Work equipment

Abstract

To provide a work machine that can provide stable positioning functionality over a long period of time. [Solution] The work machine comprises a machine body, a traveling device that supports the machine body so that it can move, a driver's seat, a protective device provided on the machine body to protect the driver's seat, and a positioning device that acquires position information from positioning satellites. The protective device has a roof positioned above the driver's seat, and the positioning device is housed inside the roof.

Description

Technical Field

[0001] The present invention relates to a work machine equipped with a positioning function.

Background Art

[0002] In recent years, in order to improve work efficiency, the development of work machines equipped with a function of setting a target travel route based on GNSS (Global Navigation Satellite System) positioning information and autonomously traveling according to the target travel route has been progressing. For this type of work machine, it is required to stably receive satellite signals transmitted from positioning satellites with a positioning device. Therefore, in conventional work machines, the positioning device (position detection device) is arranged on the upper part of the roof of a cab where there are few things that interfere with communication around.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, in a work machine equipped with a positioning device like the above-mentioned conventional work machine, in order to exhibit a stable positioning function over a long period of time, a configuration in which obstacles such as tree branches and flying stones are less likely to contact the positioning device during work has been required.

[0005] The present invention has been made in view of the above problems, and an object thereof is to provide a work machine capable of maintaining a stable positioning function over a long period of time.

Means for Solving the Problems

[0006] The present invention employs the following technical means in order to achieve the above object.

[0007] A work machine according to one aspect of the present invention comprises a machine body, a traveling device that supports the machine body so as to be able to travel, a driver's seat, a protective device provided on the machine body to protect the driver's seat, and a positioning device that acquires position information from positioning satellites, wherein the protective device has a roof positioned above the driver's seat, and the positioning device is housed inside the roof.

[0008] The positioning device may be stored inside the rear of the roof.

[0009] The positioning device may be positioned behind the driver's seat.

[0010] The running gear includes a front running gear positioned at the front of the aircraft and a rear running gear positioned at the rear of the aircraft, and the positioning device may be positioned on the rear axle centerline that extends in the left-right direction through the drive shaft center of the rear running gear when viewed from the vertical direction of the aircraft.

[0011] The positioning device may be positioned on the aircraft's centerline, which extends in the front-to-back direction through the center between the left and right sides of the aircraft when viewed from the up-and-down direction of the aircraft.

[0012] The positioning device may include a first positioning device housed in the rear interior of the roof, and a second positioning device positioned in front of the first positioning device at a predetermined distance.

[0013] The protective device has an upper frame, the upper frame includes a front upper frame constituting the front upper part of the protective device, a rear upper frame constituting the rear upper part of the protective device, and left and right side upper frames constituting the left upper part and right upper part of the protective device, the side upper frames have a rounded shape that curves upward, the first positioning device is positioned between the front upper frame and the rear upper frame and behind the curved top of the side upper frame, and the second positioning device may be positioned between the front upper frame and the rear upper frame and in front of the curved top.

[0014] The protective device includes a mounting frame for supporting the positioning device, and the protective device has an upper frame, and the mounting frame may be attached to the upper frame.

[0015] The upper frame includes a rear upper frame that constitutes the rear upper part of the protective device, the device mounting frame extends from the rear upper frame toward the front of the rear upper frame, and the positioning device may be attached to the front end of the device mounting frame.

[0016] The upper frame includes a front upper frame that constitutes the front upper part of the protective device, the device mounting frame extends from the front upper frame toward the rear of the front upper frame, and the positioning device may be attached to the front end of the device mounting frame.

[0017] The upper frame includes left and right side upper frames that constitute the upper left and upper right portions of the protective device, and the side upper frames have a rounded shape that curves upward, and the positioning device may be mounted on the device mounting frame such that the lower surface of the positioning device is located below the curved top of the side upper frame.

[0018] The protective device comprises a mounting frame for supporting the positioning device, and the protective device has an upper frame, the upper frame includes left and right side upper frames that constitute the upper left and upper right parts of the protective device, the side upper frames have a rounded shape that curves upward, and the mounting frame may be attached to the side upper frames.

[0019] The roof comprises a mounting frame for supporting the positioning device, and the roof has an outer roof that constitutes the upper surface of the roof and an inner roof that constitutes the lower surface of the roof, and the mounting frame for the device may be attached to the inner roof.

[0020] It includes a device mounting frame for supporting the positioning device, the protection device has an upper frame, the device mounting frame is provided at a position below the top of the upper frame in the upper frame, and the positioning device may be mounted on the device mounting frame such that the upper surface of the positioning device is located above the top.

[0021] It includes a device mounting frame for supporting the positioning device, the protection device has an upper frame, the upper frame includes a center upper frame that constitutes the upper middle part in the front-rear direction of the protection device, and the positioning device may be mounted on the device mounting frame such that the lower surface of the positioning device is located below the top of the center upper frame.

[0022] It includes a device mounting frame for supporting the positioning device, and the positioning device may be mounted on the device mounting frame such that the upper surface of the positioning device is located below the roof upper surface of the roof.

[0023] The roof has an outer roof that constitutes the upper surface of the roof and an inner roof that constitutes the lower surface of the roof, and the positioning device may be stored in a device accommodation part defined between the outer roof and the inner roof.

[0024] The inner roof may have a bulging part that bulges downward and defines the device accommodation part below the interior of the roof.

[0025] The inner roof has an inspection port that enables access to the device accommodation part from the driver's seat side and an inspection port cover that covers the inspection port, and the positioning device may be arranged facing the inspection port.

[0026] The inner roof has a bulging portion that bulges downward from the inner roof and defines the device housing portion below the interior of the roof, and the inspection port may be provided in the bulging portion.

[0027] The roof has a device mounting frame that supports the positioning device in the device housing portion, and the positioning device may be detachably provided to the device mounting frame through the inspection port.

[0028] The device mounting frame has a first frame portion that is fixedly provided inside the roof and a second frame portion that is removably connected to the first frame portion, and the positioning device may be provided on the second frame portion.

[0029] A control device that controls the traveling of the aircraft based on the position information, a console that is disposed on the side of the driver's seat and houses the control device therein, and a communication cable that connects the positioning device to the control device are provided. The protection device is erected around the driver's seat and has a pillar that supports the roof. The pillar is formed in a hollow cylindrical shape, and the communication cable may be routed from the roof through the inside of the pillar to the console.

Advantages of the Invention

[0030] [[ID=​​​​​​​​​​​​​​​​​​​​This is a perspective view showing the frame structure of the cabin. [Figure 6] This is a partially exploded perspective view of the roof area. [Figure 7] This is a partially exploded side view of the roof area. [Figure 8] This is a partially exploded perspective view of the rear underside of the roof. [Figure 9] This is a schematic diagram showing a side view of the area surrounding the positioning device. [Figure 10] This is a schematic diagram showing the routing structure of communication cables. [Figure 11] This is a side view of the work machine of the first modified example. [Figure 12] This is an overhead view of the work machine of the first modified example. [Figure 13] This is a partially exploded perspective view of the area around the front underside of the roof of the first modified vehicle. [Figure 14] This is a partially exploded side view of the area around the front underside of the roof of the second modified model. [Figure 15] This is an overhead view of the work machine of the third modified example. [Figure 16] This is a side view of the roof of the third modified example. [Figure 17] This is a partially exploded perspective view of the rear underside of the roof of the fourth modified example. [Figure 18] This is a partially exploded side view of the roof of the fifth modified example. [Figure 19] This is a partially disassembled side view of the roof of the sixth modified example. [Figure 20] This is a side view of the roof of the seventh modified example. [Figure 21] This is a side view of the roof of the eighth modified example. [Figure 22] This is a side view of the roof of the ninth modified example. [Figure 23] This is a perspective view of the upper frame area of ​​the ninth modified example. [Modes for carrying out the invention]

[0032] Embodiments of the present invention will be described with reference to the drawings. The work machine 1 of this embodiment is equipped with an autonomous driving function. As shown in Figure 1, the work machine 1 is equipped with a positioning device 40, a correction information communication device 50, a work information communication device 60, and a control device 70, and can set a target driving route based on information about the target field, etc., and autonomously drive to follow the target driving route using the position information (positioning information) of the work machine 1 acquired from the positioning support system S. Furthermore, the work machine 1 of this embodiment has a trajectory communication function that transmits the position information (positioning information), operation information, etc. of the work machine 1 acquired by the positioning device 40 to the field management device T.

[0033] The positioning support system S comprises a positioning base station S1 and a support device S2. Multiple positioning base stations S1 are installed at predetermined reference points such as building roofs and around fields, and transmit satellite signals received from positioning satellites G to the support device S2 via an external communication network N. The support device S2 is a fixed computer terminal (server) installed at agricultural machinery manufacturers, agricultural cooperatives, positioning support system management companies, etc., and transmits observation information and position correction information based on satellite signals received from positioning base stations S1 to the outside via the external communication network N.

[0034] The field management device T is a fixed computer terminal (server) installed at agricultural machinery manufacturers, agricultural cooperatives, field management service providers, etc. It records the work trajectory of the implement 1 on the field map, including location information and operation information received via an external communication network N. Workers and field managers can access the field management device T using personal computers, portable information terminals, or on-board information terminals (operation terminals) mounted on the implement 1 to monitor work progress, analyze yields, manage fertilizer application amounts, etc.

[0035] The positioning device 40 is a device that acquires position information (positioning information including latitude and longitude) from satellite positioning systems such as GPS (Global Positioning System), GLONASS (Global Navigation Satellite System), Michibiki (QZSS: Quasi-Zenith Satellite System), Galileo, and Beidou. The positioning device 40 receives satellite signals (positioning information such as the position of the positioning satellite G and the transmission time) transmitted from the positioning satellite G, and detects the position of the work machine 1 (for example, latitude and longitude) based on the satellite signals.

[0036] The positioning device 40 includes a satellite communication unit 41 and a measurement unit 42. The satellite communication unit 41 receives satellite signals transmitted from the positioning satellite G. The measurement unit 42 measures the aircraft's position based on the satellite signals received by the satellite communication unit 41.

[0037] The positioning device 40 in this embodiment is an antenna-integrated satellite communication device in which the satellite communication unit 41 and the measurement unit 42 are incorporated inside a common casing. The positioning device 40 does not necessarily have a casing. The detailed arrangement of the positioning device 40 will be described later.

[0038] The correction information communication device 50 is a positioning correction communication device that wirelessly connects to an external communication network N and acquires aircraft position correction information (position correction information) from the support device S2.

[0039] The correction information communication device 50 of this embodiment wirelessly connects to a wireless communication terminal P, such as a portable information terminal held by the operator or an in-vehicle information terminal (operation terminal) mounted on the work machine 1, using short-range wireless communication such as Wi-Fi® or Bluetooth®, and connects to an external communication network N using the communication function of the wireless communication terminal P. In other words, the correction information communication device 50 of this embodiment is a short-range wireless communication unit (wireless router) that is wirelessly connected to a wireless communication terminal P and can wirelessly connect to an external communication network N via the wireless communication terminal P.

