JP2019109130A - Tractor - Google Patents

Abstract

To provide a tractor which can receive positioning data transmitted from a GPS satellite or the like and satisfactorily recognize its own position.SOLUTION: The tractor includes a traveling body 4 and a plurality of antenna units 32 provided on the traveling body 4 for receiving satellite positioning data. The tractor identifies its own position based on the data received by the plurality of antenna units 32. Since the positioning data are slightly different from each other in correspondence to the plurality of antenna units, it is possible to improve accuracy of the positioning data, for example, by taking into account the error included in the plurality of the positioning data, or by acquiring an average value.SELECTED DRAWING: Figure 14

Description

  The present invention relates to a tractor provided with an antenna unit for receiving satellite positioning information.

  The tractor receives satellite positioning information transmitted from GPS satellites by means of an antenna unit, and can calculate the position, orientation, and the like of the vehicle by calculation. Among the tractors of this type, in the type of tractor not equipped with a driving cabin, an antenna unit has conventionally been provided in a state of being housed inside a control panel portion of a vehicle body (for example, patent documents 1).

JP, 2017-16562, A

  In the above-described conventional configuration, since the antenna unit is provided at a low position of the vehicle body and in an area covered by the bonnet or the like, satellite positioning information transmitted from GPS satellites or the like is an obstacle such as a bonnet or a case of the vehicle body Could be inhibited by Further, in the above-described conventional configuration, since the antenna unit is provided at a position close to the engine, the vibration generated by the engine may be adversely affected to cause an error in positioning data.

  Then, the tractor which can acquire satellite positioning information transmitted from a GPS Satellite etc., and can acquire an own vehicle position favorably is desired.

  The characteristic configuration of the tractor according to the present invention includes: a traveling vehicle body; a plurality of antenna units provided on the traveling vehicle body for receiving satellite positioning information; and a vehicle position specification for identifying a vehicle position based on the satellite positioning information And means for specifying the vehicle position based on information received from the plurality of antenna units.

According to this feature configuration, the vehicle position identification means can identify the vehicle position based on the satellite positioning information received by the plurality of antenna units. Further, according to this configuration, since a plurality of antenna units can be arranged at different positions, each of the plurality of satellite side information received by the vehicle position specifying means by the plurality of antenna units corresponds to a plurality of antenna units. Since the position information is slightly different, it is possible to improve the accuracy of the position information by, for example, a process of considering errors contained in a plurality of pieces of position information, a process of acquiring an average value, or the like.
As a result, a tractor capable of receiving the satellite positioning information transmitted from GPS satellites and the like and acquiring the vehicle position favorably is configured.

  As another configuration, the antenna unit may be provided at a location ahead of the driver's seat provided on the traveling vehicle and at a location behind the driver's seat.

  According to this, it is also possible to improve the position accuracy based on the satellite positioning information received by the antenna units at relatively distant positions in front of and behind the driver's seat.

  As another configuration, the antenna units may be provided on both sides in the left-right direction across the driver's seat provided on the traveling vehicle body.

  According to this, it is also possible to improve the position accuracy based on the satellite positioning information received by the antenna unit at a position relatively separated in the left and right direction of the driver's seat.

  As another configuration, the vehicle position specifying means may specify the vehicle position based on only an antenna unit satisfying a predetermined reception condition among the plurality of antenna units.

  According to this, reliable position information can be acquired based on the satellite positioning information received with a good reception state among the plurality of antenna units.

  As another configuration, the vehicle position specifying means may specify the vehicle position by excluding received information having a predetermined deviation or more from other received information among the received information from each antenna unit. .

  According to this, it is possible to eliminate received information with a large deviation as false detection, and it becomes possible to use high-precision satellite positioning information.

It is a side view of a tractor. It is a top view of a tractor. It is a front view of a tractor. It is a rear view of a tractor. It is a side view showing wiring between a positioning unit and a horizontal frame part. It is sectional drawing of a mounting bracket and a horizontal frame. It is sectional drawing which shows the wiring inside Lops. It is a front view of Lops of another embodiment a. It is a side view of Lops of another embodiment a. It is a side view which shows the structure of the attachment bracket of another embodiment a. It is a side view which shows the structure of the attachment bracket of another embodiment a. It is a side view which shows the structure of the attachment bracket of another embodiment a. It is a side view of the tractor of another embodiment b. It is a front view of the tractor of another embodiment b. It is a block circuit diagram of control composition of another embodiment b. It is a side view of the tractor of another embodiment b. It is a front view of the tractor of another embodiment b. It is a side view of the tractor of another embodiment c. It is a front view of the tractor of another embodiment c. It is a partially notched side view of the bonnet of another embodiment c. It is a side view of the tractor of another embodiment d. It is a front view of the tractor of another embodiment d. It is a side view of the front guard of another embodiment d. It is a side view of the tractor of another embodiment e. It is a side view of the tractor of another embodiment e. It is a partially notched side view of the canopy of another embodiment e. It is a rear elevation view of the canopy of another embodiment e. It is a top view which shows the traveling path of another embodiment f. It is a side view of the tractor of another embodiment f. It is a front view of the tractor of another embodiment f. It is a top view of the position adjustment mechanism of another embodiment f. It is a top view of the position adjustment mechanism of another embodiment f. It is a side view of the tractor of another embodiment g. It is a top view of the tractor of another embodiment g. It is sectional drawing which shows the wiring inside the front part lop of another embodiment g. It is a side view of the tractor of another embodiment g. It is a front view of the tractor of another embodiment g. It is a side view of the tractor of another embodiment h. It is a rear elevation view of the tractor of another embodiment h. It is a side view of the tractor of another embodiment h. It is a side view of the tractor of another embodiment i. It is a front view of the tractor of another embodiment i. It is a side view of the tractor of another embodiment i. It is a side view of the tractor of another embodiment j. It is a side view of the tractor of another embodiment j. It is a rear elevation view of the tractor of another embodiment j. It is a side view of the tractor of another embodiment k. It is a top view of the tractor of another embodiment k. It is a front view of the tractor of another embodiment k. It is a side view of the tractor of another embodiment L. FIG. It is a top view of the tractor of another embodiment L. FIG. It is a front view of the tractor of another embodiment L. FIG.

Hereinafter, embodiments of the present invention will be described based on the drawings.
[Basic configuration of tractor]
1 to 4 show a tractor according to the present invention. In this embodiment, the direction indicated by the symbol F in FIGS. 1 and 2 is the front side of the tractor, and the direction indicated by the symbol B is the rear side of the tractor. Further, the direction indicated by the symbol R in FIG. 2 is the right side of the tractor, and the direction indicated by the symbol L is the left side of the tractor.

  As shown in FIG. 1, the tractor travels with the entire vehicle body supported by the vehicle body frame 1 and is provided with left and right front wheels 2 that can be driven to change direction and can be driven, and left and right rear wheels 3 that can be driven in a fixed direction. A vehicle body 4 is configured. An engine 6 is mounted inside a bonnet 5 at the front of the vehicle body, and an operating unit 7 is provided on the rear side of the vehicle body.

  As shown in FIG. 1 and FIG. 2, the traveling vehicle body 4 can be lifted and lowered in a state in which a working device (not shown) such as a tilling device can be attached to and removed from the rear portion of the vehicle body An elevator link mechanism 8 is provided. A transmission case 10 is provided at the lower part of the driving unit 7 for transmitting the power to which the power of the engine 6 is transmitted from the rear axle 9 to the left and right rear wheels 3. The transmission case 10 is provided with a differential 11 capable of giving a speed difference to the drive speeds of the left and right rear axles 9, and the power from the engine 6 is transmitted via the differential 11 to the left and right rear wheels 3. Distributed to The transmission case 10 rotatably supports the rear axle 9.

