JP2018200272A - Positioning device - Google Patents

Abstract

To prevent the fall of a positioning device or an influence due to reception of an electric wave indirectly transmitted from a positioning satellite with a simple configuration.SOLUTION: A positioning device comprises: a reception part for receiving positioning information from a positioning satellite; a transmission part for transmitting information on a position based on the positioning information received by the reception part to a moving body; a first storage part for storing the reception part and the transmission part; a leg part for supporting the first storage part above the ground surface and a metal plate formed with a protrusion part protruding outward of an outer periphery of the first storage part, and arranged below the reception part.SELECTED DRAWING: Figure 5

Description

  The present invention relates to a positioning apparatus that can be applied to, for example, an RTK (Real Time Kinematic) method capable of high-precision positioning in a global navigation satellite system (GNSS).

  Conventionally, the RTK method is known as a technique for realizing highly accurate positioning relatively easily. In RTK-GNSS positioning using the RTK method, two GNSS receivers are used to receive signals from positioning satellites at fixed stations (base stations) and mobile stations. The first GNSS receiver is arranged as a base station that fixes the absolute position of latitude and longitude at a location where the absolute position coordinates are known (a point where the coordinates of the absolute position are known). In the base station, correction information such as position information of the base station and information (distance between satellite receivers, etc.) acquired by the base station is transmitted to the mobile station as the second receiver by wireless communication or the like. In the mobile station, it is possible to acquire position information with higher accuracy by correcting the information received from the positioning satellite based on the correction information acquired from the base station.

  A position detection device using GPS (Global Positioning System) is disclosed in Patent Document 1. In the position detection device disclosed in Patent Document 1, a receiving unit (receiving antenna) is attached to an upper end portion of a support column erected at a measurement point via a horizontal holding unit, and an inclination angle and an inclination direction of the support column are detected. A column inclination detection unit is provided, and the GPS measurement value by the reception unit is corrected by a position correction value obtained by calculating the positional deviation between the reception unit and the measurement point based on the detection signal of the inclination detection unit. According to this position detection device, when a GPS position detection device is installed, the position can be accurately measured even if the column is inclined.

JP 2009-8480 A

  However, the disclosed technique of Patent Document 1 can prevent a decrease in measurement accuracy due to the inclination of the support column, but consider measures to prevent an influence (such as a failure of the positioning device) caused by the falling of the positioning device. It has not been. In addition, about the influence (decrease in measurement accuracy, etc.) caused by the reception unit receiving not only the radio waves that arrive directly from the positioning satellite but also the radio waves that arrive indirectly (for example, radio waves that arrive after being reflected on the ground etc.) Not considered.

  In view of the above-described problems, the present invention provides a positioning device that can prevent an influence caused by a fall and reception of radio waves (multipath waves, etc.) indirectly received from a positioning satellite with a simple configuration. With the goal.

The present invention employs the following technical means to achieve the above object.
A positioning apparatus according to an aspect of the present invention includes a receiving unit that receives positioning information from a positioning satellite, a transmitting unit that transmits information related to a position based on the positioning information received by the receiving unit, to the moving body, A first receiving portion for receiving the receiving portion and the transmitting portion; a leg portion for supporting the first receiving portion above the ground; and a protruding portion protruding outward from the outer periphery of the first receiving portion. And a metal plate disposed below the receiving unit.

Preferably, a second housing portion is provided below the first housing portion and houses an electrical component, and the metal plate is between the lower surface of the first housing portion and the upper surface of the second housing portion. Has been placed.
Preferably, a second housing portion is provided below the first housing portion and houses electrical components, and the metal plate is disposed below the second housing portion.
Preferably, the electrical component is a battery that stores electric power to be supplied to the transmission unit.

Preferably, a fixing device that fixes the first housing portion and the second housing portion is provided, and the metal plate is interposed between the lower surface of the first housing portion and the upper surface of the second housing portion by the fixing device. It is fixed to.
Preferably, a cable that connects the receiving unit or the transmitting unit and the electrical component is provided, and the protruding portion has an insertion portion through which the cable is inserted.

Preferably, the second accommodating portion has a movable portion that is opened downward, and the protruding portion has an opening that avoids interference with the movable portion when the movable portion is opened. .
Preferably, the protruding portion has a grip portion that can be gripped by inserting a finger.

  According to the above positioning device, it is possible to prevent the influence caused by the overturn of the positioning device or the reception of radio waves that reach indirectly from the positioning satellite with a simple configuration. Specifically, when the positioning device falls, the protruding portion of the metal plate hits the ground, so that the impact received by the reception unit and the transmission unit during the fall can be reduced. Therefore, it is possible to prevent an influence (such as a failure of the positioning device) caused by the falling of the positioning device. In addition, since the metal plate is disposed below the receiving unit, the radio wave traveling from the lower side of the receiving unit to the receiving unit is shielded by the metal plate, and the influence caused by receiving the radio wave that the receiving unit indirectly reaches. Can be prevented.

It is a figure which shows the whole structure of a position positioning system. It is a figure which shows an example of the route | root of automatic driving | running | working of a tractor (moving body). It is a figure which shows an example of the large-scale farm field provided with two or more work places (field etc.) of FIG. It is a block diagram of the positioning apparatus in a base station. It is a perspective view of the positioning apparatus of 1st Embodiment. It is a side view of the positioning unit of 1st Embodiment. It is a top view of the positioning unit of 1st Embodiment. It is sectional drawing of the positioning unit of 1st Embodiment. It is a perspective view of the metal plate of the positioning unit of 1st Embodiment. It is a figure which shows the state which the positioning apparatus of 1st Embodiment fell. It is a figure which shows the relationship between a positioning apparatus and the electromagnetic wave from a positioning satellite. It is a figure which shows an effect | action when a positioning apparatus exists in a reference position. It is a figure which shows an effect | action when a positioning apparatus has shifted | deviated from the reference position. It is a figure which shows the state of the shift | offset | difference detection apparatus when a positioning apparatus exists in a reference position. It is a figure which shows the state of the deviation detection apparatus when a positioning apparatus has shifted | deviated from the reference position. It is a figure which shows the state of a detection part and electric power supply line when a positioning apparatus exists in a reference position. It is a figure which shows the state of a detection part and electric power supply line when a positioning apparatus has shifted | deviated from the reference position. It is a side view of the positioning unit of 2nd Embodiment. It is sectional drawing of the positioning unit of 2nd Embodiment. It is a figure which shows the state which open | released the movable part of the positioning unit of 2nd Embodiment. It is a figure which shows the state which the positioning apparatus of 2nd Embodiment fell. It is a side view which shows the state which connected the working device to the tractor.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
The positioning device of the present invention is a device applied to a position positioning system for detecting the position, orientation, etc. of a work machine by satellite navigation, in particular, RTK-GNSS positioning using the RTK method capable of high-precision positioning. It is. Hereinafter, the positioning device of the present invention is referred to as a “satellite positioning device”. In the position positioning system, the position / orientation may be detected by combining RTK-GNSS positioning with other sensors (inertia detection sensors).
Hereinafter, in order to facilitate understanding of the satellite positioning device of the present invention, the overall configuration of the position positioning system to which the satellite positioning device is applied will be described first, and then the satellite positioning device included in the position positioning system will be described. explain.

