WO2018147151A1 - 作業車両用アンテナユニット、及び、作業車両 - Google Patents

作業車両用アンテナユニット、及び、作業車両 Download PDF

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Publication number
WO2018147151A1
WO2018147151A1 PCT/JP2018/003338 JP2018003338W WO2018147151A1 WO 2018147151 A1 WO2018147151 A1 WO 2018147151A1 JP 2018003338 W JP2018003338 W JP 2018003338W WO 2018147151 A1 WO2018147151 A1 WO 2018147151A1
Authority
WO
WIPO (PCT)
Prior art keywords
antenna
unit
work vehicle
wireless communication
measurement device
Prior art date
Application number
PCT/JP2018/003338
Other languages
English (en)
French (fr)
Japanese (ja)
Inventor
洋輔 花田
文雄 石橋
Original Assignee
ヤンマー株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from JP2017021051A external-priority patent/JP6640767B2/ja
Application filed by ヤンマー株式会社 filed Critical ヤンマー株式会社
Priority to KR1020207012487A priority Critical patent/KR102420670B1/ko
Priority to KR1020187034967A priority patent/KR102108672B1/ko
Priority to KR1020227023648A priority patent/KR20220101772A/ko
Priority to CN201880003847.1A priority patent/CN110235304B/zh
Publication of WO2018147151A1 publication Critical patent/WO2018147151A1/ja

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Classifications

    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01Q—ANTENNAS, i.e. RADIO AERIALS
    • H01Q1/00—Details of, or arrangements associated with, antennas
    • H01Q1/27—Adaptation for use in or on movable bodies
    • H01Q1/32—Adaptation for use in or on road or rail vehicles
    • H01Q1/325—Adaptation for use in or on road or rail vehicles characterised by the location of the antenna on the vehicle
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
    • G01S19/49—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system whereby the further system is an inertial position system, e.g. loosely-coupled
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
    • B60R11/02—Arrangements for holding or mounting articles, not otherwise provided for for radio sets, television sets, telephones, or the like; Arrangement of controls thereof
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/14—Receivers specially adapted for specific applications
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/35—Constructional details or hardware or software details of the signal processing chain
    • G01S19/36—Constructional details or hardware or software details of the signal processing chain relating to the receiver frond end
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/40—Correcting position, velocity or attitude
    • G01S19/41—Differential correction, e.g. DGPS [differential GPS]
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/43—Determining position using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01Q—ANTENNAS, i.e. RADIO AERIALS
    • H01Q1/00—Details of, or arrangements associated with, antennas
    • H01Q1/12—Supports; Mounting means
    • H01Q1/22—Supports; Mounting means by structural association with other equipment or articles
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01Q—ANTENNAS, i.e. RADIO AERIALS
    • H01Q1/00—Details of, or arrangements associated with, antennas
    • H01Q1/52—Means for reducing coupling between antennas; Means for reducing coupling between an antenna and another structure
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01Q—ANTENNAS, i.e. RADIO AERIALS
    • H01Q21/00—Antenna arrays or systems
    • H01Q21/28—Combinations of substantially independent non-interacting antenna units or systems

Definitions

  • the present invention provides an autonomous travel system that autonomously travels a work vehicle (including automatic travel) along a target travel route while acquiring position information of the work vehicle such as a tractor using a satellite positioning system (GNSS).
  • GNSS satellite positioning system
  • the present invention relates to a work vehicle antenna unit to be used.
  • the present invention also relates to a work vehicle equipped with a cabin, and more particularly, a work vehicle equipped with an antenna unit for the work vehicle. It is related with the work vehicle suitable for making it drive autonomously along.
  • a GPS antenna for acquiring satellite positioning information from a positioning satellite is provided on the upper side surface portion of the cabin roof.
  • the upper surface of the cabin roof is located at a portion where the front-rear direction line of the substantially center position of the vehicle body tread width intersects with the lateral line of the substantially center position of the wheel base.
  • a mounting stay having a substantially horizontal mounting seat at a higher position is formed, and a GPS antenna is attached to the mounting seat of the mounting stay.
  • a GPS antenna having a gyro sensor is used as the GPS antenna, the inclination angle of the cabin roof can also be detected.
  • the above-described prior art discloses a technique for improving the detection accuracy of the GPS antenna or the detection accuracy of the GPS antenna and the gyro sensor by devising the mounting position of the GPS antenna on the upper side surface portion of the cabin roof.
  • various external devices are provided separately from the work vehicle, such as a wireless communication terminal that gives various instructions to the work vehicle and a base station for acquiring position information of the work vehicle. It has been. Therefore, when actually performing autonomous traveling of the work vehicle and the like, it is necessary to efficiently mount not only the GPS antenna but also various antenna devices for communication between the work vehicle and the external device on the work vehicle. In this respect, there is room for improvement in the above-described conventional technology.
  • the upper side surface portion of the cabin roof provided at the upper part of the cabin frame has many curves and is less rigid than the cabin frame. It is necessary to reinforce in an unaffected state, and there is room for improvement in this aspect as well.
  • a main object of the present invention is to provide an antenna unit for a work vehicle that can efficiently mount various antenna devices effective for autonomous traveling of the work vehicle on the work vehicle.
  • Another object of the present invention is to provide a work vehicle that can efficiently mount various antenna devices effective for autonomous traveling of the work vehicle and can firmly support the various antenna devices.
  • a GNSS antenna and an inertial measurement device are disposed at a longitudinal center of a unit base that can be attached to a work vehicle, and a wireless communication unit is disposed at one longitudinal end of the unit base.
  • the wireless communication antenna of the wireless communication unit is arranged on the side opposite to the inertial measurement device and on one end side in the longitudinal direction of the unit base.
  • the GNSS antenna and the inertial measurement device are arranged at the center in the longitudinal direction of the unit base that can be attached to the work vehicle, for example, the unit is provided at the center in the front-rear direction or the lateral width direction of the work vehicle.
