Work vehicles

Abstract

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

Description

Technical Field

[0001] The present invention relates to a work vehicle provided with a cabin, and particularly to a work vehicle suitable for performing automatic travel (including automatic travel) of the work vehicle along a target travel route while acquiring position information of the work vehicle using a satellite positioning system (GNSS).

Background Art

[0002] For example, in a tractor disclosed in Patent Document 1 as a work vehicle employing an automatic travel system, a GPS antenna (GNSS antenna) that acquires satellite positioning information from a positioning satellite is provided on the upper side surface portion of a cabin roof. Specifically, on the upper side surface portion of the cabin roof, at the intersection of the longitudinal line at the substantially central position of the tread width of the vehicle body and the lateral line at the substantially central position of the wheelbase, a mounting stay having a substantially horizontal mounting seat at a position higher than the upper surface of the cabin roof is formed, and the GPS antenna is mounted on the mounting seat of this mounting stay. Further, when a GPS antenna having a gyro sensor is used as the GPS antenna, the inclination angle of the cabin roof can also be detected.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of Invention

Problems to be Solved by the Invention

[0004] The above-described conventional art discloses a technique for improving the detection accuracy of the GPS antenna, or the detection accuracy of the GPS antenna and the gyro sensor, by devising the mounting position of the GPS antenna on the upper side surface portion of the cabin roof. However, the aforementioned automated driving system is equipped with various external devices separate from the work vehicle, such as wireless communication terminals for issuing various instructions to the work vehicle and base stations for acquiring location information of the work vehicle. Therefore, in order to actually implement automated driving of work vehicles, it is necessary to efficiently mount not only GPS antennas but also various antenna devices for communication between the work vehicle and external devices on the work vehicle, and in this respect, there is room for improvement in the conventional technology described above.

[0005] Furthermore, in the conventional technology described above, the upper side surface of the cabin roof, which is located on top of the cabin frame, has many curves and is less rigid than the cabin frame. Therefore, the mounting bracket for attaching the GPS antenna needs to be reinforced in a way that does not detract from the appearance of the cabin roof, and there is room for improvement in this aspect as well.

[0006] In light of these circumstances, the main objective of the present invention is to provide a work vehicle that can efficiently mount various antenna devices effective for autonomous driving of work vehicles, and that can sturdily support these various antenna devices. [Means for solving the problem]

[0007] A work vehicle according to one embodiment is a work vehicle equipped with a cabin, and comprises an antenna unit and a camera located below the antenna unit. The antenna unit is positioned at an upper position outside the cabin and receives location information of the work vehicle. [Brief explanation of the drawing]

[0008] [Figure 1] Overall side view of a tractor equipped with an antenna unit. [Figure 2] Control block diagram of tractor, base station, and wireless communication terminal [Figure 3] Front view of the antenna unit mounting area on the tractor. [Figure 4] Side view of the antenna unit mounting area on the tractor. [Figure 5] Perspective view of the antenna unit mounting area on the tractor. [Figure 6] Front view of the antenna unit, vertical cross-sectional view. [Figure 7] Longitudinal section of the antenna unit, viewed from the rear. [Figure 8] Cross-sectional view of the antenna unit from the right side. [Figure 9] Perspective view of the antenna unit with the cover separated. [Figure 10] Perspective view of the antenna unit with the cover removed when other units are installed. [Figure 11] Plan view of the antenna unit with the cover removed when other units are installed. [Figure 12] Side view when the antenna unit is moved to a non-working position. [Figure 13] Side view (a) showing the height relationship between the antenna unit in the working position and the highest point of the cabin, and side view (b) showing the height relationship between the antenna unit in a non-working position and the highest point of the cabin. [Figure 14] Elevation perspective view of the cabin [Figure 15] Perspective view of the main part of the cabin [Figure 16] Exploded side view of the antenna unit mounting section, showing another embodiment. [Modes for carrying out the invention]

[0009] Embodiments of the present invention will be described based on the drawings. The automated driving system shown in Figures 1 and 2 is configured to generate a target driving path and enable the tractor 1, acting as a work vehicle, to automatically drive along the generated target driving path. In addition to the tractor 1 that can drive automatically, this automated driving system is equipped with a wireless communication terminal 30 for giving various instructions to the tractor 1 and a reference station 40 for acquiring the position information of the tractor 1.

[0010] First, let's describe tractor 1 based on Figure 1. This tractor 1 includes a body section 2 to which a ground work machine (not illustrated) can be mounted on the rear side, the front portion of the body section 2 is supported by a pair of left and right front wheels 3, and the rear portion of the body section 2 is supported by a pair of left and right rear wheels 4. A bonnet 5 is disposed at the front portion of the body section 2, and an engine 6 as a drive source is accommodated inside the bonnet 5. A cabin 7 for an operator to board is provided on the rear side of the bonnet 5, and inside the cabin 7, a steering handle 8 for the operator to perform steering operations, an operator's driver seat 9, and the like are provided.

[0011] The engine 6 can be configured by, for example, a diesel engine, but is not limited thereto, and may be configured by, for example, a gasoline engine. Further, in addition to the engine 6 as the drive source, or in place of the engine 6, an electric motor may be adopted.