<Positioning system>
FIG. 1 shows the overall configuration of the position positioning system.
The work machine 1 is an agricultural machine such as a tractor, a combiner, or a rice transplanter, or a construction machine such as a backhoe or a loader. As described above, in RTK-GNSS positioning, two GNSS receivers are used to send signals from positioning satellites to a base station (satellite positioning apparatus 100 in the following) and a mobile station (in the example of a working machine in the following). It is received by a positioning detection device 20) attached to a certain tractor 1. The first GNSS receiver (satellite positioning apparatus 100) is arranged as a base station fixed with a tripod or the like at a reference position BP (Base Point) indicated by latitude and longitude. The reference position may be an absolute position on the earth or input position information input by an operator or the like.

  In the base station, correction information including position information (reference position) of the base station, information obtained from the satellite signals of the positioning satellites by the satellite positioning device 100 (distance between satellite receivers, etc.) is received by the second receiver. The data is transmitted to a certain mobile station (positioning detection device 20) by wireless communication or the like. In the mobile station, the information received from the positioning satellite is corrected based on the correction information acquired from the base station, and the position information with higher accuracy is acquired.

Hereinafter, taking a case where the work machine 1 is a tractor as an example, a work machine (tractor) including the positioning detection device 20 (a mobile station which is a second GNSS receiver) and the like will be described.
FIG. 20 is an overall side view of the tractor 1, which is an example of a work machine, and shows a state where the work device 6 is connected. The tractor 1 includes a vehicle (vehicle body) 2 having wheels, a prime mover 3 such as a diesel engine (engine), and a transmission 4 that performs a shift. The prime mover 3 may be a motor or both a motor and an engine. A three-point link mechanism 5 is provided at the rear portion of the vehicle body 2 so as to be movable up and down. A work device 6 is detachably attached to the three-point link mechanism 5. Power from the prime mover 3 is transmitted to the work device 6 through the PTO shaft. The working device 6 includes a tilling device for plowing, a fertilizer spraying device for spraying fertilizer, an agrochemical spraying device for spraying agricultural chemicals, and a harvesting device for harvesting. In addition, in FIG. 20, the example which attached the fertilizer spreader is shown. The working device 6 is not limited to the one described above, and may be any type.

A cabin 7 is provided behind the prime mover 3. A driver's seat 8 is provided in the cabin 7. A positioning detection device 20 is provided on the top plate of the cabin 7. That is, the positioning detection device 20 is attached to the vehicle body 2 provided with the work device 6 via the cabin 7. The positioning detection device 20 may be attached to the work device 6.
As shown in FIG. 1, a plurality of devices 10 are mounted on the tractor 1. The device 10 is a device that constitutes the tractor 1, and is, for example, a detection device 10a, a switch device 10b, a display device 10c, a control device 10d, and an input / output device 10e. The detection device 10a is a device that detects the operating state of the tractor 1, and includes an accelerator pedal sensor, a shift lever detection sensor, a crank position sensor, a fuel sensor, a water temperature sensor, an engine rotation sensor, a steering angle sensor, an oil temperature sensor, an axle. For example, a rotation sensor. The switch device 10b is a device that performs switching, and is an ignition switch, a parking brake switch, a PTO switch, or the like. The display device 10c is a device that displays various items related to the tractor 1, and is a liquid crystal display device configured with liquid crystal or the like. The control device 10d is a device that controls the tractor, and is a CPU or the like. The input / output device 10e is a device that outputs data inside the tractor 1 to the outside of the tractor 1, and inputs data outside the tractor 1 to the inside of the tractor 1. A communication device that transmits and receives data.

  The plurality of devices 10 are connected by an in-vehicle network N1 such as CAN, LIN, or FlexRay. The vehicle communication network N1 includes a detection signal detected by the detection device 10a, a switch signal indicating switching of the switch device, and an operating unit (for example, an engine, a solenoid valve, a pump, or the like) that operates the tractor 1 under the control of the control device. A command signal (control signal) or the like for operating is output.

  The control device 10d includes a first control device 10d1, a second control device 10d2, and a third control device 10d3. The first control device 10d1 is a device that controls the entire tractor 1. The first control device 10d1 includes detection values detected by the detection device 10a [for example, an operation amount of an accelerator pedal, a shift lever position (shift speed) when operating a shift lever, an engine speed, a shift speed, an oil temperature, a crank Position, cam position, etc.] are input. The first control device 10d1 outputs a control command to the second control device 10d2 and controls the transmission device 4 based on the shift lever position so that the engine has a predetermined rotational speed based on the operation amount of the accelerator pedal. (Shift control). The first control device 10d1 controls the elevation of the three-point link mechanism 5 based on the input from the operation member (elevation control).

  The second control device 10d2 is a device that mainly controls the engine 3. The second control device 10d2 controls an injector, a common rail, a supply pump, and the like based on inputs such as an accelerator pedal operation amount, a crank position, and a cam position. In the engine control in the second control device 10d2, for example, the fuel injection amount, the injection timing, and the fuel injection rate are set in the control of the injector, and the fuel injection pressure is set in the control of the supply pump and the common rail.

The third control device 10d3 is a device that controls automatic traveling of the tractor 1. The third control device 10d3 controls the steering device (steering) 15 or the like that can change the direction of the vehicle body 2 based on various information detected by the positioning detection device 20, and performs automatic traveling.
The automatic traveling of the tractor 1 will be described. When performing automatic traveling of the tractor 1, a route for automatic traveling of the tractor 1 is set using a computer such as a personal computer (PC), a smartphone (multi-function mobile phone), and a tablet.

  FIG. 2 shows an example of a route for automatic traveling of the tractor. When setting a route for automatic travel, that is, for setting a travel plan, as shown in FIG. 2, a work place (such as a farm field) F in which work is performed with the tractor 1 is displayed on the display unit of the computer. A route R for automatic traveling of the tractor 1 is set in the work place F displayed on the display unit of the computer. For example, in the workplace F, the travel start position P1, the travel end position P2, and the route R from the travel start position P1 to the travel end position P2 are set using a computer interface or the like. The route R shown in FIG. 2 includes a rectilinear portion R1 for moving the tractor 1 straight and a turning portion R2 for turning the tractor 1. In setting the route, the display area-like work area F has a travel start position P1, a travel end position P2, a straight travel section R1, and a turning section R2 associated with positions (latitude, longitude), and at least the travel start position P1. By determining the positions corresponding to the travel end position P2, the straight traveling portion R1, and the turning portion R2 on the display unit of the computer, it is possible to set a route for automatic travel. In setting the route for automatic driving, the route may be divided into predetermined sections, and whether each section is forward or backward may be assigned. The setting of the route for automatic driving shown in FIG. 2 is an example, and is not limited as a matter of course. Moreover, the setting of the route for automatic driving may be performed by a device mounted on the tractor 1, and is not limited to the setting by the computer described above.

