JP6854746B2 - Tractor - Google Patents

Description

The present invention relates to a tractor including an antenna unit that receives satellite positioning information.

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

Japanese Unexamined Patent Publication No. 2017-16562

In the above conventional configuration, since the antenna unit is provided at a low position of the vehicle body and in an area covered by a bonnet or the like, satellite positioning information transmitted from GPS satellites or the like is an obstacle such as a bonnet or a vehicle body case. Could be hindered by. Further, in the above-mentioned conventional configuration, since the antenna unit is provided at a position close to the engine, there is a possibility that the positioning data may have an error due to an adverse effect due to the vibration generated by the engine.

For this reason, a tractor capable of satisfactorily receiving satellite positioning information transmitted from GPS satellites or the like has been desired.

The characteristic configuration of the tractor according to the present invention includes a driver's seat in which the operator can sit, a lops for fall protection, and an antenna unit for receiving satellite positioning information, and the lops are left and right vertical frame portions. And a horizontal frame portion that connects the upper ends of the left and right vertical frame portions to each other, and in an area surrounded by the left and right vertical frame portions and the horizontal frame portion, the upper end of the seat backrest portion for driving is provided. The antenna unit is arranged on the upper side, and the lops has an inclined portion that inclines toward the front of the tractor toward the upper end side, and the horizontal frame portion is separated from the antenna unit to the front side in a plan view and is front and rear. It is located at a point separated from the antenna unit in the directional view.

According to the above-mentioned feature configuration, by arranging the antenna unit in the area surrounded by the rops, for example, the rops can prevent the inconvenience of the branches or the like even if the branches of the tree or the like are in a positional relationship in contact with the antenna unit during traveling. In addition, since Lops has high rigidity, vibration of the antenna unit can be suppressed to reduce measurement errors, and since the antenna unit is located above the upper end of the backrest of the driver's seat, it sits in the driver's seat or the driver's seat. Suppress the inconvenience that the operator interferes with the reception of positioning information.
Therefore, a tractor capable of satisfactorily receiving satellite positioning information transmitted from GPS satellites or the like is configured.

As another configuration, the antenna unit may be supported by the lops via a jig, and the jig may be provided in a posture extending toward the internal space of the lops in a front view.

According to this, since the antenna unit is supported on the lops via a jig, the antenna unit can be arranged at an optimum position in the area surrounded by the lops.

As another configuration, the jig comprises left and right support members and a mounting base on which the left and right support members support and mount the antenna unit, and the left and right support members are bolted to the rops. It may be fixed.

According to this, if the rops is configured to include, for example, the left and right vertical frame portions, each of the left and right support members is bolted to the corresponding one of the left and right vertical frame portions. , The jig can be firmly attached and the antenna unit can be supported against the mounting base.

As another configuration, the left and right support members of the jig may be fixed at a position higher than the folded portion of the rops.

According to this, even when the rops are folded at the folded portion, the antenna unit can be stored together with the jig. Further, when the rops are not folded, the antenna unit can be supported at a high position and the positioning information can be received with high sensitivity.

In another configuration, prior Symbol left and right support members are supported by the ROPS at a position higher than the inclined portion, and mounting member of the antenna unit is also located in the same or a higher position and the inclined portion good.

According to this, the jig extends diagonally upward from the rops, and even when the antenna is supported on the jig mounting base, the antenna unit is located at the same height as the inclined portion or at a position higher than the inclined portion. Since it is arranged, the positioning information can be received at a high position without being blocked by the rope.

As another configuration, the jig and the lops are formed in a hollow shape, and the wiring connected to the antenna unit passes through the internal space of the jig and takes the space of the lops to the controller of the tractor. It may be connected.

According to this, the wiring connected to the antenna unit can be connected to the controller from the internal section of the jig through the internal space of the rops, and the wiring can be protected by the jig and the rops.

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 which shows the wiring between a positioning unit and a horizontal frame part. It is sectional drawing of the mounting bracket and the horizontal frame. It is sectional drawing which shows the wiring inside Loops. It is a front view of the rops of another embodiment a. It is a side view of the rops of another embodiment a. It is a side view which shows the structure of the mounting bracket of another embodiment a. It is a side view which shows the structure of the mounting bracket of another embodiment a. It is a side view which shows the structure of the mounting 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 the control configuration 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 partial notch 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 partial notch side view of the canopy of another embodiment e. It is a rear 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 lopus 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 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 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. It is a top view of the tractor of another embodiment L. It is a front view of the tractor of another embodiment L.

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

As shown in FIG. 1, the tractor travels with the left and right front wheels 2 which are supported by the vehicle body frame 1 and can be driven by changing the orientation, and the left and right rear wheels 3 which can be driven by fixing the orientation. The vehicle body 4 is configured. The engine 6 is mounted inside the bonnet 5 at the front of the vehicle body, and the driving unit 7 is provided at the rear side of the vehicle body.

As shown in FIGS. 1 and 2, the traveling vehicle body 4 can be attached to and detached from a working device (not shown) such as a tilling device to the rear portion of the vehicle body, and can be raised and lowered with the working device connected. Elevating link mechanism 8 is provided. A transmission case 10 is provided below the driving unit 7 to transmit the power transmitted from the engine 6 from the rear axle 9 to the left and right rear wheels 3. The transmission case 10 is provided with a differential device 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 supplied to the left and right rear wheels 3 via the differential device 11. It is distributed and transmitted to. The mission 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 mission case 10 located at the rear of the vehicle body, and the like are integrally connected to the vehicle body with high rigidity. The frame 1 is formed.

A hydraulic elevating cylinder 14 for elevating and driving the work device via the elevating link mechanism 8 is provided on the upper part of the transmission case 10. The elevating cylinder 14 is housed in a cylinder case 15. Inside the cylinder case 15, a swing arm 16 that swings by expanding and contracting the lift cylinder 14 is provided, and a lift arm 17 that swings integrally with the swing arm 16 and a lift link mechanism 8 , Is pivotally connected via a lift rod 18.