[0012] Further, in the present embodiment, the tractor 1 is described as an example of the work vehicle, but the work vehicle includes riding-type work vehicles and the like such as a rice transplanter, a combine harvester, a civil engineering and construction work device, a snow remover, in addition to the tractor.

[0013] On the rear side of the body section 2, a three-point link mechanism composed of a pair of left and right lower links 10 and an upper link 11 is provided, and the three-point link mechanism is configured to allow the ground work machine to be mounted thereon. Although not illustrated, a lifting device having a hydraulic device such as a lifting cylinder is provided on the rear side of the body section 2, and this lifting device moves the three-point link mechanism up and down, thereby lifting and lowering the ground work machine. Examples of the ground work machine include a tillage device, a plow, a fertilizer applicator, and the like.

[0014] As shown in Figure 2, the tractor 1 is provided with an engine device 21 capable of adjusting the rotational speed of the engine 6, a transmission device 22 that shifts the rotational driving force from the engine 6 and transmits it to the drive wheels, a control unit 23 capable of controlling the engine device 21 and the transmission device 22, and the like. The transmission device 22 is configured by combining, for example, a main transmission device composed of a hydraulic continuously variable transmission and a sub-transmission device composed of a gear-type multi-stage transmission.

[0015] This tractor 1 is not only capable of being driven with a driver inside the cabin 7, but is also configured to be able to drive automatically based on instructions from a wireless communication terminal 30, even without a driver inside the cabin 7.

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

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

[0018] The steering device 24 is, for example, located midway along the rotation axis of the steering wheel 8, and is configured to allow adjustment of the rotation angle (steering angle) of the steering wheel 8. By controlling the steering device 24 with the control unit 23, not only is straight-line driving possible, but turning driving with a desired turning radius is also possible by adjusting the rotation angle of the steering wheel 8 to a desired rotation angle.

[0019] The inertial measurement device 25 uses a 3-axis gyroscope and 3-directional accelerometers to determine the angular velocity and acceleration in three dimensions. The values ​​detected by the inertial measurement device 25 are input to the control unit 23, which uses attitude and orientation calculation means to calculate the attitude information of the tractor 1 (the azimuth angle of the machine (yaw angle), the left and right tilt angles of the machine (roll angle), and the front and rear tilt angles of the machine in the direction of travel (pitch angle)).

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

[0021] In this embodiment, the wireless communication unit 27 is composed of a Wi-Fi unit with a frequency band of 2.4 GHz, but the wireless communication unit 27 can be other than Wi-Fi, such as Bluetooth®. The signal received by the wireless communication antenna 28 of this wireless communication unit 27 can be input to the control unit 23, as shown in Figure 2, and the signal from the control unit 23 can be transmitted to the wireless communication device 31 of the wireless communication terminal 30 via the wireless communication antenna 28.

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

[0023] In this embodiment, for example, RTK positioning is applied, and as shown in Figures 1 and 2, in addition to the tractor 1, which is the mobile station, being equipped with a GNSS antenna 26, a base station 40 equipped with a base station positioning antenna 42 is also provided. The base station 40 is positioned (reference point) in a location that does not interfere with the movement of the tractor 1, such as around the field. The position information of the reference point where the base station 40 is installed is known in advance. The base station 40 is equipped with a base station wireless communication device 41 that can send and receive various signals with the base station antenna 29 of the tractor 1, and is configured to send and receive various information between the base station 40 and the tractor 1.

[0024] In RTK positioning, the carrier phase (satellite positioning information) from the positioning satellite 45 is measured by both the base station positioning antenna 42 of the base station 40 installed at the reference point and the GNSS antenna 26 of the tractor 1, which is the mobile station for which position information is to be sought. At the base station 40, each time satellite positioning information is measured from the positioning satellite 45, or each time a set period has elapsed, correction information including the measured satellite positioning information and the position information of the reference point is generated and transmitted from the base station radio communication device 41 to the base station antenna 29 of the tractor 1. The control unit 23 of the tractor 1 uses the satellite positioning information measured by the GNSS antenna 26 and the correction information transmitted from the base station 40 to determine the current position information of the tractor 1. As the current position information of the tractor 1, the control unit 23 obtains, for example, latitude and longitude information.

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

[0026] The control unit 23 installed in the tractor 1 is configured to send and receive various information with the wireless communication terminal 30 via a wireless communication network using a wireless communication device 31, etc. The wireless communication terminal 30 is configured to instruct the tractor 1 to drive automatically by transmitting various information for driving the tractor 1 automatically, such as a target driving path, to the control unit 23 of the tractor 1. The control unit 23 of the tractor 1 is configured to obtain the current position information of the tractor 1 from the received signal of the GNSS antenna 26, obtain displacement information and orientation information of the machine body from the inertial measuring device 25, and control the transmission 22, steering device 24, etc., based on this current position information, displacement information, and orientation information, so that the tractor 1 drives automatically along the target driving path generated by the path generation unit 32.