[0040] Furthermore, the correction information communication device 50 may not be a short-range wireless communication unit that can wirelessly connect to an external communication network N via a wireless communication terminal P, but rather a direct communication unit that can wirelessly connect directly to the external communication network N from a communication base station such as a telephone communication network of a telephone line operator or a data communication network of an internet line operator. In this case, the correction information communication device 50 wirelessly connects directly to the external communication network N via a communication base station such as a telephone communication network or a data communication network, and acquires position correction information from the support device S2.

[0041] The work information communication device 60 is a field management communication device that wirelessly connects to an external communication network N and transmits positioning information (machine position), operation information of the work machine 1, operation information of the work device U1 connected to the work machine 1, etc., to the field management device T.

[0042] The work information communication device 60 of this embodiment wirelessly connects to an external communication network N via a communication base station such as a telephone communication network of a telephone line operator or a data communication network of an internet line operator. In other words, the work information communication device 60 is a direct communication unit that can be directly wirelessly connected to the external communication network N. Therefore, the work machine 1 can constantly transmit positioning information and operation information to the field management device T even if the operator does not possess a wireless communication terminal (portable information terminal) P, or even if the work machine 1 is not equipped with a wireless communication terminal (vehicle-mounted information terminal) P.

[0043] Furthermore, the work information communication device 60 may not be a direct communication unit that can directly connect wirelessly to the external communication network N, but rather a short-range wireless communication unit that can connect wirelessly to the external communication network N using the communication function of a wireless communication terminal P, similar to the correction information communication device 50. In this case, the work information communication device 60 connects wirelessly to the external communication network N via a wireless communication terminal P, such as a portable information terminal carried by the operator or an on-board information terminal mounted on the work machine 1, and transmits positioning information and operation information to the field management device T.

[0044] As shown in Figures 2 and 3, the work machine 1 is equipped with an object sensor 30, and its operation is controlled based on the detection information from the object sensor 30. In this embodiment, the object sensor 30 is an imaging device that takes pictures of the area around the work machine 1 and transmits the captured images to the control device 70. Based on the images, the control device 70 detects whether or not there are any objects around the work machine 1 that would obstruct its movement.

[0045] In this embodiment, the work machine 1 uses an imaging device such as a CCD (Charge Coupled Devices) camera, a CMOS (Complementary Metal Oxide Semiconductor) camera, or an infrared camera as the object sensor 30. However, the object sensor 30 is not limited to an imaging device as long as it can accurately detect the presence or absence of objects around the work machine 1.

[0046] For example, the object sensor 30 may be a laser sensor (LiDAR: Light Detection And Ranging) that irradiates laser light around the work machine 1 and measures the distance and position of an object based on the detection information of the reflected light. Alternatively, the object sensor 30 may be a millimeter-wave radar that irradiates radio waves around the work machine 1 and measures the distance and position of an object based on the detection information of the reflected waves. Furthermore, the work machine 1 may be equipped with two or more sensors from among an imaging device, a laser sensor, and a millimeter-wave radar as the object sensor 30, and may be configured to detect objects around the work machine 1 in combination with these multiple types of sensors.

[0047] The control device 70 is an ECU (Electronic Control Unit) that controls the operation of the traction unit 3, the prime mover 6, etc. The control device 70 includes a monitoring device (monitoring ECU) 71 and an image processing device (image ECU) 72.

[0048] The monitoring device 71 corrects the error in the positioning information acquired by the positioning device 40 based on the position correction information acquired by the correction information communication device 50, and sets the target travel path for the work machine 1 during autonomous travel. The monitoring device 71 automatically controls the steering direction of the travel device 3, the rotation speed of the prime mover 6, etc., according to the target travel path. In this way, the monitoring device 71 controls the autonomous travel of the work machine 1.

[0049] The image processing device 72 analyzes whether or not there are obstacles around the work machine 1 based on the detection information (image information) from the object sensor 30. The monitoring device 71 restricts the operation of the work machine 1 according to the analysis results of the image processing device 72. Specifically, for example, if the object sensor 30 detects a person or an object (obstacle) that obstructs movement on the target travel path during automatic driving, and the distance from the obstacle to the work machine 1 is less than or equal to a predetermined value, the monitoring device 71 reduces the output of the prime mover 6 and activates the braking device to stop the movement of the work machine 1.

[0050] Furthermore, if the object sensor 30 is a laser sensor or millimeter-wave radar, the control device 70 has an input analysis device that analyzes whether or not an obstacle exists around the work machine 1 based on the detection information from the laser sensor or millimeter-wave radar, instead of the image processing device 72. The monitoring device 71 restricts the operation of the work machine 1 as described above according to the analysis results of the input analysis device.

[0051] As shown in Figures 2 and 3, the implement 1 of this embodiment is a tractor, and implements U1 such as tillers, seeders, spreaders, and balers can be appropriately attached to the rear of the machine body 2. The implement 1 comprises a machine body 2, a running gear 3, a driver's seat 4, a control device 5, a prime mover 6, a bonnet 7, and a cabin 8. As shown in Figures 3 and 4, the implement 1 comprises a console 9 and an operating device 10.

[0052] Furthermore, the implement 1 according to the present invention is not limited to a tractor. For example, the implement 1 according to the present invention may be agricultural machinery other than a tractor, construction machinery, transport machinery, utility vehicles, etc. Alternatively, the implement 1 according to the present invention may be a narrow tractor or pesticide sprayer, etc., with a narrow tread of the running gear 3, suitable for traveling on relatively narrow roads such as between trees in an orchard or between rows in a field.

[0053] In the following explanation, the longitudinal direction of the aircraft 2 (indicated by arrows X1 and X2 in Figures 2 and 3) will be referred to as the front-to-back direction, the width direction of the aircraft 2 (indicated by arrows Y1 and Y2 in Figure 3) as the left-to-right direction, and the height direction of the aircraft 2 (indicated by arrows Z1 and Z2 in Figure 2) as the up-and-down direction.

[0054] The aircraft body 2 is formed by combining metal frame materials, a drive transmission casing (transmission case), and other components. As shown in Figure 2, in this embodiment, the front half of the aircraft body 2 is composed of an aircraft frame 2S that is long in the front-rear direction. The rear half of the aircraft body 2 is composed of a transmission case 2T. The aircraft body 2 is supported so as to be able to move by a running gear 3.

[0055] The running gear 3 supports the machine body 2 so that it can move. In this embodiment, the running gear 3 is a wheel rotatably mounted on the machine body 2. The running gear 3 includes front wheels 3F, which are front running gears provided on the left and right sides of the front of the machine body 2, and rear wheels 3R, which are rear running gears provided on the left and right sides of the rear of the machine body 2. Either one or both of the front wheels 3F and the rear wheels 3R ​​are steered by the steering device 5. Note that the running gear 3 is not limited to wheels. For example, the running gear 3 may be a crawler.

[0056] The work machine 1 in this embodiment is a two-wheel drive vehicle that drives the rear wheels 3R ​​and is a two-wheel steering vehicle that steers the front wheels 3F. Alternatively, the work machine 1 may be a four-wheel drive vehicle that drives both the front wheels 3F and the rear wheels 3R, or a four-wheel steering vehicle that steers both the front wheels 3F and the rear wheels 3R. Furthermore, in the work machine 1, either the front wheels 3F or the rear wheels 3R, or both, may be crawlers.

[0057] As shown in Figure 2, the driver's seat 4 is located at the upper rear of the aircraft body 2. As shown in Figures 2 and 3, the driver's seat 4 has a seat portion 11 and a backrest portion 12. The seat portion 11 is located approximately in the center between the front and rear of the cabin 8. The backrest portion 12 is erected at the rear of the seat portion 11.

[0058] The control device 5 is located at the rear upper part of the aircraft body 2. The control device 5 is positioned in front of the driver's seat 4 at a predetermined distance. The control device 5 is located inside the cabin 8 adjacent to the front panel (front window) 16A. The control device 5 includes a handle (steering wheel) 13 and a control mechanism 14. In this embodiment, the control mechanism 14 has a mechanism that steers the front wheels (front running gear) 3F in accordance with the rotational operation of the handle 13.

[0059] As shown in Figure 2, the prime mover 6 is mounted on the front upper part of the aircraft frame 2S. The bonnet 7 is provided on the front upper part of the aircraft body 2 and covers the mounting area of ​​the prime mover 6. That is, the prime mover 6 is housed inside the bonnet 7. In this embodiment, the prime mover 6 is a diesel engine. The prime mover 6 may also be a gasoline engine, or a hydrogen engine driven by the combustion energy of hydrogen gas. Alternatively, the prime mover 6 may be an electric motor driven by electricity generated by a fuel cell or electricity charged to a battery from an external power source, or it may be a hybrid prime mover composed of a combination of an engine and an electric motor.

[0060] Cabin 8 is a protective device that protects the driver's seat 4. Cabin 8 is located at the rear upper part of the aircraft body 2 and encloses the driver's seat 4. The driver's seat 4 is located inside Cabin 8. As shown in Figures 2 to 4, Cabin 8 is a box-shaped structure that encloses the driver's seat 4 on all sides (front, rear, left, right, and above) and has pillars 15, panels 16, and a roof 17. The detailed configuration of Cabin 8 will be described later.

[0061] As shown in Figures 3 and 4, the console 9 is located inside the cabin 8. In this embodiment, the console 9 is located on both the left and right sides of the driver's seat 4 inside the cabin 8. However, the console 9 may be located on only one side of the driver's seat 4.

[0062] The operating device 10 includes devices such as an operating lever for operating the work device U1, operating buttons for operating various functions of the work machine 1 (for example, turning the work light on and off), and an operating dial. In this embodiment, the operating device 10 is located on the console 9 to the right of the driver's seat 4.

[0063] As shown in Figure 5, the cabin 8 has an upper frame 18 and a lower frame 19. Multiple pillars 15 are erected on the upper part of the lower frame 19 and support the upper frame 18 from below. That is, the upper frame 18 is supported from below by multiple pillars 15 erected on the upper part of the lower frame 19. Thus, the cabin 8 has a box-shaped frame structure composed of pillars 15, an upper frame 18, and a lower frame 19.

[0064] The pillar 15 is a hollow frame and is erected at a distance from the driver's seat 4, both in front of and behind the driver's seat 4. In other words, the pillar 15 constitutes the protective frame for each corner of the cabin 8, front, rear, left, and right. The pillar 15 includes the left front pillar 15A, the right front pillar 15B, the left rear pillar 15C, and the right rear pillar 15D.