  The third control device 10d3 stores information related to automatic traveling of the tractor (referred to as automatic traveling information). For example, the automatic running information at the time of setting by the computer is transmitted to the input / output device 10e of the tractor 1 by wireless or wired. Then, by writing the automatic travel information received by the input / output device 10e into the third control device 10d3, the third control device 10d3 can store the automatic travel information. In the third control device 10d3, for example, positions such as a travel start position P1, a travel end position P2, a rectilinear portion R1, and a turning portion R2 are stored as automatic travel information. As described above, in the route setting, when a section in the traveling direction (forward, reverse) of the tractor 1 is allocated, the third control is performed as automatic travel information for forward and reverse according to the position. It may be stored in the device 10d3.

  The third control device 10d3 refers to the position (target position) indicated by the automatic traveling information when performing automatic traveling of the tractor 1, and detects the position (detected position) detected by the positioning detection device 20 and the automatic traveling information. The steering device 15 is controlled so that the position indicated by (the target position) matches. For example, when the target position matches the detected position and the tractor 1 is traveling on the straight traveling portion R1 indicated by the route R, the third control device 10d3 determines the steering angle by the steering device 15. Keep at zero. When the target position matches the detected position and the tractor 1 is traveling on the turning portion R2 indicated by the route R, the third control device 10d3 determines the steering angle by the steering device 15. It is made to correspond to the angle shown by turning part R2. In addition, when there is a predetermined deviation or more between the detection position and the target position, the third control apparatus 10d3 allows the third control apparatus 10d3 to eliminate the deviation of the steering device 15 so that the two coincide with each other. To correct the travel position of the tractor 1. Note that the third control device 10d3 controls the transmission 4 to switch the forward or reverse movement of the tractor 1 when it is indicated that the vehicle travels forward or backward on the route of automatic travel.

  The third control device 10d3 outputs the travel information to the positioning detection device 20. For example, the third control device 10d3 outputs, as the traveling information, the current traveling state of the tractor 1 and outputs straight (forward, backward), turning, stop, and the like to the positioning detection device 20. The third control device 10d3 outputs the information indicated by the route R based on the automatic traveling information when traveling along the route R. For example, when the tractor 1 moves forward or backward along the straight traveling portion R1, the third control device 10d3 outputs traveling information indicating that the vehicle is moving forward or backward to the positioning detection device 20. The third control device 10d3 may output travel information of straight traveling to the positioning detection device 20 instead of forward and reverse travel. In addition, when the tractor 1 is turning along the turning portion R2, the third control device 10d3 outputs traveling information indicating that the tractor 1 is turning to the positioning detection device 20. Moreover, the 3rd control apparatus 10d3 outputs the driving | running | working information that it has stopped to the positioning detection apparatus 20, when the tractor 1 has stopped by automatic driving | running | working.

  If the tractor 1 is traveling far from the preset route R, the third control device 10d3 operates the operation information (forward, reverse) of the transmission 4 or the operation information (steering) of the steering device 15. The current traveling state of the tractor 1 may be output to the positioning detection device 20 based on the angle). In addition, the third control device 10d3 outputs automatic travel information and the like as travel information to the positioning detection device 20. The third control device 10d3 may output the travel information to the first control device 10d1 and the second control device 10d2. In addition, when obtaining the positioning information of the tractor 1 during automatic driving at the work place (farm field) F, in addition to the RTK-GNSS positioning, the position, direction, etc. of the tractor 1 may be obtained by inertial navigation (INS). good.

As described above, the first control device 10d1, the second control device 10d2, and the third control device 10d3 can control the traveling system and the working system of the tractor 1. Note that the control of the traveling system and the working system of the tractor 1 is not limited to that described above.
Next, the positioning detection device 20 will be described.
The positioning detection device 20 is a device that can detect at least the position (latitude, longitude, etc.) and azimuth (azimuth angle) of the tractor 1 with high accuracy by functioning as a mobile station in the RTK-GNSS positioning technology. As illustrated in FIG. 1, the positioning detection device 20 includes a first acquisition unit 21, a second acquisition unit 22, and a calculation unit 31.

  The 1st acquisition part 21, the 2nd acquisition part 22, and the calculating part 31 are comprised from the electronic / electrical part, program, etc. which were provided in the positioning detection apparatus 20. FIG. The first acquisition unit 21 can acquire a satellite signal from a positioning satellite 24 such as GPS received by the positioning detection device 20. The second acquisition unit 22 can acquire correction information (wirelessly transmitted from the satellite positioning device 100 which is a base station in RTK-GNSS positioning described later). In addition to these, a third acquisition unit capable of acquiring traveling information is provided, and when the tractor 1 performs automatic traveling, for example, as the traveling information, the vehicle body 2 goes straight (forward, reverse), the vehicle body 2 The turning of the vehicle body 2 and the stop of the vehicle body 2 may be acquired.

Therefore, when the tractor 1 travels, the positioning detection device 20 can acquire at least satellite signals from GPS satellites and correction information wirelessly transmitted from the satellite positioning device 100 as a base station.
The calculation unit 31 uses the positioning information obtained by the first acquisition unit 21 and the correction information obtained by the second acquisition unit 22 to determine the position of the vehicle body 2 and the positioning information received from the positioning satellite based on the correction information. Correct and detect highly accurate position information. Here, the positioning information acquired by the first acquisition unit 21 is, for example, a satellite signal (GNSS data) transmitted from a GPS satellite, a GLONASS satellite, a Galileo satellite, or the like, which is an example of a positioning satellite. The satellites are not limited to the above satellites, and other satellites may be used. Note that a general known technique can be adopted as the RTK-GNSS positioning technique applied in the present embodiment.

Therefore, the positioning detection device 20 calculates RTK-GNSS positioning information (position, speed, direction) regardless of whether or not the tractor 1 is traveling (regardless of the traveling state).
As illustrated in FIG. 1, the positioning detection device 20 includes an output unit 34 that outputs positioning information (RTK-GNSS positioning information) to the outside. The output unit 34 is connected to the in-vehicle network N1 of the tractor 1, and outputs the positioning information calculated and acquired by the calculation unit 31 to the third control device 10d3.

<Positioning satellite device>
Next, the satellite positioning device 100 will be described.
The satellite positioning device 100 is a device that can constitute a base station in the RTK-GNSS positioning technology. As shown in FIG. 3, the satellite positioning device 100 is installed with a tripod or the like at any reference position BP in the reference position BP set on the ground GL for each work place (farm field or the like) F that is operated by the tractor 1. Is done.

(First embodiment)
Hereinafter, a first embodiment of the satellite positioning device 100 will be described.
As shown in FIG. 4, the satellite positioning device 100 includes a processing unit 110, a storage unit 120, a receiving unit 130, a transmitting unit 150, and an electrical component 160. The processing unit 110, the storage unit 120, the receiving unit 130, and the transmitting unit 150 are configured by electronic / electrical parts, programs, and the like. The electrical component 160 includes a power source (battery or the like) that supplies power to the processing unit 110, the transmission unit 150, and the like.