[0027] Next, we will describe the internal layout structure of the antenna unit 50. Figure 6 is a longitudinal cross-sectional view of the antenna unit 50 as seen from the front, Figure 7 is a longitudinal cross-sectional view of the antenna unit 50 as seen from the rear, Figure 8 is a cross-sectional view of the antenna unit 50 as seen from the right side, and Figure 9 is a perspective view of the unit cover 51 with the upper cover body 53 separated. The unit cover 51 of the antenna unit 50 is mounted on the tractor 1 in a position where the left-right width direction of the machine body 2 is the longitudinal direction relative to the forward direction. As shown in Figures 6 to 9, the unit cover 51 has a lower resin cover body 52 which is roughly rectangular in plan view and opens upward, and an upper resin cover body 53 which is roughly rectangular in plan view and opens downward. The opening joint of the upper cover body 53 is detachably and watertightly fitted and joined to the opening joint of the lower cover body 52. ​​As shown in Figure 9, the opening joint of the upper cover body 53 and the opening joint of the lower cover body 52 are fixedly connected by screws 54 at one location on each of the left and right side walls and at two locations in the left-right direction on the rear wall.

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

[0029] As shown in Figures 6 and 7, cylindrical first threaded members 90 for attachment to the support frame 100 on the tractor 1 side are fixed to two locations on the lower surface of the base plate 55, at the front and rear of the portion that is offset to the longitudinal outward sides with respect to the central mounting area of ​​the inertial measuring device 25 and GNSS antenna 26, which will be described later. The lower end of each first threaded member 90 protrudes slightly downward through the bottom plate portion 52A of the lower cover body 52. ​​At the lower ends of the front and rear pair of first threaded members 90 located at one longitudinal end of the base plate 55, and at the lower ends of the front and rear pair of first threaded members 90 located at the other longitudinal end, horizontal connecting plate portions 91a of a pair of left and right connecting members 91, which are bent into an approximately inverted "L" shape when viewed from the front of the machine, are arranged. The horizontal connecting plate portions 91a of both connecting members 91 are fixedly connected by second bolts 92 that pass through the horizontal connecting plate portions 91a and are screwed into each first threaded member 90 from below. In this fixed connection state, a gap is provided between the lower surface of the bottom plate portion 52A of the lower cover body 52 and the upper surface of the horizontal connecting plate portion 91a of the connecting member 91, so that the load from the base plate 55 side does not apply to the lower cover body 52. As shown in Figures 6 and 7, cylindrical second threaded members 93 for attaching a camera 78 (see Figures 3 and 9) for photographing the front of the machine are fixed to two locations on the left and right sides of the front end portion of the longitudinal center of the lower surface of the base plate 55 (the front end portion of the base plate 55 that is on the front side of the machine body 2 when attached to the tractor 1). The lower end of each second threaded member 93 protrudes slightly downward through the bottom plate portion 52A of the lower cover body 52. ​​The mounting bracket (not shown) for the camera 78 (see Figures 3 and 9), which is positioned at the lower end of the second threaded member 93, is fixedly connected to the second threaded member 93 by a bolt (not shown) that is screwed into the second threaded member 93 from below. In this fixed connection state, a gap is provided between the lower surface of the bottom plate portion 52A of the lower cover body 52 and the upper surface of the mounting bracket for the camera 78, so that the load from the camera 78 does not apply to the lower cover body 52.

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

[0031] As described above, the arrangement of the inertial measuring device 25 and the GNSS antenna 26 means that when mounted on the tractor 1, as shown in Figures 3, 6, and 7, both the inertial measuring device 25 and the GNSS antenna 26 are positioned vertically at the center or approximate center of the left-right width direction of the machine body 2. This improves the detection accuracy of the current position information of the tractor 1 obtained from the received signal of the GNSS antenna 26, and the detection accuracy of the displacement information and orientation information of the machine body obtained from the inertial measuring device 25. Moreover, the width of the unit cover 51 in the front-rear direction is reduced, making the antenna unit 50 more compact. Furthermore, with the above-described arrangement, as shown in Figures 6 and 7, only the resin upper cover 53 is located above the GNSS antenna 26, and there are no radio wave shielding objects. Therefore, unlike when the inertial measuring device 25 is placed above the GNSS antenna 26, the inertial measuring device 25 does not become an obstacle to reception by the GNSS antenna 26, and carrier wave phases (satellite positioning information) from a predetermined number of positioning satellites 45 can be reliably received. Furthermore, as described above, since the first predetermined distance L1 between the GNSS antenna 26 and the inner surface 53a of the upper cover body 53 of the unit cover 51 is set to 30 mm or more, radio wave interference caused by the proximity of the GNSS antenna 26 and the inner surface 53a of the unit cover 51 can be suppressed, thereby improving the detection accuracy of the current position information of the tractor 1 obtained from the received signal of the GNSS antenna 26.

[0032] As shown in Figures 6 to 8, a housing 27A of a wireless communication unit (an example of a wireless communication device assembled to an antenna unit 50) 27, which is equipped with two wireless communication antennas 28 in the left-right direction, is fixedly connected to one end of the base plate 55 in the longitudinal direction (the right end in the left-right direction of the machine body 2) by a fifth bolt 62. The two wireless communication antennas 28 of this wireless communication unit 27 are arranged in parallel along the longitudinal direction of the base plate 55 on the front side of the base plate 55. This arrangement ensures that the two wireless communication antennas 28 are at a sufficient distance in front of the cabin frame 200 (see Figure 4), which is a metal part of the tractor 1.