[0065] Although the cabin 8 of this embodiment has the four pillars 15 described above, the number of pillars 15 is not limited to four. For example, the cabin 8 may have five pillars 15 (in addition to the four pillars 15 described above, a left center pillar or a right center pillar), or six pillars 15 (in addition to the four pillars 15 described above, a left center pillar and a right center pillar).

[0066] The left front pillar 15A is located to the left and in front of the driver's seat 4. The right front pillar 15B is located to the right and in front of the driver's seat 4. The left rear pillar 15C is located to the left and in rear of the driver's seat 4. The right rear pillar 15D is located to the right and in rear of the driver's seat 4. The roof 17 is supported from below by these four pillars 15.

[0067] The upper frame 18 is a hollow frame that extends between the upper parts of adjacent pillars 15 on the left and right or front and rear, connecting the pillars 15 to each other. The upper frame 18 includes a front upper frame 18A, a rear upper frame 18B, a left side upper frame 18C, a right side upper frame 18D, and a center upper frame 18E.

[0068] The front upper frame 18A forms the front upper part of the cabin 8. The front upper frame 18A extends horizontally along the front upper part of the cabin 8, connecting the upper parts of the left front pillar 15A and the right front pillar 15B.

[0069] The rear upper frame 18B forms the rear upper part of the cabin 8. The rear upper frame 18B extends laterally along the rear upper part of the cabin 8, connecting the upper parts of the left rear pillar 15C and the right rear pillar 15D.

[0070] The left side upper frame 18C forms the upper left portion of cabin 8. The left side upper frame 18C extends in the longitudinal direction from the upper left portion of cabin 8, connecting the upper parts of the left front pillar 15A and the left rear pillar 15C.

[0071] The right side upper frame 18D forms the upper right portion of the cabin 8. The right side upper frame 18D extends in the longitudinal direction from the upper right portion of the cabin 8, connecting the upper parts of the right front pillar 15B and the right rear pillar 15D.

[0072] As shown in Figures 5 and 7, both the left side upper frame 18C and the right side upper frame 18D (the left and right side upper frames 18C and 18D) are curved in an upward-convex arc shape. That is, the left and right side upper frames 18C and 18D have a rounded shape that curves upward.

[0073] The center upper frame 18E constitutes the upper middle section of the cabin 8 in the longitudinal direction. The center upper frame 18E extends in the lateral direction at the midpoint between the longitudinal and upper parts of the cabin 8, connecting the midpoints between the longitudinal and upper parts of the left side upper frame 18C and the right side upper frame 18D.

[0074] The front upper frame 18A, the center upper frame 18E, and the rear upper frame 18B are arranged in this order from front to rear, approximately parallel to each other, with predetermined intervals between them. The center upper frame 18E is located between the front upper frame 18A and the rear upper frame 18B, closer to the front upper frame 18A.

[0075] As shown in Figure 7, the upper surface E1 of the center upper frame 18E is located above the curved peaks E2 of the left and right upper frames 18C and D. In this embodiment, the upper surface E1 of the center upper frame 18E is the highest point of the upper frame 18.

[0076] As shown in Figures 5 to 8, in this embodiment, the upper frame 18 has a device mounting frame 20. The device mounting frame 20 is attached to the upper frame 18 and supports the positioning device 40. The detailed configuration of the device mounting frame 20 will be described later.

[0077] The lower frame 19 is a hollow or L-shaped cross-section frame that extends between the lower parts of adjacent pillars 15 on the left and right or front and rear, connecting the pillars 15 to each other. The lower frame 19 includes a front lower frame 19A, a rear lower frame 19B, a first left lower frame 19C, a second left lower frame 19D, a third left lower frame 19E, a third left lower frame 19E, a first right lower frame 19G, a second right lower frame 19H, a third right lower frame 19I, and a fourth right lower frame 19J.

[0078] The front lower frame 19A extends laterally at the front lower part of the cabin 8, connecting the lower parts of the left front pillar 15A and the right front pillar 15B. The rear lower frame 19B extends laterally at the rear of the cabin 8 (behind the backrest 12 of the driver's seat 4), connecting the lower parts of the left rear pillar 15C and the right rear pillar 15D.

[0079] The first left lower frame 19C extends rearward from the lower part of the left front pillar 15A and is connected to the lower part of the second left lower frame 19D. The second left lower frame 19D extends in an arc upward and rearward from the rear of the first left lower frame 19C and is connected to the lower part of the left rear pillar 15C. In this way, the first left lower frame 19C and the second left lower frame 19D connect the left front pillar 15A and the left rear pillar 15C.

[0080] The third left lower frame 19E extends rearward from the left side of the front lower frame 19A and is connected to the lower part of the fourth left lower frame 19F. The fourth left lower frame 19F extends upward from the rear of the third left lower frame 19E and is connected to the left side of the rear lower frame 19B. In this way, the third left lower frame 19E and the fourth left lower frame 19F connect the front lower frame 19A and the rear lower frame 19B.

[0081] The first right lower frame 19G extends rearward from the lower part of the right front pillar 15B and is connected to the lower part of the second right lower frame 19H. The second right lower frame 19H extends in an arc upward and rearward from the rear of the first right lower frame 19G and is connected to the lower part of the right rear pillar 15D. In this way, the first right lower frame 19G and the second right lower frame 19H connect the right front pillar 15B and the right rear pillar 15D.

[0082] The third right lower frame 19I extends rearward from the right side of the front lower frame 19A and is connected to the lower part of the fourth right lower frame 19J. The fourth right lower frame 19J extends upward from the rear of the third right lower frame 19I and is connected to the right side of the rear lower frame 19B. In this way, the third right lower frame 19I and the fourth right lower frame 19J connect the front lower frame 19A and the rear lower frame 19B.

[0083] As shown in Figures 2 to 4, the panel 16 includes a front panel 16A, a rear panel 16B, and left and right side panels 16C. The front panel 16A is located between two pillars 15 that are aligned left and right in front of the driver's seat 4 and constitutes the front window of the cabin 8. The rear panel 16B is located between two pillars 15 that are aligned left and right behind the driver's seat 4 and constitutes the rear window of the cabin 8. The side panels 16C are located between two pillars 15 that are aligned front and rear on the left and right sides of the driver's seat 4 and constitute the left and right side windows of the cabin 8.

[0084] As shown in Figures 6 to 8, the roof 17 has an outer roof 21 and an inner roof 22. The outer roof 21 constitutes the upper surface of the roof 17. The inner roof 22 constitutes the lower surface of the roof 17. The outer roof 21 and the inner roof 22 constitute the upper and lower outer shells of the roof 17.

[0085] The outer roof 21 and the inner roof 22 are stacked and connected vertically. A predetermined space 23 is defined between the upper and lower parts of the outer roof 21 and the inner roof 22. The positioning device 40 is housed in the above space (internal space of the roof 17) 23. In addition to the positioning device 40, other equipment such as a work information communication device 60, an air conditioning control device, and an audio control device may also be housed in the internal space 23 of the roof 17.

[0086] The outer roof 21 is made of a synthetic resin material with excellent radio wave transparency, such as polycarbonate. Therefore, the positioning device 40 can always stably receive satellite signals transmitted from the positioning satellite G through the outer roof 21. Note that only some of the constituent walls of the outer roof 21 may be made of a material with excellent radio wave transparency.

[0087] The outer roof 21 is detachably connected to the inner roof 22 by screws or the like. Therefore, when performing maintenance such as inspection or repair of equipment such as the positioning device 40 stored inside the roof 17, workers can access the internal space 23 of the roof 17 from outside the cabin 8 by removing the outer roof 21 from the inner roof 22.

[0088] The inner roof 22 is fixed to the upper part of the upper frame 18. As shown in Figure 7, the lower surface of the inner roof 22 is formed as a curved surface that curves upward. The side upper frames 18C and 18D are arranged along the lower surface of the inner roof 22. That is, the lower surface of the roof 17 is formed as a curved surface that curves upward to match the rounded shape of the side upper frames 18C and 18D.

[0089] As shown in Figures 6 to 8, the inner roof 22 has a bulge 24. The bulge 24 is located on the lower surface of the inner roof 22. The bulge 24 is formed to bulge downwards from the inner roof 22, defining an equipment housing section 23S capable of accommodating equipment such as a positioning device 40 inside the lower part of the roof 17. The positioning device 40 is located in the equipment housing section 23S inside the bulge 24.

[0090] The bulge 24 is located at the rear of the lower surface of the inner roof 22. More specifically, as shown in Figure 7, the bulge 24 is located behind the seat portion 11 of the driver's seat 4 on the lower surface of the inner roof 22. As shown in Figures 6 to 8, the bulge 24 is formed in a roughly trapezoidal shape that is elongated in the left-right direction and is located along the front edge of the rear upper frame 18B on the lower surface of the inner roof 22.

[0091] The vertical height of the lower surface of the bulge 24 is set to be approximately the same as the vertical height of the upper surface of the rear upper frame 18B. As a result, the bulge 24 is less likely to get in the way when the operator gets in and out of the cabin 8. In addition, the bulge 24 does not obstruct the operator's view from the driver's seat 4.

[0092] The inner roof 22 has an inspection opening 26. The inspection opening 26 is provided through the inner roof body 25 and connects the inside and outside of the roof 17. The inspection opening 26 is sized to allow the positioning device 40 to be removed from inside the roof 17.

[0093] As shown in Figures 7 and 8, the bulge 24 is detachably connected to the lower surface of the inner roof body 25. The bulge 24 is configured to be detachable from the inner roof body 25 by substantially its entirety. The bulge 24 is connected to the inner roof body 25 by fasteners such as screws and covers the inspection hatch 26 from below the inner roof body 25 (inside the cabin 8).

[0094] Thus, the inner roof 22 of this embodiment has an inspection opening 26 and a bulging portion 24 that serves as an inspection opening cover 27 that covers the inspection opening 26. Therefore, when performing maintenance on equipment such as the positioning device 40 stored inside the roof 17, the worker can remove the bulging portion 24 (inspection opening cover 27) from the inner roof 22 and access the equipment housing section 23S from inside the cabin 8 through the inspection opening 26.

[0095] As shown in Figures 6 to 9, the device mounting frame 20 is provided on the upper part of the rear upper frame 18B. The device mounting frame 20 is located in the center between the left and right sides of the rear upper frame 18B. The positioning device 40 is mounted on the upper part of the rear upper frame 18B via the device mounting frame 20. Alternatively, the positioning device 40 may be mounted directly to the rear upper frame 18B.

[0096] As shown in Figure 7, the device mounting frame 20 extends from the upper surface of the rear upper frame 18B toward the front of the rear upper frame 18B. The positioning device 40 is attached to the front end of the device mounting frame 20.

[0097] The device mounting frame 20 is attached to the rear upper frame 18B such that the lower surface portion 40L of the positioning device 40 is positioned lower than the upper surface portion E1 of the center upper frame 18E. In other words, the device mounting frame 20 is positioned lower than the highest point E1 of the upper frame 18 (center upper frame 18E).