The receiving unit 130 receives positioning information transmitted from the positioning satellite 24.
The processing unit 110 performs processing related to at least a position, and can operate as a base station. The processing unit 110 includes correction information (base station position information (reference position), information such as the distance between satellite receivers acquired by the base station) as information related to the position based on the positioning information received by the receiving unit 130. Acquire or calculate.

The storage unit 120 stores a reference position BP measured by the processing of the processing unit 110 in advance. In the state where the power from the power source included in the electrical component 160 is supplied, the transmission unit 150 transmits information (correction information) about the position obtained by the processing unit 110 to the outside (mobile station), that is, a tractor that is a mobile body. (Working machine) 1 is transmitted to the positioning detection device 20.
As shown in FIG. 5, the satellite positioning device 100 includes a first housing part 11, a second housing part 12, a support part 13, and a leg part 14. Hereinafter, in the description of the satellite positioning device 100, for the sake of convenience, the arrow A direction in FIG. 5 is forward, the arrow B direction is backward, the arrow C direction is right, the arrow D direction is left, the arrow E direction is upward, and the arrow F The direction is called downward.

The 1st accommodating part 11 is comprised from the housing | casing. In the case of the present embodiment, the shape of the casing (hereinafter referred to as “first casing 11”) constituting the first housing portion 11 is a substantially rectangular parallelepiped shape. However, the shape of the 1st housing | casing 11 is not specifically limited, Other shapes (substantially cylindrical shape etc.) may be sufficient. The first housing 11 is made of resin, for example.
The first housing 11 accommodates the processing unit 110, the storage unit 120, the reception unit 130, and the transmission unit 150 described above. The transmission unit 150 includes a transmission antenna 151 provided outside the first housing 11.

  As shown in FIGS. 5-7, the 1st housing | casing 11 has the main body 11A and the cover body 11B. The main body 11A has a side plate 11a and a bottom plate 11b. The side plate 11a is formed in a rectangular frame shape in plan view, and constitutes a side surface of the first housing 11. A first connector 17 is attached to the rear portion of the side plate 11a. One end of a cable 16 to be described later is connected to the first connector 17. A transmitting antenna 151 is attached to the outer surface of the right part of the side plate 11a. The bottom plate 11 b is fixed to the lower part of the side plate 11 a and constitutes the lower surface of the first housing 11. As shown in FIG. 8, the bottom plate 11 b has a plurality of screw holes (hereinafter referred to as “first holes”) 41. In the case of this embodiment, the four first holes 41 are arranged in a square shape in plan view. The lid body 11 </ b> B is detachably mounted on the upper portion of the main body 11 </ b> A and constitutes the upper surface of the first housing 11.

  The second housing part 12 is disposed below the first housing part 11. The second housing portion 12 is configured from a housing (hereinafter referred to as “second housing 12”) different from the first housing 11. In the case of this embodiment, the shape of the 2nd housing | casing 12 is a substantially rectangular parallelepiped. However, the shape of the 2nd housing | casing 12 is not specifically limited, Other shapes (substantially cylindrical shape etc.) may be sufficient. The second housing 12 is made of, for example, metal.

  The second housing 12 accommodates the electrical component 160 described above. In the present embodiment, the electrical component 160 is a battery that stores electric power. The electric power stored in the battery is supplied to the transmission unit 150 and the like via the cable 16. Note that the electrical component 160 may be a commercial power source connected to a power cable, a solar battery that generates power using sunlight, or the like, and may include other electric / electronic devices. In the following description, it is assumed that the electrical component 160 is a battery.

  As shown in FIG. 6, the second housing 12 has a main body 12A and a lid body 12B. The main body 12A has a side plate 12a and a bottom plate 12b. The side plate 12 a is formed in a rectangular frame shape in plan view and constitutes the side surface of the second housing 12. A second connector 18 is attached to the rear portion of the side plate 12a. The other end of the cable 16 is connected to the second connector 18. The bottom plate 12 b is fixed to the lower portion of the side plate 12 a and constitutes the lower surface of the second housing 12. The lid body 12B is detachably mounted on the upper portion of the main body 12A with bolts or the like (not shown). The lid body 12 </ b> B has an upper plate 12 c (see FIG. 8) that constitutes the upper surface of the second housing 12. The upper plate 12c has a plurality of through holes (hereinafter referred to as “second holes 42”). In the case of the present embodiment, the four second holes 42 are arranged in a square shape in plan view. The position of the second hole 42 corresponds to the position of the first hole 41. That is, as shown in FIG. 8, the second hole 42 is located immediately below the first hole 41.

As shown in FIG. 8, the first housing (first housing portion) 11 and the second housing (second housing portion) 12 are fixed by a fixture (bolt) 54. The fixture 54 is inserted into the second hole 42 and screwed into the first hole 41.
As shown in FIG. 6, the main body 12 </ b> A of the second housing 12 has a first part 121 and a second part 122. The first part 121 is composed of the front part of the main body 12A (the front part of the side plate 12a and the front part of the bottom plate 12b), and the second part 122 is composed of the remaining part of the main body 12A. The second part 122 is larger than the first part 121 and forms an internal space in which the battery 160 is accommodated. The bottom plate of the first part 121 and the bottom plate of the second part 122 are connected by a hinge (not shown). Thereby, as shown in FIG. 8, the 1st site | part 121 can be rotated below with respect to the 2nd site | part 122 by using a hinge as a fulcrum. In other words, the first part 121 is a movable part that can be opened downward. By opening the movable part (first part) 121 downward, the front part of the second housing part 12 is opened. Thereby, the battery 160 accommodated in the 2nd accommodating part 12 can be taken in and out easily. Therefore, the battery 160 can be easily charged or replaced.

  As shown in FIGS. 6 to 8, a cable 16 is provided from the first housing portion 11 to the second housing portion 12. The cable 16 electrically connects the device housed in the first housing portion 11 and the device housed in the second housing portion 12. In the case of the present embodiment, the cable 16 electrically connects the transmission unit 150 accommodated in the first accommodation unit 11 and the electrical component (battery) 160 accommodated in the second accommodation unit 12. One end of the cable 16 is connected to the transmission unit 150 via the first connector 17 attached to the first housing 11. The other end of the cable 16 is connected to the battery 160 via a second connector 18 attached to the second housing 12. Thereby, the electric power stored in the battery 160 stored in the second storage unit 12 can be supplied to the transmission unit 150 stored in the first storage unit 11 via the cable 16.

As shown in FIGS. 5 to 8, the satellite positioning device 100 includes a metal plate 50.
The metal plate 50 has a fixed part 51 and a protruding part 52. The fixed portion 51 and the protruding portion 52 are integrally formed to constitute a single metal plate 50. The metal plate 50 is formed from, for example, steel (stainless steel, cold rolled steel, etc.).
The fixing part 51 is a part to which the first storage part 11 and the second storage part 12 are fixed. In the present embodiment, the fixing portion 51 is fixed between the lower surface of the first housing portion 11 and the upper surface of the second housing portion 12. Specifically, the fixing portion 51 has a flat plate shape and is fixed by being sandwiched between the lower surface of the bottom plate 11 b of the first housing 11 and the upper surface of the upper plate 12 c of the second housing 12.

