 55 by the magnetic force of the magnet 65 .

[0034] 5 and 7, a movement restricting member 66 made of sheet metal that restricts movement of base 29A of base station antenna 29 is fixedly connected to base plate 55 with a fifth bolt 67, abutting against or adjacent to the upper and lower middle position of the conical outer circumferential surface of upper base 29b of base 29A of base station antenna 29 from above. An upper restricting plate piece 66a formed by bending this movement restricting member 66 has a circular movement restricting hole 66b that fits onto the upper base 29b of base 29A and a detachable notch 66c that is formed to communicate with each other and has a width that allows passage of antenna bar 29B.

[0035] The above-mentioned arrangement configuration of the base station antenna 29 increases the distance between the antenna bar 29B of the base station antenna 29 and the wireless communication antenna 28 of the wireless communication unit 27, thereby suppressing radio wave interference between the antenna bar 29B of the base station antenna 29 and the wireless communication antenna 28 of the wireless communication unit 27. Moreover, the base station antenna 29 can be easily attached to the metal base plate 55 by the magnetic force of the magnet 65 provided on the base portion 29A. At the same time, displacement of the base station antenna 29 due to vibrations or the like can be reliably prevented by a movement restricting member 66 of a simple shape that is bolted to the base plate 55. This simplification and miniaturization of the attachment structure of the base station antenna 29 allows the antenna unit 50 to be made more compact.

[0036] Next, the unit cover 51 of the antenna unit 50 will be described. 5 to 7, a first bulge 53A is formed on one longitudinal end side (on the right side of the left-right direction of the machine body 2 relative to the forward movement direction) of the upper cover body 53 of the unit cover 51, protruding above the upper surface position of the longitudinal center part of the upper cover body 53 and the upper end position of the wireless communication antenna 28 of the wireless communication unit 27. Then, as shown in Fig. 5, a second predetermined distance L2 between the inner surface 53a of the first bulge 53A and the upper end of the wireless communication antenna 28 is set to 30 mm or more. The second predetermined distance L2 formed between the upper end of the wireless communication antenna 28 and the inner surface 53a of the first bulge portion 53A of the upper cover body 53 improves the communication accuracy between the wireless communication unit 27 and the wireless communication device 31 of the wireless communication terminal 30. The relationship between the first predetermined distance L1 and the second predetermined distance L2 is as follows: The first predetermined distance L1 is set to be greater than the second predetermined distance L2.

[0037] 5, 7 and 8, a second bulge 53B having the same shape as the first bulge 53A formed at one end in the longitudinal direction (the right side in the left-right direction of the machine body 2 in the forward direction) is formed at the other end in the longitudinal direction of the upper cover body 53 of the unit cover 51 (the left side in the left-right direction of the machine body 2 in the forward direction), and the unit cover 51 is configured to be symmetrical on the left and right. This is done in consideration of the design when the antenna unit 50 is attached at the upper position on the front side of the cabin 7 of the tractor 1, and the formation of this second bulge 53B creates new technical value. 5 and 7, the second bulge 53B of the upper cover body 53 is formed in a position corresponding to the base station antenna 29, and the overall height of the base station antenna 29 is sufficiently greater than the height from the upper surface of the base plate 55 to the upper surface of the second bulge 53B. Therefore, as shown in FIG. 7, a through-hole 70 is formed in the upper surface of the second bulge 53B, through which the antenna bar 29B of the base station antenna 29 passes and protrudes upward to the outside. A vibration-damping elastic body 71 such as tubular rubber is attached to the opening periphery of this through-hole 70, which contacts the outer peripheral surface of the portion where the antenna bar 29B of the base station antenna 29 passes. A grommet is used as the vibration-damping elastic body 71, which contacts the entire circumference of the antenna bar 29B and also provides watertightness.

[0038] If the vibration-damping elastic body 71 were not present, an annular gap would be generated between the periphery of the opening of the through-hole 70 in the second bulge portion 53B and the outer periphery of the penetration portion of the antenna bar 29B. When vibrations from the tractor 1, etc., act on the base station antenna 29, the antenna bar 29B would swing within the range of the annular gap, and there is a possibility that the antenna bar 29B would break at its base. However, in this embodiment, as described above, the vibration-damping elastic body 71 provided on the periphery of the opening of the through-hole 70 in the second bulge portion 53B supports the upper and lower middle portions of the antenna bar 29B, and the support structure for the base station antenna 29 is a two-point support structure overall, which makes it possible to prevent breakage of the antenna bar 29B due to vibrations from traveling, etc. In particular, the presence of the second bulge portion 53B increases the height from the top surface of the base plate 55 to the top surface of the second bulge portion 53B, thereby increasing the support position of the antenna bar 29B supported by the vibration-damping elastic body 71, thereby further preventing breakage of the antenna bar 29B.

[0039] In this embodiment, the vibration-damping elastic body 71 is attached to the opening periphery of the through hole 70 of the second bulge portion 53B, but this vibration-damping elastic body 71 may also be attached to the upper or inner surface of the second bulge portion 53B, or may further be attached to a bracket or the like provided on the base plate 55.