  In this embodiment, the engine 6 located at the front of the vehicle body, the clutch housing 12 connected to the rear of the engine 6, the intermediate frame 13, the transmission case 10 located at the rear of the vehicle body, etc. A frame 1 is formed.

  At the upper part of the transmission case 10, a hydraulic lift cylinder 14 is provided to drive the working device up and down via the lift link mechanism 8. The lift cylinder 14 is accommodated in a cylinder case 15. A swing arm 16 is provided inside the cylinder case 15 so as to be swung by the extension operation of the lift cylinder 14, and a lift arm 17 that is swung integrally with the swing arm 16, and a lift link mechanism 8 are provided. , And is pivotally connected via a lift rod 18.

  The driver 7 has a driver's seat 19 on which the driver can sit, a boarding step 20 located on the front side of the driver's seat 19 to form a floor of the driver 7, and front wheel steering for the front of the driver's seat 19 The control panel unit 23 provided with the steering wheel 21 and the other control levers 22 is provided. Rear wheel fenders 24 are provided on the left and right sides of the driver's seat 19 to cover the upper portions of the left and right rear wheels 3, and the rear wheel fender 24 is also provided with a plurality of operation tools 25 for operation. The driver's seat 19 may be configured to be able to swing forward in the form of lifting the rear around the front fulcrum of this seat. With this configuration, the driver's seat 19 can be swung to expose the transmission case 10.

  At the rear of the driving unit 7, both left and right sides are connected and fixed to the rear end of the vehicle body frame 1, that is, the rear end of the transmission case 10, and extend upward to surround the rear upper side of the driver's seat 19. A fall protection rope 26 is provided. That is, the ropes 26 have a pair of vertical frame portions 26a extending along the left and right vertical directions, and a horizontal frame portion 26b extending along the horizontal direction by connecting the upper ends of the left and right vertical frame portions 26a. It is formed in a substantially gated shape in a front view of the vehicle body. The ropes 26 have a structure in which the internal space is continuous by integrally forming the left and right vertical frame portions 26a and the horizontal frame portions 26b by bending hollow rectangular pipe members, and becomes substantially gate-shaped in front view . That is, the lower end portion of the vertical frame portion 26 a of the rope 26 may be fixed to a member having high rigidity such as the transmission case 10, the vehicle body frame 1, and the axle case of the rear axle 9. When the lower end portion of the vertical frame portion 26a of the rope 26 is fixed to the transmission case 10, the vertical frame portion 26a may be fixed at a plurality of locations in the vehicle lateral direction and the vehicle longitudinal direction. The ropes 26 can be fixed firmly.

  The ropes 26 are configured to be foldable around a horizontal swinging fulcrum X at folding portions 27 provided at lower portions of the left and right vertical frame portions 26a. By configuring in this manner, the movable portion of the rope 26 (upper side portion from the rocking fulcrum in the left and right vertical frame portions 26a and the horizontal frame portion 26b) at the time of transportation of the vehicle body, etc. By swinging and folding to the rear side of the vehicle body, it is possible to reduce the amount of upward protrusion and to prevent it from being an obstacle for transportation. Further, in the folded state, the horizontal frame portion 26b is lowered to facilitate maintenance of the positioning unit 31 by the operator.

  The traveling vehicle body 4 includes a controller 30 for traveling control, a steering motor (not shown) capable of steering the front wheel 2, and a known GPS (Global Positioning System) which is an example of a GNSS (Global Navigation Satellite System) A positioning unit 31 or the like is provided which measures the position and orientation of the traveling vehicle 4 by using a (global positioning system).

  A positioning unit 31 is an antenna unit 32 for satellite navigation that receives radio waves transmitted from GPS satellites (not shown) and data transmitted from a reference station (not shown) installed at a known position; A satellite navigation device 33 is provided which measures the position and orientation of the traveling vehicle 4 based on the positioning data of the positioning unit 31. As a positioning method using GPS, in this embodiment, the position of the vehicle body is measured using positioning data of GPS and error correction information transmitted from a reference station whose position is known in advance on the ground side. GPS (Differential GPS) is adopted. The reference station transmits the error correction information obtained by receiving radio waves from the GPS satellites by wireless communication. The satellite navigation device 33 obtains the position and orientation of the traveling vehicle 4 based on the positioning data obtained by receiving the radio waves from the GPS satellites and the information from the reference station. Further, as a positioning method using GPS, another positioning method such as RTK (Real Time Kinematic) method may be used.

  The positioning unit 31 including the antenna unit 32 is provided in the lateral frame portion 26 b at the top (highest position) of the lops 26 so that the reception sensitivity of the radio wave from the GPS satellite is high. The positioning unit 31 is attached via a mounting bracket 34 as a support member in the vicinity of the lateral center portion of the lateral frame portion 26 b. That is, the antenna unit 32 is provided at a position higher than the upper end of the driver's seat 19 and above the rocking fulcrum X of the lops 26.

  As described above, since the antenna unit 32 is provided at a position distant upward from the traveling vehicle body 4, yawing, pitching, or yawing of the traveling vehicle body 4 may be detected at the position and orientation of the traveling vehicle body 4 measured using GPS. The positioning error caused by the positional deviation of the antenna unit 32 due to the rolling is included.

  Therefore, the traveling vehicle body 4 is provided with a three-axis gyroscope (not shown) and a three-direction acceleration sensor (not shown) in order to enable correction to remove the positioning error as described above. An inertial measurement unit (IMU: Inertial Measurement Unit) 39 that measures a yaw angle, a pitch angle, a roll angle, and the like of the traveling vehicle body 4 is provided. By including the inertial measurement device 39, the antenna associated with yawing, pitching, or rolling of the traveling vehicle 4 measured by the inertial measurement device 39 is information on the position and orientation of the traveling vehicle 4 measured by the positioning unit 31. It is corrected by the information of the positional deviation of the unit 32.

  As shown in FIG. 2, the inertial measurement device 39 is disposed at a position overlapping with the transmission case 10 in a plan view. In addition to the description, the inertial measurement device 39 is a portion located below the driver's seat 19 above the drive axis of the rear axle 9 and above the cylinder case 15 provided on the upper side of the transmission case 10. Is located in To explain further, the inertial measurement device 39 is disposed at a position overlapping the rear wheel 3 in a side view. This portion is high in rigidity and unlikely to cause bending deformation, etc., and is further separated from the engine 6, so it is not easily affected by the vibration of the engine 6 and can be measured with a small error. . Further, in this tractor, since the transmission case 10 can be exposed by swinging the driver's seat 19 forward, the swing of the driver's seat 19 facilitates access to the inertial measurement device 39 and maintenance in a good condition is achieved. It becomes possible.

  In this tractor, the upper cylinder case 15 of the transmission case 10 is a specific example of a position adjacent to the vehicle body frame 1 configured as a rigid member by connecting the engine 6, the clutch housing 12 and the transmission case 10 An inertial measurement device 39 is provided on the upper side. Further, the inertial measurement device 39 is disposed at an intermediate position between the left and right rear wheel fenders 24 in a front view.

  As shown in FIG. 1, the controller 30 is provided to be housed inside the control panel unit 23. Then, the controller 30 controls the steering motor so that the traveling vehicle body 4 travels along the working traveling route based on the information of the traveling route in the field set in advance and the positioning result of the positioning unit 31. It is configured to execute automatic steering control to control and so on.

[Arrangement of Positioning Unit]
As shown in FIGS. 5 and 6, the mounting bracket 34 as a support member for supporting the positioning unit 31 has a high position of the front attachment portion 34a and a low position of the rear placement portion 34b in a side view, In the middle of these, the vertical wall portion 34c is integrally formed in a step-like shape. A mounting surface 34s is formed on the upper surface of the mounting portion 34b, and reinforcing frames 34d (see FIGS. 2 and 4) are erected at both left and right end positions of the mounting surface 34s.