[0098] As shown in Figures 5 to 7, the device mounting frame 20 has a support frame (first frame section) 20A and a mounting plate (second frame section) 20B. The support frame 20A is a plate piece bent into a roughly L shape, with its rear end fixed to the upper surface of the rear upper frame 18B and its front end extending forward of the rear upper frame 18B. In other words, the support frame 20A is connected and supported in a cantilevered manner to the upper surface of the rear upper frame 18B.

[0099] In this embodiment, the support frame 20A is attached to the upper part of the rear upper frame 18B through an inspection opening 26 formed in the rear of the inner roof 22. The support frame 20A faces the inspection opening 26 from inside the roof 17.

[0100] The mounting plate 20B is a flat rectangular plate and is supported from below by the support frame 20A. In this embodiment, the mounting plate 20B is fixed to the upper front end of the support frame 20A. The mounting plate 20B may be detachably connected to the support frame 20A. For example, the mounting plate 20B may be connected to the support frame 20A by fasteners such as screws, or it may be configured to be detachably attached to the front end of the support frame 20A by sliding it in the direction of extension of the front end (front-rear direction).

[0101] As shown in Figure 6, the positioning device 40 is detachably connected to the mounting plate 20B. In this embodiment, the positioning device 40 is connected to the upper surface of the mounting plate 20B by fasteners such as screws. Therefore, the positioning device 40 can be removed from the mounting plate 20B and taken out from inside the roof 17 through the inspection opening 26.

[0102] The positioning device 40 is located in a device housing section 23S defined inside the bulging section 24. As shown in Figure 7, the positioning device 40 is mounted on the device mounting frame 20 such that the upper surface 40U of the positioning device 40 is located above the upper surface (highest point) E1 of the center upper frame 18E. The positioning device 40 is mounted on the device mounting frame 20 such that the upper surface 40U of the positioning device is located below the roof surface E3 of the roof 17. In other words, in this embodiment, the positioning device 40 is positioned such that the upper surface 40U of the positioning device 40 is located above the upper surface E1 of the center upper frame 18E and below the roof surface E3.

[0103] In this embodiment, the positioning device 40 is mounted on the device mounting frame 20 such that the lower surface portion 40L of the positioning device 40 is at approximately the same height (vertical position) as the curved top portion E2 of the side upper frames 18C and 18D.

[0104] As shown in Figures 2 and 3, the positioning device 40 is positioned behind the seat portion 11 of the driver's seat 4. The positioning device 40 is positioned on the rear axle centerline C1, which extends in the left-right direction through the drive shaft center of the rear wheel (rear running gear) 3R when viewed from the vertical direction of the aircraft body 2. The positioning device 40 is positioned on the aircraft body centerline C2, which extends in the front-rear direction through the center between the left and right sides of the aircraft body 2 when viewed from the vertical direction of the aircraft body 2.

[0105] More specifically, as shown in Figure 3, the satellite communication unit 41 of the positioning device 40 is positioned at the point where the rear axis centerline C1 and the aircraft centerline C2 intersect when viewed from the top and bottom of the aircraft 2. Therefore, the measurement unit 42 measures the aircraft position using the position of the satellite communication unit 41 as the reference center point of the aircraft 2.

[0106] The satellite communication unit 41 is positioned where there are no obstructions to radio waves around it. Specifically, as shown in Figure 9, the satellite communication unit 41 is located at a predetermined angle d1 (for example, 10 degrees upward) from a virtual reference position F2 that is a predetermined height h1 (for example, 62 mm upward) above the mounting surface F1 of the satellite communication unit 41 (for example, the lower surface of the casing of the positioning device 40), where there are no obstructions to radio waves.

[0107] The positioning device 40 has a shielding plate 43. The satellite communication unit 41 is located on top of the shielding plate 43. The shielding plate 43 is located between the satellite communication unit 41 and the mounting surface F1 of the satellite communication unit 41 (for example, on the inner bottom surface of the casing of the positioning device 40). The shielding plate 43 is a metal plate and prevents reflected radio waves from reaching the satellite communication unit 41 from below. This reduces communication noise to the satellite communication unit 41, such as multipath interference.

[0108] As shown in Figure 3, the correction information communication device 50 is housed inside the console 9. In this embodiment, the correction information communication device 50 is located inside the console 9 on the left side of the driver's seat 4. The outer cover of the console 9, like the outer roof 21, is made of a material with excellent radio wave transparency. Therefore, the correction information communication device 50 can always communicate stably with the external communication network N via wireless communication.

[0109] Furthermore, the correction information communication device 50 may be installed inside the roof 17, inside the base supporting the driver's seat 4, or inside the control device 5 (such as inside the meter panel located in front of the steering wheel 13, or inside the cover covering the control mechanism 14), as long as it can be reliably connected to the wireless communication terminal P of the operator or the work machine 1 (or the external communication network N if it is a direct communication unit).

[0110] As shown in Figures 6 and 10, the work information communication device 60 is housed in the internal space 23 of the roof 17. In this embodiment, the work information communication device 60 is located in the rear-right part of the interior of the roof 17.

[0111] The work machine 1 is equipped with a first communication cable L1. The first communication cable L1 connects the positioning device 40 to the work information communication device 60. That is, the work information communication device 60 is connected to the positioning device 40 via the first communication cable L1 and receives positioning information from the positioning device 40 through the first communication cable L1.

[0112] The first communication cable L1 is routed inside the rear of the roof 17 and connects the positioning device 40 and the work information communication device 60. More specifically, the first communication cable L1 extends from the positioning device 40 to the work information communication device 60 along the upper surface of the rear upper frame 18B in the internal space 23 of the roof 17.

[0113] Furthermore, the work information communication device 60 may be installed inside the console 9, inside the base supporting the driver's seat 4, or inside the control device 5 (such as inside the meter panel located in front of the steering wheel 13, or inside the cover covering the control mechanism 14), as long as it can be reliably connected to the external communication network N (or, in the case of a short-range wireless communication unit, the wireless communication terminal P of the operator or work machine 1).

[0114] As shown in Figure 3, the monitoring device 71 and the image processing device 72 are housed inside the console 9. Both the monitoring device 71 and the image processing device 72 are located inside the console 9 on the left side of the driver's seat 4. The monitoring device 71 and the image processing device 72 are located adjacent to each other inside the console 9.

[0115] Furthermore, the monitoring device 71 and the image processing device 72 may both be installed inside the console 9 on the right side of the driver's seat 4, or they may be installed inside different consoles 9 on the left and right sides. In addition, either or both of the monitoring device 71 and the image processing device 72 may be installed inside the roof 17, inside the base supporting the driver's seat 4, or inside the control device 5 (such as inside the meter panel located in front of the steering wheel 13, or inside the cover covering the control mechanism 14).

[0116] As shown in Figure 10, the work machine 1 is equipped with a second communication cable L2, a third communication cable L3, a fourth communication cable L4, and a fifth communication cable L5. The second communication cable L2 connects the positioning device 40 to the monitoring device 71, which acts as a control device 70. That is, the monitoring device 71 is connected to the positioning device 40 via the second communication cable L2 and receives positioning information from the positioning device 40 through the second communication cable L2.

[0117] The second communication cable L2 is routed from the roof 17 through the interior of the pillar 15 to the console 9, connecting the positioning device 40 and the monitoring device 71. More specifically, the second communication cable L2 is inserted from the positioning device 40 through the interior space 23 of the roof 17 into the interior space 15S of the left rear pillar 15C, and further extends from this interior space 15S through the interior of the left console 9 to the monitoring device 71. As a result, the second communication cable L2 is not exposed to the outside of the cabin 8.

[0118] The third communication cable L3 connects the positioning device 40 to the correction information communication device 50. That is, the correction information communication device 50 is connected to the positioning device 40 via the third communication cable L3 and transmits correction information to the positioning device 40 through the third communication cable L3.

[0119] The third communication cable L3 is routed from the roof 17 through the interior of the pillar 15 to the console 9, connecting the positioning device 40 and the correction information communication device 50. More specifically, the third communication cable L3 is inserted from the positioning device 40 through the interior space 23 of the roof 17 into the interior space 15S of the left rear pillar 15C, and further extends from this interior space 15S through the interior of the left console 9 to the correction information communication device 50. As a result, the third communication cable L3 is not exposed to the outside of the cabin 8.

[0120] The fourth communication cable L4 connects the object sensor 30 to the image processing device 72. That is, the image processing device 72 is connected to the object sensor 30 via the fourth communication cable L4 and receives detection information from the object sensor 30 through the fourth communication cable L4.

[0121] The fourth communication cable L4 is routed from the roof 17 through the interior of the pillar 15 to the console 9, connecting the object sensor 30 and the image processing device 72. More specifically, the fourth communication cable L4 is inserted from the object sensor 30 through the interior space 23 of the roof 17 into the interior space 15S of the left rear pillar 15C, and further extends through the interior of the left console 9 to the image processing device 72. As a result, the fourth communication cable L4 is not exposed to the outside of the cabin 8.

[0122] The fifth communication cable L5 connects the image processing device 72 to the monitoring device 71. That is, the monitoring device 71 is connected to the image processing device 72 via the fifth communication cable L5 and receives the image analysis results from the image processing device 72 through the fifth communication cable L5.

[0123] The fifth communication cable L5 is routed inside the console 9 and connects the monitoring device 71 and the image processing device 72. As described above, the monitoring device 71 and the image processing device 72 are located adjacent to each other. This makes it possible to connect the monitoring device 71 to the image processing device 72 with a relatively short fifth communication cable L5. Furthermore, the fifth communication cable L5 is not exposed to the outside of the cabin 8.

[0124] <Variation> In the above embodiment of the work machine 1, the positioning device 40 is housed in the rear interior of the roof 17. However, the placement of the positioning device 40 is not limited to the rear interior of the roof 17, as long as it can consistently and stably receive satellite signals transmitted from the positioning satellite G.

[0125] For example, as shown in Figures 11 and 12, in the work machine 1 of this first modified example, the positioning device 40 is housed in the front interior of the roof 17. More specifically, the positioning device 40 is positioned in front of the seat portion 11 of the driver's seat 4 in the interior space 23 of the roof 17. As shown in Figure 12, the positioning device 40 is positioned on the centerline C2 of the machine body when viewed from the vertical direction of the machine body 2.

[0126] In the first modified work machine 1, the positioning device 40 is positioned in front of the rear axis centerline C1 when viewed from the vertical direction of the machine body 2. Therefore, the measurement unit 42 measures the machine body position by correcting the position so that a predetermined position behind the satellite communication unit 41, rather than the position of the satellite communication unit 41, becomes the reference center point of the machine body 2.