  As shown in FIG. 9, the fixing portion 51 has a plurality of through holes (hereinafter referred to as “third holes”) 53. In the case of the present embodiment, the four third holes 53 are arranged in a square shape in plan view. As shown in FIG. 8, the position of the third hole 53 corresponds to the position of the first hole 41 and the second hole 42. Above the third hole 53, the first hole 41 of the first housing 11 is overlaid. Below the third hole 53, the second hole 42 of the second housing 12 is overlaid. Then, a bolt 54 as a fixing tool is inserted into the second hole 42 and the third hole 53 and screwed into the first hole 41 which is a screw hole. Thereby, the metal plate 50 is fixed between the lower surface of the first housing part 11 and the lower surface of the second housing part 12. That is, the 1st accommodating part 11, the 2nd accommodating part 12, and the metal plate 50 are integrated by the fixing tool (bolt) 54. FIG. In other words, the fixture 54 integrates the first housing part 11, the second housing part 12, and the metal plate 50 together by fastening. Hereinafter, the integrated first housing part 11, second housing part 12, and metal plate 50 are collectively referred to as “positioning unit 60”.

  The work for integrating the first housing part 11, the second housing part 12 and the metal plate 50 (the assembling work of the positioning unit 60) is first performed by the lid of the first housing 11, the metal plate 50 and the second housing 12. The body 12B can be fixed by the fixing tool 54, and then the main body 12A can be attached to the lid body 12B. Thus, since the 2nd housing | casing 12 can be divided and fixed to the main body 12A and the cover body 12B, the assembly operation of the positioning unit 60 can be performed easily.

  The protruding portion 52 of the metal plate 50 extends outward from the periphery of the fixed portion 51 (in a direction away from the center of the fixed portion 51). The protruding portion 52 is a portion that protrudes from the outer periphery of the first accommodating portion 11 in a state where the fixing portion 51 is sandwiched and fixed between the first accommodating portion 11 and the second accommodating portion 12. As shown in FIGS. 7 and 9, in the case of this embodiment, the protruding portion 52 protrudes from the outer periphery of the first housing portion 11 over the entire periphery. In FIG. 9, the outer periphery of the 1st accommodating part 11 is shown with the virtual line. Further, the protruding portion 52 protrudes from the outer periphery of the second housing portion 12 over the entire periphery. The protruding amount of the protruding portion 52 (the distance from the outer periphery of the first accommodating portion 11 to the outer periphery of the protruding portion 52) may be constant over the entire periphery or may be different.

  As shown in FIG. 5, the positioning unit 60 in which the first housing portion 11, the second housing portion 12, and the metal plate 50 are integrated is supported by the leg portion 14 at a predetermined height above the ground. The leg portion 14 includes a support leg 141 erected on the ground and a support column 142 extending upward from the upper end of the support leg 141. The support leg 141 is comprised from three legs, and a lower end part is fixed to the ground. The support column 142 can be expanded and contracted in the length direction (height direction). In other words, the vertical position of the upper end of the column 142 relative to the support leg 141 can be changed. The height of the positioning unit 60 from the ground can be adjusted by extending and contracting the support column 142.

As shown in FIGS. 5 and 11, a support portion 13 is provided at the upper end portion of the column 142. The support part 13 supports the positioning unit 60 on the upper part of the leg part 14 (upper part of the support column 142).
The support unit 13 includes an installation plate 131 and an attachment member 132.
The positioning unit 60 is installed above the installation plate 131. Specifically, the bolt 43 is inserted through the installation plate 131, and the bolt 43 is screwed into a nut fixed to the bottom plate 12 e of the second housing 12. Thereby, the positioning unit 60 is installed in a fixed state above the installation plate 131.

The attachment member 132 has a first attachment portion 132a and a second attachment portion 132b.
The first attachment portion 132 a is attached to the lower portion of the installation plate 131. Specifically, the bolt 43 is inserted into the first mounting portion 132a, and after the bolt 43 is inserted into the installation plate 131, it is screwed into a nut (not shown) fixed to the bottom plate 12e of the second housing 12. Is done. Accordingly, the first attachment portion 132a is fixed to the lower portion of the second container 12 via the installation plate 131. The second attachment portion 132b extends downward from the first attachment portion 132a. The second attachment portion 132 b is attached to the upper end portion of the leg portion 14.

Thus, the attachment member 132 has the first attachment portion 132 a fixed to the positioning unit 60 via the installation plate 131, and the second attachment portion 132 b attached to the upper end portion of the leg portion 14. Thereby, the positioning unit 60 is attached to the upper end portion of the leg portion 14 via the attachment member 132.
As shown in FIG. 10, the projecting portion 52 contacts the ground GL before the first housing portion 11 and the second housing portion 12 when the satellite positioning device 100 falls. Preferably, when the satellite positioning device 100 falls, the protrusion 52 contacts the ground, but the first storage unit 11 and the second storage unit 12 do not contact the ground GL. Thereby, when the satellite positioning apparatus 100 falls, damage received by the devices accommodated in the first accommodating portion 11 and the second accommodating portion 12 can be reduced.

  In addition, since the projecting portion 52 projects from the outer circumference of the first housing portion 11 and the second housing portion 12 over the entire circumference, the first housing portion 11 can be used regardless of the direction in which the satellite positioning device 100 falls. And the protrusion part 52 can be made to contact the ground GL ahead of the 2nd accommodating part 12. FIG. Therefore, even if the satellite positioning device 100 falls in any direction, it is possible to reduce the damage received by the devices housed in the first housing portion 11 and the second housing portion 12.

Further, by providing the protrusion 52 on the metal plate 50, high strength (rigidity, impact resistance, etc.) can be secured to the protrusion 52. Therefore, the protrusion 52 is prevented from being damaged by an impact when the satellite positioning device 100 falls, and the first housing portion 11 and the second housing portion 12 can be reliably prevented from coming into contact with the ground.
Further, since the metal plate 50 is fixed between the lower surface of the first housing portion 11 and the upper surface of the second housing portion 12, a force (impact force) received when the metal plate 50 collides with the ground. It is prevented that it acts on the side surface of the 1st accommodating part 11 and the 2nd accommodating part 12. FIG. Therefore, when the satellite positioning device 100 falls down, deformation such as the side surfaces of the first storage unit 11 and the second storage unit 12 are less likely to occur. Further, since the metal plate 50 is fixed together with the first housing portion 11 and the second housing portion 12, the metal plate 50, the first housing portion 11 and the second housing portion 12 are firmly integrated. Therefore, it is possible to prevent the first housing portion 11 and the second housing portion 12 from being detached due to the impact force received during the fall.