  • the GNSS antenna and the inertial measurement device can be arranged in the center of the work vehicle in the front-rear direction or the width direction, and the detection accuracy of the current position information of the work vehicle acquired from the received signal of the GNSS antenna In addition, it is possible to improve both the detection accuracy of the attitude change information of the airframe acquired from the inertial measurement device.
  • various signals can be wirelessly communicated with an external device such as a wireless communication terminal, for example, by the wireless communication unit arranged on one end side in the longitudinal direction of the unit base.
  • the wireless communication antenna of the wireless communication unit is disposed on the opposite side of the inertial measurement device and on one end side in the longitudinal direction of the unit base, the wireless communication antenna of the wireless communication unit is connected to the inertial measurement device. A sufficient distance to the center can be secured. Thereby, the radio wave interference between the wireless communication unit and the inertial measurement device can be suppressed, and the communication failure between the wireless communication unit and the wireless communication terminal or the like can be suppressed.
  • a work vehicle antenna unit (hereinafter, simply referred to as an antenna unit may be abbreviated as follows).
  • the detection accuracy of the inertial measurement device and the GNSS antenna can be improved together, and the wireless communication unit can be efficiently mounted on the work vehicle while maintaining a good communication state.
  • a second characteristic configuration according to the present invention is that the GNSS antenna is disposed at an upper portion of the inertial measurement device.
  • the inertial measurement device does not become a reception obstacle of the GNSS antenna as in the case where the inertial measurement device is arranged above the GNSS antenna, and satellite positioning information from the positioning satellite is reliably obtained. Can be received. Moreover, downsizing of the antenna unit in the width direction can be promoted by arranging the inertial measurement device and the GNSS antenna vertically.
  • a third characteristic configuration according to the present invention lies in that a predetermined distance between a central portion of the inertial measurement device and a wireless communication antenna of the wireless communication unit is set to 250 mm or more.
  • radio wave interference between the wireless communication unit and the inertial measurement device is further suppressed, and communication failure between the wireless communication unit and an external device such as a wireless communication terminal is more effectively suppressed. be able to.
  • a fourth characteristic configuration according to the present invention is that a base station antenna for receiving information from a reference station is arranged on the other end side in the longitudinal direction of the unit base.
  • the separation distance between the base station antenna and the radio communication antenna of the radio communication unit is increased, and radio wave interference between the base station antenna and the radio communication antenna of the radio communication unit is suppressed. be able to.
  • a reference station antenna is provided in addition to the GNSS antenna, the inertial measurement device, and the wireless communication unit, they can be efficiently and compactly accommodated in the antenna unit.
  • the base station antenna projects outward from a through hole of a unit cover that covers the unit base, and the unit cover has an anti-vibration elastic body in contact with the base station antenna. It is in the point provided.
  • the base station antenna when there is no vibration isolating elastic body, an annular gap is generated between the opening peripheral edge of the through hole of the unit cover and the outer peripheral surface of the through part of the base station antenna.
  • traveling vibration or the like of the work vehicle acts on the base station antenna, the base station antenna swings in the range of the annular gap, and the base station antenna may be broken at the base side.
  • the base station antenna support structure as a whole is a two-point support structure. Thus, breakage of the base station antenna caused by traveling vibration or the like can be suppressed.
  • the base station antenna is attached to the unit base by a magnetic force, and a movement restricting member for restricting movement of a base portion of the base station antenna is attached to the unit base. is there.
  • the base station antenna can be easily attached to the unit base by magnetic force. Nevertheless, positional displacement of the base station antenna due to vibration or the like can be reliably prevented with a simple movement restricting member attached to the base plate.
  • the simplification and miniaturization of the base station antenna mounting structure can facilitate the miniaturization of the antenna unit.
  • a seventh characteristic configuration according to the present invention is that a mounting space for another unit is formed at the other longitudinal end of the unit base.
  • another unit such as a retrofit controller that controls a part of autonomous traveling control can be easily mounted using the mounting space secured on the other end side in the longitudinal direction of the unit base. it can.
  • other retrofit units can be efficiently and compactly stored in the antenna unit.
  • a work vehicle including a cabin, wherein a support frame extending in a left-right width direction is fixed to the cabin frame at an upper position outside the cabin, and an inertial measurement device is mounted on the support frame.
  • the work vehicle antenna unit in which the GNSS antenna and the wireless communication device are assembled is attached in a state where the inertial measurement device and the GNSS antenna are arranged at a substantially central position in the left-right width direction of the aircraft.
  • the inertial measurement device and the GNSS antenna assembled in the antenna unit are arranged at the substantially center position in the left-right width direction of the airframe, the current position of the work vehicle acquired from the received signal of the GNSS antenna Both the detection accuracy of information and the detection accuracy of the attitude change information of the airframe acquired from the inertial measurement device can be improved. Further, for example, various signals can be wirelessly communicated with an external device such as a wireless communication terminal by the wireless communication device assembled in the antenna unit. Moreover, since the support frame to which the antenna unit is attached is fixed to the highly rigid cabin frame in a posture along the left-right width direction at the upper position outside the cabin, the support frame can be configured to have a strong support structure. .
  • the cabin frame has a height that extends close to the cabin roof, setting the mounting position of the support frame on the upper side of the cabin frame makes it possible for the inertial measurement device, the GNSS antenna, and the wireless communication device to function properly.
  • the antenna unit can be easily arranged at this position.
  • a ninth characteristic configuration according to the present invention is that the support frame is connected across mirror mounting portions provided on the left and right of the cabin frame.
  • the left and right mirror mounting portions protrude from the highly rigid cabin frame and are disposed at a height position close to the cabin roof. Therefore, it is possible to firmly and easily attach the support frame of the antenna unit to an appropriate height position by using both mirror attachment portions that are sturdy and have a high ground.
  • a tenth characteristic configuration according to the present invention is that the work vehicle antenna unit is attached to the support frame so as to be displaceable from a normal use position to a low use position.