The driver unit 7 includes a driver seat 19 in which the driver can be seated, a boarding step 20 located in front of the driver seat 19 to form a floor surface of the driver unit 7, and front wheel steering located in front of the driver seat 19. A steering panel unit 23 including the steering wheel 21 and other control levers 22 of the above is provided. Rear wheel fenders 24 that cover the upper parts of the left and right rear wheels 3 are provided on both the left and right sides of the driver's seat 19, and a plurality of operating tools 25 for work are also provided on the rear wheel fenders 24. The driver's seat 19 may be configured to swing forward in a form in which the rear portion is lifted around the fulcrum of the front portion of the seat. With this configuration, the driver's seat 19 can be swung to expose the mission case 10.

On the rear part of the driver unit 7, both left and right sides are connected and fixed to the rear end portion of the vehicle body frame 1, that is, the rear end portion of the mission case 10, and extend upward so as to surround the rear upper portion of the driver seat 19. A rops 26 for fall protection is provided. That is, the rops 26 has a pair of left and right vertical frame portions 26a extending along the vertical direction, and a horizontal frame portion 26b connecting the upper ends of the left and right vertical frame portions 26a and extending along the horizontal direction. It is formed in a roughly gate shape when viewed from the front of the car body. The rops 26 has a structure in which the internal spaces are connected by integrally forming the left and right vertical frame portions 26a and the horizontal frame portions 26b by bending a hollow square pipe material, and has a substantially gate shape when viewed from the front. .. That is, the lower end portion of the vertical frame portion 26a of the LOPS 26 may be fixed to a highly rigid member such as the transmission case 10, the vehicle body frame 1, and the axle case of the rear axle 9. Further, when the lower end portion of the vertical frame portion 26a of the LOPS 26 is fixed to the mission case 10, the vertical frame portion 26a may be fixed at a plurality of locations in the vehicle body left-right direction and the vehicle body front-rear direction. The rops 26 can be firmly fixed.

The rops 26 is configured to be foldable around a lateral swing fulcrum X at a folding portion 27 provided below the left and right vertical frame portions 26a. With this configuration, the movable parts of the LOPS 26 (the left and right vertical frame portions 26a above the swing fulcrum and the horizontal frame portion 26b) are centered on the swing fulcrum X when the vehicle body is transported. By swinging and folding to the rear side of the vehicle body, it is possible to reduce the amount of protrusion upward and avoid obstructing transportation. Further, in the folded state, the horizontal frame portion 26b is lowered so that the operator can easily maintain the positioning unit 31.

The traveling vehicle body 4 includes a controller 30 for traveling control, a steering motor (not shown) capable of steering the front wheels 2, and a well-known GPS (Global Positioning System) which is an example of GNSS (Global Positioning System). ) (Global Positioning System) is provided to provide a positioning unit 31 and the like for measuring the position and orientation of the traveling vehicle body 4.

The 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, and an antenna unit 32 for satellite navigation. It is equipped with a satellite navigation device 33 that measures the position and orientation of the traveling vehicle body 4 based on the positioning data of the positioning unit 31. As a positioning method using GPS, in the present embodiment, the position of the vehicle body is measured using the GPS positioning data and the error correction information transmitted from the 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 the radio waves from the GPS satellites by wireless communication. The satellite navigation device 33 obtains the position and orientation of the traveling vehicle body 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 an RTK (Real Time Kinematic) method may be used.

The positioning unit 31 including the antenna unit 32 is provided on the horizontal frame portion 26b at the top (highest position) of the rops 26 so that the reception sensitivity of the radio waves from the GPS satellites is high. The positioning unit 31 is attached to the lateral frame portion 26b in the vicinity of the central portion in the lateral direction via a mounting bracket 34 as a support member. 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 swing fulcrum X of the rops 26.

As described above, since the antenna unit 32 is provided at a position away from the traveling vehicle body 4 on the upper side, the position and orientation of the traveling vehicle body 4 measured by GPS can be determined by yawing, pitching, or pitching of the traveling vehicle body 4. , The positioning error due to the positional deviation of the antenna unit 32 due to rolling is included.

Therefore, the traveling vehicle body 4 is provided with a 3-axis gyroscope (not shown) and a 3-direction acceleration sensor (not shown) in order to enable correction for removing the positioning error as described above. An inertial measurement unit (IMU) 39 for measuring the yaw angle, pitch angle, roll angle, etc. of the traveling vehicle body 4 is provided. By providing the inertial measurement unit 39, the position and orientation information of the traveling vehicle body 4 measured by the positioning unit 31 is an antenna associated with yawing, pitching, or rolling of the traveling vehicle body 4 measured by the inertial measurement unit 39. It is corrected by the information of the position deviation of the unit 32.

As shown in FIG. 2, the inertial measurement unit 39 is arranged at a position overlapping with the mission case 10 in a plan view. To add an explanation, the inertial measurement unit 39 is located below the driver's seat 19 above the drive axle of the rear axle 9, and is above the cylinder case 15 provided above the mission case 10. Is located in. Further, the inertial measurement unit 39 is arranged at a position overlapping the rear wheel 3 in a side view. This portion has high rigidity and is unlikely to be bent and deformed, and is further separated from the engine 6, so that it is not easily affected by the vibration of the engine 6 and can be measured with little error. .. Further, in this tractor, since the mission 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 unit 39, and maintenance in good condition can be performed. It will be possible.

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

As shown in FIG. 1, the controller 30 is provided in a state of being housed inside the control panel unit 23. Then, the controller 30 is a steering motor so that the traveling vehicle body 4 travels along the traveling traveling route for work 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 such things.

[Arrangement of positioning units]
As shown in FIGS. 5 and 6, in the mounting bracket 34 as a support member for supporting the positioning unit 31, the position of the front mounting portion 34a is high and the position of the rear mounting portion 34b is low in the side view. It is a stepped molded product in which a vertical wall portion 34c is integrally formed between them. 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 ends of the mounting surface 34s.

A plurality of bolt insertion holes are formed in the mounting portion 34a of the mounting bracket 34, and similarly, bolt insertion holes are formed in the mounting portion 34b. A bolt insertion hole for inserting the fixing bolt 35 is formed in the horizontal frame portion 26b so as to correspond 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 arranged.