  As shown in FIGS. 6 and 8, the protruding portion 52 is disposed below the first accommodating portion 11. In the first accommodating part 11, a receiving part 130 is accommodated. Therefore, the protrusion 52 is disposed below the receiving unit 130. Here, the protrusion 52 is made of metal (part of the metal plate 50). Therefore, as shown in FIG. 11, the radio wave W <b> 1 that travels from below the receiving unit 130 toward the receiving unit 130 can be shielded by the protrusion 52. The radio wave W1 traveling from the lower side of the receiving unit 130 toward the receiving unit 130 is, for example, a radio wave including positioning information transmitted from the positioning satellite 24 and reflected to the ground GL or the like and then traveling toward the receiving unit 130 ( Multipath wave etc.). By shielding the radio wave W1 directed to the receiving unit 130 instead of the radio wave W2 directly reaching from the positioning satellite 24 as described above, it is possible to prevent an influence such as a decrease in measurement accuracy. In addition, since the protrusion part 52 is arrange | positioned under the receiving part 130, it does not shield the electromagnetic wave W2 which reaches | attains directly from the positioning satellite 24. FIG. Therefore, the positioning information transmitted from the positioning satellite 24 can be reliably received by the receiving unit 130.

  As shown in FIGS. 7 to 9, the protruding portion 52 has an insertion portion 52 a through which the cable 16 is inserted. The insertion portion 52a is an opening (annular edge) having a size that allows at least the cable 16 to be inserted. The position of the insertion part 52 a is set according to the position of the cable 16. In the case of this embodiment, since the cable 16 is disposed behind the first housing portion 11 and the second housing portion 12, the insertion portion 52 a is also disposed behind the first housing portion 11 and the second housing portion 12. Yes. That is, the insertion part 52 a is provided in the protruding part 52 located at the rear part of the metal plate 50. Thus, by associating the position of the insertion part 52a with the position of the cable 16, the transmission part 150 accommodated in the first accommodation part 11 and the electrical component (battery) 160 accommodated in the second accommodation part 12 are used. Can be connected by a cable 16 at a short distance. Further, since the cable 16 is inserted into the insertion portion 52a provided in the metal plate 50, the cable 16 can be protected from external force. For example, when the satellite positioning device 100 falls, the cable 16 is protected by the metal plate 50, so that damage to the cable 16 can be reduced.

  Further, as indicated by a virtual line in FIG. 7, the protruding portion 52 may have a gripping portion 52 b. The grip portion 52b is an opening (annular edge portion) having a size that allows a finger to be inserted and gripped. In the example shown in FIG. 7, the grip portion 52 b is provided at the front portion of the metal plate 50. In other words, the grip part 52b is provided on the side opposite to the insertion part 52a. The grip portion 52b is preferably formed in a size that allows insertion of four fingers excluding the thumb. Thereby, four fingers excluding the thumb can be inserted into the gripping part 52b, and the gripping part 52b can be sandwiched between the four fingers and the five fingers of the thumb to be securely gripped. Note that the size and position of the grip portion 52b are not limited to the example shown in FIG.

  As described above, the first housing part 11, the second housing part 12, and the metal plate 50 are integrated by the fixture 54. Therefore, when the grip 52 b is provided in the protrusion 52, the operator can carry the first storage 11, the second storage 12, and the metal plate 50 integrally by gripping the grip 52 b. . Thereby, the positioning unit 60 can be easily carried with one hand. In addition, you may comprise so that the insertion part 52a may serve as the holding part 52b, without providing the holding part 52b and the insertion part 52a separately. In the case of adopting this configuration, the insertion portion 52a may be sized so that the cable 16 can be inserted and the fingers can be inserted and gripped.

Moreover, the metal plate 50 is good also as a thing which does not have the opening part which comprises the insertion part 52a, and the opening part which comprises the holding part 52b. That is, the metal plate 50 may be a plate that does not have an opening in the protruding portion 52.
As shown in FIG. 4, the satellite positioning device 100 includes a deviation detection device 170. The deviation detecting device 170 detects a positional deviation of the satellite positioning device 100 with respect to the reference position BP. The deviation detection device 170 is a device that mechanically detects a positional deviation of the satellite positioning device 100 with respect to the reference position BP. The deviation detection device 170 includes a cable body 171 and a detection unit 172.

  The cord body 171 is a string, a chain, a rope, a wire, or the like. One end side of the cable body 171 is attached to the detection unit 172. The other end side of the cable body 171 is detachably attached to the reference member 200 fixed to the ground GL. The detection unit 172 is housed in the second housing unit 12. The cable body 171 is inserted through a hole provided in the bottom plate 12 e of the second housing 12, and extends between the inside and the outside of the second housing 12. As a result, the cable body 171 has one end (upper end) attached to the detection unit 172 inside the second housing 12 and the other end (lower end) outside the second housing 12. 200 is attached.

  The reference member 200 is fixed to the reference position BP of the ground GL. The reference member 200 is. For example, a pile driven into the reference position BP of the ground GL. A metal member is attached to the other end of the cable body 171. In the case of this embodiment, a metal stay 173 is attached as a metal member. A magnet 201 is attached to the reference member 200. The magnet 201 is provided at a position higher than the ground GL.

  As shown in FIG. 12A, when the satellite positioning device 100 is at the reference position BP, the stay 173 can be attached to the reference member 200 by the magnetic force of the magnet 201. When the satellite positioning device 100 is at the reference position BP (when the stay 173 is attached to the magnet 201), the cord body 171 extends in the vertical direction and is not loose. As shown in FIG. 12B, when a positional deviation of a predetermined distance or more occurs in the satellite positioning device 100, the stay 173 can no longer adhere to the magnet 201 and is detached from the magnet 201 and falls to the ground GL. . Thereby, the one end side (upper end side) of the cable body 171 is pulled downward. That is, when the satellite positioning device 100 is displaced from the reference position BP by a predetermined amount or more, a downward tensile force acts on one end side of the cord body 171. The magnitude of the tensile force generated by the dropping of the cable body 171 can be adjusted by changing the weight of a metal member (stay 173) attached to the other end side of the cable body 171.

  As a modified example of the deviation detecting device 170, the magnet 201 may be attached to the other end side of the cable body 171, and the metal member (stay 173) may be attached to the reference member 200. That is, the magnet 201 and the metal member (stay 173) may be interchanged. When attaching the magnet 201 to the other end side of the cable body 171, the reference member 200 itself can be made of metal (for example, a metal pile). In this case, since the stay 173 is not necessary, the number of parts can be reduced. Further, magnets may be attached to the other end side of the cord body 171 and the reference member 200, and different polarities (N pole and S pole) may be opposed to each other so that the magnets attract each other.

  Note that the configuration of the deviation detection device 170 is not limited to the configuration using the above-described magnetic force. If the satellite positioning device 100 has a configuration in which the other end side of the cord body 171 is detached from the reference member 200 and drops when a positional deviation of a predetermined distance or more occurs, the other end side of the cord body 171 is magnetically applied. You may make it adhere to the reference | standard member 200 by adhesive force (for example, adhesive force etc.) other than. In addition, when the other end side of the cord body 171 is locked or placed on the reference member 200 and the satellite positioning device 100 is displaced by a predetermined distance or more, the other end side of the cord body 171 is moved. It is good also as a structure which falls.