  • the antenna unit and the antenna mounted on the antenna unit may be arranged to protrude above the upper surface of the cabin roof. Therefore, the vehicle height when transporting the work vehicle by a transport vehicle such as a truck is increased, which may cause problems such as being restricted in height when traveling on a road. Therefore, in the present invention, the antenna unit is displaced from the normal use position to the non-use position on the lower side with respect to the support frame, so that it is possible to easily cope with problems such as height restrictions when driving on the road. it can.
  • a control unit that autonomously controls the airframe based on information acquired by the inertial measurement device and the GNSS antenna, and detects that the work vehicle antenna unit is located at a regular use position. If not, an autonomous traveling check unit that prohibits the start of autonomous traveling control by the control unit is provided.
  • the autonomous traveling check unit when it is detected that the antenna unit is located at the normal use position, the autonomous traveling check unit does not work, and the control unit is based on the information acquired by the inertial measurement device and the GNSS antenna. Autonomous driving control is started. When it is not detected that the antenna unit is located at the regular use position, the check by the autonomous running check unit functions, and the start of the autonomous running control by the control unit is prohibited. As a result, while adopting the position displacement structure of the antenna unit corresponding to the height restriction when traveling on the road, etc., the aircraft can be accurately adjusted along the target travel route based on accurate information acquired by the inertial measurement device and the GNSS antenna. Good and safe autonomous driving.
  • a control unit that autonomously controls the aircraft based on information acquired by the inertial measurement device and the GNSS antenna is provided in the cabin, and is derived from the work vehicle antenna unit.
  • the harness that is provided is disposed to the control unit in the cabin via an internal / external communication path provided in the cabin frame.
  • the antenna unit arranged at the upper position outside the cabin and the control unit provided in the cabin are connected by a reasonable routing of the harness via the internal / external communication path provided in the cabin frame. can do.
  • the harness derived from the work vehicle antenna unit is a side edge in the left-right width direction on the outer surface of the cabin windshield, and the front post glass of the cabin. It exists in the point arrange
  • the belt-like portion that is overlapped with the glass receiving portion of the front column on one side edge in the left-right width direction on the outer surface of the windshield is a glass pasting portion for attaching the windshield to the front portion of the cabin. It is also a position that does not interfere with vision. Therefore, by arranging the harness led out from the antenna unit in the above-described band-shaped portion, it is possible to arrange the harness with good appearance while maintaining the visibility of the driver seated on the driver's seat in a good state.
  • the autonomous traveling system shown in FIGS. 1 and 2 is configured to generate a target traveling route, and to autonomously travel the tractor 1 as a work vehicle along the generated target traveling route.
  • a wireless communication terminal 30 that gives various instructions to the tractor 1 and a base station 40 for acquiring position information of the tractor 1 are provided. ing.
  • the tractor 1 includes a body part 2 to which a ground work machine (not shown) can be mounted on the rear side, the front part of the body part 2 is supported by a pair of left and right front wheels 3, and the rear part of the body part 2 is a pair of left and right It is supported by the rear wheel 4.
  • a bonnet 5 is disposed in the front part of the body part 2, and an engine 6 as a drive source is accommodated in the bonnet 5.
  • a cabin 7 for a driver to board is provided on the rear side of the bonnet 5, and a steering handle 8 for a driver to steer and a driver's driving seat 9 are provided in the cabin 7. It has been.
  • the engine 6 can be composed of, for example, a diesel engine, but is not limited thereto, and may be composed of, for example, a gasoline engine. Further, an electric motor may be employed as a drive source in addition to the engine 6 or instead of the engine 6.
  • the tractor 1 is described as an example of the work vehicle.
  • the work vehicle includes a tractor, a rice transplanter, a combiner, a civil engineering / architecture work device, a snowplow, and a riding work vehicle. .
  • a three-point link mechanism including a pair of left and right lower links 10 and an upper link 11 is provided on the rear side of the body part 2, and a ground work machine can be mounted on the three-point link mechanism.
  • a lifting device having a hydraulic device such as a lifting cylinder is provided on the rear side of the airframe unit 2, and this lifting device lifts and lowers the ground work machine by lifting and lowering the three-point link mechanism.
  • Examples of the ground working machine include a tillage device, a plow, and a fertilizer application device.
  • the tractor 1 includes a governor device 21 that can adjust the rotational speed of the engine 6, a transmission device 22 that shifts the rotational driving force from the engine 6 and transmits it to the drive wheels, the governor device 21, A control unit 23 and the like that can control the device 22 are provided.
  • the transmission 22 is configured by combining, for example, a main transmission composed of a hydraulic continuously variable transmission and an auxiliary transmission composed of a gear type multi-stage transmission.
  • the tractor 1 not only allows the driver to travel in the cabin 7, but also allows the tractor 1 to autonomously travel based on instructions from the wireless communication terminal 30 even if the driver does not board the cabin 7. It is configured as possible.
  • the tractor 1 transmits from a steering device 24, an inertial measurement device (IMU) 25 for obtaining attitude change information of the fuselage, and a positioning satellite (navigation satellite) 45 constituting a satellite positioning system (GNSS).
  • Wireless communication unit that transmits and receives various signals via a wireless communication network constructed between the GNSS antenna 26 that receives the received radio signal, the wireless communication terminal 30, and the like (wireless that is assembled to the antenna unit 50 for a work vehicle).
  • a base station antenna that receives a radio signal (for example, a radio signal having a frequency band of 920 MHz) from the reference station radio communication device 41 of the reference station 40 (an example of a radio communication device assembled to the antenna unit 50) 29 Etc., and can autonomously travel while acquiring its current position information (position information of the airframe unit 2) It has been made.
  • a radio signal for example, a radio signal having a frequency band of 920 MHz
  • the reference station radio communication device 41 of the reference station 40 an example of a radio communication device assembled to the antenna unit 50
  • the inertial measurement device 25, the GNSS antenna 26, the wireless communication unit 27, and the base station antenna 29 are housed in an antenna unit 50 having a unit cover 51 as shown in FIGS.