From this configuration, the mounting portion 34a of the mounting bracket 34 is brought into contact with the upper surface of the horizontal frame portion 26b, the vertical wall portion 34c of the mounting bracket 34 is brought into contact with the rear surface of the horizontal frame portion 26b, and a plurality of mounting portions 34a are brought into contact with each other. The mounting bracket 34 is fixed to the horizontal frame portion 26b by inserting the fixing bolt 35 to be inserted into the bolt insertion hole into the insertion hole of the horizontal frame portion 26b and further screwing it into the nut portion 35a of the fixing plate 36.

Further, the positioning unit 31 is arranged so as to mount the positioning unit 31 on the mounting portion 34b of the mounting bracket 34, and is supported in a state where the connecting bolt 37 is mounted so as to be inserted into the insertion hole of the mounting portion 34b from below to above. .. In the state of being supported in this way, the positioning unit 31 is arranged at a position sandwiched between the left and right reinforcing frames 34d while being mounted on the mounting surface 34s.

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

In this configuration, the positioning unit 31 is arranged at a position partially overlapping the horizontal frame portion 26b in the front view, and the upper end of the positioning unit 31 projects upward from the upper surface of the horizontal frame portion 26b. From this configuration, when working in an environment where the branches of a tree or the like can come into contact with the positioning unit 31, the mounting bracket 34 or the rops 26 eliminates the inconvenience that the branches or the like come into contact with the positioning unit 31.

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

Further, of the drawn wiring 40, the 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 into the internal space of the horizontal frame portion 26b from the first through hole H1 on the lower surface of the horizontal frame portion 26b, and the folded portion 27 is inserted below the one vertical frame portion 26a. The wiring is arranged so as to be pulled out from the second through hole H2 on the inner surface side (opposite surface side of the left and right vertical frame portions 26a) of the vertical frame portion 26a at the upper part (above the swing fulcrum X).

In this way, since the wiring 40 from the waterproof cover 41 is pulled out diagonally upward, even if rainwater adheres to the wiring 40, the adhered rainwater flows in a fixed direction from the highest position of the wiring 40, and the wiring is early. It is also possible to drop it out. The clamp 42 may be provided on the horizontal frame portion 26b.

The wiring 40 extends to the inertial measurement unit 39 located on the upper side of the mission case 10 and joins the wiring from the inertial measurement unit 39. Further, the merged wiring 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 in the control panel unit 23. ing.

As shown in FIGS. 1 and 2, in the side view, the positioning unit 31 is provided in the first region A1 between the rear end of the driver's seat 19 and the rear ends of the left and right elevating link mechanisms 8, and is provided on a flat surface. It is provided in the second region A2 which is visually between the left and right elevating link mechanisms 8.

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

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

In this other embodiment (a-1), it is conceivable that the inertial measurement unit 39 and the positioning unit 31 are arranged in a positional relationship in which they are in the vertical position. As a specific example, as shown by the alternate long and short dash line in FIG. 8, the inertial measurement unit 39 can be provided on the lower surface of the horizontal frame portion 26b. By providing it on the lower surface of the horizontal frame portion 26b in this way, it is conceivable to suppress the influence of the traveling vehicle body 4 on the inertial measurement unit 39 due to the shaking.

(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 arranged along the outer surface of the vertical frame portion 26a, and the wiring arranged in this way. A decorative cover 43 is provided on the vertical frame portion 26a so as to cover the vertical frame portion 26a.

8 and 9 show a configuration in which the decorative cover 43 is provided on the outer surface of the vertical frame portion 26a above the folded portion 27 and below the folded portion 27. Further, the wiring 40 may be held below the folded portion 27 in a form of being clamped to a portion of the folded 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 of arranging in the internal space of the vertical frame portion 26a, and it is possible to suppress a decrease in the strength of the rops 26. Further, not only substantially all of the wiring 40 arranged on the outer side of the vehicle body of the vertical frame portion 26a is covered with the decorative cover 43 to protect the wiring 40, but also the hanging of the wiring 40 and the disorder of the posture can be suppressed.

In this other embodiment (a-2), as shown by the alternate long and short dash line in FIGS. 8 and 9, the line allocation target may be any of the left and right vertical frame portions 26a, and the traveling vehicle body 4 of the vertical frame portions 26a It may be any of an outer surface that is on the outside with reference to the above, an inner surface that is on the inside with reference to the traveling vehicle body 4, and the front and rear surfaces of the vertical frame portion 26a. Correspondingly, it is also possible to provide a decorative cover 43.

(A-3) The mounting bracket 34 as the support member can also be configured as shown in any of FIGS. 10, 11 and 12. That is, in the configuration shown in FIG. 10, the mounting portion 34a of the mounting bracket 34 is composed of a front wall 34af, an upper wall 34at, and a rear wall 34ar so as to be embraced from above the horizontal 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 into the nut portion 35a of the rear wall 34ar so that the mounting bracket 34 is attached to the horizontal frame portion 26b. 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 arranged 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 into the nut portion 35a on the lower surface of the mounting portion 34a so that the mounting bracket 34 becomes the horizontal frame portion 26b. It is fixed.

Further, in the configuration shown in FIG. 12, as the mounting portion 34a of the mounting bracket 34, a fitting member 34F having a shape capable of contacting the rear surface and the upper surface of the horizontal frame portion 26b is provided, and the fitting member 34F is used as the horizontal frame portion. The upper surface and the rear surface of the 26b are brought into contact with each other, the mounting portion 34a is brought into contact with the lower surface of the horizontal frame portion 26b, and the upper wall portion of the fitting member 34F, the horizontal frame portion 26b, and the mounting portion 34a are fixed bolts 35. Penetrates in the vertical direction and is screwed into the nut portion 35a on the lower surface of the mounting portion 34a to fix the mounting bracket 34 to the horizontal frame portion 26b.

In the embodiment (a-4), since the mounting bracket 34 is arranged in a posture extending rearward from the horizontal frame portion 26b, the positioning unit 31 is arranged behind the horizontal frame portion 26b. Instead of this, the mounting bracket 34 may be arranged in a posture extending forward from the horizontal frame portion 26b, and the positioning unit 31 may be supported with respect to the mounting bracket 34. By arranging in this way, the positioning unit 31 is arranged on the front side of the horizontal frame portion 26b.