  A plurality of bolt insertion holes are formed in the mounting portion 34a of the mounting bracket 34, and in the same manner, bolt insertion holes are formed in the mounting portion 34b. A bolt insertion hole for inserting the fixing bolt 35 is vertically formed in the horizontal frame portion 26b corresponding to the insertion hole of the mounting portion 34a, and the fixing bolt 35 is screwed on the lower surface of the horizontal frame portion 26b. A fixing plate 36 having a nut portion 35a is disposed.

  From this configuration, the mounting portion 34a of the mounting bracket 34 is in contact with the upper surface of the horizontal frame portion 26b, and the vertical wall portion 34c of the mounting bracket 34 is in contact with the rear surface of the horizontal frame portion 26b. The fixing bolt 35 inserted into the bolt insertion hole is inserted into the insertion hole of the horizontal frame portion 26 b and screwed to the nut portion 35 a of the fixing plate 36, whereby the mounting bracket 34 is fixed to the horizontal frame portion 26 b.

  Further, the positioning unit 31 is disposed to place the positioning unit 31 on the mounting portion 34b of the mounting bracket 34, and is supported in a mounting state of the connection bolt 37 inserted upward from below in the insertion hole of the mounting portion 34b. . In the state of being supported in this manner, the positioning unit 31 is disposed at a position between the left and right reinforcing frames 34 d in a state of being mounted on the mounting surface 34 s.

  Thus, the mounting bracket 34 (an example of the support member) is at the center of the lateral frame portion 26b in the left and right direction in a front view, and at a position where the rear end projects rearward from the rear end of the lateral frame portion 26b in a plan view. Be placed.

  In this configuration, in front view, the positioning unit 31 is disposed at a position partially overlapping the horizontal frame portion 26b, and the upper end of the positioning unit 31 has a positional relationship in which the upper end of the positioning unit 31 protrudes upward from the upper surface of the horizontal frame portion 26b. From this configuration, when working in an environment where branches and the like of a tree can contact the positioning unit 31, the problem that the mounting bracket 34 or the ropes 26 contacts the positioning unit 31 is eliminated.

  A wire 40 connecting the positioning unit 31 including the antenna unit 32 and the controller 30 is routed along the vertical frame portion 26a. Specifically, as shown in FIG. 5, a position for taking out the wire 40 is set on the side surface of the positioning unit 31 (hereinafter, this position is referred to as a wire taking-out position), and a waterproof position is provided outside this wire taking-out position. The cover 41 is disposed, and the lead-out posture of the wiring 40 is set to an oblique posture so that the wiring 40 drawn from the waterproof cover 41 reaches a position higher than the wiring take-out position.

  Further, among the drawn wires 40, an intermediate position between the waterproof cover 41 and the horizontal frame portion 26b is supported by a clamp 42 provided on the outer surface of the reinforcing frame 34d. Then, as shown in FIG. 7, the wiring 40 is inserted from the first through hole H1 on the lower surface of the horizontal frame portion 26b into the internal space of the horizontal frame portion 26b, and the folding portion 27 is formed at the lower portion of one vertical frame portion 26a. The upper frame (above the rocking fulcrum X) is routed from the second through hole H2 on the inner surface side (the opposite surface side of the left and right vertical frame portions 26a) of the vertical frame portion 26a.

  As described above, even if rainwater adheres to the wiring 40 in order to draw the wiring 40 from the waterproof cover 41 obliquely upward, the adhered rainwater flows in a direction determined from the highest position of the wiring 40, and the wiring It is also possible to make it fall off. The clamp 42 may be provided on the lateral frame portion 26b.

  The wire 40 extends to the inertial measurement device 39 located on the upper side of the transmission case 10 and merges with the wire from the inertial measurement device 39. Furthermore, the merged wire 40 passes between the rear wheel fender 24 and the driver's seat 19 and further extends between the boarding step 20 and the floor mat to the controller 30 provided on the control panel portion 23 ing.

  As shown in FIGS. 1 and 2, in side view, the positioning unit 31 is provided in a first area A1 between the rear end of the driver's seat 19 and the rear ends of the left and right lifting link mechanisms 8, and It is provided in the second area A2 between the left and right lifting link mechanisms 8 as viewed.

[Another embodiment a]
The present invention may be configured as the following other embodiments in addition to the above-described embodiment. In each of the alternative embodiments described below, those having the same functions as those of the embodiments are given the same reference numerals and symbols as the embodiments.

(A-1) As shown in FIG. 8, the positioning unit 31 including at least one of the antenna unit 32 and the satellite navigation device 33 is provided in the lateral frame portion 26 b by the mounting bracket 34, and the inertial measurement device 39 is In the horizontal frame portion 26b of The figure shows a configuration in which the inertial measurement unit 39 is provided on the upper surface of the lateral frame portion 26b.

  In this alternative embodiment (a-1), it is also conceivable to arrange the inertial measurement device 39 and the positioning unit 31 in a positional relationship in which they are at the upper and lower positions. As a specific example, as shown by a two-dot chain line in FIG. 8, it is possible to provide the inertial measurement device 39 on the lower surface of the lateral frame portion 26 b. It is also conceivable to suppress the influence of the motion of the traveling vehicle body 4 on the inertial measurement device 39 by providing the lower surface of the lateral frame portion 26b in this manner.

(A-2) As shown in FIG. 8, the wiring 40 connecting the positioning unit 31 including the antenna unit 32 and the controller 30 is wired along the outer surface of the vertical frame portion 26a, and the wiring thus wired The vertical frame portion 26a is provided with a cosmetic cover 43 so as to cover the

  FIGS. 8 and 9 show a configuration in which a cosmetic cover 43 is provided on the outer side surface of the vertical frame portion 26a above the folding portion 27 and below the folding portion 27. As shown in FIG. Further, below the folding portion 27, the wiring 40 may be held in a form of being clamped to a portion of the folding portion 27 supported by the traveling vehicle body 4. As a result, it is not necessary to form a through hole as in the configuration for arranging in the internal space of the vertical frame portion 26 a, and the strength reduction of the ropes 26 can be suppressed. In addition to covering and protecting substantially the entire wiring 40 disposed on the vehicle body outer side of the vertical frame portion 26a with the cosmetic cover 43, it is possible to suppress the hanging down of the wiring 40 and the disturbance of the posture.

  In this alternative embodiment (a-2), as shown by the two-dot chain line in FIGS. 8 and 9, the wiring target may be either of the left and right vertical frame portions 26a. It may be any of an outer side surface on the outer side with reference to the inner side, an inner side surface on the inner side with respect to the traveling vehicle body 4, and a front side and a rear side of the vertical frame portion 26a. It is also possible to provide a makeup cover 43 correspondingly.

(A-3) The mounting bracket 34 as the support member may be configured as shown in any of FIGS. That is, in the configuration shown in FIG. 10, the mounting portion 34a of the mounting bracket 34 is configured by the front wall 34af, the upper wall 34at, and the rear wall 34ar so as to be held from above the lateral frame portion 26b. In this structure, the fixing bolt 35 penetrates the front wall 34af, the horizontal frame portion 26b, and the rear wall 34ar in the front-rear direction, and is screwed with the nut portion 35a of the rear wall 34ar to mount the mounting bracket 34 in the horizontal frame portion 26b. It is fixed to

  Further, in the configuration shown in FIG. 11, as the mounting portion 34a of the mounting bracket 34, the upper surface of the front end of the mounting bracket 34 is brought into contact with the lower surface of the horizontal frame portion 26b, and the fixing plate 36 is disposed on the upper surface of the horizontal frame portion 26b, The fixing bolt 35 penetrates the fixing plate 36, the horizontal frame portion 26b, and the mounting portion 34a in the vertical direction, and is screwed to the nut portion 35a of the lower surface of the mounting portion 34a, thereby mounting the mounting bracket 34 to the horizontal frame portion 26b. It is fixed.