  • the antenna unit 50 is attached to a support frame 100 along the left-right width direction fixed to the cabin frame 200 of the cabin 7 at an upper position on the front side outside the cabin 7. Yes.
  • the specific internal arrangement structure and mounting structure of the antenna unit 50 will be described in detail after the description of the autonomous traveling system.
  • the steering device 24 is provided, for example, in the middle of the rotation shaft of the steering handle 8 and is configured to be able to adjust the rotation angle (steering angle) of the steering handle 8.
  • the control unit 23 controls the steering device 24, not only the straight traveling but also the turning angle of the steering handle 8 can be adjusted to a desired turning angle, and the turning turning with the desired turning radius can be performed.
  • the inertial measurement device 25 is required to obtain a three-dimensional angular velocity and acceleration by a three-axis gyro and a three-direction accelerometer.
  • the detected value of the inertial measurement device 25 is input to the control unit 23, and the control unit 23 calculates the posture information of the tractor 1 (the azimuth angle (yaw angle) of the aircraft, the left / right inclination of the aircraft).
  • the angle (roll angle) and the front / rear tilt angle (pitch angle) in the traveling direction of the aircraft are obtained.
  • GNSS satellite positioning system
  • a satellite positioning system such as a quasi-zenith satellite (Japan) and a Glonus satellite ( Russia) can be used as a positioning satellite in addition to GPS (United States).
  • the wireless communication unit 27 is composed of a WiFi unit having a frequency band of 2.4 GHz, but the wireless communication unit 27 may be Bluetooth (registered trademark) other than WiFi.
  • the signal received by the wireless communication antenna 28 of the wireless communication unit 27 can be input to the control unit 23, and the signal from the control unit 23 is wirelessly transmitted by the wireless communication antenna 28.
  • the communication terminal 30 is configured to be able to transmit to the wireless communication device 31 and the like.
  • a reference station 40 installed at a predetermined reference point is provided, and the satellite positioning information of the tractor 1 (mobile station) is corrected by correction information from the reference station 40.
  • a positioning method for obtaining the current position of the tractor 1 can be applied.
  • various positioning methods such as DGPS (differential GPS positioning) and RTK positioning (real-time kinematic positioning) can be applied.
  • RTK positioning is applied.
  • the reference station positioning antenna 42 is provided in addition to the GNSS antenna 26 being provided in the tractor 1 on the mobile station side.
  • a reference station 40 is provided.
  • the reference station 40 is disposed at a position (reference point) that does not interfere with the traveling of the tractor 1, for example, around the field.
  • the position information of the reference point that is the installation position of the reference station 40 is grasped in advance.
  • the reference station 40 includes a reference station wireless communication device 41 that can transmit and receive various signals to and from the base station antenna 29 of the tractor 1, and between the reference station 40 and the tractor 1 and between the reference station 40 and the wireless communication terminal 30.
  • Various types of information can be transmitted and received between them.
  • the carrier phase from the positioning satellite 45 (satellite) is received by both the reference station positioning antenna 42 of the reference station 40 installed at the reference point and the GNSS antenna 26 of the tractor 1 on the mobile station side for which position information is to be obtained. Positioning information) is being measured.
  • the reference station 40 generates correction information including the measured satellite positioning information and the reference point position information every time the satellite positioning information is measured from the positioning satellite 45 or every time the set period elapses, and the reference station wireless communication device
  • the correction information is transmitted from 41 to the base station antenna 29 of the tractor 1.
  • the control unit 23 of the tractor 1 obtains the current position information of the tractor 1 by correcting the satellite positioning information measured by the GNSS antenna 26 using the correction information transmitted from the reference station 40.
  • the control unit 23 obtains, for example, latitude information / longitude information as the current position information of the tractor 1.
  • a wireless communication terminal 30 capable of instructing the autonomous traveling of the tractor 1 to the control unit 23 of the tractor 1 is provided.
  • the wireless communication terminal 30 is composed of, for example, a tablet personal computer having a touch panel, and can display various information on the touch panel. Various information can also be input by operating the touch panel.
  • the wireless communication terminal 30 includes a wireless communication device 31 and a route generation unit 32 that generates a target travel route.
  • the route generation unit 32 controls the tractor 1 based on various types of information input on the touch panel.
  • a target travel route for autonomous travel is generated.
  • the control unit 23 provided in the tractor 1 is configured to be able to transmit and receive various types of information to and from the wireless communication terminal 30 via a wireless communication network including the wireless communication device 31 and the like.
  • the wireless communication terminal 30 is configured to be able to instruct autonomous traveling of the tractor 1 by transmitting various information for autonomously traveling the tractor 1 such as a target traveling route to the control unit 23 of the tractor 1.
  • the control unit 23 of the tractor 1 obtains the current position information of the tractor 1 acquired from the received signal of the GNSS antenna 26 so that the tractor 1 autonomously travels along the target travel route generated by the route generation unit 32.
  • the vehicle body displacement information and direction information are obtained from the inertial measurement device 25, and the transmission 22 and the steering device 24 can be controlled based on the current position information, displacement information, and direction information.
  • the unit cover 51 of the antenna unit 50 includes a lower cover body 52 made of a resin having a substantially rectangular shape in plan view that opens upward, and a plane that opens downward. And an upper cover body 53 made of a resin having a substantially rectangular shape.
  • FIG. 5 shows a longitudinal sectional view when the antenna unit 50 is viewed from the rear side, and the left-right direction in the airframe unit 2 is opposite to FIGS. 3, 7 and 11. Yes.
  • the opening joint portion of the upper cover body 53 is externally fitted and joined to the opening joint portion of the lower cover body 52 in a watertight state so as to be detachable.