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

[Another Embodiment b]
(B-1) As shown in FIGS. 13 and 14, a folded portion 27 is provided at an intermediate portion of the vertical frame portion 26a in the vertical direction. As a result, the rops 26 is configured so that the upper side of the folding portion 27 can be folded around the lateral swing fulcrum X, and the upper end side of the vertical frame portion 26a is inclined forward toward the upper side of the folding portion 27. The inclined portion 26as to be formed is formed. Positioning units 31 are provided on each of the outer surfaces of the left and right inclined portions 26as. In this other embodiment b, three or more positioning units 31 may be provided.

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

The 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, and an antenna unit 32 for satellite navigation. A satellite navigation device 33 that measures the position and orientation of the traveling vehicle body 4 based on the positioning data of the positioning unit 31 is provided.

As shown in FIG. 15, the controller 30 includes the own vehicle position specifying means 30a for specifying the own vehicle position by inputting the positioning information from the two positioning units 31, and the own vehicle position specifying means 30a has inertia. The position of the own 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 position of the own vehicle and the information of the traveling route set in advance.

In this configuration, satellite positioning information transmitted from GPS satellites or the like can be satisfactorily received without being obstructed by a part of the bonnet 5 or the traveling vehicle body 4 or being affected by obstacles, and the controller 30 has two. Based on the positioning information from the positioning unit 31, processing for reducing the error and processing for acquiring the average value are performed to enable autonomous traveling with high accuracy.

(B-2) As shown in FIGS. 16 and 17, a fall protection rops 26 (referred to as a rear rops 26 in this other embodiment) is provided behind the driver's seat 19, and at the same time, in front of the driver's seat 19. The front lops 55 is provided, and positioning units 31 are provided at the left and right positions of the rear lops 26 and the front lops 55.

The front rops 55 has a pair of left and right front vertical frame portions 55a extending in the vertical direction by bending a hollow square pipe material, and a front lateral portion extending in the horizontal direction by connecting the upper ends thereof. It has a frame portion 55b and is formed in a substantially gate shape when viewed from the front of the vehicle body. In such a configuration, the positioning unit 31 is provided with respect to the left and right front vertical frame portions 55a 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 other embodiment (b-2) as well as in the other embodiment (b-1), the processing for reducing the error and the processing for acquiring the average value by acquiring the positioning information from the plurality of positioning units 31 are performed. Enables autonomous driving with accuracy.

(B-3) Even if the positioning information can be acquired from a plurality of positioning units 31, it is not necessary to use the plurality of positioning information at the same time. For example, the positioning of the positioning unit 31 satisfying a predetermined reception condition. You may perform the process of specifying the position of the own vehicle based on the information. Further, 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 the positioning unit 31 is used. The control mode may be set so as not to be present.

The other embodiment b may be configured to include three or more positioning units 31, or may be configured to specify the position of the own vehicle 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 surface portion 5t and side surface portions 5s on both left and right sides, and the upper surface portion 5t of the bonnet 5 is centered in the vehicle body front-rear direction. A positioning unit 31 having an antenna unit 32 in front of the portion 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 the side view, the antenna unit 32 is located above the region line EL connecting the upper end of the horizontal frame portion 26b of the rops 26 and the upper end of the steering wheel 21, and moreover, the steering wheel 21 It is located below the horizontal line HL in a horizontal posture passing through the upper end. When the positioning unit 31 is provided, a part or the whole of the positioning unit 31 may be arranged at a position protruding forward from the front end of the bonnet 5.

By arranging the positioning unit 31 having the antenna unit 32 in this way, satellite positioning information transmitted from GPS satellites or the like can be satisfactorily received without being affected by obstacles such as vehicle body components such as the rops 26. .. Further, since the positioning unit 31 is arranged below the horizontal line HL, it does not obstruct the view of the operator seated in the driver's seat 19.

(C-2) As shown in FIG. 20, a positioning unit 31 having an antenna unit 32 at a central position in the left-right direction via a mounting bracket 34 is provided inside the bonnet 5, and the positioning unit 31 of the bonnet 5 is provided. A resin wall body 5p is provided on a part of the portion facing the upper side of the above.

Since the positioning unit 31 is provided in this way, the positioning unit 31 is not inconvenienced to be damaged by wind and rain, and is transmitted from GPS satellites or the like without being damaged by the vehicle body components such as the rops 26. Can receive satellite positioning information well. Further, since the resin wall body 5p is provided above the positioning unit 31, satellite positioning information transmitted from GPS satellites or the like can be received without being disturbed.

[Another Embodiment d]
(D-1) As shown in FIGS. 21 and 22, the front guard 47 (an example of the 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. By arranging the front guard 47 in front of the front end of the bonnet 5, the front guard 47 prevents the inconvenience that the bonnet 5 comes into contact with the outer wall of the building, trees, or the like during traveling and is damaged.

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 the center of the horizontal member 47b in the left-right direction, and a positioning unit 31 is provided so as to be mounted on the upper surface of the mounting bracket 34. As a result, the upper end portion of the positioning unit 31 is provided at the center position of the front guard 47 in the left-right direction above the upper end portion of the vertical member 47a.

In this other embodiment (d-1), as shown in FIG. 21, the positioning unit 31 is arranged so as to be located below the horizontal line HL in the horizontal posture passing through the upper end of the steering wheel 21 in the side view. ..

In this way, the positioning unit 31 is arranged in the open space in front of the bonnet 5, and satellite positioning information transmitted from GPS satellites or the like can be satisfactorily received without being affected by obstacles. Further, since the positioning unit 31 is arranged below the horizontal line HL, it does not obstruct the view of the operator seated in the driver's seat 19.

(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-rear direction around the switching shaft core Y in the lateral posture, and the front guard 47 is supported. On the other hand, a positioning unit 31 having an antenna unit 32 is provided with the same configuration as that of another embodiment (d-1).

In this other embodiment (d-2), the vertical member 47a of the front guard 47 is a lower base member 47as and a vertical swing member 47at that is supported so as to be swingable in the front-rear direction about the switching shaft core Y. It is configured. Further, a horizontal member 47b is connected to the upper ends of the left and right vertical swing members 47at, and a positioning unit 31 is provided at the center of the horizontal member 47b in the left-right direction via a mounting bracket 34.