  Further, in the configuration shown in FIG. 12, a fitting member 34F having a shape capable of coming into contact with the rear surface and the upper surface of the horizontal frame portion 26b is provided as the mounting portion 34a of the mounting bracket 34. Abuts the upper surface and the rear surface of 26b, and affixes the mounting portion 34a to the lower surface of the horizontal frame portion 26b, thereby fixing the upper wall portion of the fitting member 34F, the horizontal frame portion 26b, and the mounting portion 34a. Penetrates in the vertical direction and is screwed into the nut portion 35a on the lower surface of the mounting portion 34a, whereby the mounting bracket 34 is fixed to the horizontal frame portion 26b.

(A-4) In the embodiment, since the mounting bracket 34 is disposed in a posture extending rearward from the lateral frame portion 26b, the positioning unit 31 is disposed rearward of the lateral frame portion 26b. Alternatively, the mounting bracket 34 may be disposed in a posture extending forward from the lateral frame portion 26 b, and the positioning unit 31 may be supported by the mounting bracket 34. By arranging in this way, the positioning unit 31 is arranged on the front side of the lateral frame portion 26 b.

(A-5) Information may be transmitted by wireless communication without providing a wiring between the positioning unit 31 or the antenna unit 32 and the controller 30.

[Another embodiment b]
(B-1) As shown in FIG. 13 and FIG. 14, the folding portion 27 is provided at the middle portion in the vertical direction of the vertical frame portion 26 a. Thus, the lops 26 is configured to be foldable on the upper side of the folding portion 27 around the rocking fulcrum X that is oriented in the horizontal direction, and is inclined upward toward the upper side above the folding portion 27 in the vertical frame portion 26a. Forming the inclined portion 26as. A positioning unit 31 is provided on each of the outer surfaces of the left and right inclined portions 26as. In this alternative embodiment b, three or more positioning units 31 may be provided.

  In this alternative embodiment (b-1), the positioning unit 31 is provided at a position higher than the top of the backrest of the driver's seat 19 in both of the left and right vertical frame portions 26a of the ropes 26. Specifically, a mounting bracket 34 as a support member is attached to the outer surface of the inclined portion 26 as above the folding portion 27, and a positioning unit 31 is provided for the mounting bracket 34.

  A positioning unit 31 is an antenna unit 32 for satellite navigation that receives radio waves transmitted from GPS satellites (not shown) and data transmitted from a reference station (not shown) installed at a known position; A satellite navigation device 33 is provided which measures the position and orientation of the traveling vehicle 4 based on the positioning data of the positioning unit 31.

  As shown in FIG. 15, the controller 30 is provided with an own vehicle position specifying means 30a for specifying an own vehicle position by inputting positioning information from two positioning units 31, and this own vehicle position specifying means 30a The position of the vehicle is corrected based on the information from the measuring device 39. Then, the controller 30 outputs a control signal to the steering control unit SU so as to travel along the traveling route based on the vehicle position and the information of the traveling route set in advance.

  In this configuration, the satellite positioning information transmitted from the GPS satellite or the like can be favorably received without being blocked by the hood 5 or a part of the traveling vehicle body 4 or being influenced by an obstacle. Based on the positioning information from the positioning unit 31, processing for reducing an error and processing for acquiring an average value are performed to enable autonomous traveling with high accuracy.

(B-2) As shown in FIG. 16 and FIG. 17, at the same time as providing a fall protection ropes 26 (referred to as a rear lops 26 in this alternative embodiment) behind the driver's seat 19, , And positioning units 31 at left and right positions of the rear lops 26 and the front lops 55, respectively.

  The front lops 55 bends the hollow rectangular pipe material to form a pair of left and right front longitudinal frame portions 55a extending along the longitudinal direction, and front laterals extending along the lateral direction by connecting the upper ends thereof. It has a frame portion 55b and is formed substantially in a gate shape in a front view of the vehicle body. In such a configuration, the positioning unit 31 is provided to the left and right front vertical frame portions 55 a via the mounting bracket 34.

  The positioning unit 31 has an antenna unit 32 for satellite navigation and a satellite navigation device 33 for measuring the position and orientation of the traveling vehicle body 4.

  In this alternative embodiment (b-2) as well as the alternative embodiment (b-1), processing for reducing errors and processing for acquiring an average value are performed by acquiring positioning information from a plurality of positioning units 31 Enables autonomous driving with accuracy.

(B-3) Even if positioning information can be acquired from a plurality of positioning units 31, it is not necessary to use a plurality of positioning information at the same time. For example, positioning of positioning unit 31 satisfying a predetermined reception condition A process of specifying the vehicle position may be performed based on the information. In addition, if the reception information of a plurality of positioning units 31 is compared, and if the reception information of a predetermined positioning unit 31 deviates from the reception information of another positioning unit 31, the positioning information of that positioning unit 31 is used. Alternatively, the control form may be set.

  In this alternative embodiment b, three or more positioning units 31 may be provided, or the vehicle position may be specified based on three or more positioning information.

[Another embodiment c]
(C-1) As shown in FIGS. 18 and 19, the bonnet 5 has an upper face 5t and side faces 5s on both left and right sides, and the upper face 5t of the bonnet 5 is central in the longitudinal direction of the vehicle body. A positioning unit 31 having an antenna unit 32 in front of the rear part is attached to a central position in the left-right direction via a mounting bracket 34 as a support member.

  Further, as shown in FIG. 18, in side view, the antenna unit 32 is positioned above the region line EL connecting the upper end of the lateral frame portion 26 b of the lops 26 and the upper end of the steering wheel 21. It is located below the horizontal line HL in the horizontal attitude passing through the upper end. When the positioning unit 31 is provided, a part or the whole of the positioning unit 31 may be disposed at a position projecting in front of the front end of the hood 5.

  By arranging the positioning unit 31 having the antenna unit 32 in this manner, satellite positioning information transmitted from GPS satellites and the like can be favorably received without being affected by obstacles such as the body structure such as the lops 26. . Furthermore, since the positioning unit 31 is disposed below the horizontal line HL, the visibility of the operator sitting on the driver's seat 19 is not disturbed.

(C-2) As shown in FIG. 20, a positioning unit 31 having an antenna unit 32 at the center position in the left-right direction inside the bonnet 5 is provided with a positioning unit 31. A wall 5p made of resin is provided on a part of the portion facing the upper side of the wall.

  As described above, since the positioning unit 31 is provided, the positioning unit 31 is not damaged by wind and rain, and it is transmitted from a GPS satellite or the like without being damaged by a car body component such as the ropes 26. Satellite positioning information can be received well. Furthermore, since the resin wall 5p is provided above the positioning unit 31, the satellite positioning information transmitted from the GPS satellite or the like can be received without being disturbed.

[Another embodiment d]
(D-1) As shown in FIGS. 21 and 22, a front guard 47 (an example of a front support member) is fixed to the left and right frame members 1a constituting the vehicle body frame 1 of the traveling vehicle body 4. The front guard 47 is provided with a mounting bracket 34, and the mounting bracket 34 is provided with a positioning unit 31 having an antenna unit 32. The front guard 47 is disposed on the front side of the front end of the bonnet 5 to prevent the bonnet 5 from coming into contact with the outer wall of a building, trees or the like during traveling, and thus damaging the bonnet 5.