[0127] As shown in Figures 5 and 13, the work machine 1 of this first modified example has a connecting frame 18F and a device mounting frame 29. The upper frame 18 includes the connecting frame 18F. The connecting frame 18F extends in the front-rear direction between the front upper frame 18A and the center upper frame 18E of the cabin 8, and connects the front upper frame 18A and the center upper frame 18E to each other. That is, the connecting frame 18F is installed between the front upper frame 18A and the center upper frame 18E. Two connecting frames 18F are installed side by side between the front upper frame 18A and the center upper frame 18E with a predetermined distance between them in the left-right direction.

[0128] The device mounting frame 29 is a long, plate-shaped frame extending in the left-right direction between the left and right connecting frames 18F, and connecting the left and right connecting frames 18F to each other. In other words, the device mounting frame 29 is installed between the left and right connecting frames 18F. The device mounting frame 29 has a support frame (first frame section) 29A and a mounting plate (second frame section) 29B.

[0129] The support frame 29A is a substantially flat plate, with its first end fixed to the upper surface of the connecting frame 18F and its second end extending toward the other opposing support frame 29A. In other words, the support frame 29A is connected and supported in a cantilevered manner to the upper surface of the connecting frame 18F.

[0130] The mounting plate 29B is a plate piece formed by bending downwards into a concave shape, and is detachably connected and supported to the second ends of the left and right support frames 29A by fasteners such as screws. The positioning device 40 is attached to the upper surface of the mounting plate 29B.

[0131] As shown in Figure 13, an inspection hatch 26 is provided below the mounting plate 29B in the inner roof 22. The inspection hatch 26 penetrates the inner roof body 25 and connects the inside and outside of the roof 17. The inspection hatch 26 is covered by an inspection hatch cover 27.

[0132] The inspection hatch cover 27 is connected to the inner roof body 25 by fasteners such as screws, and covers the inspection hatch 26 from below the inner roof body 25 (inside the cabin 8). Therefore, when performing maintenance on equipment such as the positioning device 40 stored inside the roof 17, the worker can remove the inspection hatch cover 27 from the inner roof 22 and access the equipment housing section 23S from inside the cabin 8 through the inspection hatch 26.

[0133] The inspection hatch 26 is sized to allow the positioning device 40 to be removed from inside the roof 17 along with the mounting plate 29B. Therefore, the positioning device 40 can be removed from inside the roof 17 through the inspection hatch 26 by removing the inspection hatch cover 27 from the inner roof 22 and detaching the mounting plate 29B from the support frame 29A.

[0134] In the first modified work machine 1 described above, the positioning device 40 is mounted on the upper center between the left and right sides of the device mounting frame 29 which is installed between the left and right connecting frames 18F. However, as shown in Figure 14, it may also be mounted on the rear end of the device mounting frame 20 which extends rearward from the front upper frame 18A.

[0135] More specifically, in the work machine 1 of this second modified example, the front upper frame 18A has a device mounting frame 20. The device mounting frame 20 is provided on the upper part of the front upper frame 18A. The positioning device 40 is mounted on the upper part of the front upper frame 18A via the device mounting frame 20. The device mounting frame 20 extends from the upper surface of the front upper frame 18A toward the rear of the front upper frame 18A. The positioning device 40 is attached to the rear end of the device mounting frame 20.

[0136] The device mounting frame 20 comprises a support frame (first frame portion) 20A and a mounting plate (second frame portion) 20B. The support frame 20A is a plate piece bent into a roughly L-shape, with its front end fixed to the upper surface of the front upper frame 18A and its rear end extending toward the rear of the front upper frame 18A. In other words, the support frame 20A is connected and supported in a cantilevered manner to the upper surface of the front upper frame 18A.

[0137] The support frame 20A is attached to the upper part of the front upper frame 18A through an inspection opening 26 provided at the front of the inner roof 22. The support frame 20A is positioned to face the inspection opening 26 from inside the roof 17. The inspection opening 26 is covered from below the inner roof 22 by an inspection opening cover 27.

[0138] The mounting plate 20B is a flat, rectangular plate that is supported from below by the support frame 20A. The mounting plate 20B is fixed to the upper rear end of the support frame 20A. The positioning device 40 is detachably connected to the mounting plate 20B. That is, the positioning device 40 is attached to the rear end of the device mounting frame 20.

[0139] The positioning device 40 is connected to the upper surface of the mounting plate 20B by fasteners such as screws. The positioning device 40 is housed in the front interior of the roof 17. The positioning device 40 is positioned between the front upper frame 18A and the center upper frame 18E in the interior space 23 of the roof 17. Thus, in this second modified work machine 1, the positioning device 40 is positioned behind the front upper frame 18A, which makes it possible to lower the height of the roof 17 (the total height of the work machine 1) accordingly.

[0140] Although the work machine 1 in the above embodiment has only one positioning device 40, it may have multiple positioning devices 40. For example, as shown in Figure 15, in the work machine 1 of this third modified example, the positioning devices 40 are stored in two locations, front and rear, within the internal space 23 of the roof 17. The work machine 1 of this third modified example acquires position information (positioning information) of the work machine 1 using these two positioning devices 40.

[0141] The positioning device 40 includes a first positioning device 40A and a second positioning device 40B. The first positioning device 40A is housed in the rear inside the roof 17. On the other hand, the second positioning device 40B is housed in the front inside the roof 17.

[0142] The first positioning device 40A is positioned behind the seat portion 11 of the driver's seat 4 in the internal space 23 of the roof 17. The second positioning device 40B is positioned in front of the seat portion 11 of the driver's seat 4 in the internal space 23 of the roof 17 at a predetermined distance. In the work machine 1 of this third modified example, both the first positioning device 40A and the second positioning device 40B are positioned on the centerline C2 of the machine body when viewed from the vertical direction of the machine body 2.

[0143] The first positioning device 40A is positioned on the rear axle centerline C1 when viewed from the vertical direction of the aircraft body 2. On the other hand, the second positioning device 40B is positioned in front of the rear axle centerline C1 when viewed from the vertical direction of the aircraft body 2. As a result, the work machine 1 of this third modified example can detect the direction of travel of the aircraft body 2 (the direction of the nose) based on the difference between the positioning information received by the first positioning device 40A and the positioning information received by the second positioning device 40B.

[0144] In the work machine 1 of this third modification, the second positioning device 40B may be attached to a device mounting frame 29 installed between the left and right connecting frames 18F, similar to the positioning device 40 of the work machine 1 of the first modification (see Figures 5 and 13). Alternatively, the second positioning device 40B may be attached to a device mounting frame 20 extending rearward from the front upper frame 18A, similar to the positioning device 40 of the work machine 1 of the second modification (see Figure 14).

[0145] As shown in Figure 16, in the work machine 1 of this third modified example, the first positioning device 40A is positioned between the front upper frame 18A and the rear upper frame 18B, and behind the front-rear position of the curved top E2 of the side upper frames 18C and 18D. On the other hand, the second positioning device 40B is positioned between the front upper frame 18A and the rear upper frame 18B, and in front of the front-rear position of the curved top E2.

[0146] Thus, in this third modified example, the work machine 1 is positioned with the first positioning device 40A and the second positioning device 40B located forward and backward of the curved top E2 of the side upper frames 18C and 18D, respectively, which allows for a large space above the driver's seat 4 while lowering the height of the roof 17 (the total height of the work machine 1).

[0147] In the work machine 1 of this third modified example, the first positioning device 40A is mounted on the device mounting frame 20 such that the upper surface 40U of the first positioning device 40A is positioned above the upper surface E1 of the center upper frame 18E. The second positioning device 40B is mounted on the device mounting frame 29 such that the upper surface 40U of the second positioning device 40B is positioned above the upper surface E1 of the center upper frame 18E. Consequently, a larger space is secured above the driver's seat 4.

[0148] In the above embodiment of the work machine 1, the bulge 24, which serves as the inspection hatch cover 27, is detachably connected to the inner roof body 25. However, it may also be pivotably connected to the inner roof body 25 by a hinge mechanism, or it may be slidably connected to the side edge of the inspection hatch 26 by a sliding mechanism in the front-to-back or left-to-right direction. With these configurations, when opening the bulge 24, there is no risk of accidentally dropping the bulge 24 or having trouble finding a place to put the bulge 24, thus reducing the effort required when inspecting or replacing equipment stored inside the roof 17.

[0149] In the work machine 1 of the above embodiment, the bulging portion 24 is configured to be removable from the inner roof body 25 as an inspection hatch cover 27, but as shown in Figure 17, only a part of the bulging portion 24 may be configured to be removable from the inner roof body 25 as an inspection hatch cover 27.

[0150] More specifically, in the work machine 1 of this fourth modified example, the bulge 24 is integrally formed with the lower surface of the inner roof body 25. The bulge 24 has an inspection opening 26 and an inspection opening cover 27. The inspection opening 26 is located in the center between the left and right sides of the bulge 24. The inspection opening cover 27 is detachably connected to the bulge 24 and covers the inspection opening 26 from below the roof 17. As a result, when performing maintenance on equipment such as the positioning device 40 stored inside the roof 17, the worker can remove the inspection opening cover 27 from the bulge 24 and access the equipment housing 23S from inside the cabin 8 through the inspection opening 26.

[0151] In the above embodiment of the work machine 1, the inner roof 22 has a bulging portion 24, and the positioning device 40 is arranged in the internal space (device housing portion) 23S of the bulging portion 24. However, as shown in Figure 18, the inner roof 22 does not have to have a bulging portion 24.

[0152] More specifically, in the fifth modified work machine 1, the inner roof 22 has a rear wall portion 28 formed along the rear edge of the inner roof 22 instead of a bulging portion 24. The rear wall portion 28 is formed to rise upward from the front edge of the rear upper frame 18B. The inspection opening 26 is provided along the corner formed by the lower surface of the inner roof 22 and the rear wall portion 28. The inner roof 22 has an inspection opening cover 27. The inspection opening cover 27 is formed in a substantially L-shape in a side view cross-section that can cover the inspection opening 26 along the corner portion. The inspection opening cover 27 is detachably connected to the inner roof 22.

[0153] The positioning device 40 is housed in a space 23 defined at the rear of the interior of the roof 17 and is fixed to the upper surface of the inner roof 22 with fasteners such as screws. The positioning device 40 is positioned to be viewed from the space 23 at the rear of the interior of the roof 17 through the inspection hatch 26. This allows workers to access the device housing 23S from inside the cabin 8 through the inspection hatch 26 by opening the inspection hatch cover 27 when performing maintenance on the positioning device 40 or other equipment.

[0154] In the above embodiment of the work machine 1, the positioning device 40 is provided in the internal space (device housing) 23S of the bulge 24 formed in the inner roof 22. However, as shown in Figure 19, the positioning device 40 may also be provided in the internal space (device housing) 23S of the raised portion 21A provided in the outer roof 21.