As illustrated in FIG. 13, the detection unit 172 includes a substrate 174, a support shaft 175, a swing member 176, an urging member 177, and a switch (limit switch) 178.
The switch (limit switch) 178 is in an OFF state when the movable contact 178a and the fixed contact 178b come into contact with each other (see FIGS. 13 and 15A) to allow energization, and the movable contact 178a and the fixed contact 178b are separated from each other. (See FIG. 14 and FIG. 15B), the power is turned off in the ON state. However, the switch (limit switch) 178 is turned on when the movable contact 178a and the fixed contact 178b come into contact with each other to allow energization, and turned off when the movable contact 178a and the fixed contact 178b are separated from each other. It is also possible to cut off energization.

The substrate 174 is fixed to the upper surface of the bottom plate 12e of the second housing 12 with bolts or the like. On the upper surface of the substrate 174, a bearing portion 174a protrudes upward.
The support shaft 175 extends parallel to the upper surface of the substrate 174 (parallel to the ground). One end side and the other end side of the support shaft 175 are supported by a bearing portion 174 a of the substrate 174.
The swing member 176 is provided so as to be swingable about the support shaft 175 as a fulcrum. The swing member 176 extends in a direction orthogonal to the axial direction of the support shaft 175 (the depth direction in FIGS. 13 and 14), and has a central portion 176a, one portion 176b, and the other portion 176c. . The central portion 176a is supported by the support shaft 175. The one part 176b extends from the center part 176a to one side (front). The other part 176c extends from the center part 176a to the other side (rear side) opposite to the other side. The other portion 176c is lowered when the one portion 176b is raised, and is raised when the one portion 176b is lowered. That is, the swing member 176 can behave like a seesaw with the support shaft 175 as a fulcrum.

  On the other hand, the part 176b can switch between the ON state and the OFF state of the switch 178 by raising or lowering accompanying the swinging of the swinging member 176. Specifically, when the one portion 176b is lowered, the movable contact 178a and the fixed contact 178b of the switch 178 come into contact with each other, and the switch 178 is turned off (see FIG. 13). When the one portion 176b is raised, the movable contact 178a is separated from the fixed contact 178b, and the switch 178 is turned on (see FIG. 14). One end side of the cable body 171 is attached to the other portion 176c.

The urging member 177 includes a spring (torsion spring) attached to the support shaft 175. The urging member 177 urges the one portion 176b of the swinging member 176 downward by an urging force (elastic force of the spring). That is, the swinging member 176 is urged by the urging member 177 in a direction in which the one part 176b is lowered and the other part 176c is raised.
As illustrated in FIG. 15A, the switch 178 allows energization of the power supply line 181 that supplies power from the battery 160 to the cable 16 when the switch 178 enters the OFF state. As shown in FIG. 15B, when the switch 178 is turned on, the switch 178 cuts off the power supply line 181 that supplies power from the battery 160 to the cable 16. When the power supply line 181 is turned off, the supply of power from the battery 160 to the transmission unit 150 is cut off, so that information on the position (correction information) from the transmission unit 150 to the tractor 1 that is a moving body is transmitted. Is stopped. The power supply line 181 is built in the second housing 12. The power supply line 181 includes, for example, a positive line 182 connected to the positive output terminal of the battery 160 and a negative line 183 connected to the negative output terminal. The positive line 182 and the negative line 183 are connected to the battery 160 and the transmission unit 150.

As shown in FIG. 4, the satellite positioning device 100 includes a first processing device 180. When the displacement detection device 170 detects a displacement, the first processing device 180 stops outputting information related to the position (correction information) to the outside. In the present embodiment, the first processing device 180 is a power supply line 181 that supplies power to the transmission unit 150.
Hereinafter, the stop of the output of the position information (correction information) to the outside by the first processing device 180 will be described in detail.

  As shown in FIG. 12A, after the satellite positioning device 100 is installed immediately above the reference member 200 provided at the reference position BP, one end side (upper end portion) of the cable body 171 is connected to the other portion 176c of the swinging member 176. Then, the stay 173 attached to the other end (lower end) is attached to the reference member 200. In this state (installed state), the swing member 176 is in a state (first state) in which the other portion 176c is raised by the urging force of the urging member 177. Therefore, the cord body 171 is in a tensioned state. In this first state, the movable contact 178a and the fixed contact 178b are in contact with each other, and the switch 178 is in the OFF state. When the switch 178 is in the OFF state, the power supply line 181, that is, the first processing device 180 supplies power from the battery 160 to the transmission unit 150. Therefore, the transmission part 150 can transmit the information regarding the position (correction information) to the outside (the moving body 1). That is, when the satellite positioning device 100 is in the reference position BP, a closed circuit is formed by the power supply line 181, so that power can be supplied from the battery 160 to the transmission unit 150.

  As shown in FIG. 15B, when the satellite positioning device 100 is displaced from the reference position BP by a predetermined amount or more, the stay 173 attached to the other end side (lower end) of the cord body 171 is detached from the reference member 200, and the ground GL Fall into. Accordingly, the cord body 171 moves downward, and the other portion 176c of the swinging member 176 moves downward against the biasing force of the biasing member 177. As a result, the swinging member 176 is in a state (second state) in which the other part 176c is lowered and the one part 176b is raised. Thereby, the cable body 171 will be in the loose state (state which is not stretched). In this second state, the movable contact 178a and the fixed contact 178b are separated from each other, and the switch 178 is turned on. When the switch 178 is in the ON state, the power supply line 181, that is, the first processing device 180 cuts off the supply of power from the battery 160 to the transmission unit 150. For this reason, the transmission unit 150 cannot transmit information (correction information) about the position to the outside (the moving body 1). That is, when the satellite positioning device 100 is deviated from the reference position BP, the closed circuit formed by the power supply line 181 shifts to an open circuit, so that power cannot be supplied from the battery 160 to the transmission unit 150.

  As a result, the positioning detection device 20 of the tractor (mobile body) 1 that is a mobile station cannot receive the correction information. In the automatic operation program of the tractor 1, by acquiring the position information based on the correction information as an interlock for the automatic operation of the tractor 1, the automatic operation is performed when the position information based on the correction information can no longer be acquired. Can be stopped. As a result, it is possible to automatically take measures based on the fact that correct correction information has not been transmitted (such as stopping automatic operation).

As shown in FIG. 4, the satellite positioning device 100 may include a second processing device 190. The satellite positioning device 100 may include both the first processing device 180 and the second processing device 190, or may include one of the first processing device 180 and the second processing device 190. .
The second processing device 190 notifies the outside that the positional deviation has been detected when the deviation detecting device 170 detects the positional deviation of the satellite positioning device 100. The second processing device 190 is composed of electronic / electrical parts, programs, and the like provided in the satellite positioning device 100. Specifically, the second processing device 190 includes an alarm light generator such as Patlite (registered trademark) and a flashlight, an alarm sound generator, and the like.

For example, when the second processing device 190 detects that the deviation detection device 170 has cut off the power supply to the transmission unit 150 due to the position of the satellite positioning device 100 being shifted, the generator of the second processing device 190 is activated. Alarm light and / or alarm sound is generated. Thereby, for example, the supervisor of the automatic operation of the tractor 1 can confirm the warning light and / or the warning sound.
Thereby, the operator of the tractor 1 at a position away from the base station or the supervisor of the tractor 1 that is automatically operating can know that the position shift has occurred in the base station. As a result, it is possible to take a countermeasure based on the fact that correct correction information is not transmitted (such as stopping automatic driving).