  The front guard 47 is composed of a pair of left and right vertical members 47a in a vertically long posture in which the base ends are connected to the left and right frame members 1a, and a horizontal member 47b connected to the upper ends thereof. A mounting bracket 34 is provided at a central portion in the left-right direction of the lateral member 47 b, and the positioning unit 31 is provided on the top surface of the mounting bracket 34. As a result, the upper end portion of the positioning unit 31 is provided at the center position in the left-right direction of the front guard 47 above the upper end of the vertical member 47 a.

  In this alternative embodiment (d-1), as shown in FIG. 21, the positioning unit 31 is disposed below the horizontal line HL in the horizontal attitude passing through the upper end of the steering wheel 21 in side view .

  As described above, the positioning unit 31 is disposed in the open space in front of the hood 5, and satellite positioning information transmitted from GPS satellites and the like can be favorably received without being affected by an obstacle. Furthermore, since the positioning unit 31 is disposed below the horizontal line HL, the visibility of the operator sitting on the driver's seat 19 is not disturbed.

(D-2) As shown in FIG. 23, a part of the front guard 47 as a front support member is swingably supported in the front and rear direction centering on the switching axis Y in the horizontal orientation, On the other hand, the positioning unit 31 having the antenna unit 32 is provided with the same configuration as that of the alternative embodiment (d-1).

  In this alternative embodiment (d-2), the vertical member 47a of the front guard 47 comprises a lower base member 47as and a vertical rocking member 47at rockably supported in the front-rear direction about the switching axis Y. It is configured. Also, a horizontal member 47b is connected to the upper ends of the left and right vertical swing members 47at, and the positioning unit 31 is provided at the center in the left-right direction of the horizontal member 47b via the mounting bracket 34.

  By configuring in this manner, the positioning unit 31 is further displaced forward from the front end of the bonnet 5 by swinging the vertical swinging member 47 at the front side centering on the switching axis Y and transmitted from a GPS satellite etc. Satellite positioning information can be well received. Further, in this alternative embodiment (d-2), when the vertical rocking member 47 at is rocked forward as shown by a two-dot chain line in FIG. 23, the attitude of the positioning unit 31 can be maintained horizontal. You may configure.

[Another embodiment e]
(E-1) As shown in FIG. 24, the antenna unit 32 may be provided in the canopy 44 that covers the upper side of the driving unit 7. That is, the canopy 44 has a resin roof member 44 a extending in a cantilevered manner toward the front of the vehicle body with respect to the support members 45 erected on the left and right of the rear position of the driver's seat 19. On the top surface of the roof member 44a of the canopy 44, the antenna unit 32 is provided via the mounting bracket 34 in the region between the center and the front end in the front-rear direction.

  In particular, when the antenna unit 32 is provided at the front end of the roof member 44a of the canopy 44, as shown in FIG. 24, the support strength is improved by providing the beam member 46 between the support member 45 and the front end of the roof member 44a. You may That is, in this configuration, the antenna unit 32 is supported with high strength by arranging the positioning unit 31 (the antenna unit 32) having the antenna unit 32 on the extension of the beam member 46 in the longitudinal direction.

  In this alternative embodiment (e-1), the antenna unit 32 is provided at the central position in the front-rear direction of the canopy 44 as shown by the two-dot chain line in FIG. By providing the unit 32, satellite positioning information transmitted from a GPS satellite or the like at a high position can be well received.

  In the alternative embodiment (e-1), the canopy 44 may be provided on the upper end of the rope 26 without using the support member 45. Although FIG. 24 shows a configuration in which the beam member 46 is connected to the front end of the roof member 44a, it is not necessary to connect to the front end, and the beam member 46 is connected to an intermediate position in the back and forth direction of the canopy 44 You may configure it.

(E-2) As shown in FIG. 25, the antenna unit 32 is provided between the center (the position shown by a two-dot chain line in the figure) and the rear end in the front-rear direction of the roof member 44a of the canopy 44. The figure shows a configuration in which the antenna unit 32 is provided at the rear end of the canopy 44. By providing the antenna unit 32 at this position, the antenna unit 32 is disposed on the extension of the support member 45 in the longitudinal direction, and the support member 45 receives vibration in the vertical direction, and the traveling vehicle body 4 moves up and down. Even when it vibrates, the support of the support member 45 enables the reception above the satellite positioning in the state where the vibration is suppressed.

(E-3) As shown in FIGS. 26 and 27, the mounting recess 44b is formed on the top surface of the roof member 44a of the canopy 44, and the antenna unit 32 is fitted in the mounting recess 44b. Further, a drainage groove 44g (an example of drainage means) connected to the mounting recess 44b is formed.

  In this configuration, the left and right support members 45 are formed in the shape of a hollow square pipe, and the upper end is bent to provide a square pipe-like connection support 45a that connects the upper ends of the left and right support members 45. There is. In addition, an insertion hole 44H is provided at the upper end of the bottom of the mounting recess 44b and the bottom wall of the roof member 44a, and the introduction hole 45H into which the wire 40 inserted into the insertion hole 44H is introduced is the upper surface of the connecting post 45a. It is formed in.

  From this configuration, the wire 40 from the antenna unit 32 is inserted into the insertion hole 44H, inserted from the introduction hole 45H on the upper surface of the connection support 45a into the inside of the support 45, and drawn out from the lower part of the support 45 The positioning information can be transmitted to the controller 30 via the inertial measurement device 39.

  In this alternative embodiment (e-3), since the antenna unit 32 is fitted in the mounting recess 44b, the antenna unit 32 can be stably supported. However, since it is conceivable that rainwater will be stored in the mounting recess 44b, by forming the drainage groove 44g communicating with the mounting recess 44b, the rainwater can be favorably discharged and the problem of rainwater remaining in the mounting recess 44b is eliminated. ing.

  In this alternative embodiment (e-3), the wiring 40 from the antenna unit 32 may be disposed along the drainage groove 44g. By arranging the wiring 40 in this manner, the arrangement of the wiring 40 is not unreasonable. Further, although the mounting bracket 34 is not shown in the same drawing, the antenna unit 32 may be supported via the mounting bracket 34.

[Another embodiment f]
FIG. 28 shows a traveling route M of the traveling vehicle 4 at the time of performing a tillage work based on the positioning of the positioning unit 31 provided with a positioning unit 31 having an antenna unit 32 and a satellite navigation device 33 on the traveling vehicle 4. ing. If the traveling vehicle 4 travels straight based on the positioning of the positioning unit 31 and the traveling vehicle 4 reaches a headland and turns, a predetermined distance between the traveling route M before turning and the traveling route M after turning Interval G is produced.

  The distance G is ideally equal to each other even when the space G is turned to the right as shown in the upper side of the drawing as shown in the figure, or to the left when the lower side of the drawing. When the tilling work is performed on the basis of the positioning by the above, the interval G is set to a fixed value. However, when the positioning unit 31 deviates from the center of the traveling vehicle body 4 in the left and right direction in any of the left and right directions, the intervals G are not equal to each other. It is desirable to provide the center position in the left-right direction with high accuracy. In order to cope with such a problem, the configuration described below is adopted in this alternative embodiment f.

(F-1) As shown in FIGS. 29 and 30, it comprises a pair of left and right vertical frame portions 26a extending along the vertical direction, and a horizontal frame portion 26b extending along the horizontal direction by connecting the upper ends thereof. The lops 26 is provided at the rear position of the traveling vehicle body 4.

  The mounting bracket 34 is fixed in a horizontal posture on the upper surface of the center position of the horizontal frame portion 26b in the left and right direction, and the antenna unit 32 is provided with the position adjusting mechanism C with respect to the mounting surface 34s of the mounting bracket 34. The positioning unit 31 is attached.