[0033] Furthermore, the two wireless communication antennas 28 of the wireless communication unit 27 enable high-speed communication between the wireless communication terminal 30 and the wireless communication device 31. Moreover, since the two wireless communication antennas 28 are located on the front side of the base plate 55 and are arranged in parallel along the longitudinal direction of the base plate 55, both wireless communication antennas 28 are less susceptible to radio wave shielding by the cabin frame 200, which is a metal part of the tractor 1, and the communication state of the wireless communication unit 27 can be maintained in good condition. Furthermore, since much of the outer circumference of the inertial measuring device 25 is shielded by a metal housing 25A, excluding connectors and the like, and the metal hat-shaped first bracket 60 located between the wireless communication unit 27 and the inertial measuring device 25 functions as a shielding wall, radio wave interference between the wireless communication unit 27 and the inertial measuring device 25 can be suppressed.

[0034] As shown in Figures 6, 7, and 9, a base station antenna (an example of a wireless communication device assembled to the antenna unit 50) 29 for receiving information from the reference station 40 is positioned at the other longitudinal end of the base plate 55 (the left end in the left-right direction of the aircraft body 2 relative to the forward direction). As a result, the base plate 55 is arranged in the left-right direction of the aircraft body 2 in the following order from the right side relative to the forward direction: wireless communication unit 27, GNSS antenna 26 (inertial measuring device 25), and base station antenna 29. As shown in Figures 6, 7, and 9, the base station antenna 29 consists of a base 29A equipped with a magnet 65 and a round bar-shaped antenna bar 29B extending upward from the base 29A.

[0035] Furthermore, as shown in Figures 6, 7, and 9, a riser portion 95 is provided between the base station antenna 29 and the antenna mounting portion of the base plate 55 to position the base station antenna 29 higher than the antenna mounting portion. As shown in Figures 6 and 7, this riser portion 95 is composed of a riser bracket 96 made by bending a metal plate twice at a right angle. The riser bracket 96 is provided with a horizontal mounting base plate portion 96a fixedly connected to the other longitudinal end of the base plate 55 by a sixth bolt 97 and a sixth nut 98, a riser plate portion 96b extending vertically upward from one end of the mounting base plate portion 96a, and an antenna mounting plate portion 96c extending horizontally from the upper end of the riser plate portion 96b.

[0036] The above-described arrangement of the base station antenna 29 increases the distance between the antenna bar 29B of the base station antenna 29 located at the other end in the longitudinal direction and the wireless communication antenna 28 of the wireless communication unit 27 located at one end in the longitudinal direction, thereby suppressing radio wave interference between the antenna bar 29B of the base station antenna 29 and the wireless communication antenna 28 of the wireless communication unit 27. Moreover, the base station antenna 29 can be easily attached to the metal raising bracket 96 by the magnetic force of the magnet 65 provided on the base 29A. Furthermore, the upper end of the base station antenna 29 can be positioned higher by the amount raised by the raising bracket 96, and compared to the case in which a long base station antenna 29 is used, it is possible to improve the reception performance for the reference station radio communication device 41 of the reference station 40 while suppressing breakage due to shaking of the base station antenna 29 caused by the driving vibrations of the tractor 1, etc.

[0037] Next, we will describe the unit cover 51 of the antenna unit 50. As shown in Figures 6 to 9, a bulge 53A is formed on the front half of the upper cover body 53 of the unit cover 51, on one longitudinal end (the right end in the left-right direction of the machine body 2 relative to the forward direction), which protrudes above the upper surface position of the longitudinal center of the upper cover body 53 and the upper end positions of both wireless communication antennas 28 of the wireless communication unit 27. As shown in Figures 6 and 8, the second predetermined distance L2 between the inner surface 53b of the bulge 53A and the upper end of the wireless communication antenna 28 is set to 30 mm or more. The second predetermined distance L2 formed between the upper end of the wireless communication antenna 28 and the inner surface 53b of the bulging portion 53A of the upper cover body 53 suppresses radio wave interference caused by the proximity of the wireless communication antenna 28 and the inner surface 53b of the unit cover 51, thereby improving the communication accuracy between the wireless communication unit 27 and the wireless communication device 31 of the wireless communication terminal 30.

[0038] Furthermore, as shown in Figure 9, a through-hole 70 is formed at the other end of the upper cover body 53 in the longitudinal direction, through which the antenna bar 29B of the base station antenna 29 passes and protrudes upward to the outside. As shown in Figures 6, 7, and 9, a vibration-damping elastic body 71, such as a cylindrical rubber, is attached to the periphery of the opening of this through-hole 70, and contacts the outer surface of the portion through which the antenna bar 29B of the base station antenna 29 passes. As the vibration-damping elastic body 71, a grommet is used that contacts the entire circumference of the antenna bar 29B and also provides watertightness.

[0039] Furthermore, if the vibration-damping elastic body 71 is not present, an annular gap will be generated between the opening periphery of the through-hole 70 in the upper cover body 53 and the outer surface of the through-hole portion of the antenna bar 29B. When vibrations from the tractor 1's movement act on the base station antenna 29, the antenna bar 29B will sway within the range of the annular gap, potentially causing it to break at its base. However, in this embodiment, as described above, the vibration-damping elastic body 71 provided on the opening periphery of the through-hole 70 in the upper cover body 53 supports the upper and lower middle portions of the antenna bar 29B, and the support structure of the base station antenna 29 becomes a two-point support structure overall, thereby suppressing breakage of the antenna bar 29B caused by vibrations from movement, etc.

