CN212405311U

CN212405311U - Automatic traveling construction machine

Info

Publication number: CN212405311U
Application number: CN201922377427.4U
Authority: CN
Inventors: 李大正
Original assignee: Doosan Infracore Co Ltd
Current assignee: HD Hyundai Infracore Co Ltd
Priority date: 2019-04-16
Filing date: 2019-12-25
Publication date: 2021-01-26
Anticipated expiration: 2029-12-25
Also published as: KR20200121544A; KR102682913B1

Abstract

The utility model relates to an automatic engineering machine that traveles, according to the utility model discloses an aspect provides an automatic engineering machine that traveles, and it includes: a vehicle body frame on which a cab having a seating space for an operator is mounted; a base bracket provided at an upper portion of the cab; an auxiliary bracket detachably mounted on the base bracket and mounted with at least one accessory; a control box mounted on a rear surface of the cab; and a wire electrically connecting the control box and the at least one accessory, at least a part of the wire being disposed along the base bracket.

Description

Automatic traveling construction machine

Technical Field

The present invention relates to an automatic traveling construction machine, and more particularly, to an automatic traveling construction machine having a mechanism for attaching various accessories required for automatic traveling.

Background

A construction machine (construction vehicle) is used for civil engineering or construction work, and a vehicle using hydraulic pressure is used because a large force is required during the work. Examples of such hydraulic working vehicles include wheel loaders (wheel loaders), excavators, motor graders, and cranes. Fig. 1 discloses the structure of a general wheel loader 1. Referring to fig. 1, the wheel loader 1 includes a boom 10 and a bucket 20. An arm may be provided between the boom 10 and the bucket 20 to connect the boom 10 and the bucket 20. The boom 20 may be provided on the body to be movable in an up-and-down direction, and the bucket 30 may be provided on the boom 20 to be movable in an up-and-down direction.

The wheel loader 1 is provided with a cab 30 that provides a space for an operator to sit on, and various operation mechanisms for operating the wheel loader 1 are provided inside the cab 30. That is, the driver can operate the position of boom 10 by sitting in cab 30 and raising (rain) and lowering (float), and can also operate the position of bucket 20 by retracting (crown) and unloading (dump). For example, a boom cylinder 15 that controls the movement (position) of the boom 10 and a bucket cylinder 25 that controls the movement (position) of the bucket 20 may be provided so that the boom 10 and the bucket 20 can perform various movements according to the extension and contraction of the boom cylinder 15 and the bucket cylinder 25, and the

work machines

10 and 20 can perform various kinds of work. In one embodiment, the boom cylinder 15 and the bucket cylinder 25 may be extended or contracted by working oil supplied from a hydraulic pump.

As described above, a typical construction machine is generally operated by an operator, but with the recent development of control and sensing techniques, a construction machine that can be unmanned without an operator has been studied. Such an automatic traveling construction machine automatically recognizes information about a working space by using a sensor or the like mounted thereon, and automatically controls the machine based on the recognized information, thereby performing a required work.

There are various types of sensors mounted on such an automatic traveling construction machine, but recently, the amount of use of a laser radar (lidar) sensor that emits a laser pulse, receives the reflected laser pulse, and recognizes the state of the surroundings based on the laser pulse has increased. The laser radar sensor has the advantages that the range of the acquired distance information is wide and is about 100m, the accuracy of the distance information is about +/-3 cm, and the accuracy is higher than that of other distance sensors such as a stereo camera and an ultrasonic sensor. In addition, additional devices such as GPS antennas, beacons, cameras, etc. are required.

The sensors may have differences in performance depending on location, and therefore, it is important to make optimal location selection. Further, for general applicability, it should be possible to install without largely changing the structure of the existing construction machine.

SUMMERY OF THE UTILITY MODEL

In accordance with the above-described needs, an object of the present invention is to provide an automatic traveling construction machine having an attachment mounting mechanism capable of easily and firmly mounting a plurality of types of attachments such as a sensor and a camera.