[0040] 5 and 7, an attachment space 73 for other units is formed at the other longitudinal end of the base plate 55, between the inertial measurement unit 25 and the GNSS antenna 26 and the base station antenna 29. Here, Figures 5 and 7 show a state in which no other unit 72 is attached to the attachment space 73, and the attachment space 73 is a hollow space.

[0041] An example of such other unit is a controller for a retrofitted LCD monitor that controls part of the autonomous driving control. In the autonomous driving specification tractor 1 of this embodiment, an LCD monitor 47 (see FIG. 13) is provided inside the cabin 7, and the LCD monitor 47 is equipped with a controller that controls part of the autonomous driving control. However, when converting a standard specification rice transplanter or other work vehicle to an autonomous driving specification, a controller that controls the autonomous driving control for the retrofitted LCD monitor is required. In this case, the controller can be easily installed using the installation space 73 reserved in the base plate 55. In this embodiment, the liquid crystal monitor 47 is a tablet terminal 48 installed with dedicated applications for generating routes, registering farm fields, and the like.

[0042] 5 and 6, stays 75 are disposed on both longitudinal sides of the underside of the bottom plate portion 52A of the lower cover body 52. ​​The stays 75 are bent into an inverted "L" shape when viewed from the front of the vehicle (see FIG. 5) and are formed into a substantially semicircular arc shape when viewed from the side of the vehicle (see FIG. 6). Each of the pair of left and right stays 75 is fixedly connected to the base plate 55 by a sixth bolt 77 via a second boss 76 that penetrates the bottom plate portion 52A of the lower cover body 52.

[0043] Furthermore, as shown in Figures 5 to 7, a camera 78 for photographing the area in front of the vehicle is attached to the longitudinal center position on the underside of the bottom plate portion 52A of the lower cover body 52, and the image captured by the camera 78 can be displayed on the touch panel of the wireless communication terminal 30 via wireless communication between the wireless communication unit 27 of the tractor 1 and the wireless communication device 31 of the wireless communication terminal 30.

[0044] 5 to 7 , the electric wires connected to the inertial measurement unit 25, the GNSS antenna 26, the wireless communication unit 27, and the base station antenna 29, which are mounted on the base plate 55, are omitted, and FIG. 7 shows a portion of a single harness 80 formed by gathering together these electric wires inside the unit cover 51. As shown in FIG. 7 , this harness 80 is led out to the outside from a harness lead-out hole (not shown) formed at one longitudinal end of the lower cover body 52. ​​A grommet 81 is attached to the harness lead-out hole.

[0045] Next, the mounting structure of the antenna unit 50 will be described. As shown in FIGS. 3 and 4, both ends of the support frame 100 of the antenna unit 50 are fixedly connected across mirror mounting portions 150 provided on the left and right front support pillars 201 that constitute the cabin frame 200. 3 and 4, each of the left and right mirror mounting portions 150 has a mounting base 151 that is roughly U-shaped in plan view and fixed to the upper side of the front support pillar 201 by welding or the like, and a plate-shaped mirror mounting member 153 that has a hinge portion 152 that rotatably supports the support arm 111 of the rearview mirror 110 is fixedly connected to this mounting base 151 by bolts or the like. A mounting piece 153A having an upper mounting surface that follows the horizontal plane is bent and formed at the upper end of each of the left and right mirror mounting members 153.

[0046] 3 and 4, the support frame 100 includes pipe-shaped support members 101 with a circular cross section that are bent downward in a generally gate-like shape at both ends in the left and right width direction when viewed from the front of the aircraft, and mounting plates 102 having lower mounting surfaces that run along the horizontal plane are fixed to both ends of the pipe-shaped support members 101. Both mounting plates 102 of the support frame 100 are fixedly connected to the upper mounting surfaces of mounting pieces 153A of the left and right mirror mounting members 153 with bolts 103 or the like.

[0047] As described above, the left and right mirror mounting parts 150 are attached to the upper part of the front support pillars 201 of the sturdy cabin frame 200, and are disposed at a height position close to the roof 190 of the cabin 7. Therefore, by utilizing both mirror mounting parts 150, which are sturdy and have a sufficient ground clearance, the support frame 100 of the antenna unit 50 can be firmly attached at an appropriate height position. Furthermore, since the upper mounting surfaces of the mounting pieces 153A on the left and right mirror mounting members 153 and the lower mounting surfaces of both mounting plates 102 of the support frame 100 are both formed on horizontal surfaces, it becomes easy to position the middle part of the pipe-shaped support material 101 along the horizontal direction, and installation errors of the antenna unit 50 attached to the horizontal middle part of the pipe-shaped support material 101 can be suppressed.