  As shown in FIG. 31, the position adjustment mechanism C includes a plurality of (in this embodiment (f-1)) elongated holes 50 which are bored in the mounting bracket 34 and extends in the left-right direction, and these elongated holes 50. And a plurality of (four in the other embodiment (f-1)) fastening bolts 51 protruding from the bottom surface of the positioning unit 31 and a fastening nut screwed on the fastening bolts 51 so as to be insertable into the And 52 are configured.

  From such a configuration, the fastening bolt 51 is inserted into the plurality of elongated holes 50, and the fastening nut 52 is fastened to fix the position of the positioning unit 31 at an arbitrary position in the transverse direction of the traveling vehicle body 4 The position adjustment of the positioning unit 31 can be easily performed.

  As a modified example of another embodiment (f-1), a flange (not shown) in contact with the mounting surface 34s of the mounting bracket 34 is formed to project in the left-right direction with respect to 31 having the antenna unit 32 A long hole 50 extending in the lateral direction is formed with respect to the flange, and the mounting bracket 34 is provided with a fastening bolt 51 which can be inserted into the long hole 50 upward, and a fastening nut 52 screwed on the fastening bolt 51 Also good. In this modification, the position adjustment mechanism C is configured by the elongated hole 50, the fastening bolt 51, and the fastening nut 52.

(F-2) As shown in FIG. 32, in this alternative embodiment (f-2), a plurality of position adjustment mechanisms C are aligned in the mounting bracket 34 by shifting in the left-right direction (this another embodiment (f-1) So that the bottom surface of the positioning unit 31 having the antenna unit 32 can be inserted downward into the plurality of insertion holes 53 of the four sets and the insertion holes 53 of the four sets (this another embodiment (f- In 1), it is composed of 4) fastening bolts 51 and a fastening nut 52 screwed to the fastening bolt 51.

  From such a configuration, one of the plurality of insertion holes 53 is selected, the fastening bolt 51 is inserted, and the fastening nut 52 is fastened to the position of the positioning unit 31 at an arbitrary position in the lateral direction of the traveling vehicle body 4 The position adjustment of the positioning unit 31 in the lateral direction can be easily performed by fixing.

  As a modified example of another embodiment (f-2), a flange (not shown) in contact with the mounting surface 34s of the mounting bracket 34 is formed with respect to the positioning unit 31, and it is shifted in the lateral direction to align with the flange A plurality of (four sets in this other embodiment (f-1)) insertion holes 53 are formed, and the mounting bracket 34 is provided with fastening bolts 51 which can be inserted through the insertion holes in the posture directed upward. You may provide the fastening nut 52 screwed together. In this modification, the position adjustment mechanism C is configured by the plurality of insertion holes 53, the fastening bolt 51, and the fastening nut 52.

[Another embodiment g]
Although this alternative embodiment g is directed to a configuration in which a fall protection rope is provided in front of the driver's seat 19, a configuration in which the fall protection rope is provided behind the driver seat 19 is excluded. is not. Therefore, the lops in front of the driver's seat 19 will be referred to as the front lops 55, and the lops behind the driver's seat 19 will be referred to as the rear lops 26.

(G-1) As shown in FIG. 33 and FIG. 34, the front ropes 55 for fall protection are provided in front of the driver's seat 19, and the front ropes 55 are provided with the positioning unit 31. The positioning unit 31 includes an antenna unit 32 for satellite navigation, and a satellite navigation device 33 for measuring the position and orientation of the traveling vehicle body 4.

  The front lops 55 bends the hollow rectangular pipe material to form a pair of left and right front longitudinal frame portions 55a extending along the longitudinal direction, and front laterals extending along the lateral direction by connecting the upper ends thereof. It has a frame portion 55b and is formed substantially in a gate shape in a front view of the vehicle body. In such a configuration, the positioning unit 31 is provided to the upper surface of the front lateral frame portion 55 b via the mounting bracket 34. As a result, the positioning unit 31 having the antenna unit 32 is disposed at a position higher than the upper end of the backrest of the driver's seat 19.

  In this alternative embodiment (g-1), the front lops 55 is configured to be foldable about the lateral rocking fulcrum X in the folding part 27 provided at the lower part of the left and right front vertical frame parts 55a. ing. With this configuration, the upper frame portion (the upper portion of the left and right front vertical frame portions 55a above the rocking fulcrum X and the front horizontal frame portion 55b) of the front rope 55 can be An amount of upward protrusion can be reduced by swinging and folding the vehicle to the front side of the vehicle centering on the swing fulcrum X. At the time of this folding, the vertical frame portion 26a above the swinging fulcrum X swings by 180 ° and can be set at the non-use position. In this non-use position, the horizontal frame portion 26 b and the antenna unit 32 are located below the rocking support point X, so the maintenance of the antenna unit 32 and the like is facilitated.

  In this folding configuration, the lower side of the rocking fulcrum X is referred to as a lower frame portion, and the lower frame portion is fixed to the traveling vehicle body 4. In addition, in the front lops 55, a standing posture in which the upper frame portion rises as shown by a solid line in FIG. 33 by manual operation, and a storage posture in which the upper frame portion falls to the front of the vehicle body as shown by a two-dot chain line in FIG. It becomes possible to switch to In particular, a gas spring 56 as an assist mechanism is provided to reduce the burden on the operator at the time of operation from the storage position to the standing position.

  Furthermore, in this configuration, as shown in FIG. 35, the wiring 40 connecting the positioning unit 31 including the antenna unit 32 and the controller 30 is routed along the front longitudinal frame portion 55a from the front lateral frame portion 55b. ing. That is, the wiring 40 is inserted from the first through hole H1 on the lower surface of the front horizontal frame portion 55b into the internal space of the front horizontal frame portion 55b, and from the folding portion 27 at the lower portion of one front vertical frame portion 55a. Arranged at the upper part (above the rocking fulcrum X) and pulled out from the second through hole H2 on the inner surface side (the opposite surface side of the left and right front vertical frame parts 55a) of the front vertical frame part 55a. ing. The wire 40 thus drawn is connected to the controller 30.

  In the configuration of this alternative embodiment (g-1), even if the upper frame portion is heavy by providing the positioning unit 31 in the upper frame portion, the upper frame portion is easily set in the standing posture by the biasing force of the gas spring 56. it can. In addition, the wiring 40 is not damaged by inserting the wiring 40 from the inside of the horizontal frame portion 26 b into the inside of the front vertical frame portion 55 a, and the sag of the wiring 40 can be suppressed.

  In this alternative embodiment (g-1), the traveling vehicle body 4 is configured such that the front ropes 55 for fall protection are provided in front of the driver's seat 19 and the fall 26 for fall protection is provided behind the driver seat 19. You may. Further, a torsion spring or a coil spring may be provided instead of the gas spring 56 as an assist mechanism. The ropes 26 may be configured to reach the storage posture by reclining backward.

(G-2) As shown in FIGS. 36 and 37, in the traveling vehicle body 4 provided with the rear lops 26 at the rear position of the driver seat 19, the front lops 55 is provided at the front position of the driver seat 19 The positioning unit 31 is provided in the section Lops 55. The positioning unit 31 includes an antenna unit 32 for satellite navigation, and a satellite navigation device 33 for measuring the position and orientation of the traveling vehicle body 4.

  The front lops 55 has a pair of left and right front longitudinal frame portions 55a extending along the longitudinal direction, and a front horizontal frame portion 55b extending along the lateral direction by connecting the upper ends of the front rops 55 to the front of the vehicle body It is formed in a substantially gated shape by visual inspection. In such a configuration, the positioning unit 31 is provided to the upper surface of the front lateral frame portion 55 b via the mounting bracket 34. As a result, the positioning unit 31 having the antenna unit 32 is disposed at a position higher than the upper end of the backrest of the driver's seat 19.