In order to solve the technical problem described above, according to an aspect of the present invention, there is provided an automatic traveling construction machine including: a vehicle body frame on which a cab having a seating space for an operator is mounted; a base bracket provided at an upper portion of the cab; an auxiliary bracket detachably mounted on the base bracket and mounted with at least one accessory; a control box mounted on a rear surface of the cab; and a wire electrically connecting the control box and the at least one accessory, at least a part of the wire being disposed along the base bracket.

According to an embodiment, the base bracket may include a pair of first members and a pair of second members that face each other, and the first members and the second members may be arranged so as to form a quadrangle on an upper surface of the cab.

Wherein the pair of first members may have a quadrangular sectional shape in which one side is opened, respectively.

Further, each of the pair of second members may have a mounting surface on which at least one accessory is mounted and which is placed on an upper surface of the first member, and a support surface extending from the mounting surface so as to be opposed to an end surface of the first member.

The pair of second members may include a front-side second member disposed adjacent to a front surface of the cab and a rear-side second member disposed at a distance rearward from the front-side second member in a longitudinal direction of the vehicle body frame, and the front-side second member may be provided with a laser radar sensor holder.

The laser radar sensor mount may have a mounting surface spaced upward from an upper portion of the front side second member, and the laser radar sensor mounted on the mounting surface may be disposed spaced upward from an upper portion of the cab.

Further, the laser radar sensor mount may be rotatably mounted in a longitudinal direction of the vehicle body frame, so that a mounting height of the laser radar sensor may be changed.

According to another embodiment, the pair of first members may include a left first member and a right first member spaced apart from the left first member in a width direction of the vehicle body frame, and a camera bracket may be provided on at least one of the left first member and the right first member.

One end of the camera bracket may be fixed to the first member, and the other end may have a mounting surface on which a camera is mounted.

Further, the mounting surface may be constituted by two mounting surfaces spaced apart vertically.

At least one of the left side first member and the right side first member may further include a beacon bracket, one end portion of the beacon bracket may be fixed to the first member, and the other end portion may extend from the one end portion.

Further, the rear-side second member may include an extension portion protruding from the first member in the width direction, and may further include an antenna mounted on the extension portion.

According to an embodiment, a wire connected to the accessory may be fixed to the first part or the second part.

Wherein the first member or the second member may provide a space portion therein, and the lead wire may be accommodated in the space portion.

According to the utility model discloses an on the other hand provides an automatic engineering machine that traveles, and it includes: a vehicle body frame on which a cab having a seating space for an operator is mounted; a base bracket provided at an upper portion of the cab and arranged to have a quadrangular shape; a laser radar sensor disposed between both end portions of the base holder in front of the base holder; a pair of cameras and a pair of beacons respectively provided on both side surfaces of the base support; and a GNSS antenna and a GPS antenna disposed behind the base support.

According to one embodiment, the GPS antenna is provided adjacent to a work light provided behind the cab and spaced apart by at least 50 mm.

According to an embodiment, the camera is disposed behind the beacon with reference to a longitudinal direction of the vehicle body frame.

According to an embodiment, the rear portion of the base support extends in a lateral direction relative to the front portion, and the GNSS antenna is provided at the extended portion.

The utility model has the following effects.

According to the embodiments of the present invention, various accessories related to automatic travel can be easily installed without significantly changing the structure of the existing construction machine. Further, since the accessory is attached to the base bracket by the auxiliary bracket, the accessory can be freely attached to an arbitrary position most suitable for each accessory, and the manufacturing and maintenance are facilitated.

Further, since the base bracket is configured by a plurality of accessories, it is possible to replace the base bracket even when a part of the base bracket is damaged, and it is not necessary to move a heavy weight at a time in mounting, and it is possible to carry and mount each component separately, and it is easy to mount and maintain.