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

[0041] As shown in Figures 6, 10, and 11, a mounting space 73 for other units 72 is formed at the other end of the base plate 55 in the longitudinal direction, and between the inertial measuring device 25 and the GNSS antenna 26 and the base station antenna 29. Here, Figures 6, 7, and 9 show the state in which no other units 72 are mounted in the mounting space 73, and the mounting space 73 is an empty space, while Figures 10 and 11 show the state in which other units 72 are mounted in the mounting space 73.

[0042] Other units 72 include, for example, a controller for an aftermarket LCD monitor that controls part of the automatic driving control. In the automatic driving specification tractor 1 of this embodiment, an LCD monitor 47 is provided in the cabin 7, and this LCD monitor 47 is equipped with a controller that controls part of the automatic driving control. However, when other work vehicles such as a standard rice transplanter are converted to automatic driving specifications, a controller that controls the automatic driving control is required for the aftermarket LCD monitor. In this case, the controller can be easily mounted using the mounting space 73 provided on the base plate 55.

[0043] Furthermore, as shown in Figures 6 and 7, a camera 78 (see Figures 3 and 9) for photographing the area in front of the machine is positioned at the lower ends of both second threaded members 93 that protrude from the bottom plate portion 52A of the lower cover body 52. ​​The mounting bracket (not shown) for this camera 78 is fixedly connected to the second threaded member 93 by a bolt (not shown) that is screwed in from below. The image captured by the camera 78 is configured to be displayed on the touch panel of the wireless communication terminal 30 via wireless communication between the wireless communication unit 27 of the tractor 1 and the wireless communication device 31 of the wireless communication terminal 30.

[0044] In Figures 6 to 11, the wires connected to the inertial measuring device 25, GNSS antenna 26, wireless communication unit 27, and base station antenna 29, which are assembled on the base plate 55, are omitted. Figures 3 and 4 show a portion of a single harness 80 formed by bundling these wires together inside the unit cover 51. As shown in Figure 4, this harness 80 is led out to the outside through a harness outlet hole 81 (see Figure 9) formed on the longitudinal center side of the rear wall of the lower cover body 52. ​​A grommet (not shown) is fitted into this harness outlet hole 81.

[0045] Next, the mounting structure of the antenna unit 50 will be described. As shown in Figures 1, 3 to 5, both ends of the support frame 100 of the antenna unit 50 are fixedly connected to the mirror mounting portions 150 provided on the left and right front support columns 201 that constitute the cabin frame 200. As shown in Figures 3 to 5, each of the left and right mirror mounting sections 150 has a mounting base material 151, which is roughly U-shaped in plan view, fixed to the upper part of the front support column 201 by welding or the like, and a mirror mounting member 152, which has a hinge portion that rotatably supports the support arm 111 of the rearview mirror 110, is fixedly connected to this mounting base material 151 by bolts (not shown). Between each of the left and right mounting base materials 151 and the left and right mirror mounting members 152, a second bracket 112 is bolted and fixed, extending upward (specifically directly upward) in a side view of the aircraft body. Each second bracket 112 comprises a vertical support plate portion 112a extending upward from between the mounting base material 151 and the mirror mounting member 152, a mounting plate portion 112b bent along the horizontal plane from the upper end of the vertical support plate portion 112a, and a reinforcing plate portion 112c fixed to the bent corner formed by these two portions.

[0046] As shown in Figures 3 to 5, the support frame 100 includes a pipe-shaped support member 101 with a circular cross-section, which is bent into a roughly flattened gate shape with both ends in the left-right width direction bent downward when viewed from the front of the aircraft. Mounting plates 102, which are roughly "L" shaped when viewed from the front of the aircraft and have mounting lower surfaces that are aligned with the horizontal plane, are fixed to both ends of the pipe-shaped support member 101. Reinforcing plates 103 are fixed across both ends of the pipe-shaped support member 101 and both mounting plates 102. The mounting plates 102 of the support frame 100 are placed on the upper surfaces of the mounting plate portions 112b of the left and right second brackets 112, which are fastened together between the mounting base material 151 and the mirror mounting member 152. The mounting plates 102 of the mounted support frame 100 and the mounting plate portions 112b of the two second brackets 112 are fixedly connected by seventh bolts 104 and seventh nuts 105, respectively.

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

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

[0049] Circular first bolt insertion holes 126 (see Figure 16) are formed at two locations, front and rear, on the vertical connecting plate portion 91b of both connecting members 91. Horizontal second bolt insertion slots 123 are formed in both third brackets 120 on the support frame 100 side, extending along the front-rear direction with a length corresponding to the pitch of the first bolt insertion holes 126. A single circular second bolt insertion hole 124 is formed in both third brackets 120 on the support frame 100 side, directly below the front end position of the second bolt insertion slot 123 and at a vertical distance corresponding to the pitch of the two first bolt insertion holes 126. Then, as shown in Figure 4, with the antenna unit 50 in the working position, the front eighth bolt 121 is removed and the rear eighth bolt 121 is loosened. In this state, the rear eighth bolt 121 is moved forward along the second bolt insertion slots 123 of both third brackets 120 to the front end position together with the antenna unit 50, and the antenna unit 50 is rotated downward around the axis of the eighth bolt 121. In this forward-lowered position, the antenna unit 50 hangs down with the eighth bolt 121 as its pivot axis, and the first bolt insertion holes 126 on the front end side of both connecting members 91 on the antenna unit 50 side align with the second bolt insertion holes 124 of both third brackets 120 on the support frame 100 side (see Figure 16). The removed eighth bolt 121 is inserted through the matching first bolt insertion hole 126 and second bolt insertion hole 124, and each eighth bolt 121 is screwed in the tightening direction to fix the two connecting members 91 on the antenna unit 50 side and the two third brackets 120 on the support frame 100 side. In this fixed connection state, the antenna unit 50 is in a forward-low non-working position (non-working posture) with the base station antenna 29 mounted thereon facing horizontally forward, as shown in Figure 12.