  In this alternative embodiment (g-2), the front lops 55 is formed into a substantially gate-like shape by bending a hollow square pipe member, and the base end side is inclined toward the front as it approaches the upper side. . For this reason, the positioning unit 31 is separated from the rear lops 26 to improve the reception performance. This front lops 55 is vertically upward from the traveling vehicle body 4 as shown by a two-dot chain line in FIG. It may be configured to extend.

  Furthermore, as a configuration for supporting the positioning unit 31 having the antenna unit 32 on the front ropes 55, for example, even if the configuration for directly fixing the positioning unit 31 to the upper surface of the lateral frame portion 26b with a bolt or the like is adopted. good.

[Another embodiment h]
(H-1) As shown in FIGS. 38 and 39, there is provided a fall protection ramp 26 extending upward so as to surround the upper rear side of the driver's seat 19, and the jig 48 provided to the lops 26 is attached The positioning unit 31 is supported via the mounting bracket 34 with respect to the pedestal 48s. The ropes 26 have left and right vertical frame portions 26a extending along the longitudinal direction by bending a hollow square pipe material, and horizontal frame portions 26b extending along the lateral direction by connecting the upper ends of these. There is. The positioning unit 31 includes an antenna unit 32 for satellite navigation, and a satellite navigation device 33 for measuring the position and orientation of the traveling vehicle body 4.

  As shown in FIG. 39, the jig 48 includes left and right support members 48a made of hollow square pipe members, a connecting member 48b made of hollow square pipe members connecting the upper ends thereof, and left and right support members 48a. And a fixing bracket 48c formed at the lower end of the connector 48b, and a mount 48s is provided on the upper surface of the connecting member 48b.

  The left and right fixing brackets 48c are shaped to be able to abut the rear surface and the left and right side surfaces of the vertical frame portion 26a of the rops 26, and the left and right fixing brackets 48c have mounting holes (not shown) penetrating in the lateral direction. It is formed. Corresponding to this, fixing holes (not shown) penetrating in the lateral direction are formed in the left and right vertical frame portions 26 a of the ropes 26.

  From such a configuration, in the alternative embodiment (h-1), the fixing bracket 48c is disposed at the position where the left and right vertical frame portions 26a of the ropes 26 are held, and the holding bolt is extended over the mounting hole and the fixing hole. The jig 48 is fixed to the rope 26 by inserting 49 and screwing the holding nut or the like.

  The wiring 40 connected to the positioning unit 31 passes through the internal space of the connecting member 48 b, the internal space of the support member 48 a, and the internal space of the vertical frame portion 26 a of the rope 26. The positioning information is transmitted to

  In this fixed state, the left and right support members 48a extend obliquely backward and upward in a side view, the connecting members 48b connected to the upper ends of the left and right support members 48a are in a horizontal position, and the mount 48s is also in a horizontal position. It becomes. As a result, the positioning unit 31 is supported in a horizontal posture at a position higher than any of the rear wheel fender 24 and the backrest portion of the driver's seat 19 at a position separated rearward from the lops 26.

  In addition, since the Lops 26 has high rigidity, it is possible to suppress the vibration of the positioning unit 31 and reduce the measurement error. Furthermore, since the positioning unit 31 is disposed at a position away from the Lops 26, positioning is performed without being interrupted by the Lops 26. Can receive information.

  In this alternative embodiment (h-1), a jig 48 may be disposed to extend forward and upward from the ropes 26 as shown by a two-dot chain line in FIG.

(H-2) As shown in FIG. 40, the vertical frame portion 26a is provided with an inclined portion 26as that is inclined upward toward the upper end above the folded portion 27, and in the vertical frame portion 26a, from the folded portion 27. The jig 48 may be provided on the upper side.

  In this alternative embodiment (h-2), it is assumed that the configuration is the same as that of the above-mentioned alternative embodiment (h-1), and the support member 48a is set to an inclined posture that is displaced rearward toward the upper end As a result, the positioning unit 31 placed on the mount 48s is separated from the upper end of the inclined portion 26as, and as a result, it is possible to suppress the inconvenience that reception of positioning information is interrupted by the ropes 26.

  In any of the other embodiments (h-1) and (h-2), for example, the positioning unit 31 is supported at a predetermined position of the jig 48 via the mounting bracket 34 without using the mount 48s. It is possible to configure. In addition, the configuration in which the jig 48 is fixed to the lops 26 by the holding bolt 49 may be any configuration.

[Another embodiment i]
(I-1) As shown in FIGS. 41 and 42, a fall protection ramp 26 extending diagonally upward so as to surround the upper rear of the driver's seat 19 is provided. The positioning unit 31 is supported via the mounting bracket 34 with respect to the mounting table 48s. The ropes 26 have left and right vertical frame portions 26a extending along the longitudinal direction by bending a hollow square pipe material, and horizontal frame portions 26b extending along the lateral direction by connecting the upper ends of these. The positioning unit 31 includes an antenna unit 32 for satellite navigation, and a satellite navigation device 33 for measuring the position and orientation of the traveling vehicle body 4.

  The jig 48 includes left and right support members 48a in a posture directed obliquely upward toward the outer end side, a mount 48s at a central position, and fixing brackets 48c formed at both ends of the left and right support members 48a. In this jig 48, the outer ends of the left and right support members 48a are connected and fixed to the ropes 26 by the holding bolts 49 inserted through the fixing brackets 48c, whereby the support members 48a are held in horizontal attitude. The positioning unit 31 is supported via 34. In this configuration, the position at which the fixing bracket 48c is connected to the vertical frame portion 26a is set to a position higher than the folding portion 27.

  In the configuration of this alternative embodiment (i-1), the supporting portion 48 is provided with a support member 48 a formed so as to extend toward the internal space of the lops 26. Therefore, the positioning unit 31 is disposed in a space surrounded by the left and right vertical frame portions 26a and the upper horizontal frame portion 26b in front view, and partially overlaps with the vertical frame portion 26a in side view. In particular, in this arrangement, the positioning unit 31 is disposed at a position higher than the upper end of the backrest portion of the driver's seat 19.

  Further, as shown in FIG. 42, the support member 48a and the mount 48s are formed hollow, and the wiring 40 connected to the positioning unit 31 includes the internal space of the mount 48s and the internal space of the support member 48a. The positioning information is transmitted to the controller 30 in a state where the internal space of the vertical frame portion 26 a of the lops 26 is inserted.

  From such a configuration, for example, it is possible to prevent the inconvenience that a branch of a tree or the like contacts the positioning unit 31 when traveling. In addition, since the lops 26 is high in rigidity, it is possible to suppress the vibration of the antenna unit and reduce the measurement error, and since the positioning unit 31 is disposed above the upper end of the backrest of the driver seat 19, the driver seat 19 and driving It suppresses the inconvenience that the pilot sitting on the seat prevents the reception of the positioning information.

(I-2) As shown in FIG. 43, the vertical frame portion 26a is provided with an inclined portion 26as that is inclined upward toward the upper end above the folding portion 27 and in the vertical frame portion 26a, from the folding portion 27. A jig 48 is provided on the upper side.

  In this alternative embodiment (i-2), it is assumed that the jigs 48 are supported by the left and right vertical frame parts 26a in the same manner as the other embodiment (h-1) described above, Since the positioning unit 31 mounted on the mounting table 48s is separated from the upper end of the inclined portion 26as because it is configured to be inclined forward, it is possible to suppress the inconvenience that reception of the positioning information is interrupted by the ropes 26 as a result. ing.