[0155] More specifically, in the work machine 1 of this sixth modified example, the outer roof 21 has a raised portion 21A. The raised portion 21A is provided on the roof upper surface E3 of the outer roof 21. The raised portion 21A is formed to bulge upward toward the outer roof 21 and defines a device housing portion 23S capable of housing a positioning device 40 in the upper part of the internal space 23 of the roof 17. The positioning device 40 is located in the device housing portion 23S inside the raised portion 21A. The positioning device 40 is mounted on the device mounting frame 20 such that the upper surface portion 40U of the positioning device is located above the roof upper surface E3 of the roof 17.

[0156] The raised portion 21A has a box shape large enough to cover the entire positioning device 40 from above. The raised portion 21A is made of a material with excellent radio wave transparency. The positioning device 40 is placed in the space (device housing portion) 23S inside the raised portion 21A. This allows the positioning device 40 to constantly and stably receive satellite signals transmitted from the positioning satellite G.

[0157] The raised portion 21A may be integrally formed with the outer roof 21. Alternatively, the raised portion 21A may be detachably provided relative to the outer roof 21. For example, the raised portion 21A may be connected to the outer roof 21 by fasteners such as screws, covering the positioning device 40 from above the roof 17 (outside the cabin 8). This allows workers to access the positioning device 40 from outside the cabin 8 by removing the raised portion 21A from the outer roof 21 when performing maintenance on the positioning device 40 stored in the internal space 23 of the roof 17.

[0158] The inner roof 22 has an inspection hatch 26 and an inspection hatch cover 27. The inspection hatch 26 is provided through the inner roof body 25 and connects the inside and outside of the roof 17. The inspection hatch 26 is sized to allow the positioning device 40 to be removed from inside the roof 17. The inspection hatch 26 is covered by the inspection hatch cover 27.

[0159] The inspection hatch cover 27 is connected to the inner roof body 25 by fasteners such as screws, and covers the inspection hatch 26 from below the inner roof body 25 (inside the cabin 8). This allows workers to access the positioning device 40 stored inside the roof 17 (device housing 23S) from inside the cabin 8 through the inspection hatch 26 by removing the inspection hatch cover 27 from the inner roof 22 when performing maintenance on the positioning device 40 stored inside the roof 17 (device housing 23S).

[0160] In the work machine 1 of the above embodiment, the positioning device 40 is mounted on the device mounting frame 20 such that the lower surface portion 40L of the positioning device 40 is at a height that is approximately the same as the curved top E2 of the side upper frames 18C and 18D. However, as shown in Figure 20, the positioning device 40 may be mounted on the device mounting frame 20 such that the lower surface portion 40L of the positioning device 40 is located below the curved top E2 of the side upper frames 18C and 18D.

[0161] More specifically, in the seventh modified work machine 1, the side upper frames 18C and 18D are configured such that the curved tops E2 of the side upper frames 18C and 18D are located above the upper surface of the rear upper frame 18B. The device mounting frame 20 is a flat plate and is fixed to the upper surface of the rear upper frame 18B in a face-to-face state. The positioning device 40 is mounted on the upper surface of the device mounting frame 20. As a result, the lower surface 40L of the positioning device 40 is positioned below the curved tops E2 of the side upper frames 18C and 18D. Therefore, the height of the roof 17 can be reduced accordingly.

[0162] In the work machine 1 of the above embodiment, the device mounting frame 20 is attached to the rear upper frame 18B such that the lower surface portion 40L of the positioning device 40 is positioned above the upper surface portion (highest point) E1 of the center upper frame 18E. However, as shown in Figure 20, the device mounting frame 20 may be attached so that the lower surface portion 40L of the positioning device 40 is positioned below the upper surface portion (highest point) E1 of the center upper frame 18E.

[0163] More specifically, in the seventh modified work machine 1 described above, the center upper frame 18E is configured such that the upper surface E1 of the center upper frame 18E is located above the upper surface of the rear upper frame 18B. As described above, the positioning device 40 is attached to the upper surface of the device mounting frame 20 via a flat plate-shaped device mounting frame 20. Therefore, the lower surface 40L of the positioning device 40 is positioned below the upper surface E1 of the center upper frame 18E. This makes it possible to lower the height of the roof 17 accordingly.

[0164] In the above embodiment of the work machine 1, the device mounting frame 20 is attached to the upper frame 18, but as shown in Figure 21, it may also be attached to the inner roof 22. More specifically, in the work machine 1 of this eighth modified example, the device mounting frame 20 is provided on the upper surface of the inner roof 22. The device mounting frame 20 is attached to the inner roof 22 and supports the positioning device 40. That is, the positioning device 40 is attached to the upper surface of the inner roof 22 via the device mounting frame 20. The positioning device 40 may also be directly attached to the inner roof 22.

[0165] The device mounting frame 20 is provided adjacent to the inspection opening 26 of the inner roof 22. The device mounting frame 20 extends forward from the front edge of the inspection opening 26 on the upper surface of the inner roof 22. The positioning device 40 is attached to the front end of the device mounting frame 20. The device mounting frame 20 has a support frame (first frame portion) 20A and a mounting plate (second frame portion) 20B.

[0166] The support frame 20A has its rear end fixed to the upper surface of the inner roof 22, and its front end extends forward toward the rear upper frame 18B. In other words, the support frame 20A is cantilevered and supported to the upper surface of the inner roof 22. The support frame 20A is visible from inside the roof 17 through an inspection opening 26 provided at the rear of the inner roof 22.

[0167] The mounting plate 20B is connected and supported to the upper front end of the support frame 20A. The positioning device 40 is detachably connected to the mounting plate 20B. The positioning device 40 is connected to the upper front end of the mounting plate 20B by fasteners such as screws.

[0168] According to the work machine 1 of this eighth modified example, the positioning device 40 can be positioned in an appropriate location and stably fixed in the internal space 23 of the roof 17, taking into consideration positioning functionality and maintainability.

[0169] In the above embodiment of the work machine 1, the device mounting frame 20 is attached to the rear upper frame 18B, but as shown in Figures 22 and 23, it may also be attached to the side upper frames 18C and 18D.

[0170] More specifically, the work machine 1 of this eighth modified example has a plate-shaped device mounting frame 45 that is long in the left-right direction. The device mounting frame 45 extends in the left-right direction between the left side upper frame 18C and the right side upper frame 18D, connecting the left and right side upper frames 18C and 18D to each other. That is, the device mounting frame 45 is installed between the left and right side upper frames 18C and 18D. The device mounting frame 45 is attached to the side upper frames 18C and 18D at a position rearward from the curved top E2 of the side upper frames 18C and 18D.

[0171] The positioning device 40 is mounted on the upper surface of the device mounting frame 45. In this eighth modified example, the positioning device 40 is mounted to the side upper frames 18C and 18D via the device mounting frame 45 such that the lower surface 40L of the positioning device 40 is above the curved top E2 of the side upper frames 18C and 18D and below the upper surface (highest point) E1 of the center upper frame 18E. As a result, the positioning device 40 is supported in a position higher up on the upper frame 18, making it possible to secure a large space above the driver's seat 4.

[0172] The present invention provides a work machine 1 as described in the following items.

[0173] (Item 1) A work machine 1 comprises a machine body 2, a travel device 3 that supports the machine body 2 so that it can move, a driver's seat 4, a protective device 8 provided on the machine body 2 to protect the driver's seat 4, and a positioning device 40 that acquires position information from a positioning satellite G, wherein the protective device 8 has a roof 17 positioned above the driver's seat 4, and the positioning device 40 is housed inside the roof 17.

[0174] According to the work machine 1 related to item 1, it is possible to prevent obstacles such as tree branches and stepping stones from coming into contact with the positioning device 40, thereby enabling the maintenance of stable positioning functionality over a long period of time. Furthermore, as described above, the fact that the positioning device 40 is installed inside the roof 17 improves the aesthetic design of the work machine 1.

[0175] (Item 2) The positioning device 40 is the work machine 1 described in item 1, which is stored inside the rear of the roof 17.

[0176] According to the work machine 1 related to item 2, it is possible to reliably prevent obstacles from coming into contact with the positioning device 40, especially when driving, thereby maintaining an even more stable positioning function. In addition, since a larger space can be secured at the rear of the roof 17 compared to the center between the front and rear of the roof 17, there is greater flexibility in the placement of the positioning device 40. Therefore, by placing the positioning device 40 at the rear inside the roof 17, as in the work machine 1 related to item 2 above, it is possible to adopt a roof 17 structure with superior design.

[0177] (Item 3) The positioning device 40 is located behind the seat portion 11 of the driver's seat 4, as described in item 2.

[0178] According to the work machine 1 related to item 3, the positioning device 40 is unlikely to get in the way when the operator gets in and out of the driver's seat 4 or obstruct the operator's view during operation. Therefore, it is possible to maintain good usability of the work machine 1 while ensuring the stability of the positioning function.

[0179] (Item 4) The traveling device 3 includes a front traveling device 3F positioned at the front of the machine body 2 and a rear traveling device 3R positioned at the rear of the machine body 2, and the positioning device 40 is positioned on the rear axle centerline C1 which extends in the left-right direction through the drive shaft center of the rear traveling device 3R when viewed from the vertical direction of the machine body 2, according to item 2 or item 3 of the work machine 1.

[0180] According to the work machine 1 related to item 4, the position of the aircraft can be measured using the position (detection point) of the positioning device 40 as the reference center point in the front-rear direction of the aircraft 2. In other words, there is no need to perform correction processing of the detection position of the positioning device 40. Therefore, it becomes possible to achieve a more accurate and stable positioning function.

[0181] (Item 5) The positioning device 40 is positioned on the aircraft body centerline C2, which extends in the front-rear direction through the center between the left and right sides of the aircraft body 2 when viewed from the vertical direction of the aircraft body 2, as described in item 4.

[0182] According to the work machine 1 related to item 5, the position of the aircraft can be measured using the position (detection point) of the positioning device 40 as the reference center point in the left-right direction of the aircraft 2. In other words, there is no need to perform correction processing of the detection position of the positioning device 40. Therefore, it becomes possible to achieve a more accurate and stable positioning function.

[0183] (Item 6) The work machine 1 according to any one of items 1 to 5, wherein the positioning device 40 includes a first positioning device 40A housed inside the rear of the roof 17 and a second positioning device 40B positioned in front of the first positioning device 40A at a predetermined distance.

[0184] According to the work machine 1 related to item 6, the direction of travel of the aircraft 2 (the direction of the aircraft's nose) can be detected based on the difference between the positioning information received by the first positioning device 40A and the positioning information received by the second positioning device 40B, making it possible to achieve a more accurate and stable positioning function.