  • the opening joint portion of the upper cover body 53 and the opening joint portion of the lower cover body 52 are fixedly connected by screws 54 at a plurality of positions in the left-right direction on the front side and the rear side.
  • a metal base plate 55 which is an example of a unit base that can be attached to the tractor 1, is attached to the bottom plate portion 52 ⁇ / b> A of the lower cover body 52.
  • a plurality (four in this embodiment) of cylindrical shapes that keep the distance between the two at a set interval.
  • the first boss 56 is disposed, and the base plate 55 and the bottom plate portion 52 ⁇ / b> A of the lower cover body 52 are fixedly connected by a first bolt 57 inserted through each first boss 56.
  • the GNSS antenna 26 is disposed above the inertial measurement device 25.
  • the housing 25 ⁇ / b> A of the inertial measurement device 25, as shown in FIGS. 5 and 8 is fixed to the base plate 55 with the second bolt 58 in a state where the center position in the left-right direction is located at the center position in the longitudinal direction of the base plate 55. It is fixedly connected.
  • the housing 26A of the GNSS antenna 26 is interposed via a metal hat-shaped bracket 60 in a state where the center position in the left-right direction is located at the center position in the longitudinal direction of the base plate 55, as shown in FIGS.
  • the base plate 55 is attached.
  • the bracket 60 is formed in a hat shape that bypasses the upper side of the housing 25 ⁇ / b> A of the inertial measurement device 25 along the longitudinal direction of the base plate 55.
  • Both leg portions 60a of the hat-shaped bracket 60 are fixedly connected to the base plate 55 by third bolts 61, and the width of the hat-shaped bracket 60 in the front-rear direction (also the front-rear direction of the fuselage) is measured by inertia.
  • the device 25 has a size slightly smaller than the width in the front-rear direction of the housing 25A, and a part of the bracket 60 is formed as a shielding wall portion that shields the wireless communication unit 27 described later.
  • the inertial measurement device 25 and the GNSS antenna 26 are both in the center position in the left-right width direction or substantially in the attached state to the tractor 1. Since it is arranged vertically at the center position, both the detection accuracy of the current position information of the tractor 1 acquired from the received signal of the GNSS antenna 26 and the detection accuracy of the displacement information and direction information of the aircraft acquired from the inertial measurement device 25 are improved. can do. Moreover, the width of the unit cover 51 in the front-rear direction is reduced, and the antenna unit 50 can be made compact. Furthermore, due to the above arrangement, as shown in FIGS.
  • the inertial measurement device 25 does not become a reception obstacle of the GNSS antenna 26, and the carrier wave phase (satellite positioning information) from the positioning satellite 45 can be reliably received.
  • the housing 27 ⁇ / b> A of a wireless communication unit 27 (an example of a wireless communication device assembled to the antenna unit 50) 27 having a pair of wireless communication antennas 28 in the front-rear direction is fixedly connected by a fourth bolt 62.
  • the wireless communication antenna 28 of the wireless communication unit 27 is disposed on the opposite side to the inertial measurement device 25 and the GNSS antenna 26 and on one end side in the longitudinal direction of the base plate 55.
  • the first predetermined distance L ⁇ b> 1 between the wireless communication antenna 28 of the wireless communication unit 27 and the center of the inertial measurement device 25 is set to 250 mm or more.
  • the center of the inertial measurement device 25 is arranged from the radio communication antenna 28 of the radio communication unit 27 while reducing the size of the antenna unit 50 in the longitudinal direction by devising the arrangement position and orientation of the radio communication unit 27 described above.
  • the first predetermined distance L1 to the part can be sufficiently secured. Thereby, radio wave interference between the wireless communication unit 27 and the inertial measurement device 25 is suppressed, and a communication failure between the wireless communication unit 27 and the wireless communication device 31 of the wireless communication terminal 30 is suppressed. it can.
  • the wireless communication unit 27 And the inertial measurement device 25 can more effectively suppress radio wave interference.
  • the outer circumference of the inertial measurement device 25 is shielded by a metal housing 25A except for a connector and the like, and is a metal hat-like shape positioned between the wireless communication unit 27 and the inertial measurement device 25. Since a part of the bracket 60 functions as a shielding wall portion, radio wave interference between the wireless communication unit 27 and the inertial measurement device 25 can be further suppressed.
  • FIGS. 8 The other end in the longitudinal direction of the base plate 55 (the left end in the left-right direction of the machine body 2 with respect to the forward direction, the left end in FIG. 5, the right end in FIGS. 7 and 8) is shown in FIGS.
  • the radio communication unit 27, the GNSS antenna 26 (inertial measurement device 25), and the base station antenna 29 are arranged in this order from the right side in the left-right direction of the airframe unit 2 with respect to the forward direction. They are arranged side by side in the left-right direction.
  • the base station antenna 29 includes a base portion 29A having a magnet 65 and a round bar-like antenna bar 29B extending upward from the base portion 29A. Furthermore, the base portion 29A includes a columnar lower base body 29a containing the magnet 65, and a frustoconical upper base body 29b integrally formed at the center of the upper surface of the lower base body 29a. Therefore, the base station antenna 29 is attached to the metal base plate 55 by the magnetic force of the magnet 65.
  • the base plate 55 is in contact with or close to the upper and lower intermediate positions of the conical outer peripheral surface of the upper base body 29 b in the base portion 29 ⁇ / b> A of the base station antenna 29,
  • a sheet metal movement restricting member 66 for restricting movement of the base portion 29 ⁇ / b> A of the base station antenna 29 is fixedly connected by a fifth bolt 67.
  • the upper restriction plate piece 66a formed by bending on the movement restriction member 66 includes a circular movement restriction hole 66b fitted on the upper base body 29b of the base portion 29A, and an antenna.
  • a detachable notch 66c having a width dimension allowing passage of the bar 29B is formed in communication.