With this configuration, the vertical swing member 47at is swung forward about the switching shaft core Y, so that the positioning unit 31 is further displaced forward from the front end of the bonnet 5 and transmitted from a GPS satellite or the like. It is possible to receive the satellite positioning information to be performed satisfactorily. Further, in the other embodiment (d-2), the posture of the positioning unit 31 can be maintained horizontally when the longitudinal rocking member 47at is swung forward as shown by the alternate long and short dash line in FIG. 23. It may be configured.

[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 part of the driving unit 7. That is, the canopy 44 has a resin roof member 44a that extends cantilevered toward the front part of the vehicle body with respect to the support column members 45 erected on the left and right at the rear position of the driver's seat 19. On the upper surface of the roof member 44a of the canopy 44, the antenna unit 32 is provided in the region between the center and the front end in the front-rear direction via the mounting bracket 34.

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

In the other embodiment (e-1), the antenna unit 32 is provided at the center position of the canopy 44 in the front-rear direction as shown by the alternate long and short dash line in the figure, and the antenna is located between the center position and the front end position. By providing the unit 32, satellite positioning information transmitted from a GPS satellite or the like can be satisfactorily received at a high position.

In this other embodiment (e-1), the canopy 44 may be provided at the upper end of the rops 26 without using the support support member 45. FIG. 24 shows a configuration in which the beam member 46 is connected to the front end of the roof member 44a, but it is not always necessary to connect the beam member 46 to the front end, so that the beam member 46 is connected to the intermediate position in the front-rear direction of the canopy 44. It may be configured as.

(E-2) As shown in FIG. 25, an antenna unit 32 is provided between the center (position indicated by the alternate long and short dash 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 arranged on the extension line in the longitudinal direction of the support column member 45, the support column member 45 receives the vibration in the vertical direction, and the traveling vehicle body 4 moves up and down. Even if the vibration occurs, the support column member 45 receives the vibration, so that the reception above the satellite positioning can be performed in a state where the vibration is suppressed.

(E-3) As shown in FIGS. 26 and 27, a mounting recess 44b is formed on the upper surface of the roof member 44a of the canopy 44, and the antenna unit 32 is provided in a form in which the antenna unit 32 is fitted into 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 strut members 45 are formed in the shape of a hollow square pipe, and by bending the upper ends thereof, a square pipe-shaped connecting strut portion 45a for connecting the upper ends of the left and right strut members 45 is provided. There is. Further, an insertion hole 44H is provided at the upper end of the bottom portion of the mounting recess 44b and the bottom wall of the roof member 44a, and the introduction hole 45H into which the wiring 40 to be inserted into the insertion hole 44H is introduced is provided on the upper surface of the connecting column portion 45a. It is formed in.

From this configuration, the wiring 40 from the antenna unit 32 is inserted into the insertion hole 44H, inserted into the support column member 45 from the introduction hole 45H on the upper surface of the connecting support column portion 45a, and pulled out from the lower part of the support column member 45 to the outside. , Positioning information can be transmitted to the controller 30 via the inertial measurement unit 39.

In this other embodiment (e-3), since the antenna unit 32 is fitted into the mounting recess 44b, the antenna unit 32 can be stably supported. However, since it is conceivable that rainwater may be accumulated in the mounting recess 44b, by forming a drainage groove 44g communicating with the mounting recess 44b, the rainwater is discharged satisfactorily and the inconvenience that rainwater remains in the mounting recess 44b is eliminated. ing.

In this other embodiment (e-3), the wiring 40 from the antenna unit 32 may be arranged along the drainage groove 44g. By arranging the wiring 40 in this way, the arrangement of the wiring 40 is reasonable. Further, although the mounting bracket 34 is not shown in the figure, the antenna unit 32 may be supported via the mounting bracket 34.

[Another Embodiment f]
FIG. 28 shows a traveling path M of the traveling vehicle body 4 when a positioning unit 31 having an antenna unit 32 and a satellite navigation device 33 is provided in the traveling vehicle body 4 and plowing work is performed based on the positioning of the positioning unit 31. ing. When the traveling vehicle body 4 travels straight based on the positioning of the positioning unit 31 and the traveling vehicle body 4 reaches the headland and turns, a predetermined distance is provided between the traveling path M before turning and the traveling path M after turning. Interval G is created.

Ideally, this interval G is the same value regardless of whether the interval G is turned right at the ridge shown on the upper side of the drawing or turned left on the lower side of the drawing as shown in the drawing, and the positioning unit 31 When the plowing work is performed based on the positioning by, this interval G is set to a fixed value. However, when the positioning unit 31 is deviated from the center of the traveling vehicle body 4 in the left-right direction in any direction in the left-right direction, the intervals G do not become equal values, and the positioning unit 31 is moved to the traveling vehicle body 4. It is desirable to provide the center position in the left-right direction with high accuracy. In order to deal with such a problem, the configuration described below is adopted in the other embodiment f.

(F-1) As shown in FIGS. 29 and 30, it is composed of a pair of left and right vertical frame portions 26a extending in 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 position on the upper surface of the horizontal frame portion 26b at the center position in the left-right direction, and the antenna unit 32 is provided via 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 adjusting mechanism C includes a plurality of elongated holes 50 (four in the other embodiment (f-1)) formed in the mounting bracket 34 and extending in the left-right direction, and these elongated holes 50. A plurality of fastening bolts 51 (four in another embodiment (f-1)) protruding downward from the bottom surface of the positioning unit 31 and fastening nuts screwed into the fastening bolts 51 so as to be able to be inserted into the fastening bolts 51. It is configured to include 52.

From such a configuration, the fastening bolts 51 are inserted into the plurality of elongated holes 50, and the fastening nuts 52 are fastened to fix the position of the positioning unit 31 at an arbitrary position in the lateral direction of the traveling vehicle body 4 in the lateral direction. The position of the positioning unit 31 can be easily adjusted in.

As a modification of another embodiment (f-1), a flange (not shown) that abuts on the mounting surface 34s of the mounting bracket 34 is formed so as to project in the left-right direction with respect to 31 having the antenna unit 32. An elongated hole 50 extending laterally with respect to the flange is formed, and the mounting bracket 34 is provided with a fastening bolt 51 that can be inserted into the elongated hole 50 in an upward posture, and is provided with a fastening nut 52 that is screwed into the fastening bolt 51. Is also good. In this modification, the position adjusting mechanism C is composed of 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 adjusting mechanisms C are aligned by shifting in the left-right direction on the mounting bracket 34 (this alternative embodiment (f-1)). The bottom surface of the positioning unit 31 having the antenna unit 32 has a plurality of insertion holes 53 (4 sets) so that the insertion holes 53 can be inserted into the 4 sets of insertion holes 53. In 1), it is composed of four) fastening bolts 51 and fastening nuts 52 screwed into the fastening bolts 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 position the positioning unit 31 at an arbitrary position in the lateral direction of the traveling vehicle body 4. By fixing the above, the position of the positioning unit 31 can be easily adjusted in the lateral direction.