(Second Embodiment)
Next, a second embodiment of the satellite positioning device 100 will be described.
Note that the satellite positioning device 100 of the second embodiment will be described with a focus on the configuration different from the first embodiment, and the description of the configuration common to the first embodiment will be omitted.
In the satellite positioning device 100 of the second embodiment, the configuration of the positioning unit 60 is different from that of the first embodiment, and the configurations of the support portion 13 and the leg portion 14 are the same as those of the first embodiment.
As shown in FIGS. 16 to 18, the satellite positioning device 100 according to the second embodiment has the first positional relationship between the first accommodating portion 11, the second accommodating portion 12, and the metal plate 50 constituting the positioning unit 60. This is different from the embodiment. Specifically, in the satellite positioning device 100 of the second embodiment, the second housing part 12 is disposed below the first housing part 11, and the metal plate 50 is disposed below the second housing part 12.

As shown in FIG. 17, the bottom plate 11b of the first housing 11 constituting the first housing portion 11 and the upper plate 12c of the second housing 12 constituting the second housing portion 12 are fixtures (bolts). 55 is connected. A metal plate 50 is connected to the bottom plate 12 b of the second housing 12 by a fixture (bolt) 57.
In the second embodiment. The metal plate 50 is connected to the second housing part 12 but is not connected to the first housing part 11. However, since the 1st accommodating part 11 and the 2nd accommodating part are connected by the fixing tool 55, the 1st accommodating part 11, the 2nd accommodating part 12, and the metal plate 50 are integrated. That is, also in the second embodiment, the positioning unit 60 in which the first housing portion 11, the second housing portion 12, and the metal plate 50 are integrated is configured.

  Similar to the first embodiment, the metal plate 50 includes a fixed portion 51 and a protruding portion 52. The fixing part 51 is fixed to the second housing part 12. The protruding portion 52 extends outward from the periphery of the fixed portion 51. The protruding portion 52 is a portion that protrudes from the outer periphery of the first storage portion 11 and the second storage portion 12. In the case of this embodiment, the protrusion part 52 protrudes from the outer periphery of the 1st accommodating part 11 and the 2nd accommodating part 12 over the perimeter.

  As shown in FIG. 19, also in the second embodiment, the protruding portion 52 of the metal plate 50 has the ground GL before the first housing portion 11 and the second housing portion 12 when the satellite positioning device 100 falls. To touch. Preferably, when the satellite positioning device 100 falls, the protrusion 52 contacts the ground, but the first storage unit 11 and the second storage unit 12 do not contact the ground GL. Thereby, when the satellite positioning apparatus 100 falls, damage received by the devices accommodated in the first accommodating portion 11 and the second accommodating portion 12 can be reduced.

Also in the second embodiment, the protrusion 52 is disposed below the receiving unit 130 accommodated in the first accommodating unit 11. As a result, radio waves traveling from below the receiving unit 130 toward the receiving unit 130 can be shielded by the protrusion 52. Further, the projecting portion 52 does not block radio waves that reach directly from the positioning satellite 24.
As shown in FIG. 18, the protrusion 52 avoids interference with the movable part (first part) 121 when the movable part (first part) 121 of the second housing part 12 is opened downward. An opening (annular edge) 56 is provided. The opening 56 is provided in front of and below the second housing portion 12. When the movable part (first part) 121 is opened downward, the movable part 121 moves (rotates) below the protruding part 52 through the opening 56. Thereby, the projecting portion 52 of the metal plate 50 does not hinder the opening of the movable portion 121 in spite of the metal plate 50 being disposed below the second housing portion 12, and the battery 160 is charged. And replacement work can be easily performed.

  In addition, about the movable part 121 of the 2nd accommodating part 12, it is good also as a structure which can be pulled out (detached) in parallel with the metal plate 50 instead of the structure which can open | release downward. When this configuration is adopted, it is not necessary to provide the opening portion 56 for avoiding interference with the movable portion 121 in the protruding portion 52 of the metal plate 50. Therefore, the metal plate 50 can be a plate that does not have an opening in the protrusion 52.

The embodiment disclosed this time should be considered as illustrative in all points and not restrictive. The scope of the present invention is defined by the terms of the claims, rather than the description above, and is intended to include any modifications within the scope and meaning equivalent to the terms of the claims.
For example, in the above embodiment, the positioning unit 60 is composed of the first housing part 11, the second housing part 12, and the metal plate 50, but is composed of the first housing part 11 and the metal plate 50. Also good. That is, the positioning unit 60 may be configured by one housing (first housing 11). In this case, the electrical component 160 (battery or the like) may be accommodated in the first accommodating portion 11.

  In the above-described embodiment, the positioning unit 60 includes one metal plate 50, but may include a plurality of metal plates 50. In this case, for example, the first metal plate 50 is disposed between the first housing portion 11 and the second housing portion 12, and the second metal plate 50 is disposed below the second housing portion 12. Can do.

1 Mobile body (work machine)
DESCRIPTION OF SYMBOLS 11 1st accommodating part 12 2nd accommodating part 16 Cable 24 Positioning satellite 50 Metal plate 52 Protrusion part 52a Insertion part 52b Holding part 54 Fixing tool 56 Opening part 100 Positioning apparatus (satellite positioning apparatus)
121 Movable part 130 Receiving part 150 Transmitting part 160 Electrical component (battery)

Claims (8)

A receiver for receiving positioning information from a positioning satellite;
A transmission unit that transmits information on a position based on the positioning information received by the reception unit to the mobile body;
A first accommodating portion accommodating the receiving portion and the transmitting portion;
Leg portions for supporting the first housing portion above the ground;
A metal plate having a protruding portion that protrudes outward from the outer periphery of the first housing portion and disposed below the receiving portion;
Positioning device equipped with. A second housing portion disposed below the first housing portion and housing electrical components;
The positioning device according to claim 1, wherein the metal plate is disposed between a lower surface of the first housing portion and an upper surface of the second housing portion. A second housing portion disposed below the first housing portion and housing electrical components;
The positioning device according to claim 1, wherein the metal plate is disposed below the second housing portion.   The positioning device according to claim 2, wherein the electrical component is a battery that stores electric power to be supplied to the transmission unit. A fixing tool for fixing the first storage portion and the second storage portion;
The positioning device according to claim 2, wherein the metal plate is fixed between the lower surface of the first housing portion and the upper surface of the second housing portion by the fixture. A cable for connecting the receiving unit or the transmitting unit and the electrical component;
The positioning device according to claim 2, wherein the protrusion has an insertion portion through which the cable is inserted. The second housing part has a movable part that can be opened downward,
The positioning device according to claim 3, wherein the protrusion has an opening that avoids interference with the movable part when the movable part is opened.   The positioning device according to any one of claims 1 to 7, wherein the protruding portion includes a grip portion that can be gripped by inserting a finger.

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