  • the separation distance between the antenna bar 29B of the base station antenna 29 and the radio communication antenna 28 of the radio communication unit 27 is increased, and the antenna bar 29B of the base station antenna 29 and the radio communication unit are increased. Radio wave interference with the 27 radio communication antennas 28 can be suppressed.
  • the base station antenna 29 can be easily attached to the metal base plate 55 by the magnetic force of the magnet 65 provided on the base 29A. Nevertheless, displacement of the base station antenna 29 due to vibration or the like can be reliably prevented by the movement regulating member 66 having a simple shape that is bolted to the base plate 55.
  • a first bulge portion 53 ⁇ / b> A that protrudes upward from the upper surface position of the wireless communication unit 27 and the upper end position of the wireless communication antenna 28 of the wireless communication unit 27 is formed.
  • the second predetermined distance L2 between the inner surface 53a of the first bulging portion 53A and the upper end of the radio communication antenna 28 is set to 30 mm or more.
  • a wireless communication device 31 of the wireless communication unit 27 and the wireless communication terminal 30 is formed by a second predetermined distance L2 formed between the upper end of the wireless communication antenna 28 and the inner surface 53a of the first bulging portion 53A of the upper cover body 53. Communication accuracy can be improved.
  • the relationship between the first predetermined distance L1 and the second predetermined distance L2 is The first predetermined distance L1> the second predetermined distance L2.
  • one end in the longitudinal direction is provided on the other end side in the longitudinal direction of the upper cover body 53 of the unit cover 51 (left side in the left-right direction of the body part 2 with respect to the forward direction).
  • the second bulging portion 53B having the same shape as the first bulging portion 53A formed on the side (the right side in the left-right direction of the body portion 2 with respect to the forward direction) is formed, and the unit cover 51 is configured to be bilaterally symmetric.
  • This is in consideration of the design when the antenna unit 50 is attached to the upper position on the front side of the cabin 7 of the tractor 1, but the formation of the second bulging portion 53B has a new technical value. appear.
  • the second bulging portion 53B of the upper cover body 53 is formed at a portion corresponding to the base station antenna 29 as shown in FIGS. Is sufficiently larger than the height from the upper surface of the base plate 55 to the upper surface of the second bulging portion 53B. Therefore, on the upper surface of the second bulging portion 53B, as shown in FIGS. 7 and 9, a through hole 70 is formed through which the antenna bar 29B of the base station antenna 29 penetrates and protrudes upward outside.
  • An antivibration elastic body 71 such as a cylindrical rubber that is in contact with the outer peripheral surface of the through portion of the antenna bar 29B of the base station antenna 29 is attached to the opening periphery of the through hole 70.
  • a grommet that is in contact with the entire circumference of the antenna bar 29B and also exhibits watertightness is used.
  • the upper and lower intermediate portions of the antenna bar 29B are supported by the vibration isolating elastic body 71 provided at the opening peripheral edge of the through hole 70 of the second bulging portion 53B, and the base station antenna 29 Since the support structure becomes a two-point support structure as a whole, breakage of the antenna bar 29B due to traveling vibration or the like can be suppressed.
  • the support of the antenna bar 29B supported by the vibration isolating elastic body 71 is increased by the height from the upper surface of the base plate 55 to the upper surface of the second bulge portion 53B due to the presence of the second bulge portion 53B. The position is increased, and the breakage of the antenna bar 29B can be further suppressed.
  • the vibration isolating elastic body 71 is attached to the opening periphery of the through hole 70 of the second bulging portion 53B.
  • the vibration isolating elastic body 71 is attached to the upper surface of the second bulging portion 53B or You may attach to an inner surface and may also attach to the bracket etc. which were provided in the baseplate 55 further.
  • another unit 72 is attached on the other end in the longitudinal direction of the base plate 55 and between the inertial measurement device 25 and the GNSS antenna 26 and the base station antenna 29.
  • a space 73 is formed. 7 and 8 show a state in which the other space 72 is not attached to the mounting space 73 and the mounting space 73 is a hollow space. FIG. The state where is attached is shown.
  • a controller for a liquid crystal monitor attached later that controls a part of the autonomous traveling control can be cited.
  • a liquid crystal monitor 47 (see FIG. 14) is provided in the cabin 7, and the liquid crystal monitor 47 is equipped with a controller that controls a part of autonomous traveling control.
  • a controller for controlling the autonomous running is required for a liquid crystal monitor to be retrofitted. In this case, the controller can be easily mounted using the mounting space 73 in which the base plate 55 is secured.
  • the both sides in the longitudinal direction on the lower surface side of the bottom plate portion 52 ⁇ / b> A of the lower cover body 52 are folded in an inverted “L” shape (see FIG. 5) when viewed from the front of the body.
  • a stay 75 that is formed and formed in a substantially semicircular arc shape (see FIG. 6) in a side view of the body is disposed.
  • Each of the pair of left and right stays 75 is fixedly connected to the base plate 55 with a sixth bolt 77 through a second boss 76 that penetrates the bottom plate portion 52A of the lower cover body 52.
  • a camera 78 for photographing the front of the machine body is attached at the longitudinal center position on the lower surface of the bottom plate portion 52A of the lower cover body 52, and an image photographed by the camera 78 is as follows.
  • the wireless communication unit 27 of the tractor 1 and the wireless communication device 31 of the wireless communication terminal 30 can be displayed on the touch panel of the wireless communication terminal 30 via wireless communication.
  • FIG. 7 shows a part of one harness 80 formed by collecting electric wires in the unit cover 51. As shown in FIG. 7, the harness 80 is led out through a harness lead-out hole (not shown) formed at one end in the longitudinal direction of the lower cover body 52. A grommet 81 is attached to the harness outlet hole.
  • both end portions of the support frame 100 of the antenna unit 50 are fixedly connected across mirror mounting portions 150 provided on the left and right front struts 201 constituting the cabin frame 200.
  • each of the left and right mirror mounting portions 150 is configured in a substantially “U” shape (planar view “U” shape) in a plan view on the upper portion of the front column 201.