[0048] As shown in Figures 3 and 4, when the support frame 100 is installed across the left and right mirror mounting portions 150, the horizontal middle portion of the pipe-shaped support material 101 of the support frame 100 is positioned horizontally along the left and right width direction of the aircraft near the front end of the roof 190 of the cabin frame 200. 3, 4, and 6, a pair of left and right brackets 120 that support a pair of left and right stays 75 of the antenna unit 50 are fixed to the horizontal middle part of the pipe-shaped support member 101. Of these, the two pairs of stays 75 on the antenna unit 50 side that face each other closely in the left and right width direction of the airframe and the brackets 120 on the support frame 100 side are pivotally connected by seventh bolts 121 that serve as horizontal rotation pivot axes along the left and right width direction of the airframe. Therefore, the antenna unit 50 is configured to be able to change its position between a normal use position (normal use posture) in which the base station antenna 29 protrudes vertically upward, as shown in Figures 3 and 4, and a non-use position (non-use posture) on the front, lower side, as shown in Figure 9, by rotating around the rotation pivot axis of the seventh bolt 121 relative to the support frame 100. In this embodiment, the non-use position of the antenna unit 50 is a position rotated 90 degrees forward from the normal use position, and in this non-use position, the base station antenna 29 is in a position where it protrudes horizontally forward.

[0049] Furthermore, in this embodiment, the operation of changing the position of the antenna unit 50 between the normal use position and the non-use position is performed manually, but this operation of changing the position of the antenna unit 50 may also be performed by a driving unit such as an actuator.

[0050] As shown in Figures 4 and 6, the two sets of stays 75 on the antenna unit 50 side and the bracket 120 on the support frame 100 side are configured so that the antenna unit 50 can be fixed selectively between a normal use position and a non-use position by replacing the eighth bolt 122, which is located at a position offset in the rotation radius direction from the seventh bolt 121. In detail, as shown in FIG. 6, the bracket 120 on the support frame 100 side has one bolt insertion hole 123 through which the eighth bolt 122 is inserted, and the stay 75 on the antenna unit 50 side has bolt insertion holes 124 formed in two locations that align with the bolt insertion hole 123 on the bracket 120 side when in the normal use position and the non-use position.

[0051] As shown in Fig. 4, when the antenna unit 50 is in the normal use position, the base station antenna 29 is oriented vertically upward, and the upper end of the base station antenna 29 protrudes above the roof 190 of the cabin 7, as shown in Fig. 1. However, when the base station antenna 29 protruding above the roof 190 of the cabin 7 becomes an obstacle, such as during transportation of the tractor 1, the antenna unit 50 is changed from the normal use position to the non-use position, as shown in Fig. 9. In the non-use position, the base station antenna 29 protrudes forward in the horizontal direction, and the height of the antenna unit 50, including the unit cover 51, protruding upward can be made lower than the highest point of the roof 190 of the cabin 7.

[0052] Whether or not the antenna unit 50 is located in the normal use position can be detected based on displacement information acquired from the inertial measurement unit 25. For this reason, the control unit 23 is provided with an autonomous driving restraint unit 46 that prohibits the start of autonomous driving control based on information acquired by the inertial measurement unit 25 and the GNSS antenna 26 unless it is detected that the antenna unit 50 is located in the normal use position, as shown in FIG. The above-mentioned autonomous driving restraint unit 46 allows autonomous driving control to begin only when the antenna unit 50 is in the normal operating position, and allows the aircraft to autonomously drive accurately and safely along the target driving route based on accurate information obtained by the inertial measurement unit 25 and the GNSS antenna 26.

[0053] In this embodiment, whether or not the antenna unit 50 is located in the normal use position is detected based on displacement information obtained from the inertial measurement unit 25. However, whether or not the antenna unit 50 is located in the normal use position may also be determined based on a signal from an automatic switch that detects the positional displacement of the antenna unit 50 or a signal from a manually operated hard switch.

[0054] Next, the wiring structure of the harness 80 extending from the antenna unit 50 will be described. As shown in Figures 10 and 11, the cabin frame 200 through which the harness 80 is wired is configured in an approximately box-like shape and includes a pair of left and right front pillars 201 located in front of the driver's seat 9, a pair of left and right rear pillars 202 located behind the driver's seat 9, a front beam member 203 connecting the upper ends of the front pillars 201, a rear beam member 204 connecting the upper ends of the rear pillars 202, and left and right side beam members 205 connecting the upper ends of the front pillars 201 and rear pillars 202 that are lined up in front and behind.

[0055] As shown in Figures 10 and 11, the upper rear end of a fender frame 207 is connected to the lower end of each rear support pillar 202. The fender frame 207 is curved so as to bulge forward and upward in side view in accordance with the shape of the rear fender 206, and the lower front end of each fender frame 207 is connected to the rear end of a side frame 208 that protrudes rearward from the lower part of the corresponding front support pillar 201. As shown in Figure 10, fender frame 207 is made up of a cylindrical frame material. The lower front end of fender frame 207 located on the right side of cabin 7 opens downward toward the outside of cabin 7, and the internal space of right-side fender frame 207 forms an inside-outside communication passage 210 that connects the inside and outside of cabin 7. A drain hose (not shown) that discharges condensation water from inside the air conditioner to the outside of cabin 7 is arranged in inside-outside communication passage 210 of fender frame 207.