Drawings

Fig. 1 is a side view showing a conventional general wheel loader.

Fig. 2 is a side view showing an embodiment of the automatic traveling construction machine according to the present invention.

Fig. 3 is a plan view illustrating the embodiment shown in fig. 2.

Fig. 4 is a side view showing an upper portion of the cab in fig. 2.

Fig. 5 is a plan view showing the base bracket and the auxiliary bracket of fig. 2.

Fig. 6 is a rear view showing the base bracket and the auxiliary bracket shown in fig. 5.

Fig. 7 is a side view showing the base bracket and the auxiliary bracket shown in fig. 5.

Fig. 8 is an exploded perspective view showing the base bracket and the auxiliary bracket.

Fig. 9 is a partially enlarged view illustrating the embodiment shown in fig. 2.

Description of the symbols:

100: vehicle body frame, 110: cab, 120: boom, 30: bucket, 200, 210: first component, 220, 230: second member, 240: lidar sensor mount, 250: beacon mount, 260: camera support, 270: an antenna support.

Detailed Description

An embodiment of the automatic traveling construction machine according to the present invention will be described in detail below with reference to the accompanying drawings.

Referring to fig. 2, a first embodiment of the present invention is shown, which is directed to a wheel loader. However, the present invention is not limited to a wheel loader, and can be applied to any construction machine such as an excavator, a grader, a crane, and a carrier.

The above-described embodiment may be a structure of a general wheel loader. Specifically, the vehicle body structure includes a vehicle body frame 100 forming a vehicle body, running wheels 102 are mounted on the vehicle body frame 100, and an engine room 104 accommodating an engine as a generator for driving the running wheels 102 is disposed at a rear end of the vehicle body frame 100 with reference to a running direction. A radiator grill for communicating a radiator (not shown) disposed inside the engine room 104 with the outside is disposed at the rearmost end of the engine room 104.

On the other hand, a cab 100 for providing a space for an operator to sit is disposed above the vehicle body frame 100. The cab 110 includes various operating mechanisms for operating the above-described embodiments, a display device for displaying the state of the construction machine, and the like. The present invention is directed to an automatic traveling construction machine that can operate by itself without an operation by an operator, and is provided with a cab for an operator in order to realize an automatic traveling construction machine without significantly changing the structure of a construction machine that is already on the market.

If the object is a complete autonomous working machine excluding the riding of the operator, the cab can be replaced to the highest position in the working machine.

The front surface of the body frame 100 is provided with a boom 120 and a bucket 130. The boom 120 may be mounted to be rotatable in the vertical direction with reference to fig. 2 by a hydraulic device or the like mounted to the vehicle body frame 100.

On the other hand, the above-described embodiments are provided with a sensing device for identifying the working space. Specifically, the sensing device may be a laser radar (Lidar) sensor that senses a distance to an object using a laser pulse and then scans a three-dimensional space based on the distance. The sensor may be any one of an infrared sensor, a camera, and an ultrasonic sensor. Such sensors differ in their characteristics, but have a limited recognition range. Furthermore, even if the recognition range is not limited, a blind spot may occur depending on the position mounted on the vehicle. In particular, unlike a vehicle that travels on a road, a construction machine such as a wheel loader has a wide range of objects to be recognized and a wide range of front structures such as a bucket that continuously moves during operation, and thus has a difficulty in that the range in which a dead angle occurs is various and it is difficult to stably maintain the dead angle. Therefore, the optimum position of the laser radar sensor differs depending on the type and form of the construction machine to be mounted.

On the other hand, the above-described embodiment requires various accessories in addition to such a sensing device. For example, the automatic traveling construction machine requires a beacon or lte communication device for communicating with the outside, a GPS device (antenna or the like) for confirming the current position, various imaging devices for confirming the external situation in real time, and the like. Such devices have different optimum positions depending on their characteristics and the type and form of the construction machine mounted thereon, as in the laser radar sensor described above.