As a modification of another embodiment (f-2), a flange (not shown) that abuts on the mounting surface 34s of the mounting bracket 34 is formed on the positioning unit 31, and is aligned with the flange by shifting it in the left-right direction. A plurality of insertion holes 53 (4 sets in this separate embodiment (f-1)) are formed, and the mounting bracket 34 is provided with fastening bolts 51 that can be inserted into the insertion holes in an upward posture, and the fastening bolts 51 are provided. A fastening nut 52 to be screwed may be provided. In this modification, the position adjusting mechanism C is composed of a plurality of insertion holes 53, a fastening bolt 51, and a fastening nut 52.

[Another Embodiment g]
In this other embodiment g, the configuration in which the fall protection rops are provided in front of the driver's seat 19 is targeted, but the configuration in which the fall protection rops are provided in the rear of the driver's seat 19 is excluded. is not it. Therefore, the lops in front of the driver's seat 19 are referred to as front lops 55, and the lops behind the driver's seat 19 are referred to as rear lops 26.

(G-1) As shown in FIGS. 33 and 34, a front lops 55 for fall protection is provided in front of the driver's seat 19, and a positioning unit 31 is provided in the front 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 rops 55 has a pair of left and right front vertical frame portions 55a extending in the vertical direction by bending a hollow square pipe material, and a front lateral portion extending in the horizontal direction by connecting the upper ends thereof. It has a frame portion 55b and is formed in a substantially gate shape when viewed from the front of the vehicle body. In such a configuration, the positioning unit 31 is provided with respect to the upper surface of the front horizontal frame portion 55b via the mounting bracket 34. As a result, the positioning unit 31 having the antenna unit 32 is arranged at a position higher than the upper end of the backrest portion of the driver's seat 19.

In this other embodiment (g-1), the front rops 55 is configured to be foldable about the lateral swing fulcrum X at the folding portions 27 provided below the left and right front vertical frame portions 55a. ing. With this configuration, the upper frame portion of the front rops 55 (the portion of the left and right front vertical frame portions 55a above the swing fulcrum X and the front horizontal frame portion 55b) can be formed during transportation of the vehicle body. By swinging and folding the swing fulcrum X toward the front side of the vehicle body, the amount of protrusion upward can be reduced. At the time of this folding, the vertical frame portion 26a above the swing fulcrum X swings by 180 ° and can be set to the unused position. In this unused position, the horizontal frame portion 26b and the antenna unit 32 are located below the swing fulcrum X, which facilitates maintenance of the antenna unit 32 and the like.

In this folding configuration, the lower side of the swing fulcrum X is referred to as a lower frame portion, and this lower frame portion is fixed to the traveling vehicle body 4. Further, in the front rops 55, an upright posture in which the upper frame portion stands up as shown by a solid line in FIG. 33 and a retracted posture in which the upper frame portion falls down in front of the vehicle body as shown by a two-dot chain line in FIG. 33 by artificial operation. It can be switched to and. In particular, a gas spring 56 as an assist mechanism is provided in order to reduce the burden on the operator when operating from the retracted posture to the standing posture.

Further, 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 from the front horizontal frame portion 55b along the front vertical frame portion 55a. 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 folded portion 27 at the lower part of the front vertical frame portion 55a. At the upper part (above the swing fulcrum X), the wiring is arranged so as to be pulled out from the second through hole H2 on the inner surface side (opposite surface side of the left and right front vertical frame portions 55a) of the front vertical frame portion 55a. ing. The wiring 40 drawn out in this way is connected to the controller 30.

In the configuration of this other embodiment (g-1), even if the upper frame portion is provided with the positioning unit 31 in the upper frame portion and the weight of the upper frame portion is increased, the upper frame portion can be easily set to the upright posture by the urging force of the gas spring 56. it can. Further, by inserting the wiring 40 from the inside of the horizontal frame portion 26b to the inside of the front vertical frame portion 55a, the wiring 40 is not damaged and the hanging of the wiring 40 can be suppressed.

In this other embodiment (g-1), the traveling vehicle body 4 is configured to include a front rops 55 for fall protection in front of the driver's seat 19 and a rops 26 for fall protection behind the driver's seat 19. You may. Further, as the assist mechanism, a torsion spring or a coil spring may be provided instead of the gas spring 56. The rops 26 may be configured to reach a retracted position by lying backwards.

(G-2) As shown in FIGS. 36 and 37, in the traveling vehicle body 4 having the rear lops 26 at the rear position of the driver's seat 19, the front lops 55 is provided at the front position of the driver's seat 19 and in front of the traveling vehicle body 4. The positioning unit 31 is provided in the unit rops 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 rops 55 has a pair of left and right front vertical frame portions 55a extending in the vertical direction and a front horizontal frame portion 55b connecting the upper ends thereof and extending in the horizontal direction. It is visually formed in a roughly gate shape. In such a configuration, the positioning unit 31 is provided with respect to the upper surface of the front horizontal frame portion 55b via the mounting bracket 34. As a result, the positioning unit 31 having the antenna unit 32 is arranged at a position higher than the upper end of the backrest portion of the driver's seat 19.

In this other embodiment (g-2), the front rops 55 is formed into a substantially phylum shape as a whole by bending a hollow square pipe material, and the base end side is in an oblique posture toward the front toward the upper side. .. Therefore, the positioning unit 31 is separated from the rear lops 26 to improve the reception performance.-The front lops 55 is vertically upward from the traveling vehicle body 4 as shown by the alternate long and short dash line in FIG. It may be configured to extend.

Further, as a configuration in which the positioning unit 31 having the antenna unit 32 is supported on the front rops 55, for example, a configuration in which the positioning unit 31 is directly fixed to the upper surface of the horizontal frame portion 26b with a bolt or the like may be adopted. good.