  In any of the other embodiments (i-1) and (i-2), for example, the positioning unit 31 may be supported directly to the mount 48s. Also, the configuration for fixing the jig 48 to the lops 26 with the holding bolt 49 can also adopt an arbitrary configuration.

[Another embodiment j]
[J-1] As shown in FIG. 44, the inertial measurement unit 39 is fixed to the lower surface of the vehicle body frame 1 configured as a rigid member via the fixing bracket 57. In this configuration, the inertial measurement device 39 is disposed at a position overlapping the lower side of the vehicle body frame 1 in a plan view. In addition, the inertial measurement device 39 is housed in the mud case 58, and by being housed in the mud case 58 in this way, not only the inconvenience that the mud and water adheres is eliminated, but also contact with the projections on the ground. It also eliminates the inconvenience of damage.

  Also in this alternative embodiment (j-1), the inertial measurement unit 39 is disposed at a position adjacent to the rigid member formed by the vehicle body frame 1, and the inertial measurement unit 39 is at an intermediate position between the left and right rear wheel fenders 24 in front view. , And is disposed at a position overlapping the rear wheel 3 in a side view. In addition, since it is disposed in the lower region of the vehicle body frame 1, mounting becomes easy, and there is no need to change the design of the traveling vehicle body 4 in order to provide the inertial measurement device 39.

(J-2) As shown in FIG. 45 and FIG. 46, by providing the left and right vehicle body frames 1 in a region extending from the front position of the traveling vehicle body 4 to the transmission case 10 at the rear of the vehicle body Configure the members. In the tractor thus configured, the engine 6, the clutch housing 12 and the like are supported by the left and right body frames 1, and the transmission case 10 is connected to the rear ends of the left and right body frames 1.

  The left and right body frames 1 are assumed to be made of plate-like steel materials, and the inertial measurement device 39 is disposed in the middle region of the left and right body frames 1. In this configuration, the inertial measurement unit 39 is disposed at a position adjacent to the rigid member formed by the vehicle body frame 1, and the inertial measurement unit 39 is an intermediate position between the left and right rear wheel fenders 24 in a front view and the rear wheels 3 in a side view. It is arranged in the position which overlaps with.

(J-3) The transmission case 10 disposed in a region extending from the rear end of the clutch housing 12 to the rear end of the traveling vehicle body 4 can also catch the transmission case 10 as a rigid member. Then, the inertial measurement device 39 may be provided at a position adjacent to the transmission case 10. Further, in the case where the vehicle body frame 1 is configured by a pair of left and right members, either of the left and right vehicle body frames 1 may be provided with the inertia measurement device 39 at an intermediate position between the left and right vehicle body frames 1.

[Another embodiment k]
(K-1) As shown in FIGS. 47 to 49, at the front position of the vehicle body frame 1, a pair of left and right front frames 60 extending forward from the vehicle body frame 1 is provided. The engine 6 is supported by the front frame 60, and the bonnet 5 is disposed at a position covering the engine 6. A front axle case 61 is supported by the front frame 60, and front axles 62 are provided at both left and right end positions of the front axle case 61, and the front axle 2 is driven by the front axle 62.

  In this tractor, a rope 26 is provided at the rear of the driver's seat 19. The lops 26 includes a pair of left and right vertical frame portions 26 a and a horizontal frame portion 26 b extending along the horizontal direction by connecting the upper ends thereof. A positioning unit having the antenna unit 32 in the horizontal frame portion 26 b It has 31.

  In such a configuration, an inertial measurement device 39 that measures inertial information of the traveling vehicle body 4 is disposed at a position overlapping the bonnet 5 in a plan view. More specifically, it overlaps with the engine 6 in plan view, and overlaps with the front axle case 61 in plan view. In the inertial measurement device 39, the inertial measurement device 39 is disposed in an intermediate region of the left and right front frames 60.

  Further, the inertial measurement device 39 is disposed on the upper side of the axle center of the front wheel 2 and is disposed at a position overlapping the front wheel 2 in a side view.

  By arranging the inertial measurement unit 39 at a position close to the center of the front axle 62 as described above, the displacement amount of the inertial measurement unit 39 is small even when the traveling vehicle 4 pitches around the front axle 62 of the front wheel 2. Get a good measure. Further, since the inertial measurement unit 39 is disposed at the central retard angle in the left-right direction of the traveling vehicle body 4, even when the traveling vehicle body 4 rolls, the displacement amount of the inertial measurement unit 39 is reduced to obtain more accurate measurement values. .

(K-2) As shown in FIG. 48, this tractor includes a right braking mechanism 63R that applies a braking force to the right front wheel 2, and a left braking mechanism 63L that applies a braking force to the left front wheel 2, The vehicle has a speed increasing device that drives the peripheral velocity of the front wheel 2 outside the corner of the traveling vehicle body 4 at a speed approximately twice the peripheral velocity of the rear wheels 3 on the left and right sides.

  With this configuration, when the traveling vehicle body 4 is turned at a small radius, a braking force is applied to the front wheel 2 inside the turning of the right braking mechanism 63R and the left braking mechanism 63L, or the turning outside By driving the front wheel 2 with the speed increasing device by the speed increasing device, it is possible to turn at a small radius.

[Another embodiment L]
(L-1) As shown in FIGS. 50 to 52, by providing the folding portion 27 in the middle portion in the vertical direction of the left and right vertical frame portions 26a, the swinging in the horizontal direction above the folding portion 27 The ropes 26 are configured to be foldable about the fulcrum X. Further, on the upper side of the left and right vertical frame portions 26a above the folding portion 27, there is provided an inclined portion 26as which is inclined to the front side toward the upper end side.

  In this alternative embodiment (L-1), the sloped portion 26as above the folding portion 27 at a position higher than the top of the backrest portion of the driver's seat 19 in any one of the left and right vertical frame portions 26a of the lops 26. A mounting bracket 34 as a support member is attached to the outer surface of the mounting bracket 34. A positioning unit 31 is provided for the mounting bracket 34.

  With this configuration, satellite positioning information transmitted from a GPS satellite or the like can be favorably received without being blocked by the hood 5 or a part of the traveling vehicle body 4 or being affected by an obstacle. In addition, since the lops 26 has high rigidity, the positioning unit 31 does not vibrate significantly.

(L-2) In FIGS. 50 to 52, the configuration in which the positioning unit 31 is provided on one of the left and right vertical frame portions 26a has been described, but instead, mounting brackets for both the left and right vertical frame portions 26a A positioning unit 31 may be provided via 34, and two positioning units 31 may be configured to acquire positioning data.

  The present invention can be applied to a tractor provided with an antenna unit that receives satellite positioning information.

19 driver's seat 26 rops 26a vertical frame portion 26as inclined portion 26b horizontal frame portion 27 bent portion 30 controller 32 antenna unit 34 mounting bracket (support member)

Claims (5)

With the traveling car body,
A plurality of antenna units provided on the traveling vehicle body for receiving satellite positioning information;
Vehicle position specifying means for specifying the vehicle position based on the satellite positioning information;
A tractor, wherein the vehicle position specifying means specifies the vehicle position based on received information from a plurality of the antenna units.   The tractor according to claim 1, wherein the antenna unit is provided at a location forward of the driver's seat provided on the traveling vehicle and at a location rearward of the driver's seat.   The tractor according to claim 1 or 2, wherein the antenna units are provided on both sides in the left-right direction across a driver's seat provided on the traveling vehicle body.   The tractor according to any one of claims 1 to 3, wherein the vehicle position specifying means specifies the vehicle position based only on an antenna unit satisfying a predetermined reception condition among the plurality of antenna units.   The vehicle position specifying means specifies the vehicle position by excluding the received information whose deviation from the other received information is greater than a predetermined value among the received information from each antenna unit. The tractor described in 1.

Images