In the above embodiment, the various accessories are mounted on the upper surface of the cab 110 described above. The upper surface of the cab 110 corresponds to the highest position in the wheel loader, and thus corresponds to an optimal position for receiving an external signal or transmitting a signal. Further, the cab is located approximately at the center portion in the construction machine, and therefore it is advantageous to minimize a dead-angle area when a camera or a lidar sensor or the like is mounted. Furthermore, since the bucket is located at a position distant from the place where the bucket performs work, the risk of damage due to objects scattered during the work or during the movement can be reduced.

Therefore, in the above embodiment, various accessories related to automatic traveling are mounted on the upper portion of the cab 110.

Referring to fig. 3, a configuration of various accessories mounted to the above-described embodiment is shown. First, the laser radar sensor 150 is disposed at a position adjacent to the front surface of the cab 110. As shown in fig. 4, the laser radar sensor 150 is disposed not only on the upper surface of the cab so as to be spaced upward but also so as to protrude forward from the front surface of the cab. This is to further enlarge the recognition range of the sensor and to minimize the generation of a dead-angle region caused by the cab. The laser radar sensor 150 is disposed at a position substantially at the center with respect to the width direction of the cab.

A beacon 152 as a short-range wireless communication means is provided behind the laser radar sensor 150. The beacons 152 are provided one on each of the left and right sides of the cab, and two are provided side by side up and down on one side surface as shown in fig. 4.

A camera 154 is disposed behind the beacon 152. The cameras 154 are provided to monitor the left and right sides of the construction machine, and are provided on the left and right sides of the cab, respectively.

Two antennas, a GNSS antenna 156 and a GPS antenna 158, are sequentially disposed in parallel behind the camera 154. These are mounted using a dedicated antenna suitable for a plurality of position information confirmation systems in combination as a part of a confirmation means for grasping the current position of the construction machine.

On the other hand, each of the accessories has a lead wire for connection to a control unit, a power supply device, and the like, not shown. That is, a lidar sensor wire 152a for the lidar sensor 150, a beacon wire 152a for the beacon 152, a camera wire 154a for the camera 154, a wire 156a for a GNSS antenna, and the like, which may be individually connected to the control section or the power supply device. As shown in fig. 3, the wires are bundled into a wire bundle 158. Thus, the wires on the upper surface of the cab can be neatly arranged. That is, each wire forms a bundle, but has a form diverging from the bundle to the individual attachment.

The thus-arranged wires extend to a control box 160 mounted behind the cab 110. A controller (not shown) for processing signals received from the sensors and the sensing devices and generating and transmitting appropriate control signals according to the signals is mounted inside the control box 160. The control box 160 is disposed on the rear upper side of the cab 110, and is disposed so as to minimize impact caused by rocks, and the like scattered from the ground. The control box 160 may include a door that is raised and lowered by hydraulic or pneumatic lift.

The wires and bundles are fixed to the substrate support. The base bracket is disposed above the cab so as to have a substantially quadrangular shape. That is, the base bracket includes a pair of

first members

200 and 210 arranged to be spaced apart from each other in the width direction of the cab, and a pair of

second members

220 and 230 arranged to be spaced apart from each other in the front-rear direction of the cab. For convenience of explanation, the pair of first members are referred to as a left side first member 200 and a right side first member 210, and the pair of second members are referred to as a front side second member 220 and a rear side second member 230.

Although the first member and the second member are arranged to form a rectangular quadrangle in the above embodiment, the present invention is not limited to this, and may be arranged to have any form such as a trapezoid or a parallelogram. The first member and the second member do not necessarily have a straight line shape, and may have a shape extending along an arbitrary curved line.