[0056] A windshield 212 is disposed in an area surrounded by the left and right front support pillars 201, the front beam member 203, and the front lower plate boards 211 extending inwardly to the left and right from the lower ends of the front support pillars 201.

[0057] 10 and 11, the harness 80 derived from the antenna unit 50 is disposed at the right edge (an example of one side edge in the left-right width direction) of the outer surface of the windshield 212 of the cabin 7, and extends downward along a strip-shaped portion overlapping with the glass receiving portion 201a of the right front support pillar 201. Having reached the front lower plate 211 at the lower end of the windshield 212, the harness 80 extends rearward along the underside of the floor board support plate 213 that is continuous with the side frame 208, and is then led into the cabin 7 through an opening at the lower front end of the fender frame 207 located on the right side, through the inside-outside communication passage 210, and connected to the control unit 23 disposed on the right operation panel unit 214.

[0058] The strip-shaped portion on the right edge of the outer surface of the windshield 212, which overlaps with the glass receiving portion 201a of the right front support pillar 201, is a glass attachment portion for attaching the windshield 212 to the front portion of the cabin 7, and is also located in a position that does not obstruct vision. Therefore, by arranging the harness 80 leading out from the antenna unit 50 in the strip-shaped portion, the harness 80 can be neatly arranged while maintaining good visibility for the driver seated in the driver's seat 9.

[0059] 11, a protective resin harness cover 250, through which the harness 80 passes, is attached with an adhesive or the like to a band-shaped region on the right edge of the outer surface of the windshield 212. As shown in Fig. 12, this harness cover 250 is made up of a base portion 253 having an attachment surface 251 to be attached to the windshield 212 and a harness receiving surface 252 that receives the harness 80, and a flexible band portion 254 that is integrally formed with one end of the base portion 253 in the width direction and is curved in an arc along the outer peripheral surface of the base portion 253, which is placed on the harness receiving surface 252 of the base portion 253. An engagement claw 255 is formed at the tip of the band portion 254, and an engagement recess 256 with which the engagement claw 255 can be freely engaged and disengaged, and a semicircular protrusion 257 that abuts against the back surface of the engagement claw 255 engaged in the engagement recess 256 and regulates the engagement and disengagement of the engagement claw 255 in an abutting state, are formed at the other widthwise end portion of the harness receiving surface 252 of the base portion 253. 12(a), by releasing the engagement between the engagement claws 255 and the engagement recesses 256, the harness 80 can be inserted into the harness cover 250 from between the base portion 253 and the band portion 254, and the harness 80 can be placed so that part of the outer periphery of the harness 80 is received by the harness receiving surface 252. Then, by engaging the engagement claws 255 and the engagement recesses 256, the base portion 253 and the band portion 254 are connected, and the harness 80 can be attached to the harness cover 250 in a state where the entire outer periphery of the harness 80 is received by the harness receiving surface 252.

[0060] Next, the arrangement of the tablet terminals 48 disposed in the cabin 7 will be described. As shown in Figures 11 and 13, the tablet terminal 48 is disposed above the front end of the right-side operation panel unit 214 inside the cabin 7. Of the armrests 270, 271 disposed on both the left and right sides of the driver's seat 9, the tablet terminal 48 is disposed on a forward extension of the right armrest 271. More specifically, the front half 271A of the right armrest 271 is configured in an inclined position so that it is positioned further to the right as it approaches the front end relative to the rear half 271B which is aligned in the fore-and-aft direction. The front half 271A is provided with a main speed change lever 272 which increases or decreases the traveling speed of the tractor 1, a dial-type working unit position dial 273 which manually changes or adjusts the height position of a working machine such as a rotary tiller, and the like. An operator seated in the driver's seat 9 basically places his or her arms, elbows, etc. on the armrests 270, 271. Therefore, by disposing the tablet terminal 48 on the forward extension line of the front half 271A of the right armrest 271, in particular, the tablet terminal 48 can be easily operated in the same way as the main shift lever 272, the working unit position dial 273, etc.

[0061] 13, the tablet terminal 48 is disposed in a position slightly offset to the right of the steering wheel 8. This position of the tablet terminal 48 does not obstruct the forward work field of the operator seated in the driver's seat 9. However, if the operator looks forward while working and then slightly turns his or her eyes away, the entire liquid crystal display 48a of the tablet terminal 48 can be easily viewed.