[Another Embodiment h]
(H-1) As shown in FIGS. 38 and 39, a fall protection rops 26 extending upward so as to surround the rear upper side of the driver's seat 19 is provided, and a jig 48 provided on the rops 26 is attached. The positioning unit 31 is supported on the base 48s via the mounting bracket 34. The rops 26 has left and right vertical frame portions 26a extending in the vertical direction by bending a hollow square pipe material, and horizontal frame portions 26b connecting the upper ends thereof and extending in the horizontal direction. 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 material, connecting members 48b made of hollow square pipe material connecting the upper ends thereof, and left and right support members 48a. A fixing bracket 48c formed at the lower end of the horn is provided, and a mounting base 48s is provided on the upper surface of the connecting member 48b.

The left and right fixing brackets 48c have a shape capable of contacting the rear surface and the left and right side surfaces of the vertical frame portion 26a of the LOPS 26, and the left and right fixing brackets 48c have mounting holes (not shown) penetrating in the lateral direction. It is formed. Correspondingly, fixing holes (not shown) penetrating in the horizontal direction are formed in the left and right vertical frame portions 26a of the rops 26.

From such a configuration, in the other embodiment (h-1), the fixing bracket 48c is arranged at the position where the left and right vertical frame portions 26a of the rops 26 are embraced, and the holding bolt is provided over the mounting hole and the fixing hole. The jig 48 is fixed to the rops 26 by inserting the 49 and screwing it into the holding nut or the like.

Further, the wiring 40 connected to the positioning unit 31 inserts the internal space of the connecting member 48b, the internal space of the support member 48a, and the internal space of the vertical frame portion 26a of the rops 26, and the wiring 40 to the controller 30. Positioning information is transmitted to.

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

Further, since the lops 26 has high rigidity, vibration of the positioning unit 31 can be suppressed to reduce the measurement error, and further, since the positioning unit 31 is arranged at a position away from the lops 26, the positioning is not blocked by the lops 26. You can receive information.

In this other embodiment (h-1), the jig 48 may be arranged so as to extend forward and upward from the rops 26 as shown by the alternate long and short dash line in FIG. 38.

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

In this alternative embodiment (h-2), it is assumed that the support member 48a has the same configuration as that of the other embodiment (h-1) described above, and the support member 48a is set to an inclined posture in which the support member 48a is displaced rearward toward the upper end. As a result, the positioning unit 31 mounted on the mounting base 48s is separated from the upper end of the inclined portion 26as, and as a result, the inconvenience that the reception of the positioning information is hindered by the rops 26 can be suppressed.

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 mounting base 48s. It is possible to configure in. Further, the jig 48 can be fixed to the rops 26 with the holding bolt 49, or any configuration can be adopted.

[Another Embodiment i]
(I-1) As shown in FIGS. 41 and 42, a fall protection rops 26 extending diagonally upward so as to surround the rear upper part of the driver's seat 19 is provided, and a jig 48 provided in the rops 26 is provided. The positioning unit 31 is supported on the mounting base 48s via the mounting bracket 34. The rops 26 has left and right vertical frame portions 26a extending along the vertical direction by bending a hollow square pipe material, and horizontal frame portions 26b connecting the upper ends thereof and extending along the horizontal direction. 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 of obliquely upward toward the outer end side, a mounting base 48s at the center position, and fixing brackets 48c formed at both ends of the left and right support members 48a. In this jig 48, the support member 48a is held in a horizontal posture by connecting and fixing the outer ends of the left and right support members 48a to the rops 26 by the holding bolt 49 inserted into the fixing bracket 48c, and the mounting bracket is attached to the support member 48a. The positioning unit 31 is supported via 34. In this configuration, the position where the fixed bracket 48c is connected to the vertical frame portion 26a is set to a position higher than that of the folded portion 27.

In the configuration of this other embodiment (i-1), the curing portion 28 includes a support member 48a formed so as to extend toward the internal space of the rops 26. Therefore, the positioning unit 31 is arranged in a space surrounded by the left and right vertical frame portions 26a and the upper horizontal frame portion 26b in the front view, and partially overlaps with the vertical frame portion 26a in the side view. In particular, in this arrangement, the positioning unit 31 is arranged 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 mounting base 48s are formed hollow, and the wiring 40 connected to the positioning unit 31 includes the internal space of the mounting base 48s and the internal space of the support member 48a. Positioning information is transmitted to the controller 30 in a state of inserting the internal space of the vertical frame portion 26a of the rops 26.

From such a configuration, for example, it is possible to prevent the inconvenience that a tree branch or the like comes into contact with the positioning unit 31 during traveling. Further, since the LOPS 26 has high rigidity, vibration of the antenna unit can be suppressed to reduce the measurement error, and since the positioning unit 31 is arranged above the upper end of the backrest portion of the driver's seat 19, the driver's seat 19 and driving It suppresses the inconvenience that the operator sitting in the seat interferes with the reception of positioning information.

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

In this alternative embodiment (i-2), it is assumed that the jig 48 is supported on the left and right vertical frame portions 26a as in the other embodiment (h-1) described above, and the inclined portion 26as is closer to the upper end. Since the configuration is inclined to the front side, the positioning unit 31 mounted on the mounting base 48s is separated from the upper end of the inclined portion 26as, and as a result, the inconvenience that the reception of positioning information is hindered by the rops 26 can be suppressed. ing.

In any of the other embodiments (i-1) and (i-2), for example, the positioning unit 31 may be configured to directly support the mounting base 48s. Further, any configuration can be adopted as the configuration in which the jig 48 is fixed to the rops 26 with the holding bolt 49.

[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 body member via the fixing bracket 57. In this configuration, the inertial measurement unit 39 is arranged at a position overlapping the lower side of the vehicle body frame 1 in a plan view. Further, the inertial measurement unit 39 is housed in the mud removal case 58, and by storing it in the mud removal case 58 in this way, not only the inconvenience of mud and water adhering to the mud removal case 58 is eliminated, but also the contact with the protrusions on the ground. The inconvenience of damage is also eliminated.