The pair of first members are detachably mounted on the upper portion of the cab by fixing

bolts

202 and 212, respectively. The pair of second members are fixed by fixing

bolts

222 and 232 in a state where the upper surfaces thereof are supported by the upper surface of the first member. That is, the second member is fixed to the first member, and the first member is fixed to the cab such that the base bracket is fixed to the upper surface of the cab. That is, the base brackets may be fixed to each other so as to maintain a quadrangular shape as shown even in a state of being separated from the cab.

Referring again to fig. 3, the lidar sensor 150 is fixed to the front-side second member 220 by a lidar sensor holder 240. Similarly, the beacon 152 is fixed to the left and right

first members

200, 210 by a beacon bracket 250, and the camera 154 is fixed to the left and right

first members

200, 210 by a camera bracket 260. The GNSS antenna 156 is directly fixed to the rear second member 230 without a separate support.

For this purpose, as shown in fig. 5, the rear second member 230 has an extending portion 234 extending in the left-right direction from the

first members

200, 210. The extension 234 has the same cross-sectional shape as the first member and extends to provide a mounting surface for mounting the GNSSD antenna.

On the other hand, as shown in fig. 3, the respective leads and bundles may be fixed to upper surfaces of the first member and the second member, and may be accommodated in the first member and the second member in some cases.

In the above embodiment, each component is mounted by separately providing the auxiliary holder, but may be directly coupled to the base holder without the auxiliary holder in some cases.

Referring now to fig. 6 to 9, the base bracket and the auxiliary bracket will be described in detail.

Referring to fig. 6, the lidar sensor holder 240 includes a mounting portion 242 disposed to be spaced upward from the front-side second member 220. The second member is formed to have a connecting portion 244 extending from the mounting portion 242 to the front side second member 220 and a fastening portion 246 formed integrally with the connecting portion 244 and fastened to the second member 220. That is, since the lidar sensor holder 240 is formed to have an overall "ㄈ" shape, the lidar sensor 240 is disposed to be spaced upward from the upper portion of the cab.

In the illustrated example, the laser radar sensor mount has a fixed form, but may have a form that rotates around a rotation axis extending in a direction perpendicular to the ground surface in fig. 6 as a center in some cases. Thus, when the laser radar sensor is used, the laser radar sensor can be disposed to be spaced upward as shown in fig. 6, and when the laser radar sensor is moved or not used, the laser radar sensor can be located close to the upper surface of the cab, thereby preventing damage due to collision with an external object.

On the other hand, the beacon bracket 250 is formed to have two mounting

surfaces

252 and 256 arranged to be spaced apart from each other in the up-down direction. The two mounting

surfaces

252 and 256 are arranged in parallel with each other and spaced apart from each other, so that the two beacons as described above can be mounted vertically. The two mounting

surfaces

252 and 256 are integrally connected by a connecting portion formed to extend between the two mounting

surfaces

252 and 256, and one end portion 252a of the mounting surface 252 attached to the lower portion is formed to extend so as to provide a coupling surface to be coupled to the

first members

200 and 210.

The camera holder 260 is formed to extend in a longitudinal direction of a mounting surface 262 coupled to the

first members

200 and 210, and has a shape in which an end 264 of the mounting surface 262 is bent downward. The end portion 264 may extend to a degree of contacting with the upper surface of the cab 110, thereby supporting the camera more stably.

As described above, the auxiliary stand may have various forms according to the characteristics and forms of the attached accessories, and is not necessarily limited to the illustrated forms. The lidar sensor holder may be used for mounting a beacon instead of the beacon holder, and may be used in combination with any other.

Referring to fig. 8, the right side has a rectangular tube shape with the lower surface opened, as shown by the first step part 210. Since the left-side first member 200 also has the same configuration, a redundant description thereof will be omitted.

Both side surfaces 212 of the right-side first member 210 extend in parallel with each other, and an end portion thereof is disposed so as to contact an upper surface of the cab 110. The upper surface 214 extending between the two side surfaces functions as a support portion for attaching the plurality of auxiliary brackets. As shown in the drawing, since the first member is hollow, a lead wire or the like can be accommodated in the hollow portion.