[0185] (Item 7) The protective device 8 has an upper frame 18, the upper frame 18 includes a front upper frame 18A which constitutes the front upper part of the protective device 8, a rear upper frame 18B which constitutes the rear upper part of the protective device 8, and left and right side upper frames 18C, 18D which constitute the left upper part and right upper part of the protective device 8, the side upper frames 18C, 18D which have an upwardly curved round shape, the first positioning device 40A is positioned between the front upper frame 18A and the rear upper frame 18B and behind the curved top E2 of the side upper frames 18C, 18D, and the second positioning device 40B is positioned between the front upper frame 18A and the rear upper frame 18B and in front of the curved top E2, the work machine 1 according to item 6.

[0186] According to the work machine 1 related to item 7, the direction of travel of the aircraft 2 (the direction of the aircraft's nose) can be detected based on the difference between the positioning information received by the first positioning device 40A and the positioning information received by the second positioning device 40B, making it possible to achieve a more accurate and stable positioning function.

[0187] Furthermore, by positioning the first positioning device 40A and the second positioning device 40B in front of and behind the curved top E2 of the side upper frames 18C and 18D, respectively, it is possible to secure ample space above the driver's seat 4 while lowering the height of the roof 17 (the total height of the work equipment 1).

[0188] (Item 8) The work machine 1 according to any one of items 1 to 7, comprising a device mounting frame 20 that supports the positioning device 40, the protective device 8 having an upper frame 18, and the device mounting frame 20 being attached to the upper frame 18.

[0189] According to the work machine 1 related to item 8, the positioning device 40 is attached to the upper frame 18 of the protective device 8 that protects the driver's seat 4 via the device mounting frame 20, thus providing high mounting stability and enabling more accurate and stable positioning functionality.

[0190] (Item 9) The work machine 1 according to item 8, wherein the upper frame 18 includes a rear upper frame 18B that constitutes the rear upper part of the protective device 8, the device mounting frame 20 extends from the rear upper frame 18B toward the front of the rear upper frame 18B, and the positioning device 40 is attached to the front end of the device mounting frame 20.

[0191] According to the work machine 1 described in item 9, the positioning device 40 can be positioned in front of the rear upper frame 18B, which allows the height of the roof 17 (the total height of the work machine 1) to be lower compared to when the positioning device 40 is positioned above the rear upper frame 18B. This makes it possible to improve the design of the work machine 1 while ensuring the stability of the positioning function. Furthermore, by positioning the positioning device 40 in front of the rear upper frame 18B as described above, it becomes possible to adopt a roof surface structure that makes it difficult for rainwater and dust to accumulate on the roof 17.

[0192] (Item 10) The work machine 1 according to item 8 or 9, wherein the upper frame 18 includes a front upper frame 18A that constitutes the front upper part of the protective device 8, the device mounting frame 20 extends from the front upper frame 18A toward the rear of the front upper frame 18A, and the positioning device 40 is attached to the front end of the device mounting frame 20.

[0193] According to the work machine 1 related to item 10, the positioning device 40 can be positioned behind the front upper frame 18A, which allows the height of the roof 17 (the total height of the work machine 1) to be lower compared to when the positioning device 40 is positioned above the front upper frame 18A. This makes it possible to improve the design of the work machine 1 while ensuring the stability of the positioning function. Furthermore, by positioning the positioning device 40 behind the front upper frame 18A as described above, it becomes possible to adopt a roof surface structure that makes it difficult for rainwater and dust to accumulate on the roof 17.

[0194] (Item 11) The work machine 1 according to any one of items 8 to 10, wherein the upper frame 18 includes left and right side upper frames 18C, 18D that constitute the upper left and upper right portions of the protective device 8, the side upper frames 18C, 18D have a rounded shape that curves upward, and the positioning device 40 is mounted on the device mounting frame 20 such that the lower surface portion 40L of the positioning device 40 is located below the curved top E2 of the side upper frames 18C, 18D.

[0195] According to the work machine 1 related to item 11, the height of the roof 17 (total height of the work machine 1) can be lowered compared to the case where the positioning device 40 is positioned above the side upper frames 18C and 18D. This makes it possible to improve the design of the work machine 1 while ensuring the stability of the positioning function. Furthermore, by positioning the lower part 40L of the positioning device 40 below the curved top E2 of the side upper frames 18C and 18D as described above, it becomes possible to adopt an upper surface structure of the roof 17 that makes it difficult for rainwater and dust to accumulate.

[0196] (Item 12) The work machine 1 according to any one of items 1 to 11, comprising a device mounting frame 20 supporting the positioning device 40, the protective device 8 having an upper frame 18, the upper frame 18 including left and right side upper frames 18C, 18D that constitute the upper left and upper right parts of the protective device 8, the side upper frames 18C, 18D having an upwardly curved round shape, and the device mounting frame 45 being attached to the side upper frames 18C, 18D.

[0197] According to the work machine 1 described in item 12, the positioning device 40 can be supported at a position higher up on the upper frame 18, thus providing ample space above the driver's seat 4. As a result, even if the positioning device 40 is stored inside the roof 17, it is less likely to get in the way when the operator gets in and out of the driver's seat 4 or to obstruct the operator's view while operating the machine. Therefore, the usability of the work machine 1 is further improved.

[0198] (Item 13) The work machine 1 according to any one of items 1 to 12, comprising a device mounting frame 20 that supports the positioning device 40, the roof 17 having an outer roof 21 that constitutes the upper part of the roof 17 and an inner roof 22 that constitutes the lower part of the roof 17, and the device mounting frame 20 being attached to the inner roof 22.

[0199] The inner roof 22 offers greater structural flexibility compared to the upper frame 18. Therefore, according to the work machine 1 described in item 13 above, the positioning device 40 can be positioned in a more appropriate location. This makes it possible to achieve even higher accuracy and more stable positioning functionality.

[0200] (Item 14) The work machine 1 according to any one of items 1 to 13, comprising a device mounting frame 20 that supports the positioning device 40, the protective device 8 having an upper frame 18, the device mounting frame 20 being positioned below the highest point E1 of the upper frame 18, and the positioning device 40 being mounted on the device mounting frame 20 such that the upper surface portion 40U of the positioning device 40 is positioned above the highest point E1.

[0201] According to the work machine 1 described in item 14, the height of the roof 17 (the total height of the work machine 1) can be lowered compared to the case where the device mounting frame 20 is positioned above the highest point E1 of the upper frame 18. This makes it possible to improve the aesthetic design of the work machine 1 while ensuring the stability of the positioning function.

[0202] On the other hand, the positioning device 40 is positioned such that its upper surface 40U is above the highest point E1 of the upper frame 18. This allows for more space above the driver's seat 4. As a result, the positioning device 40 is less likely to get in the way when the operator gets in and out of the driver's seat 4, or to obstruct the operator's view during operation. This ensures the stability of the positioning function while maintaining good usability of the work machine 1.

[0203] (Item 15) A work machine 1 according to any one of items 1 to 14, comprising a device mounting frame 20 that supports the positioning device 40, the protective device 8 having an upper frame 18, the upper frame 18 including a center upper frame 18E that constitutes the upper middle part of the protective device 8 in the front-rear direction, and the positioning device 40 being mounted on the device mounting frame 20 such that the lower surface portion 40L of the positioning device 40 is located below the highest point E1 of the center upper frame 18E.

[0204] According to the work machine 1 related to item 15, the height of the roof 17 (the total height of the work machine 1) can be lowered compared to the case where the positioning device 40 is positioned above the center upper frame 18E. This makes it possible to improve the design of the work machine 1 while ensuring the stability of the positioning function. Furthermore, as described above, by positioning the lower part 40L of the positioning device 40 below the highest point E1 of the center upper frame 18E, it becomes possible to adopt an upper surface structure of the roof 17 that is less prone to the accumulation of rainwater and dust.

[0205] (Item 16) The work machine 1 according to any one of items 1 to 15, comprising a device mounting frame 20 that supports the positioning device 40, wherein the positioning device 40 is mounted on the device mounting frame such that the upper surface portion 40U of the positioning device 40 is located below the roof upper surface E3 of the roof 17.

[0206] According to the work machine 1 described in item 16, the height of the roof 17 (the total height of the work machine 1) can be reduced compared to the case where the positioning device 40 is positioned above the roof surface E3. This makes it possible to improve the design of the work machine 1 while ensuring the stability of the positioning function. Furthermore, as described above, by positioning the upper part 40U of the positioning device 40 below the roof surface E3, it becomes possible to adopt a roof surface structure for the roof 17 that is less prone to the accumulation of rainwater and dust.

[0207] (Item 17) The roof 17 comprises an outer roof 21 that constitutes the upper surface of the roof 17 and an inner roof 22 that constitutes the lower surface of the roof 17, and the positioning device 40 is stored in a device housing section 23S defined between the outer roof 21 and the inner roof 22, and is the work machine 1 described in any one of items 1 to 16.

[0208] According to the work machine 1 in item 17, a device housing section 23S capable of housing the positioning device 40 is secured between the outer roof 21 and the inner roof 22. This prevents the positioning device 40 from coming into contact with other equipment or structures arranged around it due to vibrations of the machine body 2 during travel. This makes it possible to maintain an even more stable positioning function.

[0209] (Item 18) The work machine 1 according to item 17, wherein the inner roof 22 is formed to bulge downward from the inner roof 22, and the bulge 24 defines the device housing section 23S in the lower interior of the roof 17.

[0210] According to the work machine 1 related to item 18, it is possible to more reliably prevent obstacles from coming into contact with the positioning device 40, thus making malfunctions in the positioning device 40 less likely. Therefore, it becomes possible to maintain a more stable positioning function.

[0211] (Item 19) The inner roof 22 has an inspection opening 26 that allows access to the device housing section 23S from the driver's seat 4 side, and an inspection opening cover 27 that covers the inspection opening 26, and the positioning device 40 is the work machine 1 described in item 17 or item 18 which is positioned facing the inspection opening 26.

[0212] According to the work machine 1 related to item 19, when performing maintenance on the positioning device 40, the worker can remove the inspection hatch cover 27 from the inner roof 22, and access the device housing 23S inside the roof 17 through the inspection hatch 26 from the underside of the roof 17 (driver's seat 4 side). This makes it possible to easily repair or replace the positioning device 40 even if a malfunction occurs. Thus, it becomes possible to maintain a more stable positioning function.

[0213] (Item 20) The inner roof 22 has a bulge formed below the inner roof 22, and a bulge 24 that defines the device housing section 23S inside and below the roof 17, and the inspection opening 26 is provided in the bulge 24, as described in item 19.

[0214] According to the work machine 1 related to item 20, it is possible to more reliably prevent obstacles from coming into contact with the positioning device 40, thus making malfunctions in the positioning device 40 less likely. Therefore, it becomes possible to maintain a more stable positioning function.

[0215] (Item 21) The roof 17 has a device mounting frame 20 that supports the positioning device 40 in the device housing section 23S, and the positioning device 40 is detachably mounted to the device mounting frame 20 through the inspection opening 26, as described in item 19 or item 20.