[0050] With the above configuration, the antenna unit 50 is mounted on the support frame 100 so as to be displaceable from the working position to a non-working position lower and forward. Furthermore, the second bolt insertion slots 123 of both third brackets 120, the first bolt insertion holes 126 at the rear end of both connecting members 91 on the antenna unit 50 side, and the eighth bolt 121 form a guide portion 125 that guides the antenna unit 50 to move in the front-rear direction between the working position and the non-working position lower and forward. In this embodiment, the non-working position of the antenna unit 50 is, as shown in Figures 12 and 13, a position where it has moved as far forward as possible within the bolt movable range of the second bolt insertion slot 123 from the working position, and has been rotated 90 degrees downward around the eighth bolt 121 which is in contact with the front end position of the second bolt insertion slot 123. In this non-working position, as described above, the base station antenna 29 is in a position where it protrudes forward in the horizontal direction.

[0051] As shown in Figures 1, 4, and 13(a), when the antenna unit 50 is in the working position, the base station antenna 29 and a portion of the unit cover 51 of the antenna unit 50 protrude above the highest horizontal line X that passes through the highest point 190a of the roof 190 of the cabin 7. However, when the base station antenna 29 protruding above the roof 190 of the cabin 7 becomes an obstruction, such as during the transport of the tractor 1, the antenna unit 50 is changed from the working position to a non-working position at a lower, forward position, as shown in Figures 12 and 13(b). In this non-working position, the base station antenna 29 is positioned to protrude horizontally forward, and the antenna unit 50, including the unit cover 51, can be positioned at approximately the same height as or lower than the highest point 190a of the upper surface of the roof 190 of the cabin 7. In this embodiment, as shown in Figures 12 and 13(b), when the antenna unit 50 is in the non-working position, the upper surface of the opening joint of the upper cover body 53 becomes the highest point 50a of the antenna unit 50. The highest point 50a of the non-working antenna unit 50 is set at the same height as the highest horizontal line X that passes through the highest point 190a of the roof 190 of the cabin 7.

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

[0053] Whether or not the antenna unit 50 is located in the working position can be detected based on displacement information acquired from the inertial measuring device 25. Therefore, as shown in Figure 2, the control unit 23 is provided with an automatic driving restraint unit 46 that prohibits the start of automatic driving control based on information acquired by the inertial measuring device 25 and the GNSS antenna 26 if the antenna unit 50 is not detected to be located in the working position. The automatic driving restraint unit 46 described above enables the start of automatic driving control only when the antenna unit 50 is in the working position, allowing the machine to automatically drive along the target driving path accurately and safely based on the precise information acquired by the inertial measuring device 25 and the GNSS antenna 26.

[0054] In this embodiment, the presence or absence of the antenna unit 50 in the working position was detected based on displacement information obtained from the inertial measuring device 25. However, the presence or absence of the antenna unit 50 in the working position may also be determined by the signal of an automatic switch that detects the positional displacement of the antenna unit 50 or by the signal of a manually operated hard switch.

[0055] Next, we will describe the wiring structure of the harness 80 derived from the antenna unit 50. As shown in Figures 14 and 15, the cabin frame 200 to which the harness 80 is routed is configured in a roughly box-frame shape and comprises a pair of left and right front support columns 201 located in front of the driver's seat 9 (see Figure 1), a pair of left and right rear support columns 202 located behind the driver's seat 9, a front beam member 203 connecting the upper ends of the front support columns 201, a rear beam member 204 connecting the upper ends of the rear support columns 202, and left and right side beam members 205 connecting the upper ends of the front support columns 201 and rear support columns 202 which are arranged front to back.

[0056] As shown in Figures 14 and 15, the lower end of each rear support 202 is connected to the upper rear end of a fender frame 207, which is curved to bulge upward and rearward in a side view, following the shape of the rear fender 206, and the lower front end of each fender frame 207 is connected to the rear end of a side frame 208 that protrudes rearward from the lower part of the corresponding front support 201. As shown in Figure 14, the fender frame 207 is composed of a cylindrical frame material. The lower front end of the fender frame 207 located on the right side of the cabin 7 opens downwards to the outside of the cabin 7, and the internal space of the fender frame 207 on the right side is configured as an internal-external communication passage 210 that connects the inside and outside of the cabin 7. A drain hose (not shown) is provided in this internal-external communication passage 210 of the fender frame 207 to discharge condensation water from the air conditioner to the outside of the cabin 7.