[0062] Next, the terminal support device 300 that supports the tablet terminal 48 will be described. As shown in Figures 14 to 17, the terminal support device 300 comprises a support portion 310 fixed to the right fender frame 207 side of the cabin frame 200, a terminal holder 320 that holds the tablet terminal 48 in a detachable manner, and a terminal position adjustment mechanism 350 that attaches the terminal holder 320 to the support portion 310 so that its position can be adjusted three-dimensionally. 14 to 17, the terminal position adjustment mechanism 350 includes a first movable arm 360 that is rotatable about a first vertical axis Y1 (see FIGS. 15 and 17) and that is attached to a vertical cylindrical pipe support 311, which is a component of the support section 310, and that is adjustable in height along the first vertical axis Y1, and a second movable arm 380 that is attached to the tip of the first movable arm 360 and that is rotatable about a second vertical axis Y2 (see FIGS. 15 and 17) that is also vertical. A terminal holder 320 is attached to the tip of the second movable arm 380 and is rotatable about a horizontal axis X (see FIGS. 15 and 17) that is also horizontal. By rotating the terminal holder 320 about the horizontal axis X, the elevation angle of the LCD screen 48a of the tablet terminal 48 held by the terminal holder 320 can be adjusted.

[0063] 14, a substantially rectangular mounting plate 312 is fixed to the lower end of the pipe support 311 of the support section 310. This mounting plate 312 is fixed with bolts 314 to a substantially gate-shaped first bracket 313 that is fixed to the right fender frame 207. 14 and 15, a slit 315 is formed in the upper end of the pipe strut 311 along the first vertical axis Y1, and connecting members 316 bent into a U-shape are fixed to both sides of the slit 315. As shown in FIG. 15, an adjustment bolt 317 is inserted through both connecting members 316, and a nut 318 is threaded onto the tip end of the male threaded portion of this adjustment bolt 317. By threading the adjustment bolt 317 and the nut 318 toward the tightening side, both connecting members 316 are drawn toward each other, and the inner diameter of the upper end of the pipe strut 311 is reduced. As a result, as shown in Figure 17, the first shaft member 361 on the base end side of the first movable arm 360, which is slidably inserted into the upper end of the pipe support 311, is clamped and fixed, and the orientation of the first shaft member 361 of the first movable arm 360 around the first vertical axis Y1 and the height position in the direction of the first vertical axis Y1 are fixed.

[0064] As shown in FIGS. 16 and 17, the first shaft member 361 is configured by fastening a first boss receiving portion 363, which is bent into a U-shape, to the upper end of a cylindrical shaft portion 362 that is inserted into the upper end of the pipe support 311. As shown in FIGS. 15 to 17, a cylindrical first boss portion 360A formed at the base end of the first movable arm 360 is inserted and disposed between a first upper plate portion 363a and a first lower plate portion 363b of the first boss receiving portion 363. As shown in FIG. 17, a first support shaft 364 that penetrates the first boss portion 360A is provided between the first upper plate portion 363a and the first lower plate portion 363b of the first boss receiving portion 363. A first nut 365 is threaded onto the male thread portion at the upper end of the first support shaft 364. The first boss portion 360A of the first movable arm 360 is configured to be rotatable around the first vertical axis Y1, which is the axis of the first support shaft 364, relative to the first boss receiving portion 363 of the first shaft member 361, and to be fixed in any orientation around the first vertical axis Y1.

[0065] 14 to 17, a second boss receiving portion 370 bent into a U-shape is fixed to the upper end of a cylindrical second boss portion 360B formed at the tip end of the first movable arm 360. A cylindrical third boss portion 381 formed at the base end of the second movable arm 380 is inserted between the second upper plate portion 370a and the second lower plate portion 370b of the second boss receiving portion 370. As shown in FIGS. 16 and 17, a second support shaft 371 is provided between the second upper plate portion 370a and the second lower plate portion 370b of the second boss receiving portion 370 and passes through the third boss portion 381, and a second nut 372 is threaded onto the male thread portion at the upper end of the second support shaft 371. The third boss portion 381 of the second movable arm 380 is configured to be rotatable around the second vertical axis Y2, which is the axis of the second support shaft 371, relative to the second boss receiving portion 370 of the first movable arm 360, and to be fixed in any orientation around the second vertical axis Y2.

[0066] As shown in FIGS. 14 to 17, the second movable arm 380 includes a third boss portion 381 extending along the second vertical axis Y2, a fourth boss portion 382 extending along the horizontal axis X, and a connecting portion 383 that integrally connects the boss portions 381, 382. A second bracket 321 having a generally U-shape in plan view is fixed to the lower end of the rear surface of the terminal holder 320. As shown in FIGS. 14, 15, and 17, the fourth boss portion 382 of the second movable arm 380 is inserted and disposed between the left and right side plates 321a of the second bracket 321. A third support shaft 384 that penetrates the fourth boss portion 382 is provided across both side plates 321a of the second bracket 321. A third nut (not shown) is threaded onto the male thread portion at one end of the third support shaft 384. The second bracket 321 of the terminal holder 320 is configured to be rotatable about the horizontal axis X, which is the axis of the third support shaft 384, relative to the fourth boss portion 382 of the second movable arm 380, and to be fixed in any orientation about the horizontal axis X.