The

second member

220, 230 may have substantially the same structure

The form is formed. Specifically, the first member has a mounting surface 230a fastened to the upper surface of the first member and a support surface 230b extending downward from the mounting surface 230 a. A plurality of fastening grooves 232 are formed in the mounting surface 230a so as to pass through fixing bolts not shownThe second member is fastened to the upper surface of the first member.

Referring to fig. 7, it can be understood that the supporting surface 236 formed on the rear side second member 230 is formed longer than the supporting surface formed on the front side second member 220. This is to provide a sufficient supporting area for the antenna holder 270 for mounting the GPS antenna 158 mounted on the supporting surface of the rear-side second member 230. If the width of the support surface formed on the rear-side second member 220 is sufficiently long, the front-rear-side second member may be formed to have the same shape.

The GPS antenna 158 should ensure a predetermined length due to its operating characteristics. Thus, the GPS antenna 158 is configured in such a manner as to protrude upward compared to other accessories. However, if the GPS antenna 158 protrudes excessively, it is likely that it may be damaged by collision with other structures or the like during movement or work. In addition, since the GPS antenna has a shape in which the ratio of the diameter to the length is large and the GPS antenna extends in one direction, it has a characteristic of poor vibration resistance.

Thus, as shown, the GPS antenna 158 may be secured to the side of the cab rather than the upper face, thereby minimizing the degree of upward protrusion while having sufficient length. That is, since one side portion of the GPS antenna 158 is fixed to a position spaced apart from an end portion thereof by the antenna bracket 270, not to the upper surface of the cab, the length of the GPS antenna projecting upward corresponds to a part of the entire length of the GPS antenna. Therefore, the length of the portion protruding toward the upper portion of the cab can be minimized.

By providing the GPS antenna at a low height in this manner, the GPS can be easily assembled and disassembled. Further, the case of being fixed at a position spaced apart from the end portion causes less vibration when the same impact is applied, as compared to the case of being fixed at the end portion.

The antenna holder 270 for fixing the GPS antenna 158 includes a curved surface portion 272 curved to have a curvature corresponding to the shape of the outer periphery of the GPS antenna, and fixing portions 274 extending from both ends of the curved surface portion 272. The fixing portion 274 is fixed to the supporting surface 230b of the second member. According to circumstances, the antenna mount may be integrally formed with the second member.

On the other hand, referring to fig. 9, a work light 159 for illuminating the rear surface of the construction machine may be provided on the rear surface of the cab 100. To sufficiently secure the irradiation angle, a pair of the work lights 159 is disposed apart from each other and adjacent to the GPS antenna due to insufficient space behind the cab. At this time, if the operation lamp 159 is operated, signal interference/interference with the GPS antenna may be caused.

Therefore, in order to reduce such signal interference and interference, the GPS antenna should be disposed so as to be spaced apart from the work light to the maximum extent possible, but there is a limit to securing a spacing distance because the space on the rear side of the cab is small. Therefore, through research the present invention has found that signal interference/blockage can be minimized when the distance a between the center of the GPS antenna and the adjacent end of the task light is greater than 50 mm. Therefore, in the illustrated example, the distance a is set to be greater than 50 mm.

In the above-described embodiment, the GPS antenna is attached to the second member when the GPS antenna has the base bracket and the auxiliary bracket as described above, but the present invention is not limited thereto.

That is, the GPS antenna does not necessarily need to be fixed to the second member, and an example in which the GPS antenna is directly mounted on the rear or side of the cab is also conceivable. Further, an example in which the second member is mounted by further providing another member other than the second member may be considered. Meanwhile, if necessary, a case where only the GPS antenna is included, excluding the above-described plurality of accessories, may be considered.

In either case, the GPS antenna may be provided such that a lower end portion thereof is lower than an upper surface of the cab, and may be fixed at a position spaced apart from the end portion by a fixing mechanism such as a bracket.