[0057] Furthermore, a windshield 212 is positioned in the area enclosed by the left and right front support columns 201, the front beam members 203, and the front lower plate plates 211 that extend inward to the left and right from the lower ends of each front support column 201.

[0058] As shown in Figures 14 and 15, the harness 80 led from the antenna unit 50 extends downward along a strip-shaped portion that overlaps with the glass support portion 201a of the right front support column 201, at the right edge of the outer surface of the windshield 212 of the cabin 7 (an example of one side edge in the left-right width direction). After reaching the front lower plate 211 at the lower end of the windshield 212, the harness 80 extends rearward along the lower surface of the floor support plate 213, which is continuous with the side frame 208, and is then guided into the cabin 7 through the internal-external communication passage 210 from the opening at the lower front end of the fender frame 207 located on the right side, and connected to the control unit 23 located in the right-side operation panel 214.

[0059] The strip-shaped portion on the right edge of the outer surface of the windshield 212, which overlaps with the glass receiving portion 201a of the right front support column 201, is the glass attachment portion for mounting the windshield 212 to the front of the cabin 7, and is located in a position that does not obstruct the driver's view. Therefore, by arranging the harness 80 led from the antenna unit 50 in the aforementioned strip-shaped portion, the harness 80 can be neatly arranged while maintaining a good view for the driver seated in the driver's seat 9.

[0060] Furthermore, as shown in Figure 15, a protective resin harness cover 250 for inserting the harness 80 is attached to the right edge of the outer surface of the windshield 212 with adhesive or the like.

[0061] [Another embodiment] In the above-described embodiment, the second bolt insertion slots 123 of both third brackets 120 of the support frame 100 were formed in a straight line along the front-rear direction. However, as shown in Figure 16, recesses 123a may be formed at both ends of the second bolt insertion slot 123 in the front-rear direction, into which the eighth bolt 121, inserted across the first bolt insertion hole 126 and the second bolt insertion hole 124, can be inserted downward. Then, when changing the antenna unit 50 from the working position to the lower, forward non-working position, first, the front eighth bolt 121 is removed, and the rear eighth bolt 121 is loosened. In this state, the eighth bolt 121 located in the recess 123a at the rear end of the second bolt insertion slot 123 is pulled up and moved forward together with the antenna unit 50. The moved eighth bolt 121 is dropped into the recess 123a at the front end of the second bolt insertion slot 123, and the antenna unit 50 is rotated downward around the axis of the eighth bolt 121. At this time, since the eighth bolt 121 is securely held in place within the recess 123a at the front end of the second bolt insertion slot 123, the antenna unit 50 can be easily rotated around the axis of the eighth bolt 121. When rotated to a forward-lower position, the antenna unit 50 hangs down with the eighth bolt 121 as its pivot axis, and the first bolt insertion holes 126 on the front end of both connecting members 91 on the antenna unit 50 side align with the second bolt insertion holes 124 on both third brackets 120 on the support frame 100 side. The removed eighth bolt 121 is inserted through these aligned first bolt insertion holes 126 and second bolt insertion holes 124, and each eighth bolt 121 is screwed in the tightening direction to fix the two connecting members 91 on the antenna unit 50 side and the two third brackets 120 on the support frame 100 side. In this fixed connection state, the antenna unit 50 is in a forward-lower non-working position (non-working posture) with the base station antenna 29 mounted on it facing horizontally forward.

[0062] [Other Embodiments] (1) In the above embodiment, the wireless communication antenna 28 of the wireless communication unit 27 is housed inside the unit cover 51 of the antenna unit 50, but if necessary, the wireless communication antenna 28 may be made to protrude upward to the outside through a through hole formed in the upper cover body 53.

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

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

[0065] (4) In the above embodiment, a pair of left and right connecting members 91 were attached to the lower surface of the unit cover 51, but the mounting structure is not limited to this, and any mounting structure can be adopted depending on the mounting conditions of the work vehicle.

[0066] (5) In the above-described embodiment, two wireless communication antennas 28 of the wireless communication unit 27 are arranged in parallel, but the wireless communication antenna 28 may be implemented with one, or three or more wireless communication antennas 28 may be arranged in parallel.

[0067] <Notes on the invention> The tractor according to the first embodiment is a tractor equipped with a cabin, wherein a support frame extending along the left-right width direction at an upper position outside the cabin is fixed to brackets extending upward from both left and right sides of the cabin frame, and an antenna unit having a receiving device for receiving position information of the tractor is attached to the support frame, and the antenna unit is mounted so as to be displaceable relative to the support frame from the working position to a non-working position lower and forward. In the tractor according to the second embodiment, the antenna unit rotates around its axis, thereby displacing the position from the working position to the non-working position. In the third embodiment of the tractor, the axis is located above the cabin, as in the second embodiment. In the fourth embodiment, the tractor is provided with a guide unit that guides the antenna unit to move between the working position and the non-working position, in any of the first to third embodiments. In the fifth embodiment of the tractor, in any of the first to fourth embodiments, the antenna unit is arranged such that, in the non-working position, the center of the antenna unit is located at the same height as or lower than the highest point on the upper surface of the cabin. Furthermore, the first characteristic configuration of the present invention is a work vehicle equipped with a cabin, A support frame is fixed to brackets extending upward from both the left and right sides of the cabin frame, and the support frame is positioned at an upper location outside the cabin, along the left-right width direction. An antenna unit, which includes an inertial measuring device, a GNSS antenna, and a wireless communication device, is mounted on the support frame, with the inertial measuring device and GNSS antenna positioned approximately at the center of the aircraft's left-right width direction.