[0067] As described above, by adjusting the orientation of the first movable arm 360 around the first vertical axis Y1 relative to the support portion 310 and adjusting the height in the direction of the first vertical axis Y1, adjusting the orientation of the second movable arm 380 around the second vertical axis Y2 relative to the first movable arm 360, and adjusting the orientation of the terminal holder 320 around the horizontal axis X relative to the second movable arm 380, the position and orientation of the tablet terminal 48 held in the terminal holder 320 can be adjusted three-dimensionally to suit individual users with different heights, postures, and habits.

[0068] Furthermore, in a state in which the first movable arm 360 is fixed to the support column 310, the second movable arm 380 is fixed to the first movable arm 360, and the terminal holder 320 is fixed to the second movable arm 380, the rigidity of the terminal position adjustment mechanism 350 is sufficiently ensured, and it is possible to minimize the effect of vibration on the tablet terminal 48 attached to the terminal holder 320. Furthermore, because the support column 310 is attached to the cabin frame 200, which has been provided with vibration countermeasures, it is possible to suppress the effect of vibration on the tablet terminal 48.

[0069] 14 to 17, the terminal holder 320 includes a fixed holder part 330 that supports the lower end of the tablet terminal 48, and a movable holder part 340 that supports the upper end of the tablet terminal 48. The movable holder part 340 is configured to be slidable in the up and down direction along the fixed holder part 330. As shown in FIGS. 16 and 17, a clamping biasing part 325 that biases the movable holder part 340 to move downward, which is the clamping side of the tablet terminal 48, is provided between the movable holder part 340 and the fixed holder part 330.

[0070] As shown in Figures 14 to 17, the fixed holder part 330 comprises a fixed mounting base material 331 having a substantially U-shaped cross section formed by bending the left and right side plates 331a toward the front and upper side, a fixed support plate 332 fixed to the lower ends of both side plates 331a of the fixed mounting base material 331, and a second bracket 321 fixed to the lower end of the back surface of the fixed mounting base material 331. 14 to 17, lower support portions 334 are formed on both left and right sides of fixed support plate 332. The lower support portions 334 include a mounting plate portion 334a for mounting and supporting the lower end portion of tablet terminal 48, and a drop prevention plate portion 334b ​​protruding upward from the tip of mounting plate portion 334a. Fixed support plate 332 and both lower support portions 334 form a lower catch recess 335 into which the lower end portion of tablet terminal 48 can be inserted from above, and an elastic cushioning material 336 such as silicone sponge rubber is attached to the inner surface of this lower catch recess 335.

[0071] 14 to 17, the movable holder portion 340 has a pair of left and right side plates 342 fixed to the back surface of a movable support plate 341. The left and right side plates 342 are slidable up and down along the inner surfaces of both side plates 331a of the fixed mounting base 331. An upper support portion 343 is formed at the upper end of the movable support plate 341. The upper support portion 343 includes a clamping plate portion 343a that clamps and supports the upper end of the tablet terminal 48, and a stop plate portion 343b that protrudes downward from the tip of the clamping plate portion 343a. The movable support plate 341 and the upper support portion 343 form an upper catch recess 344 into which the upper end of the tablet terminal 48 can be inserted from below, and an elastic cushioning material 336 such as silicone sponge rubber is attached to the inner surface of this upper catch recess 344.

[0072] The elastic cushioning material 336 provided in the lower catch recess 335 of the fixed holder part 330 and the elastic cushioning material 336 provided in the upper catch recess 344 of the movable holder part 340 can suppress vibration of the tablet terminal 48 attached to the terminal holder 320.

[0073] As shown in Figures 15 to 17, each side plate 342 of the movable support plate 341 has an elongated hole 345 formed therein, which restricts the movable range of the movable support plate 341. Two sliding guide rods 322 are mounted horizontally on each side plate 331a of the fixed mounting base 331, passing through the elongated holes 345 in each side plate 342 of the movable support plate 341. Therefore, the position where the upper ends of both elongated holes 345 of the movable holder part 340 abut against the upper sliding guide rods 322 of the fixed holder part 330 is the lowest position of the movable holder part 340 relative to the fixed holder part 330. The position where the lower ends of both elongated holes 345 of the movable holder part 340 abut against the lower sliding guide rods 322 of the fixed holder part 330 is the highest position of the movable holder part 340 relative to the fixed holder part 330.

[0074] 17, the clamping biasing portion 325 includes a lower spring hook member 326 hung horizontally on the lower ends of both side plates 331a of the fixed mounting base 331, an upper spring hook member 327 hung horizontally on the lower ends of both side plates 342 of the movable support plate 341, and a tension coil spring 328 hooked between the two spring hook members 326, 327. The tension coil spring 328 biases the movable holder portion 340 to move to the lowest position relative to the fixed holder portion 330. Therefore, when attaching the tablet terminal 48 to the terminal holder 320, the upper end of the tablet terminal 48 is inserted from below into the upper catch recess 344 of the movable holder part 340, and in this state, the movable holder part 340 is pushed upward against the elastic biasing force of the tension coil spring 328. Then, when the lower end of the tablet terminal 48 passes the upper end of the lower catch recess 335 of the fixed holder part 330, the lower end of the tablet terminal 48 is inserted into both lower catch recesses 335 of the fixed holder part 330. In this attached state, the elastic biasing force of the tension coil spring 328 causes the tablet terminal 48 to be securely clamped and held at three points: both lower catch recesses 335 of the fixed holder part 330 and the upper catch recess 344 of the movable holder part 340.