Also in this other embodiment (j-1), the inertial measurement unit 39 is arranged at a position adjacent to the rigid body member made of the vehicle body frame 1, and the inertial measurement unit 39 is located at an intermediate position between the left and right rear wheel fenders 24 in the front view. , It is arranged at a position overlapping the rear wheel 3 in the side view. Further, since it is arranged in the lower region of the vehicle body frame 1, it can be easily mounted, and it is not necessary to change the design of the traveling vehicle body 4 in order to include the inertial measurement unit 39.

(J-2) As shown in FIGS. 45 and 46, by providing the left and right body frames 1 in the region extending from the front position of the traveling vehicle body 4 to the mission case 10 at the rear of the vehicle body, the left and right body frames 1 are rigid bodies. It constitutes a member. In the tractor configured in this way, the engine 6, the clutch housing 12, and the like are supported by the left and right body frames 1, and the mission 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 a plate-shaped steel material, and the inertial measurement unit 39 is arranged in an intermediate region between the left and right body frames 1. In this configuration, the inertial measurement unit 39 is arranged at a position adjacent to the rigid body member formed of the vehicle body frame 1, and the inertial measurement unit 39 is located at an intermediate position between the left and right rear wheel fenders 24 in the front view and the rear wheel 3 in the side view. It is placed at a position that overlaps with.

(J-3) The mission case 10 arranged in the region extending from the rear end of the clutch housing 12 to the rear end of the traveling vehicle body 4 can also regard the mission case 10 as a rigid body member, and is a tractor having such a configuration. Then, the inertial measurement unit 39 may be provided at a position adjacent to the mission case 10. Further, when the vehicle body frame 1 is composed of a pair of left and right members, the inertial measurement device 39 may be provided on either the left or right vehicle body frame 1 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, a pair of left and right front frames 60 extending forward from the vehicle body frame 1 are provided at the front position of the vehicle body frame 1. The engine 6 is supported by the front frame 60, and the bonnet 5 is arranged at a position covering the engine 6. Further, a front axle case 61 is supported by the front frame 60, front axles 62 are provided at both left and right ends of the front axle case 61, and the front wheels 2 are driven by the front axle 62.

This tractor is provided with a rops 26 at a rear position of the driver's seat 19. The rops 26 has a pair of left and right vertical frame portions 26a and a horizontal frame portion 26b that connects the upper ends thereof and extends along the horizontal direction, and a positioning unit having an antenna unit 32 in the horizontal frame portion 26b. 31 is provided.

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

Further, the inertial measurement unit 39 is arranged above the center of the axle of the front wheel 2 and is arranged 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 in this way, even when the traveling vehicle body 4 pitches around the front axle 62 of the front wheel 2, the displacement amount of the inertial measurement unit 39 is small, so that it is accurate. Obtain a good measurement value. Further, since the inertial measurement unit 39 is arranged 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 a more accurate measurement value. ..

(K-2) As shown in FIG. 48, this tractor includes a right braking mechanism 63R for applying a braking force to the right front wheel 2 and a left braking mechanism 63L for applying a braking force to the left front wheel 2. It is provided with a speed-increasing device that drives the peripheral speed of the front wheels 2 on the outer side of the turning when the traveling vehicle body 4 turns at a speed substantially twice the peripheral speed of the left and right rear wheels 3.

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

[Another Embodiment L]
(L-1) As shown in FIGS. 50 to 52, by providing the folding portion 27 in the intermediate portion in the vertical direction of the left and right vertical frame portions 26a, the upper side of the folding portion 27 swings sideways. The rops 26 is configured so that it can be folded around the fulcrum X. Further, of the left and right vertical frame portions 26a, an inclined portion 26as that is inclined forward toward the upper end side is provided above the folded portion 27.

In this other embodiment (L-1), one of the left and right vertical frame portions 26a of the rops 26 is located higher than the top of the backrest portion of the driver's seat 19, and the inclined portion 26as above the folded portion 27. A mounting bracket 34 as a support member is attached to the outer surface of the mounting bracket 34, and a positioning unit 31 is provided for the mounting bracket 34.

From this configuration, satellite positioning information transmitted from GPS satellites or the like can be satisfactorily received without being obstructed by a part of the bonnet 5 or the traveling vehicle body 4 or being affected by obstacles. Further, since the LOPS 26 has high rigidity, the positioning unit 31 does not vibrate significantly.

(L-2) FIGS. 50 to 52 have described a configuration in which the positioning unit 31 is provided on one of the left and right vertical frame portions 26a, but instead of this, mounting brackets are attached to both the left and right vertical frame portions 26a. The positioning unit 31 may be provided via the 34, and the two positioning units 31 may be configured to acquire the 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 Lops 26a Vertical frame part 26as Inclined part 26b Horizontal frame part 32 Antenna unit 48 Jig 48a Support member 48s Mounting base 49 Holding bolt 27 Folding part 40 Wiring 30 Controller

Claims (6)

A driver's seat where the driver can sit and
Lops for fall protection and
It is equipped with an antenna unit that receives satellite positioning information.
The rops includes a left and right vertical frame portion and a horizontal frame portion that connects the upper ends of the left and right vertical frame portions.
In the area surrounded by the left and right vertical frame portions and the horizontal frame portion, the antenna unit is arranged above the upper end of the backrest portion of the driver's seat .
The rops has an inclined portion that inclines toward the upper end side toward the front of the tractor.
The horizontal frame portion is a tractor that is separated from the antenna unit on the front side in a plan view and is separated from the antenna unit on the upper side in a front-rear direction. The tractor according to claim 1, wherein the antenna unit is supported by the lops via a jig, and the jig is provided in a posture of extending toward the internal space of the lops in a front view. The jig comprises left and right support members and a mounting base on which the left and right support members support and mount the antenna unit.
The tractor according to claim 2, wherein the left and right support members are bolted to the rops. The tractor according to claim 3, wherein the support members on the left and right of the jig are fixed at a position higher than the folded portion of the rops. Before SL left and right support members are supported by the ROPS at a position higher than the inclined portion, and mounting member of the antenna unit according to claim 3 which is located on the same or a higher position and the inclined portion Tractor. The jig and the rops are formed in a hollow shape, and the jig and the rops are formed in a hollow shape.
The tractor according to any one of claims 2 to 5, wherein the wiring connected to the antenna unit is connected to the controller of the tractor through the internal space of the jig and through the space of the tractor.

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