[0216] According to the work machine 1 related to item 21, when performing maintenance on the positioning device 40, the worker can remove the inspection hatch cover 27 from the inner roof 22 and detach the positioning device 40 from the device mounting frame 20, thereby allowing the positioning device 40 to be removed from inside the roof 17 through the inspection hatch 26. This makes it possible to easily repair or replace the positioning device 40 even if a malfunction occurs. Thus, it becomes possible to maintain a more stable positioning function.

[0217] (Item 22) The device mounting frame 20 has a first frame portion 20A fixedly installed inside the roof 17 and a second frame portion 20B detachably connected to the first frame portion 20A, and the positioning device 40 is provided on the second frame portion 20B.

[0218] According to the work machine 1 related to item 22, when performing maintenance on the positioning device 40, the worker can remove the inspection hatch cover 27 from the inner roof 22 and detach the second frame section 20B from the first frame section 20A, thereby allowing the positioning device 40 to be removed from inside the roof 17 through the inspection hatch 26. This makes it possible to easily repair or replace the positioning device 40 even if a malfunction occurs. Thus, it becomes possible to maintain a more stable positioning function.

[0219] (Item 23) The work machine 1 according to any one of items 1 to 22, comprising: a control device 70 that controls the movement of the machine body 2 based on the position information; a console 9 positioned to the side of the driver's seat 4 and housing the control device 70 inside; and a communication cable L2 connecting the positioning device 40 to the control device 70, wherein the protective device 8 has pillars 15 erected around the driver's seat 4 and supporting the roof 17, the pillars 15 are formed in a hollow cylindrical shape, and the communication cable L2 is routed from the roof 17 through the inside of the pillars 15 to the console 9.

[0220] According to the work machine 1 described in item 23, the communication cable L2 connecting the positioning device 40 and the control device 70 is routed from the roof 17 through the inside of the pillar 15 to the console 9. This prevents the communication cable L2 from coming into contact with obstacles, being exposed to sunlight for extended periods, or being exposed to ultraviolet rays. This makes it possible to maintain a more stable positioning function. In addition, since the communication cable L2 is routed inside the pillar 15 as described above, the design of the work machine 1 is also improved.

[0221] (Item 24) The work machine 1 according to any one of items 17 to 23, wherein the outer roof 21 is formed to bulge out above the outer roof 21 and has a raised portion 21A that defines the device housing portion 23S inside and above the roof 17.

[0222] According to the work machine 1 of claim 24, since obstacles can be prevented from directly contacting the positioning device 40, malfunctions in the positioning device 40 are less likely to occur. Therefore, it is possible to maintain an even more stable positioning function. In addition, in this design, since the positioning device 40 is located in the upper part of the interior of the roof 17, a wider space can be secured below the roof 17, so the positioning device 40 is less likely to get in the way when the operator gets in and out of the driver's seat 4 or when operating the machine from the driver's seat 4. As a result, in addition to the stability of the positioning function, it is possible to maintain good usability of the work machine 1.

[0223] (Item 25) The positioning device 40 is a work machine 1 according to any one of items 1 to 24, which is stored in the front of the inside of the roof 17.

[0224] According to the work machine 1 related to item 25, the position of the machine can be measured with a reference center point that is close to the center in the front-rear direction of the machine 2, thus enabling more accurate and stable positioning functionality.

[0225] (Item 26) The positioning device 40 is located in front of the seat portion 11 of the driver's seat 4, as described in item 25.

[0226] According to the work machine 1 described in item 26, the positioning device 40 is less likely to get in the way when the operator gets in and out of the driver's seat 4 or when operating the machine from the driver's seat 4. Therefore, in addition to the stability of the positioning function, it is possible to maintain good usability of the work machine 1.

[0227] Having described the present invention above, the embodiments disclosed herein should be considered in all respects to be illustrative and not restrictive. The scope of the present invention is indicated by the claims rather than the foregoing description, and all modifications within the meaning and scope equivalent to the claims are intended to be included. [Explanation of Symbols]

[0228] 1. Work machine 2 units 3. Traveling device 3F Front wheels (front running gear) 3R rear wheel (rear traveling device) 4. Driver's seat 8. Cabin (protective device) 9 Console 11 Seat 15 Pillar 17 Roof 18 Upper Frame 18A Front Upper Frame 18B Rear Upper Frame 18C Left side upper frame 18D Right side upper frame 18E Center Upper Frame 20. Mounting frame for the device 20A (First frame section) 20B Support plate (second frame section) 21 Outer Roof 22 Inner Roof 23 Interior space of the roof 23S Device housing section 24 Bulge 26 Inspection hatch 27 Inspection hatch cover 30 Object Sensors 40 Positioning device 40A First positioning device 40B Second positioning device 40L Positioning device bottom Top surface of the 40U positioning device 41 Satellite Communications Department 42 Measurement section 50 Correction Information Communication Device 60. Work Information Communication Device 70 Control device C1 Rear axis center line C2 Aircraft centerline G-positioning satellite E1 Center upper frame top E2 Side Upper Frame Curved Top E3 Roof Top N External communication network P Wireless communication terminal S1 base station S2 support equipment

Claims

1. The aircraft and, A traveling device that supports the aforementioned machine so that it can move, The driver's seat and, A protective device provided on the aircraft body to protect the driver's seat, Equipped with a positioning device that acquires location information from positioning satellites, The protective device has a roof positioned above the driver's seat, The positioning device is a work machine stored inside the roof.

2. The work machine according to claim 1, wherein the positioning device is stored inside the rear of the roof.

3. The work machine according to claim 2, wherein the positioning device is positioned behind the driver's seat.

4. The aforementioned traveling device is A forward-running device is deployed at the front of the aforementioned aircraft, The aircraft includes a rear running gear deployed at the rear of the aircraft, The work machine according to claim 2, wherein the positioning device is positioned on the rear axle centerline that extends in the left-right direction through the drive shaft center of the rear traveling device when viewed from the vertical direction of the machine body.

5. The work machine according to claim 4, wherein the positioning device is positioned on the centerline of the machine, which extends in the front-to-back direction through the center between the left and right sides of the machine when viewed from the up-and-down direction of the machine.

6. The positioning device is, A first positioning device is housed in the rear interior of the roof, The work machine according to any one of claims 1 to 5, further comprising: a second positioning device positioned in front of the first positioning device at a predetermined distance.

7. The protective device has an upper frame, The aforementioned upper frame is The front upper frame that constitutes the front upper part of the protective device, The rear upper frame that constitutes the rear upper part of the protective device, The protective device includes left and right side upper frames that constitute the upper left and upper right portions of the protective device, The aforementioned side upper frame has a rounded shape that curves upward, The first positioning device is positioned between the front upper frame and the rear upper frame and behind the curved top of the side upper frame. The work machine according to claim 6, wherein the second positioning device is positioned between the front upper frame and the rear upper frame and forward of the curved apex.

8. The device mounting frame supports the positioning device, The protective device has an upper frame, The work machine according to claim 1, wherein the device mounting frame is attached to the upper frame.

9. The upper frame includes a rear upper frame that constitutes the rear upper part of the protective device. The aforementioned device mounting frame extends from the rear upper frame toward the front of the rear upper frame, The work machine according to claim 8, wherein the positioning device is attached to the front end of the mounting frame of the device.

10. The upper frame includes a front upper frame that constitutes the front upper part of the protective device. The device mounting frame extends from the front upper frame toward the rear of the front upper frame, The work machine according to claim 8, wherein the positioning device is attached to the front end of the mounting frame of the device.

11. The upper frame includes left and right side upper frames that constitute the upper left and upper right portions of the protective device. The aforementioned side upper frame has a rounded shape that curves upward, The work machine according to claim 8, wherein the positioning device is mounted on the device mounting frame such that the lower surface of the positioning device is located below the curved top of the side upper frame.

12. The device mounting frame supports the positioning device, The protective device has an upper frame, The upper frame includes left and right side upper frames that constitute the upper left and upper right portions of the protective device. The aforementioned side upper frame has a rounded shape that curves upward, The work machine according to claim 1, wherein the device mounting frame is attached to the side upper frame.

13. The device mounting frame supports the positioning device, The aforementioned roof is The outer roof that constitutes the upper surface of the roof, The roof has an inner roof which constitutes the lower part of the roof, The work machine according to claim 1, wherein the device mounting frame is attached to the inner roof.

14. The device mounting frame supports the positioning device, The protective device has an upper frame, The device mounting frame is provided at a position below the highest point of the upper frame. The work machine according to claim 1, wherein the positioning device is mounted on the device mounting frame such that the upper surface of the positioning device is located above the highest point.

15. The device mounting frame supports the positioning device, The protective device has an upper frame, The upper frame includes a center upper frame that constitutes the upper middle section in the front-rear direction of the protective device. The work machine according to claim 1, wherein the positioning device is mounted on the device mounting frame such that the lower surface of the positioning device is located below the highest point of the center upper frame.

16. The device mounting frame supports the positioning device, The work machine according to claim 1, wherein the positioning device is mounted on the mounting frame of the device such that the upper surface of the positioning device is located below the roof surface of the roof.

17. The aforementioned roof is The outer roof that constitutes the upper surface of the roof, The roof has an inner roof which constitutes the lower part of the roof, The work machine according to claim 1, wherein the positioning device is housed in a device housing section defined between the outer roof and the inner roof.

18. The aforementioned inner roof is The work machine according to claim 17, which has a bulge formed below the inner roof and a bulge that defines the device housing section in the lower interior of the roof.

19. The aforementioned inner roof is An inspection opening that allows access to the device housing from the driver's seat side, It has an inspection port cover that covers the inspection port, The work machine according to claim 17, wherein the positioning device is positioned facing the inspection opening.

20. The aforementioned inner roof is It is formed as a bulge below the inner roof and has a bulge that defines the device housing section in the lower interior of the roof, The work machine according to claim 19, wherein the inspection port is provided in the bulging portion.

21. The aforementioned roof is The device housing section has a device mounting frame that supports the positioning device, The work machine according to claim 19, wherein the positioning device is detachably provided to the mounting frame of the device through the inspection opening.

22. The aforementioned mounting frame for the device is A first frame portion fixedly installed inside the roof, It has a second frame portion that is detachably connected to the first frame portion, The work machine according to claim 21, wherein the positioning device is provided on the second frame portion.

23. A control device that controls the movement of the aircraft based on the position information, A console positioned to the side of the driver's seat, which houses the control device inside, The system includes a communication cable connecting the positioning device to the control device, The protective device is erected around the driver's seat and has pillars that support the roof. The pillar is formed in a hollow cylindrical shape, The work machine according to claim 1, wherein the communication cable is routed from the roof through the inside of the pillar to the console.

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