[0075] The upper end of the pipe support 311 of the support unit 310 faces the upper front end of the operation panel unit 214. Furthermore, the first shaft member 361 of the first movable arm 360 passes through the upper front end of the operation panel unit 214. As shown in Fig. 15, a device mounting member 390 fixed to the upper front end of the operation panel unit 214 is also formed with a through hole 390a that communicates with the opening of the operation panel unit 214. The opening of the operation panel unit 214 and the through hole 390a of the device mounting member 390 are configured to be sized so that an adjustment bolt 317 and a nut 318, which are inserted through both connecting members 316 of the pipe support 311, can be operated from above with fingers or a tool. Also provided is a flexible rubber cover 391 that covers the through-hole 390a of the device mounting member 390. By lifting up this rubber cover 391, the through-hole 390a of the device mounting member 390 is exposed.

[0076] Other Embodiments (1) In the above-described embodiment, the wireless communication antenna 28 of the wireless communication unit 27 is housed within the unit cover 51 of the antenna unit 50. However, if necessary, the wireless communication antenna 28 may be protruded upward from a through hole formed in the upper cover body 53.

[0077] (2) In the above-described embodiment, the first predetermined distance L1 between the wireless communication antenna 28 of the wireless communication unit 27 and the center of the inertial measurement device 25 is set to 250 mm or more. However, this first predetermined distance L1 can be set arbitrarily depending on the radio wave interference conditions between the wireless communication unit 27 and the inertial measurement device 25.

[0078] (3) In the above-described embodiment, the second predetermined distance L2 between the inner surface 53a of the first bulge portion 53A and the upper end of the wireless communication antenna 28 is set to 30 mm or more, but this second predetermined distance L2 can be set arbitrarily depending on the communication state between the wireless communication unit 27 and the wireless communication device 31 of the wireless communication terminal 30.

[0079] (4) In the above-described embodiment, a pair of left and right stays 75 are attached to the underside of the unit cover 51. However, this is not limited to this attachment structure, and any attachment structure can be adopted depending on the attachment conditions of the work vehicle.

[0080] (5) In the above embodiment, the inertial measurement unit 25 and the GNSS antenna 26 are configured separately, but the inertial measurement unit 25 and the GNSS antenna 26 may be configured integrally.

[0081] <Notes on the invention> In one embodiment of the present invention, a work vehicle equipped with a cabin has a support frame that extends along the left-right width direction at an upper position outside the cabin and is fixed to a cabin frame, and an antenna unit that combines an inertial measurement unit, a GNSS antenna, and a wireless communication device is attached to the support frame in a state in which the inertial measurement unit and the GNSS antenna are positioned approximately in the center of the left-right width direction of the vehicle.

[0082] According to the above configuration, the inertial measurement unit and GNSS antenna assembled to the antenna unit are positioned approximately at the center of the left and right width of the vehicle, thereby improving both the detection accuracy of the work vehicle's current position information obtained from the received signal of the GNSS antenna and the detection accuracy of the vehicle's attitude change information obtained from the inertial measurement unit. Furthermore, the wireless communication device attached to the antenna unit makes it possible to wirelessly communicate various signals with an external device such as a wireless communication terminal. Furthermore, the support frame on which the antenna unit is mounted is fixed to the highly rigid cabin frame at an upper position outside the cabin and aligned along the left-right width direction, allowing the support frame to be configured as a strong support structure. Furthermore, because the cabin frame has a height that reaches close to the cabin roof, by setting the mounting position of the support frame on the upper side of the cabin frame, the antenna unit can be easily positioned at a height where the inertial measurement unit, GNSS antenna, and wireless communication device can each function appropriately.

[0083] Therefore, by adopting an antenna unit incorporating an inertial measurement unit, a GNSS antenna, and a wireless communication device, and by utilizing the above-mentioned rational innovations in the placement of the inertial measurement unit and the GNSS antenna relative to the vehicle and the support structure for the antenna unit, it is possible to improve the detection accuracy of both the inertial measurement unit and the GNSS antenna, and to efficiently mount them on a work vehicle while maintaining good communication conditions for the wireless communication device. Moreover, it is possible to construct a strong support structure for the mounted antenna unit.

[0084] In one embodiment of the present invention, the support frame is connected across mirror mounting portions provided on the left and right sides of the cabin frame.

[0085] According to the above configuration, the left and right mirror mounting portions protrude from the highly rigid cabin frame and are positioned at a height close to the cabin roof. Therefore, by utilizing both mirror mounting portions that are sturdy and have a sufficient ground clearance, the antenna unit support frame can be firmly and easily mounted at an appropriate height.