  • the attached mounting base 151 is fixed by welding or the like, and a plate-like mirror mounting member 153 having a hinge portion 152 that rotatably supports the support arm 111 of the rearview mirror 110 is attached to the mounting base 151 by bolts or the like. It is fixedly connected with.
  • attachment pieces 153A having an attachment upper surface along a horizontal plane are formed by bending.
  • the support frame 100 includes a pipe-shaped support member 101 having a circular cross section that is bent into a substantially gate shape in which both ends in the left-right width direction are bent downward when viewed from the front of the body.
  • Attachment plates 102 having attachment lower surfaces along the horizontal plane are fixed to both ends of the pipe-shaped support member 101.
  • Both mounting plates 102 of the support frame 100 are fixedly connected to the upper mounting surfaces of the mounting pieces 153A of the left and right mirror mounting members 153 with bolts 103 or the like.
  • the left and right mirror attaching portions 150 are attached to the upper portion of the front column 201 of the robust cabin frame 200 and are disposed at a height position close to the roof 190 of the cabin 7. Therefore, it is possible to firmly attach the support frame 100 of the antenna unit 50 to an appropriate height position by using both mirror attachment portions 150 that are sturdy and have a ground clearance.
  • the mounting upper surface of the mounting piece 153A in the left and right mirror mounting members 153 and the mounting lower surfaces of both mounting plates 102 of the support frame 100 are both formed in a horizontal plane, the intermediate portion of the pipe-shaped support member 101 is horizontally oriented. It becomes easy to arrange along, and the attachment error of the antenna unit 50 attached to the horizontal intermediate part of the said pipe-shaped support material 101 can be suppressed.
  • the horizontal intermediate portion of the pipe-shaped support member 101 of the support frame 100 is the roof 190 of the cabin frame 200.
  • the front end vicinity position is horizontally arranged along the left-right width direction of the airframe.
  • a pair of left and right brackets 120 that support the pair of left and right stays 75 of the antenna unit 50 are fixed to the horizontal intermediate portion of the pipe-shaped support member 101 as shown in FIGS. 3, 4, and 6.
  • the two sets of stays 75 on the antenna unit 50 side and the bracket 120 on the support frame 100 side that face each other closely in the left-right width direction of the airframe serve as horizontal pivots along the left-right width direction of the airframe.
  • the seventh bolt 121 is pivotally connected. Therefore, in the antenna unit 50, the base station antenna 29 protrudes upward in the vertical direction as shown in FIGS. 3 and 4 due to the rotation of the seventh bolt 121 with respect to the support frame 100 around the pivot axis.
  • the position can be changed between a normal use position (normal use posture) and a front non-use position (non-use posture) on the lower side as shown in FIG.
  • the non-use position of the antenna unit 50 is a position rotated 90 degrees forward from the normal use position. At this non-use position, the base station antenna 29 protrudes forward in the horizontal direction. It is in.
  • the position changing operation between the normal use position and the non-use position of the antenna unit 50 is performed manually.
  • the position changing operation of the antenna unit 50 is performed by a drive unit such as an actuator. May be.
  • the two sets of the antenna unit 50 side stay 75 and the support frame 100 side bracket 120 are provided at positions offset from the seventh bolt 121 in the rotational radial direction.
  • the antenna unit 50 can be alternatively fixed to a normal use position and a non-use position.
  • the bracket 120 on the support frame 100 side is formed with one bolt insertion hole 123 through which the eighth bolt 122 is inserted, and the stay 75 on the antenna unit 50 side is properly used.
  • Bolt insertion holes 124 are formed at two locations that coincide with the bolt insertion holes 123 on the bracket 120 side when in the position and the non-use position.
  • the base station antenna 29 in a state where the antenna unit 50 is in the normal use position, the base station antenna 29 is in a posture facing upward in the vertical direction, and the upper end of the base station antenna 29 is connected to the cabin as shown in FIG. 7 projects upward from the roof 190.
  • the antenna unit 50 is not used from the normal use position. Change to position. In the non-use position, the base station antenna 29 protrudes forward in the horizontal direction, and the upward protrusion height of the antenna unit 50 including the unit cover 51 is made lower than the highest part of the roof 190 of the cabin 7. Can do.
  • the antenna unit 50 is located at the normal use position can be detected based on displacement information acquired from the inertial measurement device 25. Therefore, as shown in FIG. 2, if the control unit 23 does not detect that the antenna unit 50 is located at the normal use position, the autonomous traveling control based on the information acquired by the inertial measurement device 25 and the GNSS antenna 26 is performed.
  • An autonomous traveling check unit 46 that prohibits the start of is provided. The autonomous traveling check unit 46 allows autonomous traveling control to be started only when the antenna unit 50 is in the normal use position, and targets the aircraft based on accurate information acquired by the inertial measurement device 25 and the GNSS antenna 26. It is possible to autonomously travel safely and accurately along the travel route.
  • the antenna unit 50 is located at the normal use position based on the displacement information acquired from the inertial measurement device 25, but the signal of the automatic switch that detects the position displacement of the antenna unit 50 or It may be determined whether or not the antenna unit 50 is positioned at the normal use position based on a signal of a hard switch that is manually operated.
  • the autonomous running check part 46 can also be abbreviate
  • the cabin frame 200 to which the harness 80 is wired includes a pair of left and right front struts 201 positioned in front of the driver seat 9 and a pair of left and right rear struts positioned behind the driver seat 9. 202, a front beam member 203 that connects the upper ends of the front struts 201, a rear beam member 204 that connects the upper ends of the rear struts 202, and the upper ends of the front strut 201 and the rear strut 202 arranged in the front-rear direction. It is comprised by the substantially box frame shape provided with the left and right side beam member 205 which connects between parts.
  • a rear end upper portion of a fender frame 207 that is curved so as to swell forward and upward in a side view along the shape of the rear fender 206 is connected to the lower end portion of each rear column 202.