Claims

1. An automatic traveling construction machine, characterized by comprising:

a vehicle body frame on which a cab having a seating space for an operator is mounted;

a base bracket provided at an upper portion of the cab;

an auxiliary bracket detachably mounted on the base bracket and mounted with at least one accessory;

a control box mounted on a rear surface of the cab; and

a wire electrically connecting the control box and the at least one accessory,

at least a portion of the lead is disposed along the base support.

2. The autonomous traveling machine according to claim 1, wherein,

the base bracket includes a pair of first members and a pair of second members that face each other, and the first members and the second members are arranged so as to form a quadrilateral shape on an upper surface of the cab.

3. The autonomous traveling machine according to claim 2, wherein,

the pair of first members each have a quadrangular sectional shape with one side opened.

4. The autonomous traveling machine according to claim 3, wherein,

the pair of second members each have a mounting surface that is placed on an upper surface of the first member and on which at least one accessory is mounted, and a support surface that extends from the mounting surface so as to be opposed to an end surface of the first member.

5. The autonomous traveling machine according to claim 3, wherein,

the pair of second members includes a front side second member disposed adjacent to a front surface portion of the cab and a rear side second member disposed at a distance rearward from the front side second member in a longitudinal direction of the vehicle body frame,

and a laser radar sensor bracket is arranged on the front side second part.

6. The autonomous traveling machine according to claim 5, wherein,

the laser radar sensor mount has a mounting surface spaced upward from an upper portion of the front side second member, and the laser radar sensor mounted on the mounting surface is disposed spaced upward from an upper portion of the cab.

7. The autonomous traveling machine according to claim 6, wherein,

the laser radar sensor mount is rotatably mounted in a longitudinal direction of the vehicle body frame, so that a mounting height of the laser radar sensor can be changed.

8. The autonomous traveling machine according to claim 2, wherein,

the pair of first members includes a left-side first member and a right-side first member spaced apart from the left-side first member in a width direction of the vehicle body frame,

at least one of the left first component and the right first component is provided with a camera bracket.

9. The autonomous traveling machine according to claim 8, wherein,

one end of the camera bracket is fixed to the first member, and the other end of the camera bracket has a mounting surface on which a camera is mounted.

10. The autonomous traveling machine according to claim 9, wherein,

the mounting surface is composed of two mounting surfaces which are vertically separated.

11. The autonomous traveling machine according to claim 8, wherein,

at least one of the left side first member and the right side first member is further provided with a beacon holder, one end portion of the beacon holder is fixed to the first member, and the other end portion of the beacon holder extends from the one end portion.

12. The autonomous traveling machine according to claim 5, wherein,

the rear-side second member includes an extension portion protruding in the width direction from the first member, and further includes an antenna mounted on the extension portion.

13. The autonomous traveling machine according to claim 2, wherein,

a lead wire connected to the accessory is fixed to the first member or the second member.

14. The autonomous traveling machine of claim 13, wherein,

the first member or the second member provides a space portion therein, in which the lead wire is accommodated.

15. An automatic traveling construction machine, characterized by comprising:

a base bracket provided at an upper portion of the cab and arranged to have a quadrangular shape;

a laser radar sensor disposed between both end portions of the base holder in front of the base holder;

a pair of cameras and a pair of beacons respectively provided on both side surfaces of the base support; and

and a GNSS antenna and a GPS antenna disposed behind the base support.

16. The autonomous traveling machine of claim 15, wherein,

the GPS antenna is disposed adjacent to a working lamp disposed behind the cab and spaced apart by at least 50 mm.

17. The autonomous traveling machine of claim 15, wherein,

the camera is disposed behind the beacon with reference to the longitudinal direction of the vehicle body frame.

18. The autonomous traveling machine of claim 15, wherein,

the rear portion of the base support extends in the lateral direction more than the front portion, and the GNSS antenna is provided in the extended portion.