[0068] With the above configuration, the inertial measurement device and GNSS antenna assembled to the antenna unit are positioned approximately at the center of the aircraft's width, thus improving both the detection accuracy of the work vehicle's current position information obtained from the GNSS antenna's received signal and the detection accuracy of the aircraft's attitude change information obtained from the inertial measurement device. Furthermore, the wireless communication device integrated into the antenna unit makes it possible to wirelessly transmit various signals to external devices, such as wireless communication terminals. Furthermore, the support frame to which the antenna unit is attached is mounted to brackets extending upward from both the left and right sides of the cabin frame. In this mounted state, the support frame is fixed to the highly rigid cabin frame in an orientation along the width direction at an upper position outside the cabin. This allows the support frame and both brackets to be integrated with the cabin frame to form a robust support structure. Furthermore, since the cabin frame has a height that extends close to the cabin roof, and brackets are extended upward from both the left and right sides of the cabin frame, the mounting position of the support frame can be set on the upper side of the cabin frame with a simple support structure, and the antenna unit can be easily positioned at a height where the inertial measurement device, GNSS antenna, and wireless communication device can each function appropriately.

[0069] Therefore, by employing an antenna unit that incorporates an inertial measuring device, a GNSS antenna, and a wireless communication device, and by implementing the aforementioned rational design in the placement of the inertial measuring device and GNSS antenna on the aircraft body, as well as the support structure of the antenna unit, the detection accuracy of both the inertial measuring device and the GNSS antenna can be improved, and the wireless communication device can be efficiently mounted on the work vehicle while maintaining good communication status. Moreover, the support structure of the mounted antenna unit can be made robust.

[0070] A second characteristic feature of the present invention is that the antenna unit is mounted on the support frame so as to be displaceable from the working position to a non-working position located lower and forward, and a guide portion is provided to guide the antenna unit to move in the front-rear direction between the working position and the non-working position.

[0071] According to the above configuration, when the antenna unit is in the working position, it is preferable to position the antenna unit and the antenna mounted on the antenna unit so that they protrude above the highest point on the upper surface of the cabin roof, in order to allow the inertial measuring device, GNSS antenna, and wireless communication device of the antenna unit to function properly. However, in this case, the vehicle height when transporting the work vehicle in a transport vehicle such as a truck will be high, which may cause problems such as being subject to height restrictions when driving on roads. Therefore, in the present invention, by displacing the antenna unit in a non-working position lower and forward from the working position relative to the support frame, it is possible to easily address problems such as height restrictions when driving on roads. Furthermore, when relocating the antenna unit from a working position to a non-working position, the antenna unit is moved forward along the guide section, allowing the antenna unit to be easily positioned in the non-working position by utilizing the wide space at the front and upper part of the cabin.

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

[0073] According to the above configuration, when the antenna unit is in the working position, it is preferable to position the antenna unit and the antenna mounted on the antenna unit to protrude above the highest point on the upper surface of the cabin roof in order to ensure that the inertial measuring device, GNSS antenna, and wireless communication device of the antenna unit function properly. However, even in this case, when the antenna unit is moved to a non-working position, the antenna unit is positioned at approximately the same height as or lower than the highest point on the upper surface of the cabin, so it is possible to easily address issues such as height restrictions when transporting the work vehicle on roads using transport vehicles such as trucks.

[0074] A work vehicle according to one embodiment is a work vehicle equipped with a cabin, and comprises an antenna unit and a camera. The antenna unit is mounted on a support frame extending along the left-right width direction at an upper position outside the cabin via a pair of brackets spaced apart in the left-right width direction, and is a device for receiving position information of the work vehicle. The camera is positioned between the pair of brackets in the left-right width direction. The antenna unit is mounted on the support frame so as to be displaceable in position from the working position to a non-working position lower and forward. The work vehicle is configured to be able to travel automatically based on the position information. The working position is the position for the work vehicle when it is traveling automatically.

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

[0076] 1. Work vehicle (tractor) 7 cabins 25 Inertial measuring device 26 GNSS antennas 27 Wireless communication equipment (wireless communication unit) 29. Wireless communication equipment (base station antenna) 46 Automatic Driving Control Unit 50 Antenna Units 100 Support Frame 112 Bracket (2nd Bracket) 125 Guide section 190a Best cut 200 Cabin Frame

Claims

1. A work vehicle equipped with a cabin, An antenna unit is positioned at an upper location on the outside of the cabin for receiving location information of the work vehicle, The antenna unit comprises a camera located below it, The camera is supported by the antenna unit so as to be located between the two ends of the antenna unit in the left-right width direction. Work vehicle.

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

3. The camera is positioned in front of the front edge of the cabin roof. The work vehicle according to claim 1.

4. The camera is positioned lower than the upper edge of the cabin roof. A work vehicle according to any one of claims 1 to 3.

5. The cabin further comprises a support frame positioned at the upper external location, extending along the left-right width direction, The antenna unit is supported by the support frame. A work vehicle according to any one of claims 1 to 4.

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

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