  • the lower part of the front end of each fender frame 207 is connected to the rear end part of the side frame 208 protruding rearward from the lower part of the corresponding front support 201.
  • the fender frame 207 is made of a cylindrical frame material.
  • the lower part of the front end of the fender frame 207 located on the right side of the cabin 7 is opened below the outside of the cabin 7, and the internal space of the fender frame 207 located on the right side is an inside and outside that communicates the inside and outside of the cabin 7.
  • the communication path 210 is configured.
  • a drain hose (not shown) for discharging condensed water in the air conditioner to the outside of the cabin 7 is disposed in the inner / outer communication passage 210 of the fender frame 207.
  • a windshield 212 is disposed in a region surrounded by the left and right front struts 201, the front beam members 203, and the front lower plate plate 211 extending inwardly from the lower end of each front strut 201 in the left and right directions.
  • the harness 80 led out from the antenna unit 50 is a right edge (an example of one side edge in the left-right width direction) on the outer surface of the windshield 212 of the cabin 7, and
  • the right front support column 201 is disposed so as to extend downward along a belt-shaped portion overlapping with the glass receiving portion 201a.
  • the harness 80 that reaches the lower front plate 211 on the lower end side of the windshield 212 extends to the rear side along the lower surface of the floor plate support plate 213 continuous with the side frame 208, and then is positioned on the right side.
  • 207 is led into the cabin 7 from the opening at the lower front end through the inner / outer communication passage 210 and connected to the control unit 23 disposed in the right operation panel unit 214.
  • the belt-like portion that overlaps with the glass receiving portion 201a of the front strut 201 on the right side on the right edge of the outer surface of the windshield 212 is a glass pasting portion for attaching the windshield 212 to the front surface portion of the cabin 7. It is also a position that does not get in the way. Therefore, by arranging the harness 80 led out from the antenna unit 50 in the above-described band-shaped portion, it is possible to arrange the harness 80 in a good manner while maintaining the visibility of the driver seated on the driver's seat 9 in a good state. it can.
  • a protective resin harness cover 250 through which the harness 80 is inserted is attached to the belt-like portion of the right edge portion on the outer surface of the windshield 212 (see FIG. 13) with an adhesive or the like.
  • the harness cover 250 is integrated with a base portion 253 having a harness receiving surface 252 for receiving the attachment surface 251 to the windshield 212 and the harness 80, and one end in the width direction of the base portion 253.
  • a flexible band portion 254 that is formed and curved in an arc along the outer peripheral surface of the base portion 253 disposed on the harness receiving surface 252 of the base portion 253.
  • An engagement claw 255 is formed at the distal end of the band portion 254, and an engagement recess 256, in which the engagement claw 255 can be engaged and disengaged, is formed at the other end portion in the width direction of the harness receiving surface 252 of the base portion 253.
  • a semicircular ridge 257 is formed in contact with the back surface of the engaging claw 255 engaged with the engaging recess 256 to restrict engagement / disengagement of the engaging claw 255 in a contact state.
  • the harness 80 can be inserted and the harness 80 can be installed so that a part of the outer periphery of the harness 80 is received by the harness receiving surface 252. And as shown in FIG.15 (b), by engaging the engagement nail
  • the harness 80 can be attached to the harness cover 250 while being received by the harness receiving surface 252.
  • the wireless communication antenna 28 of the wireless communication unit 27 is housed in the unit cover 51 of the antenna unit 50.
  • the wireless communication antenna 28 is attached to the upper cover body 53 as necessary. You may make it protrude outside from the through-hole formed.
  • the first predetermined distance L1 between the wireless communication antenna 28 of the wireless communication unit 27 and the central portion of the inertial measurement device 25 is set to 250 mm or more, but this first predetermined distance L1. Can be arbitrarily set according to the radio wave interference condition between the wireless communication unit 27 and the inertial measurement device 25.
  • the second predetermined distance L2 between the inner surface 53a of the first bulging portion 53A and the upper end of the wireless communication antenna 28 is set to 30 mm or more.
  • the second predetermined distance L2 is It can be arbitrarily set according to the communication state between the wireless communication unit 27 and the wireless communication device 31 of the wireless communication terminal 30.
  • the pair of left and right stays 75 are attached to the lower surface side of the unit cover 51.
  • the present invention is not limited to this attachment structure, and any attachment structure can be used according to the attachment conditions on the work vehicle side. Can be adopted.
  • the inertial measurement device 25 and the GNSS antenna 26 are configured separately, but the inertial measurement device 25 and the GNSS antenna 26 may be configured integrally.
  • the present invention can be applied to various antenna units and various work vehicles.

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  • Engineering & Computer Science (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Mechanical Engineering (AREA)
  • Signal Processing (AREA)
  • Fittings On The Vehicle Exterior For Carrying Loads, And Devices For Holding Or Mounting Articles (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)
  • Support Of Aerials (AREA)
  • Guiding Agricultural Machines (AREA)
PCT/JP2018/003338 2017-02-08 2018-02-01 作業車両用アンテナユニット、及び、作業車両 WO2018147151A1 (ja)

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KR1020207012487A KR102420670B1 (ko) 2017-02-08 2018-02-01 작업 차량용 안테나 유닛, 및 작업 차량
KR1020187034967A KR102108672B1 (ko) 2017-02-08 2018-02-01 작업 차량용 안테나 유닛, 및 작업 차량
KR1020227023648A KR20220101772A (ko) 2017-02-08 2018-02-01 작업 차량용 안테나 유닛, 및 작업 차량
CN201880003847.1A CN110235304B (zh) 2017-02-08 2018-02-01 作业车辆用天线单元以及作业车辆

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CN112677887A (zh) * 2020-12-10 2021-04-20 武汉朗维科技有限公司 一种车身姿态测试设备及测试方法
CN112677887B (zh) * 2020-12-10 2024-02-27 武汉朗维科技有限公司 一种车身姿态测试设备及测试方法

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