[0086] In one embodiment of the present invention, the antenna unit is attached to the support frame so as to be movable from a normal use position to a lower non-use position.

[0087] According to the above configuration, when the antenna unit is in the normal use position, for example, the antenna unit or the antenna mounted on the antenna unit may be positioned to protrude above the upper surface of the cabin roof. This may increase the vehicle height when transporting the work vehicle on a transport vehicle such as a truck, which may cause problems such as being subject to height restrictions when traveling on roads. Therefore, in this embodiment, by displacing the antenna unit from the normal use position to a lower non-use position relative to the support frame, it is possible to easily address issues such as height restrictions when traveling on roads.

[0088] In one embodiment of the present invention, a control unit controls the autonomous driving of the aircraft based on information obtained by the inertial measurement unit and the GNSS antenna, and an autonomous driving restraint unit prohibits the control unit from starting autonomous driving control unless it detects that the antenna unit is located in a normal operating position.

[0089] According to the above configuration, when it is detected that the antenna unit is located in the normal operating position, the autonomous driving restraint unit does not operate, and the control unit starts autonomous driving control based on information acquired by the inertial measurement unit and the GNSS antenna. When it is not detected that the antenna unit is located in the normal operating position, the autonomous driving restraint unit operates to restrain the control unit, and the control unit is prohibited from starting autonomous driving control. This allows the aircraft to autonomously drive accurately and safely along a target driving route based on accurate information acquired by the inertial measurement unit and the GNSS antenna, while employing a position displacement structure for the antenna unit that accommodates height restrictions when driving on roads, etc.

[0090] In one embodiment of the present invention, a control unit is provided within the cabin that controls the autonomous movement of the aircraft based on information obtained by the inertial measurement unit and the GNSS antenna, and a harness extending from the antenna unit is routed to the control unit within the cabin via an internal / external communication passage provided in the cabin frame.

[0091] According to the above configuration, the antenna unit located at an upper position outside the cabin and the control unit provided inside the cabin can be connected by rationally routing the harness through the inside-outside connecting passage provided in the cabin frame.

[0092] In one embodiment of the present invention, the harness leading out from the antenna unit is arranged at one side edge in the left-right width direction on the outer surface of the cabin's windshield, and along a strip-shaped portion that overlaps with the glass support portion of the front support pillar of the cabin.

[0093] According to the above configuration, the strip-shaped portion on one side edge of the outer surface of the windshield in the lateral direction, which overlaps with the glass receiving portion of the front support pillar, is a glass attachment portion for attaching the windshield to the front portion of the cabin, and is also located in a position that does not obstruct vision. Therefore, by arranging the harness leading out from the antenna unit in the strip-shaped portion, the harness can be neatly arranged while maintaining good visibility for the driver seated in the driver's seat.

[0094] A tractor according to one aspect of the present invention includes a cabin covering a driver's section, an antenna unit having a receiver for receiving positional information from a satellite, and a support frame supporting the antenna unit. The antenna unit is disposed above the roof of the cabin and is supported by a cabin frame of the cabin via the support frame. The antenna unit is attached to the support frame so as to be movable from a normal use position to a lower non-use position.

[0095] A work vehicle according to one aspect of the present invention includes a cabin, an antenna unit having a receiving device for receiving position information, and a support frame supporting the antenna unit. The antenna unit is supported by the cabin via the support frame. The antenna unit is mounted so as to be displaceable from a normal use position to a non-use position on the front and lower side of the vehicle body by rotating about a pivot axis relative to the support frame. The pivot axis is located forward of the front end of the roof of the cabin.

[0096] A work vehicle according to one aspect of the present invention includes a cabin, an antenna unit having a receiver for receiving position information, and a support frame supporting the antenna unit. The cabin has a pair of left and right front support pillars. The left end of the support frame is supported by the left front support pillar, and the right end of the support frame is supported by the right front support pillar. [Explanation of symbols]

[0097] 1. Work vehicle (tractor) 7 Cabin 23 Control Unit 25 Inertial Measurement Unit 26 GNSS antenna 27 Wireless communication device (wireless communication unit) 29 Wireless communication equipment (base station antenna) 46 Autonomous Driving Control Unit 50 Antenna Unit 80 Harness 100 Support Frame 150 Mirror mounting part 200 Cabin Frame 201 Front post 201a Glass holder 210 Internal and external communication passage

Claims

1. The cabin and an antenna unit having a receiver for receiving location information; a support frame for supporting the antenna unit, the cabin has a pair of left and right front support pillars and a roof supported on the pair of left and right front support pillars, The left end of the support frame is supported by the left front support column, The right end of the support frame is supported by the right front support pillar, the support frame has a central portion that protrudes forward relative to the left end portion and the right end portion, The antenna unit is supported at the center of the support frame. Work vehicle.

2. The pair of left and right front support columns each have a mirror mounting portion. The work vehicle according to claim 1.

3. The roof protrudes forward beyond the rear end of the upper end of the front support pillar. The work vehicle according to claim 1 